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Maxsine EP1 AC SERVO User Manual

1. P156 P154 Comparator 0 gt 0 Detect CCW or CW speed 1 gt 0 Only detect CCW speed lt 0 Only detect CW speed Default A Range Unit Usage UBRE Hysteresis of arrival speed value 0 5000 30 r min ALL Refer to the explanation of parameter P154 Default i Range Unit Usage Mabie Polarity of arrival speed value gal 0 ALL Refer to the explanation of parameter P154 Ae oe Default The way of position deviation Range Unit Usage P163 i value clearing g 0 P In the position control mode use the CLR input signal clear position deviation from DI to clear the position deviation counter The meaning of this parameter are at the time when the position deviation elimination occurs 0 The high level of CLR ON 1 The rising edge of CLR ON the moment from OFF to ON Default Range for static check of the Range Unit Usage value servomotor 0 1000 5 r min ALL Use this parameter to check the servomotor to be static If the speed of the servomotor is lower than the parameter value and will consider the servomotor static Only uses in the timing chart judgment of the electromagnetic brake 73 Chapter 5 Parameters Delay time for electromagnetic Default S ce Range Unit Usage aaa brake when servomotor is in value standstill 0 2000 0 ms ALL Use the electromagnetic brake when the SON is from ON go to OFF or a
2. Terminal Terminal Terminal explanation symbol number 5V 2 5V input power OV 3 A 4 A phase output A 7 B 5 B phase output B 8 Z 6 Z phase output Z 9 FG 1 Metal case of encoder 93 Chapter 7 Specifications 7 7 Parameters of servo motor 7 7 1 Parameters of 80 series servo motor Type 80ST M01330L 80ST M02430L 80ST M03330L Rated output power 0 4 0 75 1 0 kW Rotor inertia Kg m 1 58x107 wei Line numbers of 2500 line pr wire saving type encoder Pole pair number 4 pair Insulation class Class B IP rating IP65 Rated torque Nm 1 3 2 4 3 3 A mm 128 150 165 B mm 500 500 500 94 7 7 2 Parameters of 110 series servo motor 7 7 Parameters of servo motor Type Rated o power Rated torque Nm Rated speed r min 110ST M02030L utput kW 110ST M04030L o e 3000 3000 110ST M05030L Raama 0 oo Rotor inertia Kgm Weight kg Line numbers of encoder Pole pair number Insulation class IP rating Brake 0 425x107 0 828x107 ee s 1 5 3000 7 0 0 915x10 6 8 2500 line pr 4 pair Class B IP65 110ST M06020L 1 2 2000 6 0 1 111107 7 8 110ST M06030L 1 6 3000 8 5 1 111107 7 8 Voltage 24VDC 15 10 Current lt 0 6A Brake torque gt 8Nm Inertia 0 64x10 kg
3. Lear i in lost power brake Fiame number X p 7 80 mm 5 110 mm Servomotor basic type 130 mm C 150 mm J F complex incremental encoder 2500C T N oo F1 Wire saving incremental encoder 2500C T Ae eee ea E One turn 17 bits bus type encoder Ae servomotor M Multi turn 33 bits bus type encoder R One pair pole resolver A Feedback component N M Optical encoder S X Resolver e A L Adapted AC 220V servo driver H Adapted AC 380V servo driver J Rated torque x0 1 Nm pr gt Rated speed x100 rpm N Ke A N 3 7 6 Servo motor wiring 7 6 1 Winding wiring Terminal Terminal Terminal explanation symbol number U 2 U phase drive input V 3 V phase drive input W 4 W phase drive input 1 Ground terminal of motor case 7 6 2 Holding brakes Terminal Terminal Terminal explanation symbol number DC 1 Brake input power DC 2 3 Ground terminal of motor case 92 7 6 Servo motor wiring 7 6 3 Standard encoders Terminal Terminal Terminal explanation symbol number 5V 2 5V input power OV 3 A 4 A phase output A 7 B 5 B phase output B 8 Z 6 Z phase output Z 9 UF 10 U phase output U 13 V 1 V phase output V 14 W 12 W phase output W 15 FG 1 Metal case of encoder 7 6 4 Wire saving encoders
4. This is electronic gear denominator M of command pulse The application method refers to parameter P029 Default i Second numerator of electronic Range Unit Usage value gear for command pulse 1 32767 1 P Refer to the explanation of parameter P029 62 5 4 Parameter description in detail s Default Third numerator of electronic gear Range Unit Usage P032 value for command pulse 1 32767 l P Refer to the explanation of parameter P029 s Default Fourth numerator of electronic gear Range Unit Usage P033 value for command pulse 1 32767 l P Refer to the explanation of parameter P029 Default Range Unit Usage Input mode of command pulse value 0 2 0 P Set the input mode of command pulse The meanings of this parameter are 0 Pulse Direction 1 Positive Reverse pulse 2 Orthogonal pulse Command pulse cow cw Parameter P035 type Pulse PULS Filth t f t t f DIR o SIGN CCW pulse pus f LTL LA CW pulse 1 SIGN KATATA pepe us f fF f t B phase 2 SIGN f k Note The arrow indicates the counting edge when P036 0 P037 0 The diagram of command pulse inputs 0 pulse Direction 1 CCW pulse CW pulse 2 A and B phases P038 P037 P035 PULS Filter 4 In
5. Err30 Lost Z signal of encoder Potential cause Check Handle Encoder has problem Check the encoder Z Replace the encoder signal Encoder cable and or connector has Check cable and Replace the cable and connector problem connector The interface circuit of the servo driver is at fault Check the control circuit Replace the servo driver 86 6 2 The reason and handling of alarm Err31 UVW signals error of encoder Potential cause Check Handle Encoder has problem Check the line number and pole number Check the encoder UVW signals Encoder damaged Replace the encoder Encoder wiring error Check the encoder wiring Correct wiring included shield wire Err32 Illegal code of encoder UVW signals Potential cause Check Handle Encoder has problem Check the encoder UVW Replace the encoder signals Encoder wiring error Check the encoder wiring Correct wiring included shield wire Err33 Wire saving encoder error Potential cause Check Handle Encoder has problem Check the encoder signals Replace the encoder Servomotor type setting is not correct Check the servomotor type Confirm that the servomotor is adapted with the wire saving encoder Set the servomotor type again 87 Chapter 6 Alarm Remarks 88
6. CWL CW drive inhibition 1 2 3 CCWL CCW drive inhibition 4 5 TCCW CCW torque limitation 6 TCW CW torque limitation 15 EMG Emergency stop 18 GEARI Electronic gear switching 1 19 GEAR2 Electronic gear switching 2 20 CLR Clear position deviation 21 INH Pulse input inhibition 5 3 DO function table Ordinal Symbol DO Function 0 OFF Always invalid 1 ON Always valid 2 RDY Servo ready 3 ALM Alarm 5 COIN Positioning complete 6 ASP Arrival speed 8 BRK Electromagnetic brake 11 TRQL Torque under limitation 58 5 4 Parameter description in detail 5 4 Parameter description in detail 5 4 1 Parameters of section 0 Default f Range Unit Usage XUE Password value 0 9999 315 ALL Classifying parameter management can guarantee the parameters cannot modify by mistake Setting this parameter as 315 can examine modify the parameters of the 0 and 1 sections For other setting only can examine but cannot modify parameters Some special operations need to set a suitable password Default i Range Unit Usage IKINE Identity code of servo driver value a z ALL This is the model of the servo driver in use now The manufacturer sets it and the user cannot modify it The meaning of this parameter are L08 TL08 L12 TL12 L16 TL16 Default 7 r Range Unit Usage XUV Identity co
7. Pt pulse rev The graduator load has iol P Electronic gear ratio M P xR Here 360 P AP For example Known the encoder line number C 2500 line the reducer gear ratio 1 3 a pulse travel equivalent AP 0 1 Calculate the electronic gear ratio Calculation step Calculate the resolution of the encoder P P 4xC 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft P P 360 360 AP 0 1 3600 Calculate the electronic gear ratio f N P 10000 30000 25 Electronic gear ratio M PxR 3600x 1 3 3600 3 Set parameters By first numerator as an example Numerator N 25 denominator M 3 set P029 25 and P030 3 42 4 2 Position control mode 3 Electronic gear is used for conveyer belt drive Conveyer belt Rolling cylinder D Reducer ratio R Servomotor Encoder resolution Pt pulse rev The conveyer belt load has Electronic gear TAR P M PxR Here pose AP For example Known the encoder line number C 2500 line the reducer gear ratio 1 10 the rolling cylinder diameter D 200mm a pulse travel equivalent AP 0 001mm Calculate the electronic gear ratio Calculation step Calculate the resolution of the encoder P P 4x C 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft P aD _ 3 14x200 62800 AP 001 Ca
8. Not Used Do not connect Not Used Do not connect Not Used Do not connect Not Used Do not connect Z Signal Input Z Z Signal Input Z B Signal Input B B Signal Input B A Signal Input A A Signal Input A Servo Drive X2 Connector Standard Encoder 6 ie 1 oO O 11 7 O 2 oO O 2 8 O 3 oO O 3 9 O 4to of 10 O Sto of eee Servo Drive X2 Connector Wireless Encoder AN Signal Input W W Signal Input W Encoder Power Supply 5V Encoder Power Ground OV Shield Protection Ground Not Used Do not connect Not Used Do not connect Encoder Power Supply 5V Encoder Power Ground OV Shield Protection Ground Connector X2 Soldering Lug Disposition 17 Chapter 2 WiringChapter 2 Wiring 2 3 2 X2 terminal signal explanation Signal name of Pin Colour of wire Functions encoder number Standard Wire saving 16core 10core notel note2 Power supply 5V 13 Red Red Red Red Use 5VDC power supply White White provided by servo driver If ov 14 Black Black Black Black e s longer than 20m White White in order to prevent encoder from voltage drop down it is better to use multi wire or thick wire for power line and ground line A phase input A 5 Brown Brown Connect with A phase output A 10 Brown White
9. Servo Ready RDY lt _J DO1 4 y 15 FG 4 X2 Metal Case ServoAlarm ALM lt _ po2 17 H oe La Electromagnetic DOS 5 lt 4 LJ break BRK o Unnecessary DO common DO m ports User terminal lt COM can use them x4 according to A OA 11 different needs m A x OA 23 l Encoder B OB 12 a aan signal 5 OB 24 Driver outputs z OZ 13 s 4 Z Z oz 235 l Z signal open i collector output 5 _ Z 22 Y Encoder signal 4 GND 10 ground GND Signal Ground 7 100 ajojn z lt 4 Cores Power Connector Optical Encoder Hat 15 Cores H Connector Note The DI terminals can not use as usual The DO terminals have Multi functions programmed by software the default settings shown in picture can use for common purposes User can modify it according to different needs Edition antecedents Edition number Published time Modify content First edition June 2009 Maxsine Electric Co Ltd 430223 East 3 F Building 6 Jingiao Industry Garden No 3 Zangliu Rd Minzu Av Donghu Technical Development Zone Wuhan Hubei PR China Tel 86 27 87921284 87922796 Fax 86 27 87921280 www maxsine com June 2009 Published Forbid strictly reprint and copy
10. 15 10 Current lt 0 6A Brake torque gt 12Nm Inertia 1 67x10 kg m Rated torque Nm 4 5 6 Weil 10 15 A mm no brake 163 171 181 195 219 267 A mm with brake 205 213 223 237 261 309 B mm 80 89 98 112 136 184 97 Chapter 7 Specifications 7 7 4 Parameters of 150 series servo motor Type Rated current A Rotor inertia Kg m Weight kg Line numbers of encoder Pole pair number Insulation class IP rating Brake 150ST M15025 150ST M18020 150ST M23020 z 2500 2000 2000 6 15x10 6 33x10 8 94x10 2500 line pr 4 pair Class B IP65 Voltage 100VDC 15 10 Current lt 0 4A Brake torque gt 30Nm Inertia 6x10 kg m 1 30 tos 150ST M27020 I9 27 2000 26 0 11 19x10 23 7 Rated torque Nm 15 18 23 27 A mm no brake 231 250 280 306 A mm with brake 293 312 342 368 B mm 146 166 196 222 98 Appendix A Model for SIEMENS CNC system Because of the special interface of the SIEMENS 801 802S and 802C CNC system A special type is provided for SIEMENS CNC system and the Driver s suffix is S8 The hardware is different between the professional model and the standard model so it can not replace each other Attention should be paid when ordering Instead of standard DI interface the special type servo driver have
11. Chapter 2 WiringChapter 2 Wiring 4 Line driver outputs of the encoder signals C5 The signal divided from the encoder signal is transferred to the host controller through the line driver C5 1 Long line receiver C5 2 Photo coupler receiver 26LS32 Servo Drive Servo Drive Equivalent chip High Speed Ip 26LS31 26831 Photo coupler APRS Must connect both side grounds On the host controller uses AM26LS32 or On host controller use high speed photo equivalent to make the receiver must coupler e g 6N137 Current limiting resistor connect the terminal resistance the value is is about 220Q 220Q 470Q Encoder signal GND of servo driver must connect with the ground terminal on host controller 5 Open collector output of encoder Z signal C6 The Z signal of the encoder is transferred to the host controller through the open collector circuit Because the width of the Z pulse is narrow please use a high speed photo coupler to receive it C6 Open collector output of encoder Z signal wee Servo Drive High Speed Photo coupler Max output 50mA 30V 30V is the maximum voltage of external power supply 50mA is the maximum current output 14 2 2 4 Digital input definition 2 2 X1 terminals for control signals Every digital input interface is programmable it can act different function by setting the corresponding paramete
12. Chapter 7 Specifications 7 1 Types of servo driver Symbol Main circuit power supply wf 7 2 Dimensions of servo driver 185 173 Empty Product standard specification s8 Special specification for Siemens numerical control system XX Custom made specification indicated by two characters o p ee Symbol Optional specification a oG Ci lero felletietrete J eee lt GEEKS TLO8F TLI2F TL16F Dimension mm w 75 93 100 89 Chapter 7 Specifications 7 3 Specifications of servo driver Type TLO8F TL12F TLI6F Power supply Three phase AC220V 15 10 50 60Hz Enviro Temperature Operation 0 40 C Storage 40 50 C nment Humidity Operation 40 80 non condensing Storage 93 or less non condensing IP rating IP20 Control of main circuit SVPWM control Regeneration Built in Feedback type 2500 ppr incremental encoder 2500ppr wire saving encoder 10000 resolution Control modes Position Digital inputs Five programmable input terminals optical isolation Functions are Servo ON Alarm clear CCW over travel inhibition CW over travel inhibition CCW torque limit CW torque limit Emergency stop Electroni
13. W correspondently Speed overshoot Check the operation status and the parameters Adjust servo gain to reduce the overshoot In speed control mode can increase acceleration deceleration time Encoder wiring error Check the encoder wiring Correct wiring Err 2 Main circuit over voltage Potential cause Check Handle The voltage of input AC power Check the voltage of power supply is too high supply Use correct power supply according with the specifications Regeneration fault Regenerative resistor and or IGBT damaged Connection circuit is open Repair Regeneration energy too large Check the regeneration load factor Slow down the starting and stopping frequency Increasing acceleration deceleration time setting Reduce the torque limit Reduce the load inertia Replace the servo driver and servomotor with bigger ones 81 Chapter 6 Alarm Err 4 Excess position deviation Potential cause Check Handle Servomotor U V W connection is not correct Check U V W wiring Correct U V W wiring The U V W must connect with servo driver terminal U V W correspondently Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the zero point The encoder wiring error Check the encoder wiring Correct wiring The servomotor is blocked Check the servomotor shaft
14. otherwise can cause an electric shock or fire Never connect the input power terminals L1 L2 L3 to 380V power supply otherwise can result in the servo driver damage and an electric shock or fire Do not connect the output terminals U V W to AC power supply otherwise can cause personnel casualty or fire The output terminals U V W must be connected with the servo motor connections U V W correspondently otherwise can result in the servomotor flying speed that may cause equipment damage and the personnel casualty Please fasten the input power terminals L1 L2 and L3 and the output terminals U V W Otherwise may cause fire Referring to wire selection guide please install all wires with an adequate cross section Otherwise may cause fire 3 Operations ZN CAUTION Before operating the mechanical device it is necessary to set the parameters with appropriate values Otherwise can cause the mechanical device to out of control or break down Before running the mechanical device make sure the emergency stop switch can work at any time Performing trial run without load make sure that the servomotor is in normal operation Afterwards joins again the load Please do not turn on and off the main power supply more frequently otherwise can cause the servo driver overheat 4 Running Q STOP Do not touch any moving parts of the mechanical device while the s
15. 801 802S numerical control system ccccecccecssceeseeeseeeeeeeeeeenseesteeenseees 99 Al 1 Parameters setting 60i dedicsesrehetisongeteieeharsdeesteentel vi aeieiennien denedeeetevdes 99 A1 2 SIEMENS 801 802S wiring diagram cccccceccccssceeseceenseeeneeeseesseeesseeenseeeees 100 Remarks VI Chapter 1 Product inspection and installment 1 1 Product inspection This product has made the complete function test before delivery for prevented the product to be abnormal owing to shipping process please make detail inspection as the following items after breaking the seal Inspect the types of servo driver and servomotor and ensure that are the same types in the order form Inspect the outward appearance of servo driver and servomotor to see any abrasion or damage if so please do not wire to the power supply Inspect the parts of servo driver and servomotor to see any loosen parts such as loosened or fallen off screw Rotate the servomotor shaft by hand and should be smooth rotation However the servomotor with holding brake is unable to rotate directly If there is any break down item or abnormal phenomenon mentioned above please contact with the dealer immediately 1 2 Product nameplate pi Inspections Logo and Brand Logo Product Name Date Before Delivery Product Type 3 Phase Power Supply 220V Rated Output Current Serial
16. Correct wiring Encoder cable and or connector is bad Check cable and connector Replace the cable and connector Servomotor type setting is not Check the servomotor type Set the servomotor type again correct Encoder is damaged Check the encoder Replace the encoder Err11 IGBT model fault Potential cause Check Handle Short circuit at drive output U V W Check U V W wiring Repair or replace the short circuited wiring Motor winding insulation is damaged Check the servomotor Known the servomotor to be no fault and then turn on the power supply again if the alarm still exists the servo driver may damage possibly Replace the servo driver Servo driver is damaged Check the servo driver Replace the servo driver Ground is bad Check the ground wiring Ground correctly Suffer from interference Check interference source Adds line filter Keep away interference source Err12 Over current Potential cause Check Handle Short circuit at drive output U V W Check the wiring connections between servo driver and servomotor Repair or replace the short circuited wiring Motor winding insulation is damaged Check the servomotor Replace the servomotor Servo driver is damaged Check the servo driver Known the servomotor to be no fault and then turn on the power supp
17. DC power supply is 25V the maximum output current is 50mA and the total current for three channels is not in excess of 100mA When using relay like inductive loads a free wheel diode must be connected with the inductive load in parallel If the diode connects in wrong direction can cause damage to the output circuit Owing to the low level of output is approximately 1V and cannot satisfy the TTL low level request therefore cannot directly connect with the TTL circuit C2 1 Relay C2 2 Photo coupler Relay Se rvo Drive DC5V 24V hs a Servo Drive DC5V 24V DO1 DO1 4 po2 17 Max Output 50mA Freewheel diode must be connected 12 2 2 X1 terminals for control signals 3 Position command pulse interfaces C3 There are both differential and single end connections The differential connection is recommended and the twisted pair wire is used suitably The drive current is in the range of 8 to 15mA The operation mode is set by parameter P035 Pulse Direction CCW CW pulse A phase B phase orthogonal pulse C3 1 Differential drive C3 2 Single end drive Servo Drive Servo Drive PULS 20 1100 26LS31 Equivalent chip Maximum pulse frequency is Maximum pulse frequency is 200kHz kpps 500kHz kpps Resistance value of R is recommended This connection is recommended in order to VCC R avoid interference 5V 82Q 120Q 12V 510Q 8200 24V 1 5kQ 2kQ 13
18. Function of digital input DI3 21 21 3 ALL P103 Function of digital input DI4 21 21 4 ALL P104 Function of digital input DIS 21 21 20 ALL P110 Filter of digital input DI 0 1 100 0 2 0 ms ALL P111 Filter of digital input DI2 0 1 100 0 2 0 ms ALL P112 Filter of digital input DI3 0 1 100 0 2 0 ms ALL P113 Filter of digital input DI4 0 1 100 0 2 0 ms ALL P114 Filter of digital input DIS 0 1 100 0 2 0 ms ALL P130 Function of digital output DOI ll 11 2 ALL P131 Function of digital output DO2 ll 11 3 ALL P132 Function of digital output DO3 ll 11 8 ALL P150 Range for positioning completion 0 32767 10 pulse P P151 Hysteresis for positioning completion 0 32767 5 pulse P P154 Arrival speed 5000 5000 500 r min ALL P155 Hysteresis of arrival speed 0 5000 30 r min ALL P156 Polarity of arrival speed O m 1 0 ALL P163 The way of position deviation clearing O 1 0 P Speed check point for servomotor is near i P165 0 1000 5 r min ALL standstill Delay time for electromagnetic brake P166 0 2000 0 ms ALL when servomotor is in standstill Waiting time for electromagnetic brake P167 ies f 0 2000 500 ms ALL when servomotor is in motion Action speed for electromagnetic brake P168 Pa 0 3000 100 r min ALL when servomotor is in motion 57 Chapter 5 Parameters 5 2 DI function table Ordinal Symbol DI Function 0 NULL Not have function SON Servo enable ARST Clear alarm
19. G Servo ready DO RDY Servo ON DISON Servomotor Unexcited Excited status 4 7 2 Alarm timing chart while servo ON is executed Alarm DO ALM ON normal OFF alarm Servo ready DO RDY ON OFF Servomotor Unexcited Excited status Electromagnetic brake DO BRk ON release OFF brake depend on the faster one comparing S between P167 and arrival time of P168 Motor speed r min PISS ase Or min 51 Chapter 4 Running 4 7 3 Action timing chart while servo ON OFF are executed during the servo motor is in standstill When the speed of the servomotor is lower than parameter P165 the action timing chart is lt 10ms gt Servo ON DI SON OFF ON OFF Servomotor U ited i tes status nexcite Excited nexcite l I P166 lt _ gt Electromagnetic brake DO BRK OFF brake ON release OFF brake 4 7 4 Action timing chart while servo ON OFF are executed during the servo motor is in motion When the speed of the servomotor is higher than parameter P165 the action timing chart is lt 10ms eaj gt Servo ON OFF l ON OFF DI SON Servomotor Unexcited Excited Unexcited status Electromagnetic OFF brake OFF brake brake DO BRk ON release depend on the faster one comparing between P167 and arrival time of P168 Motor speed r min soe oes Or min 52 4 8 Electromagnetic holding
20. If the load inertia ratio is set correctly G G JL JM must satisfy the following condition 1000 T ms lt 2mx2x K Hz 49 Chapter 4 Running 4 5 Over travel protections The security function of over travel protection is refers that when the movement part of the machinery just exceed the design safe range of motion the limit switch acts and forces the servomotor to stop A schematic diagram showing the over travel protection as follows Reverse Worktable Positive 5 gt Servomotor Limit switch Limit switch normal closed normal closed i Servo driver The limit switch suggested using normal closed type It is close in the safety range and it is open in over travel range The limit switch on the right connects to CCW forbid terminal CCWL and the limit switch on the left connects to CW forbid terminal CWL This security function of over travel protection can be set for use or neglect by setting the parameter P097 The limit signal must be connected for the use or do not need this signal in case of neglect The default value of P097 for CCWL and CWL is all neglects Must modify parameter P097 if needs to use Under the over travel condition use the reverse command to withdraw back from the over travel condition P097 Motion inhibition in CW Motion inhibition in CCW direction CWL direction CCWL 0 Use Use 1 Use Neglect 2 Neglect Use 3 Default Neglect
21. Neglect 4 6 Torque limitations In order to protect the machinery from over load can carry on the limit to the output torque 4 6 1 Parameters for torque limitations The parameters related to torque limit Default Parameter Name Range Unit Usage value P065 Internal torque limit in CCW direction 0 300 300 ALL P066 Internal torque limit in CW direction 300 0 300 ALL P067 External torque limit in CCW direction 0 300 100 ALL P068 External torque limit in CW direction 300 0 100 ALL P069 Torque limit in trial running 0 300 100 ALL 50 4 7 Timing chart of operation 4 7 Timing chart of operation 4 7 1 Timing chart when power supply switch on The control power supply L1C L2C turns on before or at the same time when the main power supply L1 L2 and L3 turn on If only the control power supply turn on the servo ready signal RDY is OFF After the main power supply turn on at about 1 5 seconds later the servo ready signal is on RDY from now can accept the servo enable signal SON The servo driver examines that the SON is effective and then the power circuit and the servomotor are active The servomotor is in running status If the SON is invalid or an alarm occurs power circuit shut down and the servomotor is in free running state Turn Control power supply of L1C L2C Alarm DO ALM ON Main power supply Turn off lt 1 5s Turn on L1 L2 L3
22. Rated Rated code peemaena ee torque speed power TLO8 TL12 TL16 note 1 pore Nm r min kW A081 80ST M01330L 1 3 3000 0 4 e e e A082 80ST M02430L 2 4 3000 0 75 e e A083 80ST M03330L 3 3 3000 1 0 e e A101 110ST M02030L 2 3000 0 6 e e A102 110ST M04030L 4 3000 1 2 e A103 110ST M05030L 5 3000 1 5 e A104 110ST M06020L 6 2000 1 2 e e A105 110ST M06030L 6 3000 1 6 e e A301 130ST M04025L 4 2500 1 0 e e A302 130ST M05020L 5 2000 1 0 e e A303 130ST M05025L 5 2500 1 3 e e A304 130ST M06025L 6 2500 1 5 e A305 130ST M07720L 7 7 2000 1 6 e A306 130ST M07725L 7 7 2500 2 0 e A307 130ST M07730L 7 7 3000 2 4 e A308 130ST M10015L 10 1500 1 5 e e A309 130ST M10025L 10 2500 2 6 e A310 130ST M15015L 15 1500 2 3 e A311 130ST M15025L 15 2500 3 8 A501 150ST M15025L 15 2500 3 8 A502 150ST M18020L 18 2000 3 6 A503 150ST M23020L 23 2000 47 A505 150ST M27020L 27 2000 5 5 Indicate to be able to adapt Note 1 Servomotor code for parameter P002 setting in servo driver Note 2 80ST M01330L 80ST M02430L 80ST M03330L servomotors adapts with 2500line wire saving encoder The rest of servomotor adapts with 2500line standard encoder Note 3 One servomotor can adapt more than one servo driver The higher power of servo driver can provide higher overload factor and often start stop is suitable Note 4 Use EP100 5A servo driver for non adaptive servomotors 91 Chapter 7 Specifications 7 5 Types of servo motor
23. Turn off number OFF Turn on Default 7 a Range Unit Usage Function of digital output DO2 value ll 11 3 ALL This is the function plan of digital output DO2 Refer to the explanation of parameter P130 Default 9 Range Unit Usage Function of digital output DO3 value ll 11 8 ALL This is the function plan of digital output DO3 Refer to the explanation of parameter P130 Default 3 sees a Range Unit Usage Range for positioning completion value 0 32767 10 Pulse P Set the pulse range for positioning completion under the position control mode When the pulse number in the position deviation counter is smaller than or equal to this setting value the digital output DO COIN is ON positioning completion otherwise is OFF The comparator has hysteretic function set by parameter P151 P151 completion Hysteresis for positioning Default Range Unit Usage value 0 32767 5 Pulse P Refer to the explanation of parameter P150 72 5 4 Parameter description in detail Default P Range Unit Usage JELES Arrival speed value 5000 5000 500 r min ALL When the servomotor speed surpasses this parameter the digital output DO ASP speed arrives is ON otherwise is OFF The comparator has hysteretic function set by parameter P155 Has the polarity setting function
24. and its mechanical connection Repair The command pulse frequency is too high Check input frequency and the parameter of division multiplication Slow down the input frequency Adjust the parameter of division multiplication The gain of position loop is too small Check the parameters P009 Increasing the gain of position loop The excess position deviation range is too small Check the parameter P079 Increasing the value of parameter P079 Torque is not enough big Check torque Increase the torque limit Increase smooth filtering time for position command Reduce load Replace the servo driver and servomotor with bigger ones Err 7 Drive inhibition abnormal Potential cause Check Handle The CCWL and or CWL over travel inhibition is invalid when servo is on Check CCWL CWL wiring Correct input CCWL CWL signal Ifnot use CCWL CWL signal can shield it by setting parameter P097 Err 8 Overflow of position deviation counter Potential cause Check Handle The servomotor is blocked Check the servomotor shaft and its mechanical connection Repair The command pulse is abnormal Check command pulse 82 Err 9 Encoder signal fault 6 2 The reason and handling of alarm Potential cause Check Handle Encoder wiring error Check the encoder wiring
25. brake 4 8 Electromagnetic holding brake The electromagnetic brake holding brake lost power brake is used in locking the vertical or the inclined worktable of machine tool which connected with the servomotor When the power supply lost or SON is OFF prevent the worktable from fall and break Realizes this function must select and purchase the servomotor with electromagnetic brake The brake only can use for holding the worktable and cannot use for decelerating and or stopping machine movement 4 8 1 Parameters of electromagnetic holding brake The parameters related to the electromagnetic brake Para Default F Name Range Unit Usage meter value P165 Speed check point for servomotor is near standstill 0 1000 5 r min ALL Delay time for electromagnetic brake when P166 0 2000 0 ms ALL servomotor is in standstill Waiting time for electromagnetic brake when P167 0 2000 500 ms ALL servomotor is in motion Action speed for electromagnetic brake when P168 0 3000 100 r min ALL servomotor is in motion 4 8 2 Make use of electromagnetic holding brake The chart below is the brake wiring diagram the brake release signal BRK of the servo driver connect to the relay coil the contact of relay connect brake coil and DC supply The brake power supply has enough capacity provided by the user Suggested installs the surge absorber to suppress surge voltage caused by switching off the relay Th
26. current leakage therefore should install an insulating transformer in the input terminals of power supply 1 4 2 The method of installation In order to get good cooling the servo driver should normally mount in vertical direction with the topside upward For installing the servo driver fasten the backboard of the servo driver with M5 screw bolt Reserve enough space around the servo drivers as shown in the reference diagram In order to guarantee the performance of the servo driver and the lifetime please make the space as full as possible To provide vertical wind to the heat sink of the servo driver should install ventilating fans in the control cubicle Prevent the dust or the iron filings entering the servo driver when install the control cubicle Chapter 1 Product inspection and installment a se ee eee Y 7 aa a Y MMMM MMe 1 5 Servo motor installation 1 5 1 The environmental conditions for installation Ambient temperature 0 to 40 C Ambient humidity less than 80 no dew Storage temperature 40 to 50 C Storage humidity less than 93 no dew Vibration less than 0 5G Install the servomotor in well ventilated place with less moisture and a few dusts Install the servomotor in a place without corrosive liquid flammable gas oil va
27. i t f1 haft Command pulse number in one turn of load shaft Pc ovement quantity m one turm of l ad sha Movement quantity in one command pulse The calculated result will be abbreviated and make the numerator and the denominator smaller or equal to 32767 integer values At last the result must be in the range of 1 50 lt N M lt 200 and write to the parameter list 40 4 2 Position control mode 1 Electronic gear is used for ball screw drive lathe bench een ene i Ball screw Pitch mm PIVOROIOK Reducer ratio R Encoder resolution Pt pulse rev The ball bearing screw load has Electronic gear nod fi M P xR Here P Pitch AP For example Known the encoder line number C 2500 line the reducer gear ratio 1 1 pitches Pitch 8mm a pulse travel equivalent AP 0 001mm Calculate the electronic gear ratio Calculation step Calculate the resolution of the encoder P P 4x C 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft ball screw Pe _ Pitch 8mm AP 0 001mm Calculate the electronic gear ratio 8000 saN P 10000 5 Electronic gear ratio M P xR_ 8000x 1 1 4 Set parameters By first numerator as an example Numerator N 5 denominator M 4 set P029 5 and P030 4 41 Chapter 4 Running 2 Electronic gear is used for graduator drive Graduator Reducer ratio R Servomotor Encoder resolution
28. in Standstill cercessse sect a techies ER AEO OR EE E 52 4 7 4 Action timing chart while servo ON OFF are executed during the servo motor is in TMOULOM ssh EA E E E 52 4 8 Electromagnetic holding brake 0 ccceccecssseesseeeseeeeeceeeeeeeeeseecssaeeeeseeeeeeesseeneeensaees 53 4 8 1 Parameters of electromagnetic holding brake ccc ecsccecsseeesseceeneeeeeeesteeesseees 53 4 8 2 Make use of electromagnetic holding brake ccccecssccssseeeeseeeeneeeeteeenseeeeseees 53 Chapter 5 Parameters y i i ic E ARS 55 Sel Parameter bleya a a A a a AA Ai 55 Sk TRarametersof socion Ve sonno Naa A S A R 55 Sa Patamettrs of SECHOM liren TAERE ARER EANA RRE E ARANE 57 5 2 DI fonction table srein nein nE EA EEEE EO EENE 58 IV 5 3 DO function table oc a s aA e iaaa a iaoi Eaa 58 5 4 Parameter description ind tailscsreerri nreno arrani t r 59 SAd Parameters OF SECHOM Unnar an A nE ATANAN N 59 5 4 2 Parameters Of Section oo eee eeeescesseeseeesteeseeeceeceeseeeeeescesseeceeceeeeeeeeeseeeeeenes 70 5 5 DI function description in detail ce eccccecssceesecsseeeseeeeeneeeseeceseeessseeeeeeeseeeeseeeseeeenes 75 5 6 DO function description in detail cc cecccccesscesssceeseeesseeeeeeceseeseseeeseeenseeesseeesseeseeeeeaes 78 gf 0 el ogy 2 to 9 eee ne eC Pe N E 79 6 1 Alarm table eiieeii treninin iien ie EEA ERE AEE AEE 79 6 2 The reason and handling of alarm ccc ecssccesseeeseeeeeeeeeeeseeceseecesceeeeecesseeee
29. increase the parameter value The parameters needs to preserve firstly and then turn off and on the power supply Default Input filter mode of command Range Unit Usage value pulse 0 1 0 P The meanings of this parameter are 0 Filter the input signal PULS and SIGN numerically 1 Filter the input signal PULS only and not filter the SIGN signal The parameters needs to preserve firstly and then turn off and on the power supply 64 5 4 Parameter description in detail Default Time constant of exponential form Range Unit Usage value filter for position command 0 1000 0 ms P Carries on the smooth filter to the command pulse and has the exponential form acceleration deceleration The filter cannot lose the input pulse but can delay the command pulse When the setting value is zero the filter does not have any effect This filter uses in some cases 1 The host controller has no acceleration deceleration function 2 The electronic gear ratio is quite big N M gt 10 3 The command frequency is lower 4 When the servomotor is in motion appears step by steps or unstable phenomenon Command pulse frequency 0 gt time Command frequency after filtering 0 gt time ae Default F Acceleration time of speed Range Unit Usage value command 0 30000 0 Ms S Set the acceleration time for the servomotor f
30. input DI2 value 0 1 100 0 2 0 ms ALL This is the time constant of DI2 input digital filter Refer to the explanation of parameter P110 Default z EE Range Unit Usage Filter of digital input DI3 value 0 1 100 0 2 0 ms ALL This is the time constant of DI3 input digital filter Refer to the explanation of parameter P110 Default f event Range Unit Usage Filter of digital input DI4 value 0 1 100 0 2 0 ms ALL This is the time constant of DI4 input digital filter Refer to the explanation of parameter P110 Default ee Range Unit Usage Filter of digital input DIS value 0 1 100 0 2 0 ms ALL This is the time constant of DIS input digital filter Refer to the explanation of parameter P110 71 Chapter 5 Parameters P130 Function of digital output DO1 Default Range Unit Usage value ll 11 2 ALL The function plan of digital output DO1 The absolute value of the parameter expresses functions the symbol expresses the logic Refer to the 5 6 sections for the functions 0 is forcing OFF 1 is forcing ON The symbol indicates the output logic the positive number expresses the positive logic and the negative number expresses the negative logic P131 P132 P150 Parameter Function DO output signal value Positive ON Turn on number OFF Turn off Negative ON
31. r min ALL 74 Refer to the explanation of parameter P167 5 5 DI function description in detail 5 5 DI function description in detail Ordinal Symbol Function Function explanation Not have os 0 NULL The input condition does not have any influence to the system function i ON Servo OFF servo driver does not enable servomotor does not excite enable ON servo driver has enabled servomotor has excited When an alarm occurs and the alarm has permission to clear then the rising 2 ARST Clearalarm edge from OFF becomes ON of input signal ARST will clear the alarm Attention only a part of alarm can have the permission to clear OFF Inhibit CCW running ON Enable CCW running Uses this function for protection of the mechanical traveling limit the function is controlled by the parameter P097 Pays attention to that the P097 default value neglects this function therefore needs to modify P097 if needs to use this function P097 Explanation CCW drive 3 CCWL 0 Use CCW prohibition function and must inhibition 2 connect the normally closed contact of the limit switch 1 Neglect CCW prohibition function this signal 3 Default does not have any influence to CCW movement of the servomotor and therefore does not need the CCWL wiring 75 Chapter 5 Parameters Ordinal Sy
32. vertical segment to be OFF Digital input DIS DI4 DI3 DI2 DI1 status ON OFF ON ON OFF ON upper vertical segment is lit OFF bottom vertical segment is lit 7 Output terminals DO note7 A vertical segment of LED shows an output status The lit top vertical segment shows the DO output to be ON and the lit bottom vertical segment to be OFF Digital output DO3 DO2 DOI status OFF ON ON AL ON upper vertical segment is lit OFF bottom vertical segment is lit 8 Input signals from encoder note8 A vertical segment of LED shows an input status The lit top vertical segment shows a HIGH level signal and the lit bottom vertical segment a LOW level signal Encoder input uU V W A B Z status 0 1 0 1 0 0 High level 1 upper vertical segment is lit Low level 0 bottom vertical segment is lit 25 Chapter 3 Front panel operation 9 Absolute position of rotor note9 The rotor position is relative to the stator in one revolution per cycle Use the encoder pulse unit and take the encoder Z pulse as the zero point Take a 2500 lines encoder as the example The position of the rotor is in the range of 0 9999 and is zero when Z pulse appears 10 Control mode note10 The first three characters show the control mode the final character shows gain group PoS Position control m
33. wiring diagram is as below Servomotor Servo drive po 9 Three phase on AC 220V mo QF DC 12 24V Servo ON SON CCW drive inhibition CCWL CW drive inhibition D4 Servo ready RDY lt _ _ D011 DO common terminal lt 5 com Position command CG PULS PULS POS Position command SIGN Z signal open collector output Encoder signal ground GND The parameter setting for the example Parameter Name Setting Default Parameter explanation value value P004 Control mode 0 0 Set position control P097 Neglect inhibition of 0 3 Use CCW inhibition CCWL and CW servo driver inhibition CWL If neglect did not connect CCWL CWL P100 Digital input DI function 1 1 Set DI1 for servo enable SON P130 Digital output DO1 1 1 Set DO1 for servo is ready RDY function 36 4 2 Position control mode 4 2 2 Position commands 1 Parameters related to position command Param Default Name Range Unit Usage eter value P029 1 numerator of electronic gear 1 32767 l P Denominator numerator of electronic P030 1 32767 1 P gear P031 2 numerator of electronic gear 1 32767 l P P032 3 numerator of electronic gear 1 32767 1 P P033 4 nume
34. Brown White of encoder B phase input B Yellow Yellow Connect with B phase output B 9 Yellow Yellow of encoder White White Z phase input Z 3 Green Green Connect with Z phase output Z 8 Green White Green White of encoder U phase input U 2 Purple Connect with U phase output U 7 Purple of encoder White Not connect for wire saving V phase input V 1 Blue Connect with V phase output V 6 Blue White of encoder Not connect for wire saving W phase input W 12 Orange Connect with W phase W 11 Orange output of encoder White Not connect for wire saving Shield ground FG 15 Bare wire Bare wire Connect with cable shield wire Note The optional extras provided by maxsine 1 16 core cable for the type of 16FMB15 2 10 core cable for the type of 10FBM15X for using in the 80 frame of servomotor and of 1OFBM15 for 18 using in the 110 and above frame of servomotor 2 4 Standard wiring diagram 2 4 Standard wiring diagram 2 4 1 Wiring diagram for position control Huada Maxsine Servomotor EP1 Servo Drive A h L 3 Phase O i L2 TLO8F TL12F TL16F U U 2 AC 220V i i v 3 L3 y QF KM w wl 4 L1C r L2C 4 Cores Power x1 X2 Connector DC com 1 K 12 24V 2O 13 5V i 2 P 14 ov i 3 Servo On SON DI1 14 l z 5 A 4 Alarm Clear ARST DI2 2 z 10 A 7 CCW Drive Inhibition CCWL DI3 15 a 4 B ami 5 CW Drive Inhibition CWL DI 4 3 i 2 9 B 8 Position
35. CW inhibition CWL P098 Forced enable 1 or O 0 Set 1 for forced enable Set 0 for external enable P100 Digital input DI function 1 1 Set DI1 for servo enable SON 3 Operation Confirming that there is no alarm and any unusual situation turn indicating LED lit and the servomotor is active at zero speed on the servo enable SON the RUN Choose the JOG running R Job in the auxiliary function Pressing the fn button enters the JOG running mode The numerical value is the speed command provided by P076 parameter and the unit is r min Pressing down and hold the a button the servomotor will rotate in counterclockwise direction with the JOG speed Loosen the pressed button the servomotor stops and keeps zero speed Alternatively pressing down and hold the E2 button the servomotor will rotate in clockwise direction with the JOG speed iy 34 omy _ D _ ama 4 1 Trial running with no load 4 1 3 Trial running in speed adjustment mode with keyboard 1 Turn on power supply Turn on the control power supply while the main power supply temporarily turned off The front panel display is lit If any error appears please inspect the wirings Then turn on the main power supply the POWER indicating LED is lit 2 Parameter setting Set parameters according to the following table Parameter Name Setting Default Parameter explanation value valu
36. Deviation Clear CLR 4 DI5 16 15 Cores i 26Ls32 3 Z ma 6 Optical x1 Receiver g Z H 9 Encoder 1 Encoder Signal Ground lt _ GND 10 i Signal Ground FG X1 Metal Case 1 Servo Ready RDY lt Do1 4 P 2 u i 10 Connector i 7 U 13 Servo Alarm ALM Do2 17 gt a meta 7 j 6 v pa EIK 14 Electromagnetic Brake BRK r DO3 5 z 12 w 12 i i DO 15 FG 1 DO Common Terminal com 18 Eta X2 Metal L Case it x1 PULS 20 1e 1 Position Command PULS Pot z Pus URE gt i SIGN 19 110p Position Command SIGN tot z gt 1 sien 6 HE i Note A feet oar Ai The DI and DO terminals it 7 have Multi functions K t OA 23 i See las programmed by Encoder Tt B 261831 software Their default Signal rt OB 24 Driver i i i Outputs ae settings shown in picture z OZ 13 can use for common tae Z z i oz 25 purposes User can Z Signal Open collector ge cz 22 modify it according to Output i different needs 19 Chapter 2 WiringChapter 2 Wiring Remarks 20 Chapter 3 Front panel operation 3 1 Explanation of the front panel of servo driver 3 1 1 Front panel compositions The front panel consists of the display 5 digit 7 segment LED and four switching buttons a vy and E It displays monitor status parameters and changes the parameter setting value and so on The main menu
37. Maxsine EP AC SERVO User Manual Frist edition Servo Drive TLO8F TL12F TL16F Maxsine Electric Co Ltd DECLARATION Wuhan Maxsine electric technology limited company all rights reserved Without this company s written permission forbid strictly the reprint either the part or the complete content of this handbook Because improves and so on the reasons the product specification or dimension has the change not separate informs even slightly Safety Precautions In order to use this product safely the user should be familiar with and observes the following important items before proceeding with storage installation wiring operation inspection or maintenance for the product AN DANGER Indicates a disoperation possibly can cause danger and physical injure or death Indicates a disoperation possibly can cause danger and physical injure and may N CAUTION result in damage to the product O ST OP Indicates a prohibited actions otherwise can cause damage malfunction to the product 1 Service conditions N DANGER Do not expose the product in moisture caustic gas and ignitable gas situation Otherwise can cause an electric shock or fire Do not use the product in direct sunlight dust salinity and metal powder places Do not use the product in the places that has water oil and drugs drops 2 Wiring N DANGER Connect the earth terminal PE to earth reliably
38. Number IN02 EP1 AC Servo Made in China HE REMAMRNAS Model TLO8F QC Caution Read manual before installing 3 AC220V 50 60Hz i it Input _ 2 ac220v 50 6oHe pa SSED HASARA MATAAS upu asa sce We MURAR HRAN WARNING Turn off power and wait 5 min before MAE0002 falo c a servicing or cause electric shock i ie Sete Maxsine Electric Co Ltd WR BIR Make proper ground connections M1 O00 00 1 Ereng TI32LMAE0002 Product ID Warning Logo Chapter 1 Product inspection and installment 1 3 Product front panel 5 Digit Display LED 2 LED Lamps Pow Run 4 Operation Buttons Mounting Hole Display And Operation Buttons Open the cover for operating And Output Signals a Connector X3 For Main Power Input RS232 Or CANb C r us Terminals L1 L2 L3 Ee Option alm Control Power Input do Nameplate And Terminals L1C L2C led oa Warning Logo Z Right side i gnt Sige Servomotor u0 2s H o o Connection terminals rv oo o3 o U V w wo Connector X1 For Input 28 o o External Regenerative Resistor Terminals Option Connector X2 For Servomotor Encoder 00000 00000 00000 Ground Terminals 1 3 Product front panel 1 4 Servo driver installation 1 4 1 The environmental condition
39. Numerator of electronic gear N 0 0 1 numerator parameterP029 Electronic 0 1 2 numerator parameterP03 1 19 GEAR2 gear 1 0 3m numerator parameterP032 switching 2 1 1 4 numerator parameterP033 Note 0 indicates OFF 1 indicates ON 76 5 5 DI function description in detail Ordinal Symbol Function Function explanation Eliminates the position deviation counter The elimination mode is selected Clear by the parameter P163 The elimination of position deviation occurs in the 20 CLR position moment deviation P163 0 CLR ON Level P163 1 CLR Rising edge from OFF become ON si Ki Pulse input OFF Permits position command pulse to go through inhibition ON Position command pulse is inhibited TI Chapter 5 Parameters 5 6 DO function description in detail Ordinal Symbol Function Function explanation 0 OFF Always invalid Forced output OFF 1 ON Always valid Forced output ON OFF Servo main power supply is off Or alarm occurs 2 RDY Servo ready ON Servo main power supply is normal no alarm occurs OFF Alarm occurs 3 ALM Alarm ON No alarm occurs ee In position control mode Positioning 5 COIN OFF Position deviation is bigger than parameter P150 complete ON Position deviation is smaller than parameter P150 OFF Servomotor speed is lower than parameter P154 6 ASP Arrival speed ON Servomotor speed is higher th
40. O 1 0 P P037 Input signal logic of command pulse 0 3 0 P P038 input signal filter of command pulse 0 21 7 P P039 Input filter mode of command pulse 0O 1 0 P Time constant of exponential form filter P040 0 1000 0 ms P for position command P060 Acceleration time of speed command 0 30000 0 ms S P061 Deceleration time of speed command 0 30000 0 ms S P065 Internal torque limit in CCW direction 0 300 300 ALL P066 Internal torque limit in CW direction 300 0 300 ALL P067 External torque limit in CCW direction 0 300 100 ALL P068 External torque limit in CW direction 300 0 100 ALL P069 Torque limit in trial running 0 300 100 ALL Alarm level of torque overload in CCW P070 0 300 300 ALL direction Alarm level of torque overload in CW P071 AON 300 0 300 ALL direction P072 Detection time for torque overload alarm 0 10000 0 10ms ALL P075 Maximum speed limit 0 5000 3500 r min ALL P076 JOG running speed 0 5000 100 r min S P080 Position deviation limit 0 00 327 67 4 00 Circle P P096 Items of initial display 0 22 0 ALL P097 Neglect inhibition of servo driver 0 3 3 ALL P098 Forced enable 0 1 0 ALL 56 5 1 Parameter table 5 1 2 Parameters of section 1 Param Default F Name Range Unit Usage eter value P100 Function of digital input DI1 21 21 1 ALL P101 Function of digital input DI2 21 21 2 ALL P102
41. SIEMENS CNC system adapter The DI function can not be used as usual but enable input and DII input are multiplexing the parameter P100 must be set to 1 SON Other interfaces including DO function analog input encoder signal output can be used regularly A1 SIEMENS 801 802S CNC system A1 1 Parameters setting The parameter setting for the example parameter Name Setting Default Parameter explanation value value P004 Control mode 0 0 Set position control P097 Neglect inhibition of 3 3 Neglect CCW inhibition CCWL and CW servo driver inhibition CWL P039 Filter mode of input 1 0 Close the numeral filters for the input command pulse signal SIGN Request by the SIEMENS sequence P100 Digital input DI function 1 l Set DII for servo enable SON enable input and DI input are multiplexing 99 Appendix A Model for SIEMENS CNC system A1 2 SIEMENS 801 802S wiring diagram EP1 Servo Driver Three phase TLO8F S8 Star Series Servomotor AC 220V TL12F S8 TL16F S8 Professional model for SIEMENS External DC Power Connect to the number 3 terminal on the X20 BERO1 e port of 801 or 802S Enable 10 A Enable 4 B Puls 9 B 801 or 802S_ I al z Puls signal cables 26L832 k Receiver l Signal 8 Zz l Signal 2 U l 7 U 1 V 6 V 12 W 11 W
42. alue users may need to modify Param Default j Name Range Unit Usage eter value P130 Function of digital output DO1 ll 11 2 ALL P131 Function of digital output DO2 ll 11 3 ALL P132 Function of digital output DO3 ll 11 8 ALL The absolute value of the parameter expresses functions the symbolic expresses the logic 0 is forcing OFF 1 is forcing ON The symbol indicates the output logic the positive number expresses the positive logic and the negative number expresses the negative logic Parameter Function DO output signal value Positive ON Turn on number OFF Turn off Negative ON Turn off number OFF Turn on DO function table Ordinal Symbol DO Function 0 OFF Always invalid l ON Always valid 2 RDY Servo ready 3 ALM Alarm 5 COIN Positioning complete 6 ASP Arrival speed 8 BRK Electromagnetic brake 11 TRQL Torque under limitation 16 2 3 X2 encoder signal terminals 2 3 1 X2 terminal connector 2 3 X2 encoder signal terminals The encoder signal connector X2 connects with the servomotor encoder A three row of DB15 plugs the VGA plug is used The contour and pin disposition charts are N Signal Input V V Signal Input V IU Signal Input U U Signal Input U Z Signal Input Z Z Signal Input Z B Signal Input B B Signal Input B A Signal Input A A Signal Input A
43. an parameter P154 Can set polarity function refers to the explanation of parameter P154 5 BRE Electromagnetic OFF Electromagnetic brake applies the brake brake ON Electromagnetic brake releases the brake OFF Servomotor torque has not reached the limit value Torque under 11 TRQL ON Servomotor torque has reached the limit value limitation Torque limitation is set by parameter P064 78 Chapter 6 Alarm 6 1 Alarm table Alarm Alarm Alarm Alarm code name content clear Err No alarm occurs Normal operation Err 1 Over speed Servomotor speed exceeds the speed limit No Err 2 Over voltage of the main The voltage of the main power supply No power supply exceeds the specified value Err 4 Position deviation exceeds The counter of position deviation exceeds Can the limit value the setting limit value Err 7 Drive inhibition abnormal CCWL CWL the inputs of drive inhibition Can are not effective Err 8 Overflow of position The absolute value of position deviation Can deviation counter counter exceeds 2 Err 9 Encoder signal fault Lack of the signals of encoder No Errl1 Power model fault Power model fault occurs No Errl2 Over current Over current of servomotor No Err13 Overload Overload of servomotor No Errl4 Overload of brake peak Instantaneous load is too big in short brake No power time Errl5 En
44. anation of parameter P070 and P071 The torque overload can be shielded if the setting value is zero Default f mp Range Unit Usage ieee Maximum speed limit value 0 5000 3500 r min ALL Set the permission highest speed of servomotor The limit is effective in both CCW and CW direction Ifthe setting value surpasses the system permission the maximum speed the actual speed also can limit in the maximum speed 67 Chapter 5 Parameters P076 Default Range Unit Usage JOG running speed value 0 5000 100 r min S Set the running speed for JOG operation Default j ae pm Set Range Unit Usage Position deviation limit value 0 00 327 67 4 00 circle P Set the position deviation range for alarm when the deviation exceeds this parameter Under position control mode when the counting value of position deviation counter exceeds the pulses corresponding to this parameter value the servo driver gives the position deviation alarm Err 4 The unit is one circle Multiplying the resolution of encoder with the value of this parameter can obtain the total pulse number For example the encoder has 2500 lines and the resolution of encoder is 10000 If the parameter value is 4 00 then corresponds to 40000 pulses Items of initial display Default Range Unit Usage value 0 22 0 ALL Set the display status on the front
45. ance suppressions When the mechanical system has the resonance effect it is possibly created by higher rigidity of the servo system and quicker response It may improve if reduce the gain The servo driver provides the low pass filter Under unchanging the gain by using filters can achieve the effect of resonance suppression The parameters related to Resonating suppression as follows Para Default Name Range Unit Usage meter value P007 Time constant of filter for torque 0 10 50 00 2 50 ms ALL The low pass filter is active by default The parameter P007 is used to setting the time constant of torque filter The low pass filter has the very good weaken effect on high frequency and can suppress high frequency resonance and noise For example the machinery with ball bearing screw sometimes can have high frequency resonance if increasing the gain Using low pass filter can get better effect but the system response bandwidth and the phase allowance also reduced the system may become unstable When the high frequency vibration caused by the servo driver adjust the filter time constant Tf of torque possibly can eliminate the vibration The smaller the value the better control response achieves but it is limited by mechanical condition The bigger the value the better suppressing effect achieves on high frequency vibration but the phase allowance reduces and can cause the oscillation if the value is too big
46. c gear select 1 Electronic gear select 2 Position deviation clear Pulse input inhibition Digital outputs Three programmable output terminals optical isolation Functions are Servo ready Servo alarm Positioning complete At speed reached Electromagnetic brake release Torque in limit Encoder signal outputs Signal type A B Z Differential output line driver Z signal open collector output Input frequency Differential input lt 500kHz kpps Single end input lt 200kHz kpps Command modes Pulse Direction CCW pulse CW pulse A phase B phase orthogonal Electronic gear Position ratio 1 32767 1 32767 Monitor function Speed current position position deviation motor torque motor current command pulse frequency etc Protection function Over speed over voltage over current over load regeneration abnormal encoder signal abnormal excess position deviation etc Frequency response of speed gt 300Hz Fluctuation of speed lt 0 03 load 0 100 lt 0 02 power supply 15 10 Characteristic Speed control range 1 5000 90 7 4 Adaptive table for servo motor selections 7 4 Adaptive table for servo motor selections Servomotor Adaptable servo driver parameters note3 note4 Servomotor ID Rated
47. ccurs then decrease the gain a bit 4 Under no vibration and unusual sound decrease the integral time constant of speed loop if vibration occurs then increase the time constant a bit 5 Because the mechanical system may have resonating factors and is unable to adjust for a bigger gain then the desired response cannot obtain Now adjust the filter time constant parameter P007 of torque and then carry on above steps again enhancing responsiveness Gain adjustment procedure for position control loop 1 Set the load inertia ratio 2 Set integral time constant of the speed loop with a relatively great value 3 Under no vibration and unusual sound increase the gain of the speed loop if vibration occurs then decrease the gain a bit 4 Under no vibration and unusual sound decrease the integral time constant of speed loop if vibration occurs then increase the time constant a bit 5 Increase the gain of position loop if vibration occurs then decreases the gain a bit 6 Because the mechanical system may have resonating factors and is unable to adjust for a bigger gain then the desired response cannot obtain Now adjust the filter time constant parameter P007 of torque and then carry on above steps again enhancing responsiveness 7 If need shorter positioning time and smaller position tracking error can adjust the feed forward of the position loop Please refer to 4 2 4 section 48 4 4 Resonance suppressions 4 4 Reson
48. ck the encoder wiring Correct wiring included shield wire Ground is bad Check the ground wiring Ground correctly Suffer from interference Check interference source Keep away interference source Encoder has problem Check the line number and pole number Check the encoder Z signal Encoder damaged Replace the encoder 84 Err16 Motor over heat 6 2 The reason and handling of alarm Potential cause Check Handle Excess the rated load for continuous duty operation Check the load factor and the rise in temperature of motor Reduce load or replace the servo driver with bigger one Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the zero point Err17 Overload of brake average power Potential cause Check Handle The voltage of input AC power supply is too high Check the voltage of power supply Use correct power supply according with the specifications Regeneration energy too large Check the regeneration load factor Slow down the starting and stopping frequency Increase acceleration deceleration time setting Reduce the torque limit Decreasing the load inertia Replace the servo driver and servomotor with bigger ones Err18 IGBT model over load Potential cause Check Handle Excess the ra
49. coder counter error Encoder counter is abnormal No Errl6 Over heat of servomotor The heat load of servomotor exceeds the No setting value t detection Errl7 Overload of brake average Average load is too big in brake time No power Err18 Overload of power model Average output load of power model is too No big Err20 EEPROM error EEPROM error occurs when read or white No Err21 Logic circuit error Logic circuit fault outside DSP No Err23 AD conversion error Circuit or current sensor fault No Err24 Under voltage of control The LDO fault of control circuit No power supply Err29 Over torque alarm The torque of servomotor exceeds the Can setting value and lasting time 79 Chapter 6 Alarm Err30 Lost Z signal of encoder Z signal of encoder is loss No Err31 UVW signals error of The UVW Signals error or pole number No encoder does not match with the servomotor Err32 legal code of encoder UVW UVW signals are all high level or low level No signals Err33 Error signal of saving wire Has no high resistance in the timing chart No encoder when power supply turns on 80 6 2 The reason and handling of alarm 6 2 The reason and handling of alarm Err 1 Over speed Potential cause Check Handle Servomotor U V W Check U V W wiring connection is not correct Correct U V W wiring The U V W must connect with servo driver terminal U V
50. cseeseeeaeens 1 1 1 Product 1S pect Om cscestees sched annan se ere tesa ih sete esate Meares a 1 12 Product nameplate rreo a cs tse eel este a as ed ae eel 1 1 3 Product front patiel c c cccves sie enie iini er EE E E E i 2 1 4 Servo driver installation eeisansigiiaiisiirissiias ikeir Ar E RA ES 3 1 4 1 The environmental conditions for installation 00sosoesoeeseeeseeeseesssesesseesseesseesee 3 142 The method of installati otis ensien a a A A veaeveeede 3 1 5 Servo motor installation ccciccsicecctecseseteedcecscevenscceevevevedevevsveredevevedevensveneresvedevedaveasveredevaves 4 1 5 1 The environmental conditions for installation ccccccssceseseceeseceeseeeseeeeseeeneeeenes 4 1 5 2 The method or mistaa inneson anseio annene anA A RENS 4 1 6 The definition of rotating direction for SeErvomotor ssssssssssssssssessrssessessessessessessessrssesee Chapter 2 WiIrING wscsiss esse heii Rae AE AE Ai ES NE DE TG 7 2 1 System construction and WITING ccccscceesscceececeeneeeeseeeseecscecesceeeesecesseeceseecsseeeeeseeeneeenaes 7 2 1 1 Servo driver wiring diagram serren E aE aaa t EE 7 24132 Wiring explanations isens a ieaac veteran en bes 8 2 1 3 Electric wire specifications sssini sirtini Enss r E ns k E EK EE ei EE ERS E eiF 8 2 1 4 Servo motor and AC power supply wiring diagrams c cccscceseseseseeeteeeeseeeeeees 9 2 1 5 Main circuit terminal explanation s seseseeseeeseeeeeeeseeesstesstssse
51. de of servomotor value ALL This is the model of the servomotor in use now The manufacturer sets it The meaning of this parameter refers to the adaptive table of servomotor See 7 4 sections When replaces by different model of servomotor it is necessary to modify this parameter The concrete operation refers to the 3 7 sections Default i Range Unit Usage P003 Software version value ALL e This is the software version number and cannot be modified 59 Chapter 5 Parameters Default Range Unit Usage Malema Control mode value 0O 1 0 ALL The meanings of this parameter are 0 Position control mode 1 Speed control mode Default Range Unit Usage athe Gain of speed loop value 1 3000 40 Hz P S This is the proportion gain of the speed regulator Increases the parameter value can make the speed response to speed up It is easy to cause the vibration and the noise when the value is too large If the P017 load inertia ratio is a correct value then the parameter value is equal to the speed response bandwidth Default Range Unit Usage em Integral time constant of speed loop value 1 0 1000 0 20 0 ms P S This is the integral time constant of the speed regulator Reduces the parameter value can reduce the speed control error and increase rigidity It is easy to cause the vibration and the noise
52. e P004 Control mode 1 0 Set speed control P025 Source of speed command 4 3 Set BUTTON source P097 Neglect inhibition of servo 3 3 Neglect CCW inhibition CCWL and CW driver inhibition CWL P098 Forced enable lor0 0 Set 1 for forced enable Set 0 for external enable P100 Digital input DI1 function 1 1 Set DI for servo enable SON 3 Operation Confirming that there is no alarm and unusual situation turn on the servo enable SON the RUN indicating LED lit and the servomotor is active at zero speed Choose the adjustable speed A Sr in the auxiliary function Pressing the fre button enters the adjustable running mode The numerical value is the speed command provided by pressing C button for increasing or yy button for decreasing and the unit is 0 1r min Following the speed command the servomotor is in rotation The rotation direction is dependent on the sign of digits The positive number indicates positive direction CCW and the negative number indicates reverse direction CW 2m A Speed command ait inc dec 35 Chapter 4 Running 4 2 Position control mode The position control applies in systems that need to locate precisely such as numerical control machine tool textile machinery and so on The position command is a pulse serial coming from the input terminals PULS PULS SIGN and SIGN 4 2 1 Simple example for position control mode This is a simple example of positioning control The
53. e l Use Neglect 2 Neglect Use 3 Neglect Neglect Use When input signal is ON the servomotor can move to this direction When OFF the servomotor cannot move to this direction Neglect The servomotor can move to this direction and the prohibition signal does not have the function therefore can disconnect this signal Default Range Unit Usage IKIPE Forced enable value 0 1 0 ALL The meanings of this parameter are 0 The enable signal SON comes from inputs by DI 1 The enable signal comes from internal software 69 Chapter 5 Parameters 5 4 2 Parameters of section 1 Default 3 a Nene Range Unit Usage ket Function of digital input DI1 value 21 21 1 ALL The function plan of digital input DI1 the absolute value of the parameter expresses functions the symbolic expresses the logic Refer to the 5 5 sections for the functions The symbolic expresses the input logic Positive number expresses positive logic and the negative number express the negative logic ON is effective OFF is invalid Parameter DI input signal DI Result Positive Turn off OFF number Turn on ON Negative Turn off ON number Turn on OFF If set the same function for many input channel the function results in logical or relations For example P100 and P101 are set by 1 the SON function then DI1 and or DI2 is ON the SON is effective The
54. e can increase decrease continuously When the parameter value is modified the decimal point on the most right sides LED is lit Press fre button to confirm the parameter value to be effective meanwhile the decimal point turns off The modified parameter value is immediately active to influence on the control action but some parameters needs to preserve firstly and then turn off and on the power supply Hereafter pressing button returns to the parameter number selection and can continue to modify a parameter If the value is not satisfied do not press the fr button and can press a button to cancel it for resuming the original parameter value The modified parameter did not preserve in EEPROM For permanent preservation please refer to the parameter writing operation in the parameter management 3 5 sections The parameter section name and the parameter name are not necessarily continual but the parameter section name and the parameter name that are not in use will be jumped over and cannot be chosen a opa Pe ad Parameter section inc dec A aig 4 y P 000 P00 Penn V A 000 P 104 P20 Parameter s t number P P 1 TFN co ar inc dec Enter lt q a Parameter value inc Parameter value 234 Vv Parameter value dec Modification confirmed 2T Chapter 3 Front panel operation 3 5 Parameter manage
55. e diode also makes the surge absorber but must pay attention to that the action of the brake has a little lagging Under the speed of the servomotor is smaller than parameter P165 if the SON becomes OFF By now the servomotor will continue to excitation for holding the position after the period set by parameter P166 removes the excitation from the servomotor Under the servomotor is in motion The speed is bigger than P165 if the SON becomes OFF by now the excitation is removed from the servomotor after delay period of time the brake becomes active During the delay time the servomotor decelerates from the high speed down to the low speed and then the brake is active to avoid damaging the brake The delay time is set by the parameter P167 or is the time that the speed of the servomotor decelerates to the speed set by parameter P168 The delay time will take the minimum value 1 l EP2 Servo driver Brake coil VDC Brake power supply 12 24V 53 Chapter 4 Running Remarks 54 Chapter 5 Parameters 5 1 Parameter table The usage item in the table indicates the suitable control mode P stands for the position control S stands for the speed control T stands for the torque control Al stands for the position speed and torque control The 6630995 5 1 1 Parameters of section 0 indicates defa
56. ecesseceeseeeseecseeeseneeesseeeseeesseeensseeeaes 21 3 1 3 Dataidisp lay entau nannan et Mas ete tee ek es Reet Wel Sea aes eh eee eee 22 E TE MON E RAAE E E E EIA A A NE II NE NE AE EI O E A 22 3 3 Status MOMIOL sc2 ceacseaceedescaecoavsoaceedeconectassedceadeconecaaedenceadesoteseddanedenceatesctesanededceadeodseatesense 23 3 4 Parameters Setting ccccecccssscceeseceeseeesseecesceceesecesseeesseecsceeseaseseeessaeeenseecseeesenseeeseeensaees 27 375 Parameter mana Cements ireset A OE EE ES 28 316 Auxilary PUN CHONS a R E A de terete es E E toute ett 29 3 6 1 Special Hunctrons cccd ceeessacdsscaeeedevesctesieceveedevavetsdaeeesiedevevstesiaedevedaviseeegsteveuydeveseees 29 3 6 2 Joo TunctiOns si 8 st otis een el A mlnauuhe mioalae ss 29 3 6 3 Speed adjustment by keyboards ccccceesccessceeseecseeeseneeeseeeseeesseeeseeeenteeeseees 30 3 6 4 Zeroing for analog quantity ec eeccccscccesceceeseceeeeeeseececeesececeseeeseeeeseeseseeensaeenes 30 3 7 Resume the parameter default values ccc ccsccccsscessecseeeeeeeeeeeesseeessceeseseeeeseenteeesseees 31 Chapter 4 RUNNING cccccccccccscescsscesscsscesceseesecsscescesscsecsscessesscsecsacesecsscssceseesscssceceseessescsaeaee 33 4 1 Trial running with no load ccc eeccccssccssseessceeeseeeeneeeeneeeeeecsaecsseeeeeseeeneeesseeeseseeseseeenaes 33 4 1 1 Wiring and inspection enie ae a a N NE N A EE AEE 33 4 1 2 Trial running in JOG mode c eee eeccccessceeseceese
57. eeded 2 1 System construction and wiring 2 1 1 Servo driver wiring diagram I l l l 3Phase AC l Transformer l l l Prevents the servo drive interfering from external noise Control Power Supply is Single Phase 3 Phase Servomotor Power Line connected To UNM Terminals DO NOT Mistake AC220V L1C L2C Main Power Supply is AC220V L1 L2 L3 Magnetic Contactor Need to install a N surge absorber Ground Terminals 4 Wires Servomotor Power Cable AC Servomotor NC System PLC or other Host Controller Servomotor Encoder Cable Chapter 2 WiringChapter 2 Wiring 2 1 2 Wiring explanations Wiring Notes According to electric wire specification use the wiring materials The control cable length should be less than 3 meters and the encoder cable length 20 meters Check that the power supply and wiring of L1 L2 L3 and L1C L2C terminals are correct Please do not connect to 380V power supply The output terminals U V W must be connected with the servo motor connections U V W correspondently otherwise the servo motor will stop or over speed However by exchanging three phase terminal cannot cause the motor to reverse this point is different from an asynchronous motor Earthed wiring must be reliable with a single point connection Pay attenti
58. eeseceeeeseeesseeceseeenseecnseessseeeseeesseees 34 4 1 3 Trial running in speed adjustment mode with keyboard ce eeeeeceeeeeeeeeeeeeees 35 4 2 Position CONtOL MOE sreesscetestaadeadeessecgeas a a AOO ONO AEA 36 4 2 1 Simple example for position control mode eee eescceessceeseeeeeeeeseeeeeeenteeenseees 36 4 2 2 Position commands sristi niione EE AEE EREA 37 4 2 3 Electronic gear for input commands ecccceccceesceeseeeeseeeeseeeeseeeeereeeeeeenseeenseees 40 4 2 4 Gains related to position control mode eeeeeesceeseceeseeeeseeeseceeeeeeeeeeeeneeenseees 45 AS Garad ns NE aan a R AAE NAN NEAN AN 46 4 3 1 Gain parameters ireen e E EE EEE EEE E KETEN EA EE NESES 46 4 3 2 Procedure for gain adjustment cceccccccssccesseceeneeeeneeeeseeeeeeenseeeeereeeseeenteeenseees 48 4 4 Resonance suppressions n sns nenas an A a E n A 49 4 5 Over travel Protections konni a a a R aea a 50 4 6 Torque limitatio s i seniii iisi ariaa E i EEE EAE E E RERS 50 4 6 1 Parameters for torque limitations ccccecccseseceeseceeneeeneecsseeenseeeseneeeseeeseeenseees 50 4 7 Timing chart of op ratioh sesere terner nre eara are enr ai e iraa 51 4 7 1 Timing chart when power supply switch on 0 ccceescceeseeeeseeeeseeeeeeeeseeenseeensees 51 4 7 2 Alarm timing chart while servo ON is executed ccccccscesssecsseeeeteeseteeeeteeeseees 51 4 7 3 Action timing chart while servo ON OFF are executed during the servo motor is
59. eleration or deceleration therefore the servomotor must be fixed Follow the wiring chart inspects the following items before turning on the power supply The wirings are correct or not In particular L1 L2 L3 wirings and U V W wirings corresponding to the servomotor U V W are correct or not The input voltage is correct or not The encoder cable connection is correct or not Servomotor Three phase yx io AC 220V DC 12 24V Servo ON SON It is not need to connect this switch if sets the parameter P098 1 EP2 Servo drive 33 Chapter 4 Running 4 1 2 Trial running in JOG mode 1 Turn on power supply Tum on the control power supply while the main power supply temporarily turned off The front panel display is lit If any error appears please inspect the wirings Then turn on the main power supply the POWER indicating LED is lit 2 Parameter setting Set parameters according to the following table Parameter Name Setting Default Parameter explanation value value P004 Control mode 1 0 Set speed control P025 Source of speed command 3 3 Set JOG source P060 Acceleration time of speed suitable 0 Decrease acceleration impact command P061 Deceleration time of speed suitable 0 Decrease deceleration impact command P076 JOG running speed 100 100 JOG speed P097 Neglect inhibition of servo 3 3 Neglect CCW inhibition CCWL driver and
60. en begins using the Sr operation 5 This is the demonstration speed command It needs to set this parameter when begins using the demonstration operation The speed command can change automatically 61 Chapter 5 Parameters Default p First numerator of electronic gear Range Unit Usage value for command pulse 1 32767 1 P Use the frequency division or multiplication for the input pulse and can conveniently match with each kind of pulse source also can achieve the pulse resolution for the user needs The electronic gear numerator N of command pulse is determined by GEAR1 and GEAR2 from DI inputs The denominator M is set by parameter P030 DI Signals note Numerator of electronic gear for command GEAR2 GEARI pulse N 0 0 First numerator parameter P029 0 1 Second numerator parameter P031 l 0 Third numerator parameter P032 1 1 Fourth numerator parameter P033 Note 0 indicates OFF 1 indicates ON The input pulse command becomes the position command by the N M factor The ratio range is 1 50 lt N M lt 200 Numerator N numerator N is P029 determined by GEAR1 P031 and GEAR of DI inputs P032 P033 Input command puls Position command f1 f2 qa N 2 fix ET Denominator M P030 Electronic gear Default F Denominator of electronic gear for Range Unit Usage value command pulse 1 32767 1 P
61. ency increases from 0 to 63 2 command frequency Command pulse frequency 0 gt time Command frequency after filtering 0 gt time The filter makes the input repeated frequency smooth This filter is used in the following situations the host controller is without acceleration and deceleration function the electronic gear ratio is quite big the command frequency is lower 39 Chapter 4 Running 4 2 3 Electronic gear for input commands Through the electronic gear user can define that one input command pulse will cause an adjustable movement of mechanical device Therefore the host controller does not have to consider that the gear ratio in the mechanical system and the encoder line number of the servomotor The electronic gear variable is illustrated in the following table Variable Explanation Value of this driver C Lines of encoder 2500 P Resolution of encoder pulse rev 4xC 4x2500 10000 pulse rev R Ratio of reducer R B A here A turn number of servomotor B turn number of load shaft AP One command pulse travel equivalent Pe Command pulse numbers for one turn of the load shaft Pitch Pitch of ball bearing screw mm D Diameter of rolling cylinder mm Calculating formula Resolution in one turn of encoder Pt Electronic gear ratio 2 M Command pulse number in one turn of load shaft Pc x reducer ratio R Here A M t tity
62. er write operation in the parameter management This operation is active only in that the password was 360 and the servomotor code was modified In other situations it only has the parameter write function Parameter Press and hold write in for 3 seconds Operation success Under operation Operation fail Only resume all the default values with drive and motor 2 Resume all of the parameter default value Carry out to resume the default value in the parameter management all the parameters including the parameter modified by the user become the default value Press and hold Resume for 3 seconds default value dan Operation success operation Operation fail Resume all of the parameter default value 6 Turn off and on the power supply then an operation can be performed again 31 Chapter 3 Front panel operation Remarks 32 Chapter 4 Running 4 1 Trial running with no load The goal of trial running is confirming the following items that are correct or not The servo driver power supply wiring The servomotor wiring The encoder wiring The running direction and the servomotor speed 4 1 1 Wiring and inspection Before turn on the power supply confirms the servomotor The servomotor has no loading on the shaft decoupling from the machinery if already coupled Because the servomotor has an impact during acc
63. ervomotor is running otherwise can cause personnel casualty Do not touch servo driver and servomotor while the equipment is operating otherwise can result in an electric shock or in burn Do not move any connection cables while the equipment is operating otherwise can result in physical injure or equipment damage 5 Maintenance and inspection Q STOP Do not touch any portion inside of the servo driver and servomotor otherwise can cause an electric shock Do not remove the front cover of the servo driver while power is on otherwise can cause an electric shock Please wait at least 5 minutes after power has been removed before touching any terminal otherwise the remaining high voltage possibly can cause an electric shock Do not change the wiring while the power is on otherwise can cause an electric shock Do not disassemble the servomotor otherwise can cause an electric shock 6 Service ranges N CAUTION This handbook involves the product for the general industry use please do not use in some equipment which may directly harm the personal safety such as nuclear energy spaceflight aeronautic equipment and life safeguard life support equipment and each kind of safety equipment Please make contact with the company if have the need of use mentioned above II CONTENTS Chapter 1 Product inspection and instalIMent ccc cccescessesecsscescesecsecssceseese
64. etection 0 50 50 00 2 50 ms P S The bigger value of parameter can get the smoother detected speed signal The smaller value of parameter can get the quicker responded signal but it will cause noise if the value is too small In addition it will cause oscillation if the value is too big Default ee Range Unit Usage iyA ee Feed forward gain of position loop value 0 100 0 P The feed forward can reduce position tracking error in the position control mode Under any frequency command pulse the position tracking error always becomes zero if the parameter setting value is 100 Increasing the parameter value enhance the response of position control It is easy to cause the system to be unstable oscillation if the parameter value is too large Default Time constant of feed forward filter Range Unit Usage P022 KS value for position loop 0 20 50 00 1 00 ms P For filtering the feed forward signal in position loop This function is to increase the stability of feed forward control Default Range Unit Usage Sources of speed command value SS 3 S Set the source of the speed command in speed control mode The meanings of this parameter are 3 This is the JOG speed command It needs to set this parameter when begins using the JOG operation 4 This is the button speed command It needs to set this parameter wh
65. f button again enters the corresponding function After finished this operation pressing the 4 button returns to the operation mode selection Special function gt JOG Corresponding operation function Buttom speed operation adjustment a Analog zeroing 3 6 1 Special functions Use for manufacturer 3 6 2 Jog function Choose the JOG running A Jab of the auxiliary function Pressing the fre button enters the JOG running mode The 4 symbol is as a prompt of spot movement The numerical value is the speed command provided by P076 parameter and the unit is r min Pressing down and hold the ay button the servomotor will rotate in counterclockwise direction with JOG speed Loosen the pressed button the servomotor stops rotation and keeps zero speed Alternatively pressing down and hold the yy button the servomotor will rotate in clockwise direction with JOG speed A Press v L E3 ZJ 29 Chapter 3 Front panel operation 3 6 3 Speed adjustment by keyboards Choose the adjustable speed A Sr of the auxiliary function Pressing the fn button enters the adjustable running mode The r symbol is as a prompt of adjustable speed The numerical value is the speed command provided by pressing C button for increasing or T button for decreasing and the unit is 0 11r min Following the speed command the servomotor is in rotation The rotation direction is dependent on the sign of t
66. he digits The positive number indicates positive direction CCW and the negative number indicates reverse direction CW r of A Speed command L v inc dec 3 6 4 Zeroing for analog quantity No function of this device 30 3 7 Resume the parameter default values 3 7 Resume the parameter default values In case of the following situation please use the function of resuming the default parameter manufacture parameter The parameter is adjusted chaotically the system is unable the normal work The servomotor is replaced by a different newly model For any other reason the servo driver code parameter P001 does not match with the servomotor code parameter P002 The procedures for resuming the default parameter values are as the followings 1 Inspection servo driver code parameter P001 whether it is correct or not 2 Inspection servomotor code parameter P002 whether it is correct or not If it is not correct carries out following step or jumps to 5 step 1S Modify the password parameter P000 by 360 m Modify the servomotor code parameter P002 with newly servomotor code referring to chapter 7 4 servomotor adaptive table 5 Enter the parameter management carries out one of following operations 1 Resume a part of the parameter default value For resuming default parameters related to the servo driver and the servomotor and maintaining the other user parameters carry out the paramet
67. ic gear N electronic gear M 0 0 1 numerator parameterP029 Denominator 0 1 2 numerator parameterP031 parameterP030 1 0 3 numerator parameterP032 l 1 4 numerator parameterP033 Note 0 indicates OFF 1 indicates ON 44 4 2 Position control mode 4 2 4 Gains related to position control mode Param Default gt Name Range Unit Usage eter value P009 gain of position loop 1 1000 40 1 s P P021 Feed forward gain of position loop 0 100 0 P Time constant of feed forward filter P022 Si 0 20 50 00 1 00 ms P for position loop According to the inner loop adjusts first and then the outer loop the speed loop is included in the position loop therefore the rotation inertia ratio of load will be set first with suitable value Then the gain and the integral time constant of the speed loop are adjusted At last the gain of the position loop is adjusted The following block diagram is the position regulator of the system Increasing the gain of position loop can get higher position loop bandwidth but it is limited by the speed loop bandwidth Therefore in order to increase the gain of the position loop must increase the bandwidth of speed loop first Differentiator Position Speed command Position loop command gain Kp Position feedback The feed forward can reduce the lagging of phase in the position loop also reduce the position tracking error as well as shorter
68. input function which is not selected by parameter P100 P104 namely the undefined function results in OFF invalid Default j l A Range Unit Usage ANIES Function of digital input DI2 value 21 21 2 ALL The function plan of digital input DI2 Refer to the explanation of parameter P100 Default 5 Rene Range Unit Usage iia Function of digital input DI3 value P2 3 ALL The function plan of digital input DI3 Refer to the explanation of parameter P100 Default oe Range Unit Usage JUREE Function of digital input DI4 value 21 21 4 ALL The function plan of digital input DI4 Refer to the explanation of parameter P100 70 P104 P110 5 4 Parameter description in detail Default r 7 MATN Range Unit Usage Function of digital input DIS value 21 21 20 ALL The function plan of digital input DIS Refer to the explanation of parameter P100 Default 5 EE ae Range Unit Usage Filter of digital input DI1 value 0 1 100 0 2 0 ms ALL This is the time constant of DI input digital filter The smaller the value the quicker signal responses the bigger the value the slower signal responses but filtering ability of noise is stronger P111 P112 P113 P114 Default p A Bete Range Unit Usage Filter of digital
69. is in cascade sequence mode and executes in layer 5 Digital LED olololak V ee CC O E E E 3 1 2 Front panel explanations Symbol Name Functions POW Main power lamp Lit Main power supply already turn on Go out Main power supply did not turn on RUN Running lamp Lit Servomotor is active Go out Servomotor is not active LA J Increasing button Increase sequence number or value Press down and hold to repeat increasing as Decreasing button Decrease sequence number or value Press down and hold to repeat decreasing a Exit button Menu exit cancel the operation frier Confirm button Menu entered the operation confirmed 21 Chapter 3 Front panel operation 3 1 3 Data display A number is shown by five digital displays a minus symbol in front of the value represents a negative value the lit decimal points in all the digits indicate a negative 5 digit value Some displays have a prefix character If the value is full scale then the prefix character can be omitted 12345 Positive number 1234 4 digit or less negative number symbol expresses negative number 12345 5 digit negative number expressed by lighting the decimal points in all digits 3 2 Main menu The first layer is the main menu and has four operating modes Pressing G or T button changes the operation mode Pressing the fre button enters the second
70. justed in an optimum condition the only parameters of speed and position control loops have to be adjusted by the user 4 3 1 Gain parameters The parameters related to the gain are Parame Default Name Range Unit Usage ter value P005 Gain of speed loop 1 3000 40 Hz P S P006 Integral time constant of speed loop 1 0 1000 0 20 0 ms P S P009 Gain of position loop 1 1000 40 1 s P P017 Ratio of load inertia 0 0 200 0 1 5 fold P S The definition of symbol as follows K Tj The integral time constant of speed loop K G The inertia ratio of load P017 Ji Jm The rotor inertia of the servomotor The gain of speed loop The gain of position loop The load inertia referred to the rotor shaft 46 4 3 Gain adjustment 1 The gain of speed loop K The speed loop gain Kv directly determines the response bandwidth of the speed loop Under the premise that there is no vibration in the mechanical system or noise increases the speed loop gain then the speed response can speed up and is better to follow the speed command However it is easy to cause a mechanical resonance if the Kv is too large The bandwidth of speed loop expresses as 1 G Speed loop bandwidth Hz x K Hz 1t J Jy If the setting inertia ratio of the load G is correct G JL JM then the bandwidth of the speed loop is equal to the speed loop gain Kv 2 The integral time constant of speed lo
71. l to the biggest overload capacity Internal torque limit in CW P066 direction Default Range Unit Usage value 300 0 300 ALL Set the internal torque limitation value in CW direction of servomotor This limit is effective all the time If the value surpasses the biggest overload capacity of the servo driver then the actual limits will be equal to the biggest overload capacity External torque limit in CCW direction Default Range Unit Usage value 0 300 100 ALL Set the external torque limitation value in CCW direction of servomotor This limit is effective if the TCCW torque limit in CCW direction is on by DI input When limit is effective the actual torque limitation will take the minimum value from the biggest overload capacity of the servo driver the internal CCW torque limitation and the external CCW torque limitation External torque limit in CW P068 direction Default Range Unit Usage value 300 0 100 ALL Set the external torque limitation value in CW direction of servomotor This limit is effective if the TCW torque limit in CW direction is on by DI input When limit is effective the actual torque limitation will take the minimum value from the biggest overload capacity of the servo driver the internal CCW torque limitation and the external CCW torque limitation 66 5 4 Parameter de
72. larm occurs in the servo driver This parameter defines the delay time from the action the BRK is OFF from DO terminals of the electromagnetic brake until excitation removal of the servomotor during the servomotor to be in static The parameter should not be smaller than the delay time in which the machinery applies the brake This parameter will make the brake reliable and then turns off the servomotor excitation to guarantee against the small displacement of the servomotor or depreciation of the work piece The timing chart refers to 4 7 3 section Waiting time for electromagnetic Default s Ae Range Unit Usage YAE brake when servomotor is in value motion 0 2000 500 ms ALL Use the electromagnetic brake when the SON is from ON go to OFF or alarm occurs in the servo driver This parameter defines the delay time from excitation removal of the servomotor until the action the BRK is OFF from DO terminals of the electromagnetic brake during the servomotor to be in motion This parameter will make the servomotor deceleration from high speed down to low speed and then applies the brake to avoid damaging the brake The actual action time will take the minimum value in both the parameter P167 and the time in which the servomotor decelerates to the P168 value The timing chart refers to 4 7 4 section Action speed for electromagnetic Default j aD Range Unit Usage Aaa brake when servomotor is in value motion 0 3000 100
73. layer and then executes a concrete operation Pressing 4 button returns to the main menu from the second layer Status monitor Parameter setting Second layer Parameter management Auxiliary function First layer Main menu 22 3 3 Status monitor 3 3 Status monitor inter Choose status monitor d under the main menu Pressing the fe button enters the monitor mode There are many kinds of monitor s project Use CA and T button to select the needing project Pressing the fee button again enters the concrete status display Motor speed r min riOu 1000r min Initial position command to note1 note2 input pulse Position command pulse Lia _ _ note Current position pulse La note Position deviation pulse note1 Servomotor torque SO 50 Peak torque B 80 note4 Servomotor current A 23 23A note3 Peak current A 1 55 5 6A note4 Position command pulse F 25 42 5kHz note5 frequency kHz e Speed command r min r 35 35r min Torque command lt lt 20 DI input terminal status J note DO output terminal status 4 note7 Encoder input signals royal notes Rotor absolute position pulse R3284 3289 pulse note9 Accumulative load factor Ld 45 45 Duty factor of A regeneration braking r 30 30 Control mode FPa5 ij note10 Alarm code Err No alarm note11 Reserved rE Reserved 23 Chapter 3 Fron
74. lculate the electronic gear ratio _ N P 10000 100000 2500 Electronic gear ratio M P xR 62800x 1 10 62800 157 Set parameters By first numerator as an example Numerator N 2500 denominator M 157 set P029 2500 and P030 157 43 Chapter 4 Running 4 The relation between the electronic gear ratio and the turn number of servomotor The relation between the electronic gear ratio and the turn number of servomotor is pulse x N PxM Servomotor turn number Among them pulse is input pulse number For example the encoder line number C 2500 line N 20 M 3 pulse 1000 the calculation is 1000x20 2 Servomotor turn number Turn 10000x3 3 5 The relation between the electronic gear ratio and the speed of servomotor The relation between the electronic gear and the speed of servomotor is f Hz x 60x N PxM Servomotor speed 7 min Among them f is the repeated frequency of the input pulse unit is Hz pps For example the encoder line number C 2500 line N 3 M 1 f 100kHz kpps the calculation is 3 Servomotor speed r min O0 BDS 1800 r min 10000x1 6 Electronic gear ratio switching Four groups of electronic gear numerator N are provided in the servo driver The group can be changed online by signal of GEAR1 and GEAR2 from DI inputs However the denominator M is all the same DI signal note Numerator of input Denominator of input GEAR2 GEARI electron
75. lt the position loop K H K V s lt 27x E 47 Chapter 4 Running 4 3 2 Procedure for gain adjustment The bandwidth selections of the position and the speed loop depend on the machinery rigidity and the application situation A leather belt conveyer has low rigidity and may set low bandwidth Machinery with reducer and ball bearing screw has medium rigidity and may set medium bandwidth Machinery with ball bearing screw or linear motor has higher rigidity and may set high bandwidth If mechanical characteristics are unknown may gradually increase the bandwidth until resonating and then decreases the gain In the servo system if changes a parameter then other parameters also need to readjust Therefore do not change a parameter far from its original value About the steps for changing the servo parameter please observe the following principle generally Increase response Decrease response restrain vibration and overshoot 1 Increase gain of speed loop K 1 Decrease gain of position loop K 2 Decrease integral time constant of speed loop T 2 Increase integral time constant of speed loop T 3 Increase gain of position loop K 3 Decrease gain of speed loop K Gain adjustment procedure for speed control loop 1 Set the load inertia ratio 2 Set integral time constant of the speed loop with a relatively great value 3 Under no vibration and unusual sound increase the gain of the speed loop if vibration o
76. ly again if the alarm still exists the servo driver may damage possibly Replace the servo driver 83 Chapter 6 Alarm Err13 Over load Potential cause Check Handle Excess the rated load for continuous duty operation Check the load factor Reduce load or replace the servo driver with bigger one System unstable Check the oscillation when servomotor is in running Reduce the gains of the system Acceleration deceleration is too short Check the smoothness when servomotor is in running Increasing acceleration deceleration time setting Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the zero point Err14 Overload of brake peak power Potential cause Check Handle The voltage of input AC power supply is too high Check the voltage of power supply Use correct power supply according with the specifications Regeneration fault Regenerative resistor and or IGBT damaged Connection circuit is open Repair Regeneration energy too large Check the regeneration load factor Slow down the starting and stopping frequency Increasing acceleration deceleration time setting Replace the servo driver and servomotor with bigger ones Err15 Encoder counter error Potential cause Check Handle Encoder wiring error Che
77. m Rated torque Nm 2 4 5 6 A mm no brake 158 185 200 217 A mm with brake 200 227 242 259 B mm 76 102 118 134 95 Chapter 7 Specifications 7 7 3 Parameters of 130 series servo motor Type Rated output power Rated current A Rotor inertia Kg m Weight kg Line numbers of 130ST M04025L 130ST M05020L 130ST M05025L X 1 101x10 1 333x10 1 333x10 2500 line pr 130ST M06025L 1 5 6 2500 7 0 1 544x10 7 6 encoder Pole pair number 4 pair Insulation class Class B IP rating IP65 Brake Voltage 24VDC 15 10 Current lt 0 6A Brake torque gt 12Nm Inertia 1 67x10 kgm Type 130ST M07720L 130ST M07725L 130ST M07730L 130ST M10015L Rated output power Rated torque Nm 7 7 10 Rated speed 1 min 3000 1500 Rated current A 10 5 6 5 Rotor inertia 2 017 10 2 017 10 2 017 10 2 595x10 waw o x s Line numbers of encoder Pole pair number Insulation class IP rating Brake 96 2500 line pr 4 pair Class B IP65 Voltage 24VDC 15 10 Current lt 0 6A Brake torque gt 12Nm Inertia 1 67x10 kgm 7 7 Parameters of servo motor Type Rated current A Rotor inertia Kg m Weight kg Line numbers of encoder Pole pair number Insulation class IP rating Brake 130ST M10025L 130ST M15015L 130ST M15025L 2 595x10 432x107 2500 line pr 14 6 4 pair Class B IP65 oltage 24VDC
78. mbol Function Function explanation OFF Inhibit CW running ON Enable CW running Uses this function for protection of the mechanical traveling limit the function is controlled by the parameter P097 Pays attention to that the P097 default value neglects this function therefore needs to modify P097 if needs to use this function P097 Explanation CW drive 4 CWL een 0 Use CW prohibition function and must inhibition 1 connect the normally closed contact of the limit switch 2 Neglect CW prohibition function this signal 3 default does not have any influence to CW movement of the servomotor and therefore does not need the CWL wiring CCW OFF Torque is not limited by parameter P067 in CCW direction ON Torque is limited by parameter P067 in CCW direction 5 TCCW torque i SOA Attention whether the TCCW is effective or not the torque is also limited limitation by the parameter P065 in CCW direction OFF Torque is not limited by parameter P068 in CW direction 7 A CW torque ON Torque is limited by parameter P068 in CW direction limitation Attention whether the TCW is effective or not the torque is also limited by the parameter P066 in CW direction OFF Permits the servo driver to work Emergency l 15 EMG ON Servo driver stops removes the main current and the excitation of stop servomotor Electronic Select electronic gear for command pulse by the combination of GEAR1 18 GEARI gear and GEAR 1 4 switching 1 GEAR2 GEARI
79. ment Choose the parameter management mode under the main menu E Pressing the fe button enters the parameter management mode The operation is performed between parameter list and the EEPROM There are three operation modes Use A or CT button to select an operation mode and then pressing down and hold the fe button at least three seconds to active the operation mode After finished the operation and then p p pressing C button returns to the operation mode selection 28 Parameter Press and E SE ten 3 hold 3 second dant l z Operation a z lt Parameter fente SEArE success y E rd read out Under Y t Resume operation E dtF default value Operation fail Write and save parameters This operation indicates that the parameter in parameter list will write to the EEPROM When user has made change to a parameter it only change the parameter value in parameter list but for the next time when the power supply is on the parameter value will restore its original value Making permanent change to a parameter value it is the need to carry out the parameter write operation and write the parameter value to the EEPROM Hereafter when the power supply is on again will be able to use the new parameter value Read and fetch parameters This operation indicates that all the parameters will be read from the EEPROM to the parameter list This process will carry out automatically one time when
80. ode i First gain group 5Pd Speed control mode 2 Second gain group Er Torque control mode 11 Alarm code note11 The Err followed by two minus symbols indicates no alarm and by digital number indicates an error code number that is flickering When alarm appears the error code number displays automatically on the front panel LED During the error status the monitor mode can be changed to other mode by pressing buttons but the decimal point of the last LED is still flickering and shows existence of an alarm flickering 9 number alarm 26 3 4 Parameters setting 3 4 Parameters setting The parameter number expression uses a parameter section name combined with a parameter name The three figures are the section name and two figures and one figure are the parameter name Take P102 parameter as an example 1 is the section name and 02 the parameter name P 102 displays on the front panel LED Choose the parameter mode under the main menu P Pressing the fre button enters the parameter setting mode First use A or T button to select the parameter section name and then pressing f button enters the parameter name selection Again use C or button to select the parameter name and then pressing f button shows the parameter value Use 4 or button to alter a parameter value Pressing WM button once to increase decrease the parameter value by one Pressing down and hold the Ur button the parameter valu
81. on to the correct direction of freewheel diode which is connected with the relay at the output terminal otherwise can cause the output circuit breakdown Inorder to protect the servo driver from noise interference that can cause malfunction please use an insulation transformer and noise filter on the power lines Wiring the power lines power supply line main circuit lines etc at a distance above 30cm from the control signal wires do not lay them in one conduit Install a non fuse circuit breaker that can shut off the external power supply immediately for in case of the servo driver fault 2 1 3 Electric wire specifications Connect terminal Symbol Wire specification Main power supply Ll L2 L3 1 5 2 5mm Control power supply LIC L2C 0 75 1 0mm Servomotor U V W 1 5 2 5mm Ground 1 5 2 5mm Control signals Xi gt 0 14mm AWG26 shielded Encoder signals X2 gt 0 14mm AWG26 shielded Must use a twisted pair wire cable for the encoder signal wiring If the encoder signal cable is too long gt 20m in which the encoder power supply can be insufficient may use multi wire or thick wire for the power supply wiring 2 1 System construction and wiring 2 1 4 Servo motor and AC power supply wiring diagrams The power supply for the servo driver is a three phase AC 220V which generally come from three phase AC380V power supply through a transformer In peculiar circumstance the small
82. op T The integral item of speed loop has an effect to eliminate static error of speed and has rapid reaction to a slight speed change Under the premise that there is no vibration in the mechanical system or noise reduces the integral time constant Ti of speed loop then the stiffness of the system increases and reduces the static error If load inertia ratio is very big or a resonating factor exists in the mechanical system and then must confirm that the integral time constant is big enough otherwise the mechanical system will be easy to cause resonating If the setting inertia ratio of the load G is correct G JL JM uses following formula to obtain the integral time constant Ti of the speed loop 4000 T ms _ 2a x K Hz 3 The gain of position loop K The gain of the position loop directly determines the reaction rate of the position loop Under the premise that there is no vibration in the mechanical system or noise increases the position loop gain then speeds up the reaction rate reduces the position tracking error and the positioning time is shorter However it is easy to cause a mechanical vibration or over travel if the Kp is too large The bandwidth of the position loop should be lower than the bandwidth of speed loop In general Speed loop bandwidth Hz 4 If the setting inertia ratio of the load G is correct G JL JM uses the following formula to obtain the gain Kp of Position loop bandwidth Hz
83. panel after turn on the power supply The meanings of this parameter are P096 Display item P096 Display item 0 Speed of servomotor 12 Reserved 1 Original Position command 13 Reserved 2 Position command 14 Digital input DI 3 Position of servomotor 15 Digital output DO 4 Position deviation 16 Signals of encoder 5 Torque 17 Absolute position in one turn 6 Peak torque 18 Accumulative load ratio 7 Current 19 Brake ratio 8 Peak current 20 Control mode 9 Frequency of input pulse 21 Number of alarm 10 Speed command 22 Reserved 11 Torque command 68 5 4 Parameter description in detail Default ae peas Range Unit Usage Neglect inhibition of servo driver value 0 3 3 ALL The prohibited positive travel CCWL and the prohibited reverse travel CWL from DI inputs are used for the limit traveling protection Use normal closed switch as protecting switch If the input from DI is ON then the servomotor can move to this direction or is OFF cannot move to this direction If does not use the limit traveling protection can neglect it by modifying this parameter and does not need the CCWL and CWL wiring The default value neglects the prohibition if use this function please modify this value first The meanings of this parameter are P097 Motion inhibition in Motion inhibition in CW direction CWL CCW direction CCWL 0 Use Us
84. por cutting cooling liquid cutting chips iron powder and so on Install the servomotor in a place without water vapor and direct sunlight 1 5 2 The method of installation For horizontal installation In order to prevent water oil etc from entering inside of the servomotor please put the cable connector downward For vertical installation if the shaft of the servo motor is in upward direction with a speed reducer some prevention measure shall be taken against entering inside of the servomotor by oil come from the speed reducer Motor shaft extension should be long enough or may cause vibration while motor is in running In case of installation or removing the servomotor please do not hit the servomotor with a hammer otherwise the shaft and the encoder can be damaged 1 6 The definition of rotating direction for servomotor 1 6 The definition of rotating direction for servomotor The motor rotating direction description in this handbook is defined as facing the shaft of the servomotor if the rotating shaft is in counterclockwise direction will be called as positive direction or in clockwise as reversal direction Positive Rotation Reversal Rotation CCW CW Chapter 1 Product inspection and installment Remarks Input Power Supply 3 Phase AC220V RST Chapter 2 Wiring Circuit Breaker Overcurrent Protection Filter Normally a transformer J is n
85. positioning time The feed forward quantity increases the position tracking error reduces but can cause the system unstable and overshoot if the feed forward quantity is too large If the electronic gear ratio is more than 10 it is also easy to make noise For normal application the parameter P021 is set as 0 If higher response and lower tracking error are required the P021 can be increased properly but not in excess of 80 Meanwhile it may need to adjust the filter time constant parameter P022 of the feed forward branch 45 Chapter 4 Running 4 3 Gain adjustment The servo driver includes the current control loop the speed control loop and the position control loop The control diagram is as follows Position control loop Speed control loop r Position command Speed Position command controller controller Filter Current controller Current control loop Power transform Servomotor io Encoder Theoretically the inner control loop bandwidth must be higher than the outer loop otherwise the entire control system will be unstable and creates the vibration or worse response Therefore the relations of the bandwidth of the three control loops are as follows Bandwidth of the current loop gt Bandwidth of the speed loop gt Bandwidth of the of the position loop Because the current control loop of the servo driver is already ad
86. power supply is on At the beginning the value of each parameter in the parameter list is the same as the parameter in the EEPROM After making change to a parameter value the value in the parameter list will also change When the parameter value is not satisfied or comes to confusion carries out the parameter read operation to read back the original parameter value from the EEPROM to the parameter list Resume default value This operation indicates that each default value of all the parameters will read from EEPROM and write to the parameter list and EEPROM For the next time when power supply is on the default parameters will be used by now When many parameters become confusion and cause abnormal operation it is necessary to carry out this operation for resuming the default parameters There are different default parameters for different servo driver model and the servomotor model Therefore before doing this operation the servo driver code Parameter P001 and the servomotor code Parameter P002 must be selected correctly E SEE Parameter write in Parameter table i EEPROM Parameter read out Parameter table EEPROM E Ex factory Parameter E der Resume default value default value table EEPROM 3 6 Auxiliary functions 3 6 Auxiliary functions Choose the auxiliary function mode A under the main menu Pressing the fre button enters the auxiliary function mode Use A or T button to select an operation mode Then pressing the
87. put Lies command Counting Up pulse f1 mode Down SIGN Filter counter P039 The parameters needs to preserve firstly and then turn off and on the power supply 63 Chapter 5 Parameters Default Marit Range Unit Usage Input direction of command pulse value 0O 1 0 P The meanings of this parameter are 0 Normal direction 1 Direction reverse Default A Input signal logic of command Range Unit Usage P037 value pulse 0 3 0 P Set the phase of the input pulse signals PULS and SIGN for adjusting the counting edge as well as the counting direction P037 PULS signal SIGN signal phase phase 0 In phase In phase l Opposite phase In phase 2 In phase Opposite phase 3 Opposite phase Opposite phase The parameters needs to preserve firstly and then turn off and on the power supply Default Input signal filter of command Range Unit Usage value pulse 0 21 7 P Filter the input signal PULS and SIGN numerically The value is bigger then the filter time constant is bigger The maximum input pulse frequency is 500 kHz kpps when the setting value is seven If the value is bigger the maximum input pulse frequency will reduce correspondingly Filter the noise from the input signal to avoid counting mistake Because if found the running not perfect caused by the counting pulse then can suitably
88. r The manufacturer sets it as the default value users may need to modify Param Default vo Name Range CE Unit Usage P100 Function of digital input DI1 21 21 1 ALL P101 Function of digital input DI2 21 21 2 ALL P102 Function of digital input DI3 21 21 3 ALL P103 Function of digital input DI4 21 21 4 ALL P104 Function of digital input DIS 21 21 20 ALL The absolute value of the parameter expresses functions the symbolic expresses the logic positive number expresses positive logic and the negative number express the negative logic ON is effective OFF is invalid Parameter DI input signal DI Result Positive Turn off OFF number Turn on ON Negative Turn off ON number Turn on OFF DI function table Ordinal Symbol DI Function 0 NULL Not have function 1 SON Servo enable 2 ARST Clear alarm 3 CCWL CCW drive inhibition 4 CWL CW drive inhibition 5 TCCW CCW torque limitation 6 TCW CW torque limitation 15 EMG Emergency stop 18 GEARI Electronic gear switching 1 19 GEAR2 Electronic gear switching 2 20 CLR Clear position deviation 21 INH Pulse input inhibition 15 Chapter 2 WiringChapter 2 Wiring 2 2 5 Digital output definition Every digital output interface is programmable it can act different function by setting the corresponding parameter The manufacturer sets it as the default v
89. rator of electronic gear 1 32767 1 P P035 Input mode of command pulse 0 2 0 P P036 Phase of input command pulse 0O 1 0 P P037 Signal logic of input command pulse 0 3 0 P P038 Signal filter of input command pulse 0 31 7 P P039 Filter mode of input command pulse 0O 1 0 P Time constant of exponential form P040 4 0 1000 0 ms P filter for position command 2 Transmission path of command pulse 0 Pulse Direction 1 CCW pulse CW pulse Numerator N Numerator N is determined 2 A and B phases P029 _ by GEAR1 and GEAR2 of DI P038 See inputs P037 P035 P033 t foapix a P040 PULS Pp Filter Input Position Position F command command command i Counting Up Down pulse f1 2 Smooth __ 3 mode counter filter gt wi Filter P039 Pose P036 Denominator M P030 Electronic gear 37 Chapter 4 Running 3 Input mode of command pulse The command pulse input mode is dependent on the parameter P035 For adjusting the counting edge of a pulse the parameter P037 sets the phases of the PULS and the SIGN signals Parameter P036 uses in changing the counting direction Command pulse cow cw Parameter P035 type Pulse pus LPT Lt FIFLFLAT DIR 9 SIGN KJA CCW pulse PUES Lt Lt CW pulse 1 SIGN FLELE LS A phase PULS f 4 t 4 4 B phase SIGN f k 2 Note The arrow indicates the counting edge with P306 0 and P307 0 4 Timing cha
90. rom the zero speed up to rated speed If the command speed is lower than the rated speed the rise time also correspondingly reduces Only uses in the speed control mode It is invalid in position control mode If the servo driver constitutes the position control with host controller this parameter should be set zero otherwise affects the position control performance Rated speed Speed command Actual acceleration time 1 1 P060 Actual deceleration time 1 P061 65 Chapter 5 Parameters TEE Default Deceleration time of speed Range Unit Usage P061 value command 0 30000 0 ms S Set the deceleration time for the servomotor from the rated speed down to zero speed If the command speed is lower than the rated speed the fall time also correspondingly reduces Only uses in the speed control mode It is invalid in position control mode Ifthe servo driver constitutes the position control with host controller this parameter should be set zero otherwise affects the position control performance Internal torque limit in CCW P065 direction Default Range Unit Usage value 0 300 300 ALL Set the internal torque limitation value in CCW direction of servomotor e This limit is effective all the time Ifthe value surpasses the biggest overload capacity of the servo driver then the actual limits will be equa
91. rt specifications of command pulse Pulse waveform of position command Parameter demand Differential Single end ty gt 2 H s tea 5H s tlu s ty gt gt 2 5 u s telus te gt 2 5us tn lt 0 2 H s tn lt 0 3 H s ty lt 0 2 H s ty lt 0 3 H s t gt lus t gt 2 5u s PulsexDIR teaesus tel0u s tqn gt 4 u s tqn gt 5 H S tq4 H s tq 5H s ton lt O0 2Hs tark lt 0 3 H s tq lt 0 2 u s tq lt 0 3 u s tgl H s tys gt 2 5 H s CCW trh trl cw CCW pulse CW pulse CW Ccw A phase B phase 38 4 2 Position control mode 5 Signal filter Numeral filters related to the parameter P038 will filter the input signal PULS and SIGN The bigger the P308 value the larger filter time constant and the lower maximum repeated frequency of input pulse If P038 is seven the maximum repeated frequency of input pulse will reach 500 kHz kpps If the positioning is not accurate increase the parameter P038 in order to filter noise on the signal cable and to avoid counting error The SIGN filter can close by parameter P039 setting 6 Smooth filter The parameter P040 carries on the smooth filter to the command frequency It has the exponential form for acceleration and deceleration as showing in the following chart The filter cannot lose any input pulse but can delay its action time When P040 is zero the filter does not have any effect The parameter value indicates the time in which the repeated frequ
92. s for installation Since the environment conditions for servo driver installation have the direct influence to the normal function and service life of the servo driver therefore the environment conditions must be conformed to the following conditions Ambient temperature 0 to 40 C Ambient humidity less than 80 no dew Storage temperature 40 to 50 C Storage humidity less than 93 no dew Vibration less than 0 5G Preventive measure shall be taken against raindrop or moist environment Avoid direct sunlight Preventive measure shall be taken against corrosion by oil mist and salinity Free from corrosive liquid and gas Preventive measure shall be taken against entering the servo driver by dust cotton fiber and metal tiny particle Keep away from radioactive and inflammable substances When several driver installments in a control cubicle for good ventilation please reserve enough space around each driver install fans to provide effective cooling keep less than 40 C for long term trouble free service If there are vibration sources nearby punch press for example and no way to avoid it please use absorber or antivibration rubber filling piece If there is disturbance from interferential equipment nearby along the wirings to the servo driver can make the servo driver misoperation Using noise filters as well as other antijamming measure guarantee normal work of the servo driver However the noise filter can increase
93. scription in detail Default Sateen Range Unit Usage Torque limit in trial running value 0 300 100 ALL Set the torque limitation value for trial running mode the speed JOG movement the button speed adjustment the demonstration mode The torque limitation is not related to the rotation direction It is valid in both directions The internal and the external torque limitation are still effective i Default Alarm level of torque overload in Range Unit Usage P070 MN A value CCW direction 0 300 300 ALL Set the overload value of torque in CCW direction This value indicates the percentage of rated torque When the torque of the servomotor surpasses P070 and the duration is bigger than P072 then the servo driver alarms and the servomotor stops The number of the alarm is Err29 Default Alarm level of torque overload in Range Unit Usage P071 oe value CW direction 300 0 300 ALL Set the overload value of torque in CW direction This value indicates the percentage of rated torque When the torque of the servomotor surpasses P070 and the duration is bigger than P072 then the servo driver alarms and the servomotor stops The number of the alarm is Err29 T Default A Detection time for torque overload Range Unit Usage P072 value alarm 0 10000 0 10ms ALL Refer to the expl
94. seeeseneenes 81 Chapter SPecitiGatiOns s 3 0355 cscsisde Recess testes sles eGeadonigcs oases a a E AEA R EE Sin 89 PALY PSO servo drivet rise 2h e a veleig OS ea is a a eee AE eis ee ad 89 7 2 Dimensions Of S rv0 Ariver cceecesccesseessceseeeeceeceseceseceseeeseeseeeseeeseeeseeeseeeseeneeeeeeseeeaees 89 7 3 Specifications Of servo ATIVE cccccccssccsssceesceeeeeceseecececesceeeeseceeseeceseeeseecseaeeeeseseeeneaes 90 7 4 Adaptive table for servo motor SelECtiONS ccccceeesseeeseeeeseeeeneeceseeeeeceeeeseeesseeesseeenseeenes 91 TD Types Of SELVO MOLOL nesi Kinsa Moh een Bd ed Ae ee ed a ald take 92 7 6 Servo motor WITING seirene irinin EE RRA E AE EEE E a Eea 92 Pe Ov Wann 8 WOE EN EEA ANA 92 7 6 2 Holding Drakes aerisire a a E E ea tees 92 7 6 3 Standard encode an n A AAAA 93 T 6 4 Wire SAVING enNCodet Sson oeer oriri nir nner non OREN AONE DEAF Ea E r Er aa 93 7 7 Parameters Of SCTVO MOTOT niai iiare aaia aaa a aE a a TAE aTa 94 7 7 1 Parameters Of 80 s ries servo Motor sesscicrnnoionuina ania 94 7 7 2 Parameters of 110 series serv Motor neccnisciesrienanieieni neni ieni AR 95 7 7 3 Parameters of 130 series servo MOTOT sssessesssessessssessessessessestessesestessessessesseseese 96 7 7 4 Parameters of 150 series servo Motor essessessssssessessssessessessestessesestessessesressessese 98 Appendix A Model for SIEMENS numerical control system cc cc ececeeeeseeseeseeeeeesees 99 Al SIEMENS
95. servomotor which is less than 750W can use single phase AC220V L1 and L2 terminals connect to single phase power supply Leave L3 terminal alone 3 Phase AC220V TSR Lf 10F Servo Drive Servomotor Main Power Main Power OFF Circuit Breaker FIL Noise Filter 1KM Magnetic Contactor DC24 1RY Relay PRT Surge Absorber D Freewheeling Diode 2 1 5 Main circuit terminal explanation Terminal name Symbol Detailed explanation Main power Ll L2 L3 Connect to external AC power supply supply 3 phase 220VAC 15 10 50 60Hz Control power LIC L2C Connect to external AC power supply supply 1 phase 220VAC 15 10 50 60Hz Servomotor U U phase output to servomotor V V phase output to servomotor W W phase output to servomotor Ground Ground terminal of servomotor Ground terminal of servo driver Chapter 2 WiringChapter 2 Wiring 2 2 X1 terminals for control signals The X1 connector DB25 plug provides the signals interfaced with the host controller The signal includes Five programmable inputs Three programmable outputs Analog command inputs Pulse command inputs Encoder signal outputs 2 2 1 X1 terminal connector The X1 connector plug uses DB25 male head the contour and pin disposition charts are as the followings DI Power Supply COM Digital Input 1 D11 Digital Input 2 DI2 Digital Input 3 DI3 Digital Input 4 D14 Digital Inpu
96. sssessessressresseessreserese 9 2 2 X1 terminals for control signal Senece E a a a 10 2 2 1 XI terminal COnnNeCt r rreren iriri itie ae Ei EEE EEEE EEES 10 2 2 2 X1 terminal signal explanation ccceescceessceesceeeseeeeseeseeeeeeeeseeenseeesseeeeseeeeaes 11 2 2 3 Xl terminal interfac types inenen eee e eare etr eiert inanir 12 2 2 A Digital mput defini tons iseer eae ces ee OG ieee i eed 15 2 2 5 Digital output definition scrie inni iE Eak rE aK EE AES E AEE KEE ER E na 16 2 3 X2 encoder signal terminals cccccecssccessceesecseeeeeteeeseeceeeceecseeessrecseeeenseeesseeeseeeenes 17 2 3 1X2 Terminal CONNE CLR aon In an dest tad cagee des adies A dest ted cade cy edutedevetetaeves 17 2 3 2 X2 terminal signal explanation ccccescccessceeseecsseeeeseeeeeeeeeeeeeeesseeesseeenseeeenes 18 2 4 Standard wiring diagram ccccescccessceeseccsseeesseecesseeeeseeeeeeeseecesaecseeeseneeeeeeesesesseeesseeenes 19 2 4 1 Wiring diagram for position control eee eescceeseeesseeseceeeeeeeeseeceeeesseeeeeeeesseeeses 19 Chapter 3 Front panel Operation ccc ccccsccsecsscsscsscescesecsecsecsscesscssceecesecsscsscesceseesesseceseaes 21 3 1 Explanation of the front panel of Servo driver ceececesceeseceeseceeseeeeseecsseeceeseseeensseeesaes 21 3 1 1 Front panel COMpoOSitions c cccccccesseesssecesecesseeesseeeeeeesaeesececeeseeeeseeessaeensseeeaes 21 3 1 2 Front panel explanations cccccccccessceeseeesc
97. t 5 DI5 Digital Output 1 DO1 Digital Output 2 DO2 Digital Output 3 DO3 DO Common Terminal DOCOM Position Command Direction SIGN Position Command Direction SIGN Position Command Pulse PULS Position Command Pulse PULS Analog Command Input AS Analog Command Input AS Analog Signal Ground AGND Z Signal Open collector Output CZ Encoder Signal Ground GND Encoder Signal A Output OA Encoder Signal A Output OA Encoder Signal B Output OB Encoder Signal B Output OB Encoder Signal Z Output OZ Encoder Signal Z Output OZ Shield Protection Ground Connector case Servo Drive X1 Connector Connector X1 Soldering Lug Disposition 10 2 2 X1 terminals for control signals 2 2 2 X1 terminal signal explanation Name of signals Pin Functions Connector number Digital inputs DII 14 Photo isolation input Cl DI2 2 Function is programmable DI3 15 Defines by parameter P100 to DI4 3 P104 DIS 16 COM DI power supply DC12V 24V Digital output DO1 Photo isolation output C2 DO2 17 Maximum output 50mA 25V DO3 Function is programmable Defines by parameter P130 P132 DOCOM 18 DO common terminal Position command PULS 20 High speed photo isolation input C3 pulse PULS 7 Working mode set by parameter SIGN 19 P035 SIGN 6 Pulse Mark Positive Reverse pulse Orthogonal pulse Analog command AS 21 Speed Torque analog quantity C4 inpu
98. t panel operation 1 32 binary bits value display note1 32 binary bits value translates into a decimal value that is in the range of 2147483648 147483647 It is divided into the low portion and the top portion Use A and T button to select the needing portion through the menu By the following formula the complete value can be obtained Bot al 2345 digit Result 612345 32bit number top digit numberx100000 bottom digit number 2 Pulse unit note2 The original position command pulse is the input pulse count that has not transformed through the electronic gear The pulse count unit for other parts is the same with the encoder pulse unit Take a 2500 lines encoder as the example Encoder pulse unit encoder resolution 4x encoder line 4x 2500 pulse rev 10000 pulse rev 3 Motor current note3 The servomotor current is Irms 4 Peak torque and peak current note4 The maximum torque and maximum Irms of the servomotor in previous 10 second duration is defined as the peak value 5 Position command pulse frequency note5 The frequency of position command pulse is the actual pulse frequency before the electronic gear The positive number is shown as positive direction and the negative number as reverse direction 24 3 3 Status monitor 6 Input terminals DI note6 A vertical segment of LED shows an input status The lit top vertical segment shows the DI input to be ON and the lit bottom
99. ted load for continuous duty operation Check current Reduce load or replace the servo driver with bigger one Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the zero point Err20 EEPROM Error Potential cause Check Handle EEPROM chip is damaged Turn on the power again and check If the error still exists then replace the servo driver 85 Chapter 6 Alarm Err21 Logic circuit error Potential cause Check Handle Control circuit fault Turn on the power again and check If the error still exists then replace the servo driver Err23 AD conversion error Potential cause Check Handle Current sensor and connector fault Check the main circuit Replace the servo driver AD converter and analog amplifier fault Check the control circuit Replace the servo driver Err24 Under voltage of control power supply Potential cause Check Handle Control circuit LDO fault Check the power of control board Replace the servo driver Err29 Over torque alarm Potential cause Check Handle Unexpected big load occurs Check load condition Correctly readjust the load Parameter P070 P071 P072 setting is not reasonable Check the parameters Correctly readjust parameters
100. ts AS 8 input The range is 10V to 10V DONOT USE please do not wire AGND 9 Analog Ground Output signals of OA 11 Outputs of differential driver Line C5 encoder OA 23 Driver after the frequency division OB 12 of encoder signal OB 24 OZ 13 OZ 25 CZ 22 Open collector output of Z signal C6 GND 10 Encoder signal ground Shielded cable Metal case Shielded wire for connection with ground protection of shielded cable connector 11 Chapter 2 WiringChapter 2 Wiring 2 2 3 X1 terminal interface type The followings introduce the X1 various interface circuits and the wiring ways with the host controller 1 Digital input interfaces C1 For carrying on a control the digital input interface circuit can be constructed by switch relay open collector triode and photo coupler and so on To avoid contacting problem the relay must be chosen with low current operation External voltage is in the range of DC12V 24V C1 1 Switch input C1 2 Open collector triode Servo Drive DC12V 24V COM 4 4 7KQ Q L T O D DI2 DI3 D14 DIS Servo Drive DC12V 24V 2 Digital output interfaces C2 The digital outputs use Darlington photo coupler It can be connected with relay photo coupler Matters of note are Inverting the polarity of DC power source which is provided by the user can cause the servo driver damage The maximum voltage of external
101. ult value that may be different Param Default Name Range Unit Usage eter value P000 Password 0 9999 315 ALL POOL Identity code of servo driver ay ALL P002 Identity code of servomotor ALL P003 Software edition i ALL P004 Control mode 0 1 0 ALL P005 Gain of speed loop 1 3000 40 Hz P S P006 Integral time constant of speed loop 1 0 1000 0 20 0 ms P S P007 Filter time constant of torque 0 10 50 00 2 50 ms ALL P009 Gain of position loop 1 1000 40 1 s P P017 Inertia ratio of load 0 0 200 0 1 5 fold P S PO19 Time constant of filter for speed detection 0 50 50 00 2 50 ms P S P021 Feed forward gain of position loop 0 100 0 P Time constant of feed forward filter for P022 ay 0 20 50 00 1 00 ms P position loop P025 Sources of speed command 3 5 3 S First numerator of electronic gear for P029 1 32767 l P command pulse Denominator of electronic gear for P030 1 32767 1 P command pulse Second numerator of electronic gear for P031 1 32767 l P command pulse Third numerator of electronic gear for P032 1 32767 l P command pulse 55 Chapter 5 Parameters Param Default Name Range Unit Usage eter value Fourth numerator of electronic gear for P033 1 32767 1 P command pulse P035 Input mode of command pulse 0 2 0 P P036 Input direction of command pulse
102. when the value is too small If using the maximum value 1000 indicates the integral function to be canceled The speed regulator becomes the P controller Default 7 5 Range Unit Usage IXIAS Filter time constant of torque value 0 10 50 00 2 50 ms ALL Default E Range Unit Usage 00m Gain of position loop value 1 1000 40 l s P 60 This is the low pass filter of torque and can suppress the vibration of the machinery The bigger the value the better effect of suppression achieves The response will slow down It is easy to cause oscillation if the value is too large The smaller the value the quicker response achieves but can be limited by mechanical condition When the load inertia is small can set a small value the load inertia is big can set a big value This is the proportional gain of the position regulator Increases the parameter value can reduce the position tracking error and enhance the response It is easy to cause overshoot or oscillation when the value is too large 5 4 Parameter description in detail Default Range Unit Usage Inertia ratio of load value 0 0 200 0 1 5 fold PS The load inertia ratio is that the inertia of mechanical load refers to servomotor shaft divides by the rotor inertia of the servomotor Default 7 Time constant of filter for speed Range Unit Usage P019 value d

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