Home

EP1 AC SERVO User Manual

1. Param Default Name Range Unit Usage eter value P029 1 numerator of electronic gear 1732767 l P Denominator numerator of electronic P030 1 32767 1 P gear P031 2nd numerator of electronic gear 1732767 1 P P032 3rd numerator of electronic gear 1732767 P P033 4th numerator of electronic gear 1 32767 1 P P035 Input mode of command pulse 0 2 0 P P036 Phase of input command pulse 0 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 0 1 0 P Time constant of exponential form P040 zt 071000 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 X fici 2 P040 PULS p Filter Input Position Position F command command command l Counting Up Down pulse f1 e Smooth f mode counter filter gt wi Filter P039 Post P036 Denominator M P030 Electronic gear 24 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
2. Command pulse cow cw Parameter P035 type Pulse eus T151115 fU DIR 9 SIGN ra CCW pulse PUES Lt Lt CW pulse 1 SIGN FLELE LS A phase PULS j i t Y v B phase SIGN f k 2 Note The arrow indicates the counting edge with P306 0 and P307 0 4 Timing chart 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 t225nus 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 tqrc0 2 u s tqrc0 3 u s tgl H s tq72 5n s CCW trh trl cw CCW pulse CW pulse 38 CCW A phase B phase CW 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
3. 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 increase the parameter value 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 I 0 1 0 P The meanings of this parameter are 0 Filter the input signal PULS and SIGN numerically Filter the input signal PULS only and not filter the SIGN signal X 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 decelerat
4. 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 lifset 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 Theinput function which is not selected by parameter P100 P104 namely the undefined function results in OFF invalid Default j T Range Unit Usage IMIUME 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 ESTE Range Unit Usage iia Function of digital input DI3 value 22 21l 3 ALL The function plan of digital input DI3 Refer to the explanation of parameter P100 Default TUM Range Unit Usage IMEEM Function of digital input DIA value 21 21 4 ALL The function plan of digital input DI4 Refer to the explanation of parameter P100 70 P104
5. 15 Chapter 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 value 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 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
6. 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 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 multiplicati
7. 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 820 1200 12V 510 8200 24V 1 5kQ 2kQ 13 Chapter 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 261932 Servo Drive Servo Drive Equivalent chip High Speed TD 26LS31 26 831 Photocouper APRS Must connect both side grounds Onthe host controller uses AM26LS32 or Onhost 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 2200 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
8. QN 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 Pt pulse rev The graduator load has iol P Electronic gear ratio M B xR Here 360 p 2 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 24xC 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 QGQN 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 satio P M B xR Here po AP For example Known the encoder line number C 2500 line the reducer gear ratio 1 10 the rol
9. TFN co na inc dec Enter lt q A Parameter value inc Parameter value ig 34 v Parameter value dec Modification confirmed 21 Chapter 3 Front panel operation 3 5 Parameter management Choose the parameter management mode under the main menu E Pressing the t button enters the parameter management mode The operation is performed between parameter list and the EEPROM There are three operation modes Use A or Y button to select an operation mode and then pressing down and hold the e button at least three seconds to active the operation mode After finished the operation and then p p pressing button returns to the operation mode selection 28 Parameter Pressand Ne hold 3 second write in t Parameter ee 5t Ark F dant Operation Success ra un m ra 4 D a read out Under V operation E E dE Resume 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
10. esessssssesseeeeeeeee eene 1 1 Ii product spection oae aet ed mete ONES ME E 1 1 2 product nameplate 2 o t deae e tita E ee Sa eee 1 1 3 product front pan ls secin eedem pee T ERE ia 2 1 4 servo driver installation esses nenne nennen entente tnter enne nen 3 1 4 1 The environmental conditions for installation seeeeeee 3 1 4 2 The method of installationz i uo eode teorie eder Pr Ree X ERR ERR 3 1 5 Servo motor installation teet ete eee reete iet ete need eee Eve ie eet ie ele ne 4 1 5 1 The environmental conditions for installation essere 4 1 5 2 The method of installation iei ite tete etd re dte 4 1 6 The definition of rotating direction for servomotor seeseeeeeeeeennenne 5 Chapter 2 WINE i ine eo RH REN E E EHE E rte dtes 7 2 1 System construction and wiring eene eene ener 7 2 1 1 Servo driver wiring diagram sssssssssssssssesseeeeeee eene 7 2 12 Wiring explanations cote d Ho DEOR DIE ve Wine en ee 8 2 1 3 Electric wire specifications eene enne enne ERS E enne 8 2 1 4 Servo motor and AC power supply wiring diagrams sess 9 2 1 5 Main circuit terminal explanation esses eene nnne 9 2 2 X1 terminals for control signal Senece nennen nnne 10 2 2 1 X1 terminal connector essent nennen neret eren nenne 10 2 2 2 X1 terminal signal explanation esssssssssesseeee
11. 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 rated 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
12. P110 5 4 Parameter description in detail Default r MOM 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 EE ae Range Unit Usage Filter of digital input DII 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 DU Bete Range Unit Usage Filter of digital 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 NON Range Unit Usage Filter of digital input DI4 value 0 1 100 0 2 0 ms ALL This is the time constant of DIA input digital filter Refer to the explanation of parameter P110 Default Y DURATA Range Unit Usage Filter of digital input DI5 value 0 1 100 0 2 0 ms ALL This is the time constant of DIS input digital filter Refer to the explanation
13. 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 Chapter 7 Specifications 7 1 Types of servo driver Symbol Main circuit power supply Symbol Optional specification Empty Product standard specification s8 Special specification for Siemens numerical control system XX Custom made s
14. 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 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
15. The input pulse command becomes the position command by the N M factor The ratio range is 1 50 N M 200 Numerator N numerator N is P029 determined by GEAR1 P031 and GEAR2 of DI inputs P032 P033 Input command puls Position command f1 f2 qa N 2 flx ET Denominator M P030 Electronic gear Default F Denominator of electronic gear for Range l Unit Usage value command pulse 1 32767 1 P 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 1732767 1 P Refertothe explanation of parameter P029 62 5 4 Parameter description in detail 1 s Default Third numerator of electronic gear Range Unit Usage P032 value for command pulse 1 32767 l P Referto the explanation of parameter P029 s Default Fourth numerator of electronic gear Range Unit Usage P033 value for command pulse 1 32767 l P Referto the explanation of parameter P029 Default Range Unit Usage Input mode of command pulse value 0 2 0 P Setthe input mode of command pulse The meanings of this parameter are
16. 0 Pulse direction Positive Reverse pulse 2 Orthogonal pulse Command pulse cow cw Parameter P035 type Pulse PULS Filth ij f t j l DIR 0 SIGN CCW pulse eus FFT LF CW pulse 1 SIGN KATATA ame 8s f V f f 4 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 J Filter a Y Input Lp command Counting UP pulsef1 mode Down SIGN Filter counter P039 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 0 1 0 P The meanings of this parameter are 0 Normal direction Direction reverse Default 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 1 Opposite phase In phase 2 In phase Opposite phase 3 Opposite phase Opposite phase 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
17. 12 24V 2O 13 5V 2 a 14 ov i 3 Servo On SON DI 1 14 l z 5 A 4 Alarm Clear ARST DI2 2 2 10 A 7 CCW Drive Inhibition CCWL DI3 15 a 4 B 5 CW Drive Inhibition CWL DI4 3 l y i z 9 B n 8 Position Deviation Clear CLR 5 DI 5 16 15 Cores i 208532 2 Optical xi Receiver g Z i 9 Encoder l Encoder Signal Ground 4 GND 10 i Signal Ground FG X1 Metal Case 1 Servo Ready RDY lt po1 4 z 2 us i 10 Connector 7 U 13 Servo Alarm ALM Do2 17 HET 3 i j 6 v pg EIK 14 Electromagnetic Brake BRK T DO3 5 z 12 w 12 i E DO 15 FG 1 DO Common Terminal com 18 Pd X2 Metal L Case bod x1 PULS 20 n 1 Position Command PULS bo i Pus URE gt i SIGN 19 110p Position Command SIGN BE z gt sien e Le bd xi Note A feet ERES The DI and DO terminals bd 7 have Multi functions K t OA 23 E bd See PE programmed by x Ericoder 3 B 26LS31 software Their default Signal iot OB 24 Driver i i i Outputs ME settings shown in picture z OZ 13 can use for common porta d Z gt M oz 25 purposes User can Z Signal Open collector i CZ 22 modify it according to Output i different needs i 19 Chapter 2 Wiring Remarks 20 Chapter 3 Front panel operation 3 1 Explanation of the front panel of servo driver 3 1 1 Front pa
18. 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 supply 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 opera
19. 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 description in detail Default DOSE 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 Nu 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 CA value CW direction 300 0
20. The encoder wiring 3 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 acceleration 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 X The encoder cable connection is correct or not Servomotor Three phase X io AC 220V i 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 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 value P004 Control mode 1 0 Set speed control P025 Source of sp
21. 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 663099 5 1 1 Parameters of section 0 indicates default value that may be different Param Default Name Range Unit Usage eter value P000 Password 0 9999 315 ALL P001 Identity code of servo driver m ALL P002 Identity code of servomotor ALL P003 Software edition m ALL P004 Control mode 0 1 0 ALL P005 Gain of speed loop 173000 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 11000 40 l 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 A 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 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
22. 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 xn Default Detection time for torque overload Range Unit Usage P072 value alarm 0 10000 0 10ms ALL Refer to the explanation of parameter P070 and P071 The torque overload can be shielded if the setting value is zero Default f UT Range Unit Usage IMMANE Maximum speed limit value 0 5000 3500 rmin ALL Setthe 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 Default Range Unit Usage IMEEM JOG running speed value 0 5000 100 r min S Set the running speed for JOG operation Default m pm Set Range Unit Usage Position deviation limit value 0 00 327 67 4 00 turn 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 v
23. 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 parameter the manufacturer sets it as the default value users may need to modify Param Default m Name Range v Unit Usage P100 Function of digital input DII 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
24. 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 Themeanings 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 when 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 l Unit Usage value for command pulse 132767 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 0 Third numerator parameter P032 1 1 Fourth numerator parameter P033 Note 0 indicates OFF 1 indicates ON
25. 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 S 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 nis Range Unit Usage IM 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 alarm 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 12 3 section Waiting time for electromagnetic Default s re Range Unit Usage IMIEM brake when servomotor is in value motion 0 20
26. 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 Resonance 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 dri
27. 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 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 DII 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 ej button enters the adjustable running mode The numerical value is the speed command provided by pressing 4 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 Er A Speed command JL inc dec 35 Chapter 4 Running 4 2 Position control mode The position control applies in syst
28. e e B084 80ST M04025 4 0 2500 1 0 e e e B091 90ST M02430 24 3000 0 75 e e e B092 90ST M03520 3 5 2000 0 73 e e e B093 90ST M04025 4 0 2500 1 0 e e e B101 110ST M02030 2 3000 0 6 e e e B102 110ST M04020 4 2000 0 8 e e e B103 110ST M04030 4 3000 1 2 e e e B104 110ST M05030 5 3000 1 5 e e B105 110ST M06020 6 2000 1 2 e e e B106 110ST M06030 6 3000 1 8 e e B301 130ST M04025 4 2500 1 0 e e e B302 130ST M05025 5 2500 1 3 e e e B303 130ST M06025 6 2500 1 5 e e B304 130ST M07725 hel 2500 2 0 e e B305 130ST M10010 10 1000 1 0 e e B306 130ST M10015 10 1500 1 5 e B307 130ST M10025 10 2500 2 6 e B308 130ST M15015 15 1500 2 3 e Indicate to be able to adapt Note 1 Servomotor code for parameter P002 setting in servo driver Note 2 The servomotor adapts with 2500 line 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 9 Chapter 7 Specifications Remarks 92 Edition antecedents Edition number Published time Modify content First edition November 2008 Mige Electric Co Ltd Add Number 5 Dingshan Road Wenyan Town Xiaoshan District Hangzhou City Zhejiang Province China Zip 311258 Tel 86 0571 82486685 Fax 86 0571 82308685 www hzmgdj com cn November 2008 Published Forbid strictly reprint and copy
29. 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 A or Y button changes the operation mode Pressing the e button enters the second 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 nter Choose status monitor d under the main menu Pressing the Ere button enters the monitor mode There are many kinds of monitor s project Use AJ and Y button to select the needing project Pressing the e button again enters the concrete status display Motor speed r mi n 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 E SO 50 Peak torque E B 80 note4 Servomotor current A 23 2 3A note3 Peak current A 55 5 6A note4 Position command pulse F 25 12 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 note7 Encoder input signals 1 4 note8 Rotor absolute position pulse R3284 3289
30. longer than 20m white Iwhite 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 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 output W 11 Orange 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 using in the 110 and above frame of servomotor 18 2 4 Standard wiring diagram 2 4 Standard wiring diagram 2 4 1 Wiring diagram for position control Huada QD Maxsine Servomotor EP1 Servo Drive TIS B L 3 Phase ue L2 TLO8F TL12F TL16F U U 2 AC 220V H v 3 L3 V QF KM Lic Ww Wj 4 Q L2C 4 Cores Power xi x2 Connector DC r 1 COM 1 K
31. 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 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 3 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 exami
32. 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 Pa5 Position control mode 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 ts button enters the parameter setting mode First use AJ or Y button to select the parameter section name and then pressing fn button enters the parameter name selection Again use A or Y button to select the parameter name and then
33. 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 frequency increases from 0 to 63 2 command frequency Command pulse frequency 0 time Command frequency after filtering 0 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 P command pulse numb
34. 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 07 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 I 0 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 96 ALL P067 External torque limit in CCW direction 0 300 100 96 ALL P068 External torque limit in CW direction 300 0 100 96 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 oo 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 Turn P P096 Items of initial display 0 22 0 ALL P097
35. pulse note9 Accumulative load factor Ld 45 45 Duty factor of n o regeneration braking 96 ri 30 30 Control mode Pa5 ij note10 Alarm code Err Noalarm notet1 Reserved rE Reserved 23 Chapter 3 Front 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 4 and Y button to select the needing portion through the menu By the following formula the complete value can be obtained oon TET 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 neg
36. 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 Symbol 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 RA E 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 Cow
37. value default value c table EEPROM 3 6 Auxiliary functions 3 6 Auxiliary functions Choose the auxiliary function mode A under the main menu Pressing the ts button enters the auxiliary function mode Use 4 or Y button to select an operation mode Then pressing the fre button again enters the corresponding function After finished this operation pressing the 9 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 4 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 n button the servomotor will rotate in clockwise direction with JOG speed A Press v i iri al LOLS 29 Chapter 3 Front panel operation 3 6 3 Speed adjustment by keyboards Choose the adjustable speed A 5r of the auxiliary function Pressing the fn button enters the adjustable running mode The r symbol
38. 00 500 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 12 4 section Action speed for electromagnetic Default a Range Unit Usage IMEEM brake when servomotor is in value motion 0 3000 100 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
39. 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 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 Lh 10F Servo Drive Servomotor Main Power Main Power OFF Circuit Breaker FIL Noise Filter 1KM Magnetic Contactor DC24V 1RY Relay PRT Surge Absorber D Free wheeling Diode 2 1 5 Main circuit terminal explanation Terminal name Symbol Detailed explanation Main power L1 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 phase output to servomotor V phase output to servomotor W phase output to servomotor Ground Ground terminal of servomotor lt c Ground terminal of servo driver Chapter 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 signa
40. 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 electronic 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 Name Range Unit Usage eter value P009 gain of position loop 17 1000 40 1 s P P021 Feed forward gain of position loop 0 100 0 P Time constant of feed forward filter P022 B 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
41. 2000 0 ms ALL when servomotor is in standstill Waiting time for electromagnetic brake P167 UN f 0 2000 500 ms ALL when servomotor is in motion Action speed for electromagnetic brake P168 n 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 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 n Range Unit Usage eee 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 cann
42. 7 load inertia ratio is a correct value then the parameter value is equal to the speed response bandwidth Default Range Unit Usage IUE 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 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 IMEEM Filter time constant of torque value 0 10 50 00 2 50 ms ALL Default a Range Unit Usage IMEEM 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 osci
43. CCW CW Chapter 1 Product inspection and installment Remarks Chapter 2 Wiring 2 1 System construction and wiring 2 1 1 Servo driver wiring diagram Input Power Supply 3 Phase AC220V _ Normally a transformer RST is needed 7 nput3 Phase ud 3Phase AC Transformer Circuit Breaker Over current PES Fase Protection READ nM E 2 ier EP1 Servo Drive Prevents the servo drive interfering from external noise Magnetic Contactor Need to install a N surge absorber e NC SystenvPLC or other Host Controller Control Power Supply is Single Phase AC220V L1C L2C Main Power Supply is 3 Phase AC220V L1 L2 L3 Servomotor Encoder Cable Servomotor Power Line connected To UNW Terminals DO NOT Mistake 4 Wires Servomotor Power Cable Ground Terminals AC Servomotor Chapter 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 corres
44. 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 input C4 inputs AS 8 the range is 10V to 10V NOTUSED 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 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 coms 4 4 7KQ Q iz qe DH DI2 DI3 DI4 DIS Servo Drive DC12V 24V 2 Digital output interfaces C2 The digital outputs use Darl
45. 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 Speedloop 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 lt the position loop K H K 5 25 002 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 Tj 2 Increase integr
46. IN is ON positioning completion otherwise is OFF The comparator has hysteretic function set by parameter P151 P151 completion Hysteresis for positioning Default 3 Range Unit Usage value 0 32767 5 Pulse P Refertothe explanation of parameter P150 72 5 4 Parameter description in detail Default Range Unit Usage IMREME 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 Hasthe polarity setting function 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 E Range Unit Usage IMRREE 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 0 1 0 ALL Referto the explanation of parameter P154 P M Default The way of position deviation Range Unit Usage P163 value clearing 0 1 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
47. MIGE EP ACSERVO User Manual Servo Drive TLO8F TL12F TL16F Servo Motor 60 80 90 110 130ST M Mige 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 t
48. Neglect inhibition of servo driver 0 3 3 ALL P098 Forced enable 0 1 0 ALL P099 Motor manufacturer A B A ALL 56 5 1 Parameter table 5 1 2 Parameters of section 1 Param Default Name Range Unit Usage eter value P100 Function of digital input DII 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 P110 Filter of digital input DII 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 11 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 0 1 0 ALL P163 The way of position deviation clearing 0 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
49. OFF Torque is not limited by parameter P067 in CCW direction ON Torque is limited by parameter P067 in CCW direction a TCCW torque rd 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 6 oa 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 15 EMG ON Servo driver stops removes the main current and the excitation of stop servomotor Set parameter P004 3 4 or 5 can carry out the control mode switching P004 CMODE Control mode 3 0 position Control 1 speed 16 CMODE mode 4 0 position switching 1 torque 5 0 speed 1 torque Note 0 indicates OFF 1 indicates ON cs If parameter P208 2 can carry out gain group switching by GAIN input ain 17 GAIN Mo OFF First gain group switching ON Second gain group 76 5 5 DI function description in detail Ordinal Symbol Function Function explanation Electone Select electronic gear for command pulse by the combination of GEAR1 18 GEARI gear and GEAR2 1 4 switching 1 GEAR2 GEARI Numerator of electronic gear N 0 0 1 numerator parameterP029 Electronic 0 1 2 numerator parameterP03 1 19 GEA
50. R2 gear 1 0 3 numerator parameterP032 switching 2 0 1 4 numerator parameterP033 Note 0 indicates OFF 1 indicates ON 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 T NH Pulse input OFF Permits position command pulse to go through inhibition ON Position command pulse is inhibited AD 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 DRM In position control mode Positioning 2 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 than parameter P154 Can set polarity function refers to the explanation of parameter P154 BRK Electromagnetic OFF Electromagnetic brake applies the brake brake ON Electromagnetic brake releases the brake OFF Servomotor torque has not reached the li
51. al 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 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 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
52. alue 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 Default ene Range Unit Usage Items of initial display value 022 0 ALL Set the display status on the front panel after turn on the power supply The meanings of this parameter are P096 Display item P096 Display item 0 Speed of servomotor 12 Analog voltage of speed command 1 Original Position command 13 Analog voltage of torque command 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 Neglect inhibition of servo driver Default Range Unit Usage 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 sw
53. ance 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 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 me a pum D a m a i i Y LI d LI 1 PPP 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 d
54. arm timing chart while servo ON is executed sssssssssssee 5 4 7 3 Action timing chart while servo ON OFF are executed during the servo motor is in standstill c eise cete tei seeded icit Arce S Asc sectantes cott ciet 52 4 7 4 Action timing chart while servo ON OFF are executed during the servo motor is in TMOULOM ssh 52 4 8 Electromagnetic holding brake 0 ccceccecssseesseeeseeeeeceeeeeeeeeseecssaeeeeseeeeeeesseeneeensaees 53 4 8 1 Parameters of electromagnetic holding brake sssssss 53 4 8 2 Make use of electromagnetic holding brake sese 53 Chapter 5 Parameters ctu ep ORE EE EIER ESFERA RR TER e 55 SA Parameter tables e eet catio a e saa P e e P ee e PO itera dis 55 5 Ix Parameters of section 0 oca e D edere deo deed R 55 5 1 2 Parameters OF SeCtIOTl liren eerie ie I pede de ERU edu ee ie eT E REP RN en 57 5 2 DI function table cepere eee nee eee get 58 IV 5 3 DO function table ssssseeeeeeeeeeee enne nne eene nnne enne ente nnn nne sese neri nenne esee ennt nnne nn 58 5 4 Parameter description in detail sceri tinti 59 SAd Parameters OF SECHOM 0 ooi aee etx toe ge rii ehe E cons soak ATE ERR deed Ne RR RSS 59 5 4 2 Parameters of section 1 neret enne neret nennen ens 70 5 5 DI function description in detail eeessssssssssseeseeee eene enne ennemi 75 5 6 DO function description in detai
55. ative 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 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 D02 DOI status OFF ON ON h 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
56. 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 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 n Encoder Theoretically the inner control loop bandwidth must be higher than the outer loo
57. chanical device while the servomotor 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 X 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 installment
58. charts are N Signal Input V V Signal Input V U 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 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 e 1 O Oo 11 7 Oo 2 O Oo 2 8 O 3 O Oo 3 9 Oo Lo of 10 O Sto of eee Servo Drive X2 Connector Wireless Encoder W 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 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 blacktblack e i
59. eed 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 CW inhibition CWL P098 Forced enable 1 or 0 0 Set 1 for forced enable Set O for external enable P100 Digital input DI function 1 1 Set DII 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 A 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 i button the servomotor will rotate in clockwise direction with the JOG speed E d 34 D gum 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
60. eeneenen nennen 11 2 2 3 X T terminal interface type us ee iter eret 12 2 2 4 Digital mput definitione 3 nee poe peo p ode etu 15 2 2 5 Digital output definition toss lI E REPE ders 16 2 3 X2 encoder signal terminals esses eene ener nennen nennen 17 2 3 1 X2 terminal connector uoo test tex em eto ei eee ei cy edutedevetetaeves 17 2 3 2 X2 terminal signal explanation esses eene 18 2 4 Standard wiring diagram sss eene nennen enne n nnne 19 2 4 1 Wiring diagram for position control sess 19 Chapter 3 Front panel operation serores erener enne nennen enne nnne nnne 21 3 1 Explanation of the front panel of servo driver 21 3 1 1 Front panel compositions sessi nnne nnns 21 3 1 2 Front panel explanations cccccccccesseesseeesecseeeeeeeesseeesaeeseneeeeseeesseeesseeenseeeeaes 21 3 1 3 Dataidisp lay entau nannan Mas ete tee ek meiste Remate etse et 22 SB ETUDES JS 22 RESENIE DI ERUIT 23 ER BUCH CETUR 27 3 5 Parameter mana Cements eere re eer pi eese 28 316 Auxiliary fub CtlODs oto o over ite Ei e RO ave d att d toute den 29 3 6 1 Special functions eee Dee ee reed 29 3 6 2 Jogduncti ns e etoeueie duet ue oue CONO Be Ce e 29 3 6 3 Speed adjustment by keyboards essen 30 3 6 4 Zeroing for analog quantity ssesssssssssseeeeeeeeeeenennne ennemi nnne 30 3 7 Resume the parameter default values sssss
61. egenerative 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 conditions 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 disturb
62. ems 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 wiring diagram is as below Servomotor Servo drive 0 o 3 2Y Three phase ou ii AC 220V xo QF DC 12 24V Servo ON SON gt CCW drive inhibition CCWL CW drive inhibition D4 DI3 Servo ready RDY amp 4 D011 DO common terminal amp 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 DI1 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
63. er 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 2300Hz Fluctuation of speed lt 0 03 load 0 10096 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 Rated Rated code cia E torque speed power TLOSF TL12F TL16F note 1 Lue N m r min kW B061 60ST M00630 0 6 3000 0 2 e e e B062 60ST M01330 1 3 3000 0 4 e e e B063 60ST M01930 1 9 3000 0 6 e e e B081 80ST M01330 1 3 3000 0 4 e e e B082 80ST M02430 24 3000 0 75 e e e B083 80ST M03520 3 5 2000 0 73 e
64. ers 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 uu y M Command pulse number in one turn of load shaft Pc x reducer ratio R Here M t tity 1 t fl haft Command pulse number in one turn of load shaft Pc ovement quantity m one turm OE 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 UR i Ball screw Pitch mm ELOOTOE Reducer ratio R Encoder resolution Pt pul se 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 4xC 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft ball screw P _ Pitch 8mm AP 0 00lmm Calculate the electronic gear ratio 8000
65. ever 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 loop 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 gt 2z x K Hz 3 The gain of position loop Kp 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
66. ew 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 vapor 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
67. ington 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 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 E Servo Drive DC5V 24V DO1 DO1 4 Do2 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
68. ion 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 time LM Default Acceleration time of speed Range Unit Usage value command 0 30000 0 Ms S Set the acceleration time for the servomotor from 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 jacceleration time 1 1 P060 Actual jdeceleration time 1 P061 65 Chapter 5 Parameters ORE Default Deceleration time of speed Range Unit Usage P061 value command 0 30000 0 ms S Setthe deceleration time for the servomotor from the rated speed down to zero speed Ifthe 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 hos
69. is as a prompt of adjustable speed The numerical value is the speed command provided by pressing 4 button for increasing or Y 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 the digits The positive number indicates positive direction CCW and the negative number indicates reverse direction CW r Cc A Speed command Lf 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 U2 Modify the password parameter P000 by 360 T Modify the servomotor code parameter P002 with newly servomotor code referring to chapter 7 4 serv
70. itch 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 Use 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 P098 l P099 Default z Range Unit Usage Forced enable value 0 1 0 ALL Themeanings of this parameter are 0 The enable signal SON comes from inputs by DI The enable signal comes from internal software Default 6 Range Unit Usage Motor manufacturer value A B A ALL The meanings of this parameter are A HXD motor B MIGE motor 69 Chapter 5 Parameters 5 4 2 Parameters of section 1 Default 3 HOT Range Unit Usage IMEEM Function of digital input DII value 21 21 1 ALL
71. l enne 78 Chapter 6 ATE i Rep e e e e be tea E hte ette ite betae E bete ek 79 6 1 Alarm table cete tertie dtt enti eite dei eite dre dede nie 79 6 2 The reason and handling of alarm eee 81 Chapter 7 Speci A Cat OS uo ee reete e en eer rec ede ee aves Rel Sens 89 T Types OF Servo drivet ss eere am bees es eure 89 7 2 Dimensions of servo driver eese ener T ENNERT ERATE AN 89 7 3 Specifications of servo driver cccccecssccessseesceeeseeeeeecseecseceeeeeceesaeeeeeessnecssaeeeeeeeeaeeeaes 90 7 4 Adaptive table for servo motor selections 9 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 phenomeno
72. l 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 DI1 Digital Input 2 DI2 Digital Input 3 DI3 Digital Input 4 DI4 Digital Input 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 DIB 15 defines by parameter P100 to P104 DI4 3 DIS 16 COM DI power supply DC12V 24V digital output DOI photo isolation output C2 DO2 17 maximum output 50mA 25V DO3 function is programmable defines by parameter P130 P132
73. ling 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 2 4xC 4x 2500 10000 pulse rev Calculate the command pulse numbers for one turn of the load shaft P aD 3 14x200 62800 AP 001 Calculate the electronic gear ratio QGQN 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 pulsex N BxM Among them pulse is input pulse number For example the encoder line number C 2500 line N 20 M23 Servomotor turn number 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 r 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 N23 M 1 f 100kHz kpps the calculation is 3 Servomotor speed r min A Eu HR US
74. llation 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 P S The load inertia ratio is that the inertia of mechanical load refers to servomotor shaft divides by the rotor inertia of the servomotor 3 Default f Time constant of filter for speed Range Unit Usage P019 value detection 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 D Range Unit Usage IMPIEEM 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 n value for position loop 0 20 50 00 1 00 ms P For filtering the feed forward signal in position loop
75. mit 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 Err7 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 Err12 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 Encoder counter error Encoder counter is abnormal No Errl6 Over heat of servomotor The heat load of servomotor exceeds the No setting value t detection Err17 Overload of brake average Average load is too big in brake time No power Err18 Overload
76. n 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 IN02 3 Phase Power EFT AG Serve zm semamtums Supply 220V Mode TLosF QC caution Read manual before installing 3 AC220V 50 60Hz l Input _ 3 Ac220v 50 607 PASSED HESAR RTN Wr Bakka D Rated Output Current Output 45A 200009 AES Tum off power and wait 5 min before MAEO002 s servicing or cause electric shock Maxsine Electric Co Ltd iS Bie Make proper ground connections M1 O00 00 ELT TTC Ereng TIS2LMAEO00 2 Serial Number 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 f And Output Signals a Connector X3 For Main Power Input RS232 Or CANb r us Terminals L1 L2 L3 fel Option Control Power Input ami Nameplate And Terminals L1C L2C led oa Warning Logo Z Right side i gnt Sige Servomotor LU LI E H o o Connection terminals v i 2 o CU V WD iw Ea Connector X1 For Input 2 o o External R
77. nel compositions The front panel consists of the display 5 digit 7 segment LED and four switching buttons a vj and E It displays monitor status parameters and changes the parameter setting value and so on The main menu is in cascade sequence mode and executes in layer 5 Digital LED SEE V e A Buttons ae ee Ld 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 AJ Increasing button Increase sequence number or value Press down and hold to repeat increasing LV J Decreasing button Decrease sequence number or value Press down and hold to repeat decreasing vs Exit button Menu exit cancel the operation er 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
78. nes 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 LE Servo ready DO RDY Servo ON DI SON 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 x X between P167 and arrival time of P168 Motor speed r min PISS uec 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 l Servomotor U ited tes status nexcite Excited nexcite l I P106 I 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 i
79. o earth reliably 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 N 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 me
80. of parameter P110 71 Chapter 5 Parameters P130 Function of digital output DOI Default Range Unit Usage value 11 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 Turn off number OFF Turn on Default 7 T E 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 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 CO
81. 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 Illegal 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 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
82. omotor 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 parameter 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 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 22 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
83. on 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 Ifnotuse 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 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
84. ot modify parameters Some special operations need to set a suitable password Default i Range Unit Usage IUE Identity code of servo driver value 9 z ALL This is the model of the servo driver in sue 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 Range Unit Usage IUE Identity code of servomotor value 1 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 j Range Unit Usage P003 Software version value i ALL e This is the software version number and cannot be modified 59 Chapter 5 Parameters Default Range Unit Usage IM EE Control mode value 0 1 0 ALL The meanings of this parameter are 0 Position control mode 1 Speed control mode Default a Range Unit Usage IMEEM 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 P01
85. p 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 bandwidth of the of the position loop Because the current control loop of the servo driver is already adjusted 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 17 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 171000 40 1 s P P017 Ratio of load inertia 0 0 200 0 1 5 fold P S The definition of symbol as follows Ky Tj The integral time constant of speed loop K G Ji Jm The rotor inertia of the servomotor The gain of speed loop The gain of position loop The inertia ratio of load P017 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 How
86. pecification indicated by two characters x om wf 1 7 2 Dimensions of servo driver 185 173 LJ leri eriei j SES 4 GEERS C mmm eB mmm DR 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 Electronic 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 Encod
87. pondently 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 attention 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 70 14mm AWG29 shielded Encoder signals X2 20 14mm AWG26 shielded Must use a twisted pair wire cable for the encoder signal wiring If the encoder signal cable is too long 720m in which the encoder power supply can be insufficient may use multi wire or thick wire for the power supply wiring 2
88. pressing e button shows the parameter value Use A or Y button to alter a parameter value Pressing av button once to increase decrease the parameter value by one Pressing down and hold the Ur button the parameter value 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 ts button and can press 4 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 V A ppg fo Pe T Parameter section inc dec X e Y Y P B00 P 00 Penn v A P2007 P 81 P 281 Parameter s f t number Pp P
89. s lt 10ms eaj gt lt Servo ON OFF I 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 52 4 8 Electromagnetic holding 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 Usag Name Range Unit meter value e 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 char
90. ssssssssseeseeeeeeene enne 31 Chapter 4 RUIME ee tre etre N rai 33 4 1 Trial running with no load sessi nnns 33 4 1 1 Wiring and inspection enia an E a N NE enne nennen nnne 33 4 1 2 Trial running in JOG mode sssssssssssssssseeeee eene eene enne nnne nnne 34 4 1 3 Trial running in speed adjustment mode with keyboard 35 4 2 Position control mode tacta dete tene ee de edet 36 4 2 1 Simple example for position control mode sss 36 4 2 2 Position commands sristi niione EE neret nete nee nnne nnne nere enne 37 4 2 3 Electronic gear for input commands sessssssseeeeeneeeee nennen 40 4 2 4 Gains related to position control mode sssssssseeeen 45 4 3 Gaim adjustment s oor eco oko ERROR ERROR NORD TU OR EET HE 46 4 3 1 Gain parameters usse evo RO ROO YR EP REGE DER RYE 46 4 3 2 Procedure for gain adjustment ssssssssssssssseeeeee eene 48 4 4 Resonance suppressions n sns nenas an A nn rennen nnne nnne nnne nnne 49 45 Overtravel protections edet sette tieed esee tetti quee oun egre detenti tuere d 50 4 6 Torque limitations tee t WE C ED ee Ee 50 4 6 1 Parameters for torque limitations eene 50 4 7 Timing chart of Operation ccccecccccessceesceeseeeeseeessceesseeeeeseecnseecsseecsceeeeseseseeeeseeenseeessaees 5 4 7 1 Timing chart when power supply switch on sesssseeeeeene 5 4 7 2 Al
91. t 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 The 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
92. t 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 Setthe 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 equal 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
93. 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 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 E EEPROM Parameter read out Parameter table a EEPROM E Ex factory Parameter E dEF Resume default
94. tion 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 Check 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
95. ver 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 If the load inertia ratio is set correctly G G JL JM must satisfy the following condition 1000 Tn 2z x2x 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 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

EP1 AC SERVO User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents