Single-channel all-digital AC servo drives ATTENTION QS6 Series
Contents
1. QS56AA050M3 Li gt 4112 Ls H INCOM n G U 2 ooo EN 23 vo ESI servo Enable MES CN Y Wo gt 4 Ny O O apa T SS Control Method Po MODE 9 vo PEO gt Motor Position Against o To INTH 1044 hg o Forward Linit oo ON 9 Ye idis nl Lo come 14 SG Alarm Clear Do To p CLR 22 2 5V 2 Encoder Z Signal lt 07 ll 3 OV gt 3 Orientation 4 COIN 20 TA 4 At vi 4 Comletion Signal RS 7 Ate Mi 7 Ready signal s SRDY 29n CNI CN2 B servo Alarm lt ALM 12 Pa 9 I 9 res 4 BRAKE 24 12 8 Ben 8 Output Common Signal OUTCOM 13 A 6 Zt 6 9 Z a 9 10 U 4 10 13 y 13 Position gt GND 217 mia MA 14 Command N gt PLUS 6 TT Lim Pulse Mo PLUS 185 2 SN L Wey e irection lo y WO Command MSS E Yi PE 1 signal SIGNO duo lt wy 194 5 gt M OZ 117 I ua 0B Encoder P M op Signal 16 4 OA 3 4 OA 15 fri He He Servo Enable EH 77 x Control Method Nia 421k Position Against IEF IRG Forward Limit SURG MRAZ Reverse Limit Anges ZIA y Encoder Z Signal EMIR Orientation Completion Signal HES Utes Ready Signal fri IRR Servo Alarm fen th fag xd Output Signal Common p 8 ll A EEX Break Positive AAE fa 9m Brea2. A EE OO U 181 0 _ ML d CX Oo Do il E OO E O COO kc OJO ua CU E Ed ES Q D CJI 12 SIDTECHA AAJ 7 Single channel all digital AC servo drives QS6 Series Chapter HI Wiring Make sure the usage power supply AC220V and AC380V two series are available for this drive for the drive and use isolation transformer O Match drive terminals U V W with motor U V W respectively Consider the security protection measures for design and assembly while using this product in order to avoid accidences resulted from wrong operations Ensure the good grounding for drive and motor Disconnect the power for more than 5 minutes before disassembling this drive 3 1 Standard wiring This AC servo drive wiring 1s concerned with the used motor and control modes General wiring l Wiring of encoders and control uses a stranding with shield layer In order to reduce interference the wire 1s required to be as short as possible Shielded cable PE should be connected and the maximum wire connection can reach 10M for general application however it is not recommended to use more than 10M 2 Power cords connection uses the corresponding cables with motor current specifications The high voltage level of cable 1s required to greater than motor Shielded cable PE 1s must The
3. Internal position control ALBIS Position control P12 E FUN f P12 E gear numerator P16 position gain RE P19 position acceleration time P20 position deceleration time P10 Hot P10 pulse mode P13 BFAI FE P13 E gear denominator P18 EPE AR P18 position smoothing constant P1647 EJ as P16 position gain P22 MIE P22 speed integral P21 PEEL m P21 speed gain HLA Pe Hill Current loop control Vy SB Internal position control P20 Ar EU RES IA P20 position deceleration time MEE Position loop feed forward P19 Ar EE IA P19 position acceleration time 7 4 3 Position Resolution and Electronic Gear Settings ALAS Position detection Position detection Position resolution an impulse travel determines the stroke per turn on the servo motor and encoder feedback pulses per turn Pt which can be expressed with the below formulation AS Equation A l P Al A pulse travel mm AS Servo motor stroke per revolution mm r P Encoder feedback pulses per revolution pulse r The system has four multiplier circuit so P 4xC wherein C refers to the number of lines per revolution of encoder In this system C 2500 lines turn so Pt 10000 pulses turn Command pulses multiplies electronic gear ratio G and then it can be transferred into position control pulse so a command pulse stroke 1s expressed as follows AT ASxG Pt Com
4. 1 External power supply should be provided by the user however please note the reversed current polarity will lead servo drive to be damaged 2 Output is open collector form OZ SRDY COIN and ALM signal maximum current 1s 20mA BRAKE signal maximum current is 50mA therefore BRAKE can directly drive relay while the OZ SRDY COIN and ALM signal cannot drive relay an external power supply maximum voltage is 25V Thereby the switch output signal of the load must meet the qualification requirements Excessive limit requirement or output directly connecting with the power supply will cause servo drive to be damaged 3 If the load is the inductive load with relay etc you must anti parallel freewheeling diode at both ends of the load The reversed freewheeling diode will cause servo drive to be damaged 3 4 3 Pulse Signal Input Interface Side of drive Pulse signal input interface of the differential drive mode Ika ae Ill Side of drive 5 SIDTECHA M 7 Single channel all digital AC servo drives QS6 Series VOG Side of drive Pulse signal input interface of the single ended drive mode IX 31 ES MI Side of drive 1 2 3 4 5 In order to properly transmit the pulse of traffic data the differential driven approach 1s recommended After adopting differential drive mode AM26LS31 MC3487 or similar RS422 line drivers should be used Please use single ended drive mode which will reduce operating frequency
5. 2 OW el SU iy Ue UMMM AN ar E E 20 3 3 2 Control signal CN3 terminal and feedback signal CNI terminal 21 o Ee bin md E TDI HORE A SR RR E ER PEDQUE 21 3 3 1 Power supply terminals JUT 1 5 4 cold pressured terminal 21 3 3 2 Control signal input and output terminal DB36 connector for CNI Block 21 3 3 3 Feedback signal terminal of encoder DB20 connector for CN2 block 23 3 4 Principles of input and output Inter aces ooooooonnncnnnnnnnnnnnnnoncnnnnnnnnonnnnnnncnnnnnnnnnononnnaconnnnnnns 24 3 4 1 EN MODE INTH CW and CCW Switch Input Interface esssesss 24 3 4 2 SRDY ALM BRAKE COIN and OZ Switch Output Interface 25 343 Pulse Signal Input Intet 3685 sa 25 CIT APIER TV PARA METE Sica 28 CHAPTER V ERROR ALAR E uiui iii ia iio iio io is 37 CHAPTER VI DISPLAY AND PARAMETER SETTINGS ccccceceeeeereeeeeeeeeeeececececessssssss os 39 CL DEVE TS Ay assassins ops ep nen sone anan acca varaaanaaasa RE E 39 02 Keyboard Opera hac EEEE TEE EEEE RU 40 DT AIG EE De EOS ias 40 AAA o 40 Goes Passwort mpi and Chane Sanda 4 0 5 9 Parameter WTN O UE OO MIRI UNI a MTM Ren 4 CHAPTER VI DEBUGGING snsc aaa can can RE RICE e 42 QN deron A cm 42 NEZ Os UAE E mmm 42 AMD 0 A II 9 9 9 0 0 M bbs ls b a 4
6. 4H 220VAC Single phase 220VAC ENLI Motor power supply wire R232 ih ilm R232 communication terminal I O mi As Yin J Encoder terminal ENLi Motor encoder X 200VAC Three phase 220VAC ELY ASE Motor housing fe ill tig 4 I O control terminal fe tll as Controller ao AIDTECH MAT QS6AA050M3 External Wiring Instruction Three phase E 380VAC e d Motor 1 power supply terminal 220VAC T1 Inculation Motor 20001 CL gt housing ENLI JJ Motor power supply wire 242 Insulation mass Encoder terminal ENLi Motor encoder 18 Single channel all digital AC servo drives OS6 Series QS6AA050M3 OR Ss y E de JU terminal E 25PIN Vo CN oW encoder as terminal Ot 15PIN CN2 PE Controller Motor ELIAS Motor housing VO tln I O control terminal 23 Fill 4s Controller encoder AIDTECH MAT Single channel all digital AC servo drives QS6 Series 3 1 1 QS6AA010M 020M 030M2 050M2 Servo Wiring Breakdown Illustration Encoder TX RX GND RTS CTS DSR DTR CD A Om ON OF bd C2 PC Nia 44 iE Position Against REE BE Alarm Clear fal IKE EF Servo Ready QS6AA v DC 12 24V gt INCOM 9 vo o e i gt o EN 10 on
7. CCW ir lg CW CW CCW Pulse Input Interface Timing Diagram Pulse Frequency lt 500kHz e SIDTECHA M 74 Single channel all digital AC servo drives QS6 Series Side of motor Side of drive X AB ZU V W Servo Motor Optical Encoder Input Interface HAL Side of motor Wiz asi Side of drive Chapter IV Parameters IN attention Personnel involved into parameter adjustment must understand the meaning of parameters for the wrong settings may cause equipment damage and personnel injury O Itis suggested that all the parameters adjustment should be under the situation of the servo motor stationary Parameter List Parameter Parameter Name Application Parameter Factory Unit Remark No Mode Range DES PO Software version version 2015 2050 0 9999 o 19 P2 Motor model Motor 1 fies a P3 Bootdisplay JP S T 0 10 OO A A NM P5 Servo enable control LN input signal INTH P 3 T Y function ma a a a s ECO To CI 19 Alammoutputmode_ P T 0 1 0 0 o PIO rats mode JP po 0 O PIL Motor iron R o o o jo ip Eeewwegermeeo P ums JO denominator 28 SIDTECHA AA AT 74 Single channel all digital AC servo drives QS6 Series Scope P15 Position deviation alarm P 0 32000 0 Pulse 1 range 12000 100 JO 0 330001 lo JO P18 Posion smoothie constant P foco 0 fo PI Posiionacelerionime P 0 3299 0 o
8. 1 unit A iS 3 Indicating the motor torque percentage parameter P3 2 unit E SH 4 Indicating motor operation position 4 bit lower parameter P3 3 unit pulse P iB nB uv se We iLi LI 5 Indicating motor operation position 4 bit higher parameter P3 4 unit pulse 6 Indicating input pulse 4 bit lower parameter P3 5 unit pulse L eHe 8 Indicating position deviation parameter P3 7 unit pulse 7 Indicating input Pulse 4 bit higher parameter P3 6 unit x1000pulse 9 The Input interface diagnoses A Hexadecimal number display data means in When D0 1 EN input is valid Displaying 1 Be o SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series When DI 1 INTH input is valid Displaying 2 When D2 1 CLR input is valid Displaying 4 When D3 1 MODE input is valid Displaying 8 When D4 1 ZO input is valid Displaying 16 When D5 1 CW input is valid Displaying 32 When D6 1 CCW input is valid Displaying 64 When D7 1 RLM input is valid Displaying 128 LLI LJ RE 10 Analog input indicating the size of inputted analog parameter ci 11 Input pulse frequency unit 6 2 Keyboard Operation Drive panel comprises 6 LED digital tube displays and four keys 1 Mode Enter to display various states of the system and set parameters Key features are as follows parameter number value increase or motor running
9. A TA P25 analog input P29 FE Hs mt P29 voltage deviation P28 EMANA VETA EM P28 analog input filter coefficient P27 t XB Be NIEJ P27 torque max speed P31 RMATA Ate P31 analog input percentage P50 HLA fit P50 current loop gain P51 Hp P51 current loop integral EEY Current filter Speed Control Flow Diagram P23 acceleration time P21 speed gain C M P24 deceleration time P22 speed integral urrent loop POR 07 control ee Speed P29 voltage deviation control P25 analog input P28 analog input P26 analog max speed _ P31 analog input filter coefficient R percentage P35 internal speed EE PEH Speed control P25 MERA xk P25 analog input P29 HAH fmt P29 voltage deviation P28 FEMENA VEY RA P28 analog input filter coefficient P26 MENKE P26 analog max speed P31 EMIA HS P31 analog input percentage P23 JH IA P23 acceleration time P24 dik EY lA P24 deceleration time P21 ni P21 speed gain P22 IERA P22 speed integral EM il Current loop control P35 Aue P35 internal speed Er AIDTECHMAT Position Control Flow Diagram Position control P10 pulse mode Position loop feed forward Single channel all digital AC servo drives OS6 Series P21 speed gain P22 speed integral Current loop control P12 E gear numerator P13 E gear denominator P18 position smoothing constant
10. e Reeular Check neveu Check whether solid components are loose B y e Confirm whether terminal block is damaged SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Contents CHAPTERT OVERVIEW uos een peni OH ERR EE EE nn dias dia se 6 M MEMO e NISI ERN 6 1 2 Technical Specifications of Servo Drive eesssssssssssssssseeene nennen eene eene essei 7 CHAPTERITIN STADLEANTIO Nossa coc cnet epe ace uuum ue e rena aha bheaii 8 Aa an oi bi PRRRRE E PEPERERRRRRERREERESERERERE RRRERESE RES PRP ERR RR RR RR ER RR 8 2 1 Installation ot electio Control CA DING rr 8 2 1 2 Heating devices around servo drive cccccnnnnnnnnnnnnnnnnnnnnnonononnnnnnnnnnnnnnnnnnnnnononnnnanannnnnos 8 2 1 3 Vibration devices around servo drive sss 8 2 14 Use under harsh AOS ia 8 2 1 5 Jamming equipment around the servo drive ccccccccccccccceeceeeeaaaeesessssseeeeeeeeeeees 8 2 2 Driver EAST LO ood ceeciei edad dada da as aii a a did ii iai 9 2 MASA OM CARO MDAC eo eC eee 9 Zi NAO MV EEEE OTT 9 22 5 TRSEHEACEO cin na sin O eirian tote EPPMDRD MENU DI DM MIR RUNUIU GU Mte UNE 9 2 2 Anstalt o D EHE DIS TORTE ETE EE idi uta ae 10 CHAPIER A AAA 13 Ri m 13 3 1 1 QS6AA010M 020M 030M2 050M2 Servo Wiring Breakdown Illustration 19 3 1 2 QS6AA050M3 Servo Wiring Breakdown Illustration eeeessssssse 20 PLD A e 20
11. forward under the JOG mode parameter number value reduction or motor running reversely under the JOG mode Mode function options or the current digital cursor moving left Enter function key for confirmation or data entry confirmation Under normal circumstances press Mode to entry Q parameters setting Q parameter written 3 parameter initialization 4 Alarm display it will not be displayed when no alarm 6 Display state all of which can be cycle selected D Parameter PI P63 P i 2 Parameter writing It is valid when entering right password 3 Parameters initialization It is valid when entering right password rd 4 Alarm display the picture shows no alarm 5 Display state Same as indicated content of P3 parameter When alarm occurs please adjust to the alarm screen and press to eliminate alarm A Attention When password of input system fails to be found you can access 1 parameters view and enter password to modify P3 parameter however other parameters cannot be changed 6 3 Parameter Settings 6 3 1 Parameter settings 1 Under normal circumstances press Mode to entry D Parameters 2 Press T or keys to select the parameters number which vou f y T P T y want to modify and then press Enter 40 SIDTECHA AAPI 7 Single channel all digital AC servo drives QS6 Series 3 Press 7 to auto add o
12. lines and motor wires get short circuit or grounding Whether the control signal terminal is connected correctly Whether power supply polarity and size are correct Whether drive and the motor are fixed firmly Whether motor shaft 1s not connected to the load 7 3 2 JOG Control of Servo System When the system parameter is set to be P4 1 the servo system is under the mode of JOG control Press T servo motor rotates forward release 7 the motor stops Running speed is determined by the setting values of parameters P34 Press servo motor rotates reversely release the motor stops Running speed is determined by the setting values of parameters P34 JOG control acceleration time constant is adjusted through parameters P23 JOG control deceleration time constant 1s adjusted through the parameter P24 44 SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series 7 3 3 Position Control of Servo System When the system parameters are set to be P4 0 P4 4 or P4 5 and signal is invalid servo system 1n under position control mode Running speed 1s determined by input pulse frequency running direction is determined by the input direction and P11 running pulse mode is set by P10 When P6 1 2 and INTH signal 1s valid this function can be terminated Electronic gear is determined by P12 and P13 When P18 confirmed as 0 for position smoothing it cannot be used as less use more e
13. supports 220V power input 100W 3 7KW and 380V power input 3 7W 11KW Torque speed location point to point positioning and hybrid switching features are avallable Oo Multiply control modes can be used such as position control speed control torque control electric tool control and JOG control Built in braking system is capable to meet large load applications Built in 4 position positioning control instruction freely plans point to point positioning control Own encoder can feed back position signal to the servo drive and constitute the semi closed loop control system with the open loop position control Speed regulation ratio 1s 1 5000 with stable torque feature from low speed to high speed The maximum speed of servo motors can reach to 6000 RPM Control positioning accuracy can achieve 0 01 Improved space vector control algorithm generates bigger torque and less noise than the average SPWM 300 overload capacity guarantees the load capability is strong Wide supply applicative range AC220V 15 10 or AC380V 15 10 Perfect protection functions are made for over current overvoltage overheating and encoder faults A variety of display functions including motor speed motor current motor position position deviation pulse number pulse frequency straight line speed input and output diagnostic interface and historic alarm records etc SIDTE CHA AA J 7 Single channel all digital AC serv
14. which should be guaranteed to be 0 5G 4 9m s below 2 1 4 Use under harsh environments When used in harsh environments servo drive will contact with corrosive gases moisture metal dust water and processing liquids which shall bring the malfunctions Therefore noise filter and other anti interference measures should be taken to ensure the drive to work normally Please note that leakage current will be increased after installed noise filter In order to avoid the above situation you can select 1solation transformer in particular control signal lines of drive are easy to be interfered and reasonable wiring and shielding measures should be considered 2 1 5 Jamming equipment around the servo drive Jamming equipment around the servo drive will produce interference resulted in false operation Noise filter and other anti jamming measures can be used to guarantee drive to operate normally Please note that leakage current will increase after noise filter added To avoid the above situation 1solation transformer can be adopted Please pay special attention that reasonable wring and shielding measures can prevent drive control signal from interference RES SIDTECHA MA 74 Single channel all digital AC servo drives QS6 Series 2 2 Driver Installation AN attention O Install servo drive in the electric control cabinet with good lighting protection O Install servo drive upon the required direction and interval good cooling condition i
15. 3 7 2 Use of Mechanical Brake BRAKE 000 cccccccccsssseeennsssssseseeeeeeeeeeccceeccecsseseeeeaasssseeees 43 AIDTECH MAT Single channel all digital AC servo drives OS6 Series Lidia 44 25 9 MEE ii 44 1 3 2 JOG Control of Servo Sy SIOLIT es dpaemter pts ot od utei es aat o 9S ode oU UR as Ue abel aU daa eos ERAN 44 7 3 3 Position Control of Servo SysSteM ooocccccccnoncncnnnnnoonononononnnonnnncnnnnnnnnnnnnnnnnnnnnnnnnnnanannns 45 7 3 4 Speed Control of Servo System cccccccccccscccccssssssssssnnsssssssssseeeeeeeeseseccecsseneneeees 45 ES Torque Control of Servo Systeri iien 45 7 3 6 Internal Speed Control Servo System cccccccccncccnnconoonooonnnnncccnnnnnnnonononnnnnononononnnnnnnos 45 7 4 DeEDUE E ANE Tm 46 7 4 1 Gain and Rigidity COMMMISSIONINS coooooccnccnnnnnnnnnnnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannns 46 7 4 2 Basic Parameters Adjustment Diagrams esses nnne nenne 46 7 4 3 Position Resolution and Electronic Gear Settings ie 48 7 4 4 Servo Start and Stop Debugging Features sees 49 CHAPTER VIII RS232 COMMUNICATION ecce eee eee eee ettn nnn n noon eese ee e ettet ete eo asas eee eeee 50 8 1 Communication Line C One clones infante didi 50 SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Chapter Overview 1 1 Introduction Modern industrial automa
16. IA IR FELL Jiabao or Huada Series Servo Motor Xaar CN2 Drive CN216 ODEA 16 core Shielding Cable FAL bas Motor Encoder 5 Hil Pin fi Signal E Black FE Black and white bx Brown AH Brown and white 3i Yellow 4k Green H White amp Purple amp Orange Wi Blue 2X Grey amp AH Orange and white 41 Red ZH Red and white B Shielding aoe SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Pin Pin mE phase phase Black PG input phase A Purple PG input phase U and white phase i phase PG input phase B rane Va PG input phase V phase phase Brown PG input phase B PG input phase V Blue mc white phase phase 5 Yellow MN PG input phase C e Gray ES PG input phase W phase phase PG input phase C Orange and PG input phase W Green C W phase white phase EE and white 0V E Red PG Power 5V PS Power 0V Brown Bt 3 4 Principles of input and output interfaces 3 4 1 EN MODE INTH CW and CCW Switch Input Interface Side of drive Switch Input Interface Wiz asi Side of drive 1 Power supply DC12 24V current gt 100mA is provided by the user 2 Please note the reversed current polarity will cause servo drive to fail to work properly 24 SIDTECHA AAPI 7 Single channel all digital AC servo drives QS6 Series 3 4 2 SRDY ALM BRAKE COIN and OZ Switch Output Interface Side of drive Switch Input Interface Wiz asi Side of drive
17. JE vig Connect pin shaped terminal FL ELVA ig Motor power supply terminal mr With brake Usar CN2 Drive CN2 20 20 core E Black 4 A Black and white Ex Brown r H Brown and white t Yellow 2 Green H White 8 Purple f Orange Wi Blue K Grey R F1 Orange and white ZI Red L A Red and white Btilt Shielding EPLi AS Motor encoder OS6AA010M 015M 020M External Wiring Instruction e SQ6AA015 020M OS R R232 f Si ng l e pha Se Communication o PC 220VAC terminal l 4PIN Motor 2U Ns f power sy I O Controli L Controller terminal JE supply W 36PIN terminal CNI encoder o o terminal gt cce Motor Motor PE o encoder housing JH 220VAC Single phase 220VAC ENLI Motor power supply wire EPLAY e Motor housing R232 iH Ying R232 communication terminal VO Pl I O control terminal Anh Asin I Encoder terminal telas Controller ENLi Motor encoder 16 AIDTECH MAT Single channel all digital AC servo drives OS6 Series QS6AA030M2 050M2 External Wiring Instruction QF 20A Single phase or three phase 220VAC o Motor power supply terminal Motor X housing z lt OU m K PE QS6AA030 050M2 R232 T Communication o terminal O PC 9PIN V CN3 1 0 Control Control ler terminal 5 8 36P IN CN1 encoder o o terminal gt gt aca Motor ZOPIN encoder CN2
18. P20 Posiiondecelrionime P 0 323 o O CEE ES i o 9 0 jo m seeti PS 00 10 O ES Analog input method sT 0 1 jo jo coefficient Pe oem O DS O O Zero P30 Imertiaration P s T 0100 OO P31 Analog input percentage S T 0500 O O IM A A splitting P33 Encoder alarm permit alarm Encoder alarm permit P P ST T a a a D s000 o o P35 Internalspeed S 0 5000 100 min P36 Internalspeed2 S 05000 200 rmn P43 Communication address P S T 07255 O0 FO P4A4 Communicationbaudrate P S T 9600 O s ra pos omo P tio o O Torque percentage of motor ae stationary Start delay of P a T ia 3200 electromagnetic brake ms Stop delay of P S T 0 3200 electromagnetic brake ms P49 Zero speed clamp on rr cane ESTO um O PSI Current loop integral P S T 1200 150 O P52 Encoderlins P S T 10006000 2500 TO P53 Encoder type Pp sT oi 0 JO 29 SIDTECHA AA AT 74 Single channel all digital AC servo drives QS6 Series P54 Polepis PST 256 4 TO ms oinm esr ewe me To P56 Rated current E S 0 100 0 1A P57 CO RT eam 8 Joni qs AAA Remarks D Itis immediately valid after modification 2 Fixed parameters cannot be modified 3 I shall be valid when restarting it after modification M Parameters De
19. Resistance R values can be determined upon pulse input circuit drive current 10 15mA and external power supply maximum voltage limitation 25V Empirical data are as follows VCC 24V R 1 3 2k VCC 12V R 510 820Q VCC 5V R 82 1200 Using single ended drive mode and the external power supply is provided by the user Please pay attention that the reversed power supply polarity will lead servo drive to be damaged Please refer to the following table for specific pulse input modes and required pulse frequency lt 500 kHz Duty cycle is 1 1 and actual demand is to be required to pass 0 4US Pulse Input Modes Pulse command P10 Settings 0 Pulse sign Pulse sign CCW Pulse ji CW Pulse CW CCW Pulse A B Pulse TErAS do UA ica os fl Bem Orthogonal pulse 26 SIDTECHA AA Z7 74 Single channel all digital AC servo drives QS6 Series Pulse Input Timing Parameters Differential Driver Input Single ended driven input tek gt 5uS 2 dus 30 n 1 PLUS 10 90 SIGN 10 A A A CU e 8 8 o s 0 0 0c 9 c9 c5 0c c8 5011 CW js CCW La CW Pulse Sign Input Interface Timing Diagram Pulse Frequency lt 500kHz SU E 1 PLUS 10 ts trh tri SU 1 1 1 E E E 1 1 1 E E E 1 1 E n c o c3 m n 8 8 9 c 5 5 o SIGN 105 mo 039 03 030 o 3 aa m c o a oa 080 0 a a3 a a 3 5 35 c O b oe e 5 5 n e o o8 on o
20. S 232 interface and PE housing 3 PC connection is shown as the below diagram E Drive 3 GND NES PL Wings Drive 50
21. SDRY 57 SDRY signal JR ALM z 57 ALM signal TEBEENTHi 7 EN signal FAN LE Electric incentive AI ZE BRAKE E 5 BRAKE signal 7 2 Use of Mechanical Brake BRAKE Mechanical brake 1s used to lock the vertical or tilt table connecting motor to prevent motor from falling down after power failure The motor with brake feature should be selected to achieve this function BRAKE signal of drive 1s used to control auxiliary relay which will start brake power brake power 1s provided by the user BRAKE will be effective in P47 delay time after drive motor incentives power supply 1s electrified When power off or alarm occurs drive will auto disconnect BRAKE with signal delay time P48 and then motor incentive power supply will be disconnected When this signal 1s installed the brake power supply must have sufficient capacity and must use freewheeling diode as surge absorber Please see diagram below E ie a SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Motor Brake power Drive lt r tae max 50mA raket 12V 24V Brake 24 n a adi HAL Motor JKz as Drive 7 3 Operation 7 3 1 Pre operation checks After completion of the installation and connection please check the following items before power on Whether the power terminal wiring is correct and reliable Whether the input voltage 1s correct Whether power
22. Single channel all digital AC servo drives ATTENTION QS6 Series User Manual ADTECH Q uL TNT lerra Oris LEN LL A This manual is only for drivers with 20XX or higher version Do not use this manual for drivers with 10XX version M au AIDTECHMNATS Adtech Shenzhen CNC Technology Co LTD Address 5th floor 27 29th Bulding Tianxia IC Industrial Park MaJiaLong Yiyuan Road Nanshan District Shenzhen City China Tel 86 755 2609 9116 Fax 86 755 2672 2718 PC 518052 Website www adtechen com SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Copyright Notice The property rights of all the parts of the manual belong to Adtech Shenzhen CNC Technology Co Ltd Adtech for short and any form of imitation copying transcription or translation by any company or individual without the permission is prohibited This manual does not include any form of assurance standpoint expression or other intimations Adtech and the stuffs have no responsibility for any direct or indirect disclosure of the information benefit loss or business termination of this manual of the quoted product information In addition the product and the information mentioned in this manual are for reference only and the content is subject to change without notice ALL RIGHTS RESERVED Adtech Shenzhen CNC Technology Co Ltd SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Basic Information of Ma
23. ady Signal Alarm output of servo ready for trouble Ready Signal SRDY free 1s valid Servo break out can adjust break control 7 Servo Break out BRK Output effect by P46 P47 power on and power g TEE RE off break delay time regulation Encoder signal Z Z encoder Open collector output Encoder signal Z Encoder Signal Z Encoder Signal Z mm 32 Encoder Signal B output l Encode Siml B OB upat Motor encoder B signal ouput Encoder Signal A Encoder naL OA Motor encoder A signal output aD SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series 3 3 3 Feedback signal terminal of encoder DB20 connector for CN2 block CN2 External Wiring Instruction QS6 Series Encoder CN2 Jiabao or Huada Servo Motor Motor Servo Drive CN2 l6 core Shielding cable Encoder Pin Signal E Pin 2 Black AMA and white A B 3 Brown B lt q AA 4 4 Brown MA and white p 4 Ht 5 Yellow Z V y 7 6 Green 7 4 NN 5 11 White 6 12 Purpel UE 8 13 Orange ve 4 10 14 Blue vo 12 15 Grey W 4 11 16 Orange 15 and white i 7 8 9 Red 5V 2 17 18 19 Red ovy and white l Shielding FS VS 1 CN2 FABRE HA CN2 External Wiring Instruction QS6 AY Fuga CN2 QS6 Series Encoder CN2 ER FR LE EK AY
24. ant lines e g DC coil anti parallels freewheeling diode and AC coils connects RC absorption circuit in parallel 3 3 Terminal function 3 3 1 Power supply terminals JUT 1 5 4 cold pressured terminal E DE Signal Name Signal function Three phase or single phase main AC220V or AC380V50HZ cannot connect with the motor UVW Connecting with the main power ground 6 vo Servo Motor Matching motor UVW one by one EE ond Connecting motor housing r 220V drive no such terminal Control power220V 50HZ t control de 3 supply mp Connecting with control power ground Note When using AC220V power supply the drive has no 9 10 and 11 terminals 3 3 2 Control signal input and output terminal DB36 connector for CN1 Block QS6AA010M QS6AA020M QS6A4A030M2 QS6A A050M2 Signal Name Signal function MINE o a EN Power supply positive of input terminal is P E P INCOM input used to drive the opt coupler DC12 24V of EM e e positive input terminal current gt 100mA Servo enable input terminals EN ON allow the drive to work Servo Enable i EN OFF drive off stop working Motor in a free state Set P5 1 to shield this feature x1 a SIDTECHA AA J 74 Single channel all digital AC servo drives QS6 Series Note 1 The motor must be stationary between EN OFF and EN ON Note 2 To EN ON at least wait for 50ms and then enter the command Position command pulse prohibits input terminals and the parameter is valid unde
25. e overhauling or components replacement Make sure to check failures after short circuit or overloading and then restart the machine after troubleshooting Do not allow to frequently connect and disconnect the power and at least one minute interval between power on and power off X Miscellaneous Do not open housing without permit amp Keep power OFF if not in use for a long time Pay close attention to keep dust and ferrous powder away from control Fix freewheel diode on relay coil in parallel if non solid state relay is used as output relay Check whether power supply meets the requirement to ensure not burning the control e Install cooling fan if processing field is in high temperature due to close relationship between service life of the control and environmental temperature Keep proper operative temperature range for the control 0C 60 C Avoid to use the product in the overheating humid dusty or corrosive environments Add rubber rails as cushion on the place with strong vibration X Maintenance Please implement routine inspection and regular check upon the following items under the general usage conditions i e environmental condition daily average 30 C load rate 80 and operating rate 12 hours day e Confirm environmental temperature humidity dust or foreign objects Routine Inspection Routine p Confirm abnormal vibration and noise e e Check whether vents are blocked by varn etc
26. efault value is 4 Only if motor type is set to be P2 9999 this self defined parameter will be valid Set value refers to drift angle between motor angle and zero point Please note that this parameter will be valid after it is modified and saved and then restart the machine Default value is 2360 Only if motor type is set to be P2 9999 this self defined parameter will be valid Set value refers to the motor rated current size to only impact on the protective function of motor current without impact on motor operational effect Setup unit 0 1A Only if motor type is set to be P2 9999 this parameter will be valid Set value refers to the motor rated torque size to only impact on the protective function of torque control without impact on motor operational effect Setup unit 0 1A Self defined unit 0 1Nm Single channel all digital AC servo drives QS6 Series 6000 0 2500 I 0 200 0 0 O refers to Q86AA015M above 1 refers to Q86AA010M type P62 V phase current zero correction P63 W phase current zero correction LN attention 36 It refers to drift value of V phase current zero It refers to drift value of W phase current zero 2008 2088 2008 2076 SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Itis recommended that all parameter settings and modification should be implemented when the motor is prohibited Al
27. er 1 The power supply is connected into main circuit power supply input terminal connecting R S T through the electromagnetic contactor 2 After Power is connected wait for about 1 5 seconds delay and servo ready signal SRDY will be effective Now it can accept the servo enable EN signals and detect servo enable effectiveness driver output effectiveness electric incentive and power on status When servo enable 1s detected to be invalid or alarm occurs electric incentive circuit will shut down and the motor 1s in a free state 3 When the servo enable can be connected together with the power supply electric incentive circuit will be connected after approx 1 5 seconds 4 Frequent power on and power off may damage soft start circuit and dynamic braking circuit Therefore it is better that power on and power off frequency should be limited to be 5 times per hour and less than 30 times every day If the drive or motor is overheating please wait for 30 minutes for cooling after troubleshooting and then re connection of power Power Supply Wiring Diagram 7 1 42 SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series 7 1 2 Power Sequencing Power supply sequencing Alarm sequencing Power supply SDRY signal ALARM signal X1 5s EN signal N lt 10ms Electric signal 100ms BRAKE signal EW E FA HN Power supply sequencing HE pe Alarm sequencing FER Power supply EFHIF
28. er appropriately and the operational sound of motor operation will be louder Generally it doesn t need to be adjusted Default value is 600 Current loop integral gain and when motor current is bigger its set value should be adjusted to be bigger appropriately and the operational sound of motor operation will be louder Generally it doesn t need to be adjusted Default value is 150 Only if motor type is set to be P2 9999 this 0 am 32000 0 255 100 0 100 0 32000 ms 0 32000 ms 10 4000 1 2000 1000 245 AIDTECH MAT Encoder type Drift angle P56 Rated current P parameter will be valid Encoder lines of input motor is generally 1024 2048 2500 3000 5000 Please note that this parameter will be valid after it is modified and saved and then restart the machine Default value is 2500 Only if motor type is set to be P2 9999 this self defined parameter will be valid Set value as 0 refers to general non cable saving encoder set value as 1 refers to cable saving encoder Please note that this parameter will be valid after it is modified and saved and then restart the machine Default value is 0 Only if motor type is set to be P2 9999 this self defined parameter will be valid Set value refers to the number of pole pairs Please note that this parameter will be valid after it is modified and saved and then restart the machine D
29. eration time constant 1s bi 500 or less 60 100Times min Acceleration and deceleration time is 150 or gt less lt 60Times min Acceleration and deceleration time is 50 or less 2 Impact of servo motor Different types of servo motors permitted start stop frequency and acceleration and deceleration time vary according to different load conditions run time duty cycle and ambient temperature Please refer to electrical specifications and make the adjustment upon specific conditions to avoid overheating resulted in the alarm or affect the service life 3 Adjustment method General load inertia should be less than 5 times of rotator inertia If always used for large load inertia the motor may generate over voltage of main circuit or abnormal braking at the time of slowing down and then the following methods can be adopted O Increase the acceleration and deceleration time You can set a little too big value firstly and then gradually reduce it to be an appropriate value O Reduce the internal torque limit value and lower current limit O Reduce the maximum motor speed Use motor with bigger power and inertia 49 SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Chapter VIII RS232 Communication 8 1 Communication Line Connection The drive head is defined through the RS 232 interface as follows l 4 RXD 5 GND and 8 TXD of RS 232 interface and PE housing 2 2 RXD 5 GND and 3 TXD of PC R
30. fers to the motor deceleration time from 0 time speed 1000 to Or min 32000 ms Acceleration and deceleration are characterized with the linear It 1s valid under the modes of speed control and torque control and it is invalid under the mode of position control 0 P25 0 AD input value 1 P35 value fixed to be used method P26 It refers to the corresponding speed when analog output reaches speed the maximum P27 It refers to the limited max rotation speed under the torque speed mode Analog input 0 Prohibition 0 1000 filter Analog input voltage at Zero coefficient P30 0 1000 P31 Analog input 0 equivalent to 100 0 500 percentage 0 P32 Encoder Splitting frequency is not used 0 127 lines frequency splitting P33 Encoder 0 Detect encoder 1 Not detect encoder 0 1 alarm miM speed 1 speed 2 speed 3 speed 4 P39 Internal 0 Y N oo allowance N NO _ 34 AIDTECH MAT Single channel all digital AC servo drives QS6 Series position amp 4 J J 32000 P41 Internal 0 position 3 32000 P42 Internal position 4 P43 Communicat 1 10n address P44 Communicat 0 4800 1 9600 2 14400 3 19200 4 ion baud rate P e 0 45 Percentage of torque arrival P46 Percentage of motor static torque P47 Electromagn etic brake ON delay P48 Electromagn etic brake OFF delay P51 Current loop O
31. ffect Position control acceleration time is usually regulated through parameter P19 Position control deceleration time 1s usually regulated through parameter P20 7 3 4 Speed Control of Servo System When the system parameters are set to be P4 2 or P4 4 and MODE is valid servo system 1s in the speed control mode The maximum operating speed is determined by the parameters P26 and P31 The maximum operating speed refers to the operating speed when input voltage is 10V Operating speed is determined by Vinl voltage and direction is determined by the symbols of Vin 1 and P11 When P15 2 direction is determined by CW and CCW wherein CW and CCW respectively refer to motor rotation forward and reversely Zero drift of speed control is adjusted through parameter P29 and adjusting this parameter to set motor speed to be 0 when input voltage is OV Speed control acceleration time constant 1s adjusted through the parameter P23 speed control deceleration time constant 1s adjusted through the parameter P24 When P4 4 under the MODE switch feeding instruction can be transmitted after 10ms delay of MODE reaching 7 3 5 Torque Control of Servo System When P4 3 or P4 5 and MODE 1s effective servo system is in torque control mode Torque is determined by the input voltage Vinl The direction is determined by the symbols of Vinland P11 Input voltage is maximum torque when the torque is 10V The maximum speed specified by the interna
32. imum value the determination condition 1s that there is noise under the situation of motor stationary when speed loop gain is increased After speed loop gain P21 is determined position loop gain P16 can be adjusted properly b If speed loop gain is reduced and position loop gain is increased the position loop gain 1s adjusted to be maximum value under the premise of response without overshooting and no vibration c Constant of speed loop integral time P22 is specified by positioning time length This value should try to be reduced under the premise of mechanical system without vibration Then position loop gain speed loop gain and integral time constant can be fine tuned and find out the optimum values d Current loop gain P50 and current loop integral P51 have been determined by the motor and therefore they do not need to be adjusted basically e If electronic gear is big P12 P13 more than 10 position filter coefficients P18 should be adjusted properly to ensure the motor to be operated steadily 7 4 2 Basic Parameters Adjustment Diagrams Torque Control Flow Diagram 46 SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Tor a P29 voltage deviation Sl alee imit ea pia contro i gt i P27 t d _4 La P25 analog input i ean a od E E percentage P5 current loop integer al Current filter JEFE ill Torque control P25 FRU ee
33. integral P52 Encoder e lines set the proportional relation between analog torque input voltage and motor actual operation torque The unit of set value is 0 1 V 10095 Default value is 100 to correspond to 10V 100 1 e 100 rated torque is produced after 10 V is input Set the torque size of lock shaft when motor stops The unit of its set value rated torque X 100 Only position loop is valid with invalid speed loop and torque loop 0 prohibit this function prohibition Other values use this function It defines the motor enable lock shaft input terminal SON from OFF to ON Delay time to open brake output terminal BRK from OFF to ON This parameter 1s set to ensure the switch from brake lock shaft to motor enable lock shaft to be stable when the motor with brake 1s connected to the power It defines the motor enable removal input terminal SON from ON to OFF Delay time to close brake output terminal BRK from OFF to ON This parameter 1s set to ensure the switch from motor lock shaft to brake lock shaft be stable when the motor with brake 1s disconnected to the power This parameter can be prolonged when the motor is from high speed operation to stop to enhance the effect of rapid deceleration P49 Zero speed The motor will stop when the value is less than this parameter 0 2000 clamp on Current loop proportional gain and when motor current is bigger its set value should be adjusted to be bigg
34. k Negative MES Analog signal MATE Niky Position Command Pulse 1444445 Direction Command Pulse 213041 7 Encoder Signal HAL Motor 2104 Encoder 3 2 Distribution 3 2 1 Power supply terminal Diameter of R S T PE U V W terminals should be gt 1 5mm AWGIA 16 20 SIDTECHA AA AT 7 Single channel all digital AC servo drives QS6 Series Wiring terminals of this product use JUT 2 5 4 cold pressured terminals which should be made sure to be connected firmly Three phase isolation transformer power supply should be used to reduce the possibility of electrical injuries It 1s better to use noise filter between the city power supply and isolation transformers to improve anti jamming capability for the system O Please install the non fuse type NFB circuit breakers so that the external power can be promptly cut off while drive failures happen 3 3 2 Control signal CN3 terminal and feedback signal CN1 terminal 1 Diameter The shielded cable preferably use twisted pair shielded cable should be selected diameter gt 0 12 mm the shield layer must connect with PE terminal 2 Length cable length should be as short as possible the control signal CN3 cable should not exceed 3 meters feedback signal CNT and cable lengths should not exceed 10 m 3 Distribution it should be far away from power lines to prevent interference 4 Please install surge absorption components for inductive components coil in the relev
35. l parameters only P2 parameter will be effective after re electrified when disconnecting power settings will be effective after just pressing Enter without re electrifying however parameter writing should be performed for long term preservation When the power of drive is OFF please wait for more than 30 seconds and then re electrify it When the drive is used fro numerical control system the parameters P12 and P13 are calculated as follows P12 Mechanical reduction ratio System pulse equivalent 10000 P13 Screw pitch mm General CNC pulse equivalent 0 001mm Chapter V Error Alarm _ Attention Do not touch drive and motor within 5 minutes after driver and motor power off to prevent person from injury due to electric shock Allow to use drive after drive alarm code troubleshooting while drive failure alarms Show Er0 xx and blinking while error 1s found wherein xx refers to alarm code Operate drive to view and modify parameters after alarming Alarm List Alarm Code Cause of Malfunction ERO 00 Normal Encoder wiring error Encoder damage Encoder cable is too long resulting in the low encoder supply voltage ERO 01 Motor speed 1s too high Running too fast Input pulse frequency is too high Electronic gear ratio too big Servo system instability causes overshooting Circuit Board Fault AIDTECH MAT ERO 02 ERO 03 ERO 04 ERO 05 ERO 06 ERO 07 ERO 08 ERO 09 ERO 10 ee The main ci
36. l rate of P27 Zero drift of torque control is adjusted through the parameter P29 and adjusting this parameter to set motor speed to be 0 when input voltage is OV Torque can be adjusted through the parameter P45 to gain size compensation adjustment bigger value greater torque When the output torque reaches parameter rated current percentage P45 COIN signal is output COIN is the pulse signal with the width of 10ms 7 3 6 Internal Speed Control Servo System When the system parameter 1s set to be P4 7 servo system 1s in the internal speed control mode After the input signal MODE level signal 1s input and valid the motor starts after the input signal INTH NC signal is input and effective the motor stops Speed 1s determined by the input signals CW and CCW decision Please see the below table _45 SIDTECHA AA J 74 Single channel all digital AC servo drives QS6 Series P26 the max rotational rate when Vin 10V analog control when e Attention The wrong parameter settings may lead equipment failure and accidents the parameters should be confirmed to be correct before the start O It is recommended that a no load commissioning is implemented firstly and load debugging can be conducted 7 4 1 Gain and Rigidity Commissioning a Position loop gain P16 is set to be low value firstly and then under the premise without abnormal noise and vibration speed loop gain P21 will be increased gradually and to be max
37. ltage input 4 Position and speed mode MODE control 5 Position and torque mode MODE control 6 CW CCW external signal JOG mode 7 4 sections speed control 7 P5 Servo enable 0 Valid control 1 Invalid forcibly lock shaft 4 Servo input 0 Invalid 0 1 signal INTH Input pulse prohibition and position deviation clear function 2 Input pulse prohibition and position deviation not clear P7 Limit input O Invalid 0 control 2 51 SIDTECHA AA J 74 Single channel all digital AC servo drives QS6 Series Active LOW without alarm 2 Active HIGH without alarm 3 Active LOW with alarm 4 Active HIGH with alarm Coin output 0 Orientation completion 0 mode Torque reaching 2 Output when speed is less than P49 speed When P49 lt I Orpm it is handled upon 10rpm 0 Wl d 0 Normal close type mode Normal open type P10 Pulse mode 2 Orthogonal pulse normal direction MES O direction O Reverse P12 Electronic Sub octave of position command pulse is set E gear 1 32000 gear Under the mode of position control a variety of pulse numerator sources matching can be facilitated through P12 and P13 parameters setup this value should increase as far as possible under the consideration for drive to accept frequency range less than 500K o PxG NxCx4 P Pulses entered into the command G E gear ration Numerator of spli
38. mand Pulse Divider numerator Equation G Command Pulse Divider denominator _ Ag SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series When the drive is used for numerical control system the parameters P12 and P13 are calculated as follows P12 Mechanical reduction ratio x system pulse equivalent x 10000 P13 Screw pitch mm General CNC pulse equivalent 0 001mm 7 4 4 Servo Start and Stop Debugging Features Servo System start stop feature refers to the time of acceleration and deceleration which is determined by the load inertia start and stop frequency and also limited by the servo drive and servo motor performance Frequent start stop too short acceleration and deceleration time too big load inertia will result in overheating of the drive and motor overvoltage alarm of main circuit Therefore it must be adjusted upon the actual conditions 1 Load inertia and start stop frequency When used under the situation of high start stop frequency it 1s necessary to confirm in advance whether the motor 1s 1n the allowed frequency range Allowed frequency range varies in terms of the different motor type capacity load inertia and motor speed Under the condition of load inertia of m times motor inertia start stop frequency and recommended acceleration and deceleration time of servo motor are as follows Multiples of the load inertia Allowed start stop frequency a gt 100Times mimm Acceleration and decel
39. maximum wire connection can reach 10M for general application however it is not recommended to use more than 10M 3 Three phase voltage requires an extra reactor single phase power supply requires an extra isolation transformer By ee AIDTECH MAT Single channel all digital AC servo drives QS6 Series Operating R i Single phase or three phase Ron E AC220V INPUT supply T e input r t PE 16 core shielding line 25 Green D PU 24 White PU Control 27 Brown 26 Grey DR signal 10 Blue S ON T input CNI 4 Yellow ALM ir UY 36 core 9 Red 12 l 14 Orange ALR 3 Purple ALM i 30 Pink PCO 31 Light green PCO 34 Orange and white PAO 0 35 Brown and white PAO Ol 32 Red and white PBO 33 Black and white PBO U Red 2 U Motor ENS V Green 3 V power E NAN Servo drive W Black 4 W supply a NA gt output PE Yellow 1 PE terminal NN e B pune tien line 7 1 Black Lo A A 2 Black and white 1 A 3 Brown 5 B 4 Brown and white 8 B 5 Yellow 6 Z Motor um Drive CN2 6 Green uo NN ERE xN ES N N l 20 core 11 white 10 U SE EN q H INV 12 Purple 13 15 SE ee AEN T m 13 Orange StS E i 14 Blue 11 V HH 5 bes 140 E rey E EN 16 Orange and white 12 W TN O L 7 8 9 Red 15 W J 17 18 19 Red and
40. ne value press key to auto educe one value and press Mode key to shift current 7 the current number decimal point position t to the left and press Enter key for data confirmation X Attention The data are invalid and the system return display status under the situation of password absence Parameter Pl is input to display 0 atthis situation Enter key can be pressed directly to indicate that system password has been input 6 3 2 Password input and changes Password must be entered into the system for system parameter setting of each boot Pl parameter input is system password input When the input password is correct it can set other parameters otherwise other parameters cannot be set Password changes must enter the old password firstly and then you can set the PI parameters If system password cannot remember please use universal password 11111 When the password 1s set to 9999 you can modify parameters without password input for the next boot 6 3 3 Parameter writing In the display status press Mode and select to entr EP 2 parameter writing parameter writable state When changed parameters by user need to save for long term parameter writing operation should be implemented Press Enter key for three seconds and the parameters will be written 1n the internal EEPROM and then press Enter key to return after writing completion and showing 6 3 4 Parameter ini
41. ns for motor operation unstable phenomenon exists When it is set as 0 filter cannot work P Position Bigger in its value acceleration time is shorter and orientation acceleration 1s faster time Position Bigger in its value acceleration time is shorter and orientation deceleration 1s faster time P 21 Speed gain Set proportional gain of speed loop regulator 1 1000 Bigger in its set value bigger in gain and rigidity the parameter value can be determined upon the specific servo drive model and loading situation Generally bigger in load inertia bigger in its set value It can be possibly set to be bigger under the situation of system without vibration P22 Speed O Set integral time constant for speed loop regulator 1 32000 integral Bigger in its set value faster in integral speed and stronger o SIDTE CHA AA J 7 Single channel all digital AC servo drives QS6 Series in system deviation resistance 1 e bigger in rigidity However too big value will produce overshooting It can be possibly set to be smaller under the situation of system without vibration P23 Acceleration Setup value refers to the motor acceleration time from 0 to 0 time speed 1000r min 32000 ms Acceleration and deceleration are characterized with the linear It 1s valid under the modes of speed control and torque control and it is invalid under the mode of position control Deceleration Setup value re
42. nual Manual Initial Layout Preparation Uploading Engineer Engineer Proofreading Records SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Precautions and Explanations X Transport and storage Do not stack product package more than six layers Do not climb stand on or place heavy stuff on the product package Do not pull the cable still connecting with machine to move product e Forbid impact and scratch on the panel and display e Prevent the product package from humidity sun exposure and rain 7X Open box inspection Open the package to confirm the product to be purchased by you Check damages situation after transportation e Confirm the integrity of parts comparing with the parts list or damages situation Contact our company promptly for discrepant models shortage accessories or transport damages X Wiring e Ensure the persons involved into wiring and inspecting are specialized staff Guarantee the product is grounded with less than 4Q grounding resistance Do not use neutral line N to substitute earth wire e Ensure grounding to be correct and solid in order to avoid product failures or unexpected consequences Connect the surge absorption diodes to the product in the required direction otherwise the product will be damaged e Ensure the power switch is OFF before inserting or removing plug or disassembling chassis XOverhauling e Ensure the power is OFF befor
43. o drives QS6 Series 1 2 Technical Specifications of Servo Drive Input Power AC220V 15 10 AC380V 15 10 Drivecurrent 504 75A Adaptive motor 75KW SIIKW Usage temperature Working 45 C Storage 40C 55C Relative Humidity 40 80 with non condensing 86 106 kpa DPosition Control JOG Control Speed Control Torque Copec Mods Control Position and speed control A 6 Internal impulse control Electric tool control 8 Position and torque control Puleeconm and DPulse direction CW CCW pulse SAB Two phase orthogonal pulse Control precision 0 01 Response frequency lt 200Hz Pulse frequenc gt 500kHz Speed regulation 1 5000 ratio Regenerative brake Electronic Gear 1 30000 30000 1 Overload capability gt 300 Feedback pulse 2500p r Motor speed motor current motor torque motor position position Displays deviation command pulse pulse frequency straight line speed input and output diagnostics Overspeed overcurrent overvoltage undervoltage overload out of Protection tolerance Ecode fault over temperature internal IC fault and module fault SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Chapter II Installation O Satisfy the requirement and conditions of environment for product storage and installation Ensure to use fire proof material for installation in order to avoid fire forbid to install on or near the flammable
44. ore shielding ps PU DR DR SON ALM 12V ALR U Red ALM PCO PCO PAO PAO PBO PBO Single phase AC220V INPUT line V Green W Black PE Yel low Servo drive output Connect pin shaped terminal 1 Black 2 Black and white 3 Brown 4 Brown and white 5 Yellow 6 Green Drive CN2 LI 20 core 12 13 14 15 16 fs White Purple Orange Blue Grey 24V 24V 16 core shielding line Orange and white 8 9 Red 17 18 19 Red and white Shielding 1 U 2 V 3 OW 4 PE terminal Motor power supply lBrake 2 9 A 13 A 4 B 14 B 7 Z 5 Z 6 U 8 U 10 V 12 V 11 W 15 W 2 5V 3 OV 1 FG Motor encoder Wiring Diagram of QS6 Matching ACH Series750W below Motor including 750W 15 SIDTECHA AA J 74 Single channel all digital AC servo drives QS6 Series TFR BARA Operating power supply input LAA AC220V INPUT Single phase AC220V INPUT Tiu HA CNI 36 ty Control signal input CNI 36 core 16 PEW 16 core shielded cable Zk Green White fx Brown 7k Grey Wa Blue i Yellow ZL Red f Orange Purple Anel Pink iX2 Light green Orange and white Hi Brown and white ZLH Red and white F1 Black and white Un HH vig Servo drive output Z Red 2 amp Green 4 Black 38 Yellow PE
45. r Conad pulse the position mode 11 aces INTH input 0 Invalid does not detect the signal INTH Prombition 1 Detection INTH signal effective 2 Test INTH effective and remove the remaining pulses NOE D Motor Forward limit input signal 12 Forward limit CW input 2 P4 7 the motor forward rotating JOG input signal Motor reverse limit input signal 13 Reverse limit CCW input P4 6 the motor reversely rotating JOG input signal Alarm clear signal CLR Input Alarm clear signal 1 Location and speed functional option are valid and then speed control is selected Control method or with P4 4 to set this function ie functional option Mante Input 2 Internal speed option is valid to select internal speed with P4 7 P35 P36 P37 P38 to set this function 28 Pulse signal E imt parame position control command MEME Pulse signal PULSE EUM Parameter P10 setting mode p Pulse Sign pulse plus direction 2 A B 90 orthogonal pulse sia BM Analog input input External speed or torque command 0 10V 20 Analog GND E 1 Orientation completion output and it Orientation l l O l l COIN Output is valid when location deviation is completion less than set range 2 The output is valid after completion MNT of internal pulse running 2 AR COIN Output 3 Output when torque reaches P45 completion percentage Parameter P8 can configure this function is vali A 6 Re
46. rcuit supply voltage is too high The main circuit power supply voltage is too low or drive temperature is too high Tolerance alarm Drive temperature is too high EEPROM writing memory error on drive CW Motor Forward limit CCW Motor Reverse limit Encoder fault Motor overload alarm Single channel all digital AC servo drives OS6 Series 1 The supply voltage 1s too high more than 20 2 Disconnect the brake resistor wiring 4 The internal regenerative braking transistor is broken 5 The internal regenerative braking circuit capacity is too small 6 The circuit board failure 1 The supply voltage 1s too low less than 20 2 Temporary power outages for more than 200mS 3 Power start circuit failure 4 The circuit board failure 5 The drive temperature is too high Mechanical choked to death Input pulse frequency is too high Encoder zero change in Encoder wiring error P16 position loop gain is too small Less torque P15 parameter setting is too small P15 0 shields this feature resulted in no alarm The ambient temperature is too high Bad cooling fan Broken temperature sensor Motor current is too big Internal regenerative braking circuit failure Broken internal regenerative braking transistor Circuit Board Failure Chip U19 failed and should be replaced Hit the forward limit switch you can set the parameter P7 0 to shield this feature or reversely rotate motors Hit the reve
47. rse limit switch you can set the parameter P7 0 to shield this feature or reversely rotate motor Encoder damage Encoder wiring is damaged or broken P33 1 shields this feature resulted in no alarm Encoder cable is too long resulting in low encoder supply voltage Overload excesses the parameters of motor rated torque More than 150 rated overload over 10000 ms More than 300 rated overload over 1000ms More than 500 rated overload over 10ms The machine is stuck for rigidity 1s adjusted too strong Speed increase and decrease are too fast SIDTECHA M 74 Single channel all digital AC servo drives QS6 Series Over current Voltage 1s too low Motor insulation is damaged Gain parameter 1s set incorrectly Overload Temperature is too high Module is damaged Interference Short circuits occurs among motor cables U V and W ERO 11 Power module fault 1 Short circuits occurs among motor cables U V and W ERO 12 Over current 2 Imperfect grounding 3 Broken motor insulation Chapter VI Display and Parameter Settings 6 1 Drive Displays Servo System panel comprises 6 LED digital tube displays and 4 keys Digital tube is used to show the various states and parameters of servo drive key is used to set and access system parameters The servo system 1s normally displayed with the following 10 methods 1 Indicating motor speed parameter P3 0 unit r min r Bue 2 Indicating the motor current parameter P3
48. s must Do not install servo drive on or near the combustibles in order to prevent fires 2 2 1 Installation environment 1 Protection Servo drive structure has no protection and therefore it must be installed in the electric control cabinet with excellent protection to prevent contact with corrosive and flammable gases and avoid the intrusion of the conductive objects metal dust oil mist and liquids 2 Temperature Ambient Temperature is 0 55 C and long term security working temperature is below 45 C Excellent cooling conditions should be guaranteed and relative humidity 1s 9596 3 Vibration and impact Installation should avoid vibration and vibration release measures should be taken to control it to be 0 5 4 9m 52 below Besides when installing the drive heavy pressure and impact are not allowed 2 2 2 Ventilation interval E E e a x E 1 E F a E E a SO S y Fa UE E p S X y Fa E x P F x e P x d 3 p d d a e x Ea E e E a Pol a P F E a A F p F E if F y E r F r F 2 2 3 Installation Kieu 7 Fi Fi gt gt F E E F F gt i 7 r gt T T if Ka E SF E E KF FS un SF ur P oy P F Fa T rd yp P r F F Fa Pd 4 d A r4 A va 1 Installation direction the direction of the normal installation is vertical upright orientation 2 Fixing 4 pieces M5 screw on servo drive should be fixed 3 Ventilation and cooling natural cooling mode is adopted Cooling fan should be ins
49. substances Install servo drive in the electric control cabinet to prevent the intrusion of dust corrosive gases conductive objects liquids and combustibles Avoid vibration and impact on the servo drive and servo motor Consider to install lighting protection device under the usage environment of the servo drive Prohibit pulling the cables of servo motor motor shaft and encoder 2 1 Installation Environment 2 1 1 Installation of electric control cabinet The ambient temperature directly affect lift span of the drive However heating of electric equipment in the electric control cabinet and cooling condition of control cabinet will impact on the temperature around the servo drives Therefore when the chassis design 1s considered the cooling system of drive an control cabinet configuration should be taken into account to ensure the ambient temperature of servo drive to be below 55 C relative humidity to be below 95 Besides long term security working temperature should be below 45 C 2 1 2 Heating devices around servo drive Servo drive working under high temperature conditions will significantly reduce 1ts service life and easily generate failures Thereby the ambient temperature should be guaranteed to be below 55 C under the conditions of thermal convection and heat radiation 2 1 3 Vibration devices around servo drive All kinds of anti vibration measures should be adopted to prevent the servo drive from vibrations
50. t dee M gt MODE 15 a osition ae o o INTH 11 Forward ae so CW 12 8 oV a o gt CCW 13 9 5V arm ear o Top CLR 14 17 0V 18 OV Orientation COIN 1 D 19 OV Completion COIN 2 2 5 fares Servo lt ALM 4 N v 2 p Alarm 4 AM 3 tt A CN2 3 pas Servo lt l SRDY 5 v MA Ready lt SRDY 6 se 4 B lt gt Brake BRK 7 BRL a A M Out 4 BRK 8 All a Z Encoder C7 98 x 11 us M Output 5 LIA 12 U EZ 29 13 y 4 OA 34 Lt V7 gt 0A T 15 y 4 lt OB 32 CNI m Encoder 4 OB 33 re signal FG lt 02 30 qG lt UZ 2l Position Command yy gt PLUS 25 Pulse dr PLUS 24 Res Direction 2 RX Command E y SIGNE 27 N 3 TX mm signal L1 Dr SIGN 26 1 GND Speed or Torque Commands YN gt VIN 19 10V rated Torue Y DP GND 20 FG FG fri He He Servo Enable FEMIJ IL Control Method IE R4 Forward Limit Ist Reverse Limit ENTE Orientation Completion JARIR Servo Alarm A 4 47 Hj Break out E mH Z Encoder Output Ne SS ky Position Command Pulse TR RE BK DIRE FRA Speed or Torque Commands HAL Motor mis Encoder 2102167 Encoder Signal 711093844565 Direction Command Pulse 10V E HEIL 10V Rated Torque 19 SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series 3 1 2 QS6AA050M3 Servo Wiring Breakdown Illustration
51. tailed table Name Range WF WEE version Parameter The correct password should be input and confirmed when 0 32000 password parameter is required to modify after power connection Set to be O when delivery from factory 9999 can be input when the password is failure e 11111 1s the universal password eo 22222 can be input to correct the current zero 30 SIDTECHA AA J 7 Single channel all digital AC servo drives QS6 Series P2 Motor model Motor model is entered to directly impact on the following protection features over current overload and over speed protections Specification for motor model ACK04010D ACK06020D ACH06040D ACK06040D ACH09075D ACK08080D ACH13100D 1200 ACH09120D 1500 ACH13150C ACH13230C ACH13260C 9999 is self defined type and please enter it upon the motor specification P52 Encoder lines P53 Encoder type P54 Pole pairs P55 Drift angle P56 Rated current P57 Rated torque P3 Boot display 0 Rotational speed RPM 0 10 Motor current A 2 Motor loading rate 3 Motor positions 4 b1t lower 4 Motor position 4 bit higher 5 Input pulse 4 bit lower 6 Input pulse 4 bit higher 7 Position deviation 8 Input status 9 Analog input 10 Pulse frequency P4 Control 0 Position mode external pulse input 0 mode JOG mode key control 2 Speed mode external analog voltage input 3 Torque mode external analog vo
52. talled in the electric control cabinet SIDTECHA MAI 7 Single channel all digital AC servo drives QS6 Series Na ention Do not hit motor or motor shaft while disassembling pulley in order to prevent encoder from damage use spiral drawing tools for disassembly Prohibit large axial and radial load on motor suggest to select flexible coupling to connect the load Fix motor with washer fastening to prevent the motor from loosing 2 2 4 Installation dimension Installation dimension of QS6AA010 015M mE o 136 0 a 4200 500 E g SE i SM tdi O O 0 0 MODE DEC INC ENTER R S E CO YD 1 HO b U V W P D Y t Y q Y 6 00 One 10 AIDTECH MAT Installation dimension of QS6AA020M Installation dimension of QS6AA030M2 050M2 Pdl 188 0 1 80 D n NY A md i C y d 5 0 ot BS ES O MODE DEC INC J v cm lt ci cU g CN1 CN2 ES A QA ENTER CN3 0 D 42 00 E O O 0 0 MODE DEC INC ENTER R C 2 CO T U V W P D o Y t a 71 00 6 00 c Single channel all digital AC servo drives OS6 Series 1860 184 0 CO D 11 JAD TE CH MAI 7 Single channel all digital AC servo drives OS6 Series Installation dimension of QS6AA050M3
53. tialization In the display status press Mode and select to entry d parameter initialization state When the user needs to import the factory system parameter values press Enter key for three seconds and parameters except for password will be initialized to be the factory default values for the system however these values do not write into the internal EEPROM If writing 1s necessary please implement writing operation After completion and showing Eng please press Enter key to return E UE SIDTECHA AAJ 7 Single channel all digital AC servo drives QS6 Series Chapter VII Debugging X Attention Drives and motor should be grounded reliably PE should be reliably connected with motor grounding It is recommended that drive power supply is provided through the isolation transformer to ensure the safety and anti jamming capability Power supply can be connected after wiring 1s checked and confirmed to be correct The failures should be confirmed to be eliminated prior to re start after drive failure alarm Do not touch drive and motor within 5 minutes after power off of drive and motor in order to prevent electric shock Please pay attention that temperature of drive and motor may be high after they have worked for a while in order to avoid burning 7 1 Power Supply Timing 7 1 1 Power supply wiring Please refer to Diagram 7 1 for power connection and then connect the power in the following ord
54. tion control When the remaining pulse in the deviation counter is less or same as its set value the drive will determine the position to not disable without alarm display otherwise alarm ERO 04 will occur P16 Position gain Set the proportional gain for position loop regulator 1 2000 Bigger in set value higher in gain and rigidity Under the condition of identical frequency command pulse position lag will be smaller however too big value will lead vibration and over regulation of system The principle of debugging is to possibly adjust this parameter to be bigger under the situation of guaranteeing the system to operate without vibration and jetter 17 Position Set position loop feed forward coefficient 0 32000 feed forward When it is set as O no feed forward coefficient is added Bigger in set value bigger in feed forward When position loop fee forward is bigger the high speed response property of control system 1s better P P18 Position Smoothing filter is conducted for command pulse 0 1000 smoothing acceleration and deceleration values with exponential form constant indicate the acceleration and deceleration Filter will not lose pulse command delay will exist yet Main applications Host computer controller has no acceleration and deceleration functions E gear sub octave is large larger than 8 When motor operational speed is slow pulse frequency is lower When step jump happe
55. tion technology 1s the key technology in the information society in which AC servo technology is the core technology which has developed since the early eighties to be increasingly sophisticated in technology and improved in performance Now this technology has been widely used in automation field such as CNC machine tools printing packaging machinery textile machinery and automated production lines Modern servo technology will significantly improve production efficiency product quality and economic benefits with the increasing development of AC servo technology in full digital open style and intelligence This AC servo drive 1s a self developed new generation fully digital AC servo drive mainly using the latest digital signal processor DSP technology and large scale programmable FPGA technology as the core computing units and intelligent IPM power module with many advantages such as fast response perfect protection and high reliability It is applicable to high precision CNC machine tools automatic production lines machinery manufacturing and other industrial control automations This drive is a new generation full digital AC servo drives characterized by high integration and small volume for installation which has been a desired product for energy conservation and economic benefits enhancement in the industrial automation This servo drive has the following advantages 1n comparison with the previous servo drives Motor power
56. tting frequency G Denominator of splitting frequency TRA Numerator of splitting frequency 4y 17 EE Denominator of splitting frequency N Motor rotations C Optical encoder lines generally it is 2500 lines O Example When command pulse is required to input 8000 servo motor shall rotate one loop g NXCx4 1x2500x4 5 P 8000 4 Then parameter P12 is setas 5 and P13 is set as 4 O Recommended range of E gear ratio l lt G lt 50 50 P13 Electronic same as the above parameter P12 32000 gear denominator P14 Orientation Set orientation completion pulse range under the mode of 0 32000 completion position control scope This parameter provides the basis whether the orientation o 0 Pulse direction normal direction 1 Pulse pulse normal direction A 1 2 1 is completed determined by drive under the position control mode when the remaining pulse in the position deviation UD SIDTECHA AA J 74 Single channel all digital AC servo drives QS6 Series counter is less or same as its set value the drive will determine the orientation is completed with signal COIN EE ON otherwise will be COIN OFF P15 Position When it is set as 0 disable position alarm detection is 0 32000 deviation invalid alarm range Disable position alarm detection 1s valid when it is not 0 and this parameter provides the basis whether deviation 1s too large determined by drive under the mode of posi
57. white 2 5V Shielding 3 OV 1 FG Wiring Diagram of QS6 Matching ACH Series750W above Motor FLA BK 4H AC220V INPUT Single phase or three phase AC220V INPUT fe tila so MA CNI 36 gt Control signal input CNI 36 core 16 PEW 16 core shielded cable Zk Green White bx Brown 7K Grey Wi Blue 3 Yellow ZL Red f amp Orange Purple ZL Pink 2 Light green P Orange and white 1 Brown and white ZLE1 Red and white A Black and white UK oh ata tH vin Servo drive output ZL Red 4 Green 2 Black 38 Yellow fe UEM Connect U pin FEAL FEL Bm Motor power supply terminal JkzJJd amp CN2 Drive CN220 i 20 core FE Black E Black and white Ex Brown E amp H Brown and white 3 Yellow K Green H White XX Purple amp Orange Wi Blue 7K Grey R 1 Orange and white ZI Red L 1 Red and white Bt ilit Shielding TEHA Operating power supply input HAL 452 Motor encoder 14 AIDTECH MAT MY11 36T Operating power supply input PE Single channel all digital AC servo drives OS6 Series OS do ad NX me11 20T Control signal input CNI 36 core 25 Green 24 White 27 Brown 26 Grey 10 Blue 4 Yellow 9 Red 14 Orange 3 Purple 30 Pink 31 Light green 34 Orange and white 35 Brown and white 32 Red and white 33 Black and white Jj 16 c
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