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Preface safety precautions:

1. Chapter 11 Application examples ADSD S 7777 Chapter 11 Application examples ADSD S TBI HU d 11 3 2 The schematic chart of matching with Guangzhou NC GSK218M ae ee 1 ADSD S drive connects to GSK 218M R 3 L 4 s 4 GSK 718M ADSD servo drive Dalion CNC 3110 l T 3 m cp _pulset QO af a XS30 Axis UN 9 CP ulse 35 P4 A a Com ejr 44 2 irt director 3 N Q om s 4B dn 4B UX 2 0 it director 3 pame da 3 a W 7 3 Alarm Hoo H 5 olm 20 NM D05 2 th LE 7 v7 XS30 31 32 aa m y Te Tan D SMX 3 5 ps CP 1 Cam 4p PEO gt PE ca 1 oV 82930 24V o 1351 p icc DIR 15 om 2 DR 7 EN 16 Son Dit DIR B m j R gj YE d 244 imal 3 C 3 2 14 0z aveo gt 4 42y BIA ij 5 Oz 4 di uc 24344 24 b Ww j Metal shel Metal shell on di pn wy 12 LLL oo mn oor tts iu an oy e l3 ay Lao n Ed m E 2 The wiring of ADSD S drive matching with TSFA of Dalian motor factory 24V Day A 8 F
2. MCB MG BO AC220 o 6 6 o OR 230V Singlt M oye bs n or Three RBI Phase O OT U QR 50 60Hz QI ADSD S v olhite OL2 Servo TM Blac servo motor Drive FG Green Encoder des M V REF 040 CN1 7 A TOV n 12VGND O25 26 27 8 A T REF O41 CN2 09 B 3 n 12VGND O25 26 27 10 B P 15 Z 14 Z 5 U c 424V 42434404 CN1 4 U COM 28 29 300 Y 3 V svon oo pn te HH 2 v TRAM 56 pe 4 MB 6 W CWSTE 9 9 DI3 17 18 45V CCWSTE o o D4 2 11 12 GND SPDO t 9 9 1Di5 18 SG m Ms SPD1 0 o pie 3 37 Mi H gt Ak ALMRST 55 Di7 19 CN1 252627 GND 15K 36 M2 HA EMG o o pig 4 ia gt 10 OA PG Signal outpu b o4 OhaseA 11 OA 1 5K CN1 2 9 12 OB PG Signal outpu c DO1 24 RDY g or L 43 oB 3 Phase B 1 5K i 2 9 14 Oz PG Signal outpu zs Lt DO2 23 L6 15 oz ite Phase Z QH Do2 8 24V 1 5K Hnn DO3 22 CN3 8 O RS422_R1 T 1 S Dos 7 7 9 RS422 Ri 1 5K Es
3. Chapter 7 Communication function ADSD S 7777777 Chapter 7 Communication function ADSD S Chapter 7 Communication Function PC DB 9 Socket 1 CD Drive CN3 Interface 7 1 Introduction of communication hardware RS 485 RS 232 2 RXD 3 RS232 TX RS 422 3 TXD 4 RS232 RX A 4 DTR 1 GND This servo drive has three modes of communication RS 485 RS 232 RS 422 5 GND CND All aspects of control operation and monitoring as well as programming of the controller 6 DSR can be achieved via communication However only one communication mode can be used 7 RTS at a time The method of cable connection is as following 8 CTS 9 RI 7 1 1 RS 232 Configuration 7 1 2 RS 422 RS485 Configuration o L CN1 R ee br H En nro Ol E 9 om U 3 a Be LJ PC 9 als H Ie die E EILe ree ft K oN Rar ow z z e LJ r PC 4 9 ies fal 9 Efe 232 E OEO RS232 RS422 RS485 convertor Cable Connection Cable Connection 80 81 A amp D 777 Chapter 7 Communication function ADSD S 7 2 Communication protocol 1 Intention By using of this communication protocol software epigynous computer can monitor servor status cha
4. MCCB MC T AC220 o o oH Lor is 230V Single or Three od o1 OS uid Phase o 0 67 OT u fu 50 60Hz ix Ou setts v Q White OL2 Dri va W pia servo motor a N 32 CN1 FG O Green Encoder N 33 iene FE 7 A E P 34 P v fy E 2 cN2 09 B mE T REF 041 T 10 B 12VGND 025 26 27 15 Z 14 Z 5 U e 424V 42 43 440 CN1 1 7 SG COM 28 29 30 3 Va svon o5 DH 16 2 Tv 55 1 W soo p2 1 CNTCLR H CWSTE f 9 97 DI3 17 a aV CccwsTEt 9 9 DM 2 11 12 GND tco 05 18 Tor fo Die 3 37 M F gt ALMRST f D17 19 CN1 d2s2627 GND 36 M2 EMG 9 0 DI8 4 O 12 0 10 OA PG Signal output Lo 11 OM 7 gt Phase A 1 5K T CN1 2 9 12 OB C PG Signal output RDY OTH 24 13 OB Phase B 15K or 2 gt 14 02 PG Signal output ZS 23 15 OZ PhaseZ t RH DO2 8 24V 1 5K T THOME os 22 8s gt Rs422 Rt ha 3 7 7 RS422_ R1 Soe POSIN DO44 21 6 9 RS422 T1 B558 aK 204 6 5 S2 T1 0000 AM DO5 20 4 O RS232 RX D0s 5 8 Q TS232 TX 1 29 GND 20 ADSD S A amp D Chapter 3 Connections and Wiring 3 6 2 Pi internal position control mode MCCB MC AC220 o Oo 230VSingle ae or Three Phase o 50 60Hz w j
5. T REF 041 12VGND 025 26 27 424V 42 43 440 4 CN1 COM 2829 30 VON 4 9 9 1 DH 16 ATRIG 9 oO pie 1 cwste o o pis 17 ccwsrE 4 o o pia 2 Pso 9 o 1DI5 18 Ps1 0 pie 3 ALMRST 4 9 DI7 19 EMG oo pis 4 SK 5 L1 BD Don 24 FL 1 L5K gt Doe m em RQH Tem B 4 JHOME oe 15 P C POSIN son 2l RH DO4 6 LSK al ALM Eu O5 20 H pos 5 ADSD S Servo Drive B RB2 ADSD S Ext Brake Resistor servo mot or Encoder CN2 10 15 14 mi co 13 11 12 37 M1 CN1 25 2627 GN D 5K 36 M2 5 B 5K 10 OA 11 OA 12 OB 13 OB 14 OZ 15 OZ Phase A Ohase B js PHASE I PG Signal output PG Signal output PG Signal output RS422_R1 RS422_R1 RS422_T1 RS422_T1 RS232_RX TS23 2 TX GND 21 A amp D 77 Chapter 3 Connections and Wiring ADSD S 3 6 3 S Si speed control mode Ext Brake Resistor
6. H56 BE POS7_H Position internal register Pulse 0 7FFF 8000H 0430H 7 H57 BF POS7_L Position internal register7 Pulse 0 7FFF 8000H IN RAM POS7 POS7H 2416 POS7L nterial positon 7 position pulse NO setting Position internal register 0 4000H H58 CO 0431H POSVO RPM 0 0 moving speed 0 16384 Internal positon 0 moving speed setting Position internal register RPM 0 4000H H59 Cl 0432H POSV1 0 1 moving speed Internal positon 1 moving speed setting Position internal register RPM 0 4000H H60 C2 0433H POSV2 0 2 moving speed Internal positon 2 moving speed setting Position internal register RPM 0 4000H H61 c3 0434H POSV3 0 3 moving speed Internal positon 3 moving speed setting Position internal register RPM 0 4000H H62 C4 0435H POSVA 0 4 moving speed Internal positon 4 moving speed setting Position internal register RPM 0 4000H H63 C5 0436H POSV5 0 5 moving speed Internal positon 5 moving speed setting Position internal register RPM 0 4000H H64 C6 0437H POSV6 0 6 moving speed Internal positon 6 moving speed setting Position internal register RPM 0 4000H H65 C7 0438H POSV7 0 7 moving speed Internal positon 7 moving speed setting Position internal register 0 7530H H66 C8 0439H POSTO 0 1s 0 0 stop latency time 0 30000 Internal 0 latency time setting under auto cyclic fixed channel assignment mode Position internal register 0 7530H H67 C9 043AH POSTI 0 1s 0 1 st
7. Parameter Fault uu Fault Name Fault Description No Code 0001 CPU error CPU is in error 0002 RAM error RAM write in and read out is in error EEPROM write in and read out is in 0004 EEP error error 0008 CW CCW prohibited The forward and reverse drive forbidden fault switches are in error 0010 Encoder error Pulse signal is in error Main circuit current is higher than 1 5 0020 Overcurrent multiple of motor s instantaneous maximum current value 0040 Overload Servo motor and drive is overload Main circuit voltage is below its 0080 Undervoltage u ao A01 minimum specified value Main circuit voltage has exceeded its 0100 Overvoltage maximum allowable value Regeneration control operation is in 0200 Regeneration error error 0400 IPM error IPM hardware is in error Motor s control speed exceeds the limit 0800 Overspeed of normal speed 1000 Emergency stop Emergency stop switch is activated uu Position control deviation value exceeds 2000 Excessive deviation MUN the limit of its allowable setting value The drive detected the motor temperature 4000 Motor overhot exceeded its allowable value 8000 Drive overhot IGBT temperature is overheated A02 0001 Input power phase loss The main circuit lacks of phase 89 A amp DI Chapter 9 Troubleshooting Dynamic braking rela 0002 RCM error ADSD S Dynamic breaking relay is in error 0004 CW limi
8. 77 Chapter 5 Trial Run and Turnning Procedure ADSD S i PP PN dg 1 1 1 1 DP koso o Alo o DN 1 1 Positive i Negative i 1 1 1 rotation rotation AB Phase pulse e To oTo PN DP DN Positiv Negati b Electronic Gear Ratio Electronic Gear Ratio b02 12 0102H GRN 1 1 32767 molecular 1505 GRN GRM 200 Set the denominator of position command pulse rotio under absolute mode electronic gear ratio must be 1 Electronic Gear Ratio b03 13 0103H GRM E 1 1 32767 denominator 1505 GRN GRM 200 Set the denominator of position command pulse rotio under absolute mode electronic gear ratio must be 1 c position deviation setting during control Position coincidence b04 14 0104H POS COIN H Pulse 0 0 0 pulse Position coincidence b05 15 0104H POS COIN L Pulse 20 0 50000 pulse Set Position coincidence pulse range When pulse warp absolute value lt b05 Position fix signal output CCW max warp pulse b06 16 0105H POS_LMP_H Pulse 7H 0 7H NO CCW max warp pulse 0 0FFFFH b07 17 0105H POS_LMP_L Pulse 0A120H NO 1 500000 When wap of command position and actual positon gt b07 servo drive gives over position warp alarm b08 18 0106H POS_LMN_H CW max warp pulse NO Pulse OFFF8H 8000 0FFFFH 0 0FFFFH b09 19 0106H POS LMN L CW max warp pulse NO Pulse SEEOH 500000 1 41 A amp DU A amp D
9. 77 Chapter 5 Trial Run and Turnning Procedure ADSD S 77777 Chapter 5 Trial Run and Turnning Procedure ADSD S When command and actual position warp gt b09 servo drive gives over position warp alarm e Speed loop parameter set d Positon loop parameter set Velocity loop default low 0 1m Position loop b28 2A 0203H DFLT pass filtering time 0 0 10000 b10 1A 0107H KPP l s 10 1 500 s proportional gain constant Set according to concrete servo drive system and loads condition set value is bigger response faster too big value arouse Speed default low pass filtering time constant valid when ACCEL MODE 0 oscillating Velocity loop integral b32 2B 0207H KVD 0 1ms 0 1 1000 Position loop feed time constant bil 1B 0108H KPF forward proportional 9b 0 0 100 Velocity loop integral time constant set value is bigger response faster too big value arouse oscillating gain velocity loop b36 32 020BH KVP 60 10 3000 Set according to concrete servo drive system and loads condition set value is bigger response faster too big value arouse proportional gain oscillating Set velocity loop proportional gain Position loop feed set value is bigger response faster too big value arouse oscillating Under the condition that system does not produce forward smooth oscillating set as big as possible b13 1D 010AH PFLT TM ms 0 0 10000 filtering time Set according to concrete servo drive system and loads condition constant Velocity loop integral b37 33 020CH KV
10. 7U7 7 Chapter 5 Trial Run and Turnning Procedure ADSD S si H44 PSI ICH n 0 0 1 t register 1 H45 si H46 Positon 0 1 0 register 2 H47 si H48 Positon 0 1 1 register 3 H49 si H50 Positon 1 0 0 x register 4 H51 PS2 1DH Hs2 Positon 1 0 1 register 5 H53 si H54 Positon 1 1 0 x register 6 H55 Positon i H56 1 1 1 register 7 H57 ZCLAMP 1FH When speed is under zero speed set value B38 this signal ON motor stops oe Cen usu nioco m ed uis ZCLAIME Inout sien OFF ON Bolter foncd OF f g A 7 Juro specd fd n Y PTS t Tims TBO 20H Toe index selection input TBO bit0 TB1 tbitl TB2 bit2 TB3 bit3 TBI 21H TB4 dit4 TB2 22H TB3 23H TB4 24H CTRIG 25 Internal spring used for graduation Output terminal H18 5E 0412H DO2 DOI 0100H 0 FFFFH DO2 DOI defination Output terminal H19 SF 0413H DO4 DO3 0502H 0 FFFFH DO4 DOS3 defination Output terminal DOS H20 60 0414H DOS 0003H 0 FFFFH defination Output function chart defination Symbol Set value Function instruction RDY 0 Control power and main power ready if no fault RDY switch on SON 1 Servo enable if no fault SON switch on 38 5 2 3 Motor parameter setting Firstly set motor basic parameter to system parameter according to servo motor fixed e g Current ratio coefficient Y13 Set the calculation according to module currentand motor rated current Y13 256 module current crest value motor rated current
11. 4A 0309H FLG T Torque command selection 0 0 1 2 3 0 External analog 0 torque control mode 0 external analog When control mode 3 0 torque 1 Internal torque command 2 Internal torque command 2 3 Internal torque command 3 Note When torque selection is included within external terminals external input priority Viz torqueselection is determined by external input terminal ON or OFF b63 030AH TSPLM F Speed limit selection 0 0 1 b64 4B Torque direction 030BH T DR 0 0 1 selection BITO Speed confine selection TSPLM F 0 Internal speed confine AV Speed limitation is 44H TRQ SPLM set value 1 External speed confine AV Speed limitation is external speed command analog input BIT1 Torque direction selection T DIR 0 Torque A D positive CW 1 Torque A D positive CCW AV only to external analog torque command BIT2 Reserved 5 2 4 4 Rotation table control mode 1 Parameter setting l Control mode 11 b01 11 0101H CTRL MOD Control mode 11 0 8 Rotation table graduation parameter 3000H 3000H b59 45 0306H TRQI Internal torque command1 1000H 0D000 3000H H35 52 0422H TB_MD Rotation table control 0 1 mode H36 AA 0423H TB NUM Rotation table stations 2 32 2 32 H37 AB 0424H TB GRN Rotation table gear ratio 1 8 1 5000 numerator H38 AC 0425H TB GRM Rotation table gear ratio 1 8 1 5000 denominato
12. 3 5 interface circuit 3 5 1 input switching interface using servo drive internal source interface drawing SWI DI 1 oo d C3 DUC A YE sw D12 oo 3 UC EJAY SW D13 o 4 2AVGND xo AWA Or 24V could select via bridle wire in drive L 16 Zi A amp D Chapter 3 Connections and Wiring ADSD S 3 5 2 output switching interface 1 using external source ma 7 V P v aK D02 24VGND 2 using servo drive internal source driving relay Driving LED NOTE the 24V AD source can either be supplied by servo dirver or external source 17 A amp D A amp D Chapter 3 Connections and Wiring ADSD S 7777 Chapter 3 Connections and Wiring ADSD S 3 5 3 analog input interface 2 Collector input ur 3 5 6 Pulse output interface Line Drive Output 3 5 5 Pulse input interface 1 Line Drive input 18 19 A amp D 3 6 standard connection 3 6 1 P position pulse control mode Chapter 3 Connections and Wiring Ext Brake Resistor
13. T11 A amp D Chapter 6 Servo Parameters function struction ADSD S yl9 8F 0457H MAX SPD A D speed input LIMIT Speed 2BBCH 4000H 3000rpm SPD REF limit value y20 0458H J OG FLG IN Inching direction mark 0 1 2 Stop LCCW 2 CW y21 0505H SPD ADTEST speed command analog input read z Used fof speed comm nd analog linear adju tment TRQ ADTES y22 0506H Torque command analog input read Used fof torque comnjand analog linear adjustment y23 F5 0507H SPD_B_OFST Analog CH A2 OFFSET updating F800 Used fof speed commynd analog linear adjustment y24 F6 0508H SPD S OFST Analog CH B2 OFFSET updating FA00 Used fof speed commind analog linear adjustment y25 EF 0509H G SPD B Analog CH A2 OFFSET updating 0B06 Used fof speed comm nd analog linear adjustment y26 FO 050AH G SPD S Analog CH B2 OFFSET updating 02C2 Used fof speed comm nd analog linear adjustment y27 Fi 050BH GT Analog CH A3 OFFSET updating 0B06 Used fof torque comnjand analog linear adjustment y28 F7 050CH T OFST Analog CH A3 OFFSET updating F800 Used fof torque comnjand analog linear adjustment y29 FB 050DH MONI OFST Analog output CH OFFSHT updating 0100 6 6 User parameters User group Seri Uppe Lowe Parameter Defa es Function r r name ult NO limit limit UO Ignore 0 board gt key Controller EEPROM Data Store 0
14. Chapter 6 Servo Parameters function struction ADSD S Chapter 6 Servo Parameters function struction ADSD S TLM 4H Torque is confined TLM switch on Z Phase pulse NO ALM 5H Alarm accur ALM switch on After slowdown switch off phase Z pulse NO up to the value offset start the offset value defined by BRK 6H Electromagnet brake on 65H 66H HOME 7H Origion regress ORG OFST v 7FFF 8000H H27 65 Origin offset high bits 0 POSIN 8H Under position control mode when error pulse NO lt setting position range POSIN 041BH H 32767 32768 switch on H28 66 ORG OFST L Origin offset low bits 0 7FFF 8000H 9H Reserve ORG OFST ORG OFST H 2 16 ORG OFST L setting offset value total 32 bits formed by high 16 bits and AH Reserve low 16 bits BH Reserve Notch attenuation E H29 67 041CH NOICH Q 0 CH Reserve quotient DH Reserve ESEFV l NOTCH FRE EH Reserve H30 68 041DH Notch frequency Hz 0 FH NC Q m ae Mechanical resonance frequency setting close the function if the value is 0 Origin activation mode H21 0415H ORG_EN 0 Bit0 3 Origi selection rigin regression H31 6E 041EH ORG TIMB ms 10 2 10000 Origin regression Acc Dec time constant H22 61 0416H ORG DIR 0 Bit4 7 direction AV when origin regression gs MON output speed ins mass EM Origin regression phase Z P Bigti H32 6F 041FH G_MON_SPD 512 pulse counting method Scaling Bit0
15. essere nennen nennen 34 5 2 2 I O Interface defination i ier ho OO Rn 36 522 3 Motor parameter Seto err rrt rre PERS 39 5 2 4 Corresponding parameter set for each control mode sssssss 39 SUME 39 3 2 4 2 Speed control mode oes seis sctsedaccsssesssceeextes itr Ee a Eee eR Fee pude pesas 43 3 2 43 Torque control ttode e t t e nte ne savers 45 5 2 4 4 Rotation table control mode Chapter 6 Servo Parameters function struction essseeseeeseeeeeeneeeee ener 6 1 Monitor parameter status group 6 2 Fault parameter fault group nennen enne 6 3 Basic parameter base Group enne 6 4 High parameter high group sse nennen nnne tnnt nnne 65 A amp D ADSD S 6 5 System parameter sys group ceeeseseeseeseeseeseeeeseeseeseeseeseeeeeeeeeeeseeaeeaeeaeeaeeaeeaes 76 6 6 User parameters User group nnetnetne trennen 78 6 7 EEPROM Parameter super group nennen nnne 79 Chapter 7 Communication Function sssseesesseseseese eene ener etre nnne nnns 80 7 1 Introduction of communication hardware RS 485 RS 232 RS 422 80 Te IL RSZ caked e deed becomes nona deese Me 80 T I 2 RS2422 RS4895 8 tette lette tede be tuer ert 81 7 2 Communication Protool essnee iar P ei Ee deter i pepe eai 82 7 3 Communication Operation eii ee eoe eere renean antera ae PAIR
16. yx In order to prevent accidents the initial trial run for servo motor should warr ning be conducted under no load conditions separate the motor from its couplings and belts yx Do not approach or touch any rotating parts e g shaft while the motor is running Failure to observe this precaution may cause serious personal injury Before starting the operation with a mechanical system connected change the drive parameters to match the user defined parameters of the mechanical system Starting the operation without matching the correct parameters may result in servo drive or motor damage or II A amp DT ADSD S damage to the mechanical system Ensure that the emergency stop equipment or device is connected and working correctly before operating the motor that is connected to a mechanical system Do not touch either the drive heat sink during operation as they may become hot and personal injury may result warrning Maintenance and Inspection Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical shock may result Wait at least 5 minutes after power has been removed before touching any drive or motor terminals as an electrical charge may still remain in the servo drive and servo motor with hazardous voltages even after po
17. 777 7 Chapter 5 Trial Run and Turnning Procedure ADSD S 2 P External Position Position control for the servo motor is achieved via an Control external pulse command 3 P S Switch via input signal OFF P MODE ON S MODE MODE status 4 P T Switch via input signal OFF P MODE ON T MODE MODE status 5 S T Switch via input signal OFF S MODE ON T MODE MODE status 6 Pi Internal Position Position control for the servo motor is achieved via by 8 Control commands stored within the servo controller Execution of the 8 positions is via Digital Input DI signals Can choose the running sequence via parameter setting 7 Si Internal Speed Speed control for the servo motor can be achieved via control parameters set within the controller o Control of the internal speed parameters is via the Digital Inputs DI A maximum of three speeds can be stored internally 8 Ti Internal torque Torque control for the servo motor is only achieved via control parameters set within the controller Control of the internal torque parameters is via the Digital Inputs DI A maximum of three torque levels can be stored internally 9 Pi S Either Pi or S control mode OFF Pi MODE ON S MODE can be selected via the input signals MODE 10 Pi T Either Pi or T control mode OFF Pi MODE ON T MODE can be selected via the input signals MODE 11 Toe index Control mode for turning charactor according to input terminal commands to proceed with graduation ori
18. data HH data HL data LH data LL inspect H inspect L Return of long integer variables read request 9byte i j data HH data HL data LH data LL inspect H inspect L Return of input request 1byte 96 ACK SI NACK 4 Inspect data All characters ASCII CODE sum and low 8bit Example page of variables 01H deviation of variables 00H format of reading this variables is as following R010013 Among the aftermost bit binary digit 132 52H 30H 31H 30H 30H low 8bit 83 Z amp D a Chapter 7 Communication function ADSD S 7 3 Communication operation 1 Communication software of operating A amp D servo drive mag um ERO Wa Ver eus mem 35e amet 2 Setup communication parameter to setup baud rate and communication port according to different computer jB s S SEE 84 y 7777777 Chapter 7 Communication function detailed specification AAD E UT MD FDE we at E e J wm Jio 85 ADSD S 3 Click ADSD S in the main menu of the communication software after the commnication display is well and conduct read out and write in of RAM and EEPROM directly The specific address of RAM and EEPROM should be refered to Tzu Ce Ca I a IO AMIP M Eett n A amp D 777777 Chapter 7 Communication function ADSD S 4 The related parameters also can be read and put in direct through parameter page but the parameters
19. 1 Motor controls the graduation begaining with the origin 2 Rotation table graduation can control motor rotor angle accurately define station number of rotation table per cycle by TB_NUM define periodic quantity by TB_GRN rotation table gear ratio numerator and TB_GRM rotation table gear ratio denominator Specific station of rotation table is defined by TBO TB4 and 49 A amp DU A amp D Chapter 5 Trial Run and Turnning Procedure ADSD S 7777 Chapter 6 Servo Parameters function struction Chapter 6 Servo Parameters function struction ADSD S their assemble E g IF TB GRN TB_GRM 1 one rotation of motor corresponding to one circle of table if TB GRN TB GRM 2 half a rotation corresponding to one circle if 6 1 Monitor parameter status group TB GRN TB GRM 1 2 two rotation corresponding to one circle 3 rotor angle TBO 1 2TB1 1 4TB2 1 8TB3 1 16TB so Rotation table stations SEEN Er RAM Uni PEN bus a mE NO jaddress address t maxmum can define 32 bits Theoretic rotor must be less than 1 cycle otherwise it ACCESS AUOTOSS invalid E g A00 0000H VER Firmware version If TB GRN TB GRM 1 TB NUM 2 stations are avaibale viz 0 only CTRIG ou 0001H ALM_FLG Drive fault alarm code A02 0002H ALM FLGI Drive fault alarm code 1 180 trigger TBO other trigger points ADL Drive fault alarm code A01 If TB_GRN TB GRM 1 TB NUM 3
20. 0 Servo status is OFF 1 Servo status is ON A20 0011H CPLD ver CPLD version IU Feedback current instant A21 0012H IU FB value IV Feedback current instant A22 0013H IV FB value 6 2 Fault parameter fault group F Eladdress on g funtion Unit Default Range address name F00 00 ALM 0 Fault record 0 0 0 15 F01 01 ALM 1 Fault record 1 m 0 0 15 F02 02 ALM 2 Fault record 2 0 0 15 F03 03 ALM_3 Fault record 3 ind 0 0 15 F04 04 ALM 4 Fault record 4 0 0 15 F05 05 ALM_5 Fault record 5 0 0 15 F06 06 ALM_6 Fault record 6 0 0 15 F07 07 ALM 7 Fault record 7 zzi 0 0 15 F08 08 ALM 8 Fault record 8 0 0 15 F09 09 ALM_9 Fault record 9 0 0 15 Drive fault alarm fault 01 CPU fault 02 RAM fault 03 EEP fault 04 CW CCW prohibited fault 05 Coder abnormal 06 Overcurrent 07 Overload 08 Undervoltage 09 Overvoltage 10 Regeneration error 11 IPM 12 Overspeed 13 Emergency stop 14 Excessive deviation 15 Moter overhot 16 Drive overhot 17 Input power phase loss 18 dynamic braking relay fault 19 CCW limitation alarm 20 CCW 53 Chapter 6 Servo Parameters function struction A amp DU ADSD S 2 AB phase pulse 3 CW CCW pulse CW CCW pulse C AB Phase pulse 1 Pulse and direction Rising edge Trailing edge 4 Pulse and direction Trailing edge e g Positive logic Positive rotation Positive
21. 14 Z mE 5 U 4 U us 3 V 2 V 1 W 6 W 13 45V 11 12 GND 37 MF I CN1 0252627 GND 1 5K 35 m2 AK 12 0 10 OA L PG Signal output Le 4 OM to PhaseA CN1 9 12 OB PGSignal output 13 OB gt PhaseB 2 9 14 OzZ PG Signal out put 15 Oz gt Phase Z CN3 8 O RS422 Ri 7 9 RS422 R1 6 9 RS422 T1 gag 5 rea Ti oo00 4 RS232_RX 3 9 TS232_TX 1 20 GND 23 A amp DZ Chapter 3 Connections and Wiring ADSD S 3 7 servo motor connection Motor Wiring U V W FG wiring Socket 2 3 4 1 socket no Signal 5V OV A A B B Z Z U U V V W W FG Encoder Socket socket 2 3 4 7 3 8 6 9 10 13 11 14 12 15 1 no Socket Break 1 2 3 no unit Power 24VDC 15 10 FG 24 A amp D 77 Chapter4 Display and Operation ADSD S Chapter 4 Display and Operation This chapter describes ADSD S servo drive panel display and the basic operation of the digital keypad 4 1 display and operation 4 1 1 parts of the Digital Keypad ASD Main Display Arear ww O aam o am ane ans PRG gt gt Key SET Key b i 4 Run lamp Ne MODE Key 25 A amp D TZ Chapter 4 Display and Operation ADSD S Name Function Main Display Arear The Display 5 digit 7 step display panel
22. taak DO4 21 6 9 RS422 T1 S5555 trek DO4 6 z 5 O RS422_T1 9000 AM TCU DO5 20 ede 4 Q RS232 RX BH Dos 5 ins 3 TS232_TX 129 GND 22 A amp D Chapter 3 Connections and Wiring 3 6 4 T Ti torque control mode MCCB MC AC220 o os oH LOr AD EE bcm Os Phase o 0 070 OT Soe L_ou ADSD S OL2 Servo Drive ali V REF 040 CN1 10v 12VGND 025 26 27 T REF O41 4 19VGND 025 26 27 24V 424344 COM 28 2930 SVON 5 0 pit 16 SPDLM 9 9 pe 1 CWSTE t 9 9 DI3 17 CCWSTE e 0 DM 2 TCO 5 9 ps5 18 TCi 50 pe 3 ALMRST 9 G DI7 19 EMG 29 9 DI8 4 UK Ioui 24 RDY Xi TIERS gt l L5 zs Daa 24V ux n gt l L5 A ARRV E T iO Doe 7 c DO4 21 E BRK oe n ALM H Dos 5 gt ADSD S Ext Brake Resistor MO RB2 RBI u Red_ v ohte O servo motor w Black FGO Green Encoder A A CN2 9 B s 10 B T 15 Z P
23. 077 7 7N m 100 10N m Motor inertia 150 15N m 180 18N m L low M middle 230 23N m 270 27N m 1 3 parts of Servo Drive Iai Fieis an Do in ink Pir Corp heap nm anr Tr ym atid rct war teira Pos osos carla Tisza A oS Anl Main carcurz zorar rupzis F 7 sT RUIN Uses 3s ure t poer sates tere e 7 7 Y ati 77 iwLesn Gun lnbwllml Ex aLiTal bike iWalalul Wot IMIrisz irer eek resistor LU vee RU vicam SUE ng Cafe Biren resistor FR P apie Peaistor it F Tl la eke Foris ain bah acu wr Lay Z Chatper 1 Unpacking Check and Model Explanation ADSD S Pirar 4 22 Ipek pratar ratty emer sran E Trima eat tte xw tel eee rarega n medir ge sparer my Ju daaa mL iad oi l la e Qr dla an Soa hls ulii al iusm si lll T r cee wia Tv cA fA 0d PR aure udda vybil soal unlx fou he Vo tuu j Bee cie ue lins eto den wom Line e Lay on nur Prius TY hose erm Contzcller latices TOnnzcetimre to Ple oF w Turo pn Edar Likar Date E sa ranes ting 7 ennad A amp DE Chatper 1 Unpacking Check and Model Explanation ADSD S 1 4 Servo Drive operation mode This servo drive can provide multiple operation modes for user s option as follows Mode Mode Description Code External Position P Position control for the servo external pulse Control command Internal Position Pi Position control for the servo motor is achieved Control commands s
24. 1 0 to keyboard EEPROM UO key gt board Ignore 0 1 0 78 A amp D Chapter 6 Servo Parameters function struction ADSD S 1 1 Keyboard EEPROM Data store to controller EEPROM UO Reset gt factor 0 Ignore 0 i 0 2 y 1 Reset Obit 1 Mask Status group lbit 1 Mask Fault group Authority set 7 7 UO 2bit 1 Mask Basic group 3 C Parameter MIA 0 03FH 0 3bit Mask Hi ou group mask En group 4bit 1 Mask Sys group 5bit 1 Mask Monitor group PASSWORD p UO User Set correct password parameter remind OFFF OFFF 0 ser s 4 is available FH FH password 6 7 EEPROM Parameter super group Seri E addres RAM Parameter es Fucntion Range s address name NO 5 00 0500H EEP COM EEPROM operation commands 0 2 Operation possible status 1 Write operation 2 Read operation 5 01 0501H EEP WR AD Write operation EEPROM address Used for EEPROM write EEP_WR_DA 5 02 0502H Write Date T Used for EEPROM write EEP_RD_AD 5 03 0503H Read operation EEPROM address R Used for EEPROM read 5 04 0504H EEP_RD_DAT Read data Used for EEPROM read 79 A amp DE ASD
25. 1 414 Motor pulse NO per revolution Y 14 Set according to coder pulse NO per revolution Motor poles Y15 according to motor nameplate Electric angle biasing Y18 Offset angle between phase Z and phase U 360 2048 A D speed input limit Y19 4000H corresponding 3000rpm Above paramters must be confirmed correct before run or else faulse alarm will occur Confirmation parameter correct must be after restarting control power on drive 5 2 4 Corresponding parameter set for each control mode According to control mode set need to set according parameter while trial run now introduce several frequency used modesas below 5 2 4 1 Position control mode The position control mode P or Pi mode is usually used for the applications requiring precision positioning such as industry positioning machine indexing table etc It supports two kinds of command sources in position control mode One is an external pulse train P Position Terminals External Position Control and the other is internal parameter Pi Position Register i e internal parameters H41 H43 Internal Position Control The external pulse train with direction which can control the rotation angle of servo motor The max input frequency for the external pulse command is 500Kpps and it is equal to rotation speed of 3000r min In order to provide a convenient position control function AD servo drive provides eight internal preset parameters for position control There are two setting met
26. 1 5kw 2 2k 2 2kw Voltage grade 2220v 3 380v 1 1phase 3 phase eed 1 2 2 Servo Motor nameplate explanation esesseeseeseeeeeeee eren 2 1 2 3 Servo Drive and Servo Motor Combinations sse 3 123 parts of Servo Du 4 1 4 Servo Drive operation MOE cccceeeesceeeeeneeeeeeeeeeeeaeeeeeeaeeeeeneeeeeeneeeeeeneeeeeeeeeeees 5 Chapter 2 Installation eno Pe PERDER HEREDES RENI IIR I n e edes 7 2 Safty and Precautions ad 2 2 Storage conditions i oen eor o RH ERE RE ORE EUREN E 7 2 3 Installation CONItIONS s s csseescsessorsesosesesessarsnsesnsesesansnsuanceseracecscsancesesanecssaansesens 7 2 4 Installation Procedure and Minimum Clearances seen 8 Chapter 3 Connections and Wiring cccceceeseeeeeeneeeeesneeesenaeeesenaeeeesaeeeseeeeeseeeeeseeneeeensaes 10 3 1 peripheral devices connect with main CiCUIt eee ees eeeeceeeeeeeeeteeesseeeseeensaes 10 3 1 1 connecting to Peripheral Devices sese 10 32122 Control circuit terminals ss edens eno eset ea eter etae potrete poer nero reni 11 3 1 3 Power supply connections for control circuit 12 3 2 Input Output Interface Connector CN1 o eeeeeeeeceeeeseeeeeeeeeeeeeneeeeeneeeeeeeneeeeeneeeeees 13 3 3 CN2 encoder signal connections c csecerscsesccssseanicessanscessdaneesnseneesennsessdanseessdenseesae 3 4 CN3 communication signal connection A amp D ADSD S 3 5 INtEr
27. 15 18 23 27 N m Rated RPM 2500 2000 2000 2000 Rpm Rated 16 5 16 5 20 5 26 current A Rotor inertia 5 2x10 6 3x10 _ 80x10 11 1910 98 A amp D Chapter 11 Application examples Kem mechanical time 2 43 2 27 2 04 1 932 constant Ms 99 ADSD S A amp D Chapter 11 Application examples ADSD S Chapter 11 Application examples It can be widely used in manufacturing equipment of machine tool printing textile plastic paper wind energy area that the synchro servo drive produced by Dalian A amp D digital operation The following is the specification of its main function 11 1 Internal position register control including origin regression function The internal position register function of ADSD S drive can let it be used as isolated controller and no need control of NC system and PLC There are 8 group position registers in drive When the conrol motion is not complex and alternation is not frequent the internal position register control mode can be used to set corresponding order of position and speed as well as delayed time of two positions When using internal position register control function because the motor encoder is incremental model so in order to promise consistency and precision of processing every time homing operation is needed when the drive restarts Specific operation is as following 1 Confirm the definition of I O interface DII Servo on SVON DD2
28. 2 The cables connected to R S T and U V W terminals should be placed in separate conduits from the encoder or other signal cables Separate them by at least 30cm 3 If the encoder cable is too short please use a twisted shield signal wire with grounding conductor The wire length should be 20m or less For lengths greater than 20m the wire gauge should be doubled in order to lessen any signal attenuation A amp D Chapter 3 Connections and Wiring ADSD S 3 1 3 POWER SUPPLY CONNECTIONS FOR CONTROL CIRCUIT Servo drives wiring conections include single phase connection and three phase connection Single phase connection can only fit for the unit whose power is undedr 1KW In below drawing Power ON is on a position OFF and Processing is on b position IMC x is electromagnetic contcactingt coil IMC a is self protection power 1MC is main circuit interface Three phase connection fit for unit whose power is IKW or above Alarm Power Power Processing on off P NERIS Noise filter Single phase connection fit for unit whose power is under IKW Alarm Power Power Processing 1MCCB on off e F Noise filter Installation of servo 12 Zi A amp D Chapter 3 Connections and Wiring ADSD S 3 2 Input Output Interface Connector CN1 CN1 Terminal Signal Identification amp amp amp 6 9 9 6 6 9 9 09 90 69 9 3 69 69 3 63 6a 69 9 9 9 6 amp 3 63 62 amp 6
29. 3 Activation mode selection ORG_EN Setting when 10V corresponding with 6000rpm 0 External I O lInternal mode 256 4000Hx2 x2 6 512 Bit4 7 Origin regression direction ORG DIR 4000H 3000rpm PRW PUN H33 70 0420H G MON TRQ de tC 1170 Bit8 11 Origin regression phase Z pulse counting method ORG ZM Scaling 0 After slowdown switch on servo motor decelerates to zero then reverse to leave slowdown switch phase Z pulse Setting when 10V corresponding with 3 5 times rated torque 256 1000H 3 5 x2 5 1 170512 cuonting start MON output DC current 1 After slowdown switch on servo motor decelerates to zero till leaving slowdown switch phase Z pulse cuonting H34 71 0421H G MON V 171 start B H Scaling Origin regression high 0 4000H Setting when 10V corresponding with 600V 256 400 600 171 H24 62 0418H ORG SPH 1555H Rotation table control speed 021038 H35 52 0422H TB_MD 0 Origin regression high speed setting meds 4000H 3000rpm BitO Torque reducing when rotation table stop oer 0 Invalable 1 Available Origin regression low H25 63 0419H ORG SPL 222H 0 4000H Rotation Table positions speed H36 AA 0423H TB_NUM 0 2 16 TREE number Origin regression low speed setting H26 64 041AH ORG_ZP Z Phase pulse NO 2 0 128 Setting rotation table positions number the max value is 16 70 71 A amp D After setting the drive
30. CARRY_F BRK_TM Set the timen between brake signal and servo on or servo off BRK TM 0 hf 1 1 Brake Signal ON OFF ON Servo Signal ON Li OF BRK_TM BRK TM BRK_TM lt 0 I 1 Brake Signal ON ON OFF f Servo Signal OFF 4 ON OFF _ BRK TM BRK TM Timing fit between Brake and Drive RAM computing BRK TM CTRL F BRK TM EP 2000 0 2000 0msec H04 53 0404H EST_LVL Electronic load protection 120 0 300 Overload protection occur Current higher last time shorter Twice current 10 second triple current 5 second Setting value is percentage of rated current When current gt this value and last for some time overload alarm will 66 A amp D Chapter 6 Servo Parameters function struction ADSD S H05 54 0405H MON MODE Analog inspection output 1H 0 4H Analog output selection setting XY X MON1 Y MON2 output 0 Motor speed 10V full range speed 1 Motor torque 10V full range speed 2 Speed command 10V full range speed 3 Torque command 10V full range torque 4 Generatrix voltage DC_V Note full range speed set by 6FH full range torque set by 70H full range voltage set by 71H Regenerative resistor H06 55 0406H RG LVL 200 0 10000 protection value Set the value of Regenerative resistor protection Set value resistor valuexresistor powerx 100 1332 Resistor value ohm res
31. Chapter 6 Servo Parameters function struction Set according to concrete servo drive system and loads condition set value is bigger response faster too big value arouse oscillating ADSD S Speed command b44 3A 0213H FLG_SP 0 0 3 selection mark 0 External analog 0 speed When control mode 1 external analog When control mode 4 0 speed 1 Internal speed 1 2 Internal speed 2 3 Internal speed 3 Note When speed selection is included within external terminals external input priority Viz speed selection is determined by external input terminal ON or OFF CW CCW prohibited B45 3B 0214H FLGSTK 0 0 3 mark 0 invalid 1 CW prohibited 2 CCW prohibited 3 CW and CCW prohibited drive forbid Note When drive prohibiting is included within external terminals external input priority Viz drive prohibiting is determined by external input terminal ON or OFF as below CCW terminal CW terminal selection ON ON invalid ON OFF CW prohibited OFF ON CCW prohibited OFF OFF CW and CCW prohibited b46 0215H P CIL P PI switch 0 0 1 b47 0216H ZCLAMP Zero clamp 0 0 1 CW CCW prohibited b48 0217H STK_OFF 0 0 1 3C invalid Positive negative rotation b49 0218H DIR_CTL 1 0 1 switch b50 0219H reserved Reserved 0 0 1 BitO P PI switch P CTL Velocity loop proportional Proportional Integral control switch 0 Velocity loop
32. Check and Model Explanation 1 1 Unpacking Check h case of any parts missing during purchasing or shipping after receiving servo drive please check for the following Check item description Ensure that the product is what Please refer to Section 1 2 for details about the model you have ordered explanation Ensure that the servo motor Rotate the motor shaft by hand a smooth rotation will shaft rotates freely indicate a good motor However a servo motor with an electromagnetic brake can not be rotated manually Check for damage Visual inspect the unit to insure it was not damaged during shipment Check for loose screws Visual inspect if there are screws loose or loosen off If any problem mentioned above happened please inform the distributor whom you purchased the product from or our company A complete and workable AC servo system should be including the following parts 1 Servo drive and Servo motor 2 One power cable which is used to connect servo motor and U V W terminals of servo drive This power cable is with one green grounding cable Please connect the green grounding cable to the ground terminal of the servo drive 3 One encoder cable which is used to connect the encoder of servo motor and CN2 terminal of servo drive 4 Connector CN1 44 PIN Connector 5 Connector CN2 15 PIN Connector 6 Connector CN3 8 PIN Connector A amp DI a A amp D Chatper 1 Unpa
33. DI Pi T Either Pi or T control mode can be selected via the Digital Inputs DI S T Either S or T control mode can be selected via the Digital Inputs DI The above control modes can be accessed and changed via by parameter B01 If the control mode is changed switch the drive off and on after the new control mode has been entered A amp DT 7777 Chapter2 Installation ADSD S Chapter 2 Installation 2 1 Safty and Precautions Please pay close attention to the following installation notes 1 Do not bend or strain the connection cables between servo drive and motor 2 When mounting servo drive make sure to tighten screws to secure the drive in place 3 If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of the servo motor coupling and device are followed 4 If the length of cable connected between servo drive and motor is more than 20m please increase the wire gauge of the encoder cable and motor connection cable connected to U V W terminals 5 Make sure to tighten the screws for securing motor The product should be kept in the shipping carton before installation In order to retain the warranty coverage the servo drive should be stored properly when it is not to be used for an extended period of time Some storage suggestions are 2 2 Storage conditions O Store in a clean and dry location free from dust O Store within an ambient temperature rang
34. Internal position register triger ATRIG DI3 Selection of internal position register order PSO DI3 Selection of internal position register order PSI DI5 The prohibitive extreme limit of reverse CWSTE DI5 The prohibitive extreme limit of forward CWSTE DI7 Starting signal of activating homing function CORG ST DI8 Slowdown switch of homing function CORG SW DO1 Output signal of servo on SON DO2 Finish signal of homing function HOME DOS Alarm output signal ALM 2 parameters setting O BO1 6 Internal position register control model Pi setting O H14 1901 DI2 ATRIG DII SVOND 0 H15 1C1B DIA PS1 DI3 PSO O H1620B0A CDI6 CCWSTE DI5 CWSTE O H17 100F DI8 ORG_SW DI7 ORG_ST O H18 0701 DO2 HOME DO1 SON O H1920000 100 A amp D 7 7 Chapter 11 Application examples ADSD S O H2020005 DOS ALMD 0 H21 0 The mode of homing is I O activating mode O0 H22 0 The homing direction is forward O H23 0 The confirming method of Z phase pulse is to press slowdown switch ORG_SW and when the motor reverse runs and pulled off switch the Z phase will count O H24 1555H The high speed of homing is 1000rpm O H252444H The low speed of homing is 200rpm O H26 1 the No of Z phase pulse in homing is 1 namely after pulling off speed reduing switch the system find NO 1 Z phase pulse and regards it as homing point O H27 H28 0 There is no homing deviation after finding homing point O H41 1 absolute positionin
35. changing the parameter must power off 76 Chapter 6 Servo Parameters function struction ADSD S BIT7 Torque limit selection EX TCLM FLG Torque limit selection under position speed mode 0 Internal torque limit TLM P TLM N AV 1 External torque limit Torque command AV y08 044CH PHE EN Phase loss inspection 0 0 1 y09 044DH LV EN Under voltage inspection 0 0 1 yl0 81 044EH ENC EN Coder inspection 0 0 1 yll 044FH AHOT EN Drive overhot inspection 0 0 1 yl2 0450H MHOT_EN Motor overhot inspection 0 0 1 BIT4 Phase loss inspection PHE EN 0 ADL 1 AV BIT5 Low voltage inspection LV EN 0 ADL 1 AV BIT6 Coder inspection ENC END 0 ADL 1 AV BIT7 Drive overhot inspection CAHOT EN 0 ADL 1 AV BITS Motor overhot inspection MHOT END 0 ADL AV yl3 97 0451H G_CUR Current scaling coefficient 906 128 1FFFH Y13 256 Module current crest value Motor rated current 1 414 Motor pulse NO per yl4 9F 0452H ENC PPR 2500 0 10000 rotation Motor coder resolution prm MOTOR POL yl5 E6 0453H Motor poles Pole 8 6 8 14 Set motor poles yl6 7F 0454H ENC TYPB Encoder type 3 0 3 0 DART LINE INC 2 ABS 3 Standard INC Internal servo enable yl7 D6 0455H SVON CH 0 0 1 setting 0 DI trigger servo enable 1 Servo enable can be set internally yl8 8E 0456H E_ANG_OFST Electric angle offset 123 200 200H E_ANG_OFST Offset angle between phase Z and phase U 360 2048 0 7FFFH
36. d message checked when fault occur B RS485 Isolated RS485 communication mode can be chose to realize S connection with upper computer o H CAN BUS Optional Bus mode Environment 10 C 40 C temperature E Memory 20 C 65 C E temperature E Benronneit At most 90 RH S humidity Height vibration Below 1 000m and 5 9m S 0 6g Place of application No sunlight corrosive and explosive gas and moisture Cooling mode Fan cooling and natural circulation cooling 10 2 Specification of ADSM Servo Motor Stardard specification of 110 series motor Motor model 110 020M3 110 020M30 110 050M30 110 060M2 110 060M30 0 0 Power KW 0 6 1 2 1 5 1 2 1 6 Rated torque 2 4 5 6 6 N m Rated RPM 3000 3000 3000 2000 3000 Rpm Rated current 4 0 6 0 7 0 6 0 8 5 A Rotor inertia 0 33x10 0 828x10 0 915x10 1 0x10 1 111 10 Kem mechanical time 3 64 3 46 4 8 1 82 1 864 constant ms Encoder line 2500 A B Z U V W 96 Motor insulation B class Operational Environment temperature 0 55 C Humidity at most 90 non environment condensing Protection class IP65 Motor weight 4 2 6 5 8 6 4 6 4 Kg Stardard specification of 130 series motor Matot tadil 130 040M25 130 050M20 130 050M2 130 060M2 130 077M20 130 077M2 5 5 5 Power KW 1 0 1 0 1 3 1 5 1 6 2 0 Rated
37. of EEPROM just will be valid after power off As ot asc meo uny uU no ce E LOTR CECI S DERECHO r RE PECES T DLP E RU TU TRE CELESTE T UI GESESESESGGG4 ERESREREESESIIITITEREREERE 5 Servor can be leaded in recorded parameter by lead in record All parameters also can be kept in servo drive by keeping record 86 j amp D Chapter 8 Maintenance and Inspection ADSD S Chapter 8 Maintenance and Inspection 8 1 Basic Inspection Item Content of inspection Periodically inspect the screws of the servo drive motor shaft terminal block andthe connection to mechanical system Tighten screws as necessary as they mayloosen due to vibration and varying temperatures Ensure that oil water metallic particles or any foreign objects do not fall General insidethe servo drive motor control panel or ventilation slots and holes As Inspection these willcause damage Ensure the correct installation and the control panel It should be free fromairborne dust harmful gases or liquids Ensure that all wiring instructions and recommendations are followed otherwisedamage to the drive and or motor may result To avoid an electric shock be sure to connect the ground terminal of servo driveto the ground terminal of control panel Before making any connection wait 10 minutes for capacitors to discharge afterthe power is disconnected alternatively use an appropriate discharge de
38. reach target position in princle of shortest path from currently position to target position 4 Sequence chart 103 A amp DE ASD Chapter 11 Application examples ADSD S 7777 Chapter 11 Application examples ADSD S Power Supply _1 BI SVON _ E 1 200R l2 9 2005 TB No R 3 R s 4 HNC 21T T 5 CN2 PE APER ADSM servo motor A 0 Com wy 10 A s eeta 4 i m gt V m HZ 3 om 4 l A dbe 7 U Eta Ww e SWZ HUD i i i Ui 14 m Es 4CP PE PE 30 TLM i g GDR a5 Fe TD pR 1 DIR 8 ume mi 53 _DIR g ew 1l Ll CN2 d4 a5 A e S CNI 11 3 ADSD S drive and numerical control system accessories Lin 06 PES a 20 T 11 3 1 The accessories schematic chart with HNC 21T century star Dalian Oe a dino EP 5 D05 p d Ca x Ut CNC ov PiZB B 30 cy imm Ta n ET 32 3 1 pay AL FS ig 1 Using HNC 21T and matching with ADSM series motor wiring ER n E Kj ES z di d21 iy e B z iie Ld EN NE mI UD h OUO Fum 5 d5 m 0 ram m 121 mi FG i Fo Remark Using Dalian CNC 31T M The wiring of numerical control system is same as above 104 105 A amp D A A amp D
39. rotation rotation Negtive rotation Negtive limitation alarm 21 Communication abnormal F10 0A ALM_ADR Latest fault address 0 0 9 EEPROM I ALMO 9updated fault address F11 0B Reserved Reserved OFFFFH F12 0C Reserved Reserved OFFFFH F13 0D Reserved Reserved OFFFFH F14 OE Reserved Reserved OFFFFH a F15 OF Reserved Reserved J OFFFFH a 6 3 Basic parameter base Group Serie E RAM s Parameter Function Unit Default Range address address NO b00 10 0100H PMOD Pulse input style 0 0 4 0 CW CCW Pulse Rising edge 54 A amp D Positive ADSD S Chapter 6 Servo Parameters function struction Negtive rotation b01 11 0101H CTRL_MOD Control mode 1 0 8 Series can be programmed to provide six single and five dual modes of operation Their operation and description is isted in the following table and special graduation mode available for rotation table control control mode Value Control mode Mode instruction 0 T Anolog torque Torque control for the servo motor is achieved via by 3 commands stored control mode within the servo controller or input anolog voltage via external terminals 10V 10V Commands selection is according to DI Drive receives torque conmmands to control the motor till target torque 1 S Anolog speed Speed command is offered by internal servo controller 3 commands stored control mo
40. should be restarted Chapter 6 Servo Parameters function struction ADSD S Rotation Table gear ratio H37 AB 0424H TB_GRN 1 5000 numberator B_GRN TB_GRM 1 50 50 Rotation Table gear ratio H38 AC 0425H TB_GRM 1 5000 denominator B_GRN TB_GRM 1 50 50 Rotation table speed H39 AD 0426H TB_TM 10ms 0 10000 up down time speed up down time from 0 3000rpm Devision control cleaance 8000 7FFFH H40 AE 0427H BLAS Pulse compansition 32768 32767 Unit is pulse NO Positive Positive direction compansation Negtive Negtive direction compansation Position reference H41 AF 0428H POSS_MD 0 8 control mode Internal position command control mode 0 INC increase position command 1 ABS absolute position command 2 Positive rotation devision 3 Negtive rotation devision 4 Toe index through the nearest path of rotation table 5 Absolute continious trigger arresting 6 Relative continious trigger arresting 7 Relative auto cycle arresting 8 Relative auto cycle arresting 1 5 7 Requires electronic gear ratio must be 1 Position internal register Pulse 7FFF 8000H H42 BO POSO_H 0 32767 32768 0429H Position internal register Pulse 7FFF 8000H H43 Bl POSO_L 0 IN RAM POS0 POSOH 2 16 POSOL Interial positon 0 position pulse NO setting Position internal register Pulse 7TFFF 8000H H44 B2 042AH POS1_H 1 72 A amp D Chapter 6 Servo Paramete
41. shows the monitor codes parameter settings PRG gt gt SHIFT key can scrolls through parameter groups It can SHIFT Key move the cursor to the left and then change parameter settings by using arrow keys SET Key SET key can execute the function to RAM SET key Mode key can execute the function to RAM E PROM UP and DOWN UP 1 arrow Key DOWN 1 UP MODE 10 DOWN MODE 10 MODE Key Pressing MODE key can enter or exit different parameter groups and switch between Monitor mode and Parameter mode RUN Run indication light the light ON is mean the servo drive is working ALARM Alarm indication light The light ON is meaning fault occurred 26 A amp DG Chapter 4 Display and Operation 4 1 2 Display parameter Flowchart Display control PCB RAE Keyboard 4 1 3 parameter setting description ADSD S Keyboard E LED display Description Showing that the current value is 16 M the black dot means 16 M Showing that the current value is 10 M 27 A amp D A Chapter 4 Display and Operation ADSD S 4 1 4 keyboard operation ADSD S servo drive works according multi level menu the first level is main menu which including seven kinds of parameters monitoring parameter fault parameter basic parameter high level parameter system parameter factory parameter user parameter The operation procedure of
42. stop equipment can be energized and work at any time 6 Do not touch the drive heat sink or the servo motor during operation Otherwise it may result in serious personnel injury If you have other questions Please consult our distributors or our customer services center A amp D safety precautions ADSD S Carefully note and observe the following safety precautions when receiving inspecting installing operating maintaining and troubleshooting Receiving inspecting In order to prevent fire hazard and accidents please form the wiring by attentioin the cable specifications outlined in this user manual yx Do not use the product in a wet location or where have corrosive and attention inflammable gases or liquids Failure to observe this caution may result in electric shock fire or personal injury Wiring N The drive and motor s grounding terminal should correctly connect to warr ning the ground according country electrical safty requirements Failure to observe this caution may result in electric shock fire or personal injury AN yx Do not connect any power supplies to the U V W terminals Failure to attention observe this precaution may result in serious injury damage to the drive or fire yx Ensure that all screws connectors and wire terminations are secure on the power supply servo drive and motor Failure to observe this caution may result in damage fire or personal injury
43. these parameters is as follows Power On R n Monitor Parameter Fault Paramete F onl Basic Paramete h onl High Paramete e e H on 3 _ System Paramet M an O i Factory Paramete ae hoon User Paramete U on e e amp e 6 i Letter A stands for monitoring parameters Each monitoring parameter can be setted according below operation procedure you can set 22 kinds of different monitoring parameters according your choosed software version speed command analog command moter feedback pulse commanded pulse differential value torque value moter control mode DC bus voltage and alarm code 28 2l 7 7 Chapter4 Display and Operation mA gn Monitor parameter ADSD S 4 L RB 05 ane Software version mornitoring parameter list Eos d No E RAM parameter name function A00 0000H VER Firmware version A01 0001H ALM_FLG Drive fault alarm code A02 0002H ALM_FLG1 Drive fault alarm code 1 A03 0003H SPD_FB_H Motor speed feedback A04 0004H SPD_CMD Speed command A05 0005H SPD_REF Analog speed reference input A06 0006H POS_FB_H Motor feedback pulse NO A07 0006H POS_FB_L A08 0007H POS_CMD_H Position command pulse NO A09
44. torque 4 5 5 6 77 T N m Rated RPM Rpm 2500 2000 2500 2500 2000 2500 Rated current A 5 0 5 5 6 0 7 0 6 5 8 5 Rotor inertia L 101x10 1 333x10 1 333x10 1 544x10 2 017x10 2 017x10 Kem mechanical time 5 042 4 186 3 677 3 122 2 34 2 624 constant Ms Encoder line number C T 2500 CA B Z U V W Motor insulation B class Operational Environmental temperature 0 55 C Humidity at most 90 non environment condensing Protection class IP65 Motor weight Kg 6 1 6 9 7 0 7 6 8 8 8 8 Motor model 130 077 130 100M1 130 100M2 130 150MIS5 130 150M25 M30 5 5 Power KW 24 1 5 2 6 2 3 3 8 Rated torque 77 10 10 15 15 N m 97 ASDA Chapter 11 Application examples ADSD S Rated RPM 3000 1500 2500 1500 2500 Rpm Rated 10 5 6 5 11 5 9 5 16 5 current A Rotor inertia 2 017x10 2 595x10 2 595x10 324x10 6 15x10 Kem mechanical time 2 353 2 162 1 903 1 88 2 59 constant Ms Encoder line 2500 CA B Z U V WD number C T Motor insulation B class Operational Environmental temperature 0 55 C Humidity at most 90 non environment condensing Protection class IP65 Motor weight 8 8 10 6 10 6 14 3 15 35 Kg Stardard specification of 150 series motor Motor model 150 150M2 150 180M2 150 230M 150 270M 5 0 20 20 Power KW 3 8 3 6 4 7 5 5 Rated torque
45. 0007H POS_CMD_L A10 0008H POS_ERR_H Position command and feedback warp All 0008H POS_ERR_L A12 0009H TRQ CMD Torque command A13 000AH TRQ REF Analog torque reference A14 000BH TRQ FB Actual torque A15 000CH DC V Main circuit voltage A16 000DH IN ST Input status A17 000EH OUT ST Output status A18 000FH MODE Control mode A19 0010H SV ON Servo on mark A20 0011H CPLD ver CPLD version A21 0012H IU FB IU Feedback current instant value A22 0013H IV FB IV Feedback current instant value 29 A amp D A amp D Chapter 4 Display and Operation ADSD S Chapter4 Display and Operation ADSD S 4 2 user parameter Parameters whose name is with initial letter B is called basic paraters You can set the parameters according below setting steps after set you should repower the unit to make the user parameeter parameters working The details of the parameters definition is stated in following description upper Lower factory No Contain description Lan limitation limitation setting 1 0 no function s U00 driver gt key Control EEPROM store data to kekboard 1 0 0 ui 7T 1 5 EEPROM F 0 no function i UOI key gt driver Keyboard EEPROM store data to control 1 0 0 1 O EEPROM l e 0 no function l 6 amp 5 U02 Reset factory 1 low inertia parameter 1 0 1 peu 2 medium inertia parameter Fr An i Obit shielded mortoring parameters group Other p
46. 02 e g A01 0003 there are 2 alarms CPU error and 0001 Input power phase loss RAM error 0002 Dynamic braking relay fault 0004 CW limitation alarm 0008 CCW limitation alarm 0100 Communication abnormal A03 0003H SPD FB H Motor speed feedback Keyboard desplays motor actual speed Communication gets corresponding data conversion relation 4000ht 3000rpm Data read by upper monitor 51 A amp D TZ communication firm ware Chapter 6 Servo Parameters function struction ADSD S A04 0004H SPD CMD Speed command Keyboard desplays speed loop command input Communication gets corresponding data conversion relation 4000ht 3000rpm Analog speed reference A05 0005H SPD REF input Keyboard displays external analog speed command input 4000h 3000rpm Communication gets corresponding data conversion relation 4000ht 3000rpm A06 0006H POS FB H Motor feedback pulse A07 0006H POS_FB_L NO Addup pulse NO feedback by motor totally 32bit display hight 16bits and low 16bits respectively A08 0007H POS_CMD_H Position command A09 0007H POS_CMD_L pulse NO Addup pulse NO of input command 32bit display hight 16bits and low 16bits respectively A10 0008H POS_ERR_H Position command and All 0008H POS_ERR_L feedback warp Warp betwee
47. 06H TRQI 0 1 0D000 3000H Internal torque command b60 46 0307H TRQ2 0 3000H 3000H 2 Internal torque command b61 47 0308H TRQ3 0 3000H 3000H 3 Set internal torque command value Torque selection via external input terminals 1 Torque selection 2 to select internal torque 1 internal torque 2 internal torque Control mode Torque selection 2 Torque selection 1 Torque command OFF OFF External analog OFF ON Internal torque 1 0 T ON OFF Internal torque 2 ON ON Internal torque 3 OFF OFF 0 OFF ON Internal torque 1 3 TD ON OFF Internal torque 2 ON ON Internal torque 3 3 1000Ht 100 rated voltage Torque command b62 4A 0309H FLG T 0 0 1 2 3 selection 64 A amp D Chapter 6 Servo Parameters function struction ADSD S 0 External analog O torque when control mode 0 external analog when control mode 3 0 torque 1 Internal torque command 1 2 Internal torque command 4 2 3 Internal torque command 3 Note When torque selection is included within external terminals external input priority Viz torqueselection is determined by external input terminal ON or OFF b63 030AH TSPLM F Speed limit selection 0 0 1 4B Torque direction b64 030BH T DR 0 0 1 selection BITO Speed limit selection TSPLM F 0 Internal speed limit AV Speed limit value is 44H TRQ_SPLM set value 1 External speed limit AV Speed limit value is e
48. 3 stations are avaibale viz 0 120 trigger Alarm codes in address 0001H display in BCD code TBO 240 trigger TBI other trigger points ADL 0001 CEU error Bit 0 15 correspond to alarm 01 16 If TB GRN TB GRM 1 TB NUM 44 stations are avaibale viz 0 90 trigger 0002 RAM error Corresponding bit 0 No this alarm TBO 180 trigger TB12 270 trigger TBO TB1 other trigger point ADL 0004 EEP error Corresponding bit 1 This alarm occurs Above rotor angle is forward direction CAnticlockwise facing motor axe 0008 CW CCW prohibited fault 4 Note 0010 Encoder fault 0002H Graduation speed is defined by B25 SPI 0020 Overcurrent Bit 0 4 is corresponding with alarm 17 21 When H35 TB_MD 1 dislocation ends torque limitation limitation value is set by 0040 Overload Corresponding bit 0 NO this alarm B59 TRQI 0080 Undervoltage Corresponding bit 21 This alarm occurs H40 BLAS Graduation control backlash compensation The pluse NO set should be 0100 Overvoltage less than 1 cyc pulse NO 0200 Regeneration error 0001H 0002H boths show 0 No alarm 0400 IPM error The first 5 alarm of AOI occurs can not relieve via 50 0800 Overspeed alarm reposition need to reset power 1000 Emergency stop Alarm reposition must be under servo enable 2000 Excessive deviation 4000 Motor over hot Remarks If alarm code of A01 and A02 is not 8000 Drive over hot included abve then there are more than 1 error codes A
49. 3H GCC 2H 00 55H selection XY X Position loop bit4 7 correspoinding Position loop Y Speed loop bit0 3 correspoinding speed loop 0 Gain switch function OFF 1 Gain switch function ON 2 Under position control mode when position error less than the value of parameter b24 3 Under position control mode when position pulse frequency less than the value of parameter b24 4 when the motor speed less than the value of parameter b52 5 when the motor speed warp less than the value of parameter b52 Position loop gain switch b23 25 0114H PGCT ms 10 1 10000 time constant For position loop gain switch smooth b24 26 0115H PGCV Gain switch conditon Pulse 000AH 1 FFFFH b24 finally determined by b22 selection b25 27 0200H SP1 Internal speed 1 64H C000H 4000H b26 28 0201H SP2 Internal speed 2 OF000H C000H 4000H b27 29 0202H SP3 Internal speed 3 3E8H C000H 4000H Set internal speed command value 4000Ht 3000RPM Speed selection via external input terminals Speed selection 1 and 2 to selction internal AV WHEN FLG SP 1 3 Speed default low pass 0 1m b28 2A 0203H DFLT 0 0 50000 filtering time constant s Speed command default low pass filtering time constant AV WHEN ACCEL MODE 0 Speed smooth low pass lms b29 2B 0204H FLT 10 1 50000 filtering time constant Speed command smooth low pass filtering time constant Valid WHEN ACCEL_MODE 1 59 ADSD S Q medien ces P r
50. 9 69 69 6 G G9 6 G3 G2 6D General signal Signal Signal code Pin No Function Analog vil 40 Speed analog imput signal Signal VD 41 Torque analog imput signal Input M2 36 the MONI and MON can be Analog i assigned drive and motor Monitor MI 37 parameters that can be monitored Output via an analogue voltage OA 10 o OA 11 The motor encoder signals are Position i Pul OB 12 available through the terminals ulse OB 13 The encoder output pulse count can output O7 14 be set via parameter OZ 15 P 34 osition input pulse P 35 ER Pulse NN N 32 T M inpu input pulse si N 33 iie id 24V 42 43 44 supply 24V suource Power COM 28 29 30 24V ground 12V 38 12V source Power 12V 39 12V source 12VGND 25 26 27 12V 12V ground 13 A amp D Chapter 3 Connections and Wiring DI signal signal signal code Pin No Function DH 16 External terminal input 1 DD 1 External terminal input 2 DB 17 External terminal input 3 ai DI4 2 External terminal input 4 DB 18 External terminal input 5 DI6 3 External terminal input 6 DI7 19 External terminal input 7 DI8 4 External terminal input 8 DO signal signal signal code Pin No Function DO1 24 External terminal input 1 DOI 9 External terminal input 1 DO2 23 External terminal input 2 DO2 8 External terminal input 2
51. ASD T Preface Thank you very much for purchasing A amp D s ADSD S series servo products This manual provide related contents on how to use our ADSD S servo drive and ADSM S motor It includes Installation of AC servo drives and motors Configuration and wiring Trial run steps Control functions and adjusting methods of servo drives Parameter settings Inspection and maintenance Troubleshooting Application examples 90 cL Qv Go es Who should use this manual 1 Those who are responsible for designing 2 Those who are responsible for installing or wiring 3 Those who are responsible for operating or programming 4 Those who are responsible for maintaining or troubleshooting Before using the product please read this user manual thoroughly to ensure correct use and store this manual in a safe and handy place for quick reference whenever necessary Besides please observe the following precautions 1 Install the product in a clean and dry location free from corrosive and inflammable gases or liquids 2 Do not connect a commercial power supply to the U V W terminals of motor Failure to observe this precaution will damage either the Servo motor or drive Ensure that the motor and drive are correctly connected to a ground 4 Do not attach modify and remove wiring when power is applied to the AC servo drive and motor 5 Before starting the operation with a mechanical system connected make sure the emergency
52. Chapter 11 Application examples ADSD S A amp DE Chapter 11 Application examples ADSD S O H19 0008 DO3 POSIN 0 H2020005 DO5 ALM 1 H21 0 The mode of origin homing is I O activating mode O H22 0 The origin homing direction is forward O H23 0 The confirming method of Z phase pulse is to press speed reducing switch ORG SW When the motor reverse runs and pulled off switch the Z phase will count O H24 1555H The high speed of homing is 1000rpm O H25 444H The low speed of homing is 200rpm O H26 1 the No of Z phase pulse in homing is 1 namely after pulling off speed reduing switch the system find NO 1 Z phase pulse and regards it as homing point O H27 H28 0 There is no origin deviation after finding origin homing point O H41 4 Turret shortest path graduation O H35 0 The torque will not reduce when turret stop the practical application of this parameter is set according to mechanical structure O H36 8 The turret has 8 positions O H37 1 H38 2 Deceleration rate of Rotation table Other motor parameters such as loop of position speed and graduated control gap compesation parameters will be set according to mechanical running condition 3 Operation 1 When the serve is equipped first use SVON 1 DI 2 Doing origin homing operation and comfirming Nol positon of turret 3 Put in turret optional signal TBO TB2 according to demand then trigger CTRIG DI5 The Rotation table will reversely run turret and
53. DO DO3 22 External terminal input 3 DO3 7 External terminal input 3 DO4 21 External terminal input 4 DO4 6 External terminal input 4 DO5 20 External terminal input 5 DOS5 5 External terminal input 5 14 ADSD S A amp D Chapter 3 Connections and Wiring 3 3 CN2 encoder signal connections CN2 interface signal description O OOOO 00000 69 2 ADSD S Signal Footnote function Identification A 7 Encoder A phase input A 8 Encoder A phase input B 9 Encoder B phase input B 10 Encoder B phase input Z 15 Encoder Z phase input Z 14 Encoder Z phase input U 5 Encoder U phase input U 4 Encoder U phase input V 3 Encoder V phase input V 2 Encoder V phase input W 1 Encoder W phase input W 6 Encoder W phase input 5V 13 Encoder using 5V source GND 11 12 Encoder using 5V ground source 15 A amp DT Chapter 3 Connections and Wiring 3 4 CN3 communication signal connection CN3 interface signal description 000 ADSD S Signal Pin No functions aa Rl 8 Controller termimal data receiving line drive terminal R1 7 Controller termimal data receiving line drive terminal T1 6 Controller termimal data sending line driver terminal Tia 5 Controller termimal data sending line driver terminal RX232 4 TX232 3 GND 1 2 ground signal
54. E eA Ree Pea na ea ee en aee een k es eaae eds 84 Chapter 8 Maintenance and Inspection esssessseseseeseeeeeee eene enne ener eene 87 S 1 SI ISDN 87 a2 Mantenan EET TETTE EE DE CE 88 8 3 Lifespan of Replacement Components esee 88 Chapter 9 Troublesh otilg 2 rrt ott rtt trt rotor ttt rb 5040400203 55s IRSE pewnoasa SEERA O21 Fault Messages Table seio ERREUR uS seite ye bue rey DEREN RE HEY 9 2 Potential Cause and Corrective Actions Chapter 10 SpectfiCatlOlls oo reteco oerte ede eo eerie RE MEE Up UNO d Tori ninni esae eR Ue eene ee pae ee gena ESETE se 10 1 Specifications Of Servo Drive nette tere entere ree nite 10 2 Specification of ADSM Servo Motor ssssessesseeeeeeeeenenee nennen nennen 96 Chapter 11 Application examples eee rr RERO EEEE EERE 100 11 1 Internal position register control including origin regression function 100 11 2 Rotation table control 11 3 ADSD S drive and numerical control system accessories 11 3 1 The accessories schematic chart with HNC 21T Dalian CNC 104 11 3 2 The schematic chart of matching with Guangzhou NC GSK218M 107 P ahtnu ME 108 Drive matched cable eet p pte e pue otc obetelemelh 108 Pinboard of interface optional ssesssssssesseeseeneene eene 108 III A amp D Chatper 1 Unpacking Check and Model Explanation ADSD S Chapter 1 Unpacking
55. FF velocity loop is proportional integral component SVON 1H ON servo ennable ALMRST 2H Alarm reset MODE 3H Mode selection under dual mode OPEN MODE1 SHORT MODE2 DIR_REV 4H Motor reverse GAIN_CHG 5H Gain switch TRQLM 6H Speed limit command selection under speed amp position control mode OPEN Internal register 4FH 50H SHORT External torque analog command SPDLM 7H Speed limit command selection OPEN Internal register 44H SHORT external speed analog command EMG 8H ON motor urgent brake SV LOCK 9H Motor lock available for Pt Pr S Sz CWSTE AH CW prohibited fault CCWSTE BH CCW prohibited fault SPO CH Internal speed command selection SPI DH DISPN EH ON external pulse input ADL under positon mode ORG_ST FH ON activate origin searching function ORG_SW 10H when origin searching switch ORG_SW on take this point as origin TCO 11H Internal torque command selection TCI 12H JOGU 13H JOGU on motor inching inching parameter is JOG_SP 56H JOGD 14H JOGD on motor inverse inching 68 A amp DEY Chapter 6 Servo Parameters function struction ADSD S HOLD 5H Under internal position register mode HOLD ON motor stop POSU 6H Under internal position register mode POSU ON run to next internal postion register position command POSD 7H Under internal position register mode POSD ON run to next internal postion register position command POSR 8H Under internal position register mode POSR O
56. I ms 33 1 1000 Set position command filtering time constant time constant Position loop smooth Note 1 Debug the speed loop first and then debug the position loop while debugging b14 1E 010BH PFFLT_TM ms 10 0 10000 3 2 filtering time constant 2 Try your best to increase speed loop plus till there is no adnormal libration or When Position loop proportional gain KPP is too big position open loop bandwith rises to noise and speed is stable on the load motor reduce phase limit then motor roter will oscillate KPP must be reduced till rotor stop pscillating When external torque joins too low KPP can t meet reasonable position following 3 Try your best to increase speed loop plus till there is no adnormal libration or warp requirement Then feed forward gain b11 can reduce position dynamic following warp noise and speed is stable on the load motor to ensure the load has good tailing Position Pasition Paar laua character under the system running KPF reference 5 2 4 2 Speed control mode Speed control e g External control mode as expample Velocity loop default b28 2A 0203H DFLT 0 1ms 0 0 10000 filtering time constant X SS actual pari fien Velocity loop default filtering time constant speedup down mode Valid when ACCEL MODE 0 l a es Mia Velocity loop smooth ms imi asirip b29 2B 0204H FLT low pass filtering time 10 1 10000 constant Velocity loop smooth low pass filtering time constant speedup
57. N back to next internal postion register position command ATRIG 9H Under internal position register mode After setting internal position control command POSO0 2 ATRIG ON trigger motor move according to internal positon register command POS AUTO 1AH Under internal position register mode trigger motor move according to internal positon register command Moving spacing time refers to POSTO POST7 moving speed refers to POSVO POSV7 PSO 1BH Internal register position command selection PSI ICH PS2 1DH ZCLAMP 1EH ACLAMP ON When speed lt 0 speed set value motor stop TBO 1FH Devision selection input TBO bit0 TB1 bitl TB2 bit2 TB3 bit3 TBI 20H TB4 bit4 TB2 21H TB3 22H TB4 23H CTRIG 24H Internal trigger used for devision Output terminal DO2 DO1 H18 5E 0412H DO2 DOI 0100H 0 FFFFH definition Output terminal DO4 DO3 H19 5F 0413H DO4 DO3 0502H 0 FFFFH definition Output terminal DOS H20 60 0414H DOS 0003H 0 FFFFH definition Output function chart definition symbol Set value Function instruction RDY 0H Control power and main power ready if no fault RDY switch on SON 1H Servo enable if no fault SON switch on ZS 2H Motor speed lt zero speed ZS switch on ARRV 3H Motor speed setting target speed ARRV switch on 69 A amp D A amp D
58. When using an external resistor connect it to RB and RB1 and ensure an open circuit between RB and RB2 When using an internal resistor ensure the circuit is closed between RB and RB2 and the circuit is open between RB and RB1 4 If a fault or emergency stop occurs using ALARM or WARN output can control electromagnetic contactor and cut off the power of the servo drive 3 1 2 CONTROL CIRCUIT TERMINALS Terminal Identification Terminal description Functions control circuit input L1 L2 i connect to Single Phase AC power terminals main circuit input R S T terminals connect to 3 phase AC power main circuit output U V W connect to motor power imput terminal terminals When using an internal resistor ensure the circuit is closed between RB and RB2 and the circuit is RB RB1 conncetion point for open between RB and RB1 RB2 breaking resistance When using an external resistor connect it to RB and RB1 and ensure an open circuit between RB and RB2 CNI servo drive terminal connecto to controller CN2 encoder terminal connector to encoder communication CN3 connctor to PC terminal Wiring connection should pay close attention to follows 1 As a residual hazardous voltage may remain inside the drive please do not immediately touch any of the power terminals R S T U V amp W and or the cables connected to them after the power has been turned off and the charge LED is lit
59. ace of synchro servo motor for all signals Order model ADSD B 22 2s iw 109 ADSD S
60. al position command SPDLM 07H will be confined Confine speed commands will be internal resigster or external od PO e M analog voltage commands POS AUTO AH Under internal position register mode switch on will auto move according to OPEN internal register 44H SHORT external speed analog command internal position control register commands moving spacing time refers to ps sneed refers Be 1 EMG 08H Switch on motor urgency stop POSTO POST7 moving speed refers to POSVO POSV7 1f SV LOCK 09H Servo lockup apply Pt Pr S Sz PSO 1BH Internal register postion command selection Position Correspondi CWSTE OAH Reverse forbidden limitation command PS2 PSI PSO ATRIG ng parameter CCWSTE OBH FWD forbidden limitation Positon 0 0 0 2 register 0 T H43 SPO OCH Internal speed command selection 36 37 A amp D A amp D Chapter 5 Trial Run and Turnning Procedure ADSD S ZS 2 Motor speed zero speed ZS switch on ARRV 3 Motor speed setting target speed ARRV switch on TLM 4 Torque is confined TLM switch on ALM 5 Alarm accur ALM switch on BRK 6 Electromagnet brake on HOME 7 Origion regress POSIN 8 Under position control mode when error pulse NO setting position range POSIN switch on
61. alig Positior P PI 00H Switch on speed loop is ratio tache else ratio intergral tache SVON 01H Switch on servo enable r DI TRIG ALMRST 02H Alarm reposition After alarm alarm reason removed then switch it on it shows i alarm signal removed DISCCLA Time MODE 03H Mode selection under dual mode OPEN select MODE1 SHORT select MODE2 POSU 6H Under internal position register mode switch on run to next internal register DIR_REV 04H Command input reverse control Under internal position resgister andSpeed amp torque position command mode after it switches on input commands turn to reverse POSD 7H Under internal position register mode switch on run to next internal register GAIN_CHG 05h Plus switch Under speed amp postion mode after switch on plus turns to Primary position command plus changing ratio POSR 8H Under internal position register mode switch on back to first internal register TRQLM 06H Under speed or postion mode it switch on Motor torque will be confined Torque position command fi and helec OPEN intemal resist 4FH S0H Under internal register mode after setting internal position control dc M ERG eens See 7 ATRIG 9H commands POSO 2 switch on will trigger motor to move according to internal SHORT external torque analog commands position control register command after digital output 0 speed signal ZSPD 1 Speed confine commands selection Under torque mode switch on motor speed Then incept next trigger intern
62. arameters can be set according above setting procedure bit shielded fault parameter group paramters 2bit shielded basic parameter group U03 3Fh 0 0 group shielded 31bit shielde high level parameter group Abit shielded system parameter group Sbit shielded factory parameter group setting correct passwork permit to modify U04 User password FFFFh 0 FFFF parameters 30 31 7i A amp D Chapter 5 Trial Run and Turnning Procedure ADSD S Chapter 5 Trial Run and TuningProcedure JI JI Model confirm motor and drive peripheral connection J Setting I O interface Setting motor s parameters Set the gain parameters corresbonding with the confirm control mode to a proper value aviode o limitation I Power on running 32 A amp DE Chapter 5 Trial Run and Turnning Procedure ADSD S 5 1 Inspection without load In order to prevent accidents and avoid damaging the servo drive and mechanical system the trial run should be performed under no load condition no load connected including disconnecting all couplings and belts Do not run servo motor while it is connected to load or mechanical system because the unassembled parts on motor shaft may easily disassemble during running and it may damage mechanical system or even result in personnel injury After removing the load or mechanical system from the servo motor if the servo motor can runs normally following up the norma
63. cable External load is too high Check the external load condition or reassess the motor capacity Control parameter setting of the controller is incorrect and the motor can t work normally Change the parameters The motor capacity is too small and can t work in overload condition for longtime Change a appropriate motor Drive overhot Ventilation of the drive is poor and the temperature is too high Improve the ventilation Hardware error Please contact your distributor or manufacturer for service Input power Input power supply of main circuit lacks of phase Check if the wiring is correct or loose and if the power supply lack of phase if not the drive phase loss hardware may be in error contact your distributor or manufacturer for service Dynamic Dynamic breaking relay is in error Please contact your distributor or manufacturer braking relay for service error CW limitation The motor mechanism reaches the Remove the mechanism and reset and get rid of 92 A amp DT Chapter 9 Troubleshooting ADSD S alarm forward limit switch postion alarm The wiring of the forward limit switch is Reconnect again incorrect or loose The parameter setting of the limit switch Change the parameter is in error CCW limitation The motor mechanism reaches the Remove the mechanism and reset and get rid of alar
64. cking Check and Model Explanation ADSD S 7 7 Chatper 1 Unpacking Check and Model Explanation ADSD S 1 2 3 Servo Drive and Servo Motor Combinations 1 2 Model Explanation power Servo Drive model Servo Motor model 1 2 1 Servo Drive Nameplate Explanation ADSM S80 013M30 AD SD S 2 1 4 0K XX iod ii Bids ADSM S80 024M30 ADSM S80 033M Company A amp D a ai d nue Servo driver Le output power 0 2k 0 2kw 130W pease tes ADSM S130 040M25 Series S AS synchronous ye pone ADSM S130 050M20 AS AC asynchronous 1 5k 1 5kw ADSM S110 040M30 2 2k 2 2kw Voltage grade E NN i phase ADSM S130 050M25 3 phase ADSM S110 060M20 ADSM S110 050M30 1500W ADSD S23 1 5K ADSM S130 060M25 ADSM S110 060M30 ADSM S130 077M20 AD SM S 110 040 M 20 DK Z ADSM S130 077M25 1 2 2 Servo Motor nameplate explanation p ADSM S130 100M15 A amp D Elect ti E ie d ADSM S130 077M30 rake Servo motor 7 tk ele 2200W ADSD S23 22K ADSM S130 100M25 default without ADSM S130 150M15 Asynchronors series Shaft type ADSM S130 150M15 K with key Machine seat default without ADSM S150 150M25 110 110 series Coder resolution 4000W ADSD S23 4 0K ADSM S150 180M20 130 130 series D 2500 line drive 150 150 series T 2000 line drive ADSM S150 230M20 Rated speed ADSM S150 270M20 Rated torque 15 1500rpm 20 2000rpm 020 2N m 040 4N m 25 2500rpm 30 3000rpm
65. d LED 8 2 Maintenance Use and store the product in a proper and normal environment Periodically clean the surface and panel of servo drive and motor Do not disassemble or damage any mechanical part when performing maintenance oO OO Clean off any dust and dirt with a vacuum cleaner Place special emphasis on cleaning the ventilationports and PCBs Always keep these areas clean as accumulation of dust and dirt can cause unforeseenfailures 8 3 Lifespan of Replacement Components Smooth capacitor The characteristics of smooth capacitor would be deteriorated by ripple current affection The life ofsmooth capacitor varies according to ambient temperature and operating conditions The common guaranteed life of smooth capacitor is ten years when it is properly used in normal air conditioned environment Relay The contacts will wear and result in malfunction due to switching currentThe life of relay variesaccording to power supply capacity Therefore the common guaranteed life of relay is cumulative100 000 times of power on and power off Cooling fan The cooling fan life is limited and should be changed periodically The cooling fan will reach the end ofits life in 2 3 years when it is in continuous operation However it also must be replaced if the coolingfan is vibrating or there are unusual noises 88 A amp DT Chapter 10 Specification Chapter 9 Troubleshooting 9 1 Fault Messages Table ADSD S
66. d motor Incorrect DIES b installation may result in a drive malfunction or premature failure of the drive and or motor The mu m servo drive should be mounted perpendicular to the wall or in the control panel In order to R i mE A BEEBE BEEBE ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and DOE BOS Dja Ors sufficient free space is given to the servo drive Do not install the drive in a horizontal position e 9n or malfunction and damage will occur LEES a 20 mm min E l mm min 2 40mm min Sn ere l e s fies 100 mm min 100 mm min A amp D Chapter 3 Connections and Wiring ADSD S Chapter 3 Connections and Wiring This chapter provides information on wiring ADSD S series servo products the descriptions of I O signals and gives typical examples of wiring diagrams 3 1 peripheral devices connect with main circuit 3 1 1 CONNECTING TO PERIPHERAL DEVICES Power Supply Single phase 220V Three phase 220V BABAB Electormagmetic Contactor Braking Resistor ervo motor power Encoder Servo Motor Safty precautions 1 Check if the wiring of control circuit power L1 L2 and main circuit power R S T are correct 2 Check if the phase of U V W cables is connected correctly 10 A amp D Chapter 3 Connections and Wiring ADSD S 3
67. d nd en Send ee j be eae es N Se b30 2C 0205H LNR Beeline speedup time 1ms 30 1 50000 0 to 3000rpm Beeline speedup time S curve speed up down lms b31 2D 0206H SLNR 100 1 50000 time constant S speed up down time constant AV WHEN ACCEL_MODE 3 Speed loop differential b32 2E 0207H KVD 0 1ms 0 1 1000 time constant Speed loop differential time constant response faster too big value arouse oscillating 16384 16384 b33 2F 0208H SV1 S yielding point speed 1 0555H 0C000H 4000H S yielding point speed 1 4000H 3000RPM AV WHEN ACCEL MODE 3 16384 16384 b34 30 0209H SV2 S yielding point speed 2 3AABH 0C000H 4000H S yielding point speed 2 4000H 3000RPM AV WHEN ACCEL MODE 3 b35 31 020AH ACEL_MOD Acc Dec mode 0 0 3 Acceleration deceleration mode 0 Default 1 speed smooth up down 2 Beeline speed up down 3 S curve speed up down Use default under positon mode Use beeline speed up down when JOG mode 60 A amp DE Chapter 6 Servo Parameters function struction ADSD S Velocity loop proportional gain Set proportional speed loop proportional gain set value is bigger response faster too big value arouse oscillating Under the condition that system does not produce oscillating set as big as possible Set according to concrete servo drive system and loads condition V
68. de the drive applied O Never put inflammable objects on servo drive or close to the external regenerative resistor LO Make sure control switch is OFF L If the electromagnetic brake is being used ensure that it is correctly wired O If required use an appropriate electrical filter to eliminate noise to the servo drive O Ensure that the external applied voltage to the drive is correct and matched to the controller 33 A amp DUA Inspection during operation Control power is applied Chapter 5 Trial Run and Turnning Procedure O Ensure that the cables are not damaged stressed excessively or loaded heavily When the motor is running pay close attention on the connection of the cables and notice that if they are damaged frayed or over extended O Check for abnormal vibrations and sounds during operation If the servo motor is vibrating or there are unusual noises while the motor is running please contact the dealer or manufacturer for assistance O Ensure that all user defined parameters are set correctly Since the characteristics of various machinery equipment are different in order to avoid accident or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value Ensure to reset some parameters when the servo drive is off Please refer to Chapter 7 Otherwise it may result in malfunction O If there is no contact sound or there be any unu
69. de within the servo controller or input alolog voltage via terminals 10V 10V Select commands according to DI signal Drive receives speed conmmands to control the motor till target speed 2 P Pulse position Position command is input by terminal signal aspect is pulse Drive receives control mode position conmmands to control the motor till target position 3 P S Selected by input signal OFF P MODE ON S MODE MODE 4 P T Selected by input signal OFF P MODE ON T MODE MODE 5 S T Selected by input signal OFF S MODE ON T MODE MODE 6 Pi Internal position Position control for the servo motor is achieved via by 8 commands stored control mode within the servo controller can use DI signal to select register NO can also set the run order according to parameter setting Drive receives positon conmmands to control the motor till target positon 7 Si Internal speed Speed control for the servo motor is only achieved via by 3 commands contro mode stored within the servo controle can t be achieved by external terminals Commands selection is according to DI Drive receives speed conmmands to control the motor till target speed 8 Ti Internal torque Torque control for the servo motor is only achieved via by 3 commands stored within the servo controle can t be achieved by external terminals Commands selection is according to DI Drive receives torque 55 ASDA ASDA ADSD S 77777 Chapter 6 Servo Param
70. down mode Valid when ACCEL_MODE 1 b30 2C 0205H LNR Beeline speedup time ms 30 1 50000 0 3000rpm beeline speed up down time 42 43 7777 Chapter 5 Trial Run and Turnning Procedure ADSD S S curve speed up down time constant Speed command S shape curve speed up down time constant speed up down mode CACCEL MODE 3 Ih 17 Speed f Velocity loop differential b32 2E 0207H KVD 0 1ms 0 1 1000 time constant Velocity loop differential time constant set value is bigger response faster too big value arouse oscillating 0555 16384 16384 b33 2F 0208H SVI S yielding point speed 1 H 0C000H 4000H S shape cruve flixion speed 1 4000Ht 3000RPM valid when ACCEL MODE 3 3AA 16384 16384 b34 30 0209H SV2 S yielding point speed 2 BH 0C000H 4000H S shape cruve flixion speed 2 4000H 3000RPM valid when ACCEL_MODE 3 b35 31 020AH ACEL_MOD Speedup down mode 0 0 3 Speed command speedup down mode 0 Default 1 Smooth speed up down 2 Beeline speed up down 3 S curve speed up down Smooth speed up down Beeline speed up down S curve speed up down Use default under positon mode Use beeline under JOGrun velocity loop b36 32 020BH KVP 60 10 3000 proportional gain Set velocity loop proportional gain set value is bigger response faster too big value arouse oscillating Under the condition that syste
71. e my 5 te 7 4 NNNM La i m i ih T Ha 4 d Ps 16 5 U a B EE m un F o un Vera ri ADSD i m ay O Fu my 0 5 a E y ie M mtn servo T Tus 15 f S diy N B n dri ve PE PES He MZ AC SERVO MOTOR servo motor One v VX MS P9 Axis X motor GK6062 6AC31 FB nt W 3 TSFA motor gru PE WEP G 2 Using Dalian CNC 31T system and matching with Wuhan Golden motor wiring TET sito T GND 2 Remark The wiring of using HCNC system 21T M is same as above M M 3 A 4 Qo oii Hi B 10 it 1 1 15 L 3 LO Ut 9 U 5 U 10 ES T yo i Ht Ww 6 W 14 T J PE 15 106 107 ASDA Addendum ADSD S Addendum Drive matched cable 1 power cable Order model ADSD S CP C indicates cable length Aviation plug model of lateral configuration ADSM S series motor YD28K4TS A Servo mot or Plug jointing face D S CP 2 encoder feedback cable Order model ADSD S CE C indicate cable length Aviation plug model of lateral configuration ADSM S series motor YD28K15TS A servo Plug jointing motor if ace UL2464 L ADSD S CE 2 Communication cable optional Order model ADSD CRS C indicates cable length L i Pinboard of interface optional Our company s interface pinboard is designed for customer s convenience and it has CN1 108 A amp D Addendum and CN2 interf
72. e of 20 C to 65 C Store within a relative humidity range of 0 to 95 and non condensing Do not store in a place subjected to corrosive gases and liquids Correctly packaged and placed on a solid surface 2 3 Installation conditions The ambient temperature of servo drive for long term reliability should be within under 10 C 55 C If the ambient temperature of servo drive is greater than 45 C please install the drive in a well ventilated location and do not obstruct the airflow for the cooling fan If they are installed in a control panel please ensure sufficient space around the units for heat dissipation Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel What s more please observe the following precautions when selecting a mounting location Do not mount the servo drive or motor adjacent to heat radiating elements or under high temperature Avoid droping water steam dust or oil Z Z A amp DR Chapter 2 Installation ADSD S ASDA Chapter 2 Installation ADSD S Installation Procedure Prohibit use in dangerous environment where is subject to inflammable or combustible or In order to help the cooling fan subject to a lower wind block so as to discharge the heat more explosive gas or liquid Do not mount the servo drive or motor in a location subjected to airborne dust or metallic effectively we suggest users to observe below minimum installat
73. e switch transistor fault Please contact your distributor or manufacturer for service Change the parameter The control parameter setting of the drive is incorrect IPM Motor wiring error Check if the phase sequence of U V W is error correct Hardware damange Please contact your distributor or manufacturer for service Y13 current coefficient of system Change the parameter parameter setting error The maximum torque current exceeds Change the inner torque current limit IGBT capacity parameter Overspeed Speed input command exceeds the limit Change the speed command of the drive 9 A amp D Chapter 9 Troubleshooting The permissible value of the drive is too small ADSD S Change the parameter Electronic gear ratio setting is too high Correctly set the electronic gear ratio and change the parameter Check if the emergency stop switch is on Release the emergency stop button when there s no error Emergency The wiring of the emergency stop is in Change the wiring reconnect the wire if there s stop error broken wire Parameter setting is in error and the Change the parameter emergency stop input port setting is incorrect Excessive The forward and reverse maximum Change the parameter deviation deviation no setting of the basic parameter is too small The system gain value is too small Correctly adjust gain value Encoder cable connection error Reconnect encoder
74. elocity loop integral time b37 33 020CH KVI ms 33 1 1000 constant set value is lower response faster too low value arouse oscillating Under the condition that system does not produce oscillating set as low as possible Default when inertia is small 33ms when inertia is big 100ms b38 34 020DH ZSPD Zero speed RTS 54 0 3000 When motor speed lt b38 output 0 speed signal 4000H 3000RPM External speed command b39 35 020EH G_SPD conversion ratio 10V 3121 100 30000 conversion 4000000H K 3000 21504 K 100 30000 lt 3000 gt rpm 10V 4000000H 4000h 2 12 Speed corresponding with Analog voltage input 10V setting the ratio External speed command 9999 9999 b40 36 020FH SP_OFST mV 0 offset OD8F1H 270FH 21504 10 K 1000 2 Set speed command offset voltage 3 Set value Internal servo drive offset voltage 4 Speed command working voltage speed command input voltage offset voltage 5 e g speed command input voltage 21V speed command offset voltage 0 5V speed command working voltage 21 5 V Offset minimum input unit 1mv Offset input range is 10V b41 37 0210H ASPD Speed coincedence RTS 4000H 0 4000H When actual speed gt b41 Speed coincedence signal output 4000Ht 3000RPM velocity loop gain b42 38 0211H KVPR 100 10 1000 switching ratio According to gain switch condition 24H to adjust velocity loop proportional gain fluctuation velocity loop feed b43 39 0212H KVPF 0 10 1000 forward gain 61 A amp D
75. entation control 35 A amp DIA A amp D Chapter 5 Trial Run and Turnning Procedure ADSD S Chapter 5 Trial Run and Turnning Procedure ADSD S 5 2 2 I O Interface defination spi Interface defination define DI1 DIS input interface needed through high parameter yo 8 P g snp DISPN OEH Under position mode switch on external pulse input invalid H14 H17 including SVON ALMRST CW CCW prohibited H18 H20output i e ORG ST OFH Switch on origin searching function will be activated interface defination Including RDY SVON ALM 2 a ORG SW OH When origin searching switchon motor speed down regress to origin according to Input terminal DI2 DU m H14 5B 040EH DI2 DI1 0601H 0 FFFFH parameter regress mode defination TCO 1H Internal torque command selection Input terminal DIA DI3 HI5 5C 040FH DH DI3 OBOAH 0 FFFFH Tel esi defination iina hate i JOGU 3H Switch on motor FWD inching inching speed parameter is JOG_SP 56H Input terminal DI6 DI5 IE H16 5D 0410H DI6 DI5 O0DOCH 0 FFFFH JOGD 4H Switch on motor reverse inching defination HOLD 5H Under internal position register mode switch on motor stops Input terminal DI8 DI7 H17 87 0411H DI8 DI7 0208H 0 FFFFH defination f Input function definition chart Speed symbol Set Function instruction 7 H v
76. eters function struction ADSD S 77 Chapter 6 Servo Parameters function struction Remarks 1 Please set electronic gear ratio under SERVO OFF if set it wrongly servo motor easy to cause violent conmmands to control the motor till target torque motion 2 Drive 4 DF coder input pulse internally viz coder send each 2500 pulses to drive after 4 DF totally 10000 9 Pi S Selected by input signal OFF Pi mode ON S mode pulses MODE Pulse reference GRN Positon 10 Pi T Selected by input signal OFF Pi mode ON T mode gt F2 F I GRN GRM F1 GRM F2 MODE 11 Toe index Control mode for turning charactor according to input terminal commands If 10000 pulses enter drive from coderper ERVwhen electronic gear ratio 1 one command pulse is corresponding to to proceed with graduation orientation control one motor pulse when electronic gear ratio 0 5 two command pulse is corresponding to one motor pulse Attention After changing control mode parameters must power off then ower on before running Otherwise accident will occur Position coincidence P 8 b04 14 0104H POS COIN H Pulse 0 0 0 pulse Position coincidence b05 15 0104H POS COIN L Pulse 14H 0 C350H pulse Set Position coincidence pulse range When pulse warp absolute value lt b05 Position fix signal output CCW max warp pulse b06 16 0105H POS_LMP_H Pulse 7H 0 7H NO High 16 bit CCW max warp pulse 0 0FFFFH b07 17 0105H POS LMP L Pulse 0A120H NO CL
77. g order O H42 H49 Set internal register position order O H58 H61 Set corresponding speed of internal position order O Other motor parameters such as gain of position speed will be set according to mechanical running condition 3 Timing diagram of origin regression action a ORG SPH ORG_SW on motor reverse ORG_SPL ORG SW ORG_SW off stop on the first phase Z pul Phase Z pulse 1 Pulse No defined by H23 The diagram display the condition of H23 0 4 Operation Under the correct wiring and parameters setting 1 First let SVON 1 DID 2 Doing origin regression operation and then choose origin regression mode ORG_ST 1 DI7 The motor will start forward running with high speed from origin according to parameter setting When motor meets ORG_SW speed reducing switch it will decelerate and reverse running with low speed from origin until the speed reducing switch falling off the system will check Z phase pulse lastly the motor will stop when checked Z phase pulse 3 According to processing demand to choose respectively corresponding 0 internal position register under PS1 and PSO status 3 Put down order 101 A amp DE triger ATRIG DI2 motor will running according to position and speed order Remark The origin homing operation just needs to be done one time when everytime power on 11 2 Rotation table control ADSD S drive has inside toe inde
78. his value e g At command voltage 10V output torque rated torque input set value as 100 Note Output torque must be less than 300 rated torque Outer torque command 3000H 3000H b56 42 0303H TRQ OFST 0 offset 0D000 3000H 1000H 100 rating torque Set torque command offset voltage Set value Servo drive internal torque offset voltage Output torque working voltage torque command input voltage offset voltage velocity loop gain under b57 43 0304H TRQ GSP 9b 100 10 1000 torque mode RAM f T GSP SPD STDxT GSP 100 2 Speed limitation control proportional gain under torque mode b58 44 0305H TRQ SPLM Internal speed limit value 2AAAH 0 4000H Internal speed limit value setting under torque mode AV only under torque control mode 4000Ht 3000RPM 3000H 3000H b59 45 0306H TRQI Internal torque command 1 0 0D000 3000H b60 46 0307H TRQ2 Internal torque command 2 0 3000H 3000H b61 47 0308H TRQ3 Internal torque command 3 0 3000H 3000H Set internal torque command value Select via input terminal torque 1 Torque selection2 to select internal torque 1 Internal torque2 Internal torque 3 Control mode Torque selection 2 Torque selection 1 Torque command OFF OFF External anolog ON ON Internal torquel 0 T ON OFF Internal torque2 ON ON Internal torque3 3 TD OFF OFF 0 OFF ON Internal torquel ON OFF Internal torque2 46 777 7 Chapter 5 Trial Run and Turnning Procedure ADSD S 1000Ht 100 rated torque b62
79. hods of internal parameters one is to set different position command into these eight internal parameters before operation and then use POSO POS2 of DI signals of CN1 to perform positioning control The other setting method is to use serial communication to change the setting value of these 39 ADSD S Chapter 5 Trial Run and Turnning Procedure eight internal parameters Positon control structure as below To make the servo motor and load operate more smoothlyoop gain and feed forward compensation Position reference Position reference procecer 4 input Position l Position control velocity loop gt current loop V E3 unit Lh The position control mode includes P and Pi The command source of P mode is external pulse train input form terminals The command sources of Pi mode are H41 H73 built in parameters Under postion control mode below parameter needs to be set Take external position as example a Pulse input style setting 10 0100H PMOD Pulse intput style 0 0 4 0 CW CCW Pulse rising edge 1 Pulse and sign rising edge 2 AB Phase pulse 3 CW CCW Pulse trailing edge 4 Pulse and sign trailing edge e g positive logic CW CCW Pulse C 1 PP i 1 PN 1 1 1 1 pp DN i j 1 Positive 1 Negtive i 1 1 1 rotation rotation Pulse and sign 40 A amp D
80. ion clearance particles Do not mount the servo drive or motor in a location where vibration and shock will exceed 30mm min specification Do not mount the servo drive or motor in a location where it will be subjected to high levels of electromagnetic radiation The ambient temperature of servo motor for long term reliability should be within under 0 C 40 C please observe the following precautions L E L Do not mount the motor adjacent to heat radiating elements or under high temperature emigrate E 5 ial 20mm min Avoid droping water steam dust or oil Prohibit use in dangerous environment where is subject to inflammable or combustible or explosive gas or liquid Do not mount the servo drive or motor in a location subjected to airborne dust or metallic particles 50mm min 2 4 Installation Procedure and Minimum Clearances Important Attentions Ld EM TR 100 mm min 100mm min Please follow the guidelines in this manual when installing the servo drive an
81. is PI control default 1 Velocity loop is P control Bit Zero clamp ZCLAMP 0 Zero speed command output ADL 1 AV 62 ADSD S Chapter 6 Servo Parameters function struction When bit1 1 and speed command value lt zero speed set value Force speed command is 0 Bit2 CW CCW prohibited invalid STK_OFF O drive prohibiting DIAV 1 ADL When bit2 1 the drive prohibiting input terminals ADL Bit3 Positive negative rotation switch DIR_CTL Speed command Internal external Facing the motor axis rotation direction reference input symbol setting BO 0 Speed A D positive CW BO 1 CCW Bit4 Reserved b51 Velocity gain switch time 3D 021AH SGCT ms 000AH 1 FFFFH constant Used for velocity loop gain switch smooth transition b52 Velocity gain switch 3E 021BH SGCV 000AH 0 4000H condition b52 is determined by 24H selection 4000Ht 3000RPM b53 Torque command 3F 0300H TRQ SW 0 0 1 selection External torque command input switch 0 AD 1 AV Under torque control mode it must be set to 1 Under speed control mode when it is o external input torque command ADL When it set to 1 external input torque adds to actual torque command b54 Torque command input 40 0301H TFLT ms 10 0 10000 Filter time constant Torque command input smooth filter time constant b55 External torque 41 0302H G_TRQ command Scaling 10V 1170 30 3000 c
82. ister power watt Using internal regenerative resistor H06 default is 100 Using external regenerative resistor setting value through caculation 0C000 4000H H07 56 0407H JOG SP JOG speed 0 16384 16384 Speed setting value when JOG run This value AV only when JOG run 1BH 1 Torque filtering time H08 57 0408H TRQ FIL 0 1ms 0 1000 0 0 constant H09 0409H Reserved Current loop torque filtering time constant setting to 0 low pass filter function OFF Speed inspection filtering H10 040AH SPFB_FIL 0 1ms 10 0 1000 58 time constant H11 040BH Reserved Speed feedback low pass filtering time constant set to 0 low pass filter function OFF H12 59 040CH ID Drive ID ADD No 0 0 0FH The ID ADD No when several servo drive communicate in RS485 RS485 answering delay H13 5A 040DH DLY_VAL 11 0 255 RS485 set by Transmit and Receiving switch delay time 67 A amp DTUA Chapter 6 Servo Parameters function struction ADSD S Input terminal DD DII H14 5B 040EH DI2 DI1 0601H 0 FFFFH definition Input terminal DI4 DI3 H15 5C 040FH DH DI3 OBOAH 0 FFFFH definition Input terminal DI6 DI5 H16 5D 0410H DI6 DI5 ODOCH 0 FFFFH definition Input terminal DI8 DI7 H17 87 0411H DI8 DI7 0208H 0 FFFFH definition Input function definition chart Symbol Value Function instruction P PI 0H ON Velocity loop is proportional component O
83. it Motor wiring error Follow the standard wiring steps to reconnect wiring Main circuit drive power tube IGBT error Please contact your distributor or manufacturer for service Parameter setting error Adjust the parameter setting again Overload The drive has exceeded its rated load Reduce load or change the drive with higher 90 Zl 77777 Chapter 9 Troubleshooting ADSD S capacity Control system parameter setting is Adjust gain value increase Accel Decel time or incorrect decrease inner torque limit The wiring of drive and encoder is in Adjust the wiring of U V W or encoder error The motor encoder is damaged Please contact your distributor or manufacturer for service Undervoltage Main circuit voltage is below its Check whether the wiring of main circuit is minimum specified value correct and if the input voltage is low if so rejust Power input error incorrect power Use correct power supply system Overvoltage The main circuit voltage has exceeded its Use correct power supply maximum allowable value Drive hardware error Please contact your distributor or manufacturer for service Regeneration Regenerative resistor is not connected or For inner regenerative resistor check if short error low circuit occurs between RB and RB2 terminator For external regenerative resistor check if there s resistor between RB and RB1 and if the resistance is correct Regenerativ
84. l ace CIECUIE oe ORE UITIUM 16 3 5 1 input switching interface essesseesseeseeeeeeeeeeee nene 16 3 5 2 output switching interface sess 17 SUE Dosainenicstie e 3 5 4 analog output interface 3 5 5 Pulse 11put Imierface eR sus E E E E REN HERR 3 5 6 Pulse output interface ssis ette dette eee tede on oti ertet te opas 19 326 Standard conn ction iore nee ner nee E RE I Ree Re sete 20 3 6 1 P position pulse control mode sesenta 20 3 6 2 Pi internal position control mode esssseeeeeeeeeeeeennerennnns 21 3 6 3 S Si speed control mode sssssssssseeeseeeeeeeeee enne 22 326 4 T Ti torque control mode 2 rrr eren 23 3 7 Set vo motor CONNECEH ON ei eode o RR pn E eek Serie e eer RUE Ue 24 Chapter 4 Display and Operation eese enne nennen nene enetnnennnes 25 d displayand Opera ON eese ne ee eite retento e Oe NEUES ERE EN CERRAR EER T 4 1 parts of the Digital Keypad 4 1 2 Display parameter Flowchart sess 27 4 1 3 parameter setting description seeeseesseeeseeeeeeereeere enne 27 4 14 keyboard Operation rtr rre e EE TESNE NESS 28 2 2 user parameter ose RUNE RR E E EMEN 31 Chapter 5 Trial Run and TuningProcedure essere 32 5 1 Inspection without load 5 2 Main parameter setting 5 2 1 Control mode confirmation
85. l operation procedure when trial run without load is completed then the users can connect to the load and mechanical system to run the servo motor O In order to prevent accidents the initial trial run for servo motor should be conducted under no load conditions separate the motor from its couplings and belts O Caution Please perform trial run without load first and then perform trial run with load connected After the servo motor is running normally and regularly without load then run servo motor with load connected Ensure to perform trial run in this order to prevent unnecessary danger After power in connected to AC servo drive the charge LED will light and it indicates that AC servo drive is ready Please check the followings before trial run Inspect the servo drive and servo motor to insure they were not damaged L To avoid an electric shock be sure to connect the ground terminal of servo drive to the ground terminal of control panel Before making any connection wait 10 minutes for capacitors to discharge after the power is disconnected alternatively use an appropriate discharge device to discharge O Ensure that all wiring terminals are correctly insulated Inspection before Ensure that all wiring is correct or damage and or malfunction may operation result Control power is O Visually check to ensure that there are not any unused screws metal not strips or any conductive or inflammable materials insi
86. load then run servo motor with load connected Ensure to perform trial run in this order to prevent unnecessary danger Please perform the wiring after the terminal blocks are all removed from the drive Insert only one wire into one terminal on the terminal block When inserting wires please ensure that the conductors are not shorted to adjacent terminals or wires III X attention Servo motor and mechanical system trial run in tea In order to prevent accidents the initial trial run for servo motor should be conducted under no load conditions separate the motor from its couplings and belts that mean just let the motor work separately do not operate the servo motor while it is connected to its mechanical system because connecting the motor to its mechanical system may cause damage or result in personal injury during the trail run IV A amp DEY ADSD S Contents Chapter 1 Unpacking Check and Model Explanation eene 1 1 1 Unpacking Check 0 cccceeccecesseeecesneeeceeeeecesaeeecesaeeesesaeeesseaeeeseaeeeeseaeeeeeeneeeeeeneeeeees 1 1 2 Model Explanation uicee iens pa Here ER A REA SES NA ERE Nee ERE Y eN e eR ee SE PEE CREER 1 2 1 Servo Drive Nameplate Explanation AD SD S 2 1 4 0K XX Company A amp D standby Servo driver L e output power 0 2k 0 2kw 0 4k 0 4kw Series S AS synchronous 0 75 0 75kw AS AC asynchronous 1 5k
87. m does not produce oscillating set as big as possible Set according to concrete servo drive system and loads condition Velocity loop integral b37 33 020CH KVI ms 33 1 1000 time constant 44 A amp D 77 7 Chapter 5 Trial Run and Turnning Procedure ADSD S set value is lower response faster too low value arouse oscillating Under the condition that system does not produce oscillating set as low as possible Default When inertia is small 33ms when inertia is big 100ms b38 34 020DH ZSPD Zero speed RTS 54 0 3000 When motor speed lt b38 output 0 speed signal 4000H 3000RPM External speed b39 35 020EH G_SPD commands Scaling 10V 3121 100 30000 conversion 4000000H K 3000 21504 K 100 30000 lt 3000 gt rpm 10V 4000000H 4000h 2412 Speed corresponding with Analog voltage input 10V setting the ratio External speed command 9999 9999 b40 36 020FH SP OFST 0 biasing OD8F1H 270FH 21504 10 K 000 1 Set speed command offset voltage set value servo drive internal offset voltage 2 Speed command working voltage speed command input voltage offset voltage b41 37 0210H ASPD Speed reach RTS 4000H 0 4000H When actual speed gt b41 Speed coincedence signal output 4000H 3000RPM velocity loop gain b42 38 0211H KVPR 100 10 1000 fluctuation ratio According to gain switch condition 24H to adjust velocity loop pr
88. m forward limit switch postion alarm The wiring of the forward limit switch is Reconnect again incorrect or loose The parameter setting of the limit switch Change the parameter is in error Communication Communication wire error Confirm the wiring is in good condition and error correct Communication parameter setting error Confirm the communication parameter setting is correct 93 A amp DE Chapter 10 Specification Chapter 10 Specifications 10 1 Specifications of Servo Drive ADSD S Items Specifications Single phase 220V 50 60HZ Three phase 220V g Voltage frequency 50 60HZ g range Single phase 380V 50 60HZ Three phase 440V 50 60HZ Permissible b Voltage 15 Frequency 5 fluctuation Control System Based on 32 byte great performance controller of vector Guias 0 00 450 00Hz The highest frequency can be set among put Mequency 10 00 450 00Hz at random Output 2 poles 18000 r min The highest speed frequency 4 poles 9000 r min of vector control 300Hz as 6 poles 6000 r min example Mode of position control Mode of speed control Mode of torque control Methods of control Position speed compounded mode position torque compounded mode torque speed compounded mode Mode of set by user 8 Precisi f S reason 9 150 rated torque 3 torque 5 Amplitude a none limiting of 0 300 set rated torque at random t
89. n addup pulse NO of input command and Addup pulse NO feedback by motor Totally 32bit display hight 16bits and low 16bits respectively A12 0009H TRQ CMD Torque command Keyboard display current loop torque command input communication gets data 1000h 100 rated current A13 000AH TRQ REF Analog torque reference E E Keyboard display external analog torque command input communication gets data 1000ht 100 keyboard display rated current Al4 000BH TRQ FB Actual torque Keyboard display motor actual torque communication gets data 1000h 100 rated current A15 000CH DC V Main circuit voltage Keyboard display main loop WB voltage communication gets data DC actual voltage DC V 400 8192 A16 000DH IN ST Input status Input signal status Obit DI1 1bit DI2 2bit DI3 3bit DI4 4bit DI5 5bit DI6 6bit DI7 Tbit DI8 Corresponding bit 0 With input Corresponding bit 1 without input A17 000EH OUT ST Output status 32 A amp D ADSD S Chapter 6 Servo Parameters function struction Output signal status display OBIT DOI 1BIT DO2 2BIT DO3 3BIT DO4 4BIT DOS Corresponding bit 04 Corresponding bit 1 No output A18 000FH MODE Control mode a Current control mode display 0 Torque 1 Speed 2 Position A19 0010H SV ON Servo on mark Current Servo enable status
90. nge load and save servor interior parameters 2 Working condition Hardware Epigynous computer digital servor and connecting cable RS232 Operating system Superior than WINDOWSO95 3 Communication format 1 Communication condition Speed 9600bps Parity inspection NO Data lenght 8bit Stop bit Ibit All datas will divided into 4bit fragment and each one will transform to character ASCII CODE and transmit All appointed addresses in transmission are RAM address 2 Requestment sent to driver The read of integer variables 7byte R Pages of variables H page layout of variables L deviation of varia Deviation of variables H deviation of variables L inspect H inspect L Input of integer variables 1lbyte W page of variables H page of variables L deviation of variables H deviation of variables L data HH data HL data LH data LL inspect H inspect L Input of long integer variables 7byte X page of variables H page of variables L deviation of variables H deviation of variables L inspect H inspect L Input of long integer variables 13byte Y epage of variables H page of variables L deviation of variables H deviation of variables L data HHH data HHL data LHH data LHL data LLH data LLL inspect H inspect L 82 A amp D 777 Chapter 7 Communication function ADSD S 3 Return of drive Return of integer variables read request
91. on of servo NO enable if H76 1 reposition will clear alarm alarms besides CPU fault RAM fault EEP fault CW CCW prohibited fault coder fault 75 A amp D A amp D 77777 Chapter 6 Servo Parameters function struction ADSD S 6 5 System parameter sys group Seri E RAM Parameter es Function Unit Default Range address address name NO y00 0444H Reserved Reserved 0 y0l 0445H CAN_MOD CAN BUS mode selection 0 0 1 y02 0446H BK EN Brake enable 1 0 1 y03 0447H DY EN Dynamic brake enable 1 0 1 SPDS OFF FLG Seed demand A D y04 0448H 0 0 1 30 High precision resolution y05 0449H reserved Reserved 0 0 1 STK_STP Action setting when y06 044AH 0 0 1 CW CCW prohibited EX_TCLM_FLG Torque limit selection y07 044BH under Seed and Position 1 0 1 mode Bit0 Reserved Bitl CAN MOD 0 CAN deffective 1 CAN effective Use CAN BUS Bit1 1 or else 0 Bit2 Internal contracting brake BK END 0 Deffective 1 Effective Bit3 Dynamic brake DY EN 0 ADL 1 AV Set it to 1 when motor free stop from high speed achieve prompt stop Bit4 Speed command A D High definition resolution SPDS_OFF_FLG Bit5 BIT6 0 1 0 High definition resolution AV 1 High definition resolution ADL Setto 0 Reserved 0 speed stop default free stop Can improve external analog speed command resolution Action setting when CW CCW prohibited STK STP After
92. onversion 1800000H K 300 21500 K 30 3000 lt 300 gt 10V 1170 input 10V output torque is triple rated torque Set conversion constant of torque command input voltage and output torque Ratio to rated torque At command voltage 10V corresponding output torque rated torque percentage to set this value e g At command voltage 10V output torque rated torque input set value as 100 Note Output torque must be less than 300 rated torque b56 External torque 3000H 3000H TRQ OFST 0 command offset 42 0303H 0D000 3000H 63 A amp D 11000H 100 ratin e g Torque comman g torque d output voltage 1 V Torque command offset voltage 0 5V Output torque working voltage 1 5V Chapter 6 Servo Parameters function struction Output torque working voltage torque command input voltage offset voltage Set torque command offset voltage Set value Servo drive internal torque offset voltage ADSD S Volecity gain under b57 43 0304H TRQ_GSP 100 10 1000 torque mode RAM f T_GSP SPD_STDxT_GSP 100 2 Speed limitation control proportional gain under torque mode b58 44 0305H TRQ_SPLM Internal speed limit value 2AAAH 0 4000H Internal speed limit value setting under torque mode AV only under torque control mode 4000Ht 3000RPM Internal torque command 3000H 3000H b59 45 03
93. op latency time Internal 1 latency time setting under auto cyclic fixed channel assignment mode 74 A amp D Chapter 6 Servo Parameters function struction ADSD S Position internal register 0 7530H H68 CA 043BH POST2 0 1s 2 stop latency time Internal 2 latency time setting under auto cyclic fixed channel assignment mode Position internal register 0 7530H H69 CB 043CH POST3 0 1s 3 stop latency time Internal 3 latency time setting under auto cyclic fixed channel assignment mode Position internal register 0 7530H H70 CC 043DH POST4 0 1s 4 stop latency time Internal 4 latency time setting under auto cyclic fixed channel assignment mode Position internal register 0 7350H H71 CD 043EH POSTS 0 1s 5 stop latency time Internal 5 latency time setting under auto cyclic fixed channel assignment mode Position internal register 0 7530H H72 CE 043FH POST6 0 1s 6 stop latency time Internal 6latency time setting under auto cyclic fixed channel assignment mode Position internal register 0 7530H H73 CF 0440H POST7 0 1s 7 stop latency time Internal 7 latency time setting under auto cyclic fixed channel assignment mode H74 0441H JOG_FLG JOG mark 0 1 JOG run H74 1 RM_SVON Remote servo enable H75 0442H 0 1 mark On condition of SVON CH D6H 1 IF H75 1 Servo enable RM ALM RS Romote servo alarm H76 0443H 0 1 T clearance mark On conditi
94. oportional gain fluctuation velocity loop feed b43 39 0212H KVPF 0 10 1000 forward gain Set according to concrete servo drive system and loads condition set value is bigger response faster too big value arouse oscillating 5 2 4 3 Torque control mode Set the babsic parameter BO1 control mode as Torque control then set torque control parameter accordingly as below Torque command b53 3F 0300H TRQ SW 0 0 1 selection External torque command input switch 0 Deffective 1 Effective Under torque control mode it must be set to 1 Under speed control mode when it is o external input torque command ADL When it set to 1 external input torque adds to actual torque command Torque command input b54 40 0301H TFLT ms 10 0 10000 Filter time constant Torque command input smooth filter time constant 45 A amp DIA Chapter 5 Trial Run and Turnning Procedure ADSD S External torque b55 41 command Scaling 10V 30 3000 conversion 1800000H K 300 21500 K 30 3000 lt 300 gt 10V 1170 input 10V output torque is triple rated torque Set conversion constant of torque command input voltage and output torque Ratio to rated torque At command voltage 10V corresponding output torque rated torque percentage to set t
95. orque Limit of torque Methods of parameter set or analog input Tange of 1 5000 above speed control Postion control Highest 1 pulse precision The highest frequency of 500KPPS input pulse Range of position contro 0 2 given pulse l 94 A amp D Chapter 11 Application examples ADSD S Double phases A B orthogonal pulse Input mode pulse direction double pulses of forward and reverse Electronic gear 1 50 50 wheel Control is beenline smoothing filtering acceleration and deceleration acceleration and of S curve deceleration Resoluti f speed esolution of speed 4 i ppng set Overload capacity 300 rated current 5 seconds Methods of j ae keyboard terminals methods of communication operation Methods of speed setup keyboard simulation Setup of speed communication Input f pu bl Multifunctional input such as servo startjabnormal progr eei pa reset Support source drain electrode Total 8 ports digital quantity g Input of Output of servo start preparation start etc Total 8 ports S mmabl progra Output of A B Z lines drive He digital quantity E Input of Double input ports of analog signal and be equally to input of programmable o j speed torque position E analog quantity z Output f E oe Double output ports of analog signal with voltage or current S p
96. ow 16 bit 1 500000 When wap of command position and actual positon gt b07 servo drive gives over position warp alarm CW max warp pulse NO b08 18 0106H POS LMN H Pulse OFFF8H 8000 0FFFFH High 16 bits CW max warp pulse NO 0 0FFFFH b09 19 0106H POS LMN L Pulse SEEOH Low 16 bits 500000 1 When command and actual position warp gt b09 servo drive gives over position warp alarm Position loop b10 1A 0107H KPP 1 s 10 1 500 proportional gain Set according to concrete servo drive system and loads condition set value is bigger response faster too big value arouse oscillating Position loop Electronic gear ratio b02 12 0102H GRN 1 1 32767 bil 1B 0108H KPF feedforward proportional l s 0 1 500 numberator gain Electronic gear ratio b03 13 0103H GRM 1 1 32767 Set according to concrete servo drive system and loads condition set value is bigger response faster too big value arouse denominator oscillating 1 50 GRN GRM 200 Position loop gain Set the denominator of position command pulse rotio b12 1C 0109H KPPR 100 10 500 fluctuation ratio Under absolute mode parameter H41 is 1 5 7 Electronic gear ratio denominator must be 1 56 57 A amp D A Chapter 6 Servo Parameters function struction ADSD S Adjust Position loop proportional gain fluctuation according to Position loop gain switch condition Po
97. r 47 A amp DIA A amp DE 77777 Chapter 5 Trial Run and Turnning Procedure ADSD S H39 AD 0426H TB TM Rotation table speed up down 10ms 10 0 10000 time H40 AE 0427H BLAS Graduation control backlash Pulse 0 8000 7FFFH compensation 32768 32767 H41 AF 0428H POSS_MD Position conmmands control 2 314 0 8 mode Input Output IO setting Input terminal DI2 DI1 H14 5B 040EH DD DII 2401H 0 FFFFH defination Input terminal DIA4 DI3 H15 5C 040FH DI4 DI3 201FH 0 FFFFH defination Input terminal DI6 DI5 H16 5D 0410H DI6 DI5 2221H 0 FFFFH defination Input terminal DI8 DI7 H17 87 04111H DI8 DI7 OFIO0H 0 FFFFH defination Input terminal DO2 DO1 H18 SE 0412H DO2 DOI 0100H 0 FFFFH defination Input terminal DO4 DO3 H19 SF 0413H DO4 DO3 0803H 0 FFFFH defination Input terminal DOS H20 60 0414H DOS 0004H 0 FFFFH defination 48 Chapter 5 Trial Run and Turnning Procedure ADSD S 2 Action timing sequence diagram Power Supply Servo Remarks Power Supply Servo input power supply SVON Servo enable Cinput commands TB NO Graduation selection input Cinput commands CTRIG Graduation spring Cinput commands Motor Speed Motor speed TLM Torque limited commands output commands POSIN Postion reach commands output commands 3 Instruction Parameter related TRQI B59 SPI B25 TB MD H35 TB NUM H36 TB_GRN H37 TB_GRM H38 TB_TM H39 BLAS H40 POSS_MD H41
98. rogrammable mode analog quantity Input of digital Control logic of high speed multifunctional digital quantity quantity input Working status Servo motor shows status is is stop speed up or down uniform spped program running E Output of fault Touch spot output AC 250V 5A DC 30V 5A 7 Output of anal Kg di aa Output of frequency current voltmeter z signal output of digital There are 6 channels for signal output and each channel has quantity 32 kinds of signal for choosing DC curent braking External braking resistor can provide enough torque on the condition of not over current y Over voltage less voltage over cuurent over load over 9 Protection of g connais heat over speed less phase outside faultfault of o communication abnormal PID feedback signal PG fault 95 A amp DE number C T Chapter 11 Application examples ADSD S ASDA Chapter 11 Application examples ADSD S Protection of Through set administer s password or decode to protect parameters parameters LCD There are total 16 objections of operation set Chinese Operatio frequency actual frequency motor actual current actual g english n current percentage DC Bus voltage motor actual speed total A display message ruuning time IGBT temperature torque heft set value torque heft actual value LED AA s keyboar fault The memory capacity is 10 fault messages which can be
99. rs function struction ADSD S Position internal register Pulse 7FFF 8000H H45 B3 POSI_L 1 In RAM POS1 POS1H 2 16 POSIL Interial positon 1 position pulse NO setting Position internal register Pulse 7FFF 8000H H46 B4 POS2 H 2 042BH Position internal register Pulse 7FFF 8000H H47 B5 POS2 L 2 In RAM POS2 POS2H 2 16 POS2L nterial positon 2 position pulse NO setting Position internal register Pulse 7FFF 8000H H48 B6 POS3 H 3 042CH Position internal register Pulse 7FFF 8000H H49 B7 POS3_L 3 In RAM POS3 POS3H 2 16 POS3L nterial positon 3 position pulse NO setting Position internal register Pulse 7FFF 8000H H50 B8 POS4_H 4 042DH Position internal register Pulse 7FFF 8000H H51 B9 POSA L 4 In RAM POS4 POS4H 2 16 POS4L nterial positon 4 position pulse NO setting Position internal register Pulse 7FFF 8000H H52 BA POSS_H 5 042EH Position internal register Pulse 7FFF 8000H H53 BB POSS L 2 RAM f POS5 POSSH 2 164 POSSL nterial positon 5 position pulse NO setting Position internal register Pulse 7FFF 8000H H54 BC POS6 H 6 042FH Position internal register Pulse 7FFF 8000H H55 BD POS6 L 6 IN RAM POS6 POS6H 2 16 POS6L nterial positon 6 position pulse NO setting 73 A amp D Chapter 6 Servo Parameters function struction ADSD S
100. sition smooth filtering b13 1D 010AH PFLT_TM ms 0 0 10000 time constant Set position command filtering time constant iuis zl waya lius PFLT Position feedforward b14 1E 010BH PFFLT_TM smooth filtering time ms 10 0 10000 constant Set Position feedforward smooth filtering time constant b15 1F 010CH Reserved Reserved 0 b16 20 010DH Reserved Reserved 0 Speed biasing function 16384 16384 b17 21 010EH BIAS_SPD 0 under positon control 0C000H 4000H Position pulse warp gt POS COIN POS HIST speed offset setting C000H 4000H 3000rpm 3000rpm Max speed warp under b18 22 010FH POS_HIST Pulse 10 0 30000 position mode Availble or invalid of speed offset Position pulse warp gt POS_COIN POS_HIST speed offset AV Position pulse warp lt POS_COIN speed offset ADL b19 0110H Reserved Reserved 0 Positon command logic b20 0111H PDIR 1H 0 1H 23 switch Position reference input b21 0112H PINH 0 0 1H prohibited BITO Reserved BIT1 Position command logic switch PDIR 0 when position add CW 1 CCW BIT2 Position reference input prohibited PINH 58 A amp D Chapter 6 Servo Parameters function struction ADSD S 0 command pulse input AV default prohibited command pulse input ADL Gain switch condistion b22 24 011
101. sual noises when the relay of the servo drive is operating please contact your distributor for assistance or contact with Delta O Check for abnormal conditions of the power indicators and LED display If there is any abnormal condition of the power indicators and LED display please contact your distributor for assistance or contact with Delta ADSD S 5 2 Main parameter setting 5 2 1 Control mode confirmation Before operation system control mode should be confirmed Set the control mode by setting BO1 Control mode b01 11 0101H CTRL_MOD Control Mode i 1 0 8 There are 6 single control modes and 6 dual control modes besides also some special mode for special toe index mode can be used for rotation table control Valu e Control mode Mode instruction 0 T Analog Torque Torque control for the servo motor can be achieved via control parameters set within the controller or from an external analog 10 10 Vdc command Control of the internal torque parameters is via the Digital Inputs DI A maximum of three torque levels can be stored internally S External Speed Speed control for the servo motor can be achieved from an external analog control 10 10 Vdc command only Control of the internal speed parameters is via the Digital Inputs DI A maximum of three speeds can be stored internally 34
102. tation alarm Forward limit switch is activated 0008 CW limitation alarm Reverse limit switch is activated Communication 0010 abnormal Communication is in error 9 2 Potential Cause and Corrective Actions Fault Name Potential Cause Corrective Actions CPU error The CPU of the driver is in error Please contact your distributor or manufacturer for service RAM EEPROM The drive is error during parameter Reset the parameter in the guidance of error read out and write in technicians if the error is still unclear please contact your distributor or manufacturer for service CW CCW 1 The parameter setting of the forward 1 Correctly set the parameter prohibited fault and reverse drvie forbidden error 2 When the forward and reverse forbidden switch is set the swith is in error 2 Check the the location of drive and switch and if the wiring of the switch is correct if there s broken wire for the normally closed switch Encoder error 1 The wiring of encoder is in error 1 Ensure all wiring is corret 2 Encoder connector is loose 2 Restall the connector 3 The wiring of encoder is defective 3 Conduct the wiring again 4 Encoder is damage 4 Change the motor Overcurrent Short circuit at drive output Check the wiring connections between drive and motor and check if the drive is short circuited if so repair
103. tored within the servo controller Ex the 8 positions is via Digital Input DI signals Speed Control S Speed control for the servo motor can be achieved via parameters set within the controller or from an external analog 12 12 V command Control of the internal speed parameters is via the Digital Inputs DI A maximum of three speeds can be stored internally internal Speed Si Speed control for the servo motor is only inge Control achparameters set within the controller Control of Mes speed parameters is via the Digital Inputs DI of three speeds can be stored internally Torque Control T Torque control for the servo motor can be achieved via parameters set within the controller or from an external analog 12 12 V command Control of the internal torque parameters is via the Digital Inputs DI Internal Torque Ti Torque control for the servo motor is only achieved Control via parameters set within the controller Control of the internaltorque parameters is via the Digital Inputs DI Index mode Controller accept external DI signal and perform index mode control according the setting parameter Dual mode P S Either P or S control inputs DI P T Either P or T control mode can be selected via the Digital Inputs DI A amp D 7777 Chatper 1 Unpacking Check and Model Explanation ADSD S Pi S Either Pi or S control mode can be selected via the Digital Inputs
104. vice todischarge Inpsection Ensure that all wiring terminals are correctly insulated before Ensure that all wiring is correct or damage and or malfunction may result operation Visually check to ensure that there are not any unused screws metal strips Control orany conductive or inflammable materials inside the drive power is not Make sure control switch is OFF applied Servo controller and exterior brake resistant cann t be install on combustible object To avoid electromagnetic braker invalid please check the circuit of immediately stop and cutting off power When electronic equipments are being interfered arround servo controller Please use other equipment to abate this interference Inspection Ensure that detector cable is not over tension When servo motor is working before Please take caution to avoid attrition between cable and machine member working Ift i i peas oig Toisei 87 A amp DE Chapter 7 mmunication function ADSD S Control manufacturer power is Comfirming all parameters are proper set difference of mechanical features applied will lead to unpredictable motion Do not excessive adjust parameters Reseting parameter should be done under controller status of SERVO OFF Otherwise which will be reason of fault If there is an abnormal voice or not voice of touching when relay acts please contact manufacturer directly Whether there is abnormal phenomenon of power indicator light an
105. wer has been removed Do not disassemble the servo drive or motor as electric shock may result otherwise electrical shock personal injury may result Do not connect or disconnect wires or connectors while power is applied to the drive and motor otherwise electrical shock personal injury may result ADSD S Do not install the moter power cables and encoder cables tegother install the encoder cables in a separate conduit from the motor power cables to avoid signal noise Separate the conduits by 30cm above Use multi stranded twisted pair wires or multi core shielded pair wires for signal encoder PG feedback cables The maximum length of command input cable is 3m and the maximum length of encoder PG feedback cables is 20m As a charge may still remain in the drive with hazardous voltages even after power has been removed be sure to wait at least 5 minutes after power has been removed before performing any wiring and or inspection It is not recommended to frequently power the drive on and off Do not turn the drive off and on more than once per minute as high charging currents within the internal capacitors may cause damage within 0 2 minutes Main Circuit Terminal Wiring attention Servo motor perform trial run seperately N attention Please perform trial run without load first and then perform trial run with load connected After the servo motor is running normally and regularly without
106. x function which can replace tool control function As the more and more precise demand of digital control machine tool the servo tool has gradually replaced electrical and hydraulic tool ADSD servo drive can be convenient matched with machine tool and without extral servo tool controller In addition the function can be widely used in Rotation table control and other Rotation equipments The following is the specification of servo tool turret control We assume that turret has 8 positions there are shortest path for turret swithching and the decelearation rate is 2 1 The motor runs 2 circles 720 degress the turret will run 1 circle 360 degree 1 Confirm the definition of I O interface DII DI1 Servo on SVON DD Choose turret position TBO DI3 Choose turret position TB1 DI4 Choose turret position TB2 DI5 Triger turret position CTRIG DI6 empty DI7 Starting signal of activating origin homing function CORG ST DI8 Deceleration signal of origin homing CORG SW origin is as NO 1 position of turret DOI Output signal of ENAB SON DO2 Finish signal of origin homing function HOME DO3 Position coincidence signal POSIN DOS Alarm output signal ALM 2 Parameters setting O BO1 11 Toe index function O B25 1555 graduated speed 1000rpm O H14 1F01 DI2 TBO DII SVOND O HI522120 DI4 TB2 DIB TB1 O H16 0024 CDI6 empty DI5 CTRIG2 O H17 100F CDI8 ORG SW DI7 ORG ST O H182 0701 DO2 HOME DO1 SON 102
107. xternal speed command analog input BIT1 Torque direction switch T DIR 0 Torque A D positive CW 1 Torque A D positive CCW Only valid to external analog torque command BIT2 Reserved b65 4C FFFFH Reserved Reserved OFFFFH b66 4D FFFFH Reserved Reserved OFFFFH 6 4 High parameter Chigh group Series E RAM Parameter Function Unit Default Range NO address address name HOO 4E 0400H CARRY_F Control period 10 4 7 10 15 Control period set 4 4KHZ 7 TKHZ 10 10KHZ 15 15KHZ CCW internal torque H01 4F 0401H TLM_PCCW init 3000H 0 3000H Set servo motor CCW internal torque limit value Parameter value is percentage of rated torque e g limit is twice rated torque settings 2000H Note When the external and internal torque limit both AV the lower value is awailable 65 A amp D Chapter 6 Servo Parameters function struction Max torque setting 1000H rated torque ADSD S 0D000 0H H02 50 0402H TLM_NCW CW internal torque limit 0D000H 3000H 0 Set servo motor CW internal torque limit value Parameter value is percentage of rated torque e g limit is twice rated torque settings 2000 E000H Note When the external and internal torque limit both AV the higher value is awailable Max torque setting 1000H rated torque OF830 07D0H H03 51 0403H BRK TM Brake order time 0 2000 2000 RAM value BRK_TM

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