Mokon Series Driver User`s Manual V2.0
Contents
1. 1 Right click the mouse on my computer icon Choose the Properties item Device Manager File Action View Help O memi Se Disk drives 3 Display adapters 4 DVD CD ROM drives Floppy disk controllers Bits per second gy Human Interface Devices Sy IDE ATA ATAPI controllers NE BM J5 Control Card Data bits Keyboards Mice and other pointing devices Monitors Panty None B Network adapters 4 Other devices r Ports COM amp LPT stop bits 1 F Communications Port COM1 E Communications Port COM2 Update Driver m E Communications Port COM3 Disable Flow control IN one E Communications Port COM4 Uninstall E Communications Port COMS E Communications Port COM6 Scan for hardware changes Printer Port LPT1 Advanced Restore Defaults SB Processors Opens property sheet for the current selection 3 Select Ports COM amp LPT and choose the com 4 Select Port Settings to change parameters port you are connecting to Bits per second 9600 Data bits 8 Parity None Stop bits 1 Flow control none 42 15 2 Communication port to link with the servo driver ix omPort Setup Start gt Program Files gt JS Automation gt YPV The figure left shows the display of ComPort Setting please choose the Communication Port used by your computer first2. 30 12 10 PPCMD PPCMD NPCMD NPCMD Position command inputs CN1 26 29 30 12 11 SPD1 SPD2 SPD3 Internal speed switching inputs CN1 32 435 3l 13 Descriptions of Mokon servo drive Output signalSs nn 32 13 1 Output Signal definitions and CNI pin assignments essere 22 15 2 ALM Servo alarmroltput CIN Del sar ilari 33 13 3 Brake motor brake release output CNI 17 i 33 154 Zero setyosspeed zero output NT 90 rh 34 15 5 ITEM Tir torque mitt output 6 IN T 9 D sacs ao esit too one ut ae ue Oase use e ra tanta 34 13 6 INS INP Speed Position arrival output CN1 18 eese 34 13 7 MONI MON Analog monitor outputs CNI 11 12 ieeeccsccececeeeaeeeeseeeeeeeeenaas 35 15 5 Encoder o utputsienals INT E9234 uA E EE eai oie diate 35 I4 Ser parameter settings and TUDCHOFS s ute Peale Reese oua De E De Geo ai dana 36 I4 Patameter setings and TUNCHONS rullante 36 15 Driver setp Via PC COMMUNICATION a6 o3 d RAS tot iq Me qa alle aa 42 I5 I Setup communication DEOPIOCOL ui me a emu ee dad gee MM 42 15 2 Communication port to link with the servo dIiver ii 43 DAS TON CONS NT 43 I5 4 Commion parametet satira tt Eee x Osee ipe E o peu aaa 44 15 5 5 pee ebrio e TTIG nici 50 15 9 POSILOBUBIIOOS nile ae 53 Igiene illa 56 15 5 Motor Parameter Senesi 58 PSO Advanced P d
3. 12 4 TLM Torque limit input CN1 13 This signal together with the TLCMD analog voltage input CN1 9 torque limit signal is to protect the apparatus or work piece If the input torque limit exceeds the maximum motor rated torque then the maximum motor rated torque is the maximum torque limit 24V A too low torque limit might cause the problem of insufficient torque during acceleration deceleration 24 12 5 PRIH Forward rotation inhibited and NRIH reverse rotation inhibited inputs CN1 14 15 These two signals force the moving part of the apparatus to stop if they travel over the allowable range of motion Connect the overtravel limit switch signals to the correct pins PRIH for forward overtravel NRIH for reverse overtravel of the servo drive CNI connector as shown below Reverse end L Forward end Servomotor fLimitswitch Limitswitch 12 6 Motor hold or PI P control mode switch input CN1 16 If Motor Hold function is selected the servomotor will be stopped and held still when CN1 16 is connected with 24G The servomotor is decelerated according to the programmed profile HOLD HOLD Linear or S type decelerating profile Linear or S type decelerating profile If PI P Control Mode Switch function is selected the speed loop will be changed from PI mode to P mode when CN1 16 is connected with 24G and The mode switching function is described below Applications 1 To suppress the overshoot duri
4. Q Q An abnormally big instantaneous current Check whether the load exceeds the triggers the OC alarm The Machine will rated value any main circuit component is damaged or output is short circuited O lt An abnormally high DC Bus voltage due Check whether the load inertia is over to too heavy load inertia or frequent the specification and take into dynamic braking triggers the OV alarm consideration an extra regenerative The machine will stop braking resistor An over 150 rated load lasting for one Check the reason of overload minute triggers the OL alarm The machine will stop The temperature over 135 in the Check the ambient temperature and servomotor winding or over 85 in the the ventilation condition heat sink of the servo drive triggers the OH alarm The machine will stop n An over 120 of the rated servomotor Check whether the speed command speed triggers the OS alarm The Machine exceeds the allowable value or the will stop load 1s over the specification 1 11 A broken encoder wiring or an incorrect Refer to the wiring diagram and wiring of the UVW feedback signals check the wiring again triggers the EE alarm The machine will stop LPF Internal power supply of logic block Send back to repair ESET The servo drive control system is reset The system will start again after the OVF An overflow of the position tracking error Check whether the load is over the R
5. Be sure that the holding brake is applied after the motor is stopped The braking torque is at least 120 of the rated motor torque SERVO OFF SERVO ON SERVO ON 33 13 4 Zero servo speed zero output CN1 36 This signal is used to indicate that the speed of the servomotor 1s lower than or equal to the ZSPD parameter set in the Speed Parameter menu and issued by connecting CN1 36 to 24G Speed x mt ZSPD Value gt Time Ll ZSPD Value ca Y CNI 36 ZERO 13 5 ITLM In torque limit output CN1 37 When the servo drive CN1 13 TLM is connected with 24G or if the output torque is saturated at the limit set by the driver CN1 37 will be connected with 24G to issue the In Torque Limit signal 13 6 INS INP Speed Position arrival output CN1 18 If the servo drive is set as 5 Mode when the motor speed is equal to or higher than the INS parameter set in the Speed Parameter menu CN1 18 will be connected with 24G to issue the Speed Arrival signal If the Servo drive is set as P Mode when the value of the position error counter is equal to or lower than the INP parameter set in the Position Parameter menu CN1 18 will be connected with 24G to issue the Position Arrival signal Position error Speed INS value Time INP value ee 1 INS value I gt 3 a gt cm oo OFF I ON ON OFF I o CNI 18 34 13 7 MO
6. Default value 300 Maximum value 32767 The normal sequence for tuning servo gains is KVP KVI KPP The following figures show the measured waveform of Monitor voltage signal for different tuning results in the oscilloscope 60 Tuning procedure for the speed loop 1 Set all the Acceleration Deceleration Time settings Ta Td Tsa Tsd to zeros inthe Speed Parameter menu 2 Set the Torque Filter Time Constant TQCA to zero in the Torque Parameter menu 3 Set the initial value of KVI as zero and use the default value 3000 for KVP in the Speed Parameter menu 4 Measure the I Monitor torque monitoring signal which can be selected in the Common Parameter menu with CH1 in the oscilloscope and adjust the magnitude of the speed command The speed command for the tuning procedure is of a step waveform and can be effectively generated by use of the Motor Hold function CN1 16 During the whole tuning procedure keep watching the I Monitor signal and adjust the magnitude of the speed command accordingly so that the waveform of the I Monitor signal is not saturated 5 Measure the S Monitor speed monitoring signal which can be selected in the Common Parameter menu with CH2 in the oscilloscope and the speed command CN 1 1 or CN1 8 with CH3 in the oscilloscope Slowly adjust the KVP parameter in the Speed Parameter menu The adjustment should not stop until the rising slope of the S Monitor signal is
7. Electronic gear selection 3 input Mode switch input gens A M SIGN cow x B phase GND es pesce mos malo d oS MCCB filter a 24V Motor a gt son HS Encoder output A Encoder output A 14 a Encoder output B Encoder output B Encoder output C Encoder output C GND Pegi mI rl 10 ALM Alarm output Vu Y IBRAKE Motor brake release output Position Arrival output PPCMD eL Ta IZERO Speed Zero output Peter 8 SK iys Do cesses 3500 pA mo In torque limit output TERES v o essa Fail 4 P represents twisted pair wires FG is Connect the shielding to the connector shell 2l 10 Speed control interface MCCB R 0 3 T 52 Be sure to ground to the earth servo on signal input 2 v Alarm reset input Torque limit input Forward rotation Inhibited input Reverse rotation Inhibited input Motor HOLD input go Internal Speed 1 input o Internal Speed 2 input Internal Speed 3 input Mode switch input oO O 12 bit Speed command input 10bit Speed command input l 10bit Torque command limit input Zi CN1 VCMD Le rer fo be LPF AGND B AGND F ga pea 2 Servo Motor Encoder output A Encoder output A Encoder output B M i B e Encoder output B Encoder output C Encoder output C G
8. If TTL or line driver pulse source the EPI power input is no need Ref 7 Position Command Input Circuit PPCMD Forward rotation Forward rotation pulse Input WEN n a PPCMD Forward rotation Forward rotation pulse Input pulse Input CW Pulse A NPCMD 28 Reverse rotation Reverse rotation pulse Input pulse Input CCW Dir B NPCMD Reverse rotation Reverse rotation pulse Input pulse Input CCW Dir B Electronic gear Input signal as electronic gear selection 1 in Speed selection l position operation mode or as speed selection 1 Common EG1 SPD Signal for Position and in speed operation mode Speed EG2 SPD2 Electronic gear 2 Input signal as electronic gear selection 2 in Command Speed selection 2 position operation mode or as speed selection 2 in speed operation mode r Electronic gear 3 Input signal as electronic gear selection 3 in Speed selection 3 position operation mode or as speed selection 3 in speed operation mode 26 12 2 Servo ON input CN1 6 This signal is used to turn on and off the power to the servomotor 24V Note 1 Contact this input to ground will make the Mokon driver ready to receive the command pulse or analog voltage input 2 Open the contact will make the servo motor free run Do not use this signal to work as motor stop signal 12 3 RST Servo reset input CNI 7 This signal is used to reset the servo drive after clearing the servo alarm 24V
9. triggers the OVF alarm The machine specification or the frequency of L will stop position pulse command is too high 63 17 Connector pin assignments diagram MS3102A24 11P P n D 15P Pin Table RS ELE Pia green White grey White yellow White red black brown White orange White blue White EX P CFI brown EXE blue D ary De Si sn 35 D 15P Pin Table green White grey White yellow White red black brown White orange White blue White DENS p grey yellow brown orange blue NC NC 2E20 29P 2 ADEA EAA n case 15 64 18 Servo drive dimension VV Dimension mm Weight EE Moat A 5 E wl M 65 a Dimension mm CL CICCO LAICO CI eC e YPV 750 YPV 860 270 253 235 445 429 7 5 2 5 300 100 185 10 2 3 YPV 1100 YPV 1500 rae 440 a a m m ons ae D DI m a nm rae 0 66 19 Regenerate brake resistor selection guide Model Motor Wattage Resistance Ohm Power Rating 400W 550W IKW 1 5KW 2KW The resistance can be parallel or series to get a closed value 67 20 Wiring of MPC3024 wiring board to Mokon driver Wiring of MPC3024 wiring board to Mokon driver Name wire color Name MPC3024 DIN 5 Vo Mokon driver CN wiring board D type 37 pin Female D ht D D AA Lri d 3 cH JI 4 hizh density ExXTG
10. 4 Settings Analog Monitor B Settings Select monitor mode Monitor select monitor mode Monitor Output voltage offset paperen Output voltage offset 1 Upload and Program Upload 45 This field 1s used to set the maximum output voltage of the monitoring signals for both channel A and channel B default value is 10V If S Monitoring is selected the maximum output voltage corresponds to the motor rated speed If I Monitoring 1s selected the maximum output voltage corresponds to the motor 300 rated current If P Monitoring is selected the maximum output voltage corresponds to the tracking error setting set in the Motor Parameter menu Motor definition rotation if Common Mode Common Parameters Settings select control mode P MODE m Output singal logic definition Positive logic O Electromagnetic brake release time E ms Logic for positive and Positive logic 0 negative limit Monitor voltage 1 O Motor definition rotation Positive command correspond to counterclockwise rote Positive command correspond to counterclockwise rotation select CM1 16 function Positive command correspond to clockwise rotation select CN1 17 function SERVO READY Analog Monitor 4 Settings Analog Monitor Bi Settings Select monitor mode Monitor select monitor mode Monitor Output voltage offset 4 Output voltage offset 4 Upload and Program Upload You can choose positive command voltage to CW
11. E EXTG EN LT EN L EUN NN 240 PPCMD D type 26 pin i male EXTG EXTG Tt5Va ui E amp TU C EN MEN D 26 PPCMD NPCMD ExTG ALM EN EN adV EXTG EM COW Oa EXTG 24 SRDY 25 STON EE c 68 21 Appendix YPV RS232 USB Connector USB Connector D TYPE 9PIN EE CENE IS T Supplemental to new error codes A LV A lower than 240V DC Bus triggers the Check whether the AC Mains voltage PF alarm The machine will stop is too low or the filtering capacitor in the main circuit is damaged Use 3 AC power for the servo drive over 550W FO Fuse open Fuse burnt maybe some component Pet d C PME Internal power supply to power module Send back to repair Il REN AVE Internal power supply to analog block Send back to repair UM NENNEN 69
12. MDO S T Mode Speed lt gt Torque mode which can be switched through CN1 34 MDO 44 Electromagnetic brake release time MBR KE Common Mode Common Parameters Settings select control mode P MODE Output singal logic definition Positive logic O Positive logic 0 Electromagnetic brake release time T mz Monitor voltage i O UV Motor definition rotation Positive command correspond to counterclockwise rote select CM1 16 function Hold No rotation Select CN1 17 function SERVO READY Logic for postive and negative limit Analog Monitor 4 Settings Select monitor mode bonitor Output voltage affzet E Analog Monitor B Settings select monitor mode Manitor Output voltage offset 1 Upload and Program Upload MBR is effective only when CN1 17 is programmed as the Motor Brake Release function Available range 0 1000 ms Servo OFF Servo OFF Servo ON Servo ON Cnl 17 BRAKE Cnl 17 BRAKE MBR MBR Monitor voltage MOVL JE Common Mode Common Parameters Settings Select control mode P MODE Electromagnetic brake release time lo ms Output singal logic definition Positive logic 0 Positive logic O Logic for positive and negative limit Monitor voltage T toi Motor definition rotation Positive command correspond to counterclockwise rate select CN1 16 function Hold Na rotation select CNI 17 function SERVO READY Analog Monitor
13. Pulse Max current 180 100ma Upload and Program Motor Parameter Settings Pole the servo motor poles according to the motor specifications Rated speed the servo motor rated speed according to the motor specifications Encoder type the feedback encoder pulse per revolution according to the motor specifications Max current the 3 rated current of servo motor less is possible but will limit the motor instantaneous torque Driver Protection Setting Discharge Duty Cycle use 50 as regular condition Over Speed protection To set the effective operation speed range of the servo motor Position error range To setup the accumulative inaccuracy of the driver if the value is excessive error code 9 will occur Note For high friction system the error code 9 may occur owing to KPP value 1s too small 58 15 9 Advanced Parameters Kw JS YPV Setup Environment File Parameters EXE Ne SEES E speed Loop Gam 1 speed Loop Gam 2 Monitor Unit Conversion There are 4 sub functions of Advanced Parameters 1 Speed Loop Gain 1 2 Speed Loop Gain 2 3 Monitor 4 Unit Conversion 15 10 Speed Loop Gain 1 gu Speed Loop Gain 1 speed Loop Gain 1 Settings BVT 200 4 EWP sona 4 t KPP 300 4 a Upload Upload and ore The KVLKVP of speed loop gainl is used as the speed 1s higher than SSPD setting value KVI Speed loop integral constant KVP Speed loop proportional gain KPP Position loop pr
14. drive Model TYPE Rated Output W A Motor Rated Speed Serial Number Rpm min Encoder Encoder Specification TAIWAN SIN DAMMI Mokon 1 2 Servomotor model YBL13S75 L Z Servomotor Serial Number _ EN Design Revisions K Shaft length 20mm Servomotor Pole Number S Shaft length 15mm and Encoder Resolution B With brake C 8P1024 P R Q Special shaft D 8P2048 P R U Terminal box type E 4P2500 P R V Oblique shaft F 4P5000 P R X Cable Connector type H 4P2048 P R Y Military standard connector I 8P5000 P R Z Power cable connector J 4P1024 P R M Water proof L model L 8P2500P R N Water proof V model 1 3 Servo drive nameplate descriptions AC SERVO DRIVER AC INPUT AC OUTPUT VOLTS 200 230 VOLTS 200 230 PHASE 3 AMPS KW HP N E VER2 Mokon AAA LLLA TAIWAN Serial Number 1 4 Servo drive model YPV Series Servo drive YPV 300 V Servodrive Capacity 040 0 4 KW 600 6 KW 055 0 55 KW 750 7 5 KW 075 0 75 KW 860 8 6 KW 100 1 KW 1100 11 KW 150 1 5 KW 1500 15KW 200 2KW 2200 22 KW 300 3KW 3000 30 KW 450 4 5 KW Type V High resolution speed Torque command 12 bit resolution 1 5 Servo drive part names The figure below shows the part names of the servo drive Charge Indicator Lights when the main circuit power supply is ON and stays as long as the main circuit power supply capacitor remains charged Therefore do not touch the Servo drive even after the power supply 1s turned off 1f
15. four different positions around The difference between the maximum and minimum measurements must be below 0 03mm 0 0012 in Turn together with the coupling 13 4 4 Handling oil and water Install a protective cover over the servomotor if it is used in a location subject to water or oil mist Also use a servomotor with an oil seal to seal the through shaft section P diti shaft section 4 5 Cable stress Make sure there are no bends or tension on the power lines Be especially careful to signal line wiring to avoid stress because the diameter of the core wires is only 0 2 to 0 3mm 0 0079 to 0 012 in 14 5 Encoder wiring and CN2 pin assignments of the servo drive Motor RSO Motor Side Name of the Servo drive a f Gem A 1 L3 wwe o 0 0 3 a ie Gi O8 04 s YXw Cc 3 6 Wie vello 6 7 Bw U 7 L8 Wemes 0009 0 L Ww eowe AW 9 un Be v n 5 1 Signal waveform of feedback Encoder The figure below shows the forward rotation CCW waveform of the encoder 15 speusis sImeIpenb sl a2ualagpp aseyd 06 peusis xopu En Front view of the shaft 360 rotate T 360 2500 diria br j l cia ln XI io X31X4 A phase A phase V phase B phase d B phase IN phase phase W phase gt E pog I A p T Z phase W phase I T Z phase center P Rising edge of phas
16. ratio 100 selected by EG2 digital 30000 input 35 ELGN3 numerator 3 of gear ratio 1000 l selected by EG3 digital 30000 input 36 ELGD denominator of gear ratio 10 l Da a D DD a 37 MBR brake release delay timer DX 500 ms 0 200 after power on the CN1 17 P 0 BRAKE will active during MBR time out 38 MONO offset of monitor output mv 127 1 iii 0mm II mm ZI 39 source of monitor outputl 0 servo motor current 1 speed 2 position error counter i 4 source of monitor output2 0 servo motor current 1 speed 2 position error counter 42 speed monitor output voltage of rated speed 10V 2000 OR 3000 RPM 8 V 2000 OR 3000 43 MTYP Motor pole number i pole 2000 RPM ballad m Pulse 0 RPM Motor rated RPM ENCO Encoder pulses per motor revolution DCDY Regenerate discharge duty cycle POEN Numerator of encoder output lad POED Denominator of encoder output ratio 32767 50 IMON Real time current value for ma monitoring 51 SMON Real time speed value for RPM BE EN RR 32 OSLV over speed limit S 3000 RPM 0 e eese tt oe I 53 PERZ over error counter limit 3000 pulse l Note 0 disable PERZ 32766 function 54 notevailable DEL y voltage command source 1 high resolution always choose Note YPV ver2 is 14 bit E O not notavallble LL pesi L e a motor rotation direction 0 positive comm
17. rotation or CCW rotation Select CN1 16 function HE Common Mode Common Parameters Settings Select control mode PMODE Output singal logic definition Positive logic 0 Electromagnetic brake release time oo ms Logic for positive and Positive logic 0 negative limit Monitor voltage h V Motor definition rotation Positive command correspond to counterclockwise rote Y Select CM1 16 function Hold No rotation Haldia rotation Select CM1 17 function PUP Control Analog Monitor 4 Settings Analog Monitor B Settings Select monitor mode E Manitar select monitor mode Manitar Output voltage offset 4 Output voltage offset 4 Upload and Program Upload 46 You can choose CN1 16 as 1 Hold function input when the input active will hold the servo immediately and clear the error counter in position mode 2 PI P Speed Loop Control Mode Switch input when the input active the driver will enter a P speed control mode Select CN1 17 function if Common Mode Common Parameters Settings select control mode P MODE m Output singal logic definition Positive logic 0 Electromagnetic brake release time f ms select input logic for Positive logic 0 positive and negative Monitor voltage hoo y m a n Motor definition rotation Positive command correspond to counterclockwise rote select CNI 16 function Hold No rotation select CNI 1 7 function SERVO READY SERVO READY Electromagne
18. speed equivalent voltage less than the setting voltage the CN1 18 INS will make 16 TQL torque limit in speed position 300 mode Note function only valid while CN1 13 TLM short to 24G 17 TLCS torque limit source 0 internal 1 external analog command voltage from CN1 9 18 TQCA filter time constant for torque command input Note Larger time constant will decrease the band width of response 19 DOLO output polarity 0 normal open 1 normal close speed limit for torque mode 2000 KVPI proportional gainl for speed 3000 NJ EE KVP2 proportional gain2 for speed eee j S rmt KVI2 integral gain2 for speed loop SPDB dead band of speed command EN 38 rated RPM RPM rated RPM 0 300 bd 10000 DE Dia e na ne EE EE dd I p lt o i rated 30000 30000 30000 30000 zs 2 2 2 2 lt KPPI proportional gain for position a Not available speed loop gain switch level s 0 speed lower than SSPD 300 switch from gainl to gain2 L9 Om weemebhi 0 0 0 0 DOI7 function configuration of 0 1 R W CNI 17 0 active while servo T ready 1 brake release while P037 MBR time out In position range Pulse Note position error falls into this range the CN1 18 INP will be active 32 ELGN numerator of gear ratio 10 l 30000 33 ELGNI numerator lof gear ratio 10 l selected by EG1 digital 30000 input 34 ELGN2 numerator 2 of gear
19. than the user setting in position operation mode or the motor speed is smaller than the user setting in speed operation mode Analog Output CRT I Analog output 1 E output BEES output 2 Analgouput output Encoder Sem A pes A phase Differential line driver digital output Encoder B phase Differential line driver digital output ii eee ee L_z d 296 Encoder Z phase Differential line driver digital output ae C EN 32 13 2 ALM Servo alarm output CN1 10 This signal indicates that an abnormal state of the servo drive occurs I O power supply Servodrive Photocoupler output cach output Maximum voltage 30 VDC Maximum output current 30mA 24G CNI 5 13 3 Brake motor brake release output CN1 17 If CN 17 is programmed as the brake release signal when the driver is enabled through the contact of SON CN 1 6 and 24G the brake release signal will be issued after a delay time defined by the MBR parameter in the Common Parameter menu If CN 17 is programmed as the servo ready signal default after the driver is enabled and no alarm has been detected the servo ready signal will be issued immediately Servomotor Holding brake When the system power is turned off the servomotor with brake prevents the movable parts from dropping due to gravity The brake built in the servomotor is of passive type and is intended only for holding the motor and cannot be used to actually stop a rotating motor
20. the indicator 1s lit Main Power Supply and Servomotor Terminals RST used for AC mains input 3 220Vac E Ground Terminal must be connected to prevent electrical shock UVW Servomotor Cable Terminal B1 B2 Brake Resistance Terminal H1 H2 Servomotor Thermostat Terminal CN3 Communication Connector Used to communicate with a personal computer RS 232 or a control panel STATUS CNI I O Signal Connector Used to input command or sequence I O signals CN2 Encoder Connector Connects to the encoder in the servomotor 2 Servo drive installation precautions The servo drive should be stored in the environment with ambient temperature range of 0 55 C no freezing and relative humidity under 90 RH no condensation Installation Orientation and Spacing 1 When installing the servo drive make the front panel containing connectors face outward and take into consideration the easy connection disconnection of CNI and CN2 connectors for measurement 2 For multiple servo drive installation in the control cabinet allow at least 40mm between each When installing servo drives side by side as shown in the figure below allow at least 50mm above and below each servo drive or install cooling fans to facilitate air circulation Servo drive Installation and Cooling Method Servodrive Installation and Cooling Method Cooling Fan 40mm 40mm Ventilating hole with filter Control Cabinet Airinlet A 2 1 Preven
21. 15 3 Basic functions X JS YPV Setup Environment File NEEMSSE Advanced Parameters About Common Speed Mode Position Mode Torque Mode Motor Mokon Servo drive has the following five menus for parameter setting Common Parameter Speed Mode Parameter Position Mode Parameter Torque Mode Parameter poi Motor Parameter 43 15 4 Common parameter if Common Mode Common Parameters Settings select control mode P MODE Output singal logic definition Positive logic 0 T MODE a Electromagnetic brake releag ope Logic for positive and Posttive logic 0 P MODE negative limit Monitor voltage SP MODE PIT MODE Motor definition rotation SA SILE correspond to counterclockwise rote select CNI 16 function Hold Mo rotationi select CNI 1 7 function SERVO READY Analog Monitor 4 Settings Analog Monitor B Settings Upload select monitor mode Manitar Output voltage offset 1 Upload and Program Select control mode Mokon servo drive has six operation modes for selection T Mode Torque mode which 1s a single mode and cannot be switched through CN1 34 MDO S Mode Speed mode which 1s a single mode and cannot be switched through CN1 34 MDO P Mode Position mode which 1s a single mode and cannot be switched through CN1 34 MDO S P Mode Speed lt gt Position mode which can be switched through CN1 34 MDO P T Mode Position lt gt Torque mode which can be switched through CN1 34
22. 1s connected with 24G If the Internal Speed Enable Setting SPO is setas Enable the 3st internal speed SPD3 will be executed if CN1 35 is connected with 24G Acceleration Deceleration Time Speed SI Linear acceleration time Ta Linear deceleration time Td Setting the linear deceleration deceleration time constant S curve acceleration time Tsa S curve deceleration time Tsd Setting the S curve deceleration deceleration time constant If controlled by a host numerical controller set all the acceleration deceleration time to 0 Before setting S type acceleration deceleration time linear acceleration deceleration time must be set otherwise the characteristics of S type acceleration deceleration cannot be performed Output Settings Zero Speed Under speed operation mode when the motor speed is lower than or equal to the set value of ZSPD CN1 36 will be conducted In Speed Under speed operation mode when the motor speed 1s higher than or equal to the set value of INS CN1 18 will be conducted RPM RPM INS u TIME _ m INS CN1 36 ON CNI 18 OFF 52 15 6 Position mode menu HE Position Mode Position Command Encoder Output Divider Ratio Command type CW CO Numerator af divider h 0000 PLS DIF l m Filter frequency CACONI Denominator of divider 10000 A B WITHOUT FILTER sca AIR Divider output phase Pulse command trig
23. Mokon Series Driver User s Manual V2 0 he Ft Ft BRAT A RAJ JS AUTOMATION CORP amp JU 8 amp 7 ab ah PELI 100 35 6 3 6F No 100 Chungshin Rd Shitsu Taipei Taiwan R O C TEL 886 2 2647 6936 FAX 886 2 2647 6940 http www automation com tw E mail control cards automation com tw Correction record Add CN1 9 TLM Torque limit command 1 Adjust 5 I O Signal Definitions and CNI Pin Assignments Pinl 2 description rewrite for more detail 1 Update Chapter 10 11 12 diagram 2 0 YPV V2 0 Contents 1 Checking Mokon series products on delivery i 4 l l Servomotor nameplate descriptions 4 Me 2 S NOTO THOU eil 5 1 3 oservoxdrirveqmameplate descriptions aonne idea 5 La SENO dive TOE boscs aero 6 5 Servo drbtyepart naime Sena E ce aliadiwniou 7 2 SCEVO drveanstallatoniPprecannions orli 8 Zak Prevent TORetonobJe ct Inas ON ail 8 Ja DCNOVE WINS PECGAUTIO NS silla 10 SMELL m 10 2 2 Wire Tor the controll r and The encoder rile 11 d Servomotorinstalla non precalons s riot ici 12 AA Installation piecaulions ail 12 4 2 Connect the servomotor with load precautions i 12 4 Alleimni s ici 13 44 es eV CON ADE TSA oland WOES nodes Dep EMI a ss Coates teu decusque CET OT SOND TRIE er on etd 14 4 0 Cabe SESS eT ei anne 14 5 Encoder wiring and CN2 pin assignments of the servo drive e
24. ND M LL i ge ALM Alarm output ry 1 anes m IBRAKE Motor brake release output A apud IINP Position Arrival output Ak 36 IZERO Speed Zero output A LI LIES ATL In torque limit output Ai s il P represents twisted pair wires The time constant for the LPF filter is 47us Connect the shielding to the connector shell 11 Torque control interface R Moise 5 66 filter Be sure to ground to the earth CN1 1 Servo on signal input JU ISON LYS Alarm reset input FO Q Torque limit input oO EE ES Forward rotation Inhibited input o c IPRIH Ho LP AI E sl Ys Reverse rotation Inhibited input o 0 INRIH EMT Motor HOLD input to 6 HOLD 16 EE Mode switch input o gc IMDO le I EXH CN1 UE 12 bit Torque command input ge 10bit Torque command input _ E 10bit Speed command limit input et PF LB AGND FG V Li Servo No 19 reg E Encoder output A jr aui Encoder output A Encoder output B Denm m Encoder output B Encoder output C Encoder output C CN1 we n IALM Alarm output LY SEA LES p 17 IBRAKE Motor brake release output ys at ee i i pi Per 18 INP Position Arrival output iva ai Da FE Ei IZERO Speed Zero output YskA AI t r 37 te in torque limit output sione LI T ms FEX P represents twisted pair wires The time
25. NI MONZ2 Analog monitor outputs CN1 11 12 These output signals are for monitoring the dynamic states of the servo drive and can be selected in the Common Parameter menu in which the scale offset and resolution of the output signals are also defined MONI as Monitor Channel A defined the Common Parameter menu MON 2 as Monitor Channel B defined the Common Parameter menu 13 8 Encoder output signals CN1 19 24 Encoder output signals derived from the servo drive can output to an external Host Controller The Host Controller then uses these signals in its control circuit Servodrive Host Controller Nein Phase A CNI 19 Phase B Phase C Choke Filtering capacitor Shielding Applicable receiver P represents twisted pair wires SN75175 TD MC3486 orthe equivalent 35 14 User parameter settings and functions 14 1 Parameter settings and functions YPV driver parameter definitions parameter register function data mode initial unit range remark pe eee e EEPW Q write parameters into uH CNTL Servo control mode S P 3 0 5 0 Torque mode T 1 Speed mode 2 Position mode 3 Speed Position mode 4 Position Torque mode 5 Speed Torque mode 2 PMOD PULSE CMD TYPE 0 2 0 PULSE DIR 1 A B 2 CW CCW Note no valid for YPV ver 2 3 Ta acceleration time for speed S ms 0 mode linear acceleration 10000 profile Note internal generated profile if use external profil
26. and voltage in CCW direction 1 positive command voltage in CW direction DI 16 CN1 16 DI function selection 0 2 CNI 16 works as HOLD function 2 CNI 16 works as PI and P compensation switch e RENE REN RR RR 62 TSLO speed limit source of torque mode 0 internal l A A SE voltage in ee Lo DILS polarity of over travel limit input CN1 14 and CNI 15 0 normal ground input to PRIH NRIH input will activate the function 1 invert open input to PRIH NRIH input will activate the function s sv software version RO 4 15 Driver setup via PC communication 15 1 Setup communication protocol Open System Properties Eu System Restos Automatic Updates Remote Search General Computer Name Hardware Advanced Manage l Device Manager S The Device Manager lists all the hardware devices installed Map Network Drive F on your computer Use the Device Manager to change the properties of any device Device Manager Disconnect Network Drive Create Shortcut Delete See Driver Signing lets you make sure that installed drivers are Rename compatible with Windows Windows Update lets you set up how Windows connects to Windows Update for drivers Properties Windows Update Hardware Profiles Drivers Te Hardware profiles provide a way for you to set up and store eal different hardware configurations Hardware Profiles
27. close enough to the speed command and no oscillation appears along the S Monitor trace The steady state error normally appears because the KVI parameter is zero during this step 6 Slowly adjust the KVI parameter in the Speed Parameter menu with the default value 130 as a first trial guess The adjustment should not stop until the settling time of the S Monitor signal is as short as possible while the overshoot of the S Monitor signal is less than 5 or 10 and appears only once No sustained oscillation is allowed after this adjustment Notel If the servomotor is installed in a ball screw driven machine bed take caution of the travel limits so that no collision may occur 2 A well tuned speed loop can guarantee the precision of machining and cut the job time as well Make sure not to operate a servo drive that causes the machine bed oscillatory due to de tuned gains II The overshoot is large due to high KPP or KVP Try to reduce KVP or KPP The system is oscillatory due to high KVI Try to reduce KVI The system 1s tuned properly 61 15 12 Online Monitor Monitor Online Monitor Motor speed p RPM Motor current A Use Read button to read the under monitoring data and stop to exit 62 16 Alarm displav table The servomotor can start a normal READY Servo system is ready The main power cable and the encoder cable from the operation servomotor are connected correctly
28. constant for the LPF filter is 47us Connect the shielding to the connector shell 23 12 Descriptions of Mokon servo drive input signals 12 1 Input Signal definitions and CNI pin assignments Signal Pin Pin M Function Descriptions Type Name No Common 15V 3 15V voltage 15V volt with allowable 50mA output spare for lad dd aa external analog use 15V 4 15V voltage EM ne 24G 5 Common power ground for user control interface SON Servo on Digital signal for activating the servo drive when A I connected with 24G internal 24V pull high RST 7 Alarm reset Digital signal for releasing the servo drive when RST mmm connected with 24G internal 24V pull high TLM 13 Torque Limit Digital signal for torque limit when connected EN REN PRIH I4 Forward Rotation Digital signal for inhibiting the forward rotation when luni Bl pa connected with 24G internal 24V pull high NRIH 15 Reverse Rotation Digital signal for inhibiting the reverse rotation when uni bal ad connected with 24G internal 24V pull high HOLD 16 Motor HOLD Digital signal for inhibiting the forward and reverse forward and OR reverse rotation inhibited Speed PI P Loop Control common Parameter menu internal 24V pull high SV voltage output 5 volt with allowable 50mA output spare for external use DGND 31 5V ground output 5 V power ground also ground for 15V MDO 34 Operation Mode connected with 24G will switch the operati
29. e generator set this parameter to 0 4 Td deceleration time for speed S ms 0 mode linear acceleration 10000 profile Note internal generated profile if use external profile generator set this parameter to 0 5 Tsa acceleration time for speed S ms 0 mode S acceleration profile 10000 Note internal generated 36 7 d SPDO Voltage input offset for profile if use external profile generator set this parameter to 0 deceleration time for speed T 0 mode S acceleration profile 10000 Note internal generated profile if use external profile generator set this parameter to 0 Pulse mode control 0 10000 acceleration time Note internal generated profile if use external profile generator set this parameter to 0 0 internal speed generator disable 1 internal speed generator enable speedl of internal speed RPM generator Note selected by SPDI digital input while SPO 1 speed2 of internal speed generator Note selected by SPD2 digital input while SPO 1 1000 RPM ELE speed3 of internal speed generator Note selected by SPD3 digital input while SPO 1 speed command voltage to motor rated speed Note 10 means 10V for 2000 RPM rated speed motor 1024 un po pewmeme TT ZSPD Zero speed range Note when motor speed equivalent voltage less than the setting voltage the CNI 37 ZERO will make speed agreed range 2000 Note when motor
30. e U 16 U V W 3 Rn un Co CI z _ a E go un 6 Position command input circuit 6 1 From differential type line driver CN1 26 330 Ohm 6 2 From open collector output Example 1 Using an external power supply provided by the user Note Mokon Servo drive can be only connected with 24V external power supply Example 2 Using power supply built in the servo drive SV 330 Ohm 17 7 Analog command input circuit 7 1 Analog command input circuit SK 4W 1 8 DGND DGND 7 2 Digital input circuit interface 18 8 Output interface circuits 8 1 Digital output interface Example 1 Connecting to a relay output circuit Relay sn ALM CNI I0 cli SE B m CNI 5 246 N Output Current 100mA Example 2 Connecting to a photo coupler output circuit 24V ALM CNI 10 19 8 2 Encoder digital output interface circuit LT O c c Co un i ya Co CI Co Co un mn g Co ET o un e o Lar Note 2 Be sure to connect the shielding i F iJ represents twisted pair wires 20 9 Position control interface Be sure to ground to the earth Servo on signal input Alarm reset input Torque limit input Forward rotation Inhibited input Reverse rotation Inhibited input Electronic gear selection 1 input Electronic gear selection 2 input
31. ear a source of vibration install a vibration isolator to protect the Servo drive from vibration 3 Servo drive wiring precautions Wiring precautions 3 1 Main wiring l Apply three phase 220V AC mains through the NFB to the magnetic contactor then connect to the servo drive RST terminals Consider installing a reactor and linear noise filter if the local power supply quality is poor Connect the UVW terminals of the servo drive with the red white and black cable lines of the servomotor directly or via terminal board on which the cable lines be secured with a terminal plier and wrapped tightly to avoid incidental short circuit power interruption or earth faults Make sure the cable lines are not damaged under stress Be cautious of the cable wiring to avoid as much as possible being subject to bending or tension If the servomotor is moving with the mechanism arrange the bending section of the cable line within the allowable curvature which 1s determined from the cable specification to assure normal operation life Make sure the cable lines are not touched by sharp parts of the machine or pressed by any heavy object Provide proper grounding wiring for the ground terminals of the servo drive and servomotor H1 and H2 are the thermostat terminals for the servomotor Strictly forbid to short circuit them with the machine bed or falsely connect with U V W E terminals After fastening the main terminal board the ends of the wiring t
32. er turning power off because high voltage may still remain in the servo drive Make sure the Charge Indicator is out before starting an inspection 6 Avoid frequently turning power on and off Do not turn power on or off more than once per minute Since the servo drive has capacitors in the power supply a high charging current flows for 0 2 seconds when power is turned on Frequently turning power on and off will cause main power devices like capacitors and fuses to deteriorate resulting in unexpected problems 4 Servomotor installation precautions 4 Installation precautions Try to avoid water and oil exposure since the servomotor contains no water proof structure Install a water proof cover if it is used in a location that is subject to water or oil 1 Servomotor cable line facing downward can prevent the oil and water from entering the servomotor via cable line 2 If the servomotor is installed vertically or with a slope the cable line should be bended to U type to avoid the oil and water from entering via the cable line 3 Carefully avoid the exposure of cable lines to oil and water that have adverse effects on servomotor and encoder also may cause malfunctions of the servo drive Water proof Cover Water and Oil 4 2 Connect the servomotor with load precautions 1 To mount a belt wheel use the set screw to secure it on the shaft end if the motor shaft has a keyway Use a friction coupling if the motor shaft
33. erminals can be bended up to be kept away from the front nameplate as shown be 10 3 2 Wiring for the controller and the encoder 1 Each pin of CNI and CN2 must be soldered and checked carefully for correct pin number Check the adjacent pins after soldering to avoid being incidentally shorted circuit by the solder or unused leads 2 Wrap the soldered leads with shrinkable tubes to keep from being touched by each other 3 If the leads from CN2 must be extended care must be taken 1n the connection section and proper shielding measures must be adopted to suppress EMI noise 4 Do not stretch tight the leads of CN2 to avoid wiring faults of the encoder 5 Power cables and signal lines should not be arranged in close parallel and the leads for control signals should be twisted and shielded Note Be cautious of the length of the wiring and the measures for noise shielding if Mokon series is used in position control mode If not using the line driver type the PULSE GND must be connected to DGND or the lost pulse fault may occur AA CAUTION Do not bundle power and signal lines together in the same duct Leave at least 30cm 11 81 in between power and signal lines Usetwisted pair wires or multi core shielded pair wires for signal and encoder PG feedback lines The maximum length for signal input lines is 3m 118 11 in and for PG feedback lines is 20m 787 40 in Do not touch the power terminals for 5 minutes aft
34. ese 15 SV Signal waveform officedbaelEncoderris aliena 15 6 Fostion command MPI lella 17 6 1 Fron ditteremtiall ty pe Hie Ct VCP seserinis ean aaa a 17 6 2 Erom 0penscollectoFOUIPulizinizii aladino 17 AMA command Pese a 18 Tek Analt command TODUE CUP CUI eese esis trae seat dee ia ei uio 18 4 Die tal imputenciitantertfat aura 18 o QUIPUrINfertace CIECUITS oet peser ped eite e educ taxed pos Paco atte ade Dylan a 19 oL Diyseitaboutpubtntetfdee aaa 19 8 2 Encoder digital output interface circuit iors oed egesekus Cote u tat ru iaia 20 22 POSION CONTO LINTE ACE iran 21 10 Speed Contor ACC cic etssase ille aa 27 D Torque conttobnterfate araldici 23 12 Descriptions of Mokon servo drive input signalS nennen 24 12 1 Input Signal definitions and CNI pin assIgnmMEntSs i 24 12 2 Servo ON anpat C N50 dut oso elabi eer i ope EIU eerie id uluser ii e dit ecce ibulue sacas 2 12 5 R5lT SetyoTesetTHDUE ENIS lella lidia 27 12 4 BENE Torque Tini mpu CNI ye cp Gis aces D de aceite ducat fas cdm Rca ch eu cus uad ot eus oim dos 21 12 5 PRIH Forward rotation inhibited and NRIH reverse rotation inhibited inputs CN1 14 15 28 12 6 Motor hold or PI P control mode switch input CN1 16 28 12 T NIDO OP Sr ACO 1 ONS aaa 29 12 8 VCMD and TCMD inputs CN1 1 and CN1 8 cccccccccssseeseeeeeeeeeeeeeseeeeeeeeeeaaas 29 12 9 TLCMD Torque limit analog command input CN1 9
35. f the servo drive The input parameters will not be maintained in the servo drive after the power is turned off Upload and Program After entering the parameters it 1s necessary to press this button to write these parameters stored in the registers onto the FLASH ROM in the servo drive These parameters will thus be maintained in the servo drive and not disappear after the power is turned off 49 15 5 Speed mode menu Hr Speed Mode Voltage Command Input voltage no x E mit COMICO tf AD n RPM Offset voltage Speed command channel Lowest speed Internal Speed Settings f Disable Enable in RPM D RPM fr RPM Internal speed 1st internal speed 2nd internal speed 3rd internal speed Voltage Command Input voltage VMDL Allowable range 2V 10V Acceleration Deceleration Time Linear acceleration time Linear deceleration time S curve acceleration time S curve deceleration time Output Settings Zero speed 1 RPM RPM In speed 4000 Upload Upload and Program Used to scale the input voltage command CN1 1 or CN1 8 Set the maximum input voltage of the speed command and this maximum voltage corresponds to the rated speed of the servomotor Offset voltage SPDO Allowable range 1024 1024 mV Used to compensate for the offset of the voltage command Set the offset voltage according to the actual condition and the desired speed command is obtained internally by
36. ger Inverse type C Lower edge trigger Encoder input filter h MHE In position range 50 Pulse Treqauency Electronic Gear Position Command Accelerationideceleration time Numerator UUD Acceleration deceleratir lo m Numerator time Denominator 1 opg Suu Numerator 5000 Mumerators 4 apog Upload Upload and pag Position Command Command Type Mokon servo drive can accept the following three types of command TYPE SIGNAU CW B A Phase advances B Phase by 90 degrees B B Phase advances B A Phase by 90 degrees cw ccw H5 SIGN PULSE DIR PLS SIGN L Filter frequency Filter frequency is only valid if the Command type is selected as A B WITH FILTER Pulse command trigger type To select the polarity of the command pulse Hi to Low trigger or Low to HI trigger 53 In position range To set the range when the error count pulse is less than the value driver will take it as complete of positioning the CN1 18 will be engaged Electronic Gear Denominator The common denominator of the 4 numerator Numerator Available range 0 32767 If the servo motor feedback encoder 1s 2500ppr 2500 x 4 pulse per revolution and the Denominator 1s set to 5000 the Numerator set to 10000 The controller command pulse will be 5000 pulses to run the motor one revolution Command pulses to B 2500 Encoder pulse per j 10000 Numerator run one revolution revo
37. has no key way 2 Use a special tool to dismantle the belt wheel avoiding impact to the shaft 3 Strictly forbid to exert force on the back cover of the encoder by hands or ropes when moving the servomotor 4 Strictly forbid the use of hammer to strike the shaft likely to damage the encoder Avoid violent collision and vibration of servomotor when mounting a belt wheel or a clutch The encoder connecting with the shaft 1s vulnerable under intense vibration which may adversely affect the resolution and service life of the servomotor 5 Do not change the encoder wiring direction 6 Use a flexible connector The round off must meet with the allowable radial load 7 Choose a proper pulley chain wheel or timing belt that can meet with the requirement of the allowable radial load 8 If the servomotor is attached with a magnetic brake either horizontal or vertical installation is allowed When the shaft is upward installed the brake may normally make some noise 4 3 Alignment Align the shaft of the servomotor with the shaft of the apparatus and then couple the shafts Install the servomotor so that alignment accuracy falls within the following range Measure this distance at four different positions around The difference between the maximum and minimum measurements must be below 0 03mm 0 0012 in Turn I IN together with the coupling ilo Measure this distance at
38. ilter frequency The digital filter of the input encoder signal there are 4 choices 10MHz 5MHz 2 5MHz and 1 25MHz Acceleration deceleration time The position mode internal acceleration deceleration time If a controller with adequate acc dec profile control function the time constant must set to 0 Under position operation mode this function can provide acceleration deceleration function for the following situations 1 The host controller cannot perform the acceleration deceleration function 2 The electronic ratio is too high gt 10 times This function does not affect the positioning precision 55 15 7 Torque mode A Torque Mode Torque Mode Settings Torque command input filter time 50 HZ Percentage of torgue limit 300 25 Torque speed limit 2000 RPM Torque speed limit option External analog torque speed limit Torque limit command option External analog torque limit Upload Upload and Program Torque mode Settings Torque command input filter time Range available 0 100us Torque command is filtered if the time constant is small response will be fast but noise may come into system large filter time constant will filter out high speed command or noise Percent of torque limitation Range available 0 300 Internal torque limit Torque speed limitation Speed limit of torque mode when internal torque limit is selected 56 ga Torgue Mode Torque Mode Settings Torque command input f
39. itter time 50 HZ Percentage of torque limit 300 To Torque speed limit 2000 RPM Torque speed limit option External analog torque speed limit Internal torque speed limit Torque limit command option External analog torque speed limit Upload Upload and Program Torque speed limit option There are 2 type of torque speed limit 1 Internal torque speed limit choose this option the Torque speed limitation will be effective 2 External analog torque speed limit choose this option the CN1 8 speed input will be the speed limit of torque command CN1 1 ur Torque Mode Torque Mode Settings Torque command input filter time 50 uz Percentage of torque limit 300 To Torque speed limit 2000 RPM Torque speed limit option External analog torque speed limit Torque limit command option External analog torque limit Internal torque limit External analog torque limit Upload and Program Torque limit command option There are 2 type of torque limit 3 Internal torque limit choose this option the Torque speed limitation will be effective 4 External analog torque limit choose this option the CN1 9 torque limit input will be the limit of torque command CNI 1 57 15 8 Motor Parameter Settings JE Motor Parameters Motor Parameter Settings Driver Parameter Settings Pole 4 Pole Discharge duty cycle 50 da Rated speed 2000 RPM Over speed protection 4000 RP Encoder type 2500 PIR Position error range 20000
40. lution X 4 5000 Denominator Numerator1 Under the position operation Mode Numerator 1 will be selected as the numerator of the electronic gear ratio when CN1 32 is connected with 24G Numerator2 Under the position operation Mode Numerator 2 will be selected as the numerator of the electronic gear ratio when CN1 33 is connected with 24G Numerator3 Under the position operation Mode Numerator 3 will be selected as the numerator of the electronic gear ratio when CN1 35 is connected with 24G Note 1 When A B pulse mode is selected as pulse command input the pulse count of electronic gear must multiply by 4 2 When electronic gear ratio is set too large the servo motor may caused jiggles the adequate acceleration and deceleration is required 54 Encoder Output Divider Ratio Numerator of divider Denominator of divider The encoder output is divided from the original encoder signal and the output pulse rate will be Output pulse Original pulse Numerator Denominator Say your servo system encoder 1s quadrature pulse 2500ppr the equivalent pulse 1s 10 000 pulses per revolution if you want to get the out put at 2000 ppr equivalent pulse you must set the Denominator to 10 000 and Numerator to 2000 Divider output phase The output qdudratue pulse can be the same phase with the incoming encoder signal or inverse with the incoming Choose Standard means the same phase inverse means inverse phase Encoder input f
41. ng acceleration deceleration under the speed operation mode 2 To suppress the undershoot or decrease the settling time under the position operation mode P I control P control s Over shoot Under shoot Motor speed Motor speed Time Time 28 12 7 MDO Operation mode If the CNTL parameter is set in the Common Parameter menu as S P speed Position P T Position Torque or S T Speed Torque mode this input signal enables the switching between operation modes For example If CNTL is set as S P mode when CN 34 and 24G is not connected the servo drive is in Speed operation mode when connected the servo drive is switched to Position operation mode 12 8 VCMD and TCMD inputs CNI 1 and CN1 8 VCMD When the servo drive is in S Mode or is switched to S mode this signal is used as analog speed command input The input voltage scale can be modified at the VMDL parameter contained in the Speed Parameter menu The value of the VMDL parameter defines the input voltage which corresponds to the rated speed with positive voltage for forward rotation and negative voltage for reverse rotation TCMD When the servo drive is in T Mode or is switched to Torque operation mode this signal is used as analog torque command input If the input voltage is 10V the motor outputs 300 of the rated torque Speed command Torque command VCMD TCMD Note CNI 1 is for high resolution analog signal input 12 BIT Please
42. on mode defined by Common parameter gt Control mode selection S P Speed mode Position mode P T Position mode Torque mode rotations when connected with 24G in position mode the input pulse counter will be cleared or switching between PI P control modes under the speed operation mode The function of this pin 1s selected in the S T Speed mode lt gt Torque mode internal 24V pull high 24 Signal Type Function Descriptions SPEED VCMD 1 Speedcommand During driver set at speed mode 8 Enable the motor to run at speed proportional to the speed command voltage At 10V input the motor runs 3000rpm or 2000rpm Positive voltage corresponds to forward rotation while negative voltage corresponds to reverse rotation pin can also act as low resolution speed command input AGND 2 Analog eround Analog signal ground TORQUE TCMD l Torque command During driver set at torque mode Enables the motor to output torque proportional to the torque command voltage At 10V the motor output 300 rated torque TLM Torque limit Enabled while TLM pin13 active low command At 10V the motor output is limited at 300 rated torque The function 1s also available in speed mode AGND 2 Analog eround Analog signal ground 25 Signal Type Function Descriptions EPI 25 External Power 24V External Power input for open collector input pulse driver
43. oportional gain 59 15 11 Speed Loop Gain 2 ur Speed Loop Gain 2 Speed Loop Gain 2 Settings Kl 200 KP 5000 SSPD 200 Upload Upload and Program The KVI KVP of speed loop gain2 1s used as the speed 1s lower than SSPD setting value KVI Speed loop integral constant KVP Speed loop proportional gain SSPD speed loop gain and speed loop gain2 switching level at speed of rated speed Note KVI corresponds to the static stiffness of the speed loop and is the inverse of the integral time constant of the speed compensator A higher set value means a shorter integral time and consequently a shorter response time 1s expected This parameter is interrelated with KPP and should be tuned to induce no mechanical vibration Default value 130 Maximum value 32767 KVP corresponds to the dynamic response of the speed loop and is the proportional gain of the speed compensator This parameter should be tuned properly according to the load inertia and the larger the KVI parameter is tuned the shorter the rise time of speed response will be Default value 3000 Maximum value 32767 KPP corresponds to the dynamic response of the position loop and 1s the proportional gain of the position compensator under the position operation mode This parameter should be tuned properly dependent on the bandwidth of the internal speed loop and the larger the KPP parameter is tuned the shorter the rise time of position response will be
44. pamelets 2 ste impe ete aae vet inui bep d estesa eli 50 15 10 i SM Beim TELE EN 50 15 11 Speed Ee 6o 60 15 12 ONE INIONIOL mm P de 62 IAR Spay tableau 63 17 Connector pinmassicnments diagram 64 Ss E OTI iraniani 65 19 Regenerate brake resistor selection eulde iii eio ED aiar 67 20 Wiring of MPC3024 wiring board to Mokon driver ii 68 LAP 68 1 Checking Mokon series products on delivery Follow the procedure below to check Mokon Series products upon delivery Check the following items when Mokon Series products are delivered l 2 3 4 di 6 ue d Check the packed products for damages that may have occurred during shipping Check whether the name and number of the delivered products are the same as those on the delivery sheet Check whether the servomotor and servo drive capacity and encoder specification are the same as the ordered In the case of special order please carefully check the delivered products and contact our company immediately if any item 1s incorrect The table below shows the standard set One servomotor One servo drive One 37PIN D type connector for CN1 One 15PIN D type connector for CN2 One connector for servomotor power line One encoder connector One copy of wiring description If cable is your option they will be soldered ready with the cable 1 1 Servomotor nameplate descriptions AC SERVO MOTOR Servo
45. peed 2 and Internal Speed 3 Unit RPM in the Speed Parameter menu When the servo drive 1s in PMode or switched to Position operation mode the numerator of the electronic gear ratio can be selected by properly connecting one among CN1 32 ELGNI CN1 33 ELGN2 and CN1 35 ELGN3 to 24G The three pins correspond to three different numerators that are defined by the parameters Numerator 1 Numerator 2 and Numerator 3 in the Position Parameter menu where a common denominator of the electronic gear ratio 1s also programmed SON CN1 6 T Example the internal speeds are set as the following in the SPDI CN1 32 speed Parameter menu Internal speed 1 1000RPM SPD1CNI 33 sr ai Internal speed 2 2000RPM SPDI CNI 35 Internal speed 3 S00RPM Internal speed 2 2000RPM Internal speed 1 1000RPM 800RPM Internal spedd 3 31 13 Descriptions of Mokon servo drive Output signals 13 1 Output Signal definitions and CNI pin assignments Signal Type Function Descriptions BRAKE Motor Brake Digital signal for releasing the motor Release Signal brake Motor Low Speed Digital signal output indicating the Output servomotor is running at speed lower than the user setting Output In Torque jis saturated at the torque limit value in Limit torque is saturated at the torque limit value in torque operation mode Digital signal output for indicating the value of position error counter is smaller
46. purchase YPV XXX V series servo drive if high resolution analog input is needed The input pin of the standard analog input resolution 10 BIT 1s CNI 8 29 12 9 TLCMD Torque limit analog command input CN1 9 This signal is used as analog torque limit command input when CN1 13 is connected with 24G If the input voltage 1s 10V the limit range corresponds to 300 of the rated torque of the motor Torque limit command 12 10 PPCMD PPCMD NPCMD NPCMD Position command inputs CN1 26 29 When the servo drive is in P Mode or switched to Position operation mode these signals are used as position command inputs The type of the command can be changed within the parameter Servodrive Photocoupler The position command signals can be any of the following forms refer to 6 Position command input circuit 1 Differential type 2 24V open collector type 3 45V open collector type P represents twisted pair wires 30 12 11 SPDI SPD2 SPD3 Internal speed switching inputs CN1 32 35 ELGNI ELGN2 ELGNG Electronic Gear Numerator Switching Inputs CN1 32 35 When the servo drive is in 5 Mode or switched to Speed operation mode and if the internal speed is enabled the internal speed command can be selected by properly connecting one among CN1 32 SPD1 CN1 33 SPD2 and CN1 35 SPD3 to 24G The three pins correspond to three different internal speed commands which are defined by the parameters Internal Speed 1 Internal S
47. subtracting this setting from the input voltage CNI 1 or CN1 8 Command Offset Speed Command Channel ADO Select the speed analog command channel Command after compenstaed AD analog command input from CN1 8 resolution 10 Bit VCO analog command input from CN1 1 resolution 12 Bit Mokon driver is suggest to use VCO 50 Lowest speed SPDB The servo drive will work only when the speed command is higher than the minimum motor speed setting If controlled by the numerical controller set this value to 0 Analog Speed command V 10 Minimum speed command can be set under the following situations The servomotor cannot be stopped at zero analog command The analog speed command is jammed by large noise SDB and thus the servomotor cannot be stopped 0 3000 Motor Speed RPM Internal Speed Settings Internal Speed SPO Enable or disable the function of CN1 32 the first internal speed CN1 33 the second internal speed and CN1 35 the third internal speed in the speed operation mode Ist Internal Speed Settings 2nd Internal Speed Settings 3rd Internal Speed Settings To set the pre defined internal speed command If the Internal Speed Enable Setting SPO is setas Enable the Ist internal speed SPD1 will be executed if CN1 32 1s connected with 24G If the Internal Speed Enable Setting SPO is setas Enable the 2st internal speed SPD2 will be executed if CN1 33
48. t foreign object intrusion 1 Prevent the drilling and cutting chips from entering the servo drive during installation 2 Avoid the odd objects like oil water and metal powder from entering the servo drive via cooling fans 3 If using fans for cooling please install the filter properly at the ventilating hole and consider the surrounding environment to choose the best direction for ventilation 4 Please install heat exchanger or air filtering system when installing in locations subject to poisonous gas or excessive dust Extra Notices 1 Do not install the servo drive in locations likely to be affected by oil and dust If unavoidable please install the Servo drive in the airtight control cabinet and consider using ventilation filter Also use a protective cover over the Servomotor 2 When installing multiple servo drives in one airtight control cabinet allow at least 50mm between above and below each servo drive and leave 120mm for maintenance space In addition to ensure the reliability and improve the product life leave certain distance between the servo drive and the cabinet ceiling so the temperature around the servo drive does not exceed 55 C which might lead to poor ventilation 3 A frequent use of the regenerative resistor may lead to a temperature higher than 100 C Do not put inflammables or heating deformable objects around The wirings must also be kept away from the resistor or severe damage will occur 4 When installing n
49. tic brake control Analog Monitor 4 Settings Analog Monitor B Settings Upload Select monitor mode Manitar select monitor mode Manitar Output voltage off et 1 Output voltage offset E Upload and Program You can choose CN1 17 as Servo Ready output CNI 17 will be closed immediately when the servo drive is turned on and turn off when an alarm has been detected to signal the controller Electromagnetic brake control output When SON CN1 6 is engaged CN1 17 will not be closed until after a delay time set by the Electromagnetic brake release time parameter when SON CN1 6 is disengaged CN1 17 will not be open until after a delay time set by the Electromagnetic brake release time parameter 47 Output logic selection Af Common Mode Common Parameters Settings Select control mode P MODE me Output singal logic definition Positive logic 0 Positive logic O Electromagnetic brake release time y ms Logic for positive and Negative logic 1 negative limit Monitor voltage f v Motor definition rotation Positive command correspond to counterclockwise rote select CNI 16 function Hold No rotation select CN1 17 function ISERVO READY Analog Monitor 4 Settings Analog Monitor B Settings Select monitor mode Manitar select monitor made Monitor Output voltage offset 4 Output voltage offset 4 Upload and Program Upload Define the logic of CN1 10 CN1 17 CN1 18 CN1 36 CNI 37 o
50. utput signals 1 Positive logic 0 the secondary side of the photocoupler is closed when the output signal 1s issued 2 Negative logic 1 the secondary side of the photocoupler is open when the output signal is issued Logic for positive and negative limit JE Common Mode Common Parameters Settings select control mode P MODE Output singal logic definition Positive logic O Electromagnetic brake release time I Ims Logic for positive and Positive logic 0 negative limit _ Positive logic 0 Monitor voltage 10 v Negative logic 1 Motor definition rotation Positive command correspond to counterclockwise rote Y select CNI 16 function Hold No rotation select CM1 17 function SERVO READ Analog Monitor amp Settings Analog Monitor B Settings Select monitor mode s Monitor o select monitor mode Monitor Output voltage offset 1 Output voltage offset 1 Upload and Program Upload Logic for positive and negative limit Define the input logic of CN1 14 Forward Positive Rotation Inhibited PRIH and CN1 15 Reverse Negative Rotation Inhibited NRIH 1 Positive logic motor forward and reverse rotations are inhibited when CN1 14 CN1 15 are connected with 24G CN1 5 respectively 2 Negative logic motor forward and reverse rotations are inhibited when CN1 14 CNI 15 are not connected with 24G CN1 5 respectively 48 Upload The input parameters will be transmitted and stored in the registers o
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