Mokon Series Driver User's Manual
Contents
1. Regenerative brake resistor B1 B2 mostat Protection 361 19 Be sure to properly prepare the connecting end forthe shielding s pen Applicable line receivers L 22 SN 75175 TliorM C3486 orthe equivalent c 28 re 24 om i ALM Alarm output H mm 17 j BRAKE Motor brake release output re U mm Position Arriavl output BE ge ZERO speed Zero output 2KOL E E a Se 3 37 E d ATL In torque limit output 5 4 tr represents twisted pair wires 2 Thetime constant for the primary filter is 47 us 24G FG s Connect the shielding to the connector shell 19 11 Speed Control Interface Noise filter E Be sure to ground to the earth 1 12 bit Speed command input z 1 Obit Speed command input S 10bit Torque com mana limit input zali 2 Regenerative brake resistor Al B2 ern j j 2K Ohm E 4 Servo on signal input ISON FZ eee 7 Alarm reset input IRST lt miti 13 Torque limitinput ALM r E Forward rotation Ak 2kOoum E 4 Inhibited input IPRIH pot Skier T Ai Reverse rotation a 5 Bora Inhibited input INRIA CH Et 16 2K Ohm Motor H OLD input fHoLG 32 Internal Speed 1 input spp P WEI 2K Om DNI Internal Speed 2input spp SE d Internal Speed 3input jgppz 7 REN Mode Swtchinput MBO j 24G 5 FG s Canned the shielding to the connector shell 20 u C i mes wi A cn2 BEE2. 2 Position Arrival Setting INP Default value 10 Maximum value 32767 Unit PLS Under the position operation mode when the value of the position error counter in the servodrive is lower than or equal to the value set by the Position Arrival parameter CNI I8 will be conducted 38 INP CN1 18 Electronic Gear Ratio Setting Gear Denominator ELGD set the denominator of the electronic gear ratio Default value 10 Maximum value 32767 Gear Numerator ELGNO set the basic numerator of the electronic gear ratio Default value 10 Maximum value 32767 Ist Gear Numerator ELGN1 set the numerator of the electronic gear ratio Default value 10 Maximum value 32767 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 2st Gear Numerator ELGN2 set the numerator 2 of the electronic gear Default value 100 Maximum value 32767 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 3st Gear Numerator ELGN3 set the numerator 3 of the electronic gear Default value 1000 Maximum value 32767 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 Example If the controller is to send 5000 pulses for one resolution of the
3. 1 P Control PI P Speed Loop Control Mode Switch function Digital output logic selection DOLO Default value Normal Close 0 positive logic Define the logic of CN1 10 CN1 17 CN1 18 CN1 36 CN1 37 output signals 0 Normal Close 0 positive logic the secondary side of the photocoupler is closed when the output signal is issued 1 Normal Open 1 negative logic the secondary side of the photocoupler is open when the output signal is issued CN 1 17 function selection DO17 Default value Servo Ready 0 Servo Ready CN1 17 will be closed immediately when the servodrive is turned on and an alarm has been detected 1 Brake Discharge BRAKE When SON CNI 6 is engaged CN1 17 will not be closed until after a delay time set by the MBR parameter when SON CNI 6 is disengaged CN1 17 will not be open until after a delay time set by the MBR parameter This output logic function is controlled by DOLO 33 10 B 11 12 PRIH NRIH input logic selection Forward and Reverse Rotations Inhibited Logic DILS Define the input logic of CN1 14 forward Rotation Inhibited PRIH and CN1 15 Reverse Rotation Inhibited NRIH O Normal Close 0 positive logic motor forward and reverse rotations are inhibited when CNI 14 CN1 15 are connected with 24G CN1 5 respectively 1 Normal Open 1 negative logic motor forward and reverse rotations are inhibited when CNI 14 CN1 15 are not connected with 24G
4. 24G to issue the Position Arrival signal Speed Position error INS value d Ki m INP value 4l INS value Zeng IRAN eer Ste ON ON OFF ON CN1 18 28 14 6 MONI MON2 Analog Monitor Outputs CN1 11 12 These output signals are for monitoring the dynamic states of the servodrive 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 MON2 as Monitor Channel B defined the Common Parameter menu 14 7 Encoder Output Signals CN1 19 24 Encoder output signals derived from the servodrive can output to an external Host Controller The Host Controller then uses these signals in its control circuit servodrive Host Controller Receiver Phase A Phase C Filtering capacitor Shielding Applicable receiver P represents twisted pair wires SN75175 TI MC3486 or the equivalent 29 15 User Parameter Settings and Functions 15 1 Communication Protocol RAE COM1 A f amp EHRE gea Sp The figure left shows the menu to adjust the communication connection setting E Sie RREO a PLIES AEO SE ap LISER 15 2 Communication Port to link with the servo driver W om F i ort S etu p ComPort Start Program Files gt Parameter Setting gt YeLi e COM The figure left shows the display of ComPort Setting
5. HI erm ostat Protection A WEN Be sure to properly prepare ES the connecting end for the FI 20 s shielding d B Gul Ch j R D BE La 22 5 Se line recelvel 5 E PolTliorMC3466 or the c 23 S equivalent D 3 EL CA 2 10 ALM Alarm output 5 17 D I BR AKE Motor brake release output 5 18 J INS Speed Arriavl output S 36 R izeRa Speed Zero output 5 37 DNi di In torque limit output o E tprepresentstwisted pair wires 2 Thetime constant for the primary filter ig dfus a VCO san optional module with a fixed scale between the motor rated speed andthe input voltage which must be specified when ordered 12 Torque Control Interface Noise filter IMCCB Regenerative brake resistor 1MC BI B R i po i T a r Yy S cn2 KEE 7 s E ih H1 Be sureto groundtothe earth L I Z erm ostat Protection 1 H2 12 bit Torque command input A 19 Be sure to properly prepare the connecting end for the Ad d AD x z 10bit Tor que command input Zi LPF JA 20 shielding na EWEN r LFF j 10bit Speed com mand limit input 2 DL 2 Servo on signal input SON Alarm resetinput RST Torque limit input ILM Forward rotation PRIH Inhibited input Reverse rotation NRIH Inhibited input Motor H OLD input HOLD Mode Switch input MD TU Gi 9 SN TI Z T Applicable line receiver s S o S
6. Motor Speed Torque Limit 10V corresponds to rated motor torque Torque A too low torque limit might cause the problem of insufficient torque during acceleration deceleration 22 13 4 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 servodrive CN1 connector as shown below Reverse end Bes Forward end Servomotor Limit switch Limit switch 13 5 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 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 during acceleration deceleration under the speed operation mode 2 To suppress the undershoot or decrease the settling time under the position operation mode 23 P Icontrol i Motor speed undershoot P control Motor speed time 13 6 MDO Operation Mode
7. exceeds the allowable value or the load is over the specification Mains voltage is too low or the filtering capacitor in the main circuit is damaged Use 3 AC power for the servodrive over 550W RESET The servodrive control system is reset The system will start again after the alarm is cleared OVE JAn overflow of the position tracking error Check whether the load is triggers the OVF alarm The machine willjover the specification or the stop frequency of position pulse command is too high 46 17 Connector Pin Assignments Diagram R20 and D 15P Pin Table RsO 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 green White grey White yellow White S black brown White orange White blue White We Cn2 ES EAEN de uta O NE aks Na D 1 5P A A JC 5V OV U 13 14 Nm EA L case 15 SE EI and p 2 a sa Pm Tabe a BH 5 ma Lt et Ka Na Nm we Leier nm BS Na SI SE grey yellow brown orange blue wei NC ALA ER pe oe jevo of Pw w v V 13 14 10 11 12 case 15 47 18 Servodrive Dimension Dimension mm a Model A B C D E W u YPV 040 YPV 055 YPV 075 YPV 100 CIR aes 5s m s w i YPV 300 HHHH 48 19 Regenerate brake resistor selection guide Model Motor Wattage goow 008 SSOW IKW 008 ASKW 2KWo oi 30 83KW Jo 30 BEEN O The resistance can be parallel or series to get a closed value 49
8. from entering via the cable line C 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 servodrive Vat er proof Cover Water and dl Connect the servomotor with load Precautions A 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 has no key way B Use special tool to dismantle the belt wheel avoiding impact to the shaft C Strictly forbid to exert force on the back cover of the encoder by hands or ropes when moving the servomotor D 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 E Do not change the encoder wiring direction F Use flexible connector The round off must meet with the allowable radial load G Choose a proper pulley chain wheel or timing belt that can meet with the requirement of the allowable radial load H Ifthe 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 Alignmen
9. input External Power input Input form Forward rotation Forward rotation pulse Input pulse PLS DIR PPCMD 26 Input 2 6 Forward rotation Forward rotation pulse Input CW CCW pulse 7 Input A B Reverse rotation pulse Reverse rotation pulse Input 28 Input Reverse rotation pulse Reverse rotation pulse Input 29 Input Common EGI SPD 32 Electronic gear 1 Input signal as electronic gear selection Sinal for Speed selection 1 in position operation mode or as speed Position and selection 1 in speed operation mode Speed EG2 SPD2 33 Electronic gear 2 Input signal as electronic gear selection 2 Command Speed selection 2 in position operation mode or as speed selection 2 in speed operation mode 35 Electronic gear 3 Input signal as electronic gear selection 3 Speed selection 3 in position operation mode or as speed selection 3 in speed operation mode Function SES Brake Release Signal Deal signal for releasing the motor brake Motor Low Speed Output Digital signal output indicating the servomotor is running at speed lower than the user setting 37 Output In Torque Limit is saturated at the torque limit value in torque is saturated at the torque limit value in torque operation mode 18 Position Speed Arrival Digital signal output for indicating the value of position error counter is smaller than the user setting in position operation mode or the motor speed is smaller than the user setting in speed operation mo
10. please choose the Communication Port used by your C COM2 computer COM3 30 15 3 Introduction of the Functions Mokon Servodrive has the following five menus for parameter setting iF 2 3 4 Common Parameter S Mode Parameter P Mode Parameter T Mode Parameter 5 Motor Parameter 31 15 4 Common Parameter Files Parameter Tuning Parameter About Common Parameter Control mode selection SZ Digital output logic selection Normal Close 0 e Brake discharge Time fo ms CN1 17 Function selection Servo Ready v Monitor output voltage 10 v PRIH NRIH input logic selection Normal Close 0 Motor rotation selection Forward rotation is defined as counterclockwise X CN1 16 function selection Hoo Hoo e Monitor A Setup Monitor B Setup Ek s Monitor SA E ay mode iMontor s nor X Flash Update Enter Control mode selection CNTL Mokon Servodrive has six operation modes for selection T Mode Torque operation mode which is a single mode and cannot be switched through CN1 34 S Mode Speed operation mode which is a single mode and cannot be switched through CN1 34 P Mode Position operation mode which is a single mode and cannot be switched through CN1 34 S P Mode Speed lt gt Position operation mode which can be switched through CN1 34 MDO P T Mode Position lt gt Torque operation mode which can be switched through CN1 34 MDO S T Mode
11. 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 servodrive that causes the machine bed oscillatory due to de tuned gains EE The overshoot is large due to high KPP or KVP Try to reduce KVP SS or KPP The system is oscillatory due to high KVI Try to reduce KVI The system is tuned properly 45 16 Alarm Display Table Status Display ii READY Servo system is ready The main power cable Ce servomotor can start a and the encoder cable from the servomotor are normal operation connected correctly An abnormally big instantaneous current Check whether the load triggers the OC alarm The Machine will stop exceeds the rated value any main circuit component is damaged or output is short circuited An abnormally high DC Bus voltage due to too Check whether the load heavy load inertia or frequent dynamic braking inertia is over the triggers the OV alarm The machine will stop specification and take into consideration an extra regenerative braking resistor command
12. the speed operation mode Three Internal Speed Settings Default value 0 Maximum value rated motor speed Unit RPM If the Internal Speed Enable Setting SPO is set as Enable the Ist internal speed SPD1 will be executed if CN1 32 1s connected with 24G If the Internal Speed Enable Setting SPO is set as Enable the 2st internal speed SPD2 will be executed if CN1 33 1s connected with 24G If the Internal Speed Enable Setting SPO is set as Enable the 3st internal speed SPD3 will be executed if CN1 35 is connected with 24G Acceleration Deceleration Time Setting Linear acceleration LACC linear deceleration LDEC S type acceleration SACC S type deceleration SDEC In the figure below Ta shows the time of LACC Td shows the time of LDEC Tsa shows the time of SACC and Tsd shows the time of SDEC Default value 0 Maximum value 10000 Unit ms 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 36 10 speed Speed operation mode Output Setting Zero Speed Output ZSPD Speed Arrival INS There are two digital outputs in the speed operation mode Zero Speed Output ZSPD under speed operation mode when the motor speed is lower than or equal t
13. 1 13 is connected with 24G If the input voltage is 10V the limit range corresponds to 300 of the rated torque of the motor Torque limit command NI TLCMD NI 8 AGND 13 9 PPCMD PPCMD NPCMD NPCMD Position Command Inputs CN1 26 29 When the servodrive 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 PPCMD PPCMD NPCMD A The position command signals can be any of the following forms refer to 3 3 Position Command Input Circuit for reference 1 Differential type 2 24V open collector type f represents twisted pair wires 3 5V open collector type NPCMD 25 13 10 SPD1 SPD2 SPD3 Internal Speed Switching Inputs CN1 32 35 ELGNI ELGN2 ELGN3 Electronic Gear Numerator Switching Inputs CN1 32 35 When the servodrive is in S 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 Speed 2 and Internal Speed 3 Unit RPM in the Speed Parameter menu When the servodrive is in P Mode or switched to Position operation mode the numerator of the electronic gea
14. CN1 5 respectively Display mode MONTI Channel A MONT2 Channel B Setting Default value Channel A S Monitor Channel B I Monitor S Monitor indicates speed monitoring I Monitor indicates current monitoring P Monitor indicates tracking error monitoring Output Offset for Monitoring Channel A and B MONO Channel A MONO2 Channel Enter The input parameters will be transmitted and stored in the registers of the servodrive The input parameters will not be maintained in the servodrive after the power is turned off Flash update After entering the parameters it is necessary to press this button to write these parameters stored in the registers onto the FLASH ROM in the servodrive These parameters will thus be maintained in the servodrive and not disappear after the power is turned off 34 15 5 Speed Parameter Menu Bee FV Parameter setoj Files Parameter Tuning Parameter About Acc Dec Time Constant Setup Acceleration fo ms Deceleration time fo ms Command Channel O YEO da aD S curve acceleration time fo ms Command death fo RPM 5 curve deceleraton time a ms S Mode Digital Output Setup internal Speed enable fs Disable C Enable Zero Clamp conditions fi Rpm Pana ne f eh Speed coincidence om Rpm 2 st Internal speed fo Rpm di 3 stinternal speed bo rae A ni Enter Flesh User l Speed command reference V MDL Default value 10 Maximum value 10 Unit V Used to scale the input voltage com
15. IUL Error Current Power AR KPFP i rech SR Mi kavo counte limit convers1o ry block block Speed loop Host Controller servodrive under the speed operation mode Host Controller Servodrive under the speed operation mode 43 To maintain normal operation of the servo system the response of the position loop cannot be tuned higher than that of the speed loop Hence keep in mind to increase the speed loop gain before to increase the position loop gain Merely increasing the position loop gain will not make the response faster but cause the vibration of the speed therefore prolong the positioning time In other words if the response time of the position loop is made shorter than the speed loop the speed loop not tuned responsive enough can never catch up with the speed command generated by the position loop This in turn will make impossible a smooth acceleration or deceleration and cause more position error therefore much higher speed command will be generated Eventually the improperly high position loop gain will render the motor to oscillate If this situation happens reducing the position loop gain or increasing the speed loop gain can help suppress the motor vibration At any case the bandwidth of the position loop cannot exceed the natural frequency of the apparatus If a fast response is required not only the servo system controller servodrive servomotor and encoder must be selected and tuned properly bu
16. If the CNTL parameter is set in the Common Parameter menu as S P speed Position P T Position Torque or S T Speed Torgue 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 servodrive is in Speed operation mode when connected the servodrive is switched to Position operation mode 13 7 VCMD and TCMD Inputs CN1 1 and CN1 8 VCMD When the servodrive 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 inthe 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 servodrive 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 Torgue command VCMD TCMD AGND Note CN1 1 is for high resolution analog signal input 12 BIT Please purchase YPV XXX V series servodrive if high resolution analog input is needed The input pin of the standard analog input resolution 10 BIT is CN1 8 24 13 8 TLCMD Torque Limit Analog Command Input CN1 9 This signal is used as analog torque limit command input when CN
17. Mokon Series Driver User s Manual CHP RMP AMA P JS AUTOMATION CORP oat By ak OP ep 10056 E 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 jsnet automation com tw Export control cards automation com tw CONTENTS 1 CHECKING MOKON SERIES PRODUCTS ON DELIVERY scsssssssrroeeessees 2 1 11 SERVOMOTOR NAMEPLATE DERSCRIPIIONS oo cccccsssseeeeeeeeesessnees 2 LS SERVOMOTOR MODED zcr T ETOS 3 1 3 SERVODRIVE NAMEPLATE DESCRIPTIONS 00000 ne 3 4 4 SERVODRIVE MODEL asap Se ee 4 DS OER VODRIVE PARTNAMES EE 5 2 SERVODRIVE INSTALLATION PRECAUTIONS qu cccccscccsscccceccccccccccecccsccsseees 6 3 SERVODRIVE WIRING PRECAUTIONS sssssseeeesssssssooceecssssssosocessssssssooseessssssssoseeesssssssosose 8 4 SERVOMOTOR INSTALLATION PRECAUTIONS sseeeeessssssssoeecsssssssooseecsssssssssosssesssssoso 10 5 TVO SIGNAL DEFINITIONS AND CN1 PIN ASSIGNMENTS ccsssssssscccccccccoeeeees 13 6 ENCODER WIRING AND CN2 PIN ASSIGNMENTS OF THE SERVODRIVE 15 Te POSITION COMMAND INPUT CIRCUIT wssssscssssccesessoncsseasecvcsasisesessssvnsscccscsessessscaceassteaecess 16 O ANALOG CONMMAND INPU PF CUR CURE eegene 17 8 1 ANALOG COMMAND INPUT CIRCLUIT nana 17 9 2 DIGITAL INPUT CIRCUIT INTERFACE A AA ele ba 17 9 OUPTPUT INTEREA CE CIRCUITS s tere eegene a aa io i a 17 9 1 DIGEITALOUIPULI
18. NIERNANCE ee 17 9 2 ENCODER DIGITAL OUTPUT INTERFACE CIRCUIT 000 ees 18 10 POSITION CONTROE UN TEREA eegene 19 11 SPEED CONTROL INTERFACE nina naseda aa aaa aa 20 12 ZEHREN TEREAC IE esanic e 21 13 DESCRIPTIONS OF MOKON SERVODRIVE INPUT SIGNALS ceeeeee 22 SE SERVO ON EE Ee 22 13 2 RSTSERVO RESELINPUL CNIH EE 22 13 3 TLM TLM TORQUE LIMIT INPUT CNA 22 13 4 PRIH FORWARD ROTATION INHIBITED AND NRIH REVERSE ROTATION INHIBITED INPUTS CNE IH ED EE 23 13 5 MOTOR HOLD OR PI P CONTROL MODE SWITCH INPUT CNI 16 23 13 6 MDOOPERAHON MODE ane a a A a 24 13 7 VCMD AND TCMD INPUTS CN1 1 AND CNTa ccecccccceeeeeeeeeeeeees 24 13 8 TLCMD TORQUE LIMIT ANALOG COMMAND INPUT CN1 9 25 13 9 PPCMD PPCMD NPCMD NPCMD POSITION COMMAND INPUTS CN E20 EE 23 13 10 SPD1 SPD2 SPD3 INTERNAL SPEED SWITCHING INPUTS CN1 32 35 ELGNI ELGN2 ELGN3 ELECTRONIC GEAR NUMERATOR SWITCHING INPUTS CN1 32 35 26 14 DESCRIPTIONS OF MOKON SERVODRIVE OUTPUT SIGNALNW eee 27 14 1 ALM SERVO ALARM OUTPUT CN1 10 00 cccccceceeeeseesstseeeeeeeeeseeesaaes 27 14 2 BRAKE MOTOR BRAKE RELEASE OUTPUT CNTLUI ccc ccees 27 14 3 ZERO SERVO SPEED ZERO OUTPUT OCNT Ap 28 14 4 ITLMIN TORQUE LIMIT OUTPUTOCNTL AI 28 14 5 INS INP SPEED POSITION ARRIVAL OUTPUT CNI 18 28 14 6 MONI MON2 ANALOG MONITOR OUTPUTS CNI 11 12 29 14 7 ENC
19. NM75175 Tljor MC 3486 or the DGND c 23 m equivalent 24y Si IC 24 E LN korm 4 E SS 10 PALM Alarm output n Fy a m i EN KI 17 BRAKE Motorbrakerelease output D II a 5 i 18 ANS Speed Arriavl output eh ol EJ bei OH preu ys a o 5 SEN 45 biki DI ZER O Speed Zero output SEN 5 Ef j 37 fITL In torque limit output 1 e roum E F 5 z ti D ti JI 4 tprepresentstwisted pair wires 2 Thetime constant forthe primary 34 filter isd us a VCO san optional module with a fixed scale between the motor rated 5 dl speed and the input voltage which must be specified when ordered FG s Canned the shielding toa the connector shell 21 13 Descriptions of Mokon Servodrive Input Signals 13 1 SERVO ON Input CN1 6 This signal is used to turn on and off the power to the servomotor SON CN1 6 0 0 Do not use SERVO ON SON signal to start or stop the servomotor use an input command signal instead 13 2 RST Servo Reset Input CN1 7 This signal is used to reset the servodrive after clearing the servo alarm RST CN1 7 O 13 3 TLM 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
20. ODER OUTPUT SIGNALS CNL 19 231 29 15 USER PARAMETER SETTINGS AND FUNCTIONS cccccccccccsccssssscsssssseees 30 15 1 COMMUNICATION PROTOCOL gesend 30 15 2 COMMUNICATION PORT TO LINK WITH THE SERVO DRIVER 30 15 3 INTRODUCTION OF THERFUNCTIONS nana 31 154 VCOVIVIONEARAME TER ana ea ee EE 32 159 SPEER D PARAVIE DER MENU oi oe A ee 35 15 6 POSITION PARAMETER MENU sni eo ale eo eb aja EE 38 ENG KARIER CN En LBE 4 159 SERVOGAIN OE WR EE 43 16 ALARM DISPLAY TABLE ae ia de E ae 46 17 CONNECTOR PIN ASSIGNMENTS DIAGRAM ccssssssssccccccccccccccccsccsssssssseeees 47 15 SERVODRIVE DIMENSION cccsiscccssscscssccssascckestentsncenssscesessvesenssasdsassssessnseapeceasosessooetesabeeress 48 19 REGENERATE BRAKE RESISTOR SELECTION GUIDE cc ccccsccroeeeees 49 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 Check the packed products for damages that may have occurred during shipping 2 Check whether the name and number of the delivered products are the same as those on the delivery sheet 3 Check whether the servomotor and servo drive capacity and encoder specification are the same as the ordered 4 Tn the case of special order please carefully check the delivered products and contact our company immediately if any item 1s incorrect 1 The table below
21. Speed lt gt Torque operation mode which can be switched through CN1 34 MDO Motor brake discharge time MBR MBR is effective only when CNI 17 is programmed as the Motor Brake Release function Default value 0 Maximum value 1000 Unit ms Servo OFF Servo OFF Servo ON Cn1 17 BRAKE Cnl 17 BRAKE MBR 32 Monitoring output voltage MOVL Default value 10 Maximum value 10 Unit V This field is used to set the maximum output voltage of the monitoring signals for both channel A and channel B If S Monitoring is selected the maximum output voltage corresponds to the motor rated speed If I Monitoring is 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 rotation selection MRO Default value Forward rotation is defined as counterclockwise 0 Forward rotation is defined as counterclockwise forward rotation corresponds to the counter clockwise rotation of the motor when observed at the drive end of the shaft 1 Forward rotation is defined as clockwise forward rotation corresponds to the clockwise rotation of the motor when observed at the drive end of the shaft CN1 16 function selection D1 16 Default value Hold Forward and reverse rotation inhibited 0 Hold Forward and reverse rotation inhibited function
22. UULI po CN1 27 a CN1 29 From open collector output Example 2 Using power supply built in the servodrive CN1 30 330 Ohm mi CN1 26 CN1 28 WL e CNI 29 CN1 31 16 8 Analog Command Input Circuit 8 1 Analog Command Input Circuit SK 1 4W sv 10K lt proi Pes CN1 2 CN1 31 DGND DGND 8 2 Digital Input Circuit Interface CNI 6 _ 24G 9 Output Interface Circuits 9 1 Digital Output Interface Example 1 Connecting to a relay output circuit Relay ALM CNI 10 24G CN1 5 17 Example 2 Connecting to a photocoupler output circuit 24V ALM CN1 10 Output 100mA i CN1 22 Res FATTO 106s 1500 24 UI SIJATJJIJI BUSTS Iapoong Note Be sure to connect the shielding represents twisted pair wires 18 10 Position Control Interface Noise filter gt Be sure to groundto the earth CO PLS SIGN C CW e B phase servo on signal input son S Alarm resetinput IRST iii 13 Torque limit input ALM Forward rotation 14 Inhibited input PRIH 5 8 Reverserotation up dace Inhibited input 32 Electronic Gear EGA selection 1 input Electronic Gear EGI e a s lection 2 input 35 Electronic Gear EG selection 3 input 34 Mode Switeh input MDO 5 A phase 4 zm HE ja A 20
23. 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 servodrive and servomotor HI 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 terminals can be bended up to be kept away from the front nameplate as shown be Wiring for the Controller and the Encoder A 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 short circuited by the solder or unused leads Wrap the soldered leads with shrinkable tubes to keep from being touched by each other If the leads from CN2 must be extended care must be taken in the connection section and proper shielding measures must be adopted to suppress EMI noise D Do not stretch tight the leads of CN2 to avoid wiring faults of the encoder E 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 1f Mokon series is used in position control mode If not using the line driver type the PULSE GND must be c
24. de Analog Output Analog output Analog output Analog output 2 Analog output 19 Encoder A phase Differential line driver digital 20 fovutput signal A phase B 21 JEncoder B phase O Differential line driver digital Bom fouitput signal B phase Differential line driver digital iz A amatsiend Z phase 14 6 Encoder Wiring and CN2 Pin Assignments of the Servodrive arm a a a Blue Red 5V WhiteRed GND AS Silver braided wire Shielding Signal waveform of feedback Encoder The figure below shows the forward rotation CCW waveform of the encoder Front view of the shaft Gs rotate ia v I H I U phase A phase i z i s A phase U phase l 1 I T 360 2500 S BPUSTS aIn eIpend 06 SI 32U2I2 J1p ssrud B phase gt B phase Yy phase A phase C W phase FUSIS X pu lt A STEUBI S UOTJE TNWWOD aseyd 2 lt D gt _ A a ZA Se LZ Z phase center blisin dg i g edge of phase U 7 Position Command Input Circuit From differential type line driver 26 SO CN1 28 330 Ohm UI CNI 27 CNI 29 From open collector output Example 1 Using an external power supply provided by the user Note Mokon Servodrive can be only connected with 24V external power supply CN1 25 1 5K Ohm T es 330 Ohm CN1 27 H r CN1 29 J
25. e installation in the control cabinet allow at least 40mm between each When installing servodrives side by side as shown in the figure below allow at least 50mm above and below each servodrive or install cooling fans to facilitate air circulation Servodrive Installation and Cooling Method Cooling Fan 4 ventilating hole MINI with filter i D oe s GE CE z GEI lt E v E ni E mz CEA mi E az DOOD OD ODOD Control Cabinet Alt inlet amp Prevent Foreign Object Intrusion 1 Prevent the drilling and cutting chips from entering the servodrive during installation 2 Avoid the odd objects like oil water and metal powder from entering the servodrive 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 A Do not install the servodrive in locations likely to be affected by oil and dust If unavoidable please install the Servodrive in the airtight control cabinet and consider using ventilation filter Also use a protective cover over the Servomotor B When installing multiple servodrives in one airtight control cabinet allow at least 50mm between above and below each servodrive and leave 120mm for maintenance space In additi
26. e 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 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 27 14 3 ZERO Servo Speed Zero Output CN1 36 This signal is used to indicate that the speed of the servomotor is lower than or equal to the ZSPD parameter set in the Speed Parameter menu and issued by connecting CN1 36 to 24G Speed ZSPD Value jg 14 4 ITLM In Torque Limit Output CN1 37 When the servodrive CN1 13 TLM is connected with 24G or 1f 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 14 5 INS INP Speed Position Arrival Output CN1 18 If the servodrive is set as S 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 Servodrive 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
27. mand CNI 1 or CNI 8 Set the maximum input voltage of the speed command and this maximum voltage corresponds to the rated speed of the servomotor 2 Command offset SPDO Default value 0 Maximum value 10000 Unit ImV 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 subtracting this setting from the input voltage CN1 1 or CN1 8 command command after compenstaed 3 Command Channel ADO Default value AD Select the speed analog command channel 0 AD analog command input from CN1 8 resolution 10 BIT 1 VCO analog command input from CN1 1 resolution 12 BI 35 Speed death band SDB Default value 0 Maximum value rated motor speed Unit RPM The servodrive 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 vi og Speed command V 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 and thus the servomotor cannot be stopped 3000 Motor Speed RPM Internal Speed Enable Setting SPO Default value Disable 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
28. o the set value of ZSPD CN1 36 will be conducted Default value 10 Maximum value 30000 Unit RPM Speed Arrival INS under speed operation mode when the motor speed is lower than or equal to the set value of INS CN1 18 will be conducted Default value 2000 Maximum value 30000 Unit RPM RPM ZSPD gt ON db OFF Enter The input parameters will be transmitted and stored in the registers of the servodrive The input parameters will not be maintained in the servodrive after the power is turned off Flash update After entering the parameters it is necessary to press this button to write these parameters stored in the registers onto the FLASH ROM in the servodrive These parameters will thus be maintained in the servodrive and not disappear after the power is turned off 37 15 6 Position Parameter Menu bm iY Parameter Setup Files Parameter Toning Parameter About Mode Digital Output Setup Positioning completed output fi Pulse Electronic Gear Setup Gear numersior 10 pea ees Ena fo 1stGeernumeraior 10 2 si Gear numeration 100 3 st Gear numerator 1000 Acc f Dec Time Setup Flash Updete Dec time fo GA Enter 1 Command mode PMOD Default value PULSE DIR Mokon servodrive can accept the following three types of command ne ZE LI Es 4 Phase advances B Phase by 90 degrees B B Phase advances 4 Phase by DU degrees CW CCW PULSE DIR
29. on to ensure the reliability and improve the product life leave certain distance between the servodrive and the cabinet ceiling so the temperature around the servodrive does not exceed 55 C which might lead to poor ventilation C 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 D When installing near a source of vibration install a vibration isolator to protect the Servodrive from vibration 3 Servodrive Wiring Precautions Wiring precautions Main wiring A Apply three phase 220V AC mains through the NFB to the magnetic contactor then connect to the servodrive RST terminals Consider installing a reactor and linear noise filter if the local power supply quality is poor Connect the UVW terminals of the servodrive 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 is determined from the
30. on fExterneltorque limit m 1 Torque Filter Time Constant TQCA Default value 25 Maximum value 500 Unit us If the servodrive causes the machine bed to shake properly tuning the torque filter time constant may help suppress the shaking The smaller the filter time constant is the more responsive the speed loop is The tuning will be dependent on the practical condition of the machine bed 2 Internal Torque Limit ITLS Default value 300 Maximum value 300 Unit When CNI 13 is connected with 24G the Internal Torque Limit is adopted as the torque limit command and used to limit the motor output torque 3 Internal Torque Speed Limit TSLS Default value 2000 Maximum value rated motor speed Unit RPM Under the torque operation mode if the Internal Torque Speed Limit is adopted by the Torque Speed Limit Selection the set value of which is used to limit the motor speed V 4 Torque Speed Limit Selection TSLO Default value Internal Torque Speed Limit O internal torque speed limit command the TSLS value is used to limit the motor speed 1 external torque speed limit command the speed limit command is input through CN1 9 analog input pin 41 Torque Limit Command Signal Selection TLCS Default value external torque limit command When CN1 13 is connected with 24G the torque limit command becomes effective to limit the motor torque The torque limit command can be selected from the following 0 in
31. onnected to DGND or the lost pulse fault may occur AA cau on Do not bundle power and signal lines together in the same duct Leave at least 30cm 11 81 in between power and signal lines Use twisted 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 after turning power off because high voltage may still remain in the servodrive Make sure the Charge Indicator is out before starting an inspection Avoid frequently turning power on and off Do not turn power on or off more than once per minute Since the servodrive 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 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 A Servomotor cable line facing downward can prevent the oil and water from entering the servomotor via cable line B Ifthe servomotor is installed vertically or with a slope the cable line should be bended to U type to avoid the oil and water
32. pe B Standard speed Torque command 10 bit resolution V High resolution speed Torque command 12 bit resolution 1 5 Servodrive Part Names The figure below shows the part names of the servodrive Cn3 Communication Connector Used to communicate with a personal computer RS 232 or a control panel YPV series Charge Indicator Lights when the main circuit power supply is ON and staysl it as long as the main circuit power supply Capacitor remains charged STATUS Therefore do not touch the Servodrive even after the power supply is turned off if the indicator 1s lit Main Power Supply and Servomotor Terminals Ge l CNI I O Signal Connector Petes AC mains input Used to input command E Ground Terminal must be or sequence I O signals connected to prevent electrical shock UVW Servomotor Cable Terminal Bl B2 Brake Resistance Terminal Hl H2 Servomotor Thermostat Terminal YELIE amp MCO CN2 Encoder Connector Connects to the encoder in the servomotor 2 Servodrive Installation Precautions The servodrive 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 servodrive make the front panel containing connectors face outward and take into consideration the easy connection disconnection of CN1 and CN2 connectors for measurement 2 For multiple servodriv
33. r ratio can be selected by properly connecting one among CN1 32 ELGN1 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 is also programmed SON CNI 6 Example 1 the internal speeds are set as the following in the SPD1 CN1 32 SPD1 CN1 33 SPDI CNI 35 A i Re waa l internal speed 2 2000RPM O V eer i H i d i internal speed 1y 1000RPM SOORPM speed Parameter menu LOQORPM Internal speed 2 2000RPM Internal speed Internal speed 3 SOQRPM 14 Descriptions of Mokon servodrive Output signals 14 1 ALM Servo Alarm Output CN1 10 This signal indicates that an abnormal state of the servodrive occurs I O power supply Servodrive Photocoupler output each output Maximum voltage 30 VDC Maximum output current 30mA 14 2 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 b
34. sa Tsd to zeros in the 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 1s 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 close enough to the speed command and no oscillation appears along the S Monitor trace The steady state error normally appears because the K VI parameter is zero during this step 6 Slowly adjust the KVI parameter inthe Speed Parameter menu with the default value 130 as a first trial guess The adjustment should not stop until the
35. servomotor the electronic gear ratio 1s calculated as 2500 Encoder pulse per resolution X 4 10000 ELGNO 5000 controller pulse command for one resolution 5000 ELGD 39 4 HZ Acc Dec Time PACC Default value 0 Maximum value 10000 Unit ms Set the acceleration deceleration time under position operation mode PACC PACC TIME S 6 H Enter FLL 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 The input parameters will be transmitted and stored in the registers of the servodrive The input parameters will not be maintained in the servodrive after the power is turned off Flash update After entering the parameters it is necessary to press this button to write these parameters stored in the registers onto the FLASH ROM in the servodrive These parameters will thus be maintained in the servodrive and not disappear after the power is turned off 40 15 7 Torque Parameter Menu Hm iY Parameter setup Files Parameter Tuning Parameter About Torque reference filter time u Internal torque limit ET 6 Internal speed limit bm Rpm Speed limit command Eemal torque speed limit Torque limit command selecti
36. shows the standard set One servomotor One servodrive One CNI 37PIN SR 37LF connector One CN2 ISPIN SR I5LF connector One connector for servomotor powerline One encoder connector One copy of wiring description VVVVVV V 1 1 Servomotor Nameplate Descriptions Rated Output Servomotor Model AC SERVO MOTOR p TYPE Encoder Specification Serial Number Rated Motor Speed 1 2 Servomotor Model Standard Servomotor YBLI3S75 L Z Servomotor Serial Number O L Design Revisions Servomotor Pole Number and Encoder Resolution A 8P1024 P R B 8P2048 P R D 8P2500 P R E 8P5000 P R F 4P1024 P R G 4P2048 P R H 4P2500 P R I 4P5000 P R LA Servodrive Nameplate Descriptions VOLTS HZ Servodrive Model K Shaft length 20mm S Shaft length 15mm B With brake O Special shaft U Terminal box type V Obligue shaft X Cable Connector type Y Military standard connector Z Power cable connector M Water proof L model N Water proof V model AC SERVO DRIVER MODEL YPV 300 B AC INPUT 200 230 f voLTs AC OUTPUT 300 230 PHASE 3 AMPS 17 0 EW HP 30 40 oh 25 300 0302 1 030616 Serial Number MADE IN TALIWA Servodrive Specification 1 4 Servodrive Model Standard Servodrive YPV Series Servodrive YPV 300 B Servodrive nl 040 0 4 KW 450 4 5 KW 055 0 55 KW 630 6 3 KW 075 0 75 KW 860 8 6 KW 100 1KW 1100 11 KW 150 1 5 KW 1500 15 KW 200 2 KW 300 3 KW Ty
37. signal for releasing the servodrive when connected with 24G connected 24G Digital signal for inhibiting the forward Inhibited rotation when connected with 24G Digital signal for inhibiting the reverse Inhibited rotation when connected with 24G HOLD DE HOLD forward Digital signal for inhibting the forward and reverse rotation Land reverse rotations when connected inhibited Speed Loop with 24G or switching between PI P Control control modes under the speed operation mode The function of this pin is selected in the common Parameter menu SV volotage output fo SCH 5V ground output Command singal ground Ed connected with 24G connected with 24G S P Speed mode lt gt Position mode P T Position mode lt gt Torque mode MDO 34 Operation Mode switch S T Speed mode lt gt Torque mode SPEED VCMD Speed command 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 AGND 2 Analog ground Analog signal ground ifr TORQUE TCMD Torque command Enables the motor to output torque proportional to the torque command voltage At 10V the motor outputs 300 rated torque AGND 2 Analog ground Analog signal ground Moi Input signals Signal Name 25 External Power
38. t 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 together with the coupling nu T 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 together with the coupling 11 Handling Oil and Water Install a protective cover over the servomotor if it 1s used in a location subject to water or oil mist Also use a servomotor with an oil seal to seal the through shaft section Through shaft section 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 12 2 I O Signal Definitions and CN1 Pin Assignments Input signals Signal Name Common 415V 3 15V voltage output 15V voltage with alowable 50mA 15V 4 15V voltage output output spare for external analog use eal bl za SH interface CT Digital signal for activating the servodrive when connected with 24G 7 JAlarm reset Digital
39. t also the mechanical system is to be ensured to have high rigidity 1 KV1 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 is expected This parameter is interrelated with KPP and should be tuned to induce no mechanical vibration Default value 130 Maximum value 32767 2 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 K VI parameter is tuned the shorter the rise time of speed response will be Default value 3000 Maximum value 32767 3 KPP corresponds to the dynamic response of the position loop and is 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 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 S Monitor voltage signal for different tuning results in the oscilloscope 44 Tuning procedure for the speed loop 1 Set all the Acceleration Deceleration Time settings Ta Td T
40. ternal torque limit command the ITLS value is used to limit the motor torque 1 external torque limit command the torque limit command is input through CN1 9 analog input pin Enter The input parameters will be transmitted and stored in the registers of the servodrive The input parameters will not be maintained in the servodrive after the power is turned off Flash update After entering the parameters it is necessary to press this button to write these parameters stored in the registers onto the FLASH ROM in the servodrive These parameters will thus be maintained in the servodrive and not disappear after the power is turned off 42 15 8 Servo Gain Setting Speed Gain The following parameters must be set properly for servo gain tuning KV integral time constant of the speed loop KVP proportional gain of the speed loop KPP proportional gain of the position loop Basic Rules of Gain Tuning The servo system contains three feedback loops position loop speed loop and current loop The innermost loop must have the fastest response while the middle loop must have higher response speed than the outmost loop If this rule is not followed vibration or unstable response will occur The design of Mokon Servodrive ensures the current loop has good response performance The user only needs to tune the position loop gain and the speed loop gain Use position control D eee
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