TSDA Series Driver User's Manual
Contents
1. EN 50 SMIBIOOA 3MB100B 3000 Rated Phase m sis Maximum Peak canna 6 4 6 se n ss 5 Incremental type Sine Wave ain AC110V AC220V 10 15 10 15 AC220V 10 15 Single Three Phase 50 60 Hz Control Single Phase Single Three Phase 50 60 Hz AC220V 10 15 50 60 Hz Single Phase 50 60 Hz Temperatur Operation 0 50 C Storage 20 80 C Operation Storage lt 85 RH lt 050 May be defined by User s Parameter Over Travel Positive or Negative Over Travel inhibit inhibit If over travel is occurred the servo power may be disabled or put on hold Analog Monitoring Speed and Torque 10V 10V Output 5 digit LED display D I Servo ON Reset Reverse Inhibit Control Mode External Torque Limit pd Emergency Stop Pulse Input Inhibit etc RS 232C for User s Parameter setting and status monitoring Ee lt nviron ment Control Mode Control Mode Position Speed Torgue Input type A B phase Up Down pulse or direction pulse Max Input Freg 500kpps Electronic lt lt zat 11275 127 A amp B 1 10000 Time Constant 0 10000ms Filtering 0 32767 Pulses 0 10V Looking at the motor shaft V CCW Three preset speeds available through defining User s Preset Parameter Speed Variation Less than 0 03 when load changes from 0 to 100 Rate Less than 0 02 when power source voltage changes from 10 t2. 15V Output Between AG 15V Outpmat Betereen AG 15 2 6 Torque mode Torque mode CN1 Wiring Single phase 2207 50 60 RST E 5 Filter gt ss o o NFB CI Po T PUE 249 ren Servo Act T E n 1 U 1 CCW Inhibit IDE CW Inhibit 2 RSTP Encoder output 1 gt Emergency o EMG 1 Encoder Encoder cutpu E Control mode switch 4 7 1 Encoder output B Encoder autput Z Alarmclear as i Encoder output Z 1 Internal speed limit 4 o SELL 4 Internal speed limit2 o 0 54212 i Wc Encoder Phase Z 106 OV WeMax 247 When We 24V R4 4 7K C2 ov 106 When Vc 12V R4 2 4K C2 When Vc 25V R4 1 0K C2 I 1 1 Servo ready 24 I Servo alarm js Zem speed detect Brake pontrol PIC It H Tonue reach Speed command limit 0 101 l 1 AL Alarm code 0 i Alarm code 1 I EA Alarm code 2 514 Torque command 10V 1 Alarm onde 3 1 AGT oy e 26 Voltage output peed Analog gound Voltage Torme 15V Between AG FG 15V Output Between AG 16 2 7 Power and motor diagram TSDA15 TSDA20 Single phase 2207 Brake power TSDA30 I MC SINGLE PHASE 3 PHASES Recommended line filter Three phase DELTA 08TDS4W4 Single phase DELTA 06DPCW5 Regenerative Re
3. 9 s Name a I O Mode Function any abnormal condition is detected ZSP out ZSP connects to DG if PN11 4 is 0 Zero speed ZS S the motor speed lower than the speed set in PN7 20 Do 1 This signal is used as a control signal for external brake if PN11 4 is 1 BI connects to Brake BI S DG to release the brake at servo on and open at servo off The timing can be adjusted by the value set in PN32 When the pulses difference between the command pulses and the feedback pulses is less In poston DIE 5 than the set in the PN20 The INP signal 21 Do 1 turns ON INP connects to DG When the motor speed exceed the RPM value Speed reached INS S setin PN8 the INS signal turns ON INS connects to DG 22 alarm bit 0 Binary representation of the alarm codes The 23 alarm bit 1 0 1 PS alarm code output from these ports is the same 24 alarm bit 2 as the code shown on the 7 segment display 25 alarm bit 3 A 10 10 speed command input or torque command input PN3 is used to scale the input value If the rated speed is 3000RPM and 26 q SIN Ai ST PN3 is 8 that means a 8 V speed command is command interpreted as a 3000 rpm speed command PN10 3 is used to change the direction please refer to PN10 3for details Speed limit PIC Ai T External speed limit input 10V gives a speed limit the same as rated speed 27 CCW torgue
4. 20 Shielding shielding F Connect to the shielding of cable Note Please see the chart shown on Page 12 for Di 3 characteristics 13 2 4 Position mode Ex Position mode CN1 Wiring Single phase 220V 50 60 gt RST d Inside a i pkmn T EEE UMP er 0 O ed O White 0 E E Q O Black 240 ara mI Servo Act 7 a i 34 ra Motor n 4 ra ee TNI CCW Inhibit ot STP 44 J N C EII 4 47 Inn T EE ue emm Emergency EM HO ES OPA Encoder output EI E uem 1 Encoder output B 5p Switch EE Te 3 Ex E Encoder output B gt 1 PZ D TM 14 gt 1 Encoder output Z torque contol enable Ai mr b Le c 3 Jol gt h 23 Comtol mode switch Q B p 1 Alarmclear i m 21 Encoder Phase Z outpat 1 Enor counter clear o UV VcMax 24V When Vcz24V R4 4 7E 1 Pulse command inhibit ot When Vcz12V R4 2 4K 2 E When Vcz5V R4 1 0K C2 ov RDY Servo ready 24 GALM Servo alarm Ini E Brake conhol CCW torque limit IMP Analog ground In Position CW toque limit AL Alarm onde 0 Wir onde 1 gt Pulse n 5 Alarm code 2 Ms Poe O Alarm onde 3 mee M gt P 7 Voltage output Speed
5. EC CTA XX Amber gt 31 CUR Voltage output Torque V m 15V 157 Outpat Between AG FG 0215 15V Outpat Betwreen AG 14 2 5 Speed mode Speed mode CN1 Wiring Single phase 220V 50 60 dep ide mm Filer 14 PC 5 5 o NFE Peer a White 247 VERD Servo Motor CCW Inlibit pee ERE CW Inhbit SPA OS Enroderautpat Emergency I Encoder output Encoder autput B PIPI Switch L Excoderautgat B Encoderau External torque enab k s 22 NEM x SEES coder output Conhol mode switch Alamckar E Encoder Phase Z output Servo Lock 0 24 When Vcz24V R4 4 7K 2 When Vcz12V R4 2 4K 02 Internal Speed 1 When Vcz5V R4 1 DKN 18 RDY Sero realy 249 Internal peed reverse T U GB O ALM Servo alam 3 Ind Zero speed detect Brake ponhol r Speed reach 45 ER zd Alarm code 0 RESI Nd ILLE Alarm code 1 24 CCW torque limit y 2 gt Analog ground XC xa 1 BEP 2 4 CW torque limit 8 3 gt Alarm onde 2 En NE IA Alarm de 3 1 1 25 45 25 D ov 1 1 SIN 205 ee gt Speed command x10V gt a Voltage outpat S peed 1 Analog ground M gt Voltage outpat Tomue V i 1 V
6. IBSRHbc The fourth fifth digit represents the Date 4 Press the DATA key for more than 1 second to return to the auxiliary function mode L 003 3 2 5 Reset Warm start 1 Press the A key W key to select the function 4 M 2 Press the DATA key for more than 1 second and the following pattern is displayed FESEE 3 Press the MODE key to confirm the reset amp Press the DATA key for more than second to abort the reset 26 3 2 6 Input ports status PIN number Bitnumber j definition Servo on Alarm reset P PI CCW inhibit CW inhibit External torque limit Clear error counter Reserve Emergence stop Internal speed 1 Internal speed 2 Control mode Pulse command inhibit NO N 1 2 3 4 5 6 7 8 Na N 1 Pressthe A keyorthe W key to select the function 5 M 5 2 Press the DATA key for more than 1 second The displays will show the pin number in left 3 characters and show the status in rightmost digit If the status digit is 1 which means the pin is connected to DG or 0V or close If the status digit is 0 which means the pin is connected to 24V or open 1 1 1 3 Press the key W
7. ette t Gt e Re e eld 18 Write data10 dVIVET ise RN E REN 19 Memory NIB DoD 22 PANEL OPERATION eeeee eene enses ense ene sn senses ssnsesseess 3 1 3 2 3 2 1 3 2 2 3 2 3 3 2 4 329 3 2 6 3 2 7 3 2 6 MODE SELECTION eerte eoe O a 23 AUXILIARY FUNCTIONS teretes NEUE EE EE CER eH 24 Historical alarm code ui ee RR etes 24 Clear the historical alarm codes esee entente 25 JOB aa Ld oid ot od itd ERR GST E IR PD EI E RU ENS 25 Firmware versio ee DEBERE DEREN Red esiste 26 Reset WOUhctartz e 26 Input portsiStatus 5 sU 27 28 Scaling the positive speed input eee eese eene tete 28 3 2 9 Scaling the negative speed 29 3 2 10 Reload the default values eee eese tenete teinte tnnt tenete ene 30 3 2 11 o da en eee ad 31 3 3 USER PARAMETERS en En teg ec ODE RE ee teet i etes cet esee 32 3 4 MONITOR MODE 5 p le eec dee tene e edd eed ee edet 38 1 Introduction Thank you for choosing TSDA series AC servo Drivers TSDA series Drivers use the latest servo technology to provide high precision and versatile functions for driving TED CB MB and CC series serv
8. 0 8 Thus the write command is W5300008B7 W 57H 5 35H 3 33H 0 30H 0 30H 0 30H 0 30H 8 38H B 42H 7 37H Please note that only the last two digits of the Check Sum are used Driver s response 25H If there is a Check Sum error in the read command then the driver returns 21H For Monitor Mode Address 128 80H 157 9DH the data sent to the driver is the number of times which the driver will respond with the content stored in the specified address For example Sending a string of W5800008BC will cause the driver to respond with the content stored in address 80H for eight times The format of the response string is the same as R5 read command This function can be used to monitor a certain data such as speed or torque continuously Writing a zero to one of these addresses will clear the content store at that address To write a DOUBLE WORD to driver Syntax MBNnXxYyAaBbSs write command must be started with 5 and the command string length must be 14 Where 5 This is a double word write command Nn the address of the data to be written Xx The high word of the data to stored in Nn 1 Yy The Low word of the data to stored in Nn 1 Aa The high word of the data to stored in Nn Bb The Low word of the data to stored in Nn SS gt M 5 ry LAT ar Driver s response 25H If there is a Check Sum error in the read command then the
9. PS 0 10 External torque limit 10V voltage input limit gives a 3 times rated torque limit in positive direction CW torque NIC Ai PS 0 10 External torque limit 10V voltage 28 limit input gives a 3 time rated torque limit in negative direction 10V represent 4500rpm offset can be 30 Speed monitor TG Ao PS adjusted from PN34 10V represent 3 5 times of rated torque output The offset can be adjusted E PN35 Analog ground AG PS Analog ground 33 15 15 DC 10mA MAX power source for SIN 34 Voltage out is S PIC NIC test 35 Encoder phase PA DO0 2 PS Encoder input pulses after frequency division 36 A output IPA PNO is output by line driver 37 Encoder phase PB When PN10 3 is 1 the motor rotation direction 10 Name k I O Mode Function 38 B output PB is CCW phase A lead by 90 degree 39 Encoder phase PZ Transfer the Z phase of the encoder input 40 Z output signal 41 Reserved Do not use 42 Reserved Do not use 43 Encoder phase Zo D0 1 PS An open collector output for encoder phase Z Z output 44 Encoder ground EG PS Encoder ground 46 Digital ground DG PS Ground for digital input and output ports 49 50 Shielding FG PS Connect to the shielding of the cable means for position mode 5 means for speed mode means for torque mode means f
10. There are 3 modes to select from Auxiliary function Parameter setting and Monitoring Press the MODE key repeatedly to cause the displays to scroll in the following sequence Power on Display the RPM equivalent to dn000 000 0 i 000 Parameter setting mode t 0 0 Monitoring mode 3 2 Auxiliary functions Press the MODE key repeatedly until the following pattern is displayed F 00 3 2 1 Historical alarm code The last 10 alarm codes are stored in the EEPROM Use the following procedures to retrieve the stored alarm codes 1 Select the auxiliary function mode gt Fh 00 2 Press the DATA key for more than 1 second 00 3 Press A key W key to scroll up and down among the previous alarm codes The leftmost number is the alarm sequence where 9 means the oldest 4 Press the DATA key for more than 1 second to return to the auxiliary function mode Fn Pd Il 24 3 2 2 Clear the historical alarm codes 1 Press the A keyorthe W key to select function 1 UP Fin DO 2 Press the DATA key for more than 1 second until the following message appears Elric Lir 3 Press th
11. driver returns 21H For Monitor Mode Address 128 80H 157 9DH the data sent to the driver is the number of times which the driver will respond with the content stored in the specified address For example Sending a string of M58000080008Ss will cause the driver to respond with the content stored in address 81H and 80H for eight times The format of the response string is the same as 1 5 read command This function can be used to monitor a double word data such as accumulated pulses 20 continuously Writing a zero to one of these addresses will clear the content store at that address 21 2 8 4 Memory map Historical Alarm Codes NO 0 NO 9 Address of the last Alarm 0 9 User Parameter Check Sum NO 0 NO 51 XOR User Parameter NO 0 NO 51 Read Write unsigned Reserved for USER as the motor model Reserved Backup copy of Addr11 Default values for User Parameters NO 32 NO 0 128 147 Monitor Mode NO 0 NO 19 Read only signed 148 157 Monitor Mode Data Area See Section 2 8 3 for detailed information 158 191 Reserved 192 COH l Address 11 is the check sum of Address 12 63 Any value change in Address 12 63 will cause Address 11 to be changed accordingly Writing a 0 to this address 192 will disable the updating function of the Address 11 Writing a 1 to this address 192 will enable the updating function The system default is enable During the disable state writing a
12. 1 set current input offset to 0 Hxxxn n 0 dynamic brake on while servo off n 1 dynamic brake off while servo off Dynamic brake always on while power off Hxxnx n 0 high speed mode increase the MAX speed by 10 20 n 1 normal mode Hxnxx External inhibit signal 33 Definition from input ports to enable or disable n 0 disables n 1 enables positive inhibit signal n 2 enable negative inhibit signal n 3 inhibits both signals Please refer to parameter 12 3 for more information Default effect PC r w address Hnxxx n 0 output signal zsp bi means zero speed n 1 output signal ZSP BI is used to control an external brake Hxxxn acceleration and deceleration time for speed mode n 0 time 0 n 1 linear acceleration Acceleration and deceleration time is set in the parameter number 28 n 3 deceleration time is set in the parameter number 27 Acceleration time is set in the parameter number 28 n 4 Smoothing acceleration Acceleration and deceleration time is set in the parameter number 28 0 1 3 4 Hxxnx n 0 speed command is not influenced by ZSP ouput 1 speed command is clamped to 0 while ZSP signal is on Hxnxx n 0 servo keeps on while external inhibit activated n 1 servo off while external inhibit is activated Please also refer to parameter number 11 3 Hnxxx n 0 internal speeds not effective 1 internal speeds effec
13. B75BF 182 MBIOOAF 191 MBIOOBF 192 MB100BH 194 110 203 150 211 150 212 150 1213 MB200BF 2232 MB220CF 243 MB300BF 252 MB300CF 253 C series motor s ID list Motor type Motor type Motor type CC201G 300 CC401G 310 5 1 321 CC501D 322 MC501C 323 CC751G 330 CC751E 331 MC751D 332 MC751C 333 CC102G 340 MC102E 341 MC102D 342 MC102C 343 39 Motor type naming convention M B 1 0 0 BH Encoder pulses per revolution CB MB series F 2000 2500 CC MC series null 2000ppr Motor rated speed CB series null 3000rpm MB series A 1000rpm B 2000rpm C 3000rpm CC MC series G 3000rpm E 2000rpm D 1500rpm C 1000rpm Motor rated power CM MB series 100 gt 1000W 030 300W CC MC series 102 gt 1000W 201 200W Series name 40 4 Alarm code A message such as 1 indicating that an error has occurred The message will stay until any key is pressed To remove Definition Low voltage DC voltage below 224V or AC voltage below 160V see note 1 2 Over voltage DC voltage over 390V note 1 2 most of the case is happened on a large inertia Please watch DN9 while running If this value becomes bigger and never return to 0 please add an external resistor for regeneration Please refer to PN40 The alarm also happens on high AC line voltage reset Over load a 200 rated load can last for about 10 sec
14. Connect to a CW over travel 4 CCW inhibit FSTP Di 1 sensor switch detector Normally closed contact Connect to a CW over travel 5 CW inhibit RSTP Di 1 sensor switch detector Normally closed contact 6 External torque PS Connect this signal to DG will limit the torque limit TLMT Di 1 output in the range of NIC to PIC External speed T Connect this signal to DG will limit the motor limit speed below the speed read from PIC pin27 Clear error CLR P Clear error counter 7 Di 1 Lock thel ion if 1 di ock the last position 1f speed command is lower than 23 RPM 8 Reserved Do not use 9 Emergency stop EMC Di 1 A Servo off if EMC connect to DG SP SP Speed mode Torgue mode D1 D2 10 Internal speed 1 SPD1 010 SIN pin26 PIC pin27 1 ST 1 0 Internal speed 1 Speed limit 1 O 1 Internal speed 2 Speed limit 2 11 Internal speed 2 SPD2 1 1 Internal speed 3 Speed limit 3 Effective only in PN 12 4 1 1 12 Control mode MDC Di 1 Please refer to PN10 1 13 Command INH Dr1 P Ignore the input command pulses pulse inhibit 14 Pulse PP Input pulse PN10 2 Pin 14 15 Pin 16 17 Di 2 value 15 Pulse PN P Thetype 0 Positive Negative 16 Direction DP Di2 is set by 1 Pulse Direction 17 Direction DN PN10 2 2 PhaseA Phase B Power source is in normal condition and no alarm REDY connects to DG 19 alarm ALM Do 1 ALM connects to DG normally it is open when
15. TSDA Series Driver User s Manual CONTENTS Ls INTRODUC ION 1 1 1 2 1 3 1 4 1 5 1 6 1 RELOCATION ated etta Ue RE RE E ERR ERR ERAS 1 SAFETY PRECAUTIONS atd e ade e boire iet 2 INSTAEIATION ora HET IONS itat 2 DIMENSIONS 4 SPECIFICATION 22 p o e e e ie e deae dee 6 2 SYSTEM WIRING 3 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 8 1 2 8 2 2 8 3 2 8 4 UNIT OVERVIEW 8 CNT CONNECTOR ettet te te teo dive vada tee dae rt een e eite 9 CN2 ENCODER ee e rete e a e ege CICER iore aee 13 POSITION MODE nean aei e e e ee RE E CR en ee anes 14 SPEED MODE ecient ea ie e ORE e e eee 15 E EEE 16 POWER AND MOTOR DIAGRAM cessere enne nennen nens 17 RS2323 su 3p obe ode dH e hentai He E ERES 18 PC Communication port setting ees eese tette 18 Read data from driver du
16. This is a response Xx High word of data Yy Low word of data Ss Check Sum cx amp Y ey If the data stored in the address 30H is 0008H then Check Sum 25H 30H 30H 30H 38H EDH 0 0 0 8 Thus the reiver s response is 0008ED 25H 0 30H 0 30H 0 30H 8 38H E 45H D 44H If there is a Check Sum error in the read command then the driver returns 21H To read a DOUBLE WORD from driver Syntax L5NnSs read command must be started with 1 5 and the command string length must be 6 Where L5 This is a double word read command Nn the address of the data to be read Ss Check L 5 amp Drive s response XxYyAaBbSs Where This is a response XXxY y data stored in Nn 1 AaBb data stored in Nn Ss yt A a B dD If there is a Check Sum error in the read command then the driver returns 21H 2 8 3 Write data to driver To write a SINGLE WORD to driver Syntax WSXxYyZzSs write command must be started with W5 and the command string length must be 8 Where W5 This is a single word write command Xx the address of the data to be written Yy The high word of the data Zz The low word of the data 55 19 Example Write 8 to address 30H Check Sum 57H 35H 33H 30H 30H 30H 30H 38H 1B7H 23 us 0 0 0
17. While scaling C E d 1s flashing This function is locked to prevent unintentionally activation If this function was activated before unlocking a L message 1 displayed 29 If this function is done successfully d arn E message flashes for 1 second before the confirmation After confirmation I nr C 1s displayed and indicating that the result has been written into the EEPROM 4 Press the DATA key for more than 1 second to return to the auxiliary function mode Unless a donE is displayed the result is stored in the memory temporary to wait for positive data 3 2 10 Reload the default values Function reload the default values for PnO Pn32 Procedure of this function Fn010 gt Fn009 1 Press the A keyorthe W key to select the function 9 M 08 2 Press the DATA key for more than 1 second reguest for a parameter initialization function P 1 iE 3 Press the MODE key to confirm the request iE flashes while reloading d E flashes for 1 second P E This function is locked to prevent unintentionally activation If this function was activated before unlocking a L message is displayed 4 Pr
18. age Note 3 There are 3 methods to reset the driver Power cycle Power off then on Fn004 and send an input signal from pin2 of CN1 However the cause of alarm must be resolved first 42
19. d 4 means 1 rpm 12000 means 3000 rpm Voltage detected in ADO 975 means 10V 97 means 38 DN number definition PC r w address IV Voltage detected in ADI 975 means 2 5V Motor type please refer to table at the end of this section Servo status 0 means servo 1 means servo off Current control mode 0 means speed mode 1 means position mode 2 means torque mode Low word of error counter the 32 bit counter has a range from 500000 to 500000 High word of error counter Low word of accumulated input pulse High word of accumulated input pulse Low word of accumulated encoder feedback pulses High word of accumulated encoder feedback pulses RPM 4 means IRPM E g 480 means current motor speed is 120 rpm this is a sampled value in 1 of 50 samples taken in 10 milliseconds Torque output percentage of the rated torque 120 means the torque output now is 120 of the rated torque This is a sampled value in 1 of 50 samples taken in 10 milliseconds DN number X these values can only be read written via the RS232 communication port CB series motor s ID list If the ID less than 10 then the power sources is 110 VAC Motor type Motor type Motor type CB012F 110 CB020F 120 CB030F 130 050 140 075 150 CB075H 151 MB40AF 161 55 171 MB75AF 181 M
20. e MODE key to clear the memory donEr Flash for 1 second ErcLr 4 Press the DATA key more than 1 second to return to the auxiliary function mode 2 3 2 3 Jog Jog uses the speed specified in the PN29 and the acceleration time specified in the PN28 1 Press the A key W key to select the jog function Fn002 M 2 Press the DATA key for more than 1 second Jo4 3 Press the A key W key to jog in positive or negative direction J 9 Jog in positive direction J 9 JA Jog in negative direction J 9 717 Hold 25 4 Press the DATA key for more than 1 second to return to the auxiliary function mode and close the jog function M Fin ge 3 2 4 Firmware version 1 Press A key W key to select the function 3 M 2 Press the DATA key for more than 1 second to display the firmware release date represents the date 26 JAN 2000 Counting from left to right the first and second digit represents YEAR The third digit represents the month 1 2 3 4 3 G8 7 8 U C represent JAN to DEC respectively The figures are shown as following IC
21. ess the DATA key for more than 1 second to return to the auxiliary function mode 08 30 3 2 11 Lock amp Unlock Functions 7 8 and 9 are locked normally to prevent unintentionally activation The following procedures can be used to unlock these functions 1 Press the A key orthe W key to select the function 10 Fin IL 2 Press the DATA key for more than 1 second to request the unlock function LinL iac 3 Press the MODE key to confirm the request U L flashes while unlocking p d arn E Flash for 1 second L Press the MODE key again will lock the function again 4 Press the DATA key for more than 1 second to return to the auxiliary function mode IL After unlocking the function 9 or the function 7 and 8 can only executed 1 once Function 7 8 and 9 will be locked after execution 3l 3 3 User Parameters 1 Press the MODE key repeatedly until is displayed Press the A keyorthe W key to get the desired parameter number 2 Press the DATA key for more than 1 second to retrieve the content of the listed parameter number n 0 3 If there is a leading then it is a hexadecimal number 3 To edit the number press the DATA key to s
22. g time 0 10000 msec Error counter length 1 500 kpulse Feed forward gain 0 100 Deceleration time The time consumed from rated speed to stop Parameter number 12 1 is used to disable or enable this function 10 1000 0 msec Acceleration time and deceleration time The time 10 1000 0 35 Definition consumed from still to rated speed or from rated speed to still Parameter number 12 1 is used to disable or enable this function Default effect PC r w address Internal speed 1 Activated while the pin10 of the short and the pinl1 of the open rated speed Internal speed 2 activated while the pin 10 of the CN1 open and the pin 11 of the CNI short rated speed Internal speed 3 activated while both the pin10 and the pin 11 of the are short rated speed Brake timing Waiting time or delay time around servo on and servo off Brake will be released before servo on and hold after servo off if this constant is negative servo on command will be postponed Brake will be released after servo on and hold before servo off if this constant 18 positive servo off command is postponed x 2000 Speed monitor offset 10 10 0 02V Torque monitor offset 10 10 0 02V Speed command offset 199 199 0 02V Speed command scale 10000 20000 1 163 84 16384 S
23. hift the flashing digit left Press the A key W key to increase or decrease the flashing digit 4 Press the DATA key for more than 1 second to store the new data into the EEPPROM The number entered will flash for 1 second while recording 45 X 201 5 Press DATA key for more than 1 second to return to the parameter 7 setting mode 1 0 z 32 User Parameter Table Definition Default effect PC r w address PG dividing ratio 1 16 Speed loop gain 5 500 Speed loop integration time 1 1000 Speed scale The motor speed at 200 SIN pin 10 30000 Speed reference offset 63 Positive torque limit 0 300 Negative torque limit 0 300 Zero speed detection Under this 0 255 speed pin20 will be connected to DG Also refer to Parameter 11 4 12 2 Reach the specified speed If the O rated current speed is greater than the speed specified speed pin21 will be connected to DG PWM sampling time 90 125 Hxxxn n mode 0 5 Pin 12 12 short open speed speed position position torque torque speed position position torque 5 torque speed Hxxnx n 0 sign pulse 1 CW CCW n 2 AB phase pulse input Hxnxx n 0 CCW for positive command n 1 CW for positive command Hnxxx n 0 current input calibrate automatically n
24. if the unit power is been shut off If it is necessary to touch the terminal or open the driver chassis please wait at least 10 minutes before continuing While power on the Driver and or motor stand clear from the unit to prevent personal injury caused from erroneous operation Disconnect the power if the Driver Motor unit is not used for a prolonged period To prevent electric leakage connect the motor ground to the FG terminal of the Driver and connect this FG to Class 3 grounding The machine which the Driver and motor are installed must be single point grounded Installation Location 1 If installed in a confined chassis please provide necessary ventilation system to maintain the environmental temperature of the Driver below 55 2 Use rubber pad or shock absorber to insulate vibration if there is vibrating equipment nearby 3 The Driver shall not be installed in an environment where corrosive gases excess dust or metal power is present Insulation from water water mist or cutting fluid is required 4 If there is a big magnet switch or welding equipment which may generate electronic noise near the Driver installation then a line filter is required Recommend filter For single phase power source DELTA 06DPCW5 For three phase power source DELTA 08TDS4W4 5 If a line filter is not allowed for the reason of excess leakage current then a insulating transformer is required at the input of the D
25. k you to present a 2 Volt signal in the speed reference input pin 28 in ie 3 Press MODE key to indicate that a 2 volt signal is connected While scaling C E d 1s flashing This function is locked to prevent unintentionally activation If this function was activated before unlocking a L message 1 displayed If this function is done successfully a d an E message flashes for 1 second before the confirmation After confirmation I C 1s displayed and indicating that the result has been written into the EEPROM 4 Press the DATA key for more than 1 second to return to the auxiliary function mode 001 Unless a donE is displayed the result is stored in the memory temporary to wait for negative data 3 2 9 Scaling the negative speed input This is a special function for final calibration Please don t perform this action without a precision Voltage generator Procedure of this function Fn010 gt Fn008 gt Fn007 1 Press the A key W key to select the function 8 11 FnO08 2 Press DATA for more than 1 second The driver will ask you to prepare a 2 Volt signal in the speed reference input pin in 3 Press MODE key to indicate that a 2 volt signal is connected
26. key to scroll up and down to view all the input ports 4 Press the DATA key for more than 1 second to return to the auxiliary function mode 27 3 2 7 Output ports status PIN number Bit number definition Ready Alarm Zero speed In Position Alarm code bit0 Alarm code bitl Alarm code bit2 4 4 493 Re OU Alarm code bit3 1 Pressthe A key W key to select the function 6 M F n 2 Press the DATA key for more than 1 second then the display will show the pin number in the left 3 characters and show the status in rightmost digit If the status digit is 1 which means the pin is connected to DG or 0V or close If the status digit is 0 which means the pin connect to 24V or open 3 Press the A key W key to scroll up and down to view all output ports 4 Press the DATA key for more than 1 second to return to the auxiliary function mode 3 2 8 Scaling the positive speed input This is a special function for final calibration Please don t perform this action without a precision Voltage generator Procedure of this function Fn010 gt Fn007 gt 008 1 Press the A key orthe W key to select the function 7 M n 1 2 Press DATA for more than 1 second The driver will as
27. ny value to Address 11 will cause the Check Sum to be regenerated If there are many User Parameters need to be changed disabling the Check Sum updating function is highly recommended to prevent excessive writing of EEPROM After changing all the User Parameters a write operation to Address 11 may then be executed 193 CIH Clear historical Alarm codes the contents in Address 0 10are cleared 194 C2H Writing a 1 to this address will initialize the driver with the setting stored in the address 12 63 the block where a user is not allow to change is excluded 195 C3H Firmware version the format is similar to that of Fn003 For the numbering of year 0 9 stands for Year2000 2009 A Z stands for Year 2010 2035 respectively 196 C4H RESET 197 C5H Status the description of each bit is shown in Section 3 2 6 198 C6H Status the description of each bit is shown in Section 3 2 7 199 C7H Current Alarm code 0 means no alarm 22 3 Panel operation Mode selection press this key for more than 1 second to confirm the flashing function Increase the flashing digit by 1 Decease the flashing digit by I press A and W simultaneously to clear the alarm Shift the cursor the flashing digit left by 1 position Press this key for more than 1 second to select or store the data into the EEPROM PN 3 1 Mode selection
28. o 10 Less than 0 05 when operation temperature changes from 0 to 50 Linear Enable Disable may be defined by User s Parameter Acceleration When enabled the time constant may be defined by Deceleration User s Parameter between 20ms 10000ms Zero Speed Specified speed Specified by User s Parameter 0 Rated Speed reach t r Position Servo Lock Enable Disable may be defined by User s Parameter Internal Torque 0 300 rated torque 0 10V Positive voltage for positive torque cache S Filtering peed 0 10V Rated Speed Limit 0 Rated Speed 2 System Wiring 2 1 Unit Overview Display Panel and Push buttons Chapter 3 RS 232 Connector Section 2 8 Power Connector Section 2 7 Motor Connector Section 2 4 Encoder Input Section 2 3 2 2 CN1 Connector Pin Symbo e Name I O Mode Function 1 SON Di1 A SON connects to DG means servo on or servo system ready open circuit means servo off If ALRS is short to DG then the alarm signal is 2 Alarm reset Di 1 cleared However the alarm persists if the reason which caused the alarm is not resolved Connect to DG will switch the control mode 3 P PI switch Di 1 PS from proportional integration mode to pure proportional mode
29. o motors Many safety related features have been built in the Driver design However erroneous operation may result in unpredictable accident and cause damage to the Driver or severe personal injury It is highly recommended that the user is familiar with this manual and performs all setup and operations with caution This manual provides the information you need to install and configure TSDA series Driver This manual is intended for use by vendors who are responsible for installing and setting up TSDA series Driver consequently it assumes a basic working knowledge of SINANO AC servo Motors In this manual the installation related information such as Dimensions and Specifications are described in Chapter 1 Wiring information is shown in Chapter 2 Procedures for Panel Operation are described in Chapter 3 Finally the Alarm Codes are given in Chapter 4 1 1 Unpacking After receiving the shipment from your supplier please verify the following 1 The motor s and driver s are the same as ordered 2 The capacity of the driver matches with the motor to be driven Please see the Driver Specification for correct driver 3 No damage to the packaging material occurred during transportation 1 2 Relocation Please use the original packaging for driver relocation and handle with care 1 3 1 4 1 Safety Precautions Many high volume capacitors are used in the Driver circuit these capacitors remain charged even
30. onds a 300 load can last for about 4 seconds Power off IPM error due to high temperature short circuit over current or low control voltage in IPM the device which provides power to the motor Encoder error the signal from encoder is erroneous please check connection or encoder An abnormal value was read from the current sensors during power on Parameter error the electronic gear rate is not in the range 0 0250 Parameter checksum error The data stored in EEPROM may be corrupted Emergency stop 1 Over current 300 rated current please check the motor connection Or 2 Specify a longer acceleration deceleration time Error counter overflow the difference of command pulses and feedback pulses is larger than the range of error counter which is defined in PN25 Over speed the speed exceeds the value defined in the PN46 Peak input pulse exceeds 600kpps Pin 3 and pin 4 of CN1 open simultaneously Normally all these 2 pins must be connected to DG Due to the setting in PN 12 3 one of the 2 over travel switches pin3 and pin4 is activated and cause servo off CPU error watch dog time out 41 Note 1 Due to the accuracy of the resistor the voltage detected has a maximum of 2 02 difference Note 2 If the rated voltage of the motor is 100 V the voltage level to alarm will be half of the value listed DC112V for low voltage DC195V for over volt
31. or all modes in mode column DiT 3 are input pins Do 2 are output pins Ai and Ao are analog input and analog output respectively AII the circuits are listed in the following charts 11 Di 1 Di Di e 220 P A 220 4 ES S yiL a d PONERET 220 4 A K j Jo l Ai je 2 gt 3031 a A Encoder Jo AG 26 27 28 Jl ES 20k 15 o Do 1 gt Do e gt O gt gt JO mes 7 2 3 CN2 encoder connector Encoder Pin no Name Symbol I 0 Function Wire color Terminal 12 5 5V white B If the wire length for the encoder is longer than 20m please use double wire to minimize voltage drop 3 4 OV OV black I If the wire is longer than 30m please consult with your supplier for recommended wire gage 5 A A Di green A Encoder phase A 6 A blue C Encoder phase A 7 B B Di 3 red H Encoder phase B 8 B B peach D Encoder phase B 9 7 7 Di 3 yellow G Encoder phase Z 10 Z Z orange E Encoder phase Z 11 19 Reserved Not used
32. peed command offset 4 times precision 199 199 5mV 0 Speed command scale 4 times precision 10000 20000 1 163 84 16384 Regeneration duty cycle default value is 4 It means that if the voltage exceed 360V there is 0 04 second regeneration in every 10 second If there is error 2 exists connect an external resistor and observe the DN8 if the value of DN8 remains divergent then this value need to be increased The maximum value here is resistance of the resistor Q times power 0 250 36 0 196 4 Definition Default effect PC r w address dissipation W 134 Current loop gain Inductance Feed back gain Reserved Reserved Reserved Reserved Reserved Reserved Reserved Remarks l Reset means the number is effective after reset from panel CN1 or power off on 2 Enter means effective after value set PC means the value must be transfer in from the RS232 communication port Mode A effective for all control mode P effective in position mode only S effective in speed mode only T effective in torque mode only Default value of PnO Pn32 can be reload by function 9 Pn 33 Pn 40 can be set from panel or from communication port Pn41 Pn50 can only be set from the RS232 communication port 37 3 4 Monitor mode 1 Press the MODE key repeatedly until the monitor mode is
33. reached 970 0 0 P 2 Pressthe A keyorthe W key to get the desired parameter number Press the DATA key for more than 1 second to display the content of the DN 4 Pressthe DATA key again for more than 1 second to return to the monitor mode The monitor mode information list DN number definition Revolutions rpm e g 120 means current motor revolution is 120 rpm this value is the average rpm in 0 1 second PC r w address Torque the value is the percentage of the rated torque of the motor E g value 120 means that the current torque output is 120 of the rated torque of the motor Actual load the value is the average torque output percentage in 26 seconds Maximum load the value is the maximum value appeared in DN2 Error the difference between command pulses and encoder feedback pulses The command pulses are input pulse number multiply electronic gear ratio The display value is clamped between 9999 9999 PIC torque limit for positive direction in percent NIC torque limit for negative direction in percent PIC speed limit in 1 4 rpm A value of 4 indicates 1 rpm A value of 12000 indicates 3000 rpm Regeneration rate 100 represents 1 Maximum regeneration rate 100 represents 1 Maximum torque the maximum torque output since power on Driver capacity 150 means 15A 200 means 20A 300 means 30 Speed comman
34. river Orientation The Driver must be installed vertically 3 Mounting Screw Use four 4 M5 screws to mount the Driver securely 4 Spacing Maintain at lease 2 cm spacing around the Driver unit 5 Foreign objects During and after installation any foreign object such as cutting chips small screw or washer which may fall into the opening of the Driver unit must be prevented 1 5 Dimensions Model TSDA15 E LIII s Tw 5555 ru UC Model TSDA20 60 00 46 00 31 00 CoCa pr 206 00 178 00 46 40 185 8 4 205 177 tei 1 6 Specification General Specification Description TSDA20 TSDA30 Motor Series
35. sister When the inertia presented on the motor is heavy a regenerative resister is required The value of the resister may be obtained by dividing the wattage of the motor from 2500 For example a 50Q resister may be used for a 50W motor If error02 Chapter4 persists then adjusting the regeneration duty cycle Pn040 Section 3 3 is also required Select suitable wattage for the resistor forced cooling by fan may be required for proper heat dissipation 17 2 8 RS232 DB 9 Driver PC DB 9 Com Port 1 1 o 2 2 o o9 3 3 o o o 6 6 MALE 7 7 FEMALE 8 9 9 Please use the cable described above to connect the servo driver to a PC for retrieving the system data and setting up the operation parameter 2 8 1 PC Communication port setting Baud rate 9600 bps Parity None Data bit 8 Stop bit 1 Flow Control None 2 8 2 Read data from driver To read a SINGLE WORD from driver Syntax R5XxSs The read command must be started with R5 and the command string length must be 6 Where R5 This is single word read command Xx the address of the data to be read Ss Check Sum R 5 x Example Read the data stored in 30H Check Sum 52H 35H 33H 30H EAH R 5 3 0 Thus the reading command is R530EA 52 5 35H 3 33 1 0 30H E 45H A 41H 18 Drive s response XxYySs Where
36. tive One of the 3 internal speeds is select from input port Speeds are defined in parameter 29 31 Torgue command smoothing time 0 10000 Torque command gain e g 300 means 300 rated torque output 30 3000 34 Definition when torgue command is 10 Volts 100 means 100 rated torgue output when torgue command is 10V Default effect PC r w address Torque command offset e g if offset is 100 1V a 2 5V command from input port only executed as a 1 5 V command 1000 1000 Speed limit 1 Activated while the pin 10 of the CN1 short and the pin 11 of the open O rated speed Speed limit 2 activated while the pin 10 of the CN1 open and the pin 11 of the CN1 short O rated speed Speed limit 3 activated whiles the pin 10 and the pin 11 of the are both short 0 rated speed In position sets range of positioning completion signal output INP Des 32767 Molecule of electronic gear ratio indicates the number of encoder pulses per reference unit The input pulses will multiply this number to form an actual calculation number 0 02 21 22 50 Pe 10000 Denominator of electronic gear ratio indicates the number of encoder pulses per reference unit The input pulses will divide this number to form an actual calculation number 0 02 lt 21 22 lt 50 Position gain 10 500 1 sec Position smoothin
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