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Mokon-K Series Driver User's Manual

1. mat 2 712 3 8 i3 4 9 i4 5 fois 15 PIN Name of SCSI ii Connector Cable Color the Signal connector 1 Red A 7 2 Green A 8 3 Black B 9 4 White B 10 5 Yellow Z 11 6 Blue IZ 12 7 NC 8 NC 9 NC 10 NC 11 Gray RX 17 12 Orange RX 18 13 Brown Light RED Vcc 3 4 14 Purple Light Green GND 1 2 15 Grounding Line of Isolation Net FG 20 16 17 PIN Name of Servo drive Side Connector Cable Color the Signal SCSI ii connector A Red A 7 B Green A 8 C Black B 9 D White B 10 E Yellow Z 11 F Blue IZ I2 G Purple Light Green GND 1 2 H Brown Light RED Vcc 3 4 J Grounding Line of Isolation Net FG 20 K NC L NC M NC N NC P Gray RX 17 R Orange RX 18 S NC T NC 17 6 Input circuit Digital input 6 1 Photo isolated control input Generally sequence input signals use 12 24Vdc voltage you can connect contacts of switches relays or open collector output transistors to control the input 6 2 Pulse command input circuit photo coupled Line driver I F Input pulse frequency max 500kpps We recommend this to secure the signal transmission since this method has better noise immunity represents twisted pair t m a m m od Open collector I F Input pulse frequency max 200
2. 5push switches on front panel MODE SET Manual V lt Setup support software KSDTools 111 19 Error Code Description Err 11 Causes e e e Solution Y Y Err 12 Causes e e e Solution Y Y Y Err 13 Causes e e e e Solution Y Y Y Err 11 Causes Under voltage protection for control power Control power r t lower voltage Momentary power failure occur the input control voltage Insufficient power result in the instant voltage drop on Measurement control power r t of the input voltage is correct Increase the capacity of power supply Over voltage protection Voltage exceeds permissible voltage range AC 260V Regenerative resistor inappropriate regenerative energy absorption is not complete Regenerative resistor disconnected Measurement main power L1 L2 L3 of the input voltage is correct Replaced by high power regenerative resistor Measured P B2 regenerative resistor values If an open circuit then replace the external resistor Under voltage protection for main power Main power L1 L2 L3 low voltage Main power Instant power failure Insufficient power result in the instant voltage drop on Lack of power phase Measurement main power L1 L2 L3 of the input voltage is correct Increase the capacity of power supply Properly connected to the main power When using single phase power connection L1 L3 When using the three phase power connect L1 L
3. Speed Pr62 CCW CW pn iPr62 IN POS AT SP OFF ON Pr63 Setting of position deviation excess Initial Value 20000 Setting Range 1 32000 Unit Pulse Function You can set the excess range of position deviation Note If setting of position gain is too low and setting of Pr63 is too small even the servo system is not in the abnormality state position deviation excess protection may happen Pr64 Position deviation excess validity Initial Value 0 Setting Range 0 1 Unit Function This parameter can make position deviation excess function invalid Setting Value position deviation excess 0 Valid 1 Invalid As detaining pulses is over the determinant level set by Pr63 it will not be treated as abnormality and continue action 92 Pr65 Setting of positioning complete IN POS output Initial Value 0 Setting Range 0 3 Unit Function You can set the action of the positioning complete signal IN POS CN I F Pin 39 in combination with Pr60 Positioning complete range Setting value Action of positioning complete signal 0 The signal will turn on when the positional deviation is smaller than Pr60 Positioning complete range The signal will turn on when there is no position command and the 3 positional deviation is smaller than Pr60 Positioning complete range The signal will turn on when there is no posit
4. 0 5ms 5ms Not ready Alarm output not ialarm alarm Dynamic brake Base engaged Motor AR energized energization T Pr6B or when time to fall d Hoe Brake Off release 4 J3 outpue Related parameter Pr68 Sequence at alarm below 30r min is shorter get faster time Pr6B Setup of mechanical brake action at running T will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to fall below 30r min T will be 0 when the motor is in stall regardless of the setup of Pr6A For the action of dynamic brake at alarm occurrence refer to an explanation of Pr68 Sequence at alarm Parameter setup at each control mode as well 14 3 When an Alarm Has Been Cleared at Servo ON Command AlarmClear input Adge trigger l Ready output Not ready ra Approx 160ms Alarm output l No alarm Dynamic ap Approx 1mg Motor Approx 40ms Brake Off be auli A energized gt 1 External omman No command entry Approx 5ms l 100ms or longer p Command entry 98 14 4 Servo ON OFF Action While the Motor Is at Stall Servo Lock Servo On l Dynamic I l Motor a Erona r Approx 40ms l l Brake Off l E lt gt E r
5. 4 Position Torque control mode 5 Velocity Torque control mode 12 3 5 Display of I O signal status CZERO SPD CGAIN OW CPULS INH CHODE ao CX ON POS SVO ALW a x CCW LIMIT Le Lr CRED P C E BKCOFF ZSP SVO RDY Purpose display the state of input output signal connecting to I F The segment of LED lights it means that the signal input switch is on else input switch is off About the names and functions of all output signals refer to the connection of all control modes It s switch connecting CCW LIMIT and CW LIMIT use B connection of usually closed switch t s can be used to test whether the wiring is correct or not 43 12 3 6 Error code Display See right graph p Error code No appears if no error occurs C3 I2 I L Error code No n You can refer the last 16 error factors including present one History 01716 Press Q to select the factor to be referred Purpose display error code and its history Error code No and its meaning Error Error Code Meaning Code Meaning No No No fault 24 Excess position deviation protection 11 Under voltage protection for control 26 Over speed protection power 12 Over voltage protection 29 Deviation counter overflow protection 13 Under voltage protection for main power 36 EEPROM parameter error
6. essere nennen eene 71 13 4 4 Parameters for position COBLEOL ioa oerte Ia tete RNC SI Ge EUR Hes IS VE UV o E OI EU Po aueees 76 13 4 5 Parameters for velocity and torque control 54 ede do de Re donee tos dida gutes 83 13 37 Parameters Tor PROCESS oo ena pe MO ofer dba ent aco erat ossa in nu D do EIS 90 14 Control Sequence Timing Chatt uus ooi ito eiecit auti deceased iuc titus E E Io EO DR EI Mee 97 14 1 Servo ON signal process sequence as power up sssseeeeeeeeeeneeren enne 97 14 2 When an Error Alarm Has Occurred at Servo ON Command eese 98 14 3 When an Alarm Has Been Cleared at Servo ON Commandq sese 98 14 4 Servo ON OFF Action While the Motor Is at Stall Servo Lock essseee 99 14 5 Servo ON OFF Action While the Motor Is in Motion eeeeeeeeeeeereneneenen 100 15 Gain adj stment and speed Imt 5 on epe enel pn e radio E adi qu le ci oa ea 101 15 1 Real time Auto gain adjustment seeded pure iua detuvo ata edad rete tu da ed 101 15 2 Off line Auto gain adjustment yo onov le sas gyn easpnay osc gu ie eau nde da du ta aus de P este Rua ee 103 15 3 Manual Adjustment OF gaile oes tod ies daha Eee vi tut il sor tI eo ume lcd d EU ea tA 105 15 3 1 Adjustment in Position Control Mode essen ener enne 105 15 3 2 Adjustment in Velocity Control MOX isst Ere it netto porque o eet urea 105 15 3 3 Adjustment m T
7. 10 Analog input signals and their functions esses nennen nennen nennen enne 32 11 Output Signals and Their PutictioHs seen erant esac hedge i aee aen d de tiu ve ia dade pda SEN HR Run 35 DEL Aormmonodtput sinal Sens resan di ei edi tod obtutu stad upgrade a en s 35 11 2 Encoder signal OWtputs isinin a a E A E E T a Ode uM 37 12 setine withthe Front Panel ied o ea ars anche a e scie Qu A tae nudius 39 12 1 Composition of Touch Panel and Display s sssesessesseessenssesssseessstesseessesseresseesssresseesseesseeesseee 39 12 2 Str ct re of Bach Moe 5e Ne GA Equi si uu 40 12 3 Monitor MOGB s ecciesie OAs Sarah pay etnias aes 41 123 1 display f position ey Pati OM eein ee nee Sae Hee aee S uad dde epe bos ee sd 42 12 3 2 Rotary Speedo MOOK seeds toe vrbe e t a ien se Ed deli oes eiu egi ad Re PARS 42 p TORQUE OUNPUW 42 12 5 Display of conto mode aos oeste a a db seats Idem Rufe oes 43 T2 3 5 Display of l O signal status eodd Deeds acetic o etate Coteltedup p di depu 43 12 3 6 BError code Display se ete fiet c e Diae NI Uis atu te i pnt e esu 44 12 371 Display OF Software Version sie tot v tete Foe t Free Tt Ud dello tdg iyi oc i ubt asas 45 12 3 8 Alarm Display e aei teo Sore PRI TV REESE AU SERIE QE DRE IO EN RE ERR FU Ee ences 45 12 3 9 Display or Regenerative Load Factor aussi qe ard neta Ir Re BUE RSEN NORD EAE 45 12 3 10 Display of Over lo
8. Sequence at Servo OFF Caution Servo ON input becomes valid approx 2 sec after power on see P 109 Timing Chart of Preparation 2 Never run stop the motor with Servo ON OFF 3 After shifting to Servo ON allow 100ms or longer pause before entering the pulse command 29 position 30 CLR INSP2 Deviation counter clear input Function varies depending on the control mode Input CL which clears the positional deviation counter and full closed deviation counter You can clear the counter of positional deviation by connecting this to COM You can select the clearing mode with PrAE Counter clear input mode Pr4D Content Clears the counter of positional 0 deviation while CLR is connected to COM 1 Clears the counter of positional Default deviation only once by connecting CLR to COM from open status 2 CLR is invalid 3l ALM CLR Alarm clear input You can release the alarm status by connecting this to COM for more than 120ms The deviation counter will be cleared at alarm clear There are some alarms which cannot be released with this input position 33 PULS INH INSP1 Inhibition input of command pulse e Function varies depending on the control mode e Inhibition input of command pulse input INH e Ignores the position command pulse by opening the connection to COM e You can invalidate this input with Pr43
9. 11 First speed loop gain 9 15 19 25 36 43 50 59 65 72 85 104 126 155 185 240 12 Dime constant of first speed 62 5q 3g 31 28 26 24 22 21 19 18 17 16 15 15 9 loop integral 13 First speed detection filter 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 14 Bee constant of first torque 60 60 5601500 500 350 300 250 250 200 150 150 150 1501501150 15 Speed feed forward 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 16 time constant of speed 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 feed forward filter 18 Second position loop gain 19 24 37 48 54 69 74 82 87 95 111 134 154 191 228 297 19 Second speed loop gain 9 15 19 25 36 43 50 59 65 72 85 104 126 155 185 240 1A Time constant of second 130113011301130 130 130 130 130 130 130 130 130 1301301130130 speed loop integral IB _ Second speed detection filter 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 jc Time constant of second 500 500 500 500 500 350 300 250 250 200 150 150 150 150 150 150 torque filter 20 Inertia ratio 31 Position control shift mode Pe FW FE PN Be TTD T EW PVE NW TA ENTA PNET 32 on control shift delay 5 5 5 5 5 5 5 5 15 5 5 5 5 5 5 5 33 Position control shift level 100 100 100 100 100 100 100 100 100 100 100 100 100 1001100 100 34 Position control shift width 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 35 Position gain shift time 44 4 4 4 4
10. allow at least 50mm allowance above and below each servo drive or install cooling fans to facilitate air circulation o 8 8 8 N N N 8 g S amp Es 8 e N a E a L1 IG IG DEA 2 4 Prevent foreign object intrusion Prevent the drilling and cutting chips from entering the servo drive during installation and operation 2 Avoid the odd objects like oil water and metal powder from entering the servo drive via cooling fans 3 If using fans for cooling please install the filter properly at the ventilating hole and consider the surrounding environment to choose the best direction for ventilation 4 Please install heat exchanger or air filtering system when installing in locations subject to poisonous gas or excessive dust Extra Notices 1 Do not install the servo drive in locations likely to be affected by oil and dust If unavoidable please install the Servo drive in the airtight control cabinet and consider using ventilation filter Also use a protective cover over the Servomotor 2 When installing multiple servo drives in one airtight control cabinet allow at least 50mm between above and below each servo drive and leave 120mm for maintenance space In addition to ensure the reliability and improve th
11. 1 4 Tyco electronics connection cable Connector 172163 1 1 Tyco electronics connector of encoder Connector pin 170365 1 11 Tyco electronics connection cable Applicable motor models KSMA 1000W 2000W Item Part No Number Manufacturer Note Straight connector AMS3106B 20 48 1 PLT connector of motor power 90 degree connector AMS3108B 20 4S 1 PLT connection cable Straight connector AMS3106B 20 29S 1 PLT 90 degree connector AMS3108B 20 29S 1 PLT connector of encoder connection cable X Above non waterproof models if the waterproof requirements please purchase separately 17 2 SCSI II Interface Cable f Related connector prepard by user Connector of diver side Manufacturer Part No Type Connector Welded 10120 3000PE SIG Sumitomo 3M Shell of Connector 10320 52A0 008 Connector Welded 10150 3000PE I F Sumitomo 3M Shell of Connector 10350 52A0 008 17 3 Specification of Main Loop connector Item Part No Number Manufacturer Note Connector Female connector used by main 231 205 026 000 1 WAGO power L1 L2 L3 and control SPIN 7 5mm power r t Connector Female Connectors of flyback resistor 3PIN 5mm 231 103 026 000 1 WAGO P B1 B2 Connetctor Female Connector of motor power U 3PIN 7 5mm 23 1 203 026 000 1 WAGO V V White lever 231 131 2 WAGO Wiring tool 108 18 Dr
12. 2000 3000 Ambienl temp 1 Speed r min Torque 1 5KW 1 Continuous torque vs ambient temp 1 N m 100 d 85 21 6 Peak running range 50 9 continuous running range 0 100 200 30 40 0 1000 2000 3000 Ambiert temp 1 16 2 Overload protection time characteristics Time sec 100 Speed r min Overload protection time characteristics 10 0 1 100 115 200 107 250 1 Continuous torque vs ambient temp 1 100 85 50 0 100 200 30 40 Ambienttemp 1 95 nb10 payes SA ones 1 Continuous torque vs ambient temp 1 3 S 100 3 amp 50 8g o x 0 10020 30 40 Ambienttemp 0 1 Continuous torque vs ambient temp 1 100 50 anbio pazes sa ones O 101 201 30 40 Ambienttemp 1 300 Torque 96 17 Connector Kit for Motor Encoder Connection 17 1 Connector and connector pin Applicable motor models KSMA 100W 750W Item Part No Number Manufacturer Note Connector 172167 1 1 Tyco electronics connector of motor side and Connector pin 170364 1 4 Tyco electronics power connection Connector 172171 1 1 Tyco electronics connector of motor side and Connector pin 170363 1 11 Tyco electronics encoder connection Connector 172159 1 1 Tyco electronics connector of motor power Connector pin 170366
13. 4B so that the internal command F after division multiplication may equal to the encoder resolution 10000 or a Pr46 x 2P 4 F f x 10000 or 2 Pr4B F Internal command pulse counts per motor one revolution f Command pulse counts per one motor revolution 79 Encoder resolution 2 131072 10000 2500 ppr x 4 Example 1 in i r Pr4A when making the E command input f as Pr46 1 x2 Pr46 10000 x 2 5000 per one motor Pr4B Pr4B revolution Example 2 when making the ae Lo command input f as Pr46 10000 x 2 Pr46 2500 x 2 40000 per one motor Pr4B 5000 Pr4B revolution Pr47 2nd numerator of electronic gear Initial Value 1 Setting Range 1 10000 Unit Function Refer to Pr46 Pr 48 x Setting of FIR smoothing Initial Value 0 Setting Range 0 3 Unit Function You can set up the moving average times of the FIR filter covering the command pulse Setting value 1 become average travel times Pr4A Multiplier of electronic gear numerator Initial Value 0 Setting Range 0 17 Unit Function Refer to Pr46 Pr4B denominator of electronic gear Initial Value 1 Setting Range 1 10000 Unit Function Refer to Pr46 80 Pr4C Steup of primary delay smoothing Initial Value 1 Setting Range 0 7 Unit Function Smoothing filter is the filter for primary delay which is inserte
14. F gt Pin 14 Pr54 Pr54 Pr75 Analog speed B speedof B speedof speed of OFF ON ON command internal speed internalspeed internal speed CN I F gt Pin 14 Pr55 Pr55 Pr76 Analog speed 4m speed of Analog speed ga speed of ON ON ON command internal speed command internal speed CN I F gt Pin 14 Pr56 CN I F gt Pin 14 Pr77 62 4 speed examples using internal speed instruction W Set Pr05 1 4 speed by external switch B Set Pr06 1 ZERO SPD as run stop control input B Use PULS INH and CLR as speed selection input SRV ON input Servo ON ZROSPD input p Stop Run l INH input l Close L9P Close Open i CL input l Close Close Open Open i Speed l I N time You can individually setup the acceleration and deceleration time of the speed Pr58 acceleration time setup Pr59 deceleration time setup Pr5A S curve acc dec time setup Pr06 Selection of ZERO SPD input Initial Value 0 Setting Range 0 2 Unit Function Set zero speed clamp input ZERO SPD CN I F PIN 26 Setting Value ZERO SPD Input PIN 26 0 Ignore ZERO SPD input 1 ZERO SPD input if open with COM speed command is 0 stop else run Direction input If open with COM speed 2 command direction is CCW if keeping short circuit with COM speed direction is CW 63 Pr07 Selection of speed monitor SP Initia
15. Invalidation of command pulse inhibition input Pr43 Content 0 INH is valid 1 Default INH is invalid Position control position 44 PLUSHI 45 PLUSH2 46 SIGNHI SIGNH2 Command pulse sign input 1 f Pr40 1 command pulse input 1 will be enabled Permissible max input frequency is 2Mpps You can select up to 6 command pulse input formats with Pr41 Setting of command pulse rotational direction and Pr42 Setting of command pulse input mode For details refer to the table below Command pulse input format refer 6 3 Line driver pulse command input OPCI PULSI PULS2 OPC2 OTN BY Go Re SIGNI SIGN2 Command pulse sign input 2 f Pr40 0 command pulse input 2 will be enabled e Permissible max input frequency is 500kpps at line driver input and 200kpps at open collector input You can select up to 6 command pulse input formats with Pr41 Setting of command pulse rotational direction and Pr42 Setting of command pulse input mode For details refer to the table below Command pulse input format refer 6 2 Pulse command input circuit photo coupled 30 9 5 Command pulse input format Pr41 Pr42 setup setup CCW command CW command value value t t ti ti PULS A phase Oor2 BIET Sm SIGN B phase ti t1 t1 t1 B phase advances to A by 90 B p
16. MOD jndurgee p wey indui Buyoyms epoui 04u00 indui durejo o1ez peeds indui Buryoyms ured 1ndu NO oMas 25 9 Digital input signals and their functions 9 Inputs common to all function mode Signal Pin Type Nip Symbol Function 7 COM Connect of the external DC power supply 12 to 24V e Use the power supply voltage of 12V 5 24V 596 Connect of the external DC power supply 12 to 24V 41 COM The power capacity varies depending on a composition of I O circuit 0 5A or more is recommended CW over travel protection input e Use this input to inhibit a CW over travel CWL Connect this so as to make the connection to COM open when the moving portion of the machine over travels the movable range toward CW CWL input will be invalidated when you set up Pr04 Setting of over travel inhibit input to 1 Default is Invalid 1 You can select the action when the CWL input is validated with the setting of Pr66 Sequence at over travel protection Default is Emergency stop with dynamic brake Pr66 20 8 CW LIMIT CCW over travel protection input Use this input to inhibit a CCW over travel CCWL Connect this so as to make the connection to COM open when the moving portion of the machine over travels the 9 CCW LIMIT movable range toward CCW Position CWL input will be invalidated when you set up Pr04 Setting Velocity of over travel inhibit
17. Pr31 is set to 1 Setting Value Gain Shift Condition 0 Fix to First Gain 1 Fix to Second Gain 2 As gain shift input GAIN is ON select 2 gain Pr30 must be set to 1 2nd gain selection when the toque command variation is larger than the 3 settings of Pr33 1st level of control switching and Pr34 1st hysteresis of control switching Pr3B Torque control shift delay time Initial Value 0 Setting Range 0 10000 Unit ms Function The content is same with following ones in position control mode Pr32 Shift delay time Pr33 Shift level Pr34 Shift level width Pr3C Torque control shift level Initial Value 0 Setting Range 0 10000 Unit Function Refer to Pr3B Pr3D Torque control shift level width Initial Value 0 Setting Range 0 10000 Unit Function Refer to Pr3B 75 13 4 4 Parameters for position control o 2 Function M Range Unit QUA E 40 Command pulse input option 0 0 1 P 4l Command pulse reverse 0 0 1 P 42 Pulse input mode setting 1 0 3 P 43 Invalid input command pulse inhibition 1 0 1 P 44 Output pulse pre division of every reversion 0 1 255 P 45 Feedback pulse output logic RP 0 0 1 P 46 First instruction electric gear numerator 1 1 10000 P 47 Second instruction electric gear numerator 1 1 10000 P 48 FIR smooth setting 0 0 3 P 4A Electric ge
18. and this may damage to the machine owing to overshoot or oscillation Increase the setting from 0 to 15 gradually and watch the movement of the machine until machine stable 69 Pr25 Off line auto gain Initial Value 0 Setting Range 0 7 Unit 96 Function Set up the action pattern at the off line auto gain tuning When the setting is 0 the motor turns 2 revolutions to CCW after 2 revolutions to CW 5 times of execution Setting Value Rotational direction Number of revolution 0 CCW CW 2 revolution CCW CW 1 CW CCW 2 revolution CW CCW 2 CCW 2 revolution only CCW 3 CW 2 revolution only CW 4 CCW CW 1 revolution CCW CW 5 CW CCW 1 revolution CW CCW 6 CCW 1 revolution only CCW 7 CW 1 revolution only CW Pr27 External noise observer Initial Value 0 Setting Range 0 8 Unit Function Set compensation value of external torque noise observer to improve stability of speed loop The higher compensation value the faster response it will be However large setting value can easily cause resonance noise lt If load mechanism is the mechanism with intensely changing inertia this function is not suitable to use and shall be set to 0 Pr28 2 external noise filter Initial Value 1600 Setting Range 100 1600 Unit Hz Function The second external Noise filter frequency setting Pr29 2 external noise fi
19. but may be due to noise interference and to detect the communication with the encoder information is incorrect Check SIG encoder connector is properly connected driver Check the encoder cable male and female connectors really connected whether loose or loose metal pin encoder cable motor cable the power input line to keep their distance more than 30cm please do not tie together by the same groove 114 Err 24 Causes e e Solution SON REN Excess position deviation protection Servo motor does not rotate to follow the command Pulse position deviation exceeds Pr63 Check the servo motor to follow the position command input rotation Check the servo motor wiring is correct UVW Increase the gain setting Extend motion controller acceleration and deceleration time and lower operating speed Reduce the load Increase Pr63 or set Pr64 1 Err 26 Over speed protection Causes J eo Solution SASS Err 29 Causes e Solution Y Y Y Err 36 Causes e Solution Y Y Y Err 37 Causes e Solution Y Y Y Servo motor rotation speed exceeds the maximum speed limit Poor gain adjustment resulting in Overshoot Check the position command pulse frequency does not exceed the input limit Check the input command electronic gear ratio is too large Avoid fast speed command input Re adjust the gain settings to eliminate the Overshoot Deviation counter over flow protection Deviation counter v
20. cared st tectuddutsatces Dio doubt bud vi od p aee e Fita goubas a 54 12 8 Alarm clear Mod c M 54 12 8 1 How to enter the alarm clear Md d 1c 4ciscevecscesahegudaucionvcutastevaiieassoassedeatevashanecndeedeasdaontes 54 2 5 27 Exebulexatarim Cleat nsan vate E tuendi dat seis in E E R Do E 55 12 9 Automatic ofiset adIUStPBellb canen a OE aS T T ins e pr NL AIDE 55 12 9 1 How to enter the automatic offset adjustment mode seen 55 12 9 2 Execute automatic offset adjustment 5 erect y ES WII e XR NE PNIS ar UPS Ie Eee e eh ee 55 E210 aX Tatum CON ye edt oco eise A tackace st piqaey tare io ipti euer oU dE 56 12 10 1 How to enter the alarm history clear fOde s s eoe en e aee reu Ne cPo s aes Re ere ven VUES 56 12 10 2 Execute the alarm history clear miode iiuu reet ea aee a eee even traer ent ease 56 13 Pardmetets do a eed oc uade E at A etas aAA E RAR GRS 57 LS miroduciuondgt Parameletsand oet tenebo aa a a e T E onan 57 1325 Settme Method e os ott odo t e N E E a N 57 13 3 Connection Methodius brote othesse tue tad e has tate ioca Endet dues 57 13 4 Contents and List of parameters ica sitet ee tete eei e EXEC RECIENTES RS ERE ER AR Sta uiae coun 58 13 4 1 Parameters for function selection uuo E ERE bi p ion E boues MN MEE 59 13 4 2 Parameters for adjustment of time constants of gain and filters esses 66 13 4 3 Parameters for adjustment of 2nd gain
21. counter will be cleared when clearing the alarm Refer to Timing Chart When an error alarm occurs at Servo ON command status of Preparation Pr69 Sequence at servo OFF occurrence Initial Value 0 Setting Range 0 7 Unit Function When Pr65 LV trip selection at main power OFF is 0 you can set up 1 the action during deceleration and after stalling 2 the clearing of deviation counter after the main power is shut off Setting value z Dune Condition Deviation counter content During deceleration After stalling 0 Dynamic Brake Dynamic Brake Clear 1 Free run Dynamic Brake Clear 2 Dynamic Brake Free run Clear 3 Free run Free run Clear 4 Dynamic Brake Dynamic Brake Hold 5 Free run Dynamic Brake Hold 6 Dynamic Brake Free run Hold i Free run Free run Hold 94 Pr6A Setting of delay time from servo off to motor non energized motor at stall Initial Value 0 Setting Range 0 200 Unit ms Function Setup the time from switch off SERVO ON signal BRK OFF CN I F Pin 10 and 11 to motor non energized while motor at stall Set up to prevent a micro travel drop of the motor work due to the action delay time tb of the brake After setting up Pr6A gt tb then the driver will de energize the motor after the brake is actually activated SVO ON Refer to Timing Chart Servo ON OFF Action While the Motor Is at Stall of Preparation as well energized n
22. driver type the PULSE GND must be connected to DGND or the lost pulse fault may occur Accaction 1 Do not bundle power and signal lines together in the same duct Leave at least 30cm 11 81 in between power and signal lines 2 Use twisted pair wires or multi core shielded pair wires for signal and encoder PG feedback lines 3 The maximum length for signal input lines is 3m 118 11 in and for PG feedback lines is 20m 787 40 in 4 Do not touch the power terminals for 5 minutes after turning power off because high voltage may still remain in the servo drive 5 Make sure the Charge Indicator is out before starting an inspection 6 Avoid frequently turning power on and off Do not turn power on or off more than once per minute 7 Since the servo drive has capacitors in the power supply a high charging current flows for 0 2 seconds when power is turned on Frequently turning power on and off will cause main power devices like capacitors and fuses to deteriorate resulting in unexpected problems 12 4 Servomotor installation precautions 4 1 Installation precautions of environment Since the conditions of location affect a lot to the motor life please choose the installation location meets the following conditions Installation in the room where avoid the sun or easy to damp places 1 Do not set up in easily accessible to hydrogen sulfide chlorine ammonia sulfur chloride sulfide pH chlorine and othe
23. ez indu NO 0 ueS indurjes o Jejunoo uomel eq ynau uoniqiqut asind puewwoy L sse 10 sddyiz uum esr L indui asind puewwoy Avo cl oan 23 8 2 Velocity control Caed pas sjuasaidas aE indino 10 uow enbjo ON indino JoyUOW jo0 9A as indui zwu anbso MO indui ywi anbso MOO AOL X 010 indui puewwod Aj90 9A J M Pade 1 Va a Z 2 or HOHLTLMID aL a uoulLuds q pd vl 40 99 09 uedo 1ndino eseud z V zo x 6L jndino eseud z TI tie Cep zo d d Te Aer eo indino eseud g DE Gey oee l d indino eseud y LL Bui WV OAS 9 indui uoniqiuur 9 0e41 1940 MO ndur uoniqiuut 9 J1 4940 MOO indui je9 o wey indui Bulyoyms epoui Joquoo indui duiejo ojez peeds peeds pueuiuioo eua jo ndu z uonoejes indui Bulyoyims ures yndu NO 0A 9S peeds pueuluioo EUJo ui Jo 1ndui z uonoejes peeds pueuuuioo jeuJejui jo 1ndui uonoesjes Ave cl oan 24 8 3 Torque control Cared peisiw sjueseude T 1ndino 1011u0uJ enbiJo indino 10ju0UJ JI29O OA indui jui enbso y MO indui jui anbso MOOD indui pueWWOd AjID0 9 3 Zk or YOLTUMIO A uou L uds vl Hr q op ni q D x i indjno eseud z AQU O S EE indino eseud g indjno eseud y yndjno Apeay aT OAJOS indui uoniqiuur G amp 4 I9 0 MO indur uoniqiuur JGA amp JI I9 0
24. gain setting rotary limit setting and offset adjustment of torque commander setting of output signal detection condition of in position zero speed attainment etc while main Process 60 to 6C power off alarm occurs and Servo OFF speed down operation or setting of release condition of differential counter More information refer to the parameter setting of all control modes 5B to 5E The introduction of marks of all modes is as following Mark Control Mode es Mark Control Mode Vui oa Position first and P posten 0 P S speed second 3 control control Position first and S speed control 1 P T torque second 4 gt control Speed first and T torque control 2 S T torque second 5 control Note 1 If 3 4and 5 complex modes are set one of the first and second modes can be chosen according to control mode shift input C MODE While C MODE is broken circuit the first mode is chosen While C MODE is short circuit the second mode is chosen 2 10ms before and after of shift change don t input other command 58 13 4 1 Parameters for function selection een Function a Range Unit E 00 Used by Manufacturer 01 LED initial display state 0 0 13 All 02 Control mode setting 0 0 5 All 03 analog torque limit 1 0 2 P5S 04 Over travel protection input 1 0 2 s All 05 Internal external speed
25. input omis ku epe ique Puer auae tis dinge etr savin UONH E TRU svecaaneee 19 6 4 Analog command input circuit eret ee VAY YR lea ERN EN ER NS X ESTAS EN IS EGa eh SEG S AEN Ee Ue aea Ug 20 VPE PCI TOUCH eM EE E NMMUM MUN C na Source tae cg aig EE TE 21 7 1 Ef c der QUE PIU AMET ACC OL steel erat hala ieee Sicut du ent a a iN aa el Nal 21 1 2 Open collector OUtDUt a eret o meret tnr ut Pe RS UO KE nasia RERO REN ANE ER ERE ES eat sashaa e GER 21 Tes Sequence OULPUL CIRCUITS cas clecscvts qo koe nib a dut NI aust E E Qo naan aeu d dudes 22 T4 tAnalog Montor outputs crasse eet eode a Rode fete ta ees deferta Tosca ad 22 Do cC WV ABMS Gl SETS Ec d ue eet ter doc met eeu ena cetus teca MEE SE d 23 8 1 Position CONLEOL MELDE 23 8 2 Velocity CcOnttols uiscera e ei RESERVA HER CERRAR E EE TR E RE E E R N ES 24 8 3 Torde control cs senem acre Wechdu dM aai IK Oc 25 9 Digital input signals and their Tunctolis uuosiudo liek do p co utu ed odds cbe date 26 9 1 Inputs common to all function mode esses nennen eene nennen nennen nennen 26 OD Longue mode related p ti Ebor IS e v osrbei ete terio qutd ie oae vtae Du ab adu aes 27 9 3 Velocity mode related VHDUES os ele pie asi dio RN eo esed abi boobs ea cL Eee kee ae E aV 28 9 4 Position mode related Inputs odisti Hie eae dia ed nasa seen Fonds E Io eadem da densis 29 9 5 Command pulse anput format seiis ce Eos VU ur d oae day mediae lotus asa UP uve t eot dud 31
26. input to 1 Default is Invalid 1 Torque You can select the action when the CCWL input is validated with the setting of Pr66 Sequence at over travel inhibit Default is Emergency stop with dynamic brake Pr66 0 Alarm clear input e You can release the alarm status by connecting this to COM for more than 120ms The deviation counter will be cleared at alarm clear There are some alarms which cannot be released with this input 22 Control mode switching input You can switch the control mode as below by setting up Pr02 Control mode setting to 3 5 31 ALM CLR Pr02 setting Open 1st o 3 Position control Velocity control oe 4 Position control Torque control 5 Velocity control Torque control lt Caution gt Depending on how the command is given at each control mode the action might change rapidly when switching the control mode with C MODE Pay an extra attention 26 9 2 Torque mode related input Signal Pin No Symbol Function Type 26 Function varies depending on the control mode Becomes to a speed zero clamp input ZEROSPD Connection Pr06 to COM Content ZERO SPD o ZERO SPD input is invalid 1 open Speed command is 0 Close Normal action 5 open invalid Close invalid 27 Torque limit switching input Function varies depending on the settings of Pr30 orque E 2nd gain setting and Pr03 Sel
27. instructions to confirm the servo motor drive models and capacities are matched with each other 117
28. is selected x e Set up the gain polarity offset and filter 3 ids of the Speed command with eloci a Pr50 Speed command input gain Pr51 Speed command input reversal Pr52 Speed command offset Function varies depending on Pr5B Selection of torque command Pr5b Content Torque command TRQR will be selected speed Set up the torque TRQR gain torque polarity 0 Offset with i Position Pr5C Torque command input Torque gain Pr5D Torque command input reversal Pr52 Speed command offset Speed limit SPL will be selected 07 Set up the speed limit SPL gain offset and filter with Pr50 Speed command input gain Pr52 Speed common offset Other Others control This input is invalid mode The resolution of the A D converter used in this input is 12 bit including 1 bit for sign 2047 10 V 32 position 16 CCWTL CCW Torque limit input velocity TRQR Function varies depending on Pr02 Control mode setting torque Pr02 Control mode content e Function varies depending on Pr5B Selection of torque command Pr5B Content 0 This input becomes invalid Torque command input TRQR will be selected Set up the gain polarity and 4 Position Torque offset of the command with 2 Torque control Pr5C Torque command input gain Pr5D Torque command input reversal Pr2A CCW Torque Control Offset Becomes to the torque command input TRQR Set up t
29. motor revolution and travel distance per input command unit 2 You can increase the nominal command pulse frequency when you cannot obtain the required speed due to the limit of pulse generator of the host controller Block diagram of electronic gear The upper limit of numerator is 2621440 If setting value is over upper limit then numerator value will be limited to 2621440 Command 1 1st numerator Pr46 Multiplier Pr4A Internal puse 1 2nd numerator Pr47 x2 command Deviation f F counter Denominator Pri Feedback 40000ppr pulse Resolution ee 2 ppr Numerator selection of electronic gear Select the 1st or the 2nd with the command electronic gear input switching DIV CN I F Pin 28 DIV input open Selection of 1st numerator Pr46 v TE Selection of 2nd numerator Pr47 Setting example when numeratorz Take Mokon K servo motor with 10 000ppr encoder in general condition If division multiplication ratio 1 it is essential to keep the relationship in which the motor turns one revolution with the command input f of the encoder resolution ie 10 000 pulses will run one revolution f you want to enter the input of f 5 000pulses to run one revolution set the division multiplication ratio 2 If you set division multiplication ratio 4 then you need to apply 10 000 4 pulses to run one revolution Set up Pr46 4A and
30. ndino JoyUOW 190 9 indi M 309A z 99 Gd 1 AOL 01 OL ERES yo Pee indui wu enbso MO J 11M0 EH A0L 01 0 L1 ZE awe yese indui jui anbso MOD H r snas g QNO v uOul udS m 10196j oo uedo 1ndino eseud z 6i ZO k QNO Kjddns 19mod AZ UUM JOYSISOI euJo xe y esn jou op no ua Ui esn jou op uM 2 jndino oseud z Mc L Owe Ave E ZO ndjno ML ox azi a 8o Uo eseud g xam suoneoiioeds Ew indino YO seyd y EE QNO A Sso 10 2NOIS sddyoos ui esp E ap LNOIS L y Indu A zs1nd K ddns samod sind puewwod x p r Av pUe AZ UlIM JOISISOJ Ea end jeusa x9 ay esn no u yM 4 z zodo 4 10199 09 uedo jo esto u Lodo Por xer ye lt TX2t NOIS E LHNOIS xe oy Cier 97 2 CL XS Sind CHH HSIN bes WO9 GE K EO SOd NO SOd NO W1Vv OAS ED ees W1V OAS GE AQuU OAS AIINITMO LIWIT M99 v vv ve ew yr Y ut gt ol Q 2 o z v NIVO NO OAS yy Y N v vv tc a HNI S1Nd INOO os Fm oy V7 N rt vv Pu QO 1ndino eseojo ayesg il ud 6 ejejduuoo Buriuonisogd 9 Ze jndino uuejy oues ucc MERE O se indino Apeay ones 8 ndu uonigiuur 9 41 49A0 MO 6 ndur uoniqiuur 9 eJ1 40 0 MOOD indui jeo o uue v a N o indui Hulyoyms pow oJ1u05 indui Bulyoyms JeoD oiu04129 3 7 indui Buiyoyms ures
31. oil Servomotor cable line facing downward can prevent the oil and water from entering the servomotor via cable line 2 Ifthe servomotor is installed vertically or with a slope the cable line should be bended to U type to avoid the oil and water from entering via the cable line 3 Carefully avoid the exposure of cable lines to oil and water that have adverse effects on servomotor and encoder also may cause malfunctions of the servo drive Water proof Cover Water and Oil 13 4 2 2 3 5 6 7 4 3 Connect the servomotor with load precautions 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 Use a special tool to dismantle the belt wheel avoiding impact to the shaft Strictly forbid to exert force on the back cover of the encoder by hands or ropes when moving the servomotor Strictly forbid the use of hammer to strike the shaft likely to damage the encoder X Avoid violent collision and vibration of servomotor when mounting a belt wheel or a clutch The encoder connecting with the shaft is vulnerable under intense vibration which may adversely affect the resolution and service life of the servomotor Do not change the encoder wiring direction Use a flexible connector The round off must meet with the allowable radial load Choose a proper pulley chain wheel or tim
32. operation life 5 Make sure the cable lines are not touched by sharp parts of the machine or pressed by any heavy object 6 Provide proper grounding wiring for the ground terminals of the servo drive and servomotor 7 Hl and R2 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 8 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 11 3 2 Wiring for the controller and the encoder Each pin of I F connector and SIG connector must be soldered and checked carefully for correct pin number Check the adjacent pins after soldering to avoid being incidentally shorted circuit by the solder or unused leads 2 Wrap the soldered leads with shrinkable tubes to keep from being touched by each other 3 If the leads from SIG connector must be extended care must be taken in the connection section and proper shielding measures must be adopted to suppress EMI noise 4 Do not stretch tight the leads of SIG connector to avoid wiring faults of the encoder 5 Power cables and signal lines should not be arranged in close parallel and the leads for control signals should be twisted and shielded Note Be cautious of the length of the wiring and the measures for noise shielding if Mokon K series is used in position control mode If not using the line
33. selection 0 0 3 S 06 Invalid zero speed clamp 0 0 2 S T 07 Speed monitor option 3 0 9 All 08 Torque monitor option 0 0 7 All 09 Output option during torque 0 0 4 g All limit 0A P dE of zero speed 1 0 4 i All Setting of RS232C KIC onm baud rate ds i AN e Modification of parameter No marked with x will be effective only after control power is reset Factory default value Control power need be restarted while modifying parameters Pr01 LED Initial display Initial Value 0 Setting Range 0 13 Unit Function You can select the type of data to be displayed on the front panel LED 7 segment at the initial state Set Value Contents 0 Position Deviation 1 IRotary Speed of Motor 2 Torque Output AA 3 Cont ol Mode AAA Flashes for approx 2 sec 4 I O Signal State d during initialization 5 Abnormality Record CZILLA 6 Software Version 7 Warning Notice 8 Regeneration Load Ratio 9 Overload Load Ratio 10 Inertia ratio 11 Sum of Feedback Pulse 12 Sum of Command Pulse 13 Analog Input Value 59 Pr02 Setting of control mode Initial Value 0 Setting Range 0 5 Unit Function You can set up the control mode to be used Setting Value L oo OaE First Mode Second Mode 0 Position lt 1 Speed 2 Torque 3 Position Speed 4 Position Torque 5 Speed Tor
34. sheet 3 Check whether the servomotor and servo drive capacity and encoder specification are the same as the ordered 4 In the case of special order please carefully check the delivered products and contact our company immediately if any item is incorrect The following items are included in the standard set One servomotor 2 One servo drive 3 One 50PIN SCSI 1i type connector for I F 4 One 20PIN SCSI 1i connector for SIG 5 One connector for servomotor power line 6 One encoder connector f cable is your option they will be soldered ready with the cable 1 1 Servomotor nameplate descriptions Manufacturer JS Automation Corp 6F No 100 Zhongxing Rd Xizhi Dist New Taipei City 22161 Taiwan Made in Taiwan 1 2 Servomotor model naming MKA 04 LI 4 Tey way eri 4 w 1 3 Servo drive model naming MKD GO 04 21L Mode I Incremental Incremental 1 4 Servo drive part names Mode switching button MODE Main power input terminals L10 L2 L3 231 205 026 000 WAGO Control power Input terminals rl t Terminals for external Regenerative resistor Pl Bil B2 231 103 026 000 WAGO Terminals for motor connection Ul VI W 231 203 026 000 WAGO Screw for earth x2 g nm Resistc r Set button Display LED 6 Digital Data setup button G2tov h TETTE TE ooo Ik Communicati
35. switching of the velocity control or 1st 2nd gain switching Setting Value Gain Option and shift 0 Ist gain PI P switching enabled 1 Ist 2nd gain switching enabled Switch the PI P action with the gain switching input Pin 27 GAIN Input Speed Loop Action Open with COM PI Action Connection with COM P Action 71 Pr31 1 mode of control switching Initial Value 7 Setting Range 0 8 Unit Function You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1 Setting Value Gain Shift Condition 0 Fix to the Ist gain 1 Fix to the 2nd gain 2 As gain switch input GAIN is ON select 2 gain Pr30 set to 1 2nd gain selection when the toque command variation is larger than the settings 2 of Pr33 1st level of control switching and Pr34 1st hysteresis of control switching 4 Fixed to the 1st gain 5 2nd gain selection when the command speed is larger than the settings of Pr33 1st level of control switching and Pr34 1st hysteresis at control switching 6 2nd gain selection when the position deviation is larger than the settings of Pr33 1st control switching level and Pr34 1st hysteresis of control switching 7 2nd gain selection when more than one command pulse exist 2nd gain selection when the position deviation counter value exceeds the setting 8 of Pr60 Positioning complete range Pr32 1 d
36. you want to set Press to enter the parameter data entry mode NNN ILILILJ pa can change the value which digit has a flashing decimal point Note Each parameter has a limit in number of Parameter value places for upper shifting You can change the decimal point with to select the digit to be change Press or Q to set up the value of the digit SET Note After changing the parameter value and pressing the content will be reflected in the control For some parameters such as that concerning velocity loop or position loop do not extremely change the parameter value which might affect the motor movement very much 48 12 4 2 Writing parameter data to EEPROM While driver powering on the initial setting value of LED will be displayed Set pre monitor of driver starting power to Position deviation Change the pre set monitor of powering on driver from position deviation to rotary speed of motor Save parameter value to the EEPROM After completing the screen and panel screen displays BEGIN free key r1 Lu MODE p PArr i SET e C3 O SET PA r MODE e EEPSEE EEP o O OOOOOO a bEL in g rESEE f1 T LU Pr
37. 0 Setting Range 0 32767 Unit Pulse Function You can set up the accuracy range to output the positioning complete signal IN POS CN I F Pin 39 The positioning complete signal IN POS will be output when the deviation counter pulse counts fall within the setting value after the command pulse entry is completed Basic unit of deviation pulse is encoder resolution deviation pulses dcs Pr60 N Dos EP Pe NM E IN POS i Note 1 If you set too small value to Pr60 the time until the IN POS signal is fed might become longer or cause chattering at output 2 The setting of Positioning complete range does not give any effect to the final positioning accuracy Pr61 Zero speed Initial Value 50 Setting Range 10 10000 Unit rpm Function You can set the range to output the zero speed output signal ZSP CN I F Pin 12 or TCL CN I F Pin 40 in rotational speed rpm The zero speed detection signal ZSP will be output when the motor speed falls under the setting of this parameter Pr61 CCW 91 Pr62 At speed speed arrival Initial Value 1000 Setting Range 10 10000 Unit rpm Function You can set up speed limit to output the At speed signal AT SP CN I F PIN 39 At speed Speed arrival will be output when the motor speed exceeds the setting speed of Pr62 The setting of Pr62 is valid for both CCW and CW direction regardless of the motor rotational direction
38. 1096 duty Observing the driver alert status and regenerative load ratio Increase the deceleration time and lower operating speed Choose a higher capacity drives and servo motors Use of external regenerative resistor Specifications for the built in regenerative resistor 150 50W After using the external regenerative resistor if still not fully absorb the regenerative energy gt You can try to Pr6C 2 And note that using this setting be sure to set the temperature fuse protection to avoid damage resistance Encoder A B phase error protection Encoder cable poor contact occurs leading to A B phase feedback signal or the differential voltage level is not correct Check SIG encoder connector is properly connected driver Check the encoder cable male and female connectors really connected whether loose or loose metal pin Err 21 Encoder communication error protection Causes eo Solution v Y Y Err 22 Causes e Solution v Y Y Drive operation to detect the driver and encoder communications interrupt too many times Check SIG encoder connector is properly connected driver Check the encoder cable male and female connectors really connected whether loose or loose metal pin encoder cable motor cable the power input line to keep their distance more than 30cm please do not tie together by the same groove encoder communication data error protection Drive operation no breakdown in communications
39. 14 Time constant of first torque filter 15 Speed feed forward 16 Time constant of speed feed forward filter 18 Second position loop gain 19 Second speed loop gain 1A Time constant of second speed loop integral IB Second speed detection filter IC Time constant of second torque filter 20 Inertia ratio 30 Second gain action setting 102 15 2 Off line Auto gain adjustment The drive use internal position command to control motor movements It runs through the mechanical load torque and acceleration then estimate the load inertia ratio to automatically adjust to the appropriate gain Servo driver Torque Auto gain setup command Output current Position Velocity Current control control Position command Internal pulse Off line auto gain tuning generator Load inertia ratio estimation Methods of operation 1 Please be in accordance with the machinery of the actual situation setting Pr25 off line auto gain Select the mode of operation and scope rotated Pr25 0 meaning the motor facing shaft from the starting point first to the CCW direction of rotation 2 laps later and then went to the CW direction of rotation 2 laps back to the original starting point execution totally five cycles 2 According to the set value of scope rotated the mechanical load will be safe in operation and be sure to disable all external command input to drive 3
40. 2 L3 Over current protection software Driver output current exceeds the limit values Servo motor power line contact is not completely UVW between the short circuit or ground Command input and Servo ON the same time or earlier Driver failure or motor failure Often in the servo motor rotates turn on or turn off the Servo ON leading to destruction of the dynamic brake relay Servo motor and drive specifications do not meet 112 Solution v v v Err 15 Causes e e Solution v v Y Err 16 Causes eo Solution Sa Hy S US Check servo motor UVW connector for loose or exposed wire and short circuit poor insulation and green lines Servo ON after waiting for more than 100ms is required before they can input command Please remove the servo motor power cable then input the Servo ON test If an exception occurs immediately after Servo ON necessary to replace the drive Measure the line resistance servo motor is balanced if the resistance of imbalance need to replace the servo motor Do not use Servo OFF ON control servo motor to stop or running According to label instructions to confirm the servo motor drive models and capacities are matched with each other Over heat protection Driver cooling power components over the temperature exceeded the specified value Load excessive Reduce the temperature of the environment and enhance DRIVER cooling Increase the deceleration time and lower operating sp
41. 4 4 4 4 4 4 4 4 4 4 36 Speed control shift mode 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3A Torque control shift mode 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 104 15 3 Manual Adjustment of gain 15 3 1 Adjustment in Position Control Mode Order Parameter Title of Standard How to adjust No parameter value rrai Increase the value within the range where no 1 Pril dad 36 abnormal noise and no vibration occur If they velocity loop occur lower the value When vibration occurs by changing Pr11 change this value Setup so as to make Pr11 x Pr14 becomes smaller than 10000 If you want Ist time constant eee E 2 Pr14 65 to suppress vibration at stopping setup larger of torque filter value to Pr14 and smaller value to Pr11 If you experience too large vibration right before stopping lower the value of Pr14 Adjust this observing the positioning time Ist gain of Larger the setup faster the positioning time 3 Pr10 E 47 position loop you can obtain but too large setup may cause oscillation Setup this value within the range where no is problem occurs If you setup smaller value St ume constant you can obtain a shorter positioning time but 4 Pr12 of velocity loop 28 ll val lation If integration too small value may cause oscillation If you setup too large value deviation pulses do not converge and will be remained Increase the value within the range w
42. 5 Pr18 2 position loop gain Initial Value 54 Setting Range 1 2000 Unit 1 s Function There are 2 sets of position loop velocity loop speed detection filter and torque command filter The 2 set has the same property and function as 1 one Refer Pr10 for more detail 67 Prl9 2 velocity loop gain Initial Value 36 Initial Value 36 Setting Range 1 3500 Unit Hz Function Refer to Pr11 PrlA 2 time constant of velocity loop integration Initial Value 130 Setting Range 1 1000 Unit ms Function Refer to Pr12 PrlB 2 speed detection filter Initial Value 0 Setting Range 0 5 Unit Function Refer to Pr13 PriC 2 time constant of torque filter Initial Value 65 Setting Range 25 2500 Unit 0 01ms Function Refer to Pr14 Pr1D 1 notch filter frequency Initial Value 1600 Setting Range 50 1600 Unit Hz Function Set up the frequency of the 1st resonance suppressing notch filter The notch filter function will be invalidated by setting up this parameter to 1600 Pr1E 1 notch width selection Initial Value 4 Setting Range 0 4 Unit Function Set up the notch filter width of the 1st resonance suppressing filter in one of 5 steps Higher the setting larger the notch width you can obtain Use with default setting in normal operation 68 Pr20 Inertia ratio Initial Value 0 Setting Range 0 10000 Unit 96 Function You can s
43. 8 of permissible Regenerative power p45 Gite 156906 inertia ratio p45 6096 of overload factor p45 Feedback pulse sum Is 2710 pulses p46 Command pulse sum Is 5133 pulses p46 SPR input 10 00V p47 12 3 1 Display of position deviation Pp 3 Purpose display position deviation cumulative pulse counts of deviation counter _ number display generates rotational torque of CW direction viewed from shaft end only number display generates rotational torque of CCW direction viewed from shaft end Display Scope 9999 9999 value less than low limit is displayed with Eee value over upper limit is displayed with P IES Unit Pulse 12 3 2 Rotary Speed of Motor J3nnrn f CUUU Purpose display motor speed in rpm number display CW rotation only number display CCW rotation Unit rpm 12 3 3 Torque output L rie jm ILILILJ Purpose display torque output in percentage of rated torque number display CW rotation only number display CCW rotation Scope 300 300 100 in rated torque Unite 96 42 12 3 4 Display of control mode State of C MODE pins 32Pin of I F joint ae H ct PoS PoS ct 5Pg SPd ct ErH Era ct PoS SPd ct Fos Er ct 5Pg tr4 Setting Value of Pr02 0 Position control mode 1 Velocity control mode 2 Torque control mode 3 Position Velocity control mode
44. C Torque control input gain 30 10 100 0 1V 100 T 5D Torque control input reverse 0 0 1 T OB First torque limit setting 300 0 300 All 5F Second torque limit setting 300 0 300 All 83 Pr50 Input gain of speed command Initial Value 500 Setting Range 10 2000 Unit rpm V Function You can set up the relation between the voltage applied to the speed command input SPR CN I F Pin 14 and the motor speed You can set up a slope of the relation between the command input voltage and the motor speed with Pr50 Default is set to Pr50 500 rpm V hence input of 6V becomes 3000rpm Speed Rated speed Slope at ex factory Note 1 Do not apply more than 10V to the speed command input SPR 2 When you use the driver in velocity control mode and the whole system doing position control under position controller the larger setting value of Pr50 gives larger variance to the overall servo system Normally the position controller use 10V to rated speed Pay an extra attention to oscillation caused by larger setting of Pr50 84 Pr51 Reversal of speed command input Initial Value 1 Setting Range 0 1 Unit Function You can reverse the polarity of the speed command input signal SPR CN I F Pin 14 Use this function when you want to change the motor rotational direction without changing the polarity of the command signal from the host Setting Value Rotation Direction
45. ION and EXECUTTION display Mode switching button valid at SELECTION display Press this to switch 5 kinds of mode 1 Monitor Mode 2 Parameter Set up Mode 3 EEPROM Write Mode 4 Auto Gain Tuning Mode 5 Auxiliary Function Mode 39 12 2 Structure of Each Mode Initial status of the Console LED p r1 LI SELECTION display MODE MODE switching button n Monitor In EPS A V MODE switching button e mode In Hd 1 Parr D d PArrbc k MODE switching button CEPSEE e EEPROM Writing mode EEPgEF MODE switching button Auto Gain Auxiliary Function mode At GndS e nmn i uu i 16 kinds of Stiffness MODE e MODE switching button ee FS MODE switching button 40 SET En D SET button A 1380 j l SET button n uU EEP o SET button r EAg O Atin o SET button UDU O SET HcL o CLH o SET button oF5 o Refer to 12 Monitor Mo p41 ein Refe
46. Mokon K Series Driver User s Manual N p L F 2 E n lo 3 Ll FA RBA RAR JS AUTOMATION CORP a jb iy sk BP 100 556 HE 6F No 100 Zhongxing Rd Xizhi Dist New Taipei City Taiwan TEL 886 2 2647 6936 FAX 886 2 2647 6940 http www automation com tw http www automation js com E mail control cards automation com tw Correction record Version Record 1 0 Contents 1 Checking Mokon K series products on delivery 1 iia ere eed be acerbe oque toe ote iid ada 5 1 1 Servomotor nameplate descripHonsa oe vage rechte se teal eiae A Ua sende qui or tes ee da eR Reg ees ED 5 1 2 Servomotot model daming RT 6 1 3 Servo drive model naming 63 45 20ssiedscnscaavraesdactsvaseas e ey OV ORAS EEUU RECITA E Siia AEn a EEES EXER Re 6 1 4 Servoxirnve part Names a Queso Toto tup etia use cute ta nemus Lon erp Ed S E a 1 5 Motor and it accessorie S 4o date eta qe R ed E A N ion E A 8 2 Servo drive installation Precautl OMS y scsssissessetessascasesaveuinesevccessssovasaavebacaisagecusaaeavaanasossaedesundeaeenedeeneeteets 9 2 1 Ambient conditions s tomes siiri ete oto e istiniti bietet ndi a oiiae eiia 9 2 2 Installation Orientation and Spy ALIN 554 tens shale weep ie ies cau des sce vada on on ase sae 9 2 3 Servo drive Installation and Cooling Method sese 9 2 4 Prevent foreign object THLTUSITOD s oci co cavi ep OR HUN PUESH I VN UE INS qe sb addo s duce cut
47. Motor Servo ON that is the input signal SVO ON CN I F PIN 29 is turned ON 4 Choose the mechanical stiffness values required You can start the off line auto gain adjustment stiffness value setting please begin by smaller setting value If the mechanical function is normal and then increase to the appropriate stiffness values adjusted to no abnormal noise or vibration 5 Operation is completed the results can be saved to EEPROM for later re use Note If the following conditions occur off line auto gain adjustment may not work use manually adjust of the gain adjustment parameters Load inertia is too large more than 20 times Mechanical stiffness is too low Gear gap phenomenon occurs 103 Setting Value Rotational direction Number of revolution 0 CCW CW 2 revolution CCW CW 1 CW CCW 2 revolution CW CCW 2 CCW 2 revolution only CCW 3 CW 9 2 revolution only CW 4 CCW CW 1 revolution CCW CW 5 CW CCW 1 revolution CW CCW 6 CCW 1 revolution only CCW 7 CW 9 1 revolution only CW Automatic adjusted parameter list If off line auto gain function is turned on the following parameters will be automatically adjusted stiffness Pr No Function 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 10 First position loop gain 12 20 31 40 47 59 63 70 75 82 95 115 1132 164 195 255
48. act Use external installed resistor to consume 1 External resistor regeneration energy on 10 work duty Regeneration overload protection act 2 External resistor No protection Pr74 5 speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function Refer to Pr53 Pr75 6 speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function Refer to Pr53 Pr76 7 speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function Refer to Pr53 Pr77 8 speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function Refer to Pr53 96 14 Control Sequence Timing Chart 14 1 Servo ON signal process sequence as power up Control power supply OFF Approx 1s l Ready output OFF l l t l l Servo On OFF Input Approx 5ms eie CEnsaged iam Approx 2ms energization Approx 40ms ff brak Brake Off pios n Approx5ms On brake output Released 100ms or longer Command entry External No command entry command Notes a Above charter represents the sequences from AC power start to order input b Input Servo ON signal and external commands according to above sequences 97 Note 14 2 When an Error Alarm Has Occurred at Servo ON Command Alarm Gorm alarm Ready output ready ie
49. ad Factor rnesa e o alu tus Qon epp R 45 12 3 11 Display of feedback pulse sum command pulse sum serene 46 12 3 12 Display or analog input Value cote etes b Forte e Hp in teen dete Fonusisia tese cle evi pel teas 47 12 4 Parameter Sette MOS cos e tried tt ht ER eni ce oe Rd dq uecuE 48 12 4 1 How to enter the parameter setting mode iere rtr tton or ee ieto sita tie te e eigens 48 12 4 2 Writing parameter data to EEPROM i recreo eer inn euo feces REPAS SORS T AETHER n en pte eH SS OR IdS 49 12 5 EEPROM writing mode eieoieetesee uberi ture Ye evene LN Ue NT ETVANRY TANT MER ANNONA QUY UE ERU PA SUSPEN NH TRUE UV 50 12 5 1 How to enter the parameter setting mode eer e nie ae dine eds acoacedyacesevennseconste 50 12 5 2 Writing parameter to EEPROM Lore trie eva degli edid de bodie nelle ade 50 12 5 3 Writing factory default value to EEPROM essere enne nennen enne 51 12 6 sAUTO GAIN mode Off e cire t eee eroe bets ce da oa qune 52 12 6 1 How to enter the AUTO GAIN ROGO eere cenae OPNS SANE d oU e net Io S P RNENR UPS 52 12 6 2 Execute the AUTO GAIN TUI lo eise a ivive ut ei Sia ede od a era Rb edad 52 LOE auxiliary TUCO Modessa e e e a e eS ati 53 12 7 1 Inspection Before Trial Run c rece entente S Le E ede AURIS ea SLE aio Ces des Rode aes 53 12 7 2 How to enter the trial run JOG run mode sssesssseseseeeeeeneee ener nne 54 12 7 3 Bxecute trial run lO Gti Yes cites
50. aed Approx 5ms Approx 5ms Related parameter Pr69 Sequence at main power OFF Pr6A Setup of mechanical brake action at stalling Notes 1 T will be determined by Pr6A setup value 2 For the dynamic brake action at Servo OFF refer to an explanation of Pr69 Sequence at Servo OFF Parameter setup at each control mode as well 3 Servo ON will not be activated until the motor speed falls below approx 30r min 99 14 5 Servo ON OFF Action While the Motor Is in Motion Timing at emergency stop or over trip only Do not repeat this sequence at normal operation During the normal operation stop the motor first then make Servo ON OFF action Servo On d Dynamic falls below l lt gt Approx 5ms Motor l i energization j ue l Approx 40ms Brake Off E 7 l output Ti Engaged Release Approx 5ms T Pr6B or when time to fall below 30r min is shorter Related parameter get faster time Pr69 Sequence at main power OFF Pr6B Setup of mechanical brake action at running Notes 1 T will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to fall below 30r min 2 Even though the SRV ON signal is turned on again during the motor deceleration Servo ON will not be activated until the motor stops 3 Servo ON will not be activated until the motor speed falls below approx 30r min 1 2 For the motor energized during deceleration at Servo OFF refer to an explana
51. alue exceeds 2 134217728 Check the servo motor is rotating along with the input position command Check the servo motor wiring is correct UVW Increase the gain setting EEPROM parameter error protection Read data from the EEPROM EEPROM data corruption parameters Reset all the parameters and stored in the EEPROM The contents of the EEPROM restore to factory state If repeated shall replace the drive EEPROM parameter error protection Stored in the EEPROM data corruption of CRC Reset all the parameters and stored in the EEPROM The contents of the EEPROM restore to factory state If repeated shall replace the drive 115 Err 36 Run inhibit input protection Causes Pr04 0 tf CCW LIMIT CN I F Pin 9 and CW LIMIT CN I F Pin 8 both open to the COM Pr04 2 CCW LIMIT and CW LIMIT one of which with the COM open Solution Y Check the pin CCW LIMIT CW LIMIT and COM connection of sensors switches power supplies and other wiring is abnormal Y Check the I F control signal power on sequencing Err 48 Encoder Z phase error protection Causes Encoder cable exposure is not good resulting in the Z phase feedback voltage level differential signal or incorrect Solution Y Check SIG encoder connector is properly connected driver Y Check the encoder cable male and female connectors really connected whether loose or loose metal pin Err 49 Encoder Z phase lose protection Causes Encoder one rotat
52. any ratio according to the formula as follows Pulse output resolution per revolution Pr4E Numer ator of pulse output division x encoder resolution per revolution Pr4F Denom inator of pulse output division Note The encoder resolution is 10000 ppr for the 2500ppr incremental encoder The pulse output resolution per revolution cannot be greater than the encoder resolution In the above setting the pulse output resolution equals to the encoder resolution Z phase is fed out once per revolution of the motor 82 13 4 5 Parameters for velocity and torque control RE x Function e Range Unit E 50 Speed control input gain 500 10 2000 rpm V S gt T 51 Speed control input reverse 1 0 1 S 52 Speed control offset 0 2047 2047 0 3mV S T 53 First of speed setting 0 10000 10000 rpm S 54 Second of speed setting 0 10000 10000 rpm S 55 Third of speed setting 0 10000 10000 rpm S 56 Fourth of speed setting 0 10000 10000 rpm S T 74 Fifth of speed setting 0 10000 10000 rpm S 75 Sixth of speed setting 0 10000 10000 rpm S 76 Seventh of speed setting 0 10000 10000 rpm S 77 Eighth of speed setting 0 10000 10000 rpm S 57 Jog speed setting 200 1 2000 rpm All 58 Acceleration time setting 0 0 10000 1ms 1000rpm S 59 Deceleration time setting 0 0 10000 1ms 1000rpm S SA deceleration me setting O 0100 ms s 5B Torque command select 0 0 1 T 5
53. ar numerator rate 0 0 17 P 4B Electric gear denominator 1 1 10000 P 4C Smooth filter setting 1 0 7 P 4D Counter clearance input mode 1 0 2 P 4E Numerator of pulse output division 10000 1 10000 All 4F Denominator of pulse output division 1 1 255 All e Modification of parameter No marked with x will be effective only after control power is reset Pr40 x Selection of command pulse input Initial Value 0 Setting Range Unit 0 1 Function You can select either the photo coupler input or the exclusive input for line driver as the command pulse input Setting Value Content 0 Photo coupler input I F PULS1 Pin 3 PULS2 Pin 4 SIGNI Pin 5 SIGN2 Pin 6 1 Exclusive input for line driver I FPULSH1 Pin 44 PULSH2 Pin 45 SIGNHI Pin 46 SIGNH2 Pin 47 Note Photo coupler input command frequency lt 500kpps Exclusive input for line driver command frequency X 2Mpps 76 Pr41 X Command pulse to rotation direction Initial Value 0 Setting Range 0 1 Unit Function You can set up the rotational direction against the command pulse input and the command pulse input format Pr41 Pr42 setup setup CCW command CW command value value t ti t tl Oor2 B phase E i SIGN i t tt t t B phase advances to A by 90 B phase delays from A by 90 3 0 e us RN ti t ti ti B phase delays fr
54. bigger torque causes any trouble to the load machine you can use this function to limit the max torque torque 96 300 Max when Pr5E 150 100 Ratin Max 300 Max e Setting value is to be given in against the rated torque e shows example of 150 setting with Pr03 1 Pr5E limits the max torque for both CCW and CW directions Pr5F Second torque limit setting Initial Value 300 Setting Range 0 300 Unit 96 Function Refer to Pr58 When Pr03 2 this parameter only limited CW torque 89 13 5 Parameters for process as pu Function bun Range Unit E 60 In position range 10 0 32767 Pulse P 61 Zero speed 50 10 10000rpm AII 62 Speed arrival 1000 10 10000rpm S T 63 Setting of excessive position deviation 20000 1 32000 Pulse P 64 Mo E of excessive position 0 0 1 g P 65 In position output setting 0 0 3 P 66 Sequence at driver inhibit input 0 0 1 All 67 Sequence at main power off 0 0 7 All 68 Sequence at alarm 0 0 3 All 69 Sequence at servo off 0 0 7 All 6A Setting of mechanical brake action at stall O 0 500 ms All 6B Setting of mechanical brake action at 0 0 500 i All running 6C Selection of external regenerative resistor 0 0 2 All 90 e Modification of parameter No marked with x will be effective only after control power is reset Pr60 Positioning complete in position range Initial Value 1
55. chinery in accordance with the general way to start In the mechanical operation please also observe whether the normal functioning of institutions When you want to improve the motor response gradually increase the value of Pr22 to the appropriate stiffness Adjust stiffness if the occurrence of abnormal noise or mechanical earthquake they should immediately reduce the stiffness values Operation is completed the results can be saved to EEPROM for later re use 101 Setting Value Real time auto gain Load inertia 0 Turn off Slower learning rate Almost no change 3 4 Normal learning rate Change mitigation 5 Fast learning rate Fast changes Note 1 Setting is 0 it will turn off real time auto gain adjustment function 2 The following conditions occurs real time auto gain adjustment may not work use off line auto gain or manually adjust the gain of the gain adjustment parameters Rapid changes in load inertia ratio Load inertia is too large more than 20 times Mechanical stiffness is too low Gear gap phenomenon occurs Automatic adjusted parameter list On line real time auto gain function is turned on the following parameters will be automatically adjusted but can not manually change the value Pr No Function 10 First position loop gain 11 First speed loop gain 12 Time constant of first speed loop integral 13 First speed detection filter
56. ction mode Hu dol Press 9 to display 12 7 3 Execute trial run JOG run SET Press 9 to display Jol o execution screen 0 increases while keep pressing Q dol for approx 5sec OOOOOO P wr Stage of trial run dobr dY Er Cor Er C lj Turns to Seryo OFF by pressin Servo ON status yp ge Not a Servo Ready while inputing SVO ON input signal While cutting off main power Press e motor rotates along CCW press motor rotates along CW Rotate motor with the speed set according to Pr57 JOG speed p86 Free and the motor will cease at once After testing run refer to the structure of all modes in P32 and return to option screen 12 8 Alarm clear mode 12 8 1 How to enter the alarm clear mode From the initial state of LED press 9 five times to enter into auxiliary function mode Press OO to display Hu Act 54 12 8 2 Execute alarm clear Press 9 to display Act Oo O increases while Dl keep pressing amp y CL e for approx 5sec A OOOO e Cf Lrrof Alarm clear completes Clear is not finished Release the error by resetting the power 12 9 Automatic offset adjustment 12 9 1 How to enter the automatic offset adjustment mode From the initia
57. d after the electronic gear Purpose of smoothing filter e Reduce the step motion of the motor while the command pulse acceleration deceleration rate is rough e Actual examples which cause rough command pulse are 1 when you set up a high multiplier ratio 10 times or more 2 when the command pulse frequency is low You can set the time constant of the smoothing filter in 8 steps with Pr4C Setting value Time Constant 0 No filter function 1 Time constant small J l 7 Time constant large Pr4D Counter clear input mode Initial Value 0 Setting Range 0 2 Unit Function You can set up the clearing conditions of the counter clear input signal which clears the deviation counter Setting Value Clearing condition Clears the deviation counter at level shorting for longer than 100us 1 Clears the deviation counter at falling edge open for longer than 100us Invalid PrAE Numerator of pulse output division Initial Value 10000 Setting Range 1 10000 Unit Function You can set up the pulse counts to be fed out from the pulse output CN I F OA Pin 21 OA Pin 22 OB Pin 48 OB Pin 49 When Pr4440 PrAE Pr4F setting is invalid 81 Pr4F x Denominator of pulse output division Initial Value 1 Setting Range 1 255 Unit Function Refer to Pr4E Pr44 0 Default The pulse output resolution per revolution can be divided by
58. der option screen of While executing writing in continuously press until CoO C increases while L EP e keep pressing Q A for approx 5sec m o Starts writing bEG I1 g mimsewu PE SEE End Error Writing completes Writing error rESEE will be When you change the parameters which contents become valid after resetting displayed after finishing wiring Turn off the control power once to reset Note 1 When writing error occurs make writing again If the writing error repeats many times this might be a failure 2 Don t turn off the power during EEPROM writing Incorrect data might be written If this happens set up all of parameters again and re write after checking the data 50 12 5 3 Writing factory default value to EEPROM Under option screen of EEPgE F press to choose c EHd ol execution screen While executing writing in continuously press until bEL in is displayed 0 increases while keep pressing r t Hg C O for approx 5sec OOOOOO O Starts writing b t G m 1j Finishes writing o EGEL End Er C or Writing completes Writing error When you change the parameters which contents b
59. e product life leave certain distance between the servo drive and the cabinet ceiling so the temperature around the servo drive does not exceed 55 C which might lead to poor ventilation 3 A frequent use of the regenerative resistor may lead to a temperature higher than 100 C Do not put inflammables or heating deformable objects around The wirings must also be kept away from the resistor or severe damage will occur 4 When installing near a source of vibration install a vibration isolator to protect the Servo drive from vibration 10 3 Servo drive wiring precautions 3 1 Main wiring 1 Apply three phase 220V AC mains through the NFB to the magnetic contactor then connect to the servo drive RST terminals Consider installing a reactor and linear noise filter if the local power supply quality is poor 2 Connect the UVW terminals of the servo drive with the red white and black cable lines of the servomotor directly or via terminal board on which the cable lines be secured with a terminal plier and wrapped tightly to avoid incidental short circuit power interruption or earth faults 3 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 4 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 cable specification to assure normal
60. e speed limiting value 4th speed of speed setup Pr56 the analog speed command input is too low or the velocity loop gain is too low or when the time constant of the velocity loop integration is 1000 invalid the input to the torque limiting portion of the above fig becomes small and the output torque may not be generated as the analog torque command 106 16 Motor Characteristics S T Characteristics 16 1 Motor characteristic curve Torque 100W N m 1 0 0 96 Peak running range 0 5 0 32 continuous running range 0 100 200 300 400 500 0 0 Sbeedd r mfh Torque 200W N m 2 0 1 95 10 Peak running range 0 65 continuous running range 0 100 200 300 400 500 0 0 gheed rimh 400W Torque Peak running range continuous running range 0 100 200 300 400 500 0 0 Shee rnin 95 anbio payes s ones enbuoi paje sa ones anbio pazes sa ones 1 Continuous torque vs ambient temp 1 100 85 50 0 100 200 30 40 Ambien temp 1 Torque 750W N m 8 0 Peak running range continuous running range 0 100 200 300 400 500 0 0 sPeed r miA Torque 1KW 1 Continuous torque vs ambient temp 0 N m 15 1 op 14 4 Peak running range 50 5 0 4 8 continuous running range 0 100 200 30 40 0 1000
61. ecome valid after resetting CESEE Iwill be displayed after finishing wiring Turn off the control power once to reset Note 1 When writing error occurs make writing again If the writing error repeats many times this might be a failure 2 Don t turn off the power during EEPROM writing Incorrect data might be written If this happens set up all of parameters again and re write after checking the data 51 12 6 AUTO GAIN mode off line Note 1 about in line auto gain pleas reference chapter 15 Gain adjustment and speed limit 2 The motor will be driven in a preset pattern by the driver in off line auto gain tuning mode You can change this pattern with Pr25 Setting of action at off line auto gain tuning however shift the load to where the operation in this pattern may not cause any trouble before executing this tuning 3 Depending on the load oscillation may occur after the tuning In order to secure the safety use Pr14 to eliminate the noise 12 6 1 How to enter the AUTO GAIN mode MODE Press four times to enter into Auto Gain setting mode AL bn il Display pam factor 0 15 l Now press or Oto set mechanical stiffness factor 1 15 12 6 2 Execute the AUTO GAIN tuning SET r Press 9 to display At YM O execution screen don t input the external H f command and servo on c Ci i an status Keep press e approx 5sec e O Continued to increase Start auto gain p
62. ection of torque limit Connection Pr 0 to COM Content Gigs Velocity loop 2 Pl l l Proportion Integration action GAIN 0 Velocity loop Close P Proportion action when the settings of Pr31 Pr36 and 3A are 2 Open Ist gain selection Pr10 11 12 13 and 14 close 2nd gain selection Pr18 19 1A 1B and 1C when the settings of Pr31 Pr36 and 3A are 2 invalid 27 9 3 Velocity mode related inputs Signal Pin No Symbol Function Type 26 e Function varies depending on the control mode e Becomes to a speed zero clamp input ZEROSPD Pr06 ee Content e ZERO SPD input ZERO SPD is invalid 1 open Speed command is 0 Close Normal action T Speed command 2 is to CCW Close Speed command is to CW Gain switching input e Function varies depending on the settings of Pr30 2nd gain setting and Pr03 Selection of torque limit velocity Pr30 a Content Open Velocity loop ABI l l 27 GAIN 0 Proportion Integration action Close Velocity loop D P Proportion action when the settings of Pr31 Pr36 and 3A are 2 Open Ist gain selection Pr10 11 12 13 and 14 1 close 2nd gain selection Pr18 19 1A 1B and 1C when the settings of Pr31 Pr36 and 3A are 2 invalid 28 DIV Electronic gear division multiplication switching input e Function varies depending on the control mode e Input of internal speed se
63. ection software Verify whether motor power U V W is short 99 Over current protection Hardware circuit or loose 44 12 3 7 Display of Software Version f BIN bd GUS Purpose display the software version of driver 12 3 8 Alarm Display L g aD em a TEETE nc no alarm 1 Alarm occurrence T idni alarm Turns on when regenerative load reaches more than 85 of alarm trigger level of regenerative load protection Overload alarm Turns on when the load reaches 85 or more of alarm trigger level of over load protection Over 85 the LED panel will keep on flickering 12 3 9 Display of Regenerative Load Factor di 68 Display the ratio against the alarm trigger level of regenerative protection This is valid when Pr6C Selection of external regenerative resistor is 0 or 1 12 3 10Display of Over load Factor CIL 36 Displays the ratio against the rated load L mee to Charpter 6 Overload Protection Time Characteristics of When in Trouble 45 12 3 11Display of feedback pulse sum command pulse sum I ID Scope 0 99999 Unit Pules Total sum of pulses after control power on display overflows as the figures show 99999 99999 99999 0 0 at control power ON 0 cw lt _ _ CCW By pressing for approx 3 sec or longer 0 clear EXECUTION display on either one of screens of total sum of pulses d
64. eed Choose a higher capacity drives and servo motors Overload protection Torque command values exceeded overload level 115 the time limit will be based on overload characteristic curve resulting in overload protection Time sec Overload protection time characteristics 100 0 1 100 115 150 200 250 300 Torque 96 Heavy load and makes the actual output torque exceeds the rated torque and continuous operation Gain is adjusted properly leading to mechanical vibration shaking Poor installation cause the machine is not running smoothly Motor operation electromagnetic brake not released Choose a higher capacity drives and servo motors Increase the deceleration time and lower operating speed Reduce the load Re adjust the gain parameter Adjust machine so that machine running smoothly Sure the electromagnetic brake of the terminal voltage 24V is the normal brake release 113 Err 18 Over regenerative load protection Causes e eo Solution SRR S Err 20 Causes Solution v v Large load the servo motor in the regenerative energy during deceleration regenerative resistor exceeded the processing capacity resulting in increased driver of the capacitor voltage Servo motor in high speed operation in a short deceleration time can not fully absorb the regenerative energy External resistor consumption is limited to
65. elay time of control switching Initial Value 5 Setting Range 0 10000 Unit ms Function You can set up the delay time when returning from the 2nd to the Ist gain while Pr31 is set to 3 DUO NO SCR Pr33 1 level of control switching Initial Value 100 Setting Range 0 10000 Unit Function It is valid as Pr31 is set to 3 5 6 7 8 It determines the level of first second gain shift 72 Pr34 1 hysteresis of control switching Initial Value 30 Setting Range 0 10000 Unit Function Set up hysteresis range above below the comparison level which is set up with Pr33 Unit varies depending on the setting of Pr31 1st control switching mode Definitions of Pr32 Delay Pr33 Level and Pr34 Hysteresis are explained in the fig below ATA Pr33 gt A Pr34 l 1st gain I2nd gain st gain I I I l Pr32 Pr35 Switching time of position gain Initial Value 4 Setting Range 0 10000 Unit ms Function Setting the step by step switching time to the position loop gain only at gain switching while the 1st and the 2nd gain switching is valid Switching time setting value 1 ms e g ims ims gt Kp1 Pr10 lt Kp2 Pr18 Kp2 Pr18 gt o bold line Pr35 Kp1 Pr10 1st gain 1st gain Note The switching time is only valid when switching from small position gain to large position gain 73 Pr36 Speed control shift mode Init
66. ess MODE key twice to choose Pr 1 Press SET key Press SET key the pre set monitor of powering on driver is position deviation press to change value Press SET key again to input data Write in the set value in the panel Press MODE key to choose EEPROM mode Press SET button Press continuously Turn off the control power once to reset The screen will display rO which means the completion of setting When you change the parameters which contents become valid after resetting c ESEE will be displayed after finish writing Turn off the control power once to reset Note 1 When writing error occurs make writing again If the writing error repeats many times this might be a failure 2 Don t turn off the power during EEPROM writing Incorrect data might be written If this happens set up all of parameters again and re write after checking the data 49 12 5 EEPROM writing mode 12 5 1 How to enter the parameter setting mode Starting from the initial LED status press amp then brings the display of EEPROM writing Mode FEPSEL Press to make J L EXECUTION DISPLAY LL Press O or to choose GEL writing parameter to EEPROM dtt Writing default parameter to EEPROM lt Attention gt To write in factory default value while Servo OFF 12 5 2 Writing parameter to EEPROM EEPSEE press 9 to choose EEP O to execution screen bEL in is displayed Un
67. et up the ratio of the load inertia against the rotor of the motor inertia Pr20 load inertia rotor inertia x 100 96 Note If the inertia ratio is correctly set the setting unit of Pr11 and Pr19 becomes Hz When the inertia ratio of Pr20 is larger than the actual the setting unit of the velocity loop gain becomes larger and when the inertia ratio of Pr20 is smaller than the actual the setting unit of the velocity loop gain becomes smaller Pr21 Real time auto gain Initial Value 0 Setting Range 0 7 Unit Function Set up the action mode of the real time auto gain tuning With higher setting such as 3 or 6 the driver responds quickly to the change of the inertia during operation however it might cause an unstable operation Use 1 or 4 for normal operation For the vertical axis application use with the setting of 4 to 6 Setting Value Real time auto gain Load inertia 0 Turn off 1 Slower learning rate Almost no change Normal learning rate Change moderately NY Guy RI G2 bo Fast learning rate Fast changes Setting is 0 it will turn off real time auto gain adjustment function Pr22 real time auto gain stiffness Initial Value 0 Setting Range 0 15 Unit 96 Function Set up the machine stiffness in one of 16 steps while the real time auto gain tuning is valid Note As the stiffness changed the servo gain changed as well
68. etthe validity of internal speed setting 8types of internal speed Their instruction data are setting by Pr53 1 speed Pr54 Of speed Pr55 3 speed Pr56 4 speed Pr74 5 speed Pr75 6 speed Pr76 7 speed and Pr77 8 speed PULS INH CN I F Pin 33 CLR CN I F Pin 30 DIV CN I F Pin 28 are external selection input The combination results are shown as follows PULS INH CLR DIV Pr05 Setting Value Pin 33 Pin 30 Pin 28 0 1 2 D Analog speed 1 speed of 1 speed of 1 speed of OFF OFF OFF command internal speed internalspeed internal speed CN I F gt Pin 14 Pr53 Pr53 Pr53 Analog speed 2 sbeedof 2 speedof 2 speed of ON OFF OFF command internal speed internalspeed internal speed CN I F gt Pin 14 Pr54 Pr54 Pr54 Analog speed 8 speedof B speedof B speed of OFF ON OFF command internal speed internal speed internal speed CN I F gt Pin 14 Pr55 Pr55 Pr55 Analog speed 4 speed of Analog speed 4m speed of ON ON OFF command internal speed command internal speed CN I F gt Pin 14 Pr56 CN I F gt Pin 14 Pr56 Analog speed 1 speed of 1 speed of 5 speed of OFF OFF ON command internal speed internal speed internal speed CN I F Pin 14 Pr53 Pr53 Pr74 Analog speed pad speed of pau speed of 6 speed of ON OFF ON command internal speed internalspeed internal speed CN I
69. fades EA 10 3 Servo drive wiring precautions eoseo cete teen ene NEU EY XS UE INA EAST ATN RE SN SANUS EAR T UN NR Cea Era eV Ease aU a 11 3 1 Main Wini cae Aca Se aa an Mase a a E A R A pe 11 3 2 Wiring for the controller and the encoder eese 12 4 Servomotor installation precautions eecceessecessecescecssaceceeaceceeacecseneecseaeeceeceecseceecseeeecseeceeseeeeesaas 13 4 1 Installation precautions of environment sess enne enne enne enne enne enne 13 4 0 Connect the servomotor with load precautions sssessssssesssesessstesstesseessessseresseeesseesssresseesse 14 4 3 PRUE TIMING Bb c ooo ee en Saha a A Aaa eee 14 44 Handling oil and Wale aoo ritt urere t s e as setae Neo e oe aee eva reh ce fer veio EES 15 4 5 Cable uc e 15 5 Encoder wiring and SIG connector pin assignments sessssesseeeseeeeeeeen eere 16 5 1 Cable OEBICOQGI 2 5 icon n T E A E ER A E EE E EENS 16 5 2 Connector and pin definitions einer eise D VATER UY ERA X VE ENSURE RENTA NEM Ra Te BUS SA TUN eene aeu 16 6 TAP UE CIT CUI sioe eeitesest o tocar o nie ocean fct ades vie ecd v Eos eec eaie i quad v Losrss sn i aote cH ee UR a EQUUS 18 6 1 Photo isoldted COT HO Input eae toe eta EE satan autant edt dL oU ote 18 6 2 Pulse command input circuit photo coupled eseeeessseeeeeeeeeeneeen nennen 18 6 3 Line driver pulse command
70. hase delays from A by 90 0 ti t DR siis A phase 4 un 0or2 TERE DW B phasej slau t1 t1 t t B phase delays from A by 90 B phase advances to A by 90 i 1 PULS F LI MEE 1 t2 t2 sen sr t2 t2 3 ORS 14 t5 t4 i5 SIGN L t6 t6 t6 t6 PULS and SIGN represents the pulse train to input circuit Pulse train will be captured at the rising edge for CW CCW or pulse direction input mode eIn case of 2 phase input A phase and B phase pulse train will be captured at both edge Permissible max input frequency of command pulse input signal and min necessary time width Permissible Min necessary time width Input I F of PULS SIGN signal max input d 2 a t4 t5 t6 frequency RUE Baa ier ace CSE 2Mpps 500ns 250ns 250ns 250ns 250ns 250ns to line driver Pulse train Line driver interface 500kpps 2us lus lus lus lus lus interface Open collector interface 200kpps Sus 2 5us 2 5us 2 5us 2 5us 2 5us Make the rising falling time of the command pulse input signal to 0 1 us or smaller 3l 10 Analog input signals and their functions Pin Type No Symbol Function 14 SPR Speed command input or Torque command input TRQR e Function varies depending on control mode Pr02 Control function mode Input of external speed command SPR when the velocity control
71. he gain polarity and offset of 5 Velocity Torque the command with Pr5C Torque command input gain Pr5D Torque command input reversal Pr2A CCW Torque Control Offset Becomes to the analog torque limit input to CCW CCWTL Limit the CCW torque by applying positive voltage 0 to 10V Other control Approx 3V rated toque mode Position Torque Velocity Torque Invalidate this input by setting up Pr03 Torque limit selection to other than 0 The resolution of the A D converter used in this input is 12 bit including 1 bit for sign 2047 10 V 33 position 18 CWTL CW Torque limit input velocity Function varies depending on Pr02 Control mode setting tongue Pr02 Control mode Content 2 Torque control This input becomes invalid when the 4 Position Torque torque control is selected 5 Velocity Torque Becomes to the analog torque limit 4 Position Torque E i a pc dor 5 Limit the torque by applying 5 wales usque negative voltage 0 to 10V aiher ore control Approx 3V rated toque eur Invalidate this input by setting up Pr03 Torque limit selection to other than 0 The resolution of the A D converter used in this input is 12 bit including 1 bit for sign 2047 10 V Note Do not apply voltage exceeding 10V to analog command input of SPR TRQR 34 11 Output Signals and Their Functions 11 1 Com
72. here no abnormal noise occurs Too large setup may Valost feed result in overshoot or chattering of position 5 Pr15 ies a i 300 complete signal hence does not shorten the settling time If the command pulse is not evenly distributed you can improve by setting up Pr16 Feed forward filter to larger value 15 3 2 Adjustment in Velocity Control Mode Except gain of position loop and Velocity feed forward adjustments of velocity control are similar with above adjustment of position mode 15 3 3 Adjustment in Torque Control Mode Pr56 4th speed of speed setting or velocity control loop of SPR speed limit input is the base of torque control The following explains the setting of speed limit value 105 15 4 Setup of speed limit The Pr56 4 speed setting will transfer its function to speed limit under the torque command selection Pr5B 0 and use torque command input mode or the torque command selection Pr5B 1 and use analog speed command input mode por Under condition 1 when the motor speed approaches to the speed limiting value torque control following the analog torque command will shift to velocity control based on the speed limiting value which will be determined by the 4th speed of speed setup Pr56 or the analog speed command input SPR TRQR SPL In order to stabilize the movement under the speed limiting you are required to set up the parameters according to the above mentioned Adjustment in Velocity Control Mode When th
73. ial Value 0 Setting Range 0 5 Unit Function In speed control mode make choice to the shift condition of first second gain It s the content that eliminates position control section in Pr31 Position control shift mode Setting Value Gain Shift Condition 0 Fix to First Gain 1 Fix to Second Gain 2 As gain switch input GAIN is ON select 2 gain Pr30 set to 1 2nd gain selection when the toque command variation is larger than the 3 settings of Pr33 1st level of control switching and Pr34 1st hysteresis of control switching 4 Fix to First Gain 2nd gain selection when the command speed is larger than the settings of 5 Pr33 1st level of control switching and Pr34 1st hysteresis at control switching Pr37 2 delay time of control switching Initial Value 0 Setting Range 0 10000 Unit ms Function The content is same with following ones in position control mode Pr32 Shift delay time Pr33 Shift level Pr34 Shift level width Pr38 2 level of controls witching Initial Value 0 Setting Range 0 10000 Unit Function Refer to Pr32 Pr33 Pr34 Pr39 2 hysteresis of control switching Initial Value 0 Setting Range 0 10000 Unit Function Refer to Pr32 Pr33 Pr34 74 Pr3A 1 mode of control switching Initial Value 0 Setting Range 0 3 Unit Function You can select the switching condition of Ist gain and 2nd gain while
74. ime constant of speed feed forward 50 0 6400 001ms P filter 18 Second position loop gain 54 1 2000 1 S P 19 Second speed loop gain 36 1 3500 Hz All 1A 2 vM of second speed loop 130 10 1000 Bi All 1B Second speed detection filter 0 0 5 All 1C Time constant of second torque filter 65 25 2500 0 01ms All 1D First notch filter frequency 1600 50 1600 Hz All 1E First notch filter width 4 0 4 All 20 Inertia ratio 0 0 10000 l All 21 Real time Auto gain 0 0 7 All 22 Real time Auto gain stiffness 4 0 15 All 25 Off line Auto gain 0 0 7 All 21 External noise detection 0 0 8 All 28 Second external noise filter 1600 100 1600 Hz All 29 Second external noise filter width 2 0 4 All 2A Second external noise filter depth 0 0 99 All 1 position loop gain Initial Value 47 Setting Range 1 2000 1 s Function You can determine the response of the positional control system The higher gain of position loop you set the faster positioning time you can obtain Note that gain too high may cause oscillation Pr11 1 velocity loop gain Initial Value 36 Setting Range 1 3500 Unit Hz Function You can determine the response of the velocity loop In order to increase the response of overall servo system by setting high position loop gain you also need setting of higher velocity loop gain as well However too high setting may cause oscillation 66 Pr12 1 time constant of velocity loop integration Initial Val
75. ing belt that can meet with the requirement of the allowable radial load If the servomotor is attached with a magnetic brake either horizontal or vertical installation is allowed When the shaft is upward installed the brake may normally make some noise Alignment Align the shaft of the servomotor with the shaft of the apparatus and then couple the shafts Install the servomotor so that alignment accuracy falls within the following range Measure this distance at four different positions around The difference between the maximum and minimum E measurements must be below 0 03mm 0 0012 in Turn together with the coupling rd al L 14 4 4 Handling oil and water Install a protective cover over the servomotor if it is used in a location subject to water or oil mist Also use a servomotor with an oil seal to seal the through shaft section leo shaft section 4 5 Cable stress Make sure there are no bends or tension on the power lines Be especially careful to signal line wiring to avoid stress because the diameter of the core wires is only 0 2 to 0 3mm 0 0079 to 0 012 in 15 5 Encoder wiring and SIG connector pin assignments 5 1 Cable of Encoder o o CABIBO30EGI0 3m CAB1B030EM12 3m SCSI II connector CABIBOSOEGI0 5m Connector CAB1B050EM12 5m Connector 5 2 Connector and pin definitions
76. ion Z phase signal is not detected when a protective Solution Y Encoder components may fail need to replace motor Err 48 Encoder Z phase double signal Causes Encoder rotating a circle more than once detected the Z phase signal to produce a protective Solution Y The motor shaft may be subjected to hit pulling and other external stress resulting in breakage of glass plate need to replace motor Err 99 Over current protection hardware Causes Driver output current exceeds the limit values Servo motor power line contact is not completely UVW between the short circuit or ground Command input and Servo ON the same time or earlier Driver failure or motor failure Often in the servo motor rotates turn on or turn off the Servo ON leading to destruction of the dynamic brake relay Servo motor and drive specifications do not meet 116 Solution v v v Check servo motor UVW connector for loose or exposed wire and short circuit poor insulation and green lines Servo ON after waiting for more than 100ms is required before they can input command Please remove the servo motor power cable then input the Servo ON test If an exception occurs immediately after Servo ON necessary to replace the drive Measure the line resistance servo motor is balanced if the resistance of imbalance need to replace the servo motor Do not use Servo OFF ON control servo motor to stop or running According to label
77. ion and deceleration command to the speed command inside of the driver With this function you can make a soft start when you enter the step speed command and when you use with the internal speed setting Speed command Speed Va ta i i td ta Pr58 x 1ms 1000rpm td Pr59 x 1ms 1000rpm Note When using external position controller please set Pr58 and Pr59 to 0 the acceleration and deceleration control leave to the position controller Pr59 Deceleration time setting Initial Value 0 Setting Range 0 10000 Unit 1ms 1000rpm Function Refer to Pr58 Pr5A S curve acceleration deceleration time setting Initial Value 0 Setting Range 0 1000 Unit 2ms Function In order to obtain a smooth operation you can set up the S curve profile acceleration deceleration to smooth to possible acceleration deceleration shock of linear acceleration deceleration profile PA A E Pid IN tFti Pid pid PY itS i ts i ts i tS PPPOE iioii gt ta i i td Mo 0 C ta Pr58 td Pr59 ts PrbA 1 Set up acceleration deceleration for basic linear portion with Pr58 and Pr59 2 Set up S curve time with time width centering the inflection point of linear acceleration deceleration with Pr5A unit 2ms 87 Pr5B selection of torque command Initial Value 0 Setting Range 0 1 Unit Function You can select the input of the torque command and the speed limit Pr5B Torque com
78. ion command the zero speed 2 detection signal is ON and the positional deviation is smaller than Pr60 Positioning complete range The signal will turn on when there is no position command and the 3 positional deviation is smaller than Pr60 Positioning complete range Then holds ON status until the next position command is entered Pr66 Sequence at over travel protection occurrence Initial Value 0 Setting Range 0 1 Unit Function You can set the running condition during deceleration or after stalling while over travel inhibit input CCW LIMIT CN I F PIN 9 or CW LIMIT CN I F PIN 8 is valid Drive Condition T Setting Value EE EAE Deviation counter content 0 Dynamic Brake Free run Hold 1 Free run Free run Hold Pr67 Sequence at main power OFF occurrence Initial Value 0 Setting Range 0 7 Unit Function Refer Pr69 23 Pr68 Sequence at alarm occurrence Initial Value 0 Setting Range 0 3 Unit Function You can set up the action during deceleration or after stalling when some error occurs while either one of the protective functions of the driver is triggered Drive Condition Se Setting value Dinne deen Afer alne Deviation counter content 0 Dynamic Brake Dynamic Brake Clear 1 Free run Dynamic Brake Clear 2 Dynamic Brake Free run Clear 3 Free run Free run Clear Note The content of the deviation
79. isplay you can clear feedback l 6 g total sum command pulse total sum or l external scale feedback pulse total sum to Q ec 0 29 IC B ILLIC Keep pressing O to shift the as the right fig shows IC IBB c3 46 12 3 12Display of analog input value H Inn Muu _ Input voltage value V Input signal There are 3 analog inputs SPR CCWTL and CWTL select the signal to be monitored by pressings oo 3 3 3 SPR analog input value unit V Displays the value after offset correction C C H b CCWTL analog input value unit V C C un Ec J 5 3 3 CWTL analog input value unit V n E Cc Note Voltage exceeding 10V can not be displayed correctly 47 12 4 Parameter Setting Mode 12 4 1 How to enter the parameter setting mode From the initial state of LED press twice to enter the parameter setting mode parameter number selection Phoca poto No Hexadecimal No lt Note gt For parameters which place is displayed with f the content changed and written to EEPROM becomes valid after turning off the power once Press or QJ to select parameter No to be referred set Ic e PI Fr I Press y to shift to arrowed direction PHrerc UU Press to shift to reversed direction After selecting the parameter number
80. iver Specifications 18 1 Basic Specifications suongeorrodsg siseg Main circuit Single 3 phase 190 255V 50 60Hz Input power WEE Control circuit Single Phase 190 255V 50 60Hz Temperature Operating 0 to 55 C Storage 20 to 80 C Both operating and storage 9076 RH or less free from Humidity condensation Environment Altitude 1000m or lower 5 88m s2 or less 10 to 60Hz No continuous use at resonance Vibration frequency Control method IGBT PWM Sinusoidal wave drive Encoder feedback 2500P r 10000 resolution incremental encoder 11 inputs ao 1 Servo ON 2 Control mode switching 3 Gain SEM switching Torque limit switching 4 Alarm clear Other inputs vary depending on the control mode Control signal 6 outputs Out 1 Servo alarm 2 Servo ready 3 Release signal of external s brake 4 Zero speed detection 5 Torque in limit Other outputs vary depending on the control mode Input 3 inputs A D 2 outputs for monitoring 1 Velocity monitor Monitoring of actual motor speed or Analog signal command speed is enabled Select the content and scale with Output parameter 2 Torque monitor Monitoring of torque command approx 3V rated torque deviation counter or full closed deviation is enabled Select the content or scale with parameter 4 inputs Select the exclusive input for line driver or Input photo coupler inp
81. kpps Connect to dedicated input with build in resistor 18 Open collector I F with external resistor Input pulse frequency max 200kpps Specifications 1KQ 1 2W 2KQ 1 2W 6 3 Line driver pulse command input 4 l l l l l l l l l Driver ee ee ees a l exclusive line driver pulse train input Input pulse frequency max 2Mpps This signal transmission method has better noise immunity We recommend this to secure the signal transmission JE represents twisted pair 19 Analog input 6 4 Analog command input circuit There are 3 12bit analog inputs SPR TRQR Pin 14 CCWTL Pin 16 and CWTL Pin 18 The Max permissible input voltage to each input is 10V 20 7 Output circuit Digital output 7 1 Encoder output interface Connect signal ground of the host and the driver without fail The encoder signal outputs are differential type for high speed signals On the host receiver side the line receiver circuit is recommended But on some occasion single end can also be used on either or output Jiz represents twisted pair 7 2 Open collector output High speed photo coupler The encoder Z phase signal output is an open collector type This output is not insolated Be sure to receive this output with high speed photo couplers at the host side since the pulse width of the Z phase sig
82. l Value 3 Setting Range 0 9 Unit Function Make choice and set the relation voltage to speed monitor signal output SPM CN I F PIN 43 of motor s actual speed and command speed Setting Value SPM Signal Relation Between Output Voltage Level and Speed 0 6V 375rpm 1 6V 750rpm D Motor speed 6V 1500rpm 3 6V 3000rpm 4 6V 6000rpm 5 6V 375rpm 6 6V 750rpm 7 Command speed 6V 1500rpm 8 6V 3000rpm 9 6V 6000rpm Pr08 Selection of torque monitor TM Initial Value 0 Setting Range 0 7 Unit Function Set relation between output level of analog torque monitor signal TM CN I EPIN 42 or deviation pulse number Relation Between Output Level and TM or Deviation Pulse Number 0 3V 100 1 Torque 3V 200 3V 300 3V 31p 3V 125p Position Deviation 3V 500p 3V 2000p 3V 8000p Setting Value TM Signal SD AR Go bt 64 Pr09 Selection of TLC output Initial Value 0 Setting Range 0 4 Unit Function Assign the functions of TLC output TLC CN I F PIN 40 Setting ees Mark of i Value Signal TLC output condition 0 Output during torque limit TLC Torque command in Torque limit 1 Zero speed detection output ZSP Speed lower than Pr61 2 regeneration Warning output WARN ALL regeneration higher or overload 3 Over regeneration warni
83. l state of LED press 9 five times to enter into auxiliary function mode Press cc OO to display Au Or J 12 9 2 Execute automatic offset adjustment H cc Press to display u Oro 0 increases while keep pressing 6 for approx 5sec o F LJ O OOOODOO 5 i Adjustment finishes End Er or Automatic offset Error occurs adjustment finishes Invalid mode is selected or offset value exceeds the setup range of Pr52 Note This function is invalid at position control mode You cannot write the data only by executing automatic offset adjustment Execute writing to EEPROM when you need to reflect the result afterward 55 12 10 Alarm history clear 12 10 1How to enter the alarm history clear mode From the initial state of LED press 9 five times to enter into auxiliary function mode Press oo Hu LLH to display 12 10 2Execute the alarm history clear mode m f Press 9 to display liL LL 0 increases while keep pressing F1 for approx 5sec L amp H O OOOOOO O End End Alarm history clear finishes Note The function can clear the abnormal records 56 13 Parameters 13 1 Introduction of Parameters The driver provides parameters for setting features and functions to fit the different req
84. lection 3 INTSP3 eYou can make up to 8 speed settings combining INH INTSP1 and CL INTSP2 inputs 28 9 4 Position mode related inputs Signal T Pin No Symbol Function ype 28 DIV Electronic gear division multiplication switching input Function varies depending on the control mode You can switch the numerator of electronic gear By connecting DIV to COM you can switch the numerator of electronic gear from Pr47 1st numerator of electronic gear to Pr48 2nd numerator of electronic gear For the selection of command division multiplication refer to the table of next page Numerator selection of command scaling Caution Do not enter the command pulse 10ms before after switching Numerator selection of electronic gear CN X5 Pin 28 Setup of electronic gear DIV 1st numerator of electronic gear Pr46 x2 MAIBpISE GOTH RESI DES Open Denominator of electronic gear Pr4B position 2nd numerator of electronic gear Pr46 x2 Multiplier oFSOmae seing Prt Denominator of electronic gear Pr4B Servo on input Servo drive energize the servo motor while SV ON is activated Turns to Servo ON status by connecting this input to COM Turns to Servo OFF status by opening connection to CON Z and current to the motor will be shut off 29 SV ON You can select the dynamic brake action and the deviation counter clearing action at Servo OFF with Pr69
85. lse Support 1 RS422 line drive signal and 2 Open collector signal format signal from controller Type of 1 CW CCW pulse 2 Pulse signal rotational direction 5 input pulse signal 3 90 phase difference signal 2 a 2 3E 3 um 01017 Division Process the command 1 to 10000 x 2 3 X a 2 Multiplication pulse frequency 1 to 10000 of command pulse Primary delay filter is adaptable to the command input Selectable of Smoothing filter 1 Position control for high stiffness machine and 2 FIR type filter for position control for low stiffness machine Analog Torque limit Individual torque limit for both CW and CCW direction is input command input enabled 3V rated torque 1 Speed zero clamp 2 Selection of internal velocity Control input setup 3 Gain switching or Torque limit switching input Control output 1 Speed arrival at speed TR Setup of scale and rotational direction of the motor against 4 VEIOCIIY the command voltage is enabled with parameter with the amp command o 5 ermissible max voltage input 10V and 6V rated speed A input p g p p default setup g Torque limit Individual torque limit for both CW and CCW direction is 8 command input enabled 3V rated torque Z 1 5000 Internal velocity command 8 speed with parameter setup Soft start down function Individual setup of acceleration and deceleration is enabled with O to 10s 1000r min Sigmoid acceleration deceleratio
86. lter width Initial Value 2 Setting Range 0 4 Unit Function The second external Noise filter width in one of 5 step setting Higher the setting larger the notch width you can obtain Use with default setting in normal operation Pr2A 2 external noise filter depth Initial Value 0 Setting Range 0 99 Unit Function Set up the second external noise filter depth of the resonance suppressing filter Higher the setting shallower the notch depth and smaller the phase delay you can obtain 70 13 4 3 Parameters for adjustment of 2 gain SEE DE Function icd Range Unit p 30 Second gain action setting 0 0 1 All 31 Position control shift mode 7 0 8 P 32 Position control shift delay time 5 0 10000 ims P 33 Position control shift level 100 0 10000 l P 34 Position control shift width 30 0 10000 l P 35 Position gain shift time 4 0 10000 are P 36 Speed control shift mode 0 0 5 S 37 Speed control shift delay time 0 0 10000 ims S 38 Speed control shift level 0 0 10000 S 39 Speed control shift width 0 0 10000 l S 3A Torque control shift mode 0 0 3 T 3B Torque control shift delay time 0 0 10000 ims T 3C Torque control shift level 0 0 10000 l T 3D Torque control shift width 0 0 10000 l T Pr30 setting of 2 gain Initial Value 0 Setting Range 0 1 Unit Function You can select the PI P action
87. mand Velocity limit 0 SPR TRQR Pr56 CN IE Pin 14 1 CCWTL TRQR SPR TRQR CN VF Pin 16 CN I F Pin 14 Pr5C Input gain of torque command Initial Value 30 Setting Range 10 100 Unit 0 1V 100 Function You can set the relation between the voltage applied to the torque command input SPR TRQR CN I F Pin 14 or CCWTL TRQR CN I F Pin 16 and the motor output torque Torque 2 4 6 8 10V 100 Command input 200 voltage V 300 Unit of the setting value is 0 1V 100 and set up input voltage necessary to produce the rated torque e Default setting of 30 represents 3V 100 Pr5D Input reversal of torque command Initial Value 0 Setting Range 0 1 Unit Function You can reverse the polarity of the torque command input SPR TRQR CN I F Pin 14 or CCWTL TRQR CN I F Pin 16 Setting value Direction of motor output torque 0 CCW direction viewed from motor shaft with command 1 CW direction viewed from motor shaft with command 88 Pr5E First torque limit setting Initial Value 300 Setting Range 0 300 Unit Function When Pr03 1 this parameter is valid You can limit the max torque for both CCW and CW direction with Pr5E This torque limit function limits the max motor torque with the parameter setting In normal operation this driver permits approx 3 times larger torque than the rated torque instantaneously If this 3 times
88. mon output signals Type Symbol Function position 11 BK OFF External brake release signal velocity 10 BK OFF Feeds out the timing signal which activates the torque electromagnetic brake of the motor Turns the output transistor ON at the release timing of the electromagnetic brake You can set up the output timing of this signal with Pr6A Setting of mechanical brake action at stall Pr6B Setting of mechanical brake action at motion For details refer to Chapter 14 Control Sequence Timing Chart position 35 SVO RDY Servo Ready output velocity 34 svO RDY This signal shows that the driver is ready to be activated torque Output transistor turns ON when both control and main power are ON but not at alarm status 37 SVO ALM Servo Alarm output 36 SVO ALM This signal shows that the driver is in alarm status Output transistor turns ON when the driver is at normal status turns OFF at alarm status 39 IN POS Positioning complete In position 38 IN POS Function varies depending on the control mode Output of positioning complete IN POS The output transistor will turn ON when the absolute value of the position deviation pulse becomes smaller than the setting value of Pr60 Positioning complete range Output in speed speed arrival IN SPEED Position control Moor The output transistor will turn ON when the Torque Sees actual motor speed e
89. n is also enabled Zero speed clam 0 clamp of internal velocity command with speed zero clamp input is enabled 110 qo uo onbo Control input 1 CW over travel inhibition 2 CCW over travel inhibition 3 Speed zero clamp Control output 1 Speed arrival at speed ndur So euy Velocity Command input Setup of scale and CW CCW torque generating direction of the motor against the command voltage is enabled with parameter with the permissible max voltage input 10V and 3V rated speed default setup Speed limit input Speed limit input by analog voltage is enabled Scale setup with parameter Speed limit function Speed limit value with parameter or analog input is enabled uonoun gy UOUIUIO Masking of unnecessary input Masking of the following input signal is enabled 1 Over travel inhibition 2 Torque limit 3 Command pulse inhibition 4 Speed zero clamp Division of encoder Set up of any value is enabled encoder pulses count is feedback pulse the max cm Over voltage under voltage over speed over load S d Soft error oz over heat over current and encoder error etc o9 ex or We S T less Excess position deviation command pulse division fp error EEPROM error etc Traceability of alarm data Traceable up to past 16 alarms including the present one dnjog
90. nal is narrow represents twisted pair 21 7 3 Sequence output circuit Install toward the direction as the fig shows without fail Vor Max rating 30VDC 50mA R ko s Yoc 2 5 10 The sequence control output circuit is isolated open collector outputs they are suitable to connect to relays or photo couplers If used as collector drive the wiring is recommended as above diagram the current limit resistor can be calculated as formula shown the voltage drop of photo coupler transistor and receiver input diode assumes 2 5V the current limits to 10ma If used as emitter follower the diagram is recommended as follows the current limit resistor can be calculated as formula shown the voltage drop of photo coupler transistor and receiver input diode assumes 2 5V the current limits to 10ma ee 1K92 l BEG Measuring instrument oF 7 4 Analog monitor output 1K9 IM 42 external GND 17 l l l l l l l l circuit d l l l l There are two outputs the speed monitor signal output SP and the torque monitor signal output IM the signal range is 10V The output impedance is 1kQ Pay an attention to the input impedance of the measuring instrument or the external circuit to be connected diagram irin W 8 8 1 Position control Caed pasim sjuesaidas 1 jndino 1ojuou enbJo a 9 LC ET
91. ng output WARN REG regeneration more than 85 4 Overload warning output WARN OL Load more than 85 PrOA Selection of ZSP output Initial Value 0 Setting Range 0 4 Unit Function Function of ZSP output ZSP CN I F PIN 12 Setting parece Mark of Value Signal TLC output condition 0 Output during torque limit TLC Torque command in Torque limit 1 Zero speed detection output ZSP Speed lower than Pr61 2 regeneration Warning output WARN ALL regeneration higher or overload 3 Over regeneration warning output WARN REG regeneration more than 85 4 Overload warning output WARN OL Load more than 85 PrOC Baud rate setting of RS232 communication 3 Initial Value Setting Range 0 3 Unit Function You can set up the communication speed of RS232 Setting Value Baud 0 19200bps 1 38400bps 2 57600bps 3 115200bps 65 PR10 Unit 13 4 2 Parameters for adjustment of time constants of gain and filters RES m Function E Range Unit m 10 First position loop gain 47 1 2000 1 S P 11 First speed loop gain 36 1 3500 Hz All 12 Time constant of first speed loop integral 28 0 1000 0 01ms All 13 First speed detection filter 0 0 5 All 14 Time constant of first torque filter 65 25 2500 0 01ms All 15 Speed feed forward 300 00 1500 0 1 P 16 T
92. o motor 37 43 SPM Speed monitor signal output The content of the output signal varies depending on Pr07 Speed monitor IM selection You can set up the scaling with Pr07 value Control Pr07 Function mode Feeds out the voltage in proportion to Motor the motor speed with polarity speed rotates to CCW rotates to CW Feeds out the voltage in proportion to Command the command speed with polarity speed rotates to CCW rotates to CW 0 4 5 0 13 15 17 25 GND Signal ground This output is insulated from the control signal power COM inside of the driver 50 FG Frame ground This output is connected to the earth terminal inside of the driver 38 12 Setting with the Front Panel 12 1 Composition of Touch Panel and Display Display LED 6 digit All of LED will flash when error occurs and switch to error display screen All of LED will flash slowly when warning occurs Press these to change display and data select parameters and execute actions Change Selection Execution is valid to the digit which decimal point flashes Numerical value increases by pressing decreases by pressing Q Shifting of the digit for data changing to higher digit Valid to the digit whose decimal point flashes SET Button valid at any time Press this to switch SELECT
93. of Motor 0 CCW direction with command viewed from the motor shaft end 1 CW direction with command viewed from the motor shaft end Note Default of this parameter is 1 and the motor turns to CW with signal When Pr06 ZEROSPD is set to 2 this parameter becomes invalid Warning When you compose the servo drive system with this driver set to velocity control mode with external positioning controller motor might perform an abnormal action if the polarity of the speed command signal from the unit and the polarity of this parameter setting does not match Pr52 Speed command offset Initial Value 0 Setting Range 2047 2047 Unit 0 3mV Function You can make an offset adjustment of analog speed command SPR CN I F Pin 14 with this parameter The offset volume is 0 3mV per unit value of speed command offset There are 2 offset methods 1 Manual adjustment and 2 Automatic adjustment 1 Manual adjustment When you make an offset adjustment with the driver alone enter 0 V exactly to the speed command input SPR TRQR or connect to the signal ground then set this parameter up so that the motor may not turn when you compose a position loop with a host positioning controller set this parameter up so that the deviation pulse may be reduced to 0 at the Servo Lock status 2 Automatic adjustment For the details of operation method at automatic offset adjustment mode refer
94. of the overload alarm 36 11 2 Encoder signal outputs Type ae Symbol Function 21 OA OA OA A phase output 22 OA OB OB B phase output 48 OB OZ OZ Z phase output B Op e You can set up the division ratio with 23 OZ Pr44 Output Pulse Pre division of Every Reversion Pr4E Numerator of pulse output division and position Pr4F Denominator of pulse output division velocity You can select the logic relation between A phase and B phase torque 24 OZ and the output source with Pr45 Reversal of pulse output logic Ground for line driver output is connected to signal ground GND and is not insolated Max output frequency is 4Mpps after multiplied by 4 Z phase output 19 CZ Open collector output of Z phase signal The emitter side of the transistor of the output is connected to the signal ground GND and is not insolated 42 IM Torque monitor signal output The content of output signal varies depending on Pr08 Torque monitor IM selection You can set up the scaling with Pr08 value Content of Pr08 Function signal Feeds out the voltage in proportion T to the motor torque command with 0 2 E polarity command generates CCW torque generates CW torque Feeds out the voltage in proportion ds to the position deviation pulse Position i i 3 7 SET counts with polarity eVI2HOT CCW command to motor CW command t
95. om A by 90 1 t2 t2 SIGN 2 t2 us M U l 3 SIGN j i t6 t6 t6 ti ti i qu fepe H 06r PULS SIGN uS B phase advances to A by 90 8 1 PULS rx LI aa 11 p 12 SIGN i 2 2 H I i eU 3 PULS ae 4 5 SIGN t6 t6 t6 t6 ePermissible max input frequency and min necessary time width of command pulse input signal Permissible Min necessary time width Input I F of PULS SIGN signal input 5 2 a a 5 T requency Pulse train interface exclusive to line driver 2Mpps 500ns 250ns Q250ns250ns250ns 250ns we Line driver interface 500kpps 2us lus lus flys jlus lus Poleg Sain auier face Open collector interface 200kpps Sus 2 5us Qus 2 5us 2 5us 2 5us Make the rising falling time of the command pulse input signal to 0 1 us or smaller Note Pr41 0 Pr42 0 or 2 Command pulse format is 90 phase difference 2 phase pulse A B phase Pr42 1 Pr42 3 Command pulse format is CW pulse train CCW pulse train Command pulse format is pulse train direction signal Pr41 1 will invert the above setting of Pr42 77 Pr42 x Setting of command pulse input mode Initial Value 1 Setting Range 0 3 Unit Function refer description of Pr41 Pr43 Enable disable command pulse inhibit input Initial Value 1 Setting Range 0 1 Unit Function You can select either the enable or the disable of the command
96. on Pr6A energized P6B Setting of delay time from servo off to brake hold motor at running Initial Value 0 Setting Range 0 200 Unit ms Function Setup the time from switch off Servo ON input signal SRV ON CN I F Pin 29 to external brake release signal output BRK OFF CN I F Pin 10 and 11 turns off while motor at running Set up to prevent the brake deterioration due to the motor running At switch off Servo ON during the motor is running tb refer the following fig will be the shorter one of either Pr6B setting time or time lapse from SERVO ON switch off to motor speed falls below 30rpm SVO ON ON OFF release hold Refer to Timing Chart Servo ON OFF t action while the motor is in motion of Ier energized tb i non Preparation as well energization energized Motel l 30r min energization 95 Pr6C x Selection of external regeneration resistor Initial Value 0 Setting Range 0 2 Unit Function With this parameter you can select either to use the built in regeneration resistor of the driver or to disable built in regeneration resistor and use external installed regeneration resistor between P1 and B2 to consume the regeneration energy Setting value Regeneration resistor to be used SNORT nose coc I regeneration resistor overload m f Use internal resistor to consume regeneration 0 Built in resistor energy Regeneration overload protection
97. on connector RS 232 RS 2 Connector for Encoder connection SIG E Connector for host conection 1 5 Motor and it accessories MKA 200W 750W Connector for encoder cable Encoder cable Motor cable Connector for motor cable Rotary encoder Connector for brake cable only applicable to the motor with electromagnetic brake Motor frame Mounting holes X4 Flange MKA 1000W 2000W Motor Encoder Connect Connect Seal Flange Mounting holes X4 2 Servo drive installation precautions 2 1 Ambient conditions The servo drive should be stored in the environment within ambient conditions as following table shown Item Condition Ambient temperature 0 C to 55 C free from freezing Ambient humidity Less than 90 RH free from condensation Storage temperature 20 C to 80 C free from freezing Storage humidity Less than 90 RH free from condensation Vibration Lower than 5 9m S2 0 6G 10 to 60Hz 2 2 Installation Orientation and Spacing 1 When installing the servo drive make the front panel containing connectors face outward and take into consideration the easy connection disconnection of I F and SIG connectors for measurement 2 3 Servo drive Installation and Cooling Method For multiple servo drives installation in the control cabinet allow at least 40mm between each When installing servo drives side by side as shown in the figure below
98. orque Control Mode 1 1r ardeo pcc eerte be a erre appel deegene 105 POS OCU Ol SDECLLIIIEEG o SoG cous eae tech pee ade nage Sd Del a I AN E tua sete o tes 106 16 Motor Characteristics S T Characteristics eese eene eene enne 107 16 1 Motor characteristic CUrVe iuis inniu vistas e EE PEU OE SUEE UU SECUTA QUSS AEN E RES AR SEE DAE EA 107 16 2 Overload protection time characteristics a asiste itor DRE SERO bo ue tole oeque eS U e atur ecs 107 17 Connector Kit for Motor Encoder Connection cceessecesseecesececeeeeeceeececeeeeecseneeceeeeecseeeeseeeees 108 17 1 Connectorand connector pln 4 eie re pext ertet es Y EISE TER En NR ARUAASA T MUR Re UO BUE PRSE USERS VER 108 143 SCSEIneraceCablez 5c 20tscaenosedatenauvekacesace e i anei aai oom dri csse ao dere le 108 17 3 Specification of Main Eo0p COnneetorus adds it eR ede deditus biu sni wees en dida d idus 108 18 Driver Specifications cotone tiec test pem d bo asta osculis Ss iat r MM cp Ie 109 S L Basie Specie dolos oio cebat OM V ETUR a EMI VE teS dev sv a duri ductu a au 109 IS MES cinere 110 19 Brrtor Code Dese P O a dts vee dn cutee M er 112 1 Checking Mokon K series products on delivery Check the following items when Mokon K Series products are received 1 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
99. protection 14 Over current protection software 37 EEPROM parameter error protection 15 Overheat protection 38 Run inhibit input protection 16 Overload protection 48 Encoder Z phase error protection 18 Over regenerative load protection 49 Encoder Z phase lose protection 20 Encoder A B phase error protection 50 Encoder Z phase double signal 2l Bncoder communication error protection 99 Over current protection Hardware 22 Encoder communication data error protection X Following errors are not included in the history Error Code No 11 13 Protective Function Detail of Error Code Error Code Meaning Causes No 11 Under voltage protection for control While DSP is low voltage inhibit process of power EEPROM and display error 12 Over voltage protection Occurs while voltage is over AC 260V Occurs while voltage is lower than AC 170V or 13 Under voltage protection for main power connection of single phase power is not correct Occurs while DC bus is over 18 Over regenerative load protection PEDONE I TGA ETa i5 10090 Be bench mark of flyback limit is DC 368V 0 and DC 395V 85 Encoder communication error protection Verify whether connector of SIG encoder 20 21 Encoder Z phase error protection correctly connect to driver 22 48 Encoder communication data error Verify connection of male and female connector protection of encoder cable is correct 14 99 Over current prot
100. pulse inhibit input INH CN I F Pin 33 Setting Value PULS INH Input 0 Valid 1 Invalid Command pulse input will be inhibited by opening the connection of INH input to COM When you do not use INH input set up Pr43 to 1 to invalid the function that you do not need to connect INH CN I F Pin 33 and COM Pin 41 Pr44 xX Output pulse pre division of every revolution Initial Value 0 Setting Range 0 225 Unit Function Set pre division of one revolution pulse number of encoder pulse input to upper level device Pulse output per revolution Encoder resolution Pr44 When Pr4440 gt Pr4E Pr4F setting is invalid Pr45 X Normal invert of pulse output Initial Value 0 Setting Range 0 1 Unit Function You can set up the B phase logic and the output source of the pulse output I F OB Pin 48 OB Pin 49 With this parameter you can change lead lag of the phase relation between the A phase and the B phase by inverting the B phase logic at motor CCW rotation at motor CW rotation Setting value A phase OA apad p s 0 B phase OB normal a p ud SIE cett s 1 B phase OB invert e ue HEE ne a 78 Pr46 1 numerator of electronic gear Initial Value 1 Setting Range 1 10000 Unit Function Electronic gear Command pulse division multiplication function Purpose of this function 1 You can set up any
101. que If setting is a complex mode Pr02 3 4 5 control mode shift input C MODE is used to make shift between first and second mode C MODE OPEN ON OPEN 1st Pipe 2nd Lp 3th 10ms or longer 10ms or longer Note Don t enter commands 10ms before after switching Neither position speed nor torque instructions are not allowed to input Pr03 Analog torque limit input Initial Value 1 Setting Range 0 2 Unit Function You can set up the torque limiting method for CCW CW direction If not using torque limit function set Pr03 to 1 Use angle torque limit input CCCW TL Pin16 CWTL Pin18 CCWTL and CWTL will be limited by Pr5bE Setting Value CCW torque limit CW torque limit 0 limit by Pin16 input limit by Pinl8 input 1 limit by setting value of Pr5E 2 limit by setting value of Pr5E limit by setting value of Pr5F In torque control mode this parameter is invalid and CCW CW torque limited by setting value of Pr5E 60 Pr04 Over travel limit input Initial Value 1 Setting Range 0 2 Unit Function In linear drive application you can use this over travel limit function to inhibit the motor to run to the direction specified by limit switches which are installed at both ends of the axis so that you can prevent the work load from damaging the machine due to the over travel With this input you can set up the action of ove
102. r corrosive gases or gas fire is guide the Department or flammable material near use 2 Where the motor is free from grinding oil oil mist iron powder or chips 3 Well ventilated and humid and dust free place far apart from the heat source such as a furnace 4 Easy to access place for inspection and cleaning 5 Vibration free place 6 Avoid enclosed place Motor may get hot in those enclosure and shorten the motor life Item Condition Ambient temperature 0 C to 40 C free from freezing 1 Ambient humidity Less than 85 RH free from condensation Storage temperature 20 C to 80 C free from freezing 2 Storage humidity Less than 85 RH free from condensation Vibration Motor only Lower than 49m s2 5G at running 24 5m s2 2 5G at stall Impact Motor only Lower than 98m s2 10G IP65 except rotating portion of output shaft and lead wire end Enclosure Motor only These motors conform to the test conditions specified in EN standards rating EN60529 Do not use these motors in application where water proof performance is required such as continuous wash down operation Ambient temperature to be measured at 5cm away from the motor 2 Permissible temperature for short duration such as transportation 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
103. r to 12 4 Parameter Setting Mode in p48 Refer to 12 5 EEPROM writing mode in p5 Refer to 12 Parameter Setting Mode in p4 Refer to 12 7 auxiliary function mode in p53 12 3 Monitor Mode ri L Initial status of the Console LED p Selection display Position deviation IinF EPS i In SPd U InFi tc a n ct lnk d ID int Err bd InF na m nt5S WY Int rc dL Y Motor rotation speed Torque output Control mode I O signal status Error history Software version Alarm Regenerative Load factor Inertia ratio Overload factor Vv InF oL wo in nP5 SERE InEAd i Display shift forward the arrowed press O direction by press V Reversed direction by Feedback Pulse sum Command Pulse sum Analog input value MODE To parameter setup Mode MODE switching button SET SET button 41 Display example EXECUTION display Err ro nn UL uu Description fecu 3 deviation pulses p42 2000rpm p42 Torque output 100 eo p42 Position control mode p43 Display of I O Signal status p43 No error currentl Y p4 Software version of 002 p45 No alarm p 45 5
104. r travel protection input Driver Set C oT Connect CW LIMIT Input Acti Value Te COM anos Input Close normal state of limit switch in the end CCW LIMIT Close of CCW CN I E Pin 9 0 Valid Open CCW is prohibited Close normal state of limit switch in the end CW LIMIT Close orcw CN I F Pin 8 R se une Open CW is prohibited 1 Invalid Ignore CCW LIMIT CW LIMIT input over travel protection function is invalid If one of CCW CW inhibition inputs is open circuit with COM 2 Valid Err38 Over travel protection occurs Note 1 When Pr04 setting is 0 and over travel protection input is valid program set by Pr66 Sequence at over travel protection input is used to make speed down and cease For detail refer to instruction of Pr66 2 If Pr04 setting is 0 and CCW LIMIT and CW LIMIT input is open meanwhile driver is judged as abnormal state Err38 Run inhibition input protection will occur 3 When you turn off the limit switch on upper side of the work at vertical axis application the work may repeat up down movement because of the loosing of upward torque In this case set up Pr66 to 2 or limit with the host controller instead of using this function 61 Pr05 Speed selection mode Initial Value 0 Setting Range 0 3 Unit Function This driver is equipped with internal speed setting function so that you can control the speed with contact inputs only S
105. rocess End Completed Error No Servo ON Note 1 To avoid loss of gain parameter during power off please store parameter to the EEPROM 2 When adjustment is wrong please adjust the gain parameter back to the previous data Moreover as load difference sometimes machine will produce vibration but not faults so pay attention to the safety 3 Error occurred checking the motor Servo ON state 52 12 7 auxiliary function mode You can make a trial run JOG run without connecting the Connector I F to the host controller such as PLC Note 1 Separate the motor from the load detach the Connector CN X5 before the trial run 2 Bring the user parameter settings especially Pr11 14 and 20 to defaults to avoid oscillation or other failure 12 7 1 Inspection Before Trial Run 1 Inspection on wiring Miswiring Especially power input and motor output Short or grounded Loose connection 2 Confirmation of power supply and voltage Rated voltage MODE SET O Kingservo f RS 232 485 EM S 3 Fixing of the servo motor Unstable mounting le im re 4 Separation from the io E mechanical system Li ground 5 Release of the brake SET 6 Turn to Servo OFF after finishing the trial run by pressing 53 12 7 2 How to enter the trial run JOG run mode From the initial state of LED press 9 five times to enter into auxiliary fun
106. tion of Pr69 Sequence at Serve OFF Parameter setup at each control mode as well 100 15 Gain adjustment and speed limit 15 1 Real time Auto gain adjustment The driver estimates the load inertia of the machine in real time and automatically sets up the optimum gain responding to the result Also the driver automatically suppresses the vibration caused by the resonance with an adaptive filter All drive control mode can utilize the real time auto gain adjustment Action command Torque o under actual condition Auto gain setup command utput Servo driver Te current Position or Velocity command Position Velocity control Current Torque filter contol Real time Auto gain tuning Load inertia ratio estimation and filter adjustments Speed feedbac Methods of operation 1 2 Bring the motor to stall Servo OFF SVO ON CN I F PIN 29 Set up Pr21 Real time auto gain gt Set to a value other than 0 Usually begins from a number set by the small The smaller the value representing the learning rate is lower for moderate changes in load inertia body Higher learning rate although you can quickly estimate the change in inertia but because some motion curve may become unstable P122 set stiffness parameters please start from the lower value set Then the motor can be Servo ON that is the input signal SVO ON CN I F PIN 29 to ON and operation of ma
107. to 12 9 Automatic offset adjustment Result after the execution of the automatic offset function will be reflected in this parameter Pr52 85 Pr53 1 speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function When the internal speed setting is validated with parameter Pr05 Switching of internal or external speed setting you can set up Ist to 4th speed into Pr53 to 56 5th to 8th speed into Pr74 to 77 in direct unit of rpm In torque control mode Pr56 becomes the speed limit Note The polarity of the setting value represents that of the internal command speed Command to CCW viewed from the motor shaft end Command to CW viewed from the motor shaft end Pr54 2 speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function Refer to Pr53 Pr55 3 speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function Refer to Pr53 Pr56 4th speed of speed setting Initial Value 0 Setting Range 10000 10000 Unit rpm Function Refer to Pr53 Pr57 JOG speed setting Initial Value 200 Setting Range 1 2000 Unit rpm Function You can setting the JOG speed Refer to P53 12 7 1 Inspection Before Trial Run 86 P58 Acceleration time setting Initial Value 0 Setting Range 0 10000 Unit 1ms 1000rpm Function You can make the velocity control while adding accelerat
108. ue 28 Setting Range 1 1000 Unit ms Function You can set up the integration time constant of velocity loop Smaller the setting faster you can dock in deviation at stall to 0 The integration will be maintained by setting to 999 The integration effect will be lost by setting to 1000 Pr13 1 speed detection filter Initial Value 0 Setting Range 0 5 Unit Function You can set up the time constant of the low pass filter LPF after the speed detection in one of 6 steps Higher the setting larger the time constant you can obtain so that you can decrease the motor noise however response becomes slow Use with a default value of 0 in normal operation Prl4 1 time constant of torque filter Initial Value 65 Setting Range 25 2500 Unit 0 01ms Function Set time constant of time delay filter in the torque command section Prl5 Velocity feed forward Initial Value 300 Setting Range 0 1500 Unit 0 196 Function Set up the velocity feed forward percentage at position control loop Higher the setting smaller position deviation and better response you can obtain however this might cause an overshoot Pr16 Time constant of feed forward filter Initial Value 50 Setting Range 0 6400 Unit 0 01ms Function Set up the time constant of 1st delay filter in velocity feed forward loop You might expect to improve the overshoot or noise caused by larger setting of velocity feed forward Pr1
109. uirement of users The chapter will introduce the function of each parameter Read it carefully and adjust parameters to the best operating condition before application 13 2 Setting Method The setting method of parameters is as following 1 Front panel of machine 2 Set up supporting software KSDTools in computer Note About the setting method of computer screen refer to the manual of KSDTools 13 3 Connection Method Refer to Optional Articles Exclusive communicaiotn cable Pp Communication software KSDTools 57 13 4 Contents and List of parameters Parameter No Type eo Abstract Function Selection 00 to OF selection of control mode designation of input output signal setting of communication transition rate etc first and second servo gain of position speed and 10 to 20 integral etc or setting of time constant of all filters Adjustment 27 to 2B External noise detector CCW and CW torque control offset etc 30 to 3D shift related setting of the first gain to the second gain setting of input form and direction of command pulse 40 to 4D setting of division of output pulse of encoder and setting of division rate of command pulse etc input gain setting rotary limit setting and offset Position Control 50 to 5A adjustment of speed commander internal speed 1 to 4 Speed Torque 74 to 77 level setting and setting of accelerating decelerating Control time etc input
110. ut with parameter Pulse signal 4 outputs Feed out the encoder pulse A B and Z phase or Output external scale pulse EXA EXB and EXZ phase in line driver Z phase and EXZ phase pulse is also fed out in open collector OTAN RS232 1 1 communication to a host with RS23 interface is enabled function 1 5 keys MODE SET UP DOWN SHIFT 2 LED Front panel E 6 digit Regeneration Built in regenerative resistor 50W Setup of action sequence at Power OFF Servo OFF at Dynamic brake protective function activation and over travel inhibit input is enabled Switching among the following 6 mode is enabled 1 Position C imod control 2 Velocity control 3 Toque control 4 GBHOIDOUE Position Velocity control 5 Position Torque control 6 Velocity Torque control 109 18 2 Function uonoungy Control input Inputs of 1 Servo ON 2 Alarm clear 3 Gain switching 4 Control mode switching 5 CW over travel inhibition and 6 CCW over travel inhibition are common and other inputs vary depending on the control mode Control input 1 Deviation counter clear 2 Command pulse inhibition 3 Damping control switching 4 Gain switching or Torque limit switching Speed control range Control output Positioning complete In position Exclusive interface for line driver 2Mpps Line driver Max command 500kpps pulse ednency Open collector 200kpps Input pu
111. xceeds the setting value of Pr62 In speed 12 ZSP Zero speed detection output signal 41 COM e Content of the output signal varies depending on PrOA Selection of ZSP output Default is 1 and feeds out the zero speed detection signal For details see the table below Selection of TLC ZSP output 40 TLC Torque in limit signal output 41 COM Content of the output signal varies depending on Pr09 Selection of TLC output Default is 0 and feeds out the torque in limit signal For details see the table below Selection of TLC ZSP output 29 Selection of TCL and ZSP outputs Value of Pr09 or PrOA I F TLC Output of Pin 40 I F ZSP Output of Pin 12 0 Torque in limit output Default of I F TLC Pr09 The output transistor turns ON when the torque command is limited by the torque limit during Servo ON Zero speed detection output Default of I F ZSP Pr0A The output transistor turns ON when the motor speed falls under the preset value with Pr61 Alarm signal output The output transistor turns ON when either one of the alarms is triggered over regeneration alarm overload alarm Over regeneration alarm The output transistor turns ON when the regeneration exceeds 8596 of the alarm trigger level of the regenerative load protection Over load alarm The output transistor turns ON when the load exceeds 8546 of the alarm trigger level

Mokon-K Series Driver User's Manual

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