Home

DS2 Series Servo Driver User Manual

1. 69 6 Ratings and Characteristics 70 7 Alarm Information 7 Alarm Information This chapter describes the alarm information of DS2 series servo drivers Alarms Alarm Tg Re download the program or contact Xinje or an authorized distributor Fail in program self E 001 Program Damaged exam Restart the driver to reset the Parameter Fail in parameter self parameters to default Ifit Damaged exam happens for many times contact Xinje or an authorized distributor E 002 Power grid is over votage or need a regen resistor the regen resistor is disconnected or the resistance 1s much higher E 004 DC Under Voltage dete Nu Check the power grid P0 Regen Resistor Regen resistor 1S Check therecenseastor Error unavailable Reduce the load and enhance the cooling system or check if the fan is revolving when motor is ON cool down the ambient temperature Check the power grid connect a regen resistor check the regen resistor E 003 DC Over Voltage N Driver has been in high Module Over load for a long tiem Temperature Ambient temperature is higher than normal UVW of driver is short E 007 Over Current circiut or the motor 1s E 006 Replace the damaged motor check the UVW wiring piece Check if there is other device that E 008 Over Speed 5 make motor revolve too fast UVW of
2. 6 Ratings and Characteristics E Dimensions of 60 Series Servomotors with Brake Unit mm 950h7 a ts A H y i SS 3 XO Ra gt 20 Pi N 3 7 SS ng 30 146 _ 60 5 A A 1 5 1 Ti EN E amp G BHI E d s al amp Ney J 2 0 e 3 LI 08 189 p 60 5 Dimensions of 80 Series Servomotors Unit mm 64 6 Ratings and Characteristics 19 Z 80 aT o Eh O a G e e T gt ES T 150 a E S 15574 9 E Dimensions of 80 Series Servomotors with Brake Unit mm 24VDC Was Q A amp OX gt die NN Y
3. 700050 CLD x TS lo ans v v KO Ke A N a 15 52 wn in E Dimensions of 110 Series Servomotors Unit mm 65 6 Ratings and Characteristics Ye 219 110 SO 095h7 S Tr S 7 S a DN d E S 019 a Ne w R Dimensions of 110 Series Servomotors with Brake Unit mm a J ee 293 oo 110 312 2 D a gt E e X A E Dimensions of 130 Series Servomotors Unit mm so I ee 213 ES 130 914 A ana Ey ES E 42 E
4. 8 SS 4 18 50 Dimensions of 130 Series Servomotors with Brake Unit mm 66 6 Ratings and Characteristics e ol 270 NE 09 S0 E gt N 2110h7_ 022h6 6 2 Servo Drivers This section describes ratings specifications and dimensional drawings of the servo drivers 6 2 1 Ratings Servo Driver Model DS2 20P4 DS2 20P7 DS2 21P5 MS 110ST M06030 TE MS 60ST MS 80ST 50 21P5 Ai M01330n0 20P4 M0243000 20P7 MS 130ST ys M1001500 21P5 Speed rpm Rated 3000 Max 4000 Rated a S Max Standard 2500 lines increamental decoder Max Motor Capacitor kW 18 Continuous Output Current A 2 5 3 rms rms Power Supply Single Phase AC200 240V 50 60Hz Single phase full wave rectification IPM PWM sinewave driven Ambient Storage 0 50 C 20 85 C Temperature Snte ambin pon Below 90 RH with no condensation ions Humidit Vibration Shock 4 9m s2 19 6m 8 Resistance Configuration 6 2 2 Specifications Servo Driver Model DS2 20P4 DS2 20P7 DS2 21P5 1 4000 The lowest speed of the speed Speed Control Range control range is the point just before the motor stops under full load condition a Load 0 100 load 0 01 maximum at
5. Default Setting P3 04 0 1000 If the setting is higher than the maximum motor speed of the servomotor then the servomotor will rotate at its maximum speed 4 5 Setting Stop Functions This section describes the procedure used to stop the servomotor properly 4 5 1 Zero Clamp ZCLAMP R Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a position loop for the speed reference input In other words this function is used to stop and lock the servomotor even when the input voltage of speed reference is not 0 An internal position loop 1s temporarily formed to clamp the servomotor within one pulse when the zero clamp function is turned ON Even if the servomotor is forcibly rotated by external force it will still return to the zero clamp position E Parameter Setting Set the following parameter so that the input signal ZCLAMP can be used to enable or disable the zero clamp function Parameter Name Unit Setting Range Default Control Setting Mode ae Zero Clamp n 0000 n 00123K1 n 0000 Control Default setting is n 0000 and is fixed to OFF Assign ZClamp to any of the input terminals to enable Zero Clamp Function Please refer to 4 4 2 Input Signal Assignment to know more about setting this parameter X 1 Setting range of DS2 21P5 is n 0000 n 0014 Zero clamp is performed when all the following conditions are satisfied Speed control is selected Sub Mode
6. INE DS2 Series Servo Driver User Manual Xinje Electronic Co Ltd Serial No SCO1 20090706 1 A KAA lT DS2 Series Servo Driver User Manual Safety Precautions Content Preface Checking Product and Part Names Installation Wiring Parameter Settings and Functions Use Digital Panel Ratings and Characteristics Alarm Information All copyrights reserved by Xinje Electronic Co Ltd Any copying transferring or any other usage is pro hibited Otherwise Xinje will have the right to pursue legal responsibilities All rights including patent and pemission of modules and designs are reserved January 2010 Safety Precautions Be sure to review this section carefully before use this product In precondition of security wire the product correctly The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each Failure to follow precautions provided in this manual can result in serious possibly even fatal injury and or damage to the persons products or related equipment and systems CAUTION Indicates a potentially hazardous situation which 1f not heeded could result in death or serious injury AN WARNING Indicates a potentially hazardous situation which 1f not avoided may result in minor or moderate injury Checking Products upon Delivery CAUTION 1 DO NOT install any drive
7. Torgue and Position Control Reverse Prohibited Speed Torgue and Position Control Connect limit switches as shown below to prevent damage to the devices during linear motion 25 4 Parameter Settings and Functions Reverse rotation end Forward rotation end Servo motor limit switch limit switch Servo drive E Enabling Disabling Overtravel Function Set the following parameters to specify whether input signals are used for overtravel or not DS2 20P4 and DS2 20P7 is set to not used DS2 21P5 is set to used Na Defaul Parameter Description Unit Serang ad Range Setting Always prohibit P5 12 is set to n 0010 means always pohibit forward running It is rarely used Always not prohibit P5 12 is set to n 0000 which means always allow running forward Input from terminal The last number of P5 12 is the terminal that input P OT signal The next number indicates if the signal is reversed and 1 indicates the signal is reversed Always prohibit P5 13 is set to n 0010 means always pohibit forward running It is rarely used Always not prohibit P5 13 is set to n 0000 which means always allow running forward Input from terminal The last number of P5 13 is the terminal that input P OT signal The next number indicates if the signal is reversed and 1 indicates the signal is reversed X1 Setting range of DS2 21P5 is n 0000 n 0014 X2 Default setting of DS2 21P5 is n 001
8. X1 Setting range of DS2 21P5 is n 0000 n 0014 Set the following parameters to change the control mode P0 00 Main Mode o JO P0 01 Sub Mode1 o7 JO P0 02 SubMode2 o7 JO PERENE Description of Control Modes 0 Idle 39 4 Parameter Settings and Functions Idle mode Enable the motor but keep still 1 Torque Digital Reference Digital reference Torque Control Please refer to 4 3 6 Torque Control 2 Torque Analog Reference Analog reference Torque Control DS2 series doesn t have this mode 3 Speed Digital Reference Digital Reference Speed Control It allows the user to initially set three different motor speeds with parameters and then select one of the speeds externally using a input signal Please refer to 4 3 5 Digital Reference Torque Control 4 Speed Analog Reference Analog Reference Speed Control DS2 series doesn t have this mode 5 Position Digital Reference Digital Reference Position Control It is still in construct 6 Position Pulse Reference Pulse Reference Position Control Please refer to 4 3 2 Position Reference 7 Speed Pulse Reference Pulse Frequency Reference Speed Control Speed reference is in direct proportion to the frequency of input pulse string and the reference is independent of the total number of the pulse string Please refer to 4 3 1 Speed Reference Note Do not set sub mode to 2 Torque Analog Reference or 4 Speed
9. 2 2 Installation Site The following precautions apply to the installation site Installation Precaution Installation in a Design the control panel size unit layout and cooling method so Control Panel the temperature around the servo drivers does not exceed 50 C 2 Installation Installation Near a Minimize heat radiated from the heating unit as well as any Heating Unit temperature rise caused by natural convection so the temperature around the servo drivers does not exceed 50 C Installation Near a Install a vibration isolator beneath the servo driver to avoid Source of Vibration subjecting 1t to vibration Installation at a Site Corrosive gas does not have an immediate effect on the servo Exposed to Corrosive drivers but will eventually cause electronic components and Gas terminals to malfunction Take appropriate action to avoid corrosive Other Situations Do not install the servo driver in hot and humid locations or locations subject to excessive dust or iron powder in the air 2 2 3 Orientation Install the servo driver perpendicular to the wall as shown in the figure The servo driver must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan Ventilation 2 2 4 Installation Follow the procedure below to install multiple servo drivers side by side in a control panel 2 Installation 50mm minimum Tri Tai TT TT TT TT T L I l I UI L T
10. 3 2 CN2 Encoder Connector Terminal Layout R CN2 Connector Terminal Layout The following diagrams show the layout of CN2 connector facing the soler pin 3 Wiring bo e el E el R CN2 Connector Terminal Description Driver R None Driver Encoder Side On Motor Same 60 and 80 110 and 130 Name 60 and 80 110 and 130 Name 9 4 A TE 2 4 5 E 7 6 laa 6 10 U ou 2R w 6 B 7 A o 14 8 B 8 5 9 JZ o 8 B U 10 15 15 W as 12 14 V 3 4 Examples Of Standard Connections The following diagrams show examples of standard servo driver connections by specifications and type of control The VO signals used on input and output terminals are assigned by default This assignment could be changed in various conditions Please refer to 4 1 6 3 4 1 Position Control Mode E DS2 20P4 and DS2 20P7 single phase AC 220V 50 60Hz regnerative peroo resistor 9 Pe o U U O l C C o PB V L N z WO FIL Bo PE E eL a N CN2 pa PE a IE be sure to properly prepare the end of the shielded wire A4 for signal B 2 ai o connect shield PULS positioning to ground E S E Completed for drive leave
11. 3 or 4 gt ZCLAMP ON Speed reference drops below the setting level of P5 01 41 4 Parameter Settings and Functions REF Speed reference speed Zero Clamp Leve 4 f Setting Value K po 4 a a l time ZCLAMP Input ON OFF ON T Zero clamp perform gt r 4 6 IO Signals Control This section describes the procedure for using I O signals of the servo driver 4 6 1 Alarm Output ALM The basic procedure for connecting alarm output signals is described below DCSV 24Y relay Do FOL servo drive cog com F Note the maximal 1 wec d voltage current output DY DY with open collector Mi voltage DC30V max cid current DC50mAimax An external I O power supply must be provided by the user separately because there is no internal 24V power supply in the servo driver Control Mode ALM Alarm Output Position Control Speed Control and Torgue Control ALM is set to ON when a servo driver alarm is raised Servo Drive sem LE ALM output turn off the main circuit power Form an external circuit so this alarm output ALM turns OFF the servo driver Signal Status Reversed Or Not On between SO and COM Alarm State ON IKM MOS Reverse Output Off between SO and COM Direct Output On between SO and COM OFF Normal State Reverse Output Off between SO and COM Set the following parameter so that the output signal ALM can be used to output to any
12. Parameters R Setting Speed Loop Gain Set the following speed loop related parameters as required Parameter Name Unit Setting Default Control Mode Range Setting P1 00 Speed Loop Gain 12500 1100 Position Control Speed Control Speed Loop Integral Position Control The higher the speed loop gain or the smaller the speed loop integral time constant value the faster the speed control response will be There 1s however a certain limit depending on machine characteristics 50 4 Parameter Settings and Functions speed loop gain speed reference speed feedback E Setting Position Loop Gain Set the following position loop related parameter as required Parameter Name Unit Setting Default Control Mode Range Setting P1 02 1 2000 The higher the position loop gain the smaller the position control error will be There is however a certain limit depending on machine characteristics position position loop gain reference l Ta Ke This gain setting 1s also valid for zero clamp operation position feedback Set in this parameter the error pulse level at which a position error pulse overflow alarm is raised Parameter Name Unit Setting Default Control Mode Range Setting paos AA ets ss 1000 T Conte Overflow Level When Position Error Overflow Level is set to 0 the alarm is never raised alarm E 103 A P5 05 normal control offset pulse g ag PS5 05 alarm
13. alarm raised X 1 F3 00 0 indicates that there is no alarm X2 F3 01 0 indicates that there is no warn 5 4 5 Reset Parameters To Default The following steps show how to reset parameters to default 1 Press STATUS ESC key to select Auxiliary Function 2 Press INC or DEC key to set group No to 3 and press ENTER key 3 Press and hold ENTER key and the panel displays 0 and is blinking 4 Set the value to 1 Press and hold ENTER key to confirm 5 Restart the driver and the parameters are all reset to default 5 4 6 External Communication Select F5 00 to run External communication function in auxiliary function and the panel displays c out meaning the driver is ready to be controlled by host controller and COMI is selected communicating with host controller At this time the panel is disabled and host controller mostly a PC is used to debugging the servo driver Press STATUS ESC key to return and panel recovers from c out to monitoring 5 5 Parameter Setting The following steps show how to change a parameter The parameter settings can be used to change parameter data Check the permitted range of the parameters in 4 1 before changing the data The example below shows how to change parameter P3 09 from 2000 to 3000 1 Press the STATUS ESC key to select the parameter setting mode 60 5 Using Digital Panel 2 At this time the second LED is blinking and press INC or DEC key to set the group
14. been turned OFF Residual voltage may cause electric shock 1 Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury 2 Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction 3 Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury 4 Do not touch the heat sinks during operation Not doing so may result in burns due to high temperatures 5 Do not attempt to change wiring while the power is ON Doing so may result in electric shock or inju Content PLACE ut a en ea a Oe E ee o a I constitution Or lis Mantilla rre Arta I eee Wie ote ob web was R00 be Be ere ae are se BO dw o eae ewe eee ee Gn damar ws I How o Percha Wana lad si baa eae ena someon oe eee I l Checking Product and Part Names ss nde tira eee cede ede NE EAE dende se l 1 1 Checking Products on Delivery o oo cc cee o 1 RIEL Sen Scar oca beens eras pao bas eee ees 1 SAN a ce sien wae sn at ate eer Aa eee Re Seas Se ae as BN nan lt Re eevee Mee a Gema a 2 la o ai monas oo A PU Pen 2 II 2 EAS Oro DIN TTT 2 2 Iin MEA AU gq E 0 5 Ale DE e e e ee a
15. from 0 500 O Position Control Speed Con 29 4 Parameter Settings and Functions Brake Output to Ng Servo OFF NS trol and Torque Control This parameter 1s used to set the output time from the brake control signal BK until the servo OFF operation servomotor output stop ON signal input ere Brake OFF BE signal output Brake ON Motor with power off Operation of Servo switch Motor with power On lt a Motor with power on Delay time from brake output to Servo OFF With the standard setting the servo is turned OFF when the BK signal brake operation is active The eguipment may move slightly due to gravity depending on eguipment configuration and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the servomotor is stopped E Brake Output Timing When Motor Is Rotating Set the following parameters to adjust brake ON timing so the holding brake is applied when the servo driver stops a rotating motor Range Setting P5 07 Brake Output rpm 0 5000 100 Position Control Speed Speed Limit Control and Torque Control P5 08 Brake Output Time Ims 10 1000 500 Position Control Speed Limit Control and Torque Control Set the brake timing used when input signal S ON is turned OFF or when an alarm occurs during motor operation signal input or asla Jaa Servo Of alarm when Servo ON power of
16. il Il l I L 11 EL L TL KL HL Ta I l HL dal IS TL El il 50mm 30mm 10mm minimum minimum minimum 7 R Servo Driver Orientation Install the servo driver perpendicular to the wall so the front panel containing connectors faces outward E Cooling As shown in the figure above allow sufficient space around each servo driver for cooling by cooling fans or natural convection MH Side by side Installation When installing servo drivers side by side as shown in the figure above allow at least 10mm between and at least 50mm above and below each servo driver Install cooling fans above the servo drivers to avoid excessive temperature rise and to maintain even temperature inside the control panel E Environmental Conditions in the Control Panel Ambient Temperature 0 50 C Humidity 90 RH or less Vibration 4 9m s Condensation and Freezing None Ambient Temperature for Long term Reliability 45 C maximum 3 Wiring 3 Wiring This chapter describes the procedure used to connect DS2 Series products to peripheral devices and gives typical examples of main circuit wiring as well as I O signal connections 3 1 Main Circuit Wiring This section shows typical examples of main circuit wiring for DS2 Series servo products functions of main circuit terminals and the power ON sequence Observe the following precautions when wiring Caution 1 Do not bundle or run power and signal lines together in the same duct Keep power an
17. in the servomotor 1 Checking Product and Part Names 2 Installation 2 Installation This chapter describes precautions for servomotor and servo driver installation 2 1 Servomotor MS series servomotors can be installed either horizontally or vertically The service life of the servomotor can be shortened or unexpected problems might occur if it is installed incorrectly or in an inappropriate location Follow these installation instructions carefully CAUTION 1 The end of the motor shaft is coated with anti corrosive paint Before installing carefully remove all of the paint using a cloth moistened with paint thinner 2 1 1 Storage Temperature Store the servomotor within 20 60 C as long as it is stored with the power cable disconnected 2 1 2 Installation Site MS series servomotors are designed for indoor use Install the servomotor in environments that satisfy the following conditions Free of corrosive or explosive gases gt Well ventilated and free of dust and moisture gt Ambient temperature of 0 to 50 C gt Relative humidity r h of 20 to 80 with no condensation gt Accessible for inspection and cleaning 2 1 3 Alignment Align the shaft of the servomotor with the shaft of the equipment and then couple the shafts Install the servomotor so that alignment accuracy falls within the following range 2 Installation Measure this distance at four different positions on the c
18. motor 1s no Ny check the UVW wiring tcorrect Analog Input Analog input voltage Input appropriate voltage to E 009 Error exceeds error level analog input terminal Check if the motor is blocked to rotate reduce the frequency of Error between Pulse Error reference pulse and E 010 Overflow actual pulse overflows pulse reference increase the the level overflow level P5 05 Winding UVW oe es Check the UVW wiring of motor Winding UVW Current convert circiut Check the UVW wiring of motor E 012 l Current Error error or replace the damaged driver Check the wiring of encoder and re connect the encoder after Encoder is loss or the wiring is not correct or the encoder is damaged E 013 Encoder UVW power off or replace the damaged encoder Loss 71 7 Alarm Information Check the wiring of encoder and Encoder is loss or the Encoder ABZ ae re connect the encoder after E 014 wiring 1s not correct or Loss power off or replace the damaged the encoder is damaged encoder Speed Feedback pee wales ot Check the wiring of encoder or E 015 correct or the encoder Error ae shield the encoder wire is interfered Overload time exceeds Reduce the time of overload or E 016 Overload i the level replace with a bigger motor Under Voltage DC voltage is too low Restart the driver and wait for the E 017 when running when running DC to be balanced E 018 Erase Error DC voltage is too low
19. please refer to the Ouick Guide to ensure the needed motor is supported by the driver The following steps show how to set motor code 1 Press STATUS ESC key to select Auxiliary Function 2 Press INC or DEC key to set group No to 2 and press ENTER key 3 Press and hold ENTER key to display current motor code 4 Press INC DEC or ENTER key to modify the value displayed on the panel to select the needed motor code and press and hold ENTER key to confirm 5 Restart servo driver to make this function effective 59 5 Using Digital Panel 5 4 4 Check Alarm Information Set group No to 2 in auxiliary function and enter checking alarm information function The following steps show how to check alarm information 1 Press STATUS ESC key to select Auxiliary Function 2 Press INC or DEC key to set group No to 3 and press ENTER key 3 Press INC DEC or ENTER key to modify the value displayed on the panel to select the member No 4 Press and hold ENTER key to display corresponding alarm information F3 00 Currentalarmcode1______ _ F3 01 Current warn code X2 F3 02 Alarm warn code 1 whenalarmraised DC voltage when alarm raised V REF when alarm raised F3 11_ Alarm warn code 2 when alarm raised F3 12 Alarm warn code 3 when alarm raised F3 13 Alarm warn code 4 when alarm raised F3 14_ Alarm warn code 5 when alarm raised F3 15_ Alarm warn code 6 when alarm raised F3 16_ Alarm warn code 7 when
20. to 0 for normal speed control or position control Set each parameter to the following time intervals gt P3 05 Time interval from when the servomotor accelerates from 0 to rated speed gt P3 06 Time interval from when the servomotor decelerates from rated speed to 0 The following example shows operation by digital reference speed control Using the soft start function reduces physical shock when the speed is changing 37 4 Parameter Settings and Functions motor speed SPEEDS speed changed by the setting of soft SPEED2 X start time P3 05 P3 06 SPEED y i SPEED l l SPEED2 i l l l i J SPEED3 i i pl f l l SPD 4 par oon OFF OFF ON ON OFF OFF om ON OFF l l SPD B OFF ON OFF OFF Pon OFF 1 OFF l iaia METIO rx OFF OFF OFF OFF 1 OFF 4 3 6 Torgue Control DS2 series servo driver can control torgue in Torgue Digital Reference Control Mode Set the following parameter to select the torque digital reference control Default Setting PO 00 MainMode OO PO 01 Sub Mode 1 OT O 1 Torque Digital pO 02 SubMode2 0 7 o0 Reference 1 Control torque according to the digital reference Parameter Name Unit Setting Default Setting Range P4 09 Torgue Digital Reference 300 300 10 2 Speed limit during torque control Parameter Name Unit Setting Default Setting Range P4 07 Speed L
21. yh SIGN 7 2 IA shield in space om kar iva y S ON 5 7 7 4 serai 2 ALM user define ALM RST 6 7 2 a YSL alarm output kari At COM F24V IN 7 AS N B DS2 21P5 3 Wiring single phase AC 220V 50 60Hz VA ff 1 T a o FIL 0 2 U Ah V lt VW ona W W 7 N C PE PE a CN2 PG J o P AOP regnerative be sure dc Y resistor prepare the end of the ae shielded wire CN1 OS PULS for signal connect ET kc shield to ground a SIGN Sad Ne CNO g for drive leave shield T 7 DOS l E in space E E LL IN complete 20 ALM S ON 4 vst alarm output User define 3 3K Q ASAI 13 S RDY ALMRST 5 gt 3 ready S P 0T 5 LA COM 4 PR N 0T 7 5 2WVIN 8 PE 6B 3 5 Communication Port 3 5 1 Serial Port 1 COM1 COMI supports RS232 and is often used to connected with PC for debugging Before doing this F5 00 on the panel should be switched to C OUT and the panel will be invalidated On leaving this status use the panel to exit and PC dis
22. 0x01 FF P1 Name Unit Default Reference Setting 00 Speed Loop Gain l 01 Speed Loop Integral Time O lms 400 5000 Vv 4 8 1 Contant Position Loop Gain l s 1 2000 4 8 1 S Xx rS bed Reserved AO E 2nd Speed Loop Gain V l Time Contant 06 08 09 T tR UY T Q0 UY 2nd Position Loop Gain 1 2000 80 Reserved IO H Reserved O Position Loop Feed Forward 1 lo Position Loop Feed Forward Filter Time Contant 4 1 3 Position Control Parameter P2 Modbus Address 0x0200 0x02FF P2 Name Unit Default Setting Time of Reference Setting Range Taking Effect 100 Input Pulse Form _ 4 3 2 0 A I Type NHH il A Numerator 03 e AAA Denominator NH dl Da Gi rz Time Contant ee 05 e peron a a Speed Speed Control 4 Parameter Settings and Functions 4 1 4 Speed Control Parameter P3 Modbus Address 0x0300 0x03FF Setting Taking Effect E e ee E Rated Speed Speed rpm 100 5000 5000 V 4 3 5 02 Speed2 rpm 200 50005000 Y J435 0 65535_ o 43 5 706 Deceleration Time ms 4 3 5 A CI 07 Speed Reference 0 01ms 0 65535 Filter Time Constant Speed Feedback 0 01ms 0 65535 Filter Time Constant Maximum Speed Rated Speed 0 5000 Limit 3000 4000 Rated Speed 1500 2000 4 1 5 Torgue Control Parameter P4 Modbus Address 0x0400 0x04FF P4 Name Default Setting Reference ae ear ee re v oe Torque Torque Ref
23. 2 2 RS485 7 OAV 24V Used By Input Signals 3 PULS Quadrature Pulse A Or Pulse SO Output Singal Signal Terminal 1 E l Output Singal Terminal 2 SIGN Quadrature Pulse B Or Sign Signal Input Singal Terminal 1 COM Output Singal Ground 2 DS2 21P5 Symbol 1 PULS Quadrature Pulse A Or Pulse 5 SI Input Singal Signal Terminal 2 SIGN Quadrature Pulse B Or Sign Signal Input Singal 6 se rein 24V For PULS and SIGN 7 Isu Input Singal Terminal 4 4 SII Input Singal Terminal 1 24V 24V For Input Signals 3 2 3 I O Signal Names and Functions The following section describes servo driver I O signal names and functions MH Input Signals Digital Input SI1 SI4 Multi functions Input Terminals 4 1 6 4 4 2 P2 00 1 Quadrature Pulse A 3 Wiring P2 00 1 Quadrature Pulse B P2 00 2 Sign Signal E Output Signals Digital Output SOI SO3 Multi functions Output Terminals 3 2 4 4 1 6 4 4 3 3 2 4 Interface Circuits This section shows examples of servo driver I O signal connection to the host controller MH Interface for Reference Input Circuits Reference Position Input Circuit An output circuit for the reference position signal at the host controller can only be open collector type O open collector type External power supply Host controller end 24 Servo Drive 3 5K Tri L Tr S R Input Signals Circuit Interface The input signals circuit interface connects through a
24. 3 X3 Default setting of DS2 21P5 is n 0014 Note There would be superfluous pulse after stopped by overtravel function Use clear signal CLR to clear the pulse error R Stop Mode for Overtravel Set the following parameters to specify the Overtravel Stop Mode when P OT and N OT input signals are used Defaul Parameter Name Uni Setting efault Range pa PO 06 H Overtravel Stop Mode 03 Setting Of P0 e 0 Coasts the servomotor to a stop 1 Coaststheservomotortoastop Coasts the servomotor to a stop Decelerates the servomotor to a stop at the preset torque and then locks 2 the servomotor in Zero Clamp Mode 26 4 Parameter Settings and Functions Decelerates the servomotor to a stop at the preset torque and puts the 3 servomotor in coast status Torque setting P4 06 Emergency Stop Torque Note 1 When the overtravel signal becomes effective servomotor is forced OFF if Overtravel Stop Mode is set to 0 and 1 or motor is not forced OFF before it is stopped if Overtravel Stop Mode is set to 2 or motor is not forced OFF until S ON is OFF if Overtravel Stop Mode is set to 3 2 Servomotor stopping is gualified by rotation detection speed Unit rpm 4 2 3 Servo OFF Stop Mode DS2 series servo driver turn motor off under following condition gt The Servo ON input signal S ON is OFF gt A alarm is raised gt Power is turned OFF Ra Default arar l e
25. Analog Reference for DS2 series servo driver cannot receive analog reference 4 4 2 Input Signal Assignment Description for input signal assignment Every signal assignment parameter is composed of 4 part from MSB to LSB pala ja W Input Terminal SI1 SI4 Reverse Signal Or Not 0 Not Reversed 1 Reversed Note For example when P5 12 is set to n 0013 the POT signal is input from SI3 terminal and it is reversed which means when the SI3 24V or not connected POT ON and the forward revolving is prohibited when the SI3 0V POT OFF and the forward revolving is allowed If two different signals are assigned to the same termianl both signals are controlled by one terminal 4 4 3 Output Signal Assignment Description for output signal assignment Every signal assignment parameter is composed of 4 part from MSB to LSB 40 4 Parameter Settings and Functions delije W Output Terminal SO1 SO4 Reverse Signal Or Not 0 Not Reversed 1 Reversed Note 1 Signals are output with OR logic when multiple signals are assigned to the same output terminal Z is special 2 When Z signal is assigned to a terminal with other ordinary signals Z signal will take entire possession of that terminal and other signals assigned to the same terminal cannot be output correctly 4 4 4 Jog Speed Use the following parameter to modify speed when operating the servomotor from the panel or by software Setting Range
26. E109 If the machine permits only a small position loop gain value to be set in P1 02 an overflow alarm may arise during high speed operation In this case increase the value set in this parameter to avoid unnecessary alarms 4 8 2 Using Proportional Control P CON Input signal P CON serves as a PI P control changeover switch PI control Proportional integral control P control Proportional control R Methods for Using Proportional Control Set the following parameter so that the input signal P CON can be used to proportional control P CON Signal n 0000 n 0012 Position Control Default setting is n 0000 and is fixed to OFF 51 4 Parameter Settings and Functions Assign P CON to any of the input terminals to use proportional control Please refer to 4 4 2 Input Signal Assignment to know more about setting this parameter Proportional control can be used in the following two ways 1 When operation is performed by sending speed references from the host controller to the servo driver the host controller can selectively use P control mode for particular conditions only This method can suppress overshooting and shorten setting time 2 If PI control mode is used when the speed reference has a reference offset the motor may rotate at a very slow speed and fail to stop even 1f 0 is specified as a speed reference In this case use P control mode to stop the motor 4 8 3 Gain Selection G SEL Gain selection is a
27. Name Rated Voltage 2 220V 4 380V 1 2 Product Part Names 1 2 1 Servomotors Encoder Output Shaft 1 2 2 Servo Drivers R DS2 20P4 DS2 20P7 1 Checking Product and Part Names CONI Trapeziform terminal used as communication via R5232 Power LED Lights when control power is on Charge LED Lights when main circiut is powered on if this LED is ON do mot touch the servo driver even after the power supply is turned OFF Panel Display Five digit segment display panel Panel Keys Used to set parameters CNz Encoder Connector Connects to the encoder in the servomotor CN 1 0 and R5485 Connector Inputfoutput signals and communication via R5485 by Modbus RTU Main Circuit and Servomotor Terminal Used for the main circuit power supply input and servomotor power output Power LED Lights when control power is on Charge LED Lights when main circiot is powered on iF this LED is OM do not touch the servo driver even after the power supply is turned OFF Panel Display Five digit F segment display panel Panel Keys Used to set parameters CO Used to connect with PC For debugging or with HMI or PLC CND Output Signal Connector Output signals and communication via R5485 by Modbus RTU CN Input Signal Connector Signals and reference input Main Circuit and Servomotor Terminal Used for the main circuit power supply input and servomotor power output CN Encoder Connector Connects to the encoder
28. No to 3 Press ENTER key to confirm At this time the last LED is blinking and press INC or DEC key to set the member No o 9 Press and hold ENTER key to confirm GT U 4 At this time the panel displays the value in P3 09 and the last decimal 0 is blinking Press ENTER to left shift the blinking decimal Press INC DEC or ENTER key to modify the value to 3000 and press and hold ENTER to confirm The parameter in P3 09 in changed from 2000 to 3000 Repeat steps 2 to 4 to change the setting again 5 Press STATUS ESC key to return and change group No or member No 5 6 Alarm Alarm mode is switched automatically when an alarm is raised in servo driver and an alarm code is displayed in form of E XXX If there is no alarm in servo driver the alarm mode is not available to display If there is one or more alarms press ENTER key to reset the alarm The servo alarm will be reset if power supply is turned OFF Note If an alarm is ON reset the alarm after eliminating the cause of the alarm first 61 6 Ratings and Characteristics 6 Ratings and Characteristics This chapter provides the ratings torque speed characteristics diagrams and dimensional drawings of the DS2 series servo drives and MS series servomotors 6 1 Servomotors This section describes ratings specifications and dimensional drawings of the servomotors Refer to this section for selecting an appropriate servo drive 6 1 1 Servomotor Ratings a
29. On between SO and COM ON Warning AVARN Reverse Output Off between SO and COM Direct Output On between SO and COM OFF Normal Reverse Output Off between SO and COM Set the following parameter so that the output signal WARN can be used to output to any output terminal Name Setting Range Default Setting P5 35 WARN Signal Assignment n 0000 n 0012x1 n 0000 Default setting is n 0000 and is not output to terminal Please refer to 4 4 3 Output Signal Assignment to know more about setting this parameter X1 Setting range of DS2 21P5 is n 0000 n 0013 4 7 Smooth Operation This section provides technical information on the smooth operation of servomotors 4 7 1 Smoothing The smoothing function applies a filter inside the servo driver to a constant frequency reference input so that acceleration and deceleration can be as constant as possible To use this function set the following parameters Use the following parameter to set the type of filter to be applied Default Setting Control Mode Position Reference Position P2 01 l l Filter Type ofer o je ee Either an acceleration deceleration or average movement filter can be selected Setting Description O Enables acceleration deceleration filter Enables average movement filter The time constant and time for these filters are set in the following parameters Parameter Name Unit Setting Default Control Range Setting Mode Position Reference F
30. Quadrature Pulse Signal multiplied 4 Sign Pulse Input SIGN PULS Signal Maximum reference frequency Differential 500kbps Open collector 200kbps x SIGN Forward Reverse High Forward En reference tl 2 lt 0 1us Low Reverse reference t3 t7 lt O lus t4 t5 t6 gt 3us T gt 2 5us t T x 100 40 60 e c 1 V i H 12 phase A i E AF o EN pias aoe ail phase B gt _ AY A A leads B ahead at 90 aie T L r Differential 500kbps A leads B B leads A Reverse reference Open collector 200kbps ahead at 90 ahead at 90 tl t2 lt O lus T gt 2 5us TT x 100 40 60 R Pulse Error Clear Input CLR 32 4 Parameter Settings and Functions The error clear signal CLR clears the error counter of servo driver and the position reference 1s set to current position R Control Diagram Servo drive position control pulse input encoder signal output encoder 4 3 3 I O Signals I O signals are used to control servo driver operation Connect these signal terminals as required MH Input Signal Connections Connect the input signals as shown below Servo drive optoelectronic 3 3K0 coupler E Note 1 Provide a separate external I O power supply the servo driver does not have an internal 24V power supply External power supply specifications 24V 1 VDC 300mA minimum 2 Recommend that usin
31. RN Warn Same As Above NEAR Positioning Nearing Same As Above ALM Alarm Same As Above IZ Encoder Z Signal Same As Above X1 Setting range of DS2 21P5 is n 0000 n 0014 X2 Setting range of DS2 21P5 is n 0000 n 0013 X3 Default setting of DS2 21P5 is n 0013 X4 Default setting of DS2 21P5 is n 0014 X5 Default setting of DS2 21P5 is n 0003 4 1 7 Modbus Address All of the Modbus address are presented in hex MH Parameter Address Number Address Number Address Number Address Number Address 1P0 08 0x0008 P1 08 0x0108 p3 08 0x0308 P roo fooro fa 030309 O R10 0x010A Number Address Number Address Number Address Number Address 23 4 Parameter Settings and Functions o P5 10 0x0sOA P5 23 0x0517 P5 36 0x0524 o po 5 11 0x050B P5 24 0x0518 P5 37 0x0525 yo P512 0x050C PS 25 0x0519 P5 38 0x0526 R Monitor Address Address Address Sam EP 0x070A T REF when Alarm raised 0x0720 cen BH ete 0x070B Alarm Warn Code Histroy 2 0x0728 Total Position High Word T 0x0711 Current Current 0x0712 S V REF Voltage 0x0713 T REF Voltage 0x074 E Input Signals Modbus Address Modbus Address NOT 0x0803 ZCLAMP 0x080B__ ee 24 4 Parameter Settings and Functions 4 2 Settings According to Equipment Characteristics This section describes the procedure for setting parameters ac
32. Restart the driver to erase the parameters The code indicated in Motor Code Error F2 00 does not suitable Re enter the motor code in F2 00 for the driver lo ie Er System chip 1s Contact Xinje or an authorized damaged distributor 12 Note 73 XK i mij E Xinje Electronic Co Ltd 4th Floor Building 7 Originality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 510 85166657 Fax 510 85111290
33. U 22 o slg N 4 2 LEDI LED2 LED4 LEDS Diagram 1 Diagram 2 In diagram 1 LEDS stands for input signals status and LED2 stands for output signals status In diagram 2 there shows the segment No of each LED Input terminals Description LEDS 0 Input status on SI LED2 0 Output status on SO1 LEDS 1 Input status on SID LED2 1 Output status on SO2 LEDS 2 Input status on SI3 LED2 2 Output status on SO3 LEDS 3 Input status on S4 57 5 Using Digital Panel 5 4 Auxiliary Function This section describes how to apply the basic operations using the digital panel to run and adjust the servo driver Description Checking system information Checking alarm information 5 4 1 Check System Infomation Press the STATUS ESC key to select the auxiliary function mode Set the group No to 0 to check system information Press INC or DEC key to select different member No and press and hold ENTER key to check current information Press STATUS ESC key to return The following table describes the meaning of each member No F0 06 5 4 2 Auxiliary Run Mode Press the STATUS ESC key to select the auxiliary function mode Set the group No to 1 to auxiliary run mode Press INC or DEC key to select different member No and press and hold ENTER key to use current function Press STATUS ESC key to return 1 Jog F1 00 Make sure that the motor shaft is detached from machine before jogging Press ENTER key to power on
34. ber U 16 and then press and hold ENTER to enter the monitor mode 3 The value 0 is now displayed This completes the example procedure for displaying 0 the contents of monitor number U 16 4 Press STATUS ESC key to return to the monitor number display B Contents of Monitor Mode Display Rotate angle mechenism angle U 04 U 05 DC voltage U 06 U 07 X U 10 Rotate angle 0000 9999 1 U 11 encoder pulse 0000 9999 9999 pulse O NO 00 U 12 Input reference 0000 9999 1 pulse counter a Un U 13 U 14 Feedback reference pulse counter dai U 16 Current position U 17 Accumulated pulse U 18 U 19 U 20 U 21 VO signals status U 22 VO terminals status 56 5 Using Digital Panel R U 21 displays I O signals status The following diagram describes the input and output signals status displayed in U 21 o S g 1 4 2 LED1 LED2 LED4 LEDS 3 Diagram 1 Diagram 2 In diagram 1 LED4 and LEDS stand for input signals status and LEDI and LED2 stand for output signals status In diagram 2 there shows the segment No of each LED gt Input signals status Segment Description LED4 0 LED4 1 LED4 2 LED4 3 LED4 4 E LED4 5 LED4 6 SPD A SPD B C SEL ZCLAMP INHIBIT G SEL CLR SPD D gt Output signals status Description NEAR ALM IZ R U 22 displays I O terminals status The following diagram describes the input and output terminals status displayed in
35. complete turn so 10mm 6mm 1 6666 turn ball srew makes a complete turn by the reference unit is 1 ym so 10mm Tym 510000 pulses 2500 4 10000 pulses so the pulses requiret is 16666 pulses this caculauon is necessary R Setting the Electronic Gear Calculate the electronic gear ratio B A using the following procedure and set the values in parameters P2 02 and P2 03 1 Check equipment specifications related to the electronic gear gt Deceleration ratio Ball screw pitch gt Pulley diameter 2 Check the number of encoder pulses for the servomotor 3 Determine the reference unit used A reference unit is the minimum position data unit used to move a load Minimum 34 4 Parameter Settings and Functions unit of reference from the host controller gt Reference unit can be 0 1in or 0 01in or 0 01mm or 0 001mm etc gt A reference unit of one pulse moves the load by one reference unit gt When the reference unit is lum if a reference of 50000 units is input the load moves 50mm 1 971n 50000 x 0 001mm 50mm 4 Determine the load travel distance per load shaft revolution in reference units Travel distance per load shaft revolution Travel distance per load shaft revolution Reference Unit When the ball screw pitch is 0 201n 5mm and the reference unit is 0 00004in 0 001mm travel distance per load shaft revolution is 0 20 0 00004 5000 reference units Ball Screw Disc Table Belt and Pulle load
36. connect from servo driver Please refer to 5 4 6 Communication parameters of COM I is fixed Baudrate 19200bps Data bits 8 bits Stop bits 1 bit Parity even parity Modbus station number 1 MH DS2 20P4 and DS2 20P7 has a trapeziform terminal with 5 pins Description RS232 TXD RS232 RXD RS232 GND TXD Note Please plug COM1 with special connector from Xinje MH DS2 21P5 has a DB8 terminal 3 Wiring UPGRADE Self Upgrade 4 RD __ 4 RS232 RXD RS232 TXD GND RS232 GND OO 3 5 2 Serial Port 2 COM2 COM2 supports RS485 and is placed to A and B terminals on CNO DS2 21P5 or CN1 DS2 20P4 and DS2 20P7 It bases on Modbus RTU protocol Please refer to 3 2 1 Communication parameters of COM2 can be set by P0 04 Parameter Name Default Setting Range Number i PO 04 1 Data Bits O 0 Sbits P0 04 2 0 2bits 2 1bit P0 04 3 ity 1 Modbus station number can be set freely depending ada Name Unit Default Setting Number Aa T ae P0 03 Modbus Station Number 1 12255 Note Parameters above will take effect after power on 3 6 Regenerative Resistor When the servomotor operates in generator mode power 1s returned to the servo driver side This is called regenerative power The regenerative power is absorbed by charging the smoothing capacitor but when the capacitor s charging limit is exceeded the regenerati
37. cording to the dimensions and performance characteristics of the equipment used 4 2 1 Switching Rotation Direction The servo amplifier has a Reverse Rotation Mode that reverses the direction of servomotor rotation without rewiring Forward rotation in the standard setting 1s defined as counterclockwise as viewed from the load With the Reverse Rotation Mode the direction of servomotor rotation can be reversed without changing other parameters Only the direction of shaft motion 1s reversed Standard Setting Reverse Rotation Mode fom a Forward Reference Reverse Reference E Setting Reverse Rotation Mode Use the parameter P0 05 to reverse the rotation direction Default Parameter Name Unit Setting S ga Range Setting PO 05 oi JO PO 05 Forward rotation is defined as counterclockwise CCW o rotation as viewed from the load Standard Setting Forward rotation is defined as clockwise CW rotation as Reverse Rotation viewed from the load Mode Note This parameter could not take effect until restart servo driver 4 2 2 Overtravel Limit P OT amp N OT The overtravel limit function forces movable eguipment parts to stop if they exceed the allowable range of motion B Using the Overtravel Function To use the overtravel function connect the overtravel limit switch input signal terminals shown below to the servo driver CNI connector Input Signal Control Mode POT Forward Prohibited Speed
38. d signal lines separated by at least 11 81in 30cm 2 Use twisted pair wires or multi core shielded pair wires for signal and encoder PG feedback lines The maximum length is 118 1 1in 3m for reference input lines and is 787 40in 20m for encoder PG feedback lines Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the servo amplifier Please make sure to check the wiring after the CHARGE light is going off Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the servo amplifier has a capacitor in the power supply a high charging current flows for 0 2s when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems 3 1 1 Names and Descriptions of Main Circuit Terminal The following table gives the names and a description of main circuit terminals on DS2 20P4 DS2 20P7 from the top down resistor terminal and PB connection terminal Ground terminal Connects to the motor ground terminal L N Main circuit AC input Single phase 200 240V 50 60 Hz terminal ax Connects to the power supply ground terminal The following table gives the names and a description of main circuit terminals on DS2 21P5 from the top down DC reactor terminal Normally short 1 and 22 connection for power If a countermeasure again
39. d to indicate the status of the servo driver R Selecting Status Display Mode The digital operator goes into status display mode when the digital operation 1s turned ON B Data in Status Display Mode The screen contents in status display are different for speed torque and position control modes Speed and Torque Control Mode Speed Coincidence V CMP Torque Limit CLT Rotation Detection TGON Ta Zero Clamp 2ZCLAMP Speed Limit VLT BE A The following tables list and explain the meanings of bit data displays in Speed and Torque Control Modes Bit Data Description Speed Coincidence V Lit when the difference between the motor speed and reference CMP speed is the same as or less than the value set in P5 03 Torque Limit CLT Lit if actual torque exceeds preset value 54 5 Using Digital Panel Reverse Torque Limit P4 03 Rotation Detection Lit if speed exeeds the level indicated by P5 02 TGON Rotation Detection Speed Level P5 02 Unit rpm Zero Clamp o ZCLAMP Lit if ZCLAMP signal is ON Lit if actual speed exceeds preset value AE Lint QLI Speed Limit during Torque Control P4 07 B The following tables list and explain the meanings of code displays in Speed and Torque Control Modes Descrption Standby Servo OFF motor power OFF Run Servo ON motor power ON Forward Run Prohibited P OT is OFF Please refer to 4 2 2 Overtravel Limit Reverse Run Proh
40. e eee 71 11 Content 111 Preface Preface This chapter describes the constitution of this manual the intended user and how to acquire this manual i Constitution of This Manual This manual is divided into 7 chapters 1 Checking Product and Part Names This chapter describes the procedure for checking products upon delivery as well as names for product parts 2 Installation This chapter describes precautions for servomotor and servo driver installation 3 Wiring This chapter describes the procedure used to connect DS2 Series products to peripheral devices and gives typical examples of main circuit wiring as well as I O signal connections 4 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters 5 Use Digital Panel This chapter describes the basic operation of the digital panel and the features it offers 6 Ratings and Characteristics This chapter provides the ratings torque speed characteristics diagrams and dimensional drawings of the DS2 series servo drives and MS series servomotors 7 Alarm Information This chapter describes the alarm information of DS2 series servo drivers i Intended User This manual is intended for the following users gt Those designing DS2 Series servodrive systems gt Those installing or wiring DS2 Series servodrives gt Those performing trial operation or adjustments of DS2 Series servodrives gt Those ma
41. e servo driver automatically servo on after power on Please refer to 4 1 6 4 6 3 Positioning Completed Output COIN The basic use and wiring procedure for the positioning completed COIN output Signal is described below This signal is output to indicate that servomotor positioning is completed 43 4 Parameter Settings and Functions ICS 24N optoelectronic coupler Servo drive 1 Note the maximal 1 y Y voltage current output DY UY with open collector voltage DC30W max current DC50mA max Control Mode COIN Positioning Completed This signal indicates that servomotor movement has completed a positioning The host controller uses the signal as an interlock to confirm that positioning is completed reference F motor Ne N error pulse 7 200 ICON 7 OFF Tom pai Positioning Completed In Positioning Reverse Output Off between SO and COM Set the following parameter so that the output signal COIN can be used to output to any output terminal Setting Range Default Setting P5 28 COIN Signal Assignment 3 ui n 0001 Default setting is n 0001 and is output between SO1 and COM Please refer to 4 4 3 Output Signal Assignment to know more about setting this parameter X 1 Setting range of DS2 21P5 is n 0000 n 0013 The following parameter is used to set the number of error pulses and to adjust the output width of the positioning completed signal Param
42. enerative Reslstor ro 16 A Parameter Settings and Function de 18 Ads Lise Or Parametros OO ATAN EE Wana 18 C Ae P Oe PO Ea O EE amp 18 Ael Control Partaleters Placa iria 19 2 13 Position Control Parameter Psoe ke OTE ERO ESO 19 4 1 4 Speed Control Parameter Po sa o co coco oo coco oo co db wee PERC ia oe we 20 13 Torque Control Parameter PO mowoete eos corpo Hows ee rere hua apa 20 E L ba lt Senat en es MORO res ias Eer Bean He a Oe oe una oo Gee 20 ll MODOS MATES te Seo by RR e See ee ed oe oa Gee ose eae a 23 4 2 Settings According to Equipment CharacteriStiGS ooo 20 4 2 1 Switching Rotation Direction errors rad ds 20 LI Overtravel lamin OTE NOD eccerre iere E EEEIEE PETEERE EE 25 ALO DOVO UFF Stop Modernitas edad rr ad a a 21 dat o A In AAA 21 4 7 0 Internal speed Limit In Torque Control slip de ia 28 A66 Holding Drake Bi ecoocreaprarrercotar erre rd rosada tddi 28 Content 4 3 Settings According to Host Controller o oooooooooooooo ooo omo OL 4 3 1 Speed Reference an 31 Ao os Position Re erecta ea ara rial ad eae Tia 31 a AE o a oe ech okra Boe ae a a ne E E ee Sh Si ba ee sees 33 A CORT OLN Gee aug td os Gee ee een eee eee bed bs eee ees eee ease 34 4 3 5 Digital Reference Speed Control o oooooooooooooo ooo 36 A o 0 Torque Control eres anidar int ara ds ds 38 d j l Encoder 2 Llena OMU conoceis bee be de EEE EA 38 4 4 Setting Up the S
43. er so that the output signal NEAR can be used to output to any output terminal Setting Range Default Setting P5 36 NEAR Signal Assignment n 0000 n 0012 1 n 0000 Default setting is n 0000 and is not output to terminal Please refer to 4 4 3 Output Signal Assignment to know more about setting this parameter X 1 Setting range of DS2 21P5 is n 0000 n 0013 The following parameter is used to set the number of error pulses and to adjust the output width of the positioning nearing signal Setting Range Default Setting Positioning Nearing Generally set the near signal width higher than the positioning completed width Please refer to 4 6 3 Positioning Completed Output COIN reference motor speed error pulse MEAR ATA UPP ON 4 6 8 Warning Output WARN The basic use and wiring procedure for the warning WARN output signal are given below When the servomotor is overloading WARN signal is turned to ON If it 1s still overloading for a definite time alram is raised and ALARM signal is turned to ON 48 4 Parameter Settings and Functions DCSY 24Y relay __ servo drive gnm COM Ir Note the maximal T baez voltage current output UW o with apen collector voltage DCS0V max iid current DC50mAimax Control Mode WARN Position Control Speed Control and Torgue Control Signal Status Reversed Or Not Direct Output
44. erence Filter 01ms NN ee Kosi Time Constant 4 2 4 4 2 4 Limit Minta ajar jae jean ae tie eee one 06 Emergenc Emergency Stop Torque Torque 1 300 0 300 e TA 2 2 ee Speed Limit during Torque 2000 0 5000 PP ha Control 108 Reserved 09 Torque Digital Reference ma an 300 300 ae 4 1 6 Signal Settings P5 Modbus Address 0x0500 0x05FF P5 Name Unit Default Setting Time Referenc Setting Range of Taki e 20 4 Parameter Settings and Functions KAA Fffect Positioning Completed Width Se GN re COIN unit 0 01 Zero Clamp Speed Level a Cl 4 5 2 ZCLAMP 2 Rotation Detection Speed Level aj S aea TGON 03 Speed Coincidence Signal Output rpm 10 1 250 4 6 4 Width V CMP a a NEAR unit 05 Position Error Overflow Level 256 1000 0 65535 4 8 1 unit hal Delay Time from Brake Output to Ims i ie Servo OFF 100 0 5000 o 4 26 108 Brake Output Time Limit Ims 10 1000 o 4 26 109 Input Terminal Filter Time 5ms o 0 100 Y _ DO 10 S ON Servo On n 0000 Signal is fixed to OFF n 0001 Input from SI n 0002 Input from SI n 0003 Input from SI3 n 0004 Input from SI4 n 0010 Signal is fixed to ON n 0011 Input from SIl reversed n 0012 Input from SI2 reversed n 0013 Input from SI3 reversed n 0014 Input from SI4 reversed P CON Proportional Control l n 0000 Same As Above x 12 P OT Forward Prohibited X 4 6 2
45. ervo Drive commoasmor be bes boa sew dhe es 39 AI Indicatine Control Mode sets iris boas Se ha E ed en ane oe bere a 39 4 12 Input Signal AS on be Lon RU 65s oe ee it dae 40 4 4 3 Output Signal Assignment occ co oo coo Wc o m oWomWwc d buss bebek ds 40 A Mn Kon a ee none ees oh hee eee Al dos oe Ce SLOP io Io a ee ee ee eS ee 41 Al Zero Clann ACCAM SSA 41 120 6 Y SE ET e EAT EE dora ee ee eee here os iso T TEES S 42 AG Alarm Output WA oo ci n t raen rer ARER edita a 42 AC Servo ON Topa SON sacas inde ts sra aaa bbe daa 43 4 6 3 Positioning Completed Output COIN 0 eee eee eect eee naee 43 AA Speed Coincidence Output YG YAMP acs noose eae helen RL EE bare Fa OE OSS RES REDE ORR 45 165 Rotation Detection Output VTGON oo ewe ben been errar 45 A 6 6 Servo Ready Vito USD on sedas 46 Ano Near Output ONAR O cores era cerdas aras rasa bus bade 47 fe Wane Ooo WAN gn oe waren oa en on na oe ne ee ee ee eee A8 4 T Smooth Operations orbita Bh cease ed eh eee dsd 49 a o A Lo obor ee 49 c r a Oo Ole eae sos ola na TON MOS E 50 A 50 A 8 le Seryo Gain Parame lel corres tara darias airis ein 50 4 8 2 Using Proportional Control P CON ooooocooooococo coco W cc co y o oc coc y c y pi le ban Selection OG Eee 0 tn ea bas Posteo eo EEE 52 Oo Weine Die tial Panel 2 6 eect tec eee ae athe ir datar toa bt sais e toas 53 Sel Dasic Opera Ot o065006 256284554 nee Dewa Mother bo hb Ra SS OUR bee See hd we e
46. es bis bx 53 ale Functions OF Digital Panels A A R r et aa ed eng aa Nuno eae 53 ale Basie Mode peleci a Mn on Ka AO ORE Man 53 572 Status Display Moda ot es beo beban WE aw we BR AS no GS ei eh eri 54 So MOMIUOr Mode sacada er eos Coed eee Buea es eee toe Kosan sn Oon aaa 96 e FOE do A Eg IIS DT 5 41 Check System Aroma os op onc Sood ce sere rra ala ao de EEE e 98 lla altar MU Mode restore rotos aa a aa 58 DAA PEL Motor Ode poros NA on ORA Man ba Mer Una Taboo eee 59 Dad Check Alarm Jin Ora 1 Ons 5 26 tea e eee cies wine Uh MPA An E OR NOT Rn ae ne 59 545 Reset Parameters To Detak semata kans cdi A 60 5 4 6 External Communication RE na RaR KOS OP DOSEN PAR en Rew ed dos 60 Oe R oC ls an eos eo ne Lon on One Mel ee ee 60 Do eis a cae eee ee nb Sr on TTT 61 Gan ae Cat Cte OS eek ates a nse bo ES os oe be eer eee ies 62 Dale ser Omen sal bee eens bt eee eta E IE 62 6 1 1 Servomotor Ratings and Specifications 0 0 ccc eee eee eee eens 62 6 1 2 Torque Speed Feature c coocoooccococccooccoocorocorocooocococococ 63 PAS Dervomotors Di Mens Ee ee noe aed sd ae a Hee a Oe Oe ER ee ew 63 Ge a a en oe en oo na na eee ws ew ya Da ee E ee 67 CA Nati oa eke nee ee bask ee eee Rated oe ee eee Eee Oe eed ee Re eee eee ees 67 Oa peni call encoder OSS GSS a i eas bee de oes ees 67 6 2 3 Servo Drivers Dimensions ee eee eee ee eee eee eee ee eee tees 68 Te Nii OW Mie o en en Ge Sosa oc oes 6 A Gee ete eee oe ye ee
47. eter Name Unit Setting Default Control Mode Range Setting Positioning ref os When in position control mode and the error between position reference and actual position drops below the level indicated by P5 00 output signal COIN is turned to ON which means the positioning is completed Default setting of P5 00 is 7 ref units COIN is fixed to OFF in speed control and torque control 44 4 Parameter Settings and Functions 4 6 4 Speed Coincidence Output V CMP The basic use and wiring procedures for the speed coincidence V CMP output signal used to indicate a match with the speed reference are described below The host controller uses the signal as an interlock NCSY 24Y relay z T a T A L s servo drive coi Ph COM F Note the maximal N la S s T e Y voltage current output DY DY with open collector a voltage D0C30V max Gil current DC50mAimax Control Mode V CMP Speed Coincidence Output Speed Control Description Speed coincides V CMP On between SO and COM Speed does Off between SO and COM not coincide Set the following parameter so that the output signal V CMP can be used to output to any output terminal Setting Range Default Setting P5 29 V CMP Signal Assignment n 0000 n 0012 1 n 0000 Default setting is n 0000 and is not output to terminal Please refer to 4 4 3 Output Signal Assignment to know more about setting this parame
48. f rotating speed L rmnm P5 07 l DE stop or declerate to stop l i brake off Ksignal output A nap ida ar i PS 08 js F Brake ON timing when the servomotor stops must be adjusted properly because servomotor brakes are designed for holding position not for decelerating Adjust the parameter settings while observing eguipment operation The BK signal is ON under either of the following conditions 1 Motor speed drops below the setting at P5 07 after servo OFF 2 The time set at P5 08 has elapsed since servo OFF The actual speed used will be the maximum speed even if P5 07 is set higher than the 30 4 Parameter Settings and Functions maximum speed 4 3 Settings According to Host Controller 4 3 1 Speed Reference Input the speed reference using the input signal Speed Reference Input Since this signal has various uses set the optimum reference input for the system created R Frequency Of Input Pulse Reference Speed reference is in direct proportion to the frequency of input pulse string and the reference 1s independent of the total number of the pulse string The circuit is the same as the circuit of position reference The reference pulse form can be selected from Quadrature Pulse Signal and Sign amp Pulse Signal Set the following parameter to indicate input pulse form Parameter Name Unit Setting Default Control Mode Range Setting P2 00 Input Pulse Form 1 2 2 Posi
49. function that can switch gain during the motor is running For example 1f gain needs to be changed when motor is stopped set different gain group and use a external signal to select the group of gain Set the following parameter so that the input signal G SEL can be used to select gain ps jee n 0000 n 0012x1 n oooo Fosition Control Assignment Speed Control Default setting is n 0000 and is fixed to OFF Assign G SEL to any of the input terminals to select gain Please refer to 4 4 2 Input Signal Assignment to know more about setting this parameter The first group of gain is selected when G SEL is OFF and the second group of gain is selected when G SEL is ON Speed Loop Gain Speed Loop Integral Time Contant P1 01 is selected P1 05 is selected Position Loop Gain P1 02 is selected P1 06 is selected 52 5 Using Digital Panel 5 Using Digital Panel This chapter describes the basic operation of the digital panel and the features it offers All parameter settings and motor operations can be executed by simple convenient operations Operate the digital panel as you read through this chapter 5 1 Basic Operation This section provides information on the basic operation of the digital panel for setting operating conditions 5 1 1 Functions Of Digital Panel The digital panel can be used for parameter settings operating references and status displays o 5 7Seg LEDs Displaying parameter settings status or a
50. g the same type of external power supply as that used for output circuits Control Mode 24V 24V External power supply Position Control Speed Control and Torque Control R Output Signal Connections Connect the output signals as shown in the following figure 33 4 Parameter Settings and Functions ICS 24N optoelectronic coupler Servo drive 4 COM F Note the maximal voltage current output t mel DY UY with open collector voltage DC30W max daa current DC50mA max Note 1 Provide a separate external I O power supply the servo driver does not have an internal 24V power supply External power supply specifications 24V 1 VDC 300mA minimum 2 Recommend that using the same type of external power supply as that used for output circuits 4 3 4 Electronic Gear The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value It allows the pulses generated by the host controller to be used for control without having to consider the equipment gear ratio or the number of encoder pulses with eclectronic pinion reference unit dum A eg workpiece TN 2500 pulses pitch of La srew is 6mm ES MN please define the condition of without electronic pinion encoder mechanism and reference unit S pitch of ball srew is bmm 2500 pulses for examplecremovemt of workpiece is10mm for examble removemt of workpiece is10mm every bmm by a
51. gital operator functions Internal Devices COMI ror Baudrate 19200 Data Bits 8 Stop Bits 1 Parameters Protocol Modubs RTU Slave Modbus Station 1 en RS485 connected to PLC HMI or other a Devices host controller and PC Configurable Protocol Modubs RTU Slave Modbus Station Configurable COM2 Status display parameter setting monitor display alarm trace back display JOG and Functions auto tuning operations speed torque reference signal and other drawing functions 6 2 3 Servo Drivers Dimensions R DS2 20P4 and DS2 20P7 Unit mm 68 R DS2 21P5 Unit mm UL AAA AAA 180 5 178 l 5 6 Ratings and Characteristics 180 5 POWER CHARGE o o Do HOGERE o o to o o STA ESC INC DEC ENTER td din A njc6 1 s ul zo lo elelelelelelelelelala 186 Te la
52. ibited N OT is OFF Please refer to 4 2 2 Overtravel Limit Position Control Mode positoning completed PN ee lb rotation TGON detection A The following tables list and explain the meanings of bit data displays in Speed and Torque Control Modes Description Positioning Lit if error between position reference and actual Completed COIN motor position is below the value set in P5 00 Lit if error between position reference and actual a motor position is below the value set in P5 04 Rotation Detection Lit if speed exeeds the level indicated by P5 02 TGON Rotation Detection Speed Level P5 02 Unit rpm B The following tables list and explain the meanings of code displays in Speed and Torque Control Modes Code Standby Servo OFF motor power OFF i Run Servo ON motor power ON Forward Run Prohibited P OT is OFF Please refer to 4 2 2 Overtravel 55 5 Using Digital Panel NR Reverse Run Prohibited N OT is OFF Please refer to 4 2 2 Overtravel Limit 5 3 Monitor Mode The Monitor Mode can be used for monitoring the reference values I O signal status and servo driver internal status The monitor mode can be set during motor operation E Using the Monitor Mode The example below shows how to display 0 the contents of monitor number U 16 1 Press the STATUS ESC key to select the monitor mode 2 Press the INC or DEC key to select the monitor num
53. ilter Position 49 4 Parameter Settings and Functions Position reference filter 1s effective to both position control Pulse Reference and speed control Pulse Reference 4 7 2 Soft Start Function The soft start function adjusts progressive speed reference input inside the servo driver so that acceleration and deceleration can be as constant as possible To use this function set the following parameters Default Setting Control Mode P3 05 0 65535 o Speed Control P3 06 0 65535_ O Bpeed Control In the servo driver a speed reference is re calculated by the acceleration or deceleration value set in P3 05 or P3 06 to provide speed control The soft start function enables smooth speed control when progressive speed references are input or when Digital Reference Speed Control is used Set both P3 05 and P3 06 to 0 for normal speed control Set these parameters as follows e P3 05 Time interval from when the servomotor accelerates from 0 to rated speed e P3 06 Time interval from when the servomotor decelerates from rated speed to 0 speed reference soft start rated speed Servo drive fin makes speed aN reference P3 05 time interval setting rated speed 1 tft P3 06 time interval setting 4 8 Gain Adjustments This section describes information on the basic rules of gain adjustments in the servo driver adjustment methods in a variety of cases and reference set values 4 8 1 Servo Gain
54. imit during Torque Control 0 5000 2000 4 3 7 Encoder Z Signal Output Encoder Z signal can be output in DS2 series servo driver Set the following parameter to enable the output function Parameter Name Unit Setting Range Default Setting P5 38 Encoder Z Signal Assignment n 0000 n 0012 X1 n 0000 X1 Default setting of DS2 21P5 is n 0013 Z signal outputs as a single pulse The width of the pulse is about 1 5ms regardless of the speed of the motor 38 4 Parameter Settings and Functions i Origin Signal On Encoder H When P5 38 n 0001 Wave On SO1 When P5 38 n 0011 Wave On SO1 l lms 2ms Typical 1 5ms 4 4 Setting Up the Servo Driver This section describes the procedure for setting parameters to operate the DS series servo driver 4 4 1 Indicating Control Mode 2 sub modes stand for 2 control modes changing with input signal C SEL Sub mode 1 is selected when C SEL is OFF whereas sub mode 2 is selected when C SEL 1s ON Input signal C SEL can be input from any input terminal by setting the following parameter Parameter Name Unit Setting Default Control Mode Range Setting Control Mode Position Control Speed Selection y Control and Torque Control Default setting is n 0000 and is fixed to OFF Assign C SEL to any of the input terminals to enable change control mode function Please refer to 4 4 2 Input Signal Assignment to know more about setting this parameter
55. inewave Motors Base Size Motor Series Name Base Size 60 80 110 130 Feedback Component M Optical incremental encoder Performance Specifications the first 3 decimals indicate the rated torque and the last 2 decimals indicate the rated speed 01330 Rated Torquel 27N m Rated Speed 3000rpm 02430 Rated Torque 2 4N m Rated Speed 3000rpm 1 Checking Product and Part Names 04025 Rated Torque 4 0N m Rated Speed 2500rpm 04030 Rated Torque 4 0N m Rated Speed 3000rpm 05030 Rated Torque 5 0N m Rated Speed 3000rpm 06025 Rated Torque 6 0N m Rated Speed 2500rpm 10015 Rated Torque 10 0N m Rated Speed 1500rpm Shaft Specifications A With No Key B With A Key Brake Null None Z With a DC99V Brake Rated Voltage 2 220V 4 380V Capacity 0P4 0 4kW OP7 0 75kW 1P5 1 5kW 2P0 2 0kW 1 1 2 Servo Drivers B External Appearance Y DS2 20P4 DS2 21P5 5 A DS2 20P7 y agadan O CEE B Nameplate DS2 2 0P7 eee OP4 0 4kW OP7 0 75kW 1P5 1 5kW Series
56. intaining or inspecting DS2 Series servodrives a How to AcquireThis Manual 1 Electrical Manual 1 Log on Xinje official website www thinget com or www xinje com to download 2 Acquire this manual on a CD from an authorized distributor Preface II 1 Checking Product and Part Names 1 Checking Product and Part Names This chapter describes the procedure for checking products upon delivery as well as names for product parts 1 1 Checking Products on Delivery Use the following checklist when products are delivered ones that were ordered of the servomotor and servo driver Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly smoothly by hand Servomotors with brakes however cannot be turned manually Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdriver Check the motor code marked on the nameplates of the servomotor and the parameter FO 00 on the servo driver If any of the above are faulty or incorrect contact Xinje or an authorized distributor Is there any damage Is the motor code the same with the code in driver 1 1 1 Servomotors MW External Appearance F S Nameplate MS 80 ST M 02430 A Z 2 0P7 a Capacity Rated Voltage Brake Shaft Specifications Performance Specifications Feedback Component S
57. ircumference The difference between the maximum and minimum measurements must be 0 03mm or less Rotate with the shafts coupled Measure this distance at four different positions on the circumference The difference between the maximum and minimum measurements must be 0 03mm or less Rotate with the shafts coupled Note 1 Vibration which will damage the bearings will occur if the shafts are not properly aligned 2 When installing the coupling prevent direct impact to the shaft This can damage the encoder mounted on the opposite end 2 1 4 Orientation MS series servomotors can be installed either horizontally or vertically 2 1 5 Handling Oil and Water Install a protective cover over the servomotor if it is used in a location that is subject to water or oil mist Also use a servomotor with an oil seal when needed to seal the through shaft section TL Through shaft section 2 1 6 Cable Stress Make sure that the power lines are free from bends and tension Be especially careful to wire signal line cables so that they are not subject to stress because the core wires are very thin measuring only 0 2 to 0 3mnY 2 2 Servo Drivers The DS2 series servo drivers are base mounted servo drivers Incorrect installation will cause problems Follow the installation instructions below 2 2 1 Storage Conditions Store the servo driver within 20 85 C as long as it is stored with the power cable disconnected 2
58. ires he ee ir do ena era do ea ia a es 5 G O storage Temperatura a Re bb an e Die OSE Ao Kanan ari g e a AM A OS Od Oe EEO Oe OS D 2 AS 5 DAA SOON AR ead An Se na bee utes Ga 6 AA pandan an Wael cue onta nah ee ee Ten eh oh Gono One Oo TOL Pen ee DANSA 6 Oa bole A mA 6 Dea DCO ae en ee Den Men ee Oe oe aes MU Leena eee ane ba Sao Sai 6 o o a Mb 6 a Aa aton ats be hae ey Pe eae Dn Be Be Peas Rn ewe be na aes 6 C nn ete bet ele Pono ee be eee eee ee eens T o Oleg TTT 1 Oe We AO TID en ee Se ete ss Sle a oe ee E ee Man aa Un apa ee BN en 9 E a Men edi Wal Gs ee en oe Looe on Boece Gen A Sea ea ee 9 3 1 1 Names and Descriptions of Main Circuit Terminal 0 0 ccc ee eee 9 3 1 2 Typical Wiring Example oo como a ES ia oe eee we 10 3 1 3 Winding Terminals On Enron a ada 10 Sl C5 a de e ee eee nee 10 Seal Layout Or voi 4 Terna cotos corriera ios e bs 10 3 2 2 CNO amo CNT Signal Names and PinctiolS os nona esa dias 11 g 2 3 170 Signal Names and Functions coors ree ao da tes dee dd 11 La Imtertace R D LS eros rta ia ri 12 o WII COLS sesionit we Be ier Seca E a a E E ad A 13 el a E E E E a Oe E E EE E 13 3 3 4 UNZ Encoder Connector Terminal Lay cL soo comodoo co coco er a ad oa 13 3 4 Examples Of Standard Connections 14 la Postion Control Mod erario pe EAE Art aos 14 Sana oC PO eo am etico fre ten a coa UAN Gera ates Ged weds aa pe iodo 15 el C Port CUM eaaa E a e end R 15 e Mer Port A coe ates T eee E EE EEE 16 3 6 Reg
59. l K 00 I I 1 I NO Xx 2 N Same As Above N OT n 0000 4 2 2 Reverse Prohibited Same As Above ALM RST Alarm Reset 1 x 1 n 0000 Same As Above x n 0000 n 0000 P CL Forward External Torque Limit Same As Above N CL Reverse External Torgue Limit Same As Above SPD D 3 X 4 4 5 4 2 4 6 4 2 4 A UY N 21 4 Parameter Settings and Functions Digital Reference Speed Selection Same As Above X SPD A l 4 3 5 Digital Reference Speed Selection Same As Above SPD B 4 3 5 Digital Reference Speed Selection Same As Above C SEL 4 4 1 Control Mode Selection Same As Above 21 ZCLAMP 4 5 2 Zero Clamp l Same As Above X 22 INHIBIT Pulse Inhibit i Same As Above 2 G SEL 4 8 3 Gain Selection 28 Same As Above CLR 4 3 2 Pulse Error Clear Same As Above PS A ME COIN l 4 6 3 Positioning Completed n 0000 Do not output n 0001 Output to SOL n 0002 Output to SO2 n 0003 Output to SO3 n 0011 Output to SO 1 reversed n 0012 Output to SO2 reversed n 0013 Output to SO3 reversed 3 6 29 V CMP 4 6 4 Speed Coincidence Same As Above 30 TGON 4 6 5 Rotation Detection Same As Above x 31 S RDY 4 6 6 Servo Ready X Same As Above x 32 CLT 4 2 4 Torque Limit Reached Same As Above 33 VLT i 4 2 5 Speed Limit Reached Same As Above 4 2 6 22 4 Parameter Settings and Functions WA
60. larm O Power LED POWER The LED is on when the servo driver is powered on O Charge LED CHARGE The LED is on when the main circiut is powered on When the power of main circiut is off electric charge still remains in the capacitors and at this time DO NOT touch servo driver This section provides information on the keys and their functions available from the initial displays STATUS ESC continuousl continuousl ENTER Press Shift the editing digit Press and hold Enter a status Enter 5 1 2 Basic Mode Selection The basic mode selection of the digital panel is used for indicating the status of the servo driver in operation and setting a variety of parameters and operation references The status display auxiliary function parameter setting and monitor modes are the basic modes As shown below the mode is selected in the following order by pressing the key 53 5 Using Digital Panel power on status display mode le setting mode monitor mode y auxiliary function mode Display mode O Monitor Function U XX XX means the number of the monitor function O Auxiliary Function FX XX The first X means group No the last two XX means the member No in the group O Parameter Setting PX XX The first X means group No the last two XX means the member No in the group O Alarm E XXX XXX means the alarm code 5 2 Status Display Mode In status display mode bit data and codes are displaye
61. m power goes OFF 28 4 Parameter Settings and Functions Servo motor The brake built into the MS series servomotor with brakes 1s a de energization brake which is S 7 e used only to hold and cannot be used for Holding brake braking Use the holding brake only to hold a stopped motor Brake torque 1s about 120 of the rated motor torque Prevents the servomotor from rotating due to gravity C when power off R Wiring Example Use the servo output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servo drive Servomotor with brake Power Li Le Hey Brake power BK Ry Supply Note For 110 and 130 series motors voltage between LI and L2 is AC220V besides for 60 and 80 series motors it is AC48V In the diagram above the BK signal is assigned to SOI and the parameter P5 34 must be set to n 0011 Control Mode Brake Output Position Control Speed Control and Torque Control This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake Brake On EK Brake Brake OFF Release R Brake Output Timing After Motor Is Stopped If the equipment moves slightly due to gravity when the brake 1s applied set the following parameter to adjust brake ON timing Parameter Name Unit Setting Default Control Mode Range Setting P5 06 Delay Time
62. meters Time of taking effect o Re enable servo driver e Restart servo driver 4 Be effective at any time A hex parameter has a prefix n denoting this parameter is a hex value Composing of a parameter PX XX n xx xx L gt PX XX H PX XX L 4 1 1 Functions PO Modbus Address 0x0000 0x00FF Name Unit Default Setting Time of Reference Setting Range Effec n Mae w Sub Mode 1 0 Idle Torque Digital Reference Torque Analog Reference Speed Digital Reference Speed Analog Reference Position Digital Reference Position Pulse Reference Speed Pulse Reference i 0 7 SE as above Y COM2 Rotation Direction 06 L Servo OFF Stop Mode DS2 series servo driver is fixed with Coasts the servomotor to a stop 06 H Overtravel Stop Mode 0 1 Coasts the servomotor to a stop 2 Decelerates the servomotor to a stop at the preset torque and then locks the servomotor in Zero Clamp Mode Torque setting P4 06 Emergency Stop Torque 3 Decelerates the servomotor to 0 Communication parameters of n 2206 n 0000 COM2 n ES 4 Parameter Settings and Functions a stop at the preset torque and puts the servomotor in coast status Torque setting P4 06 o Torque T REF Assignment Not available to DS2 series servo driver V REF Assignment Not available to DS2 series servo driver 4 1 2 Control Parameters P1 Modbus Address 0x0100
63. n of a load shaft load shaft Domm id rr Electronic Gear Ratio angga Pog incremental encoder pitch of ball srew is 6mm 2500 pulses 6000 5000 2 Circular Tables ference unit ae gt the movment at every revolution of_ 360 _ A reduction gear ratio load shaft Us enue MER i a o PB 2500x4xs3 P2 02 ms S electronic grear ratio eng Poa incremental encoder 2500 pulses 3600 3 Belts and Pulleys the movement at every 3 14 100mm reference unit i a EA Dm revolution of load shaft 0 0mm load shaf AAA alectroanic near rafia BY 2500x4 2 _ P2 02 ction gear ratio E anet electronic gear ratio ET AE 2 1 249 dia of pulley p400mm 15700 incremental encoder 2500 pulses P2 03 15700 4 3 5 Digital Reference Speed Control This function provides a method for easy speed control It allows the user to initially set three different motor speeds with parameters and then select one of the speeds externally using a input signal Servo Drive SPD D _ N externally SPD A A A Epe Sa Servo motor SPD B _ speed select SPEED Pi 01 no need for speed setter SPEED2 P3 02 and pulse producer SPEED pP3 03 motor runs at a set speed parameter B Using Digital Reference Speed Control 36 4 Parameter Settings and Functions Follow steps 1 to 3 below to use digital reference speed control 1 Set digital reference speed control as shown below Setti
64. na tit gs Sting PO 06 L Servo OFF Stop Mode ICI o a Whatever P0 06 L is set DS2 series servo driver always coasts the servomotor to a stop 4 2 4 Torque Limit Torque limit function is enabled when servo driver is in either Position Mode or Speed Mode If current torque exceeds the limit CLT signal is set to ON Use the OT P5 32 to select which terminal will output the CLT signal Signal Status Exceed cT imi 532 Omi bat Servo driver has 2 functions to limit torque as followed Internal Torque Limit External Torgue Limit NW Internal Torque Limit Maximum Torque For Output Internal Torque Limit function is used to limit the maximun torque by parameter when running in common Parameter Name Unit Setting Default Control Mode Range Setting map Position Control P4 02 Forward Torque Limit 1 0 300 300 Speed Control P4 03 Reverse Torque Limit 1 0 300 300 A one Speed Control These settings are effective as long as servo being on enabled The unit is a percentage to the rated torque of a motor If torque limit is set higher than the maximum torque of the servomotor the maximum torque of the servomotor is the limit 21 4 Parameter Settings and Functions The default setting is 300 which means 300 of rated torque Note 1 If P4 02 or P4 03 is set much smaller insufficient torque will be output when accelerating or decelerating 2 Maximum torque limit percentage may be differe
65. nd Specifications 220V 60ST SOST Model MS M0133000 M0243000 20P4 20P7 0 4 Rated Current A 25 30 60 60 Rated Torque Nm 127 239 J6 0 O 28 Torque Constant N m A 0 5 08 10 167 E Time Constant 3 78 Encoder Line PPR IP65 Temperature Ambient Relative Humidity r h lt 90 with no condensation R 60 and 80 Series Servomotors Winding Connector Motor Winding Vinding Name otor Windin S R 60 and 80 Series Servomotors Encoder Connector Name SV OV B Z U Z U A V W V A B w Number 2 3 4 5 J6 7 s 9 10 u 12 13 14 15 1 R 110 and 130 Series Servomotors Winding Connector 4 l Note Windig Ramin pps R 110 and 130 Series Servomotors Encoder Connector 62 6 Ratings and Characteristics Name 5V OV A B Z A B Z U V w U v w PE Number 2 3 4 5 e 7 Is 9 10 Jar 12 13 14 15 1 6 1 2 Torque Speed Feature MS 60ST M0133000 20P4 MS 80ST M0243000 20P7 4000 O 1 A Continuous Working Area A Continuous Working Area B Repeatedly Working Area Nm B Repeatedly Working Area Nem MS 110ST M0603000 21P5 MS 130ST M10015n0 21P5 A Continuous Working Area A Continuous Working Area B Repeatedly Working Area Nm B Repeatedly Working Area Nm 6 1 3 Servomotors Dimensions Dimensions of 60 Series Servomotors Unit mm 63
66. ng Default PO 00 Main Mode 00 P0 01 SubMode1 0 7 Jo G P0 02 Sub Mode 2 07 lo 3 Speed Digital Reference Meanings for the following signals change when the digital reference speed control is used Sub Mode Input Signal SPD D SPD A 1 SPD B Speed Reference Speed Using Digital AAA Digital Reference Speed G 0 flo V REFI P3 01 Reference Control lil V REF2 P3 02 1 O V REF3 P3 03 Note 0 OFF 1 ON 2 Set the motor speeds with the following parameters Parameter Name Unit Setting Default Control Range Setting Mode Speed V REF1 0 Speed ces Digital Reference Speed Control BA Speed 2 V REF2 c Speed Bh Digital Reference Speed Control BU Speed 3 V REF3 0 Speed ads Digital Reference Speed Control ee If the setting is higher than the maximum motor speed of the servomotor then the servomotor will rotate at 1ts maximum speed Speed selection input signals SPD A and SPD B and the rotation direction selection signal SPD D enable the servomotor to run at the preset speeds 3 Set the soft start time Parameter Name Unit Setting Default Control Mode Range Setting P3 05 0 65535 0 Speed Control P3 06 0 65535 0 Speed Control The servo driver internal speed reference controls speed by applying this acceleration and deceleration setting Smooth speed control can be performed by entering a progressive speed reference or using contact input speed control Set each constant
67. nt from various motors B External Torque Limit Limit Torque By Signal External torque limit function is used to limit the torque when motor moves into specified state 1 e forcing stop and robot holding pieces Setting a torque percentage and then in putting a signal will take this function into effect Range Setting P4 04 Forward External 0 300 E Position Control Speed Torque Limit Control P4 05 Reverse External 19 0 300 Position Control Speed Torque Limit Control Note The unit is a percentage to the rated torque of a motor 4 2 5 Internal Speed Limit In Torque Control Internal speed limit function is enabled in only torque control mode If current speed exceeds the limit the VLT signal is set to ON Onani rana oc Exceed Pa Heni Nata VLT signal assignment can be modified by indicating the given parameter Default Parameter Name Unit Setting Range sein P5 33 Ed NN n 0000 n 0012 1 n 0000 Assignment Default setting is n 0000 and VLT doesn t assigned to any output terminal Please refer to 4 3 3 to see how to set the signal assignment X1 Default setting of DS2 21P5 is n 0013 R Internal Speed Limit Level l Setting Default Control Speed Limit during Torque 4 2 6 Holding Brake BK The holding brake is used when a servo driver controls a vertical axis In other words a servomotor with brake prevents the movable part from shifting due to the force of gravity when syste
68. output terminal Name Unit Setting Range Default Setting P5 37 Alarm Signal Assignment n 0000 n 0012 1 n 0002 4 4 Parameter Settings and Functions Default setting is n 0002 and is output between SO2 and COM Please refer to 4 4 3 Output Signal Assignment to know more about setting this parameter X 1 Setting range of DS2 21P5 is n 0000 n 0013 When a servo alarm ALM raised eliminate the cause of the alarm and set the ALM RST input signal to ON to reset the alarm Control Mode ALM RST Position Control Speed Control and Torque Control The alarm reset signal 1s used to reset a servo alarm Alarms can also be reset using a panel or digital operator 4 6 2 Servo ON Input S ON There are two method to input Servo On signal 1 input from a terminal 2 automatically servo on after power on R Input From Terminal The basic use and wiring procedure for the Servo ON S ON input signal is described below Use this signal to forcibly turn OFF the servomotor from the host controller 24V Power host device Servo drive optoelectronic 3 KLI coupler ESA Control Mode S ON Position Control Speed Control and Torgue Control Do not use the Servo ON S ON signal to start or stop the motor Always use an input reference signal to start or stop the servomotor R Automatically Servo On After Power On Not Use S ON Signal Set the parameter P5 10 to n 0010 to mak
69. r which is damaged lack of accessories or not the same with the model ordered Doing so may result in electric shock O Installation 1 Cut off external power supply before installation Not doing so may result in electric shock 1 Always use the servomotor and servo amplifier in one of the specified combinations Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock fire or malfunction 2 DO NOT touch any metallic part Doing so may result in malfunction O Wiring 1 Cut off external power supply before wiring Not doing so may result in electric shock 2 Connect AC power supply to the corresponding terminals Faulty wiring may result in fire 1 Do not connect a three phase power supply to the U V or W output terminals Doing so may result in injury or fire 2 Use 2mm wire to grounding the groud terminals Not doing so may result in electric shock 3 Securely fasten the power supply terminal screws and motor output terminal screws Not doing so may result in fire Operation 1 Never touch any rotating motor parts while the motor is running Doing so may result in injury 2 DO NOT touch the inside the driver Doing so may result in electric shock 3 Do not remove the panel cover while the power is ON Doing so may result in electric shock 4 Do not touch terminals for five minutes after the power has
70. rated Regulation speed Speed Voltage a Regulation Regulation Rated Voltage 10 0 at rated speed alice Temperature S 25 25 C 40 1 max at rated speed Regulation 250Hz JL lt JM 67 Torque Performance Control 6 Ratings and Characteristics l 0 65535ms Can be set individually for O S acceleration and deceleration Input Reference RS485 Feedforward 0 100 setting resolution 1 Performance Positioning Completed Width 0 250 reference units setting resolution Position Setting 1 reference unit Control Sign pulse Ouadrature Pulse Modes Pulse Input a Open collector 24V level Refernce 200kbps Control Signal Clear Signa CLR None S ON P CON P OT N OT ALM Input Signal RST PCL NCL SPD D SPD A SPD B C SEL ZCLAMP CLR G Input Output Signals Signals Assignment COIN V CMP TGON S RDY CLT VLT BK WARN NEAR ALM Z Regeneration External regenerative resistor Deceleration or free run to a stop at P OT or N OT Signals Assignment SEL Output Signal Overtravel Stop 0 01 lt B A lt 100 Program error parameters error overvoltage undervoltage overtemperature overspeed analog input error position error overflow output short Electronic Gear Protection circiut current error encoder loss encoder error overload undervoltage in run saveing parameters error etc Charge Power five 7 segment LEDs ES built in di
71. relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result Servo drive Servo drive DC Ay more than SOmA acay 3 SKS l p14 23 L aj etc i Ig DC24Y more than SOmA R Output Signals Circuit Interface Output signal terminals of servo driver can only be connected to an open collector output circuit Please refer to the host controller to connect output signals Connect to a photocoupler Connect to a relay 3 Wiring D5 241 E relay optoelectronic coupler Lan a T T servo drive aes l rt servo drive Jap s EOM Li 4 com F T b KP T 0y 0y FAS Pre Note The maximum allowable voltage and current capacities for open collector circuits are Voltage DC30V Current 50mA 3 3 Wiring Encoders The following sections describe the procedure for wiring a servo driver to the encoder 3 3 1 Encoder Connections The following diagrams show the wiring of the encoder output from the motor to CN2 of the servo driver This applies to only incremental encoders Incremental encoder servo drive e A Cha NL A y TPi 14 AT iat B IP 6 a ft Ly it 2 JP L Z H A ij Q a tel Ly Y i 5 b A l 18 W JP ye we it we O G IP gt ve 54 y RV onpi IP OND sereno connect shell I she L 5 gt shield wires 4 indicates twisted iL wirepairs Pe Un 3
72. shaft load shaft P S 1 revolution aa 1 revolution _ 360 reference unit 1 revolution note p means pitch reference unit D dia of pulley 5 Electronic gear ratio is given as B A If the gear ratio of the motor and the load shaft is given as m n where m is the rotation of the motor and n is the rotation of the load shaft ulses of encoder Electronic gear ratio AAA E reference unit at every revolution Note Make sure the electronic gear ratio satisfies the following condition 0 012 Electronic Gear Ratio 100 The servo driver will not work properly if the electronic gear ratio exceeds this range In that case modify either the load configuration or the reference unit 6 Set the parameters Reduce the electronic gear ratio to the lower terms so that both A and B are integers smaller than 65535 then set A and B in the respective parameters 2 _ A Poo Electronic Gear Ratio Numerator AJ F2 03 Electronic Gear Ratio Denominator Parameter Name Unit Setting Default Control Mode Range Setting P2 02 Electronic Gear Ratio 1 65535 1 Position Control Numerator P2 03 Electroni c Gear Ratio sg 1 65535 Position Control Denominator MH Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms 1 Ball Screws 35 4 Parameter Settings and Functions reference unit 0 001mm the movment at every revolutio
73. st power supply harmonic supply harmonic waves is needed connect a DC reactor between P1 wave countermeasure 3 Wiring L N Main circuit AC input Single phase 200 240V 50 60 Hz terminal Ground terminal Connects to the motor ground terminal U V W Servomotor Connects to the Servomotor connection terminal Ground terminal Ground terminal Connects to the power supply ground terminal 7 PB External regenerative Connect an external regenerative resistor between P resistor terminal and PB 3 1 2 Typical Wiring Example O 0 IMCCB Connect an external P U 9 onnect an external regenerative V M resistor O PB Wo SN O FIL 7 aoL CN2 mic IMCCB circuit breaker FIL filter for disturbance signal Servo Drive 3 1 3 Winding Terminals On Servomotor PE mm An s 3 2 I O Signals This section describes I O signals for the DS2 series servo driver 3 2 1 Layout Of CNO CN1 Terminals DS2 20P4 and DS2 20P7 DS2 21P5 series series Layout of CN1 terminals Layout of CNO terminals Layout of CN1 terminals 3 Wiring Descryption l SO1 Output Singal Terminal 1 4 OM Output Singal Ground 3 SO3 Output Singal Terminal3 6 1B RS485 R CNI Signal Names and Functions 1 DS2 20P4 and DS2 20P7 C A Symbol ji A RS485 sp Input Singal Terminal
74. t current offset auto adjustment and the panel displays blinking TEF About 5 seconds later auto adjustment is finished and the panel displays donE to inform that the function 1s already executed out Press STATUS ESC key to return 4 Speed Reference Auto Adjustment F1 03 Select F1 03 and enter speed reference auto adjustment function and the panel displays TEF o Press ENTER key to start speed reference auto adjustment and the panel displays blinking rEF_o About 1 second later auto adjustment is finished and the panel displays donE to inform that the function is already executed out Press STATUS ESC key to return 5 Torque Reference Auto Adjustment F1 04 Select F1 04 and enter torque reference auto adjustment function and the panel displays TEF o Press ENTER key to start torque reference auto adjustment and the panel displays blinking TEF o About 1 second later auto adjustment is finished and the panel displays donE to inform that the function is already executed out Press STATUS ESC key to return 6 Force Servo On F1 05 0 Force servo on function is disabled 1 Force servo on function is enabled 5 4 3 Set Motor Code Set group No to 2 in auxiliary function and enter setting motor code function One servo drive can be suitable to more than one servo motor with close power classes printed on the nameplate of each motor When user need to change a motor
75. t terminal Unit Setting Range Default Setting P5 31 S RDY Signal Assignment n 0000 n 0012 1 n 0000 For DS2 20P4 and DS2 20P7 default setting is n 0000 and is not output to terminal For DS2 21P5 default setting is n 0003 and is output between SO3 and COM Please refer to 4 4 3 Output Signal Assignment to know more about setting this parameter X1 Setting range of DS2 21P5 is n 0000 n 0013 4 6 7 Near Output NEAR The basic use and wiring procedures for the near NEAR output signal are described below The signal is generally output together with the positioning completed signal COIN and it is used to indicate the servomotor is close to completing positioning DCSY 24Y relay Do s0 servo drive sor gt Note the maximal 4 voltage current output UV with open collector voltage DC30W max current DC50mAimax Control Mode NEAR The host controller can use the NEAR signal to prepare the next motion sequence before COM tl o 47 4 Parameter Settings and Functions receiving the positioning completed signal This reduces the time required to complete the desired motion profile Signal Status Reversed Or Not O ener On between SO and COM Near to the position Reverse Reverse Output Off between SO and COM en o con On between SO and COM Not near to en CON the position Reverse Reverse Output Off between an P Set the following paramet
76. ter X1 Setting range of DS2 21P5 is n 0000 n 0013 The following parameter is used to set the number of error pulses and to adjust the output width of the speed coincidence signal Setting Range Default Setting Speed Coincidence Signal When in speed control and the error between speed reference and speed feedback drops below the level indicated by P5 03 output signal V CMP is turned to ON which means the current speed matches the speed reference 4 6 5 Rotation Detection Output TGON The basic use and wiring procedures for the Rotation Detection TGON output signal are described below The signal can be activated to indicate that the servomotor is currently operating It is used as an external interlock 45 4 Parameter Settings and Functions DCSY 24Y relay __ servo drive leni COM Ir Note the maximal T baez voltage current output UW o with apen collector voltage DCS0V max iid current DC50mAimax Control Mode TGON Rotation Detection Output Position Control Speed Control and Torque Control Signal Status Reversed Or Not con operating Parameter P5 02 Rotation Detection Speed Level motor speed Set the following parameter so that the output signal TGON can be used to output to any output terminal Setting Range Default Setting P5 30 TGON Signal Assignment n 0000 n 0012 1 n 0000 Default setting is n 0000 and is not outp
77. the motor servo on After doing this press and hold INC key for forward jogging or DEC key for reverse jogging Press STATUS ESC key to power off the motor servo off and press STATUS ESC key again to return 4 different states are displayed in jogging State Panel Display State Panel Display ___ lab lese Li m Jogging Servo ar l Reverse llo n wae oL 2 Trial Operation F1 01 Make sure that the motor shaft is detached from machine before trial operation When servo driver is connected with non oriented encoder line or power line trial operation must be run first to ensure that the encoder line or power line is connected Set the display value to 1 and press and hold ENTER key to enter trial operation mode There the panle displays aHa 58 5 Using Digital Panel If correctly wired the motor would rotate in 5 seconds in forward direction fixed to counter clockwise otherwise the motor would shock or viberate raising an alarm for worse In this case the power must be switched off immedietely and check the wiring again Press STATUS ESC key to return 3 Current Offset Auto Adjustment F1 02 After the servo driver is updated to latest software version or the motor does not revolve smoothly after a long time run a current offset auto adjustment is recommended Select F1 02 and enter current offset auto adjustment function and the panel displays EF Press ENTER key to star
78. tion Control Speed Control Set reference pulse form input to the servo driver from the host controller Input Pulse Form P2 00 Quadrature Pulse Signal multiplied 4 Sign amp Pulse Signal Set the following parameter to adjust the gain of frequency of input pulse Range Setting Mode Control Set the following parameter to adjust the filter time contant of frequency of input pulse Parameter Name Unit Setting Default Control Range Setting Mode P2 07 Pulse Filter Time Contant 0 lms_ 0 1000 Speed Of Speed Control Control 4 3 2 Position Reference The Quadrature Pulse Signal and Sign amp Pulse Signal are used for the position reference Since this signal can be used in different ways set the optimum reference input for the system created B Reference Pulse Input Circuit Positioning 1s controlled by inputting a reference pulse for a move La Servo drive 24 i 3 3K0 247 7 PULS a Al Tri L 3 3K0 El J vart SIGN g Tr S 31 4 Parameter Settings and Functions Note The following table shows the signal logic for an open collector output Trl Tr2 ON Equivalent to low level input Trl Tr2 OFF Equivalent to high level input R Selecting a Reference Pulse Form Set the following parameter to indicate in put pulse form Range Setting li 20 A Speed Control Set reference pulse form input to the servo driver from the host controller Input Pulse Form Tf
79. ut to terminal Please refer to 4 4 3 Output Signal Assignment to know more about setting this parameter X 1 Setting range of DS2 21P5 is n 0000 n 0013 The following parameter is used to set the number of error pulses and to adjust the output width of the rotation detection signal Setting Range Default Setting P5 02 Rotation Detection Speed Level 1 1000 20 If speed exeeds the level indicated by P5 02 TGON signal is turned to ON which means the motor is rotating 4 6 6 Servo Ready Output S RDY The basic use and wiring procedures for the Servo Ready S RDY output signal are described below Servo Ready means there are no servo alarms and the main circuit power supply is turned ON 46 4 Parameter Settings and Functions DCSY 24Y relay Ss s n tol COM Ir Note the maximal hi Y ae voltage current output DY DY with open collector Pa voltage DC30V max iid current DC50mAimax servo drive leni Control Mode S RDY Servo Ready Output Pe Control Speed Control and Torque This signal indicates that the servo driver has completed all preparations and is ready to receive the Servo ON signal Signal Status Reversed Or Not ON On between SO and COM Servo is Off between SO and COM ready S RDY OFF On between SO and COM Servo is not Off between SO and COM ready Set the following parameter so that the output signal TGON can be used to output to any outpu
80. ve power needs to be reduced by the regenerative resistor The servomotor is driven in regeneration generator mode in the following conditions While decelerating to a stop during acceleration deceleration operation With aload on the vertical axis gt During continuous operation with the servomotor driven from the load side negative load Connecting Regenerative Resistors 3 Wiring Connect an external regenerative servo Drive Regenerative resistor resistor between P and PB o PE External regenerative resister prepared by user Note Adequate cooling must be provided for regenerative resistors because they reach very high temperatures Also use heat resistant non flammable wire and make sure that the wiring does not come into contact with the resistors Recommended Recommended Minimum Motor Model Resistance Power Resistance MS 60ST M0133000 20P4 100W 400 MS 80ST M0243000 20P7 100W 400 MS 110ST M0603000 21P5 100W 400 MS 1308T M1001500 21P5 300W 400 Note The Recommended Power means that the value may be suitable to most applications Nervertheless in some special conditions actual power could be more or less than the recommended value so the rated power should be flexible to actual temperature of the regenerative resistor 4 Parameter Settings and Functions 4 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters 4 1 List Of Para

DS2 Series Servo Driver User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents