AC Servo Motor Driver User's Manual
Contents
1. In general DO NOT change this value to avoid from damaging the driver and motor This default value is different from set to set a set here means a motor and a driver Rated Current Unit 0 01 AMP e This parameter decides the rated current of motor If the load applied on motor is large than the rated power capacity alarm Over Rated Current Err 12 will not happen immediately The timing of alarm Over Rated Current Err 12 happening is according to the excess and the time In general DO NOT change this value to avoid from damaging the driver and motor This default value is different from set to set a set here means a motor and a driver PN29 PN30 Reserved by Manufacturer Proportional Gain of PID controller Please refer to the drawing of P 47 PN31 Differential Gain of PID controller Please refer to the drawing of P 47 O est Ta PN32 Integral Gain of PID controller Please refer to the drawing of P 47 IO Virtual Damper PN33 e In order to decrease the overshoot of PID control user can decrease the VA parameter But decreasing VA will lead to lower the performance of servo system So we have another way to decrease the overshoot by increasing the damper of the system The disadvantage of adding the damper is that the load of motor will become more PARAMETER SETTING UN larger Please refer to Servo Tune P 44 PN34 Reserved by Manuf2. PN11 JOG Forward A 2 UDS F ENTER a 3 Fa Dd USE OT qu 0 JOG Backward 5 Firmware Version FN03 e This function just displays the firmware version of the driver ENTER Hel 103 Ube QUIT lc i FUNCTION OPERATE E RESET SYSTEM FN04 o Reset the servo driver is like as soft restart e User can reset the servo driver to clear the alarm ENTER ENTER 30 wo Fle 04 lt gt FESEH ar YA QUIT 5 Calibrate Current Sensor amp Initialize Parameter FN08 FN09 e Initialize Parameter will restore all the parameter to the default value from manufactory e Calibrate Current Sensor will calibrate the current sensors built in driver By calibrate the current sensors driver could drive the motor well This is the function that user need to execute first after executing the function Initialize Parameter e Function FN10 exists for avoiding the mistake that execute this two function Calibrate Current Sensor amp Initialize Parameter carelessly ENTER eS En US lt SE WV ENTER e Ha 08 BALA oz QUIT N Lock Unlock FN10 e User can use this function to lock or unlock the function Calibrate Current Sensor and Initialize Parameter If the driver is in Lock status user can t execute function FN08 and FN09 E E FADO se a 2 FAO gt sti toa n un Oe Unlo ee LAI N Motor Type FN11 e User can confirm which kind of motor is
3. TSC 1 32 10 2 3 4 Torque Speed Scale e In velocity control mode MD 2 this parameter set the scale between analog input voltage and parameter VM e In voltage control mode MD 3 this parameter set the scale between analog input voltage and output voltage of driver e In torque control mode MD 4 this parameter set the scale between analog input voltage and output torque of motor In Position Range Unit EC PN18 This parameter decides the timing of output POSOK signal When the difference between the command position and the actual position 1s less than the value of EP driver will output the POSOK signal PARAMETER SETTING Maximum Rotational Speed Unit RPM e This parameter decides the maximum limit of rotational speed Please refer to PN08 X When detect the rotational speed exceeding VF alarm Over Speed Err 10 will happen PEN PN20 e When using external VR variable resistor the acceleration of motor rotation is decided by this parameter PN21 Reserved by Manufactory PN22 Reserved by Manufactory Homing Speed Unit RPM e After the user triggers the HOME input pin or executes the instruction H from hyper PN23 terminal motor will run back to the mechanical home the HORG input pin with the speed of VH and exceeding the home Then motor run back again to the mechanical home with speed of VH 64 and stop in the mechanical home PN24 After homing the o
4. with Buffer and External Analog Input Inner Driver m x lt Encoder A output vont dall RR 13 PAL 1 Encoder output n 1 SVOFF1 4 3 y Ml pp TTTTTTTTTT O _ l l 24V Servo Off i i i PB i Encoder B output I i i ME Emergency Stop HS TI bo i y sere 18 _PB Encoder B output I I it owHc La ES lt va CW Inhibit O I L nai Encoder Z output RIH I I I Li CCWHC 123 i X i gt PZI CCW Inhibit O cati 194 Encoder Z output cr es HORG 1 5 fat d j Home Signal O L er RIE PHZOUT OoOo RESET 124 MA X PS Reset o O ea m PHZOUT JOG Forward f ae i Lena Servo Ready i LOAD weda PRI io Wen n JOG Backward O e O ON gt een ee zl vas i e i ses as Alarm Signal Active Homing o o dani Ko er Cal Be eee a l pe es 1 0 i RI O 197 BRE sa Brake Signal Scos WI aa I RI 3K s si la 0 VDigital Ground DG i lt pos LoaD aln Position 5V gt 220 i Ilo oa 7 da PLS 427 1 f gt 14 XT te ai AA as Jol PR Mia a OUTA4 so O NI al i Q R3 gt 19 OV Xi or dol E GEA NS Co i eee I i I v 7 2KQ q i Inductive load must add Analog Speed Command 10V a L i Si Analog Ground e Xi ac bo inverse diode i JE I Refer P 16 for the wiring of 24V BC _ 1 SIGNALS AND WIRING of CN1 Velocity Voltage Torque Control Mode Mode MD 2 gt 3 4 24V Servo Off Emergency
5. In this mode whenever the driver receives pulse the distance of rotation is decided by electrical gear ratio parameter SC1 and SC2 There are three ways for pulse input set by PM parameter For the definition of SC1 and SC2 please refer to P 35 and P 29 for parameter PM M Position Control Mode with Buffer MD 1 This mode is almost the same with the previous one The distance of the rotation is decided by SC1 and SC2 parameter But the input pulses only decides the final position The velocity and acceleration of motor rotation is controlled by VM and VA parameter For the definition of VM and VA please refer to P 34 E Velocity Control Mode MD 2 In this mode the velocity and direction of motors are controlled by CNI analog input port VCMD and AG pin please refer to P 5 Positive voltage rotate forward negative voltage rotate backward The higher the voltage the faster the motor rotates The relation between voltage and rotation velocity is determined by VM parameter When the voltage of the input port is 10Volt the corresponding rotation velocity of the motor is VM Besides the proportion between VM and analog input voltage is set by TSC the definition of TSC is in P 37 And the acceleration of the motor is limited by VA parameter In this mode the velocity is controlled by close loop and very stable In other words it will not be affect by the loading Sm OPERATION MODE A Voltage Control Mode
6. N PI Pulse Signal Input There are two interfaces of input position pulses 1 Line Drive Input Recommend method for less noise i Inner Driver 27 220Q 2 Open Collector Input Need to add the extra DC power supply and select resistance R for the current limit Al Analog Signal Input User could use the external power supply or the 12V output of CN 1 The range of analog input is 10V 10V External Power Output Circuit ti SO Serial Signal Output X The maximum output current is S0mA r 24V O LOAD Inner Driver Inductive load must add inverse diode ia PO Pulse Signal Output This 1s differential output of encoder signal eee Inner Driver Encoder Signal Output OPERATE THE FRONT PANEL In order to make good use of servo systems the driver contains many parameters in need of adjustment therefore please be familiar with the operation of the front panel on the driver so as to monitor and set the parameter the user doesn t need to connect the driver with computer The Front Panel and Switch Keys Adiga a Displays 5 digits 7 segment LED display O O Switch keys qut V lt A ENTER Symbols for Keys Names of Keys Functions of Keys ENTER Select amp Input Selecting or confirm the adjusting parameter Add 1 to the being adjusted parameter aa Shift Cursor Change the cursor position when editing MW Down Sub 1 from the being adjusted pa
7. MD 3 In this mode the output voltage applied in motor is determined by the voltage of analog input port VCMD and AG please see P 5 The SIDC works as an amplifier The higher the analog input is the higher the output voltage will be The proportion between the two is determined by TSC parameter For the definition of TSC please refer to P 37 Generally speaking the rotation velocity of motor is proportioned to input voltage But this mode is not like close loop control just like velocity control mode Therefore it is in fact influenced by loading and is not always proportioned to input voltage In this mode the current and the output torque are not directly controlled The output current will increase along with the increase of loading If it overloads the actual output current and voltage will be limited by the rated current and the rated voltage of SIDC 650 DI Torque Control Mode MD 4 Normally the torque of motors is proportioned to current so this mode is also named current control mode In this mode the torque and direction of torque can be controlled and commanded by the voltage of analog input port VCMD and AG pin please see P 5 If you input positive voltage it will output positive torque if you input negative voltage it will output negative torque The higher the voltage inputs the larger the torque of the motor outputs The proportion of analog input voltage and output torque is decided by parameter TSC please see the
8. and you press ENTER you can select the functions which you want to operate by using WA buttons SIDC 650 has 11 functions in total ranging from 00 to 10 After select the target function you can press ENTER to start operating the selected function In contrast after you press QUIT you can give up operation and go back to previous display Function Operate ENTER QUIT Enter to Select Function sO O Pak to Function Operate Next A Next Ha UU lt PAIS kam Previous SIDC 650 Function FN List Function Displays Description um reserved by manufactory reserved by manufactory JOG Forward press UP key or JOG Backward press DOWN key with the speed set by VJ PN14 Firmware Version RESET nares Reset the driver This function is the SYSTEM same as the Pin24 RESET of CNI reserved by manufacturer oe reserved by manufacturer reserved by manufactory After executing FN09 please Execute Calibrate execute this operation to calibrate FN10 first Current Sensor current sensor Before executing FN08 gt FN09 user Initialize H Dl ik Initialize the parameters restore to Execute Parameters default value from factory FN10 first ia Lock Unlock Y Function How to Operate Function needs to execute UNLOCK ral Pa Au DU CI Display the motor type N JOG FN02 e The speed of jog is decided by parameter VJ PN14 and the acceleration is decided by parameter VA
9. 5 tH ii o y Connect to CN2 Encoder Cable Extended Motor UVW Cable Motor UVW l l l l l l anni D type 15 pins l l l l l l l l E i Notices 1 Please pay attention to capacity of power supply and breakers 2 After shut down the power Because the high voltage contain in the driver please DO NOT ed touch the TB terminal R S T and U V W and encoder cable for safe Please wait until the LED put out user can touch the terminal button WIRING Connect the Power and the Motor to Driver TB Signal or Three Phase AC220V Power ro Breaker Notices Please confirm the power line is AC 220V 2 If user connect the signal phase AC220V please connect the power lines to R S terminal buttons and keep T terminal button empty 3 Please confirm the motor cable color and U V W terminal buttons CONNECTOR Terminal Button TB Description Main circuit power Connect to power supply 1 phase or three phase AC220 15 Connect the red motor cable Connect the white motor cable Connect the black motor cable Connect the green motor cable Connect to the earth terminal of the servo motor and to the protective earth PE of the control box to perform grounding NO Name Direction Description Transmit Receive Pind DSR Data
10. Err04 occurs the user still input pulse command In order to protect the system the driver will start I trip e The voltage of DC bus is over 360V e Regenerative resistance is broken e The circuit for detecting voltage is breakdown Over Pulse Rate e The input pulse frequency is over 500 KHz Over Speed e The velocity of the motor is over the setting of PN19 VF e The EMC pin has been inputted e Please tighten the connector of the cable between encoder and driver e Check if there is short circuit between the connector of encoder and something e Check if the input power of encoder is DC 5V especially when the encoder cable is too long e Use multimeter to measure if the input voltage is lower than rated voltage e Check the input voltage of the driver e Check if U V W cable short circuit and if they are correctly connected e First disconnect the motor Second power on the driver If the alarm still occurs replace the driver with another one e Replace the driver Don t use SVOFF to stop the operation o Before reset the system please make sure there is no other pulse command inputting e Use multi meter to measure whether the input voltage is more than the rated voltage e Check if the input voltage conforms to the spec of the driver e Please decrease the frequency of input pulse which comes from the outer controller e Increase parameter PN19 or decreas
11. Short connection of HOME pin amp DG pin motor will home in backward direction The action of homing is triggered by shorting HORG pin amp DG pin Short connection of HOME pin amp DG pin motor will home in forward direction The action of homing 1s triggered by shorting HORG pin amp DG pin Short connection of HOME pin amp DG pin motor will home in backward direction The action of homing is triggered by opening CCWHC pin amp DG pin Short connection of HOME pin amp DG pin motor will home in forward direction The action of homing is triggered by opening CWHC pin amp DG pin Short connection of HOME pin amp DG pin motor will home in backward direction The action of homing is triggered by opening HORG pin amp DG pin PARAMETER SETTING BAUD HO 0 00 RS232 Baud Rate ofso ts Echo responds to RS232 o Enable Echo from terminal Disable Echo from terminal SERVO OFF amp EMC Setting car a Bit 0 The Setting of SVOFF Pin 0 The pin of SVOFF is invalid Short connection of SVOFF pin amp DG pin driver will SERVO OFF immediately Open connection of SVOFF pin amp DG pin driver will SERVO OFF immediately NAAA Hol 0 Brake Method of Servo Off When servo off motor will immediately decelerate speed PNO4 the deceleration decided by VA parameter After motor stop driver will shut down the output current When servo off driver will immediately shut down the output c
12. Stop CW Inhibit CCW Inhibit Reserved Reset Reserved Reserved Reserved Reserved OV Digital Ground DG Speed Voltage Torque Analog Command 10V i Analog Ground External input device could be various resistance or DC power supply Inner Driver EXTV i SVOFR LJ pS E Tan pa ia O I I I I CWHC 1 A EE l I pan I I gn ill PX I I l l RESET Pa SK i 7 f 1 R1 I I I l DI I iat NES LO PR l l Pa 2 I I sa esl i i E l E i I i R es xX I P I I I E R1 3K Q 2KQ pa DI mn Encoder A output 17 PA n Encoder A output 36 DI oO TT Encoder B output R lil a Encoder B output Encoder Z output Encoder Z output M MA v aar 94 PHZOUT If 1 16 PHZOUT Servo Read ra _ 29 READY 5 34 CC E SI En E aa pa i Fa ER CS ima In Speed che CA Loan OUT4 rear EXTG Inductive load must add inverse diode This page describes the I O circuit of CN1 Input Circuit SI Serial Signal Input Connect the external switches relay and open collector of transistor External Power 24V 3 4 5 6 7 22 232 23 20 A A Ze Sin a pt a n in ma n i Switch roetmttt_ _ _ 22 22 t Inner Driver External Power 3K Q 24V 3 4 5 6 7 22 23 24 25 26 AA A A A A ii na
13. The setting of FFB 1s done X When the value of FFB is negative the direction of compensation is inverse UU lc rwwr i SERVO TUNING The Flow Chart for Parameter Decision YES Set KP 1000 KI 0 KD 0 then increase KP YES decrease KP Vibrating when stop Increase KP Err 03 07 12 NO you can increase KP to make servo fast Increase KI from 0 YES decrease KI E Vibrating when stop NO you can increase KI to reduce position error Err 03 07 12 Increase KD from 0 YES decrease KD he time for stable is too long Increase KD NO you can increase KI to stable the speed DN 3 Observe follow error NO decrease FFV NO increase FFV Follow error is minimum YES Save to EEPROM SIDC 650 850 can use Hyper Terminal to communicate with WINDOWS though RS 232 COM Users can set parameter and try operating the motor How to Set the Connection The procedure of connecting to computers is as follows 1 Program Files Application Utilities I Communication Hyper Terminal wv iw JYy K motor jog BREA m Be Change 8 Intemet Explorer MO MSN Explorer e HEHE G Outlook Express arte gt Mime ERE Windows Media Player E TrueType SSF HES 2 PERE Sd Windows Movie Maker gt teins Q Windows ti REE A WordPad
14. Y rex g 4828 O Asam a SEN FIC aah HERA SRT A D Bt en AR ARIETE W SEGRE frese O BE Windows XP Jam BY MDS WinRAR Microchip gt Adobe Reader 7 0 HITECH_ADP Fatek PLC b b RIO utlook es HAIR Ents w Microsoft Word fa RPE Microsoft Excel Microsoft Office Visi amp Windows Live Mess MARA D ABER AER Q are KKMAN3 Microsoft Office TE Microsoft Access Microsoft Excel Microsoft Qutlook Microsoft PowerPoint Microsoft Word FlashGet gt Microsoft Office gt il Ulead PhotoImpact 11 FIIENEBSEBGESBEBGG8ET 2 Name the icon In the example we name this SIDC 650 f Aa ar AREE BEN SIDC650 O MSR mang EHAS telnet 3 Please refer to the following picture to set the ey SIDC6SO AMA Se esac Eso aos a et tt rai Eso esso Sd ERBER CORTI TCPAIP Winsock 4 Set the baud rate to 9600 and flow control to hardware Etra EMILI A far ee F ELIO REMO 5 Now turn on the power of SIDC 650 850 If the installment is successful we can see Servo On System standby Servo On System standby Hyper Terminal Commands of SIDC 650 850 Here we offer some basic commands that users can use to position the motor and control I O E Command Instruction Chart Type Instruction Functions Parameters CSO Redefie he orginal of coon PZ aaa Suspen
15. definition of TSC in P 37 In this mode the speed of motor rotation 1s not directly controlled but parameter VM can control the speed limit the definition of VM is in P 34 Please be careful with the increasing rotation speed when there is no loading applied on motor Hyper Terminal Control Mode MD 5 In this mode all motor actions can be commanded by RS232 communication port in the front panel Please see SIDC 650 850 Terminal Command in P 49 SIGNALS AND WIRING of CN1 Position Pulse Control Mode Line Drive gt Mode MD 0 e Refer P 9 for Operation Mode eo Refer P 16 for Line Drive I O Circuit Inner Driver Inductive load must add inverse diode PA O Encoder A output PALE ay gt PA A 24V Do O dali lt me PA Encoder A output f Servo Off vor dol Jai i i ene O Encoder B output x i Emergency Stop O I ENE Le gt i ee 181 PB Encoder o outo i a a ncoder B outpu a CWHC 1 4 is as E 37 p CW Inhibit va aa ii i Encoder Z output y l gt II I J I I ui CCWHC 123 i 4 f PZI CCW Inhibit OA j o l 19 Encoder Z output l 1 eo eer i722272 J L a ER I I I I Reserved E I I T o i ee PHZOUT i i RI A Ilo I I I I Reset Da e T X Pai sE 2 16 PHZOUT I II Lio a Q I I RAIL i I I__L_l I I I l DI I Reserved oE e K i MI Servo Ready p 226 o i 29 REAR al as l I I I I I I me ilo
16. l Z b o v Digital Ground DG LY MEEGSIKON 45V a 2200 I gt nu x PLSt O RL ta EI E iat i eae 1 PLS To Se cd DD LOAD OUT4I py 1 Ge gt ov v 4 O DA iol iS A ae EXTG UN TTT l Inductive load must add l acli 4 inverse diode Refer P 16 for the wiring of 24V SIGNALS AND WIRING of CN1 Position Pulse Control Mode Line Drive Mode MD 1 with Buffer and External Analog Input 24V f Servo Off Emergency Stop CW Inhibit CCW Inhibit Home Signal Reset JOG Forward JOG Backward Active Homing Pulse Input Inhibit OVDigital Ground DG PULSE PULSE DIR DIR Analog Speed Command 10V Analog Ground Inner Driver PAJT O Encoder A output Fg E a i 17 SVOFR la is x j DI lita abi dea sista 361 PB i i Q Encoder B output I I a f Dal i E Pn Encoder B output I I CWHC 14 pis X 371 py i Y i Encoder Z output gt II I I CCWHC 123 PZI WT 194 Encoder Z output A iia ds to ex x HALT RI 3K Ds i PLS Az i 1 es Lo ERI DIR A 2200 7 Servo Ready E 2 gt 24V gt Alarm Signal gt E 3 Brake Signal _ a AA e In Position gt e le Inductive load must add inverse diode SIGNALS AND WIRING of CNI Position Pulse Control Mode Open Collector Mode MD 1
17. 50 Acceleration Unit RPS e This parameter decides the maximum acceleration and deceleration of rotation The unit 2 is revolution per sec For example If PN10 VM 3000 gt PN11 VA 250 The unit of VM in SIDC650 is RPM 60RPM I1RPS Therefore the total time of starting to 3000 RPM from station needs VM 60 VA 0 2 Sec o The setting of VA is closely related with the torque and load The formula is A is angular acceleration unit rad sec T is the output torque of motor unit Nt m Im is the total inertia of motor and load unit Kg m PN11 e If mode PNO1 MD 1 the position control mode with buffer VA decides the maximum acceleration of the motor If the rating of the input pulse is smaller than VA the motor will follow the input pulse But if the rating of input pulse is over VA the motor will follow the command with acceleration of VA The buffer will save the excessive amount of the input pulse and release them when the rating of input command becomes small To sum up the final steady state of the motor speed and position will not be influenced by VA elf mode PN01 MD 2 the velocity control mode VA decides the maximum acceleration and deceleration of the motor e If mode PNO1 MD 5 the terminal mode When you execute the instructions of MA MR JGF JGR H VA decides the acceleration and deceleration of the motor e In all modes VA decides the acceleration of JOG in the front pane
18. AC Servo Motor Driver SIDC SIA series User s Manual Thank you for purchasing SIDC SIA series Please read this manual thoroughly before operating the servo system ver 080603E Driver SIDC 650 DI TB terminal button IM Power Supply Line Connect AC power supply line F Motor Connect Line Connect the motor UVW cable MM Ground Motor SIA Series EJ Encoder Cable ee Ri Motor UVW Cable lo PISSOIS VI I e S CN2 Ti a Displays 5 digit 7 segment LED Switch keys UIT cancel exit A nn shift v down ENTER select input Communication for RS 232 COM Use for hyper terminal control Connector1 CN1 Use to connect the controller Connector2 CN2 Use for encoder cable WIRING Wiring Please refer to this wiring picture vue Power JUL gt a Y No fuse Breaker A gt Electromagnetic 00000 contacts TT UUU H y Line Noise Filter a SA Secs Ses SSS SOSSOSS mestolo eo ASSO So DS CS SA wr SSSOSSOS SOS NOS _ Connect to COM ia R ew IS D type 9 pins a n UE o V OM Connect to CN1 Mer D type 37 pins G S i esi Y FG
19. Pins GND Ground Pino DTR DataTerminalReady Pin CIS Clear To Send Ping RTS RequestToSend Pino RI OO e The setting of COM port Baud Rate 9600 Data Bits 8 Check None Stop Bits 1 Flow Control Hardware BO _r i CONNECTOR For each operation mode please refer to the CN1 Connector for controller wiring between controller and CN1 DG pin is the negative terminal of external power supply N T O Type Please refer to I O type at P 16 12 V OUT 1 C E Suitable Mode 20 AG mm The column of suitable mode shows the VCMD 2 O applicative rage for control method The meaning 21 12V OUT for each word please refer to Parameter PNO1 SVOFF_3 MD O 22 EMC 0 Position Control Mode MEA O 1 Position Control Mode with Buffer HORG 5 O 23 _CCWHC_ 2 Velocity Control Mode E O 24 RESET 3 Voltage Control Mode JOG 6 O 4 Torque Control Mode 25 _ JOG _ 5 Hyper Terminal Control Mode __ HOME 7 C 26 HALT A All Control Mode EXTV 8 O MS Pin Name Symbol se Sl tao O 27 PLS Dee ode PLS _9 12 V O om Output ak 10 O Supply 12 VDC 10mA MAX output voltage O 29 READY ii O Speed Torq 30 ALARM ue Input Al 2 3 ALARM 12 The speed and torque command can O 31 BREAK input VCMD pin and AG is the analog ground BREAK 13 O The Max torque and speed is corresponding to C 32 __POSOK 10V VCMD input voltage fOsok 14 O O aa When open cir
20. Power Guai User need to supply external 24V power for I O Pulse Input PLS rao ees Input CONNECTOR SIDC650 can accept three command types Please refer to PN02 Command Type Pin Status Forward Backward Pulse Dir CW CCW AB Phase Servo After power on the driver without any alarms READY signal will be ON Please refer to PN07 parameter ao Da If any alarm occurring ALARM signal will be ON Please refer to PNO7 parameter Holding BREAK SO Break When servo off the BREAK pin will output ON This pin can be used to control the relay of magnetic break Please refer to PN06 parameter 321 In POSOK so 0 1 Position i Please refer to PN18 parameter gore so n rm ME pin is reserved by manufactory Z phase PHZOUT SO Output The PHZOUT pin signal is the same as the PZ signal and the type of this pin is open collector CONNECTOR Encoder B Phase Output Output the encoder signal which be inputted to driver The A phase leads B phase 90 degrees when view from the shaft end The types of these pins are line drive CN2 Connector for encoder OPERATION MODE This chapter introduces the operation mode various I O ports in SIDC650 and wiring so that the user can connect the controller to control the servo drivers How to Operate SIDC SIA User can follow the flow chart to set the driver Decide operation mode y
21. S SS SS SS SS SSS A _ 0d 8 X AAA Total time Tma and Tmd must be less than the maximum torque of motor the maximum torque of motor Tma Ta TL the maximum torque of motor 2 Tmd Td TL M Continuous Tr must be less than the rated torque of motor the rated torque of motor Tr no Tma ata tTL atc4Tmd ad TH te r Pe If you meet these two basic factors the motors can make better use of them If possible please select the motors whose power capacity 1s larger than you had thought so as to make sure the motors are stable when operating SERVO TUNING Adjustment of Rotation Acceleration VA PN11 If the user hopes to use the motor with highest efficiency the user should follow the following instructions and incidentally check whether the capacity of the motor is appropriate or not 1 Install the motor on the machine add load and set VA PN11 to 1 minimum KP PN30 to 1000 KI PN32 to 0 2 Execute one complete operation can use the developed program or JGF JGR instructions If alarm or Err 04 occurs please check whether the connection of driver between encoder and motor are well connected or not and increase KP only increase 100 each time If KP is in its maximum 20000 but Err 04 still occurs please increase EL PN25 If the driver still displays Err 04 the user probably needs to select the motor of lager power capacity X If possible please increase KP first befor
22. Wiring y Tune Parameter Y Y 1 Users can select one operation mode from the five ones in SIDC according to different application Retune By setting system parameter MD PN01 user can decide which operation mode to be applied Refer to P 27 2 Wire the motor power supply and the driver According to the selected operation mode connect the wiring between controller and driver 3 After wiring please use the default parameters and operation mode to rotate the motor first If alarm occurs or doesn t perform well please adjust the parameter until it meets your requirements Please be sure to adjust your driver according to the description of P 43 so that 1t can achieve 1ts performance 4 Please operate carefully After complete the installation the driver can work well OA OPERATION MODE Operation Mode Description There are five operation modes in SIDC 650 in total The differences of the five modes are described thoroughly as follows By setting the system parameter MD PNO1 user can decide which operation mode to be applied Refer to P 28 A Position Control Mode MD 0 In this mode the rotations of motors are controlled directly by input pulses As long as the driver receives pulses the motor will instantly respond to it Not only the position but also velocity and acceleration are controlled by the input pulses from controller Motor is not controlled by parameter VM and VA in driver
23. acturer Forward Velocity Compensation Please refer to Servo Tune P 48 This default value is different from set to set a set here means a motor and a driver 99 99 0 Unbalance Compensation generally used for Z axis movement Please refer to Servo Tune P 48 PN37 Reserved by Manufacturer PN38 Reserved by Manufacturer PN39 Reserved by Manufacturer ALARM Descriptions of Driver Alarms e When 7 segment display shows it means that alarm occurs and the driver cannot be operated e Please solve the problem according to the following procedure Alarm List Display Causes Solutions Over Voltage e The voltage of DC bus is over 360V input voltage is more than the rated e Use multi meter to measure whether the e AC voltage 1s over 255V voltage e The circuit for detecting voltage 1s e Check if the input voltage conforms to breakdown the spec of the driver e Extend acceleration and deceleration e Overloading the actual torque time or increase the capacity of motor e Adjust the system parameter PN30 KP or other gain value exceeds rated torque for long time e The load of the motor exceeds the system parameter of PN26 LL o Decrease the load or increase the power e The servo system is unstable and capacity of motor vibrates e Wire the cables correctly according to e The wiring of motor and encoder are these instructions wrong e A
24. ain is to eliminate the steady state error Increasing KI can help eliminate the error when positioning but will become more unstable because of integral If the steady state error is not really important the user can set KI to 0 On the other hand if steady state error matters please set KI to at least 1 Like KP exceeding KI will cause too many vibrations so that it cannot be used me Compensation Parameter Compensation parameter also affects the performance of servo system including FFV PN35 and FFB PN36 Forward Velocity Compensation Many applications in industry such as CNC the system not only needs to be accurate in positing but also in traveling which means the Follow Error FLE should be as few as possible The most basic way of minimize FLE is to increase KP As mentioned before KP is in inverse proportion to FLE If you increase KP FLE will decrease Please don t set KP too large because the system will become unstable In fact 1t is impossible to solve the problem of Follow Error by using KP Because there must be errors first then comes following No error no rotation for motors It 1s impossible to achieve controlling without errors In order to reduce FLE and stabilize the system SIDC 650 not only compensates position errors but also compensates velocity in advance This is the function of FFV parameter In general applications the default value of FFV doesn t need to be changed If the user need t
25. arameter is an important parameter that affects the performance of servo system It includes KP PN30 KD PN31 and KI PN32 Because SIDC 650 drivers use the PID control KP means proportion gain and KD means differential gain and KP means integral gain According to the theory of PID control user needs to set KI and KP to eliminate the steady state error E Proportional Gain KP The output of proportion controller is a proportion of position error The equation is PWp the output of the proportion controller KP proportional gain FLE position error Small KP value will lengthen the time for positioning but large KP value leads to overshooting and vibrations Exceeding KP will cause too many vibrations so that it cannot be used El Differential Gain KD The output of differential controller is a proportion of the alteration of position error The equation is PWd the output of the differential controller KD the differential gain FLE position error Increasing KD can decrease the overshooting of KI Appropriate value of KD can at the same time shorten the time of positioning and decrease overshooting X Exceeding KD will lengthen the time for positioning Meanwhile inhibits overshooting Integral Gain KI The output of proportion controller is a proportion of integral of position error The equation is PWi the output of integral gain KI integral gain FLE position error The main function of integral g
26. ch other E How to remove alarms After user removes the causes of the alarm short circuit Pin24 RESET and DG pin of CN1 to execute the system reset But some alarms can be only removed by re power on the driver e We strongly suggest our user to take the action that re power on the driver to avoid the harmful action from driver after user removes the causes of the alarm e After removing the alarm and before operating please check the following items 1 Check whether there is no command send to the driver 2 Check whether all the alarms have been removed alarm may be more than one to avoid damage the driver again X When Err 07 or Err 03 occurs be sure to turn off the power and restart the driver again so that no alarms will occur again i i iOEIi NNu65555o 5 EA SN This chapter is extremely important In order to make good use the servo system the user needs to adjust some parameters Here we will talk about some important concept about the servo system ET Bino The Power Capacity of Servo Motor so Pc EN Before selecting motor one should consider the following two factors as shown at the bottom TIME ne ha acceleration time continuous time deceleration time holding time l j Ta accelerating Tma accelerating y y I e TL constant torque Td TH decelerating Holding torque TIME Tmd decelerating SS
27. cuit this pin and DG pi pen circuit this pin and DG pin _ _OUT4 15 3 driver will servo on When short circuit O 34 PHZOUT this pin and DG pin driver will servo off _PHZOUT 16 O 35 PAG Please refer to PN04 parameter AP Emergenc PA 17 C Page EMC SE A O 36 PBY 22 When short circuit this pin and DG pin PB 18 O driver will immediately execute O emergency stop and servo off Please PZ 19 O refer to PN04 parameter CW Drive Simme Cc st a When short circuit this pin and DG pin it means that travel exceeding has happened Please refer to PNOS parameter oe e Drive CCWHC SI A Inhibit When short circuit this pin and DG pin it means that travel exceeding has happened Please refer to PNOS5 parameter HORG Ls When short circuit this pin and DG pin it means that mechanical home signal has inputted Please refer to PN03 TE RESET Rd Rd Reset When short circuit this pin and DG pin it will reset the driver Reset driver can also remove the alarm JOG Forward When short circuit this pin and DG pin motor will jog forward When short circuit this pin and DG pin motor will jog backward emo Home tt When short circuit this pin and DG pin ON OFF motor will rotate back to the mechanical home Input HALT SI 1 Inhibit When short circuit this pin and DG pin Pulse ON OFF the input pulses will be invalid External 24V
28. d motor in the halfway of movement EDO Rete o he movement tr bore PZ Movement OB TT Homing Instruction 0 m Rotate the motor to the position of mxSC1 in MA m 2 lt M lt 2 i absolute coordinates The motor rotate with the distance of mxSC1 in MRm 2048 lt m lt 2047 l relative coordinates 650 0 lt 0 lt 5 SET Po Set the output port Po to ON 850 0 lt 0 lt 2 I O Control 650 0 lt 0 lt 5 CLR Po Set the output port Po to OFF 850 0 lt 0 lt 2 JOG JIE TT Rotate forward continuously Movement JGR TT Rotate backward continuously RESET aan Reset the system alarm restart the motor System HOFF SERVO OFF Command Press ESC on keyboard Emergent SERVO OFF DF Loa Set all system parameter to default value p O O soo fe Calibrate the current sensors arameter Setting SAVE De Save all system parameter to Flash Rom Range of Instruction SRO1 2 means PN01 2 Set system parameter Please see P 28
29. der The Max of the differential pulses the monitor target of DN02 If this value is larger than system parameter EL the alarm Follow Error pulse will occur For example 180 means output current 1 8A Output Torque right now Pg 0 1kg cm For example 109 means output torque 10 9 kg cm Power right now The Max of Power The Analog Input Voltage in VCMD Input Pin Status Display in HEX Value e Output Pin Status Display in HEX Value i UVW Output Monitor Ca ABZ Phase Monitor Y Press QUIT will update the max value F How to Read the I O status The I O status display in HEX values pulse 5 ICE 13 ll LO 1 __ _ PID LL I DVD DE O FF 5 4 3 2 l 0 MONITOR SETTING SIDC 650 I O Map NO MONETE CNI pin No IN3 OUTS PHZOUT 16 34 Example 1 when the 7 segments displays H0013 at setting DN 13 it means that there are input from INO IN1 gt IN4 Example 2 when the 7 segments displays H0023 at setting DN 14 it means that there are output from OUTO OUTI OUTS PARAMETER SETTING The operation mode and performance of servo driver are decided by the setting of PN parameters which is called the system parameters Please refer to System Parameter PN List of SIDC 650 in P 28 for more detailed content How to Select the PN Parameters e After the front panel displays PN Parameter Setting and you press ENTER you can select the paramet
30. der one o PARAMETER SETTING System Parameters PN List of SIDC 650 Bit 0 Bit 1 Bit 2 Bit 3 Means HEX N Suitable Mode The column of suitable mode shows the applicative rage for control method The meaning for each word please refer to Parameter PN01 MD X The value of is the default value The value in this table is suitable for SIDC650 driver amp SIA 551 motor No Name Range Default Suitable Mode PNOO Monitor Option Select corresponding to Monitor Setting refer to P 23 so Operation Mode Select Please refer to Operation Mode in P 8 0 Position Control Mode Position Control Mode with Buffer Command Setting moto PARAMETER SETTING The Rotational Direction of Motor Clockwise rotate viewed from mounting side when input positive command Counter Clockwise rotate viewed from mounting side when input positive command LO PLSIDIR puke direction ET io T_T Execute Program Automatically 0 Disable Auto Start Enable Auto Start This parameter is only valid in the controller version of SIDC650 or SIDC850 Homing Setting amp Baud Rate vo 0 Short connection of HOME pin amp DG pin motor will home in backward direction The action of homing is triggered by shorting CCWHC pin amp DG pin Short connection of HOME pin amp DG pin motor will home in forward direction The action of homing is triggered by shorting CWHC pin amp DG pin
31. djust the system parameter PN30 KP e The output current from driver e Check if U V W cable short circuit and if they are correctly connected exceeds the setting value of parameter PN27 IL 1 e The output of driver short circuits circuit or IGBT has break down e The relay for dynamic brake has e First disconnect the motor Second power on the driver If the alarm still occurs replace the driver with another one e Replace the driver and DO NOT use the been damaged by high temperature SVOFF instruction to stop the motor e Add up the protect value of parameter e The input pulse subtracts encoder PN25 EL feedback pulse exceeds the value of Increase acceleration deceleration time PN25 EL or reduce load e Velocity or acceleration command Add up the value of PN30 KP and from the controller 1s too huge PN31 KI to speed up the response of e The value of parameter PN30 KP motors 1s too small e Check if the motor and driver are e The motor did not follow the compatible with each other command Encoder Error e The encoder breakdown e The encoder cable has noise e The communication between encoder and driver breaks down Under Voltage e The input voltage of driver is lower than AC170V e DC bus is lower than 240V e The output of driver short circuits or breaks down circuit or IGBT breaks down e The relay for dynamic brake 1s damaged by high temperature e After
32. e the input pulse frequency that comes from the outer controller e After confirm that there is no other alarm or warning short circuit Pin22 EMC and DG and then reset the system Over Rated Current e The output current is over the setting of parameter PN28 IL2 for a short time e Set parameter PN11 VA properly e Check if U V W cable short circuit and if they are correctly connected l l e First disconnect the motor Second e Poor mechanism which leads to power on the driver If the alarm still malfunction a occurs replace the driver with another one e The output of driver short circuits or breaks down circuit or IGBT breaks down e Please turn off the power and then press ENTER and QUIT key in the front panel at the same time to turn on the power If e Check if there is no obstacle in the travel route the user does it correctly the 7 segment The data stored in memory is wrong LED display will show dF dd Afterwards first execute FN09 Initialize Parameter and then execute FN08 Calibrate Current Sensor X If you sill can t solve the problem please contact the manufacturer to get further solution DC bus designates high DC voltage circuit in driver used to drive the motor The Other Alarm HF CW Drive Inhibit CWHC Heel CCW Drive Inhibit CCWHC e These two alarms are triggered by the limit switches which are connect to CWHC and CCWHC pin ea
33. e you increase EL 3 After the user determines KP and it can operate one complete travel please switch the monitor parameter to DN09 to view the peak value of torque the unit is 0 01kg cm and increase VA to execute repeated operation Remember at the same time to view DN09 Once DNO9 is larger than the peak torque an alarm of Err 03 would occur After conducting many tests the user can decide the maximum acceleration VA in normal conditions according to the value of DN09 Please let the motor operate many times with the chosen VA and don t let the DN09 get too close to the peak torque of the motor Otherwise once the motor is affected by other factors the driver is likely to give alarms or servo off 4 After the user chooses the value of VA please operate the motor repeatedly If alarm Err 12 occurs after the repeated rotation it means the long term continuous torque Tr is larger than the rated torque of the motor The solution is to lower the value of VA And an alternative way is to change the rated current of the motor to increase IL2 PN28 But the second solution is to force the motor to operate with exceeding current Long term operation may cause high temperature But if the rotation is not going to last long it is an alternative X Demagnetization will occur if the motor is operating at high temperature which is a permanent damage to the motor The manufactory will not be responsible for this operation N Torque o
34. ease refer to parameter PN12 lt The variation of this parameter is valid after driver being reset PN14 JOG Speed Unit RPM e VJ is the speed of motor rotation when user operates the front panel Execute FN02 e VJ is also the speed of command JGF and JGR PARAMETER SETTING PARAMETERSETTING gt 2 Set VO to 0 3 Set the voltage of external device to zero 4 If the value of LED display is not zero set the inverse value to V0 ex LED display 24 gt set VO to 24 5 SAVE the new value of V0 to EEPROM when need 09 10 23 The Deadzone inactivity of Analog Input Unit 0 01V PN16 The Zero Offset of Analog Input Unit 0 01V e The range of analog input is 10V gt and OV is the zero point Sometime the zero point of analog input is not the same zero point of driver so user could use this parameter to calibrate the zero point of driver e The method of calibration 1 Set DN 12 LED will display the real time analog input voltage e This parameter is mainly applied in speed voltage torque control mode MD 2 3 4 or position mode with external analog speed input MD 0 1 For example If user wants motor to be maintained station state in speed control mode user must input zero voltage critically But it is rather difficult to achieve this event So user could use this parameter to set a deadzone inactivity of analog input motor will not rotate when input any voltage within the deadzone
35. ediately shut down the output current The motor will free run PARAMETER SETTING The Setting of CCWHC Pin o The CCWHC pin will be invalid Short connection of CCWHC pin amp DG pin will enable CCWHC inhibit counter clockwise rotation Open connection of CCWHC pin amp DG pin will enable CCWHC inhibit counter clockwise rotation ta Ta Brake Method of CCWHC When CCWHC occurs motor will immediately decelerate speed the deceleration decided by VA parameter After motor stop driver will shut down the output current When CCWHC occurs driver will immediately shut down the output current The motor will free run About the Holding Brake Magnetic Brake behind the motor o n The Setting of BRAKE Pin 0 The BRAKE pin will be invalid After servo ready output of the BRAKE pin will be OFF short After servo ready output of the BRAKE pin will be ON open Time Delay of BREAK ON After Servo On After servo on the holding brake behind motor will be released PN0O6 after X time delay unit of X 100 msec 2 A PARAMETER SETTING Time Delay of BREAK OFF After Servo Off Li After servo off the holding brake behind motor will lock motor after X time delay unit of X 100 msec T_T Dynamical Brake Setting EN Disable dynamical brake Enable dynamical brake Setting of Output Signal A O The Setting of READY Pin 0 The READY pin will be invalid Af
36. er which you want to adjust by pressing V A buttons SIDC 650 has 40 parameters in total ranging from 00 to 39 After select the target parameter you can press ENTER to set the parameter In contrast after you press QUIT you can give up adjusting parameters and go back to previous display Parameter Setting ENTER QUIT Enter to Select Parameter sO Oz Back to Parameter Setting Next A Next A Pla BUS PA _ Pa HS Previous Previous PARAMETER SETTING How to Set and Save the PN Parameters e Please refer to following drawing Select to Set Increase the Value ENTER A 30 AL SO ui PAD CIT QUIT ENTER Set the Value Give Up Setting Decrease the Value Os dont Complete Temporarily Setting No Give Up Permanent Save QUIT y and Back to Select Parameter Te CALE Contem about Permanent Save ENTER 7 Yes Please hold the N I 7 1_ ENTER key until LJ gt display done Back to Select QUIT Parameter CGH CL wit Tam 4 Li A X Complete Temporarily Setting means the new value of the selected parameter has been accepted by the driver and becomes effective instantly But it is still not saved in EEPROM If you turn off the power in this condition the parameter will restore the older one After the user permanently saves the new parameter the new value will be saved into EEPROM Even the user turns off the power and restart the driver the newly set value will not restore the ol
37. f each Motor Rated Torque Max Torque Motor Type kg cm kg cm Roughly speaking the process of adjusting is from VA 1 Increase VA and at the same time don t let the value of DN09 get too close to the peak torque of the motor After choosing the most important element the value of VA the user can optimize the servo system by following the following instructions in the next step The Purpose of Servo Driver The purpose of adjusting the servo system is to minimize the level of inaccuracy of the servo motor when operating under instructions and also shorten the time of travel Doing so needs to adjust gain parameter and compensation parameter The following drawing of the speed curve and command speed explains the differences before and after adjusting gain parameter and compensation parameter Command Speed T tual Speed Time From the above drawing we can know if we don t set gain parameter appropriately the actual speed is not equilavent to the command speed so we need to adjsut these three parameters KP PN30 KD PN31 and KI PN32 to achieve the status of following drawing Command Speed Speed Actual Speed Time The user also needs to add forward velocity compensation parameter FFV PN35 to achieve the folloing drawing If it is unnecessary FFV PN35 and KD PN31 don t need to be adjusted Command Speed Actual Speed Speed gt Time SERVO TUNING Gain Parameter Gain p
38. ffset value of the position coordinate o HP value x 4 actual position offset Position Error Limit Unit EC e The follow error of motor means the error between practice position and command position There are some factors overloading parameter setting fault leading to bad performance and then the following error will become greater In order to protect the servo system the driver will be automatically turned to servo off The fore mentioned situation 1s PN25 called Follow Error Err 04 For example When we use the encoder with 500 pulse per count 500 4 2000 EC and EL 400 we will meet alarm Follow Error Err 04 in the moment of follow error over 400 In other words the moment of follow error over 1 5 count This parameter different from set to set a set here means a motor and a driver PARAMETER SETTING PN27 Load Limit Unit Watt e This parameter decides the rated power capacity of motor If the load applied on motor is large than the rated power capacity alarm Over Load Err 02 will not happen immediately The timing of alarm Over Load Err 02 happening is according to the excess and the time lt This parameter is not adjustable just for view um Current Limit Unit 0 01 AMP e This parameter decides the maximum limit of peak current Once the peak current of motor is larger than this value alarm Over Current Err 03 will immediately occur
39. g MD PNO1 driver will SERVO OFF driver will STILL SERVO ON 1 5000 3000 12345 Rotational Speed Unit RPM e At mode PNO1 MD 1 the position control mode with buffer this parameter VM sets the maximum speed of motor If the rate of input command pulses is higher than VM the maximum rotational speed will be VM But the final position determined by input pulses will not be affected by the VM e At mode PN01 MD 2 the velocity control mode or PN01 MD 3 the voltage control mode this parameter VM determines the rotational speed in inputting 10V analog voltage For example if you set VM to 3000 you will get 3000 RPM when you input 10V PN10 to analog input port and you will get 1500 RPM when you input 5V e At mode PNO1 MD 4 the torque control mode this parameter VM is used to limit the rotational speed for safe protection In torque control mode SIDC650 will output the constant torque If the load is removed from the motor the rotational speed of motor will increase When the speed is over VM SIDC650 will decrease the output torque to avoid over speed e At mode PNO1 MD 5 hyper terminal control mode VM means the maximum speed of MA instruction and MR instruction lt The rotation speed of mode PN01 MD 0 the position control mode is not controlled by VM PARAMETER SETTING This default value is different from set to set a set here means a motor and a driver 1 1000 2
40. ise gt Cul 24V Reserved O O en i i gt A OT dee eee eg Alarm Signal l gy gt i Reserved Se ho i ee i a 1 Dm RI 4 Brake Signal yA I I Reserved o E gi poa m toca MH tee I I RI 3K n OvDigital Ground DG i In Position gt 2200 e L e PLS A27 AE vi PULSE a Xes CEE GA PULSE Q E ia oe Loan H OUT4 i DIR ars 1 i a DIR Q RI gt 1 OV DIR JV lio iS XK leon SO J l I I J I I l SIGNALS AND WIRING of CNI Position Pulse Control Mode Open Collector Mode MD 0 e Refer P 16 for Open Collector I O Circuit Inner Driver SPSS Encoder A output EXTV d _ 24V mos Encoder A output Servo Off 9 SVOFA W gt El i Sas 36 PB aaa ara Encoder B output I i x i Emergency Stop O ae eae gt Il _ i OA 18 PB Encoder B output omo xK a ez st i i CW Inhibit O E citi oh EZ Encoder Z output I I i ee 1 I RIE I I e CCWHC a X bo PZI CCW Inhibit j 19 P2 Encoder Z output oo ee i ret CHORE g I I I Reserved 10 ii 7 PHZOUT mo PRESET xi Yet RESET i Reset O vo Teg m 16 PHZOUT I Y MINA ll I I Reserved HA A A i i Re Servo Ready i RAROS 29 DEA O I J l Reserved no C s EU da DH l ham Q oo eel me al a A Sen eme e pe E TT I i Ff cl OT ie eet 1 0 i sal ES Brake Signal By I e ea SSE er opt lj 13 RI 3K O
41. l Execute FN02 lt The acceleration of mode PN01 MD 0 3 4 is not controlled by VA PN12 Electric Gear Ratio Numerator e SCI and SC2 parameter is used for position pulse control MD 0 or MD 1 The unit of PARAMETER SETTING motor moving is EC Encoder Count corresponding to the resolution of encoder In position pulse control mode SIDC650 will drive motor rotate PHIZ Jec For example PHS When SIDC650 received 2000 pulses and user sets SC1 5 SC2 10 gt the motor will rotate 2000 5 10 1000 EC 1000 EC is 1 10 revolution of 2500 lines encoder because one revolution of 2500 lines encoder is 4 2500 10000 EC e SC1 and SC2 must be set in positive integral but SC1 SC2 could be set arbitrarily input pulses x For example User can set SC1 2 and SC2 3 SC1 SC2 0 6666 EC User won t be worried about the position error gt SIDC650 will deal with the error and let the final position error be less than 1 EC e The range of SC1 SC2 is 9999 to 1 9999 e We recommend user to use the position pulse control mode with buffer MD 1 when the value of SC1 is much bigger than SC2 Because the bigger electric gear ratio was set motor moves more rapidly with per input pulse But if use MD 1 and tune the parameter VA motor will move smoothly SC1 and SC2 is only valid in MD 0 or MD 1 lt The variation of this parameter is valid after driver being reset PN13 Electric Gear Ratio Denominator Pl
42. o adjust of reset FFV the procedure is as follows 1 Repeat the travel and change the monitor parameter into DN03 and then observe the peak of follow error 9 The error in forward direction is the error in backward direction is 2 Adjust the value of FFV PN35 repeatedly until the 7 segment displays the minimum number of DN03 Press QUIT in the front panel can update the newest peak 3 Ifthe user need to save the value please execute SAVE The Compensation of Unbalance FFB When the servo motor is applied in Z axis movement the load of the motor in ascending 1s larger than the load in descending As a result one parameter is hard to give consideration to both two situations We need another parameter to compensate the unbalance The function of this parameter 1s to compensate the fixed load of one direction The user can adjust or set FFB by following the Instructions 1 Enter Hyper Terminal Mode MD 5 re power on the driver 2 Unlock brakes and add load to the motor Command the motor to ascend a little bit and then stop it When the motor stops set KI to 0 and decrease KP adequately The purpose of decreasing KP is to emphasize FLE But the value of KP cannot be too small or the driver of alarm may occur 3 Reset DN 2 to monitor FLE When monitoring FLE the user needs to adjust FFB and set FLE to 0 After doing so the FFB is optimal right now 4 Restore MD KP KI and DN and execute SAVE
43. rameter QUIT Cancel amp Exit Cancel the editing and return to the previous menu Operate the Front Panel The front panel of SIDC 650 offers the following operations you can press A Y to select the operation you need After selecting the required functions press ENTER and you can get into the operation in contrast you can return to previous operation after you press QUIT M Status Display amp Monitor Setting The setting of the DN parameter in Monitor Setting decides what the being monitored parameter is see P35 SIDC 650 Monitoring Option List Under Status Display the 7 segment LED displays the monitored option a Parameter Setting Under Parameter Setting user can adjust the system parameters see P 26 System Parameters PN List of SIDC 650 A Function Operate Under Function Operate user can execute some functions by using the front panel see P35 System Parameters PN List of SIDC 650 ee O O T oLO OPERATE THE FRONT PANEL Power ON Parameter Setting Complete the Start Up display QUIT Status Display O Oz Function Operate M A y MITO Ed Monitor Setting FUNCTION OPERATE User can use Function Operate from front panel to adjust and test the servo system Please read the following details for the specific function How to Select the Function e After the front panel displays FN Function Operate
44. suitable for this driver INDEX Motor Type 2110 SIA 3510000A 2150 SIA 3510000B 2160 SITA 3510000C MONITOR SETTING User can use DNxx Monitor Setting to monitor the status of driver This function also can help user to tune the driver How to Monitor the Target and Save Monitor Option e After the front panel displays DN Monitor Setting and you press ENTER you can select the options which you want to monitor by pressing V A buttons SIDC 650 has 17 options in total ranging from 00 to 16 After select the target options you can press ENTER to setting the monitor target and press ENTER again to save setting In contrast after you press QUIT you can give up operation and go back to previous display Monitor Setting ENTER QUIT Enter to Select Option 0 Oz Back to Monitor Setting Next A do UU da DI on ib Oz Previous Previous Set Monitor PETE dante Complete Temporarily Setting No Give Up Permanent Save and Back to Select Monitor Option SAE Confirm about Permanent Save Yes Please hold the in _ ENTER key until HHI H display done Tidone _ Back to Select Si Parameter ee MONITOR SETTING SIDC 650 Monitor Option DN List Target Unit Display nothing 7 segments just shows n Rotational Speed right now IBN this 1s the average value in 0 1 sec 01 A The differential pulses between the input pulse and the feedback pulses 0 from enco
45. ter servo ready the READY output pin will be ON After servo ready the READY output pin will be OFF AT Yo Ma yo a_ The Setting of ALARM Pin 0 The ALARM pin will be invalid After alarm occurs the ALARM output pin will be ON After alarm occurs the ALARM output pin will be OFF Io m E E The Setting of POSOK Pin o The POSOK pin will be invalid After motor rotates to command position the POSOK output pin will be ON After motor rotates to command position the POSOK output pin will be OFF TOI The Setting of PHZOUT Pin EN Disable output the Z phase signal of encoder Enable output the Z phase signal of encoder this signal 1s the same as PZ PNOS The Setting of Selecting External or Internal Speed SSS H000 0 PARAMETER SETTING The Selection of Normally Rotation Speed g Use internal speed setting PN10 VM as rotation speed Use external analog VR input as rotation speed The maximum speed is PN19 VF OT The Selection of JOG speed 0 Use internal speed setting PN14 VJ as manual JOG speed Use external analog VR input as manual JOG speed The maximum speed is PN19 VF X When setting Bit0 or Bit be 1 driver will convert the voltage detected from analog input to speed RPM value and write this value to PN10 VM or PN14 VJ of Switching Control Mode H000 0 Sequence of Switching Control Mode of Switching Control Mode SNO When changing the control mode by settin
46. urrent The motor will free run i Ho 1 01 The Setting of EMC Pin o After EMC occur ALARM pin and BREAK pin will be invalid Short connection of EMC pin amp DG pin will enable EMC emergency stop and motor will immediately stop Open connection of EMC pin amp DG pin will enable EMC emergency stop and motor will immediately stop AA A O A MS PARAMETER SETTING Brake Method of Emergency When EMC occurs motor will immediately decelerate speed the deceleration decided by VA parameter After motor stop driver will shut down the output current When EMC occurs driver will immediately shut down the output current The motor will free run The Limit The Limit Switeh of CWRCCW of CW amp CCW a o N E The Setting of CWHC Pin 0 The CWHC pin wiven Short conn connection of CWHC pin amp DG pin will enable CWHC inhibit clockwise rotation Open connection of CWHC pin amp DG pin will enable CWHC inhibit clockwise rotation Make use of two safe limit switches to trigger CWHC pin and CCWHC pin so that the motor can prevent from exceeding the work range CCW CW direction direction Motor CWHC Limit Switch CCWHC Limit Switch Driver et O Hol 0 1 Brake Method of CWHC When CWHC occurs motor will immediately decelerate speed the deceleration decided by VA parameter After PNOS motor stop driver will shut down the output current When CWHC occurs driver will imm
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