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1. 5 ox LELELEEELETEE LI rre rre rre LLL EEE EL EEE E ps PEEL E ENE LEEEEEEEEEEEEEEEEEEEEEEEEEEEEEELELEEEEEELELEL EL EE Fig 8 4 Outline and installation dimensions for BD 80 model 67 GSK CNC Equipment Co Ltd
2. AR Ed WE L gt J C Ca o Era oN oT l z L 1 roy E E Fig 8 5 Outline and installation dimensions for BD 120 model 68 Chapter 9 Order guide Chapter 9 Order guide 9 1 Capacity selection Servo capacity is relative to the load inertia the load torque the orienting precision and max speed required which are taken into account by the following steps 1 Calculation of inertia and torque of load torque of acceleration and deceleration 1 Calculation of torque The load torque is caused by the friction and cutting force of the driver 2TTM FL M Torque of motor shaft F Force required for moving the mechanical parts in linear direction L Distance of moving mechanically for a revolution 2 Tr rad of motor 2TTM is the work done by the motor torque M in a revolution while FL is the work done by force F moving an object for L distance Practically due to the factors of transmission efficiency and friction coefficient the torque required by ball screw overcoming the external load force P for uniform velocity movement is shown as following diagram
3. FE DC DC ii EMC ES convertion END circuit for 15v switch power GND NE Power on Power off Surge inhibitor Eo e rM cue DAN HUN A A re a circuit ee E Eeer y Fig 3 1 Interior diagram block for DA98B servo unit Control board diagram block inside the broken line and power supply board diagram block outside the broken line above 3 3 Wiring Encoder feedback output Instruction pulse input Input or output processing Analog instruction input There are several control modes for DA98B orientation control mode speed control mode etc Personnel who take up the wiring and checking should be qualified for 11 GSK CNC Equipment Co Ltd the work they must do wiring as the terminal voltage and poles by the manual for prevention of the device damage or the injury to personnel ge AC380V 5 50 60H2 MCC al a PE Servo Es ES CA Ef DA98B KM1 e di R d gt a gt O i PE t Q Power of ecd EN ls 7 KM1 D oD KM1 R C E gt Fig 3 2 Typical wiring for the main circuit MCC Breaker FIL Disturbance filter TB Isolated transformer KM1 AC contactor R C Surge inhibitor PD Reserve N The breaker should be selected B type short circuit device the drop away current is more1 3 times than servo rated input one otherwise is less than
4. Orientation control External speed control Internal speed Input power supply 15 10 50 60Hz JUSWUOJIAUJ Control method control 4 Trial speed run 6 JOG speed Encoder zero adjusting Speed frequency response 200Hz or more Speed fluctuation rate lt 0 03 load 0 100 lt 0 02 power supply 15 10 numerical value corresponding to rated speed Timing ratio 1 5000 O gt Q Q O r D o c O o Servo on Alarm cancellation Disable in positive direction Pulse frequency 500kHz Disable in negative direction OZero speed clamping Error Control input counter reset speed choice11 Disable instruction pulse speed choice 2 CCW torque limit QCW torque limit Universal VO port D Servo ready output 2 Servo alarm output 3 Orienting completing Control output output speed in orientation output Hold release Zero speed output Universal output Pulse feedback output Pulse direction CCU pulse CW pulse GAB Orientation control Input mode orthogonal phases pulse Electronic Ratio numerator 1 32767 Ratio denominator 1 gear ratio 32 67 GSK CNC Equipment Co Ltd Encoder 2500 pulse rev resolution 10000 incremental Feedback encoder 4 kinds of internal speed instructions and 10 10 external analog Speed control voltage instructions Speed current orientation instruction pulse accumulation Orientation deviation motor torque motor
5. Tooth number of gear 2 Select a servo motor which satisfies the following inequation M4 lt Ms M is the rated torque of the servo motor 2 Calculation for inertia matched The following inequation is generally recommended for use among motor inertia Jy load inertia J converted to motor shaft general inertia J IA IA gt On Ju lt lt 1 055 gt 508 or 0 2 The motor rotor inertia Jm can be looked up in the sample manual The calculation for load inertia is as follows 1 The inertia of rotary object Ball screw coupling gear tooth form belt etc are all rotary objects di 4 kmn d 2 Ce J ee D L kg m E i 70 Chapter 9 Order guide v Material density of rotational object kg m D Diameter of rotational object cm L Length of rotational object cm g Gravity acceleration g 980cm s 2 The inertia of linear movement object W UL EE kg m 27 W Gravity of linear movement object N L The object moving distance for one revolution of motor if the motor is directly connected to the lead screw L lead screw lead hsp 3 he inertia converted to the motor shaft in deceleration and the deceleration of gears gear form belt drive os Tooth number SS 2 Motor J Jo z gt 5 E Refer to the sketch map above the load inertia J converted to the motor shaft is Z W a c Casta apo VE
6. lt gt gt gt gt gt gt PF gt Analog zero adjusting Fig 5 1 Diagram block of main menu 5 2 Monitoring mode D Select CT in the main menu and press d key to enter into monitoring mode 2 There re 21 display modes in monitoring mode Select the desired display mode by A W keys then press pa to enter into monitoring mode 36 Chapter 5 Display and operation Motor speed r minl r1000 0 Motor speed 1000r min P45806 Low 5 bit of current position pulsel High 5 bit of current position gt D x100000 pulsel Low 5 bit of position instructionl pulsell Current position 1245806 pulses J Ha ES C45810 High 5 bit of position instruction Position instruction 1245810 pulses x100000pulsel C 12 Low 5 bit of position mc deviation pulsell E 213 H aa High 5 bit of position deviation 7 Position deviation 213 pulses x100000 pulsel Motor torguel I I t 70 Motor torque 70 Motor current Al a S I 2279 Motor current 2 3A L 5000 Linear speed 5000m min Linear speed m minll c a t5 2 Aa dp Cnt Current control mode Cnt 0 Current control mode 0 V A A dp Frq dica cQ F 124 Pulse frequency of position instruction 124KHz Speed instruction r minll r 210 Speed instruction 210r min 0 Undeveloped c c di Cc Co ne AL Torque instruction
7. 1 Motor interior is at fault 1 Change the servo motor Speed error The motor is chucked l Check the mechanical part too big or too mechanically long saturation Occurring in motor 1 Reduce the load time fault of running 2 Change the driver and The load is too big speed motor with larger power Err 6 amplifier ones 60 ee 7 Function Tor protection 7 Function for protection The input terminals of CCW Abnormity of CW drive stop are both broken drive stop off Photoelectric Err 9 encoder signal fault D Encoder wrong 1 Control power supply voltage input is too low D Internal connector assembly of Control supply power driver is D Check the connection and power supply of input terminals connection D Check the connection DCheck the control power supply 1 Change the driver 22 Check the connector inferior undervoltage assembly 2 Switch power supply is 3 Check the switch power abnormal supply 1 Encoder is damaged 1 Change the motor 1 Encoder cable is inferior 1 Change the cable 1 Encoder cable is so long Shorten the cable that the encoder voltage is Employ with multi core too low parallel power up Err 11 3 Chip is damaged IPM module Occurring in switching Circuit board is at fault 1 Change the servo driver fault on control power supply Occurri
8. Input interface of photoelectric encoder Motor side Controller side X C 1213 AM26LS32 X A B Z U V W Fig 3 12 Input interface of servo motor photoelectric encoder 22 Chapter 3 System configuration and assembly 3 5 Standard conection 3 5 1 Orientation control Standard Wiring Servo motor KMI otor Single or OO OR DA98B three phase FIL NE oS AC servo AC 220V ONO OT e One axis d Or controller ot DC 12 24V COM COM Servo on GO 0 SON Alarm cancellation en 1 ALRS CCW drive stop Oso FSTP CW drive stop OO RSTP Position deviation clearing en CLE Instruction pulse inhibition o o _ INH CCW torque limit co o 34 FIL CW torque limit 9 0 RIL Universal input 1 c o 4 GINI Universal output 1 GOU Positioning completion COIN Servo alarm d ALM Servo ready lt SRDY Output common terminal lt DG DG Hold release signal PN ES UN HOLD Hold release signal earthing l HOLD Pulse feedback A
9. Operator should keep a certain distance to the servo unit and motor afte the power is switched on 6 Servo motor must not be drived by the industrial power directly connecting to the U V W terminals of motor in the absence of servo unit or the servo motor will be damaged 13 GSK CNC Equipment Co Ltd Power supply enclosure yoeqpsay uonisod ZNO 4908 geg 9 euua y Cable within 20m DThe cable length between the servo unit and motor should be within 20 meters 2 The distance between the feedback cable of encoder and main circuit cable should be over 30cm as well as the both cables should not use the same tube or be bound together 3 Shielded cable with the size 0 15mm 0 20mm AWG24 26 should be used for feedback signal cable and the shielded tier should connect with FG terminal 4 The cables and wares should be well fixed as well as not be adjacent to servo unit radiator or motor for their protection of insulation against heating The wiring of CN2 in the following sketch map is done by accordance of GSK SJT series motor If user uses motor from other manufacturers or self made wires the wiring below should be followed by Leading wires of temperature controller connect to OH OV terminals for motor with temperature controller 14 Chapter 3 System configuration and assembly
10. 24V power DA98B servo unit gt moie Hold coil 24V power supply Fig 6 6 a Typical instance of the HOLD hold release signal 24V power DA98B servo unit Hold motor Lo set Hold coil 24V power supply Fig 6 6 b Typical instance of the SRDY hold release signal The Fig 6 7 shows the time sequence sketch map of normal hold release signal When the servo on SOND is switched off the motor s actuation is cut off in suspense Cut off the motor s actuation if the motor shaft is completely clamped after the power off of hold coil The latency is defined by parameter PA52 22 Chapter 6 Trial run Power p ower on supply SON OFF ON OFF ON OFF Motor Y activated power off power on n on power off lt 600us iola on hold off hold on hold off hold on HOLD spy _ OFF ON OFF ON OFF Alarm on ALM Power on p PAS2X4m s d detection Fig 6 7 Sequence sketch map for hold release signal When the power is cut off no drive is available for servo unit Affected by the outer circuit etc relay the braking coil is powered off in suspense for dwelling braking action that will cause the instant falling of the work table by gravity When turning off the system first switch off enabling SON to ensure the output of the braking signal then cut off the power 53 GSK CNC Equipment Co Ltd Typical wiring diagram of G
11. A A 24 A 12 E gt ebe 2 mu N vi Zi n Q O L 6 22 E ZN x Q anm O Z Pd cee Pi LJ V L l JP m N m d 2 U Y U X JN o vy A y e V 7 VA VA Zz VV N VV X E A Lei N A V V V E V BS gt gt V 8 VJ DV A 5V Z Lo AN y E N JV 2 OV Pd J V z E y LJ Y 4 OV O U V N A EN 5 OH 2 Vacancy Ny OO LOF K L erun motdr controller CN2 DB25F Fig 3 3 Encoder wiring CN1 terminal wiring 1 The cable length of the control signal should be within 3m 2 The distance to the main circuit cable should be above 30cm as well as the both cables should not use the same tube or be bound together for protection against disturbance 3 The external power supply should be provided by user 4 There are different wirings for CN1 terminal in different control modes see section 3 5 for details 15 GSK CNC Equipment Co Ltd CN1 DB44M 16 AGND AGND ol PE 17 VCMD 2 DGND 32 DG 18 AOUTI 3 AOUT2 33 DG 19 ZSP 4 AGND Al GOUT Z0 SRDY 9 AIM 30 COIN 21 RLYOU 6 OLD 30 CZ ZA RLYOU 1 OLD of CZ 23 SON 8 ALRS 38 COM 24 FSTP 9 RSTP 39 COM 20 FIL 10 RIL Analog grounding Analog grounding Protection earthing Analog speed instruction Internal digital earthing External input 12 24VDC reference earthing Monitoring outputl Monitoring output 2 External input 12
12. 9 0 4 les z 11 B Zero speed clamping input 9G 0 le gt 22 Z PR erm iC 10 Universal output 1 x 1 91 5 y Speed in position Dx x Gi E ELE Zero speed output of motor Lx 20 V y Servo alarm AE M 1 I Servo ready ay al mw Le Od Output common terminal lt pee pem 7 Ww e IJ 13 OH Toa y 14 FG 15 FG 16 OV ONT Speed instruction el 27 PAQUT L Speed instruction earthing 98 PROUT xy l DE ROUT Xt E Pulse feedback B Hold release signal TE 42 PZOUT r gt p Z Hold release signal earthing y 43 PZOUT XX Pulse feedback C I reserved e Hrg reserved 31 PE Z phase output of encoder PE Z phase output earthing of DOE Py 44 Fig3 14 Standard wiring for speed control mode Terminal functions for speed control mode Table 3 7 Terminal functions for speed control mode Encoder A phase differential positive PAOUT output PAOUT Encoder A phase differential negative output Servo on input terminal Encoder B phase differential positive Alarming cancellation input PBOUT output terminal PBOUT Encoder B phase differential negative output 25 GSK CNC Equipment Co Ltd Encoder Z phase differential
13. 1 I Bero ne poa us A 3256 Absolute position of rotor 3256 dp 2 Input terminal state i UI Inputterminal state dp out Output terminal state Dr wid Output terminal state A EIN E Encoder input signal ETD Encoder input signal dp a Running state rn on On running E Alarm code Err 9 PAO09alarm Y p rES Reserved Ol Reserved 32165 Reserved 32021 Reserved Fig 5 2 Diagram block of monitoring mode Reserved al e Pale m A ED tpa a a D eE Reserved Explanation P O ee Speed code for motor It displays if the motor runs reversely in that speed 1000 0 Speed value for motor Unit rev min 2 The pulse number unit in this servo unit is 10000 pulse rev and orientation pulse number is comprised by two parts of high 4 bit and low 5 bit e g x 10000 UU 1245806 puses i d orientation instruction pulse number is also comprised by two parts ed lt wo LE MA 41248810 pusses GSK CNC Equipment Co Ltd Therefore the formula for orientation deviation is 3 Alarm display i 4 Running display Alarm number No alarm normal No 1 alarm No 36 alarm Servo unit is being running Main circuit having been charged eet Main circuit having not been charged 5 Instruction pulse values in orientation mode are the magnified ones through electronic gear 6 Pulse frequency of orie
14. 2000rpm 4A 1 19 10 kg m UN 33 GSK CNC Equipment Co Ltd 14 130SJT MO50D 1 3kW 220V 2000rpm 5A 1 19x10 kg m 15 130SJT MO60D 1 5kW 220V 2000rpm 6A 1 95x10 kg m 6 l 1 130SJT M075D 1 88kW 220V 2000rpm 7 5A 1 95x10 kg m 17 130SJT M100D 2 5kW 220V 2500rpm 10A 2 42x10 kg m PAS 18 130SJT M100B 1 5kW 220V 1500rpm 6A 2 42x10 kg m 19 130SJT M150B 2 3kW 220V 1500rpm 8 5A 3 1x10 kg m x 130SJT M150D 3 9kW 220V 2500rpm 14 5A 3 6 x10 kg m 34 110ST M02030H 0 6kW 220V 3000rpm 4A 0 33x10 kg m 35 110ST M04030H 1 2kW 220V 3000rpm 5A 0 65x10 kg m 36 110ST M05030H 1 5kW 220V 3000rpm 6A 0 82x10 kg m 37 110ST M06020H 1 2kW 220V 2000rpm 6A 1 00x10 kg m 39 130ST M04025H 1 0kW 220V 2500rpm 4A 0 85x10 kg m 45 130ST M05025H 1 3kW 220V 2500rpm 5A 1 06x10 kg m 46 130ST M06025H 1 5kW 220V 2500rpm 6A 1 26x10 kg m 47 130ST M07720H 1 6kW 220V 2000rpm 6A 1 58x10 kg m 49 130ST M10015H 1 5kW 220V 1500rpm 6A 2 14x10 kg m 130ST M10025H 2 6kW 220V 2500rpm 10A 2 14x10 kg m 130S T M15015H 2 3kW 220V 1500rpm 9 5A 3 24x10 kg m cw 150ST M27020H 5 5kW 220V 2000rpm 20 5A NES For the motor above with the X mark thickened radiator should be applied for the suited servo unit 34 Chapter 5 Display and operation Chapter 5 Display and operation 5 1 Keys operation The DA98B servo unit is very easy to operate that the functions required can be set by only 4 keys The outline o
15. R 1 3 2K VCC 12V R 510 8200 VCC 5V Rz82 1200 4 Refer to Table 3 4 about pulse input form arrowhead indicates counting curb and Table 3 5 shows pulse input time sequence and parameter If two phase input form is employed 4 fold pulse frequency is less than 500kHz Table 3 4 Pulse input pattern Pulse instruction form Cw CW Parameter ind value Pulse string sign PULS Instruction pulse sign CCW pulse string 1 CW pulse string CCW pulse CCW pulse A phase pulse string 2 B phase pulse string 2 phase instruction pulse 20 Chapter 3 System configuration and assembly Table 3 5 Pulse input sequence parameter CW trh CCW trl CW Fig 3 9 Sketch map of pulse sign input interface time sequence max pulse frequency 500kHz tck th mers A MD a IKE NO N EE EL N OE EE EE PULS t1 LON Et pcc arre n ROTEN AD Ew PC gt ke trh trl t SA EE EE ED EO AR EE NE E ORE OD EE oS TE SIGN lt lt trh trl CCW CW Fig 3 10 CCW pulse CW pulse input interface time sequence max pulse frequency 500kHz 21 GSK CNC Equipment Co Ltd t ah tack 90 Id eu ETA EF ON PULS in MOM EN ARDOREM S eg I P tas gt tarh Carl ta CT NE m RR IA AA AAA AS E GE SIGN 10 JN o Lar Loch CCW CW Fig 3 11 2 phase instruction pulse input interface time sequence max pulse frequency 125kHz
16. 1 Not allowable input of drive stop signal PA21 JOG running speed 31000 31 instruction The running speed set in JOG mode 000 0 1r min PA 22 Analog speed 500 500 ae 31 GSK CNC Equipment Co Ltd PA 23 Max speed limit D Max speed limit set of servomotor 0 31000 It is irrelevant to rotary direction 0 1r min 3 If the setting exceeds the rated speed the actual max speed limit is the rated speed PA 24 Internal speed 1 30000 Internal speed 1 set 30000 See PAO4 0 1r min PA 25 Internal speed 2 30000 D Internal speed 2 set 30000 See PA04 0 1r min PA 26 Internal speed 3 30000 Internal speed 3 set 30000 See PA04 0 1r min PA27 Internal speed 4 30000 Internal speed 4 set 30000 See PA04 0 1r min PA28 Speed in orientation D Speed in orientation set 0 30000 2 Not available in orientation control mode 0 1r min 3 Irrelative to rotation direction analog instruction output 0 1r min PA 30 Conversion Used for linear speed 1 32767 numerator for linear Linear speed motor speed r min x speed conversion numerator for linear speed conversion denominator for linear speed The orientation of linear speed decimal point is determined by parameter PA32 And 0 stands for no point 2 for 2 bit and so on Example If servo motor drives 10mm ball screw then set the conversion numerator for linear speed for 10 conversion PA29 Max speed of Instruction
17. 1 05 times than the servo rated input current N Single phase power supply AC220V 10 15 can be employed when the precision is comparative low and the power is less than 0 8KW for servo unit and its the wiring is as fig 3 2 NW While connecting the terminals peel the insulative surface of the wire and twist the naked copper wires compress the wiring by the pre insulation cold pressing terminals to fasten the connection 6 8mm nS Table 3 2 Wire sections for main circuit Unit mm 12 Chapter 3 System configuration and assembly Input terminals Protection terminals of MENS earthing the control power supply A caution to main circuit wiring DWires from power supply must not be directly connected with the U V W terminals 2U V W wires should connect with motor terminals correspondingly Operation of reverse rotation for motor by exchanging the wires of three phase terminals is not allowed Due to the high frequency switch current in the motor the leaking current is relatively larger the motor grounding terminal must be connected with the servo unit grounding terminal PE and the grounding resistance should be less than 1000 4 Do not touch the servo unit and motor in 5 minutes after the power supply is switched off because there is large electrolytic capacitance keeping high voltage inside the servo unit even if it is switched off
18. EN e Tooth number E 7 TE RERERRA KRAAK Joe Ball screw Servo With pre fastened gt double nuts Po motor An example for servo feeding drive system Calculate it by the following equation Es h P hs Zi M Koa F 27N Mb Z M Drive torque for uniform velocity movement H h K T Pre fastened torque of double nuts ball screw Nemm TT Fa Pre fastened force it generally amounts to one third of the 69 GSK CNC Equipment Co Ltd max axial working load i e Fao 1 3Fmaz If Fmaz is hard to get Fa 0 170 125 Ca N is suggested for use Ca The rated load of ball screw that can be looked up in the sample hs Ball screw lead mm K Pre fastened torque coefficient of ball screw 0 1 0 2 P axial external load of ball screw N P F F uW F Axial cutting force of ball screw N W Load in normal direction N W W P W Gravity of moving parts ND including max loading gravity P4 2 Clamping force of splinting etc headstock u Slideway frictional coefficient for slideway clung with CIC board u 0 09 for lubrication 4 0 03 0 05 for linear rolling slideway u 0 003 0 004 nm Efficiency of ball screw 0 90 0 95 Ms Frictional torque of supporting bearing namely start torque Nem which can be looked up in the sample of bearing for ball screw Zu Tooth number of gear 1 Zo
19. NET WE 1 AAS Y Y e Tr Fig 8 1 Outline and installation dimension for BS 120 model 64 Chapter 8 Isolated transformer al ES gt 220 FK E Fig 8 2 Outline and installation dimensions for BS 200 model 65 GSK CNC Equipment Co Ltd ER E de is N Fig 8 3 Outline and installation dimensions for BS 300 model 66 Chapter 8 Isolated transformer ON kj I A y AD Rees ad
20. Pulse feedback B reserved KEE ER RLYOU 22 I reserved RLYOU 2 Z phase output of encoder CZ Z phase output earthing of encoder CZ Pulse feedback C Position instruction PULS PULS PULS Position instruction EE Md SIGN TON SIGN j SIGN Ne Fig 3 13 Standard wiring of orientation control mode Terminal functions of position control mode Table 3 6 Terminal functio ns of orientation control mode Encoder A phase differential positive PAOUT output SON Servo on input terminal e PAOUT Encoder A phase differential negative output ALRS Alarming cancellation input PBOUT Encoder B phase differential positive 23 GSK CNC Equipment Co Ltd terminal output Encoder Z phase differential positive PZOUT output FSTP CCW drive stop PZOUT Encoder Z phase differential negative output Output terminal ready identical to the RSTP CW drive stop PLUS instruction pulse input Alarm output terminal output Encoder B phase differential negative time sequence of HOLD signal and also used for hold release output see section 6 3 Z phase pulse output of photoelectric l l l encoder SIGN instruction pulse input l CZ Common terminal of z phase pulse output terminal GIN Universal input terminal COIN Orienting
21. current linear Monitor function T speed rotor absolute orientation instruction pulse frequency running state input output terminal signal and so on Overspeed overvoltage under voltage of main power supply Protection function overcurrent overload brake abnormity encoder abnormity control power supply abnormity orientation oversize Display operation 6 bit LED digital tube 4 buttons Load inertia Less than quintuple of motor inertia Thin radiating fin Thick radiating fin Weight 2 6 Kg 3 48Kg 244x163x92mm 244x163x112mm 10 Chapter 3 System configuration and assembly 3 2 Interior diagram block of servo unit 3 phase joo 380V 15 50 60Hz Isolated JA ps transformer P To voltage Power down detection Over or under Braking IPM triggering alarm detection protective PWM circuit for power board pulse Interface circuit CN2 Current detection DSP chip Position or speed operation PID regulation control for current speed or position loop PWM pulse control and other controls AJD convertion Storage I unit CPLD logic vas exchange Ve interface processing Encoder feedback signal processing p Alarm signal processing EM CNI Analog filtering and amplified
22. for motors sssseeeeccsssssseccoccsssssececoosssseccoccosssssccecossssssecesosssse 33 Chapter 5 Display and operation se Ee e eee eee eene eene netu 35 ME KA EE d H 35 5 2Parameter setting accio stt TOR NERIS ERE NARI NR EE S NE E PRO E D EV On S 39 Chapter G THU dei auia ioi en uro coin esca ee 43 6 1 Check beiore trial FUN atico EG di 43 6 2 1 Sequence of power on for servo unit ccce ecce e e eee eee eee eee eee eaaet ette eee esse En 44 02 2 JOGQG TUEIDIDI WEE 45 0 2 9 E Apfel EE 46 6 24 Speed eieiei Co HI WEE 46 0 2 5 Orientation control EE 40 6 3 Application of hold release signal eee Lecce eee ee e eee eee Ge GEE 52 6 4 Parameter adjustment for machining characteristics improvement 54 Chapter 7 Funciton for protectioOn ooooomommmmmmmmssme 9 9 9 9 es 9 9 o 57 Chapter 8 Isolated transfOrmMel ccccseccccsseccccsssscccsssccsssceccssscccessssecesessees 64 Chapler 9 Order QUIE siii 69 DAAC AP ACILY sele tio si 69 9 2 Electronie pear FAO eege 72 9 5 SLOP charaeteristie iss roii tiene De aa De oo ee we De ke ed ve De se 72 9 4 Servo and orientation controllor computation eee ee Ge GE eene 73 1 GSK CNC Enquipment Co Ltd Chapter 1 Overview Chapter 1 Overview 1 1 Introduction DA98B AC Serv
23. set again alarm of damaged damaged after repairing then EEPROM restore the defaults Zero adjusting Chip or circuit board is Change the servo driver Err 22 error of damaged encoder Parameter setting is wrong Set the parameter correctly Current Err 23 sampling fault Encoder UVW Err 32 signals code invalid 1 Chip or circuit board is damaged D Change the servo driver Circuit sensor is damaged UVW signals of encoder are damaged Cable is inferior Cable shielding is not D Change the encoder good 2 Check the interface Shielding ground wire is circuit of encoder not well done Encoder interface circuit is at fault 63 GSK CNC Equipment Co Ltd Chapter 8 Isolated transformer The isolated transformer should be employed to driver to reduce the liability of electric shock or interference from power supply and electromagnetic field The servo motor of 0 8KW or less can be employed with single phase type and the one of more must be employed with three phase type The following isolated transformer models provided by us have good quality high cost performance ratio and good looking figure and user can choose according to your servo motor power and actual load Table 8 1 Isolated transformer specification oe n cel Type Er KVA Phase voltage V BS 120 BS 200 BS 300 mr be phase BD 120 l AS Vo
24. state display Alarm code display Reserved Display format of input terminals state Gg e 2 E HM D E i A e 2 RIL FIL SC2 SC1 RSTP FSTP ARLS SON HOLD COIN ALM SRDY LILII MEN OULEL L mw e SE ZST X GINP prd mds pend PA 04 Control Set control mode of the servo unit by the parameter selection 0 Orientation control mode orientation instruction input by pulse input port 1 Speed control mode speed instruction input by VCMDIN VCMDINC analog input terminals 2 Internal speed control mode 7 8 Sc Memaspesd OFF OFF 3 Manual mode 4 JOG mode 5 Encoder zero adjusting mode PA 05 SE proportional 1 Proportional gain set of speed loop regulator 5 2000Hz 2 The bigger the setting value is the higher the gain is and the bigger the rigidity is Parameter value is determined by specific servo unit model and load Generally the bigger the load inertia the bigger the setting value is 3 Set the bigger value if there is no vibration for system Speed integral time 1 Integral gain set of speed loop regulator 1 1000ms 29 GSK CNC Equipment Co Ltd J J el PA 07 PA 11 constant Torque instruction filter Speed detecting low pass filter constant Orientation proportional gain Orientation feedforward gain Orientation feedforward instruction filter coefficient Orientation instruction pulse dividing numerator PA 13 Orientation instr
25. stop FSTP ON for CW drive stop RSTP 2 Setthe analog voltage instruction for O V ON for servo on SON the motor is activated 46 Chapter 6 Trial run with zero speed If the motor runs in low speed adjust the parameter PA22 to make the motor to be in zero speed state 3 Slowly adjust the analog voltage the motor speed will vary by the voltage variation The highest motor speed in 10V input voltage can be adjusted by modifying parameter PA29 Be attentive that the highest running speed is limited by PA23 4 Modify parameter PA19 if the rotation direction is required to be changed When PA19 0 motor runs forward CCW for positive voltage backward CW for negative voltage When PA19 1 motor runs backward CW for positive voltage forward CCW for negative voltage 5 If vibration occurs in the CNC closed loop running adjust parameter PAO8 for feedback filtering Wiring diagram block pameter list Sequence Name Setting range Factory mes PAO4 Control mode 0 6 1 omm IAN AO PAO8 Low pass filter for 1 5000 200 uli speed detecting uu PA19 Reverse of analog 0 1 speed PA22 Instruction deviation 500 500 of analog speed PA23 Highest speed setting 30000 30000 25000 for motor PA29 Highest speed of 30000 30000 25000 analog instruction Fig 6 2 Wiring for analog instruction control Wirings for two types of CNC system for milling machines made by us 47 GSK CNC Equip
26. the servo driver fault supply Occurring in motor Brake resistance connection l Connect the wire again running is broken off D Brake transistor damaged Q Change the servo driver 2 Internal brake resistance is 3 damaged D Reduce the start off frequency Increase the acceleration deceleration time constant D Brake loop capacity is not 3Reduce the torque limit enough value 4 Reduce the load inertia 5 Change the driver and motor with larger power ones 62 Chapter 7 Function for protection 1 Main circuit power supply 1 Check the main power voltage is too high supply Encoder is damaged Change the motor l Encoder connection is wrong Check the connection counting fault Earthing is not well done Be grounded correctly Circuit board is at fault Change the servo driver Occurring in switching on control power supply Parameter setting is wrong Set the parameter correctly 1 Check the load Motor 2Check the start stop overheating frequency Err 16 Motor runs exceeding rated S Reduce the torque limit Occurring in motor torque for a long time value running 4 Change the driver and motor with the larger power ones Mechanical transmission is Check the mechanical part not good 1 Change the servo driver Data and MEN Q Driver model parameter detecting EEPROM chip 1 Chip or circuit board is l Err 20 PA01 must be
27. unit and Fig 2 4 is for servo units The actual interval for installation should be larger as possible as to get a good heat radiation S P o z E y p E J 5 E A A P 2 P P P if s j j j y y P y j 4 Pi r3 i Z Pi 4 4 4 Fi N N N N Zz Y A P d Y Y Ee 7 Y A Jr E B 5 E Y Pi pa fe PA E V E un 71 Ba A Pi Pd d Pi ES E P d Y Z s d 7 Pd a d Y A y Y g P d F c Pi Es n y ge f P d M o g an IE ma 4 va D rd e y E I Tu b Y A E pa d y E Y A ES E d Pi Fig 2 3 Installation interval for a single servo unit Chapter 2 Installation A 100mm 00 Som som SO gt N vi e 2 3 2 Q o B R R H S 3 So N So im TU Ventilation direction m Ventilation direction Fig 2 4 Installation interval for servo units Heat radiation There should be convective air to the radiator of the servo unit in electric cabinet to inhibit its environmental temperature from continuously rising 2 2 Installing motor Installation environment B Be careful for the protection against rain and sunlight The motor must be instal
28. 0 there is predominantly accidented surface in the sphere machining Also oscillation is liable to occur in the stop orienting If the orientation loop proportional gain is set too small the action of the system is slow and the machining precision is bad Over cutting occurs if the value is below 10 PA10 Orientation feedforward gain is set for 0 PA11 Cut off frequency of orientation feedforward instruction filter range 1 1200 While the orientation feedforward gain is required to increase without leading to the voice in the process of acceleration and deceleration of motor properly reduce the cut off frequency of orientation feedforward instruction filter The larger the PA11 setting is and the higher the cut off frequency of orientation loop feedward instruction filter is the more liable the noise is to occur in the acceleration and deceleration of the motor Also the orientation overshooting is liable to occur D If position proportional gain setting value is set for a small one the system is stable but the position tracking trait is getting bad and the lag error is getting larger 2 Refer to position proportional gain setting values as following table 56 Chapter 7 Function for protection Chapter 7 Funciton for protection There are many protection functions such as overheat protection overcurrent protection over voltage protection for this DA98B AC servo device While alarming occurs the motor stops In
29. 1 NxCx4 1x2500x4 5 P 600 3 so parameter PA12 is set for 5 and PA 13 is set for 3 G Example 2 Workpiece Encoder pulse 2500 Ball screw pitch 6mm If the workpiece is required to move 10mm Electronic gear ratio not used Electronic gear ratio used For a 6mm moving in a revolution it The mechanical condition and needs 10 6 1 6666 revolution as for instruction unit must be defined in 2500x4 pulses for a revolution the advance by electronic gear ratio If instruction pulse input is the instruction unit is set for 1 um 1 6666x2500x4 16666 pulses And 10mm moving needs 10mm 1um 10000 pulses the operation must be executed in the upper device 3 Setservo on SON for ON on condition that no alarming and abnormity occurs The motor will be actuated for zero speed 4 Input low frequency pulse to make the motor run in a low speed and check whether the motor speed is the setting one Stop inputting low frequency pulse to see whether the motor stops Adjust the parameter if the motor runs in a low speed 50 Chapter 6 Trial run Wiring diagram block Parameter list Sequence Name Setting Factory O ES ww ommimowwede IK PA12 Orientation instruction See Section 1 dividing numerator Orientation instruction dividing denominator PAOS Speed gain Adjust it Time constant for speed requirement integral See parameter Orientation control gain adjustment Orientation feedforward
30. 24VDC reference earthing Zero speed output Analog grounding Universal output 1 Servo ready output Alarm output Positioning completion speed in position External contactor output Holding output CZ output External contactor output Holding output CZ output Servo on Alarm cancellation Control signal power input 12 24VDC CCW drive stop CW drive stop Control signal power input 12 24VDC CCW torque limit CW torque limit d 40 CLE SCI Speed choice 1 deviation clearing 26 ZSL LL GINI Al INH SC2 Speed choice 2 instruction pulse inhibition 21 PAQUT 12 PAOQUT 42 PZOUT 28 PBOUT 13 PBOUT 43 PZOUT 29 SIGN 14 SIGN 44 PE 30 PULS Lo PULSS Zero speed clamping Universal input 1 Pulse feedback At Pulse feedback A Pulse feedback Z Pulse feedback Bt Pulse feedback B Pulse feedback Z Directional signal input Protection earthing Speed signal input Fig 3 4 Terminals and definition of CN1 16 Chapter 3 System configuration and assembly Input and output interface pattern for CN1 Table 3 3 Terminal signal type Input terminals terminals Other terminals slo p EA EN HE ALM ESE 24 HOLD _ 38 COM wm ET PAOUT Sign D gt gt U m E TI 40 i O S 41 gt pi ia A PAOUT pal N N O NO PBOUT PBOUT LA E I I NO PZOUT PZOUT EE D gt O
31. A Danger Indicate an immenently hazardous situation which if not avoided will result in death or serious injury A Caution Indicate a potentially hazardous situation which if not avoided may result in minor or moderate injury or in damage to property Indicate a potential situation which if not avoided may result in an undesirable result or state This svmbol appears in the user Manaul whenever it is necessary to draw your attention to an important item of information H The following symbols indicate some operations must not or must be performed Forbid performing some operation absolutely must not perform some operation O i Perform some operation must perform some operation II Warning A N Danger The switch of over current protection over heat protection breaker and emergency should be fixed Lightning strike hurt or fire occurring if the indication not observed Swiveling shaft is not permitted to be touched in the running of motor Hurting occurring if the indication not observed he cable is not permitted to be put on the trenchant edge and excessive pressure load tension is not permitted to exert on it Electric shock fault damage occurring if the indication not observed Servo unit should be well grounded Electric shock occurring if the indication not observed IH Hand is not permitted to stick into the servo unit scalding or electric shoc
32. FT ib EE EE peu OE ER ON IE res oewers Ip Ja pm JF leese ES melen m peer p m 4 2 Parameter function be EN l Parameter Function range hd 00 Null l m l l It is used for parameter not to be modified by mistake Set it for 315 when a parameter is needed to set After debugging set it for O to ensure it not to be modified by mistake later Motor type code The motor models Corresponding to PAO1 are as following refer to 0 63 Section 4 3 for details 82 110SJT MO60D 130SJT M100D s MEN e omm PA 02 D Software version can be seen but can not be modified Ver 2 04 0 20 Initial display state 0 Motor speed display Display state 1 Low 5 bit digit display of current orientation selection after servo gt High s pit digit display of current orientation unit ower is j 3 Low 5 bit digit display of orientation instruction instruction pulse switched on accumulation 4 High 5 bit digit display of orientation instruction instruction pulse accumulation 5 Low 5 bit digit display of orientation deviation 6 High 5 bit digit display of orientation deviation 28 cE 4 Parameter Motor torque display Motor current display Linear speed display Control mode display Orientation instruction pulse frequency display Speed instruction display Input terminal state display Output terminal state display Encoder input signal display Running
33. GSK DA98B AC Servo Drive Unit User Manual GSR IT INS SS A BR 2 al GSK CNC EQUIPMENT CO Lib Ka The operating manual describes all matters concerning the operation of the system in detail as much as possible However it is impractical to give particular descriptions of all unnecessary and or unavailable works on the system due to the length limit of the manual specific operations of the product and other causes Therefore the matters not specified herein may be considered impractical or unavailable Ae ue operating manual is the property of GSK CNC Equipment Co Ltd All rights reserved It is against the law for any organization or single to publish or reprint this manual without the express written permission of GSK and the latter reserves the right to ascertain their legal liability Company Profile GSK CNC EQUIPMENT CO LTD GSK CNC Industry Base of South China is responsible for the National High Technology Research and Development Program of China 863 Program Moderate CNC Industrialization Key Technology For ten years we are exclusively engaged in research Development manufacture sale training and popularization of Machine Tool CNC system Servo Motor and driver and other mechanical products Today GSK has already expressed into a large scale new high tech enterprise that deals with research teaching working and trading Our products support more than 60 domestic manufacturers of machine tools with after
34. H Parameter JIL II backup Backup restoration Re Cl SN gt IS Default restoration Fig 5 6 Diagram block of parameter management 41 GSK CNC Equipment Co Ltd Power on EEPROM parameter area EB memory Parameter writing memory E EEPROM parameter area Parameter reading EEPROM parameter area gt memory Parameter backup memory ES EEPROM backup area Backup restoration EEPROM backup area E memory Default value restoration default value gt memory EEPROM parameter area The parameter setting will not be saved after the power is down and the modification is invalid if the writing has not been executed for the modified parameter 5 5 Additional information The function of automatic gain adjustment being developed at present is not available The encoder zero adjusting function unallowable to be used by user is provided for motor manufacturer 42 Chapter 6 Trial run Chapter 6 Trial run 6 1 Check before trial run 1 Check wiring Ensure the wiring especially the connections of the power supply wiring and motor wiring of servo unit Ensure the earthing connection 2 Check power supply to ensure the normal voltage 8 Fix the servo motor securely against overturning or bumping 4 Perform the dry run operation in trial run to make sure the normal running prior to loading running 3000 C5 DA98B AC SERVO ONE AXI
35. ND 21 kg m Za g DT Jeu Inertia of gear 1 kg m Jeo Inertia of gear 2 kg m Js Inertia of ball screw kg m 8 Calculation of the max torque in orienting acceleration m M Jut JD M 60 EE Nm Speed of fast moving motor r min Cr min ta Acceleration or deceleration time s taking 150 200ms by ta 3 Ks 71 GSK CNC Equipment Co Ltd Ks Open loop gain of the system usually 8s 25s for MC Ks 20s ML Load torque Nem If M is less than the max torque Max of servo motor the motor speed can be increased or decreased by the time constant used 2 Preliminary confirmation of mechanical gear ratio Calculate the max mechanical reduction ratio by the highest speed and highest speed of motor required and collate it to the min orientation unit with the min revolution unit and the reduction ratio If the requirement of the orientation precision is very high increase the mechanical reduction ratio the actual highest speed is lowered or choose a faster motor 3 Check of inertia and torque Convert the inertia and torque of load to the motor shaft by mechanical reduction ratio and the inertia converted should be less than quintuple of the motor rotor inertia And the load torque converted and the effective torque should be less than the rated torque of motor If the requirement above can t be met increment of mechanical reduction ratio the actual highest sp
36. O 17 GSK CNC Equipment Co Ltd 3 4 I O Interface fundamentals CNL interface signal There are 7 types of CN1 interface signal as following Switching volume input d A lateral pole is connected to COM via 3kQ resistance in series for one internal photoelectric coupling K lateral pole is connected to input terminal for one photoelectric coupling Switching volume output LEM E lateral pole is connected to DG terminal C pole to output terminal for two internal photoelectric couplings The max current 315mA Switching volume output Wa E lateral pole is connected to DG terminal C pole to output terminal for two internal Darlington output photoelectric couplings The max current xb mA Pulse input interface amis A lateral pole is connected to positive input terminal via a resistance in series and K pole to negative input terminal for one internal high speed photoelectric coupling Differential output a internally connecting the output terminal of differential output chip 26LS31 Analog signal input Ll interior is the difference analog amplified circuit input Analog signal output al internally connecting the output of operational amplified circuit Controller side Fig 3 5 Input interface of switching volume 1 Power supply is provided by user DC12 24V current2100mA 2 Note if power polarities are wrongly connected the servo unit does not work 18 Chapter 3 System configuration an
37. S CONTROLLER 3 phase AC220V TVNOIS TOHLINOO INO 14MOOS TIVA vvad MV ND 1349085 JWA3363290 TYNSIS GSK CNC EQUIPMENT CO LTD Feedback signal of encoder i A S S E lt CH 43 GSK CNC Equipment Co Ltd 6 2 1 Sequence of power on for servo unit The connection of power supply is shown as Fig 6 1 switch on the power by following steps 1 Putthe power supply to the power input terminals of main circuit 3 phase to R S T respectively single phase to R S by electromagnetic contactor NFB MC 2 Ther t terminals of control circuit should be switched on prior to the main circuit power or with it simultaneously without MC then switch on the main circuit manually The cut off function of main power for alarm is attached to the circuit 3 phase AC 380V oy de Servo controller Fig 6 1 Power supply wiring 3 If servo on SON is ON after the connection of the control power with the main circuit power the motor is activated and the system is on running If servo on signal is switched off or alarming occurs the base electrode circuit closes and the motor is in a free state a If servo on SON is switched on with power supply the motor is activated in about 100 ms b Frequent switching on or off the power supply may damage the soft start circuit and energy hold circuit The frequency limit for switching on or off should be 5 times per hour or 30 times per d
38. SK 980TD matched with DA98B servo unit on turning machine 980TD system System switch power c S L 220v N220v Switch off Switch on og SY Ka KMI KMI 24V Used for cutting off hold signal against work table falling down while power down relay KM1 Hold coil 380V AC Eea power 380V AC 220V brut input transformer 220V 6 4 Parameter adjustment for machining characteristics improvement DA98B basic parameter adjustment diagram PADO Analog alo instruction instruction filtering PAIO PAIL Current E gain instruction i instruction l iti l Pulse Electronic Se a integral lowpass nt Ee Pl input gt gant proportion ims filter time al gain m constant PA14 PA12 d etectin PA13 filter Y Quadruple frequency no 54 Chapter 6 Trial run Parameter adjustment for speed loop regulator PA05 Proportional gain of speed loop range 150 900 PAOS is the speed loop proportional gain KP if its value increases the action of the servo will be more agile and faster If the value is a bit larger the motor screams with hardened rigidity The speed fluctuation of motor increases inferior surface finish If the value is too large the motor becomes instable if the value is too small the crawling of motor occurs for the motor s softening as well as the action of servo adjustment lowered And overshooting of speed occ
39. Section 6 4 gain Cut off frequency of orientation feedforward instruction filter Fig 6 4 Wring of orientation instruction control Wiring sketch map for CNC system of GSK980TD turning machine GSK980TD X or Z axis DA98B CN XS30 or XS31 1 CP AE 30 PULS Dd pe pu 15 PULS 2 DIR A 29 SIGN 10 DIR ANN 14 SIGN 5 DALM TE 5 ALM 3 PC E 36 CZCOM 7 nEN fL 23 SON 11 OV V 32 DG 1 24V Ge 37 CZ Metal she 38 COM DB15 male plug Hl RSTP 33 DG 24 FSTP Metal shell DB44 female plug Fig 6 5 Valid pulse instruction 51 GSK CNC Equipment Co Ltd 6 3 Application of hold release signal In order to lock the vertical or tilted work table linked with the motor against falling down by the servo power off servo motor with hold brake is usually employed The hold releasing signal HOLD is provided for the effective control of the motor with hold in the servo unit lx The hold brake is only for work table hold and is not allowed to be used for reduction and stop of machine Fig 6 6 shows the wiring applied for the control of motor by the hold release signal The 24V power supply in the map is provided by user The polarities of power should be noticed when switching on the hold release signal HOLD The time sequence of SRDY and HOLD are identical and they both can be used for the hold release signal for special purpose The wiring is as following
40. Y j A Radiator EA Eu ie y 6 bit LED Nem Ee Panel 3000 0 R servo one axis 4 press key wee controller e me A y lt 4 Kl amp Power terminal sel Su pe FR LE J e wi Pel e DE EE el EE SS d 8 GSK CNC EQUIPMENT CO LTD Fig 1 1 Outline of servo unit Outline of servo motor Encoder socket Motor socket Motor output shaft Y bs Motor body Fig 1 2 Outline of servo motor 2 bracket Signal terminal CN1 Feedback terminal CN2 Feedback encoder Chapter 2 Installation Chapter2 Installation Servo unit and servo motor should be correctly installed to avoid the mistaken operation to protect the machine from being broken or damaged 2 1 Installing servo unit Installation environment B Be careful for the protection against rain and sunlight while the servo unit is being installed B Servo unit must be installed in the electric cabinet to prevent dust corrosive gas liquid conductors and inflammable substances from entering it B Servo unit
41. apter 5 Display and operation power is on again e EE rd parameter reading It means to read the data in EEPROM parameter area into the memory The process will be executed automatically when power is on At the beginning the parameters in the memory are the same as that of EEPROM parameter area If the parameters are modified by user the parameter values in the memory will be changed If the user is not satisfied with the modified parameter values or the parameters are disordered the parameter reading can be executed to read data in EEPROM parameter area into the memory to recover the original parameters in the state of power on e EE bA Parameter backup Reserved o EE rs Restoring backup Reserved e EE dEF Restoring default value It means to read all default values factory setting of parameters into the memory and write them into EEPROM parameter area that they will be used when power is on again Perform the above operation to restore all parameters to their factory setting if the parameters are disordered by user that cause the system to run abnormally Because the different servo motor corresponds to different parameter default value of the servo unit the model code of the servo motor must be ensured parameter PA01 when restoring default parameters Parameter writing Parameter Pressing and holding for Cia Operation mI success reading e gt gt Id b A fail LC IC
42. ay If the servo unit or motor is overheated only by cooling of 30 minutes after the fault is exterminated can the power supply be switched on again 4 Sequence for power switch on 44 Chapter 6 Trial run Power ower on supply p power down nas reset SON OFF ON OFF ON OFF Motor a VEIS power off pone on power Gleeweg on Power off t lt 600us N ims OFF ON OFF ON OFF KE SS 600ms t 300us 8 alarm on Es ALM C power on detection t PA52X 4m s 6 2 2 JOG running Do switch off load prior to JOG running If the JOG running is well done it means that the connection between the motor and the servo unit is correct Steps D Connect CN1 for the control signal OFF for servo enabling ON for CCW drive stop FSTP ON for CW drive stop RSTP IT 2 Power on for servo unit and the initial display is LI 4 RC ACH I7 ICH Ig S Press key it displays IZ ZC II Repress d key to back to the first layer menu it displays Ch 5 Press Acor NV key to find the parameter setting menu l mu 6 Press key it displays I F1 D 7 Press Acor NV key to find the No 4 parameter I others 3 Press Acor W key to set No 4 parameter to 4 it displays 45 GSK CNC Equipment Co Ltd Press key to confirm the setting of the No 4 pa
43. code parameter Back a layer lt Confirmation dH of the respective motor Menu selection A Back a layer lt Forward a layer Back a layer lt Parameter value Menu selection A Modification A Forward a layer Confirmation Default call Ww lt A Fig 5 5 Diagram block of parameter setting 5 4 Parameter management The parameter management is mainly used for memory and EEPROM operation Select EE in the first layer and press to enter into parameter management mode 5 operation modes can be selected by A V keys For example for parameter writing select EE Set then press land hold it on for over 1 second the monitor displays Sie that means the parameter is being written into EEPROM After 1 2 seconds the monitor displays FL ot SH if the writing is cl t successful otherwise TH P is displayed Press again to return to operation selection mode e EE Set parameter writing It means to write the parameters in the memory into EEPROM parameter area The parameters modified by user only change the parameter values in the memory that they will restore to their original values after power is on again If the parameter values are changed permanently parameter writing should be executed to write the parameters in the memory into the EEPROM parameter area so the modified parameter values will be valid after 40 Ch
44. completion output Orientation deviation reset RLYOU Reserved RLYOU Hold release output of motor HOLD CCW torque limit input HOLD CW torque limit input Power supply positive of input Hold release grounding output of motor see section 6 3 terminal used for driving photoelectric coupling of input terminal DC12 24V Current2100mA External input 12 24VDC reference earthing DGND Internal digital earthing Protection earthing 24 Chapter 3 System configuration and assembly 3 5 2 Speed control Standard Wiring Single or DA98B U three phase FIL V AC 220V AC servo k A one axis controller PE g CN2 o 5 3 x 6 o DC 12724V 7 Servo on OO ILES 18 encoder Alarm cancellation OO He 1f OV i CCW drive stop OO Hs 2 OV EA CW drive stop OO HERI 3 OV l a Speed choice 1 9 o0 4 Lx 4 OV A A R GN Speed choice 2 OO alta aim 24 At DE ane X CCW torque limit G o Lex 12 A e CW torque limit OO EK i 23 B kk Y i i E Universal input 1
45. d assembly Controller side max 50mA Fig 3 6 Output interface of switching volume max 24V 1 External power supply is provided by user and if its polarities are connected reversely the servo unit will be damaged 2 Output is electron collector open circuit max current is 50mA and the max external DC power voltage is 25V Load of switching volume output signal must meet the requirement If the load exceeds them or output is connected directly with power supply the servo unit may be damaged 3 Ifthe load is an inductive one such as relay terminals of load must be connected with freewheeling diode in parallel If they are connected reversely the servo unit will be damaged Pulse volume input interface Controller side 270 PULS 270 SIGN P siox 3 7 Je Fig 3 7 Differential drive mode of pulse volmue input interface 19 GSK CNC Equipment Co Ltd Controller side Fig 3 8 Single terminal drive mode of pulse volume input interface 1 Itis suggested to apply differential drive mode to correctly transmit pulse volume data 2 AM26LS31 MC3487 or RS422 linear driver are employed in the differential drive mode 3 Action frequency will be reduced in single terminal drive mode According to pulse volume input circuit Resistance R is determined by the max 25V voltage of external power and 10 15mA drive current of the pulse input circuit Practical data VCC 24V
46. e connected correctly motor are not 2 Cable encoder are not connected lead wires of correctly Occurring in switching on control D The circuit board fault supply power 1 Power supply voltage is Occurring in switching too high 2 Wave supply voltage is abnormal DThe connection breaks off Brake damaged on main power supply form of power brake resistance Main circuit transistor Err 2 over voltage 2 Internal brake resistance Occurring in motor is damaged running 1 The capacity of brake loop is not enough 1 Circuit board is at fault 2 Fuse of power supply is damaged os T 3 Soft start circuit fault Occurring in switching l 4 Rectifier is damaged on main power supply 1 Power supply voltage is low Main circuit Err 3 under voltage 2 Temporary power cut off is more than 20ms D Power enough Capacity is not Occurring in motor 2 Instantaneous power running dowi Orientation Occurring in switching Err 4 oversize on control power Circuit board is at fault supply 59 DThe Radiator is overheated D Connect correctly the wires 1 Change servo driver 1 Check power supply 1 Connect it again 1 Change servo driver Reduce start stop frequenc 2 Increase acceleration deceleration time constant 3 Reduce torque limit 4 Reduce load inertia 5 Change the dri
47. e activated for internal speed running state 5 Change the states of input signal SC1 SC2 for different combinations of internal speed which is shown as following table S C 1 Internal speed Parameter Setting range Unit S C 2 po ff ooo ii BEEN REENEN BEEN el Pa fp ii BEN 6 2 5 Orientation control run 1 Input the control signal by the Fig 6 4 wiring diagram block OFF for servo on SON ON for CCW drive stop FSTP ON for CW drive stop RSTP 2 Switch on the power and adjust the parameters set appropriate electronic gear ratio PA12 PA13 The so called electronic gear function is a function that compared to the mechanical gear the motor moving that is equivalent to the input instruction pulse can be set for any value by the adjustment of servo parameters without considering the mechanical reduction ratio and encoder pulses in controlling By the setting of PA12 PA13 parameters it is easy for user to match with various pulse resources to get the desirable control resolution i e angle pulse The formula for electronic gear ratio is as follows PxG NxCx4 P pulse amount of input instruction 49 GSK CNC Equipment Co Ltd G electronic gear ratio G dividing numerator dividing denominator Recommended range of G is lt G lt 50 N motor rotating circles C photoelectric encoder lines rev in this system C 2500 Example 1 When input instruction pulse is 6000 and servo motor rotation is
48. eed is lowered or a higher capacity motor may be employed 9 2 Electronic gear ratio Refer to chapter 4 Section 4 2 Parameter function chapter 6 Section 6 2 5 Orientation control run for the significance and adjustment of electronic gear ratio In the orientation control mode the actual speed of load is Instruction pulse speedxG xmechanical reduction ratio In the orientation control mode the actual min displacement of load is Min instruction pulse strokexG xmechanical reduction ratio EE If the electronic gear ratio G is not 1 there may be a remainder when executing the division for gear ratio which may lead to position deviation and the max deviation is the min revolution amount of the motor min resolution 9 3 Stop characteristic Lag pulse is defined to the difference between the instruction pulse and feedback pulse when the servo motor is controlled by pulse strings in orientation control mode The difference is accumulated in the orientation deviation counter and its relationship with the instruction pulse frequency the electronic gear ratio and the orientation proportional gain 72 Chapter 9 Order guide is as follows Lag pulse Puls f Instruction pulse frequency Hz K Orientation proportional gain 1 5 G Electronic gear ratio The equation is obtained when position feedback gain is 0 and the lag pulse will be less than the computation counted by the above
49. equation if position feedback gain is more than 0 9 4 Servo and orientation controllor computation 1 Instruction displacement and actual displacement s LCR DR 1 ZD S Actual displacement mm I Instruction displacement mm 6 Min unit of CNC mm CR Instruction dividing frequency numerator CD Instruction dividing frequency denominator DR Servo dividing frequency numerator DD Servo dividing frequency denominator ST Servo motor scale of per rev ZD Side gear tooth numbers of motor ZM Side gear tooth numbers of lead screw L Lead screw pitch mm Generally S l the instruction value is equal to the actual one F CR SEA 60x CD i 2 Max instruction speed of CNC F Instruction speed mm min fmax Max output frequency of CNC Hz 73 GSK CNC Equipment Co Ltd 3 Max speed of servo Vmax Max speed of worktable allowed by servo mm min Nmax Max speed allowed by servo motor r min The practical max speed of machine is limited by max speed of CNC and servo SIE DD STZ 4 Min movement of machine tool a INT INT NEE PR 1 2 CD min a Min movement of machine tool mm N Natural number INT Integer rounding INT Jmin Min integer 74 su FR I WWSXERLUERESF3BRZzIaB 2 l GSK CNC EQUIPMENT CO LTD Add No 52 1 Street Luochong North Road Luochongwei Guangzhou 510165 China E mail gsk gsk com cn Fax 86 20 81993683 Nov 2006 Editi
50. etting modify the parameter by the user password according to the PAOO parameter in the parameter list After the setting press the D Key for confirming the setting Attention should be paid for the parameter setting range against accident Select PA in the first layer and press to enter into parameter setting mode Select parameter number by A W then press to display the value of the parameter modify the value by A W Press Ac or W key for once to increase or decrease 1 for the parameter value press and hold on Avor Wto continuously increase or decrease value for the parameter When the parameter value is modified the decimal point of rightmost LED digital tube is lighted press to confirm the modification and then the decimal point of rightmost LED digital tube is put out And the modified value will 39 GSK CNC Equipment Co Ltd immediately be reflected in the control process press A or W to go on modify parameters till the completion of modification then press to back to parameter selection mode Do not press ml io confirm if the parameters modified are not proper press Sto cancel it to make the parameter recover to its original value and back to the parameter selection mode The following is the parameter setting procedure for GSK 110SJT M040D servo motor Back a layer Hold for 2s Parameter selecti l Power on Parameter value Backs laver S Modification A Model
51. f its panel is as following 6 bit digital LED displayer For increment of sequence number value or forward selection For decrease of sequence number value or backward selection Entering into the next layer of optional eg pel he Se menu or input confirmation i TN Back to the upper layer of optional menu or operation cancellation 1 In the speed monitoring mode after switching on the power supply of the servo 0 0 unit the default display is 2 The operation is performed according to multi layer menus The first layer is the main menu that consists of 9 kinds of operation modes the second layer is the function menus in various operation modes The fig 5 1 shows the diagram block of the main menu 3 According to the diagram block above pressing key or holding can enter into the main menu then press AX or NV key to select any mode in the 9 modes After selecting a mode press dd Key to enter the next menu of the mode Press lt key to return if backing to upper menu is required Holding Aor W key on the operation will be repeated The more the holding time is the faster the speed repeated is 35 GSK CNC Equipment Co Ltd Monitor mode lt Parameter setting Parameter management Speed trial run i The second layer JOG run EE ET EIE Encoder zero adjusting
52. gain set of orientation loop 2 When it is set for 4096 it means that orientation lag is 0 in any instruction pulse frequency 3 If the feedforward gain of orientation loop increases and the high response of the control system is raised overshoot may occur for the instability of the system orientation loop caused Unless the high response is needed the feedforward gain of orientation loop is usually O DCut off frequency determination of orientation loop feedforward low pass filter The low pass filter is used for increasing the stability of complex orientation control S The bigger the parameter value is and the higher the cut off frequency is the more liable the noise and overshoot are to occur in running Refer to Section 6 2 5 1 1500 1 5000 1 1000 S 0 100 1 1200 1 32767 ODE e 4 Parameter PA 14 Input and analog OD there are 4 modes to be selected instruction selection O pulse sign analog voltage 10 10 valid in analog instruction of orientation mode instruction pulse 1 CCW pulse CW pulse 2 two phase orthogonal pulse input 3 analog voltage 0 10 instruction valid in analog instruction mode SC2 SC1 for forward and reverse rotation selection 2 CCW rotation is defined as the forward direction when viewed from the axial direction 3 CW rotation is defined as the reverse direction when viewed from the axial direction 15 Orientation Reverse direction of orientatio
53. k occurring if the indication not observed Motor is not permitted to be used near the corruptible gas inflammable objects O Fire occurring if the indication not observed Moving wiring and checking can only be performed after the power is switched off for 10 minutes Electric shock occurring if the indication not observed Emergency switch should be fixed Electric shock hurt fire fault or mechanical damage occurring if the indication not observed GSK CNC Enquipment Co Ltd N Caution The motor must be used with the suited servo unit Device damage occurring if the indication not Observed When there is an alarm in the running it must be eliminated before going on running Destructive result occurring if the indication not observed Over adjustment and over change operations or the operations that may result in instability should be avoided Damage occurring if the indication not observed Don t grip the cable or the motor shaft in the transportation of the motor Hurt occurring if the indication not observed Load test for motor can only be performed after the completion of the dry run test Motor damage occurring if the indication not observed Don t touch the motor control device or the brake resistance for the heating in the running Scalding occurring if the indication not observed Drive device is not permitted to be modified disassembled and overhauled Electric
54. led in the electric cabinet to prevent dust corrosive gas liquid conductors and inflammable substances from entering it B The motor should be fixed in the well ventilative dampproof and dustproof environment B The motor should be fixed in a place that is convenient for the maintenance check and cleaning of the motor GSK CNC Equipment Co Ltd Installation notes N Do not hammer the motor or its shaft to Q protect the encoder from being damaged when removing or assembling belt wheel Helically pressing or drawing tools should be used for removing and assembling N Servo motor cannot support heavy axial radial load It should be employed with flexible shaft coupling for load N Anti loose washer should be used to fix the motor against loosing N Oil and water should be protected from the motor for that the oil or water from the cable which has been dipped in the oil or water can be sticked to the motor so such possibility should be avoided Chapter 3 System configuration and assembly Chapter 3 System configuration and assembly 3 1 Servo unit specification Table 3 1 Servo unit specification Output power kW 0 4 0 8 101 5 1 7 2 6 Motor rated torque 2 4 4 10 6 15 CN e mi Or Single phase three phase AC220V three phase AC220V 15 10 50 60Hz Working 0 55 C Storage 20 C 80 C Humidity Less than 9096 no dewing Less than 0 5G 4 9m s2 10 60 Hz non continuous running
55. ment Co Ltd GSK21M f f DA98B CNI 14 vrun LANA JL j 17 VCMD 3 AR VA 12 PAOUT K A ARA 27 PAQUT 4 BH T A LS UP BOUT 16 B KA 28 PBOUT 17 Z dd 42 PZOUT pop INO V 5 ALM 9 XCP a 30 PUES 20 epe did E ap Uo 10 XDIR Ao 29 SIGN 29 XDIR MEE 14 SIGN 18 PCO 36 CZCOM Ve or 38 COM 10 VC ANT E 1 VCMD Do EE INN 17 VCMD 12 PCA A 12 PAOUT 71 PCA We 27 PAOUT 13 PCB A 13 PBOUT 8 PCB PUN 28 PBOUT 11 PET MM C 43 PZOUT 6 PU 25 49 PZOUT 4 SRDY Me 5 ALM 9 SON VN 23 SON 3 24V e 39 COM 14 SON 32 DG 2 OV e 9 RSTP 15 OV 24 FSTP Metal shell Metal SPEL BloCfFemale plug JUB44CFemole plug b Valid for analog instruction Internal speed instruction 48 Chapter 6 Trial run 1 Input the control signal by connecting CN1 OFF for servo on SON OFF for speed choose1 SC1 speed choose2 SC2 ON for CCW drive stop FSTP ON for CW drive stop RSTP 2 Switch on the power supply of the control circuit the servo unit displayer will light Check connection if alarming occurs 3 Set the control mode selection parameter PA04 for speed running mode set for 2 set the speed parameters PA24 PA2 as required 4 Setservo on SON for ON the motor will b
56. n instruction pulse set for instruction pulse 0 normal reverse direction 4 reverse direction of orientation instruction pulse PA PA 16 Orienting completing 4 Pulse range set for orienting completion in orientation control mode 0 30000 range 2 The parameter provides factors the servo unit judges whether the pulse orienting is completed in orientation control When remainder pulses in orientation deviation counter are less than or equal to the setting value of the parameter the servo unit defaults that the orienting is completed and the signal for it is COIN ON otherwise it is COIN OFF 3 Orienting completing output signal is COIN in orientation control mode and speed in orientation output signal is SCMP in other control mode PA 17 Orientation out of Alarm detection range set of orientation out of tolerance 0 30000x tolerance detecting 2 n orientation control mode servo unit makes alarm of orientation 100 pulse range out of tolerance when the counting of orientation deviation counter exceeds the parameter setting PA 18 Orientation out of Orientation out of tolerance enabling parameter set for tolerance invalid 0 The alarm is valid 1 The alarm is invalid PA 19 Reverse analog Reverse of analog speed instruction set for 0 Normal 1 Reverse of analog speed instruction PA20 Drive stop invalid Drive stop invalid input setting set for 0 Allowable input of drive stop signal
57. ng in motor D Power up voltage is low D Check the driver running 2 Overheated 2 Power on again 3 Change the driver D Driver U V W terminals are D Check the connection short circuit D Earthing is not well done DBe grounded correctly 1 Motor insulation 1 Change the motor D It is interfered with Add the circuit filter damaged Be far away from the interference source Err 12 Over current Driver U V W terminals are Check the connection short circuit Earthing is not well done Be grounded correctly Motor insulation is damaged Change the motor Driver is damaged Change the driver 61 GSK CNC Equipment Co Ltd Err 13 Overload Occurring in switching Circuit board is at fault DChange the servo driver on control power supply 1 The motor runs exceeding D Check the load Occurring in motor rated torque 2Reduce the start stop running frequency 3 Reduce the torque limit value 4 Change the driver and motor with the larger power ones D Hold brake is not on D Check the hold brake D Adjust the gain l l 2 Increase the acceleration D Motor vibrates unsteadily deceleration time 3 Reduce the load inertia 1 One of U V W phases is broken off 1 Check the connection 2 The connection of encoder is mistaken M Occurring in switching Brake circuit Err 14 on control power 1 Circuit board is at fault 1 Change
58. ntation instruction is the actual one before inputting it to the electronic gear with positive number for positive direction and negative number for negative direction and its min unit is O 1KHz 7 The formula for effective value of phase current of motor is as follows I as I I 8 The absolute orientation of rotor in a revolution means the relative orientation of rotor to stator where a revolution for a period with the range 0 9999 9 The orientations of input terminals output terminals and encoder signal are 38 Chapter 5 Display and operation shown as follows and their definitions are shown in Fig 5 3 Fig 5 4 Fig 5 5 SC2 speed choice 2 SCl speed choice 1 RSTP CW drive stop FSTP CCW drive stop RIL CW torque limit ALRS alarm cancellation SON servo on o ER eT gt Go E TI LIE LLLA IL UJ La imo ZSL zero speed clamping Fig 5 3 Input terminal display bright light is ON and dark light is OFF HOLD hold release COIN Cposition completion ZSP zero speed output ALM Cservo alarm SRDY servo ready Ges GE X KEER LL tl 0 0 0 0 0 01 em O aD O eum O CONO CH Fig 5 4 Output terminal display bright light is ON and dark light is OFF V phase of encoder W phase of encoder U of encoder II EN GED LI Li O IN O LI O LJ O Fig 5 5 Encoder signal display bright light is ON and dark light is OFF 5 3 Parameter setting Prior to parameter s
59. o Drive Uit is the second generation of fully digital AC Servo system of our company which is employed with the new type exclusive chip DSP for motor control large scale complex programmable logic device CPLD and IPM with big power which has a good integration compact perfect protection and highly reliability It is characterized with the f orientation control interior speed control analog speed control etc and is widely applied in the automation production line packing machinery and printing machinery and other automatic field Compared to stepper system DA98B AC Servo Driver Unit has advantages as follows e Avoiding out of step Open loop control Servomotor is equipped with encoder its Stepper motor orientation signal feedbacks to servo driver with open loop orientation controller to compose a semi closed loop control system Speed ratio constant torque Positioning instruction The timing ratio is 1 5000 with stable torque from low speed to high speed e High speed high precision Feedback control Doe ES Servo motor Max speed can be 3000rpm and the speed fluctuation rate is less than 2 Note There is different rated speed 2 Controller for different motors Feedback e Simple and flexible control Positioning instruction Parameters can be modified to set properly operating mode running performance of servo system to meet different
60. on 1 Website http www gsk com cn Tel 86 20 81796410 81797922 All specifications and designs are subject to change without notice Nov 2006 Printing 1
61. positive Forward rotation signal input for PZOUT PZOUT output SC1 analog instruction voltage 0 10 V E Encoder Z phase differential negative input j output Output terminal ready identical to Backward rotation signal input for i the sequence of HOLD signal SC2 analog instruction voltage 0 10 V SRDY T and also used for hold release inpu output see section 6 3 GIN General input terminal ALM Alarm output terminal Z phase pulse output of photoelectric CZ FSTP CCW drive stop CZ output terminal RSTP CW drive stop SCMP Speed in orientation output FIL CCW torque limit input GOU General output 1 RLYOU Reserved RLYOU Hold release output of motor encoder Common terminal of z phase pulse RIL CW torque limit input Speed analog instruction input the VCMD instruction voltage range 10 10 VDC Earthing of analog instruction input HOLD HOLD Hold release grounding output of motor see section 6 3 AGND terminal ZSL Zero speed clipping input terminal ZSP Zero speed output of motor xdg BED terminal used for driving COM photoelectric coupling of input terminal DC12 24V Current2100mA External input 12 24VDC U reference earthing DGND Internal digital earthing PE Protection earthing 26 Chapter 4 Parameter Chapter A Parameter There are various parameters in the servo unit to be adjusted and set to the performance characteris
62. rameter it displays 0i b set the PA21 parameter to the motor speed required i e the JOG speed DPress key to back to the first main menu layer to find the JOG mode ll III Press key it displays l LU Set ON for the enabling press key and hold it on the motor runs by the setting speed release the key the motor running stops press W key and hold it on the motor runs reversely by the setting speed release the key the motor running stops with zero speed 6 2 3 Sr trial run Change the value in PA 4 by 3 according to the JOG running steps above select Sr in the first layer press key to enter into trial run mode The prompt for speed trial run is r and its unit is 0 1r min The system is in a speed control mode and the instructions of speed are provided by keys operation C the motor runs by the speed instructions changed by A W key Pressing A key increases the speed and pressing W key decreases the speed While the speed displayed is positive number the motor runs forward and negative number for backward A CRU 6 2 4 Speed control run There re two kinds of running control for speed One is the analog speed instruction input the other is internal speed instruction Details are as follows Analog speed instruction input 1 Input the control signal by the Fig 6 2 wiring diagram block OFF for servo on SON ON for CCW drive
63. requirements GSK CNC Equipment Co Ltd CoP Bor matar servormotor Speed curve in 10rpm Speed curve in 10rpm 1 2 Check after delivery 1 Whether the packing is good and the goods is damaged 2 Whether the servo unit servo motor is the ordered one by checking the nameplates of the goods 3 Whether the accessories are complete by checking the packing list Do not install servo unit which is damaged or lacks of components Servo driver must be matched with servomotor which performance matches the former Please contact with our suppliers or our company if there are any questions after receiving goods Model significance DA98B 04 110SJT M060D Matches servo motor type Output power see table1 a Series code Rated output Rated output Rated output 0 4 kW 1 2 kW 1 8 kW 0 6 kW 1 4 kW 2 0 kW EL 10 1 0 kW 17 1 7 kW 26 2 6 kW AA PA Ime Table 1 a Chapter 1 Overview 1 Standard accessories for DA98B servo unit D User Manual 1 2 Installation bracket 2 3 M4x8 contersink bolt 4 4 CN1 socket DB44 female 1 set note 1 CN2 plug DB25 male 1 set note 2 Es 1 Signal cable 3m can be provided when it is matched with our servo unit 2 Feedback cable 3m available should be used when our servo motor is provided 2 Standard accessories of servo motor are provided according to user manual of servo motor GSK CNC Equipment Co Ltd 1 3 Outline L
64. rque e g if the setting is the rated torque the setting is 100 The limit is valid only when the CCW torque limit input terminal FIL is ON If the limit is valid the actual torque limit is the minimum of the absolute values among the max overload allowable internal or external torque limit External torque limit set in CW direction of servo motor The setting is the percent of rated torque e g if the setting is the rated torque the setting is 100 The limit is valid only when the CW torque limit input terminal RIL is ON If the limit is valid the actual torque limit is the minimum of the absolute values among the max overload allowable internal or external torque limit D The setting is the percent of rated torque e g if the setting is the rated torque the setting is 100 2 Internal or external torque limit is valid in any conditions DAs for the motor with brake if the servo on signal is cancelled the motor will be activated for working for some time by servo unit 2 Latency setting valuex4ms Refer to Section 6 3 4 3 Model code parameters for motors PAO1 parameters for STZ series servo motor PAO1 parameter Model and technological parameters of servo motor 10 110SJT MO20E 0 6kW 220V 3000rpm 3A 0 34x10 kg m 300 0 0 30090 300 0 0 30090 110SJT M040D 1 0kW 220V 2500rpm 4 5A 0 68x10 Kkg m SG 12 110SJT MO60D 1 5kW 220V 2500rpm 7A 0 95x10 kg m 130SJT MO40D 1 0kW 220V
65. sales service network through the country With a yield in the lead in China for four years in succession GSK series products are in great demand in the domestic demand and have a ready sale in Southeast Asia at high performance to price ratio Chinese version of all technical documents in Chinese and English languages is regarded as final Forward Foreword The manual describes functions and operation methods of DA98B AC servo Drive Unit to ensure that you can comprehensively understand the servo unit to flexibly and conveniently use it Else it also provides the knowledge and notes how to operate the unit All specifications and designs are subject to change without notice eo We do not assume any responsibilities for the change of the product by users therefore the warranty sheet will be void for the change Chinese version of all technical documents in Chinese and English languages is regarded as final Thank you for using DA98B AC Servo Drive Unit and User Manual Welcome you to feedback your suggestions about our product and User Manual by the telephone or fax Email which has been addressed on the back cover of this manual or feedback to our headquarter by local outlet GSK CNC Enquipment Co Ltd Please read carefully the following warning marks if not avoided could result in injury or in heavy damage to property BE The following warnings with varying degrees of severity appear in the User Manual
66. shock or damage occurring if the indication not observed Don t approach the equipment for the unexpected starting after the power is switch on again Physical hurt occurring if the indication not observed Warning N Notes Don t inhibit the heat diffusion Observe the voltage or put object in the radiator fam instructions Electric shock fire or Electric shock fire or damage occurring if the damage occurring if the indication not observed indication not observed The power supply terminals Wiring must be assured and motor output terminals must be fastened Electric shock or hurt I occurring if the indication Fire occurring if the not observed indication not observed GSK CNC Enquipment Co Ltd Content Chapter t QVerVIOW eebe iet eset do ee ee N 1 A a a 1 1 2 Check alter ele 2 A 4 nn EE e e EE 5 2 MAS CANINE cei 5 ANP EO SEENON EEEE NEESON a rier aiai 7 Chapter 3 System configuration and assembly esee 9 IL SEFVO nit e Te m M 9 3 2 Interior diagram block of servo unit eee e eee cere eee ee eee eee e eee ee eee eaaet eeee 11 An Ee 11 3 4 VO Interface fundamental iii sedes ese ee dese se Seege 18 3 5 Standard conection vice OE OE EE Kenr EnA eti 23 SF ONIGMLAUON COME ON aena E E oo n ee ee ER uber E O OTOA 23 39 2 speed CONTO E a a a A 25 Ch pter4 Param ter iii A a 27 4 3 Model code parameters
67. should be fixed in the well ventilative dampproof and dustproof environment B Fireproof material should be used in the installation with no permission to fix it on or near the inflammable object B Run the servo unit below the temperature of 45 C for reliable long term usage Environmental requirements 0 55 C no frost lt 90 RH no dewing Operating temperature Storage delivery temperature 40 80 C and humidity lt 90 RH no dewing There should be no corrosive gas flammable gas oil fog Atmosphere environment or dust etc in the control cabinet Altitude Altitude below 1 000m Atmospheric pressure 86kPa 106kPa Guard level IP43 Installation method The driver is employed with bottom board or panel installation mode in the upright direction of installation plane Fig 2 1 is sketch map for bottom board installation and Fig 2 2 for panel installation Unit below mm GSK CNC Equipment Co Ltd 5 0 445 TI 4 M LO TI O wo Q e M M N G NN ON g JEL a S 69 5 50 p 163 09 5 5 Data inl I is applied for medium driver Fig 2 1 Bottom board installation pattern i 7 tT Y i Y nu T Fig 2 2 Panel installation pattern Installation interval Fig 2 3 is installation interval for one servo
68. smaller the setting is the better the filtering effect is If the setting is too small the speed fluctuation increases that results in severe shaking in running If the setting is too large the speed fluctuation increases with the motor screaming It is usually set for 80 PA50 Filtering coefficient of external analog instruction range 20 4096 If the setting is too small overshooting occurs in transmission with enhancing 55 GSK CNC Equipment Co Ltd fluctuation If the setting is decreased the filtering for analog instruction will be enhanced The error of the stable increases error followed increasing and running characteristic lags severely if the setting is too small If the setting is too large the speed fluctuation and instruction disturbance enhance that may result in shaking Parameter adjustment for position loop Set proper speed proportional gain PAO5 and speed integral gain PAO6 according to the methods introduced above PAO09 Orientation loop proportional gain range 10 70 PAO9 is the orientation loop proportional gain Set a larger value as far as possible in a stable range For a large orientation proportional gain on one side it can make the servo to act swiftly and the tracking trait of orientation instruction with smaller lagging error much better on the other hand too large setting may result in shaking trend of motor and too large setting may cause the motor to run unsteadily If the setting is above 14
69. the meantime alarm code is being displayed on the LED display panel Only is the fault exterminated by operator according to the alarm code displayed can the device be put into use The servo unit and motor can be touched only after they are powered off at least 5 minutes for avoiding electric shocking and burning The servo on signal SON must be confirmed invalid to avoid the unexpected starting of the motor before resetting alarm 7 1 Alarm list Lem l Value of orientation deviation counter exceeding its 4 Orientation oversize l setting The motor overheated Motor temperature too high gt l Saturation fault of speed amplifier Long saturation of speed regulator Abnormity of drive stop CCW CW drive stop OFF The orientation deviation counter Absolute value of orientation deviation counter overflowing exceeding 27 MIN Encoder fault Encoder signal error The control power supply 10 Control power supply 15V lower down voltage 11 IPM module fault IPM intelligent module fault Memek 1 Over current Motor current overlarge The servo driver and motor overloaded instantaneous 13 Overload l overheating 14 Brake fault Brake circuit fault 15 Encoder counting fault Abnormity of encoder counting 6 Motor overheating Value of motor heating exceeding setting l t detection 57 1 GSK CNC Equipment Co Ltd Data and detecting alarm of 20 EEPROM chip damaged EEPROM Zero adjusting error of encoder Zero adjus
70. tics and so on which can meet the requirement for the different functions by user The user should make a complete study of the parameters before searching setting and adjusting the parameters by the control panel 4 1 Parameter list P orientation S speed No Name Applicable Setting range Factory setting Unit mode MEER AAA PROT Woiorype cede ef PW swewe eg A am mmer wm 9 PW Teens LI D en SweiWegsonume ia PS S Jr 4 PS PA 11 Orientation feedforward instruction filter cut off frequency PA 12 Orientation instruction pulse dividing 1 1000 1 S 0 100 1 1200 Hz numerator PA 13 Orientation instruction pulse dividing denominator 1 32767 Pulse 1 PA 14 Input and analog instruction selection of orientation instruction pulse PA 15 Orientation instruction pulse reverse direction PA 16 Orienting completing range Orientation out of tolerance detecting mi AED 15 900 200 0 300 1 1 20 400 PA 17 range PA 18 Orientation out of tolerance invalid PA 19 Reverse analog speed PA 20 Drive stop input invalid 0 30000 MN x100 pulse IAE NN EIE e IIA S S PS S PS S N GSK CNC Equipment Co Ltd PA 25 Internal speed 2 S 30000 30000 0 1rpm PA26 Internal speed 3 EN 30000 30000 2000 PA27 Internal Ge ER 30000 30000 3000 ma mar EE ser qx Ewe Tem Dass AN L eee Nee m cwer w ll E 5
71. ting fail of encoder Current sampling fault Current Current sampling circuit fault circuit fault EAM UVW signals M lid Complete high or low level of UVW signals invali 7 2 Alarm troubleshootings Alarm l Alarm name Running state Cause Remedy code Occurring in switching D l 1 Control circuit board fault CD Change servo driver Err 1 Overspeed on control power 2 Encoder fault 2 Change servo motor supply The frequenc of VU Set correctly the input instruction pulse input is l instruction pulse overhigh D Acceleration deceleration time constant is too small to COlncrease acceleration cause the speed deceleration time constant overshooting too large Occurring in motor The electronic gear ratio D Set it correctly Farininig input is too large 1 Encoder fault 1 Change the servo motor Encoder cable is inferior D Change the encoder cable D Set the related gain l again 1 Servo system is not stable 2 If the gain can not be set to cause the overshooting to a proper value reduce rotation inertia ratio of load l l Reduce load inertia Occurring in the a 1 The load inertia is too large Change driver and motor starting of the motor with larger power ones 1 Change servo motor 1 Encoder zero fault 2 Re adjust encoder zero by manufacturer 58 4 A ter 7 Function for protection _ 7 Function for protection D The U V W lead wires of th
72. uction 1 32767 Refer to Section 6 2 5 pulse dividing 2 The bigger the setting value is the higher the integral speed is and the bigger the rigidity is Parameter value is determined by specific servo unit model and load Generally the bigger the load inertia the smaller the setting value is 3 Set the bigger value if there is no vibration for system Set cut off frequency of low pass filter of torque instruction It is used for limiting the frequency band of current instruction to get the stable current response against the impact and vibration of the current Set the bigger value if there is no vibration for system Low pass filter cut off frequency set for speed detection The smaller the setting value is and the lower the cut off frequency is the lower the noise from motor is If the load inertia is very large reduce the setting value properly If the value is too small vibration may be caused by slow response The bigger the setting value is and the higher the cut off frequency is the quicker the speed feedback response If higher speed response is needed the setting value can be increased appropriately Proportional gain set of orientation loop regulator he bigger the setting value is the higher the gain is and the bigger the rigidity is the smaller the orientation lag is But if the value is too big the vibration and overshoot may occur 3 The value is decided by special servo unit model and load D Feedforward
73. urs in the transmission and loading alternation The smaller the value is the larger the overshooting is Extreme overshooting will result in the low frequency oscillation KP increasing may lower the error of the stable in the steady system and increase the controlling precision but the error cant be exterminated If the PAO5 value is lower than 100 normal cutting is unavailable for over cutting occurred If the value is higher than 900 severe screaming occurs In the absence of oscillation set a larger value as far as possible Usually the bigger the load inertia is the smaller the PAO5 value set is PAOG Speed loop integral gain range 1 15 PAO6 is speed loop integral gain In practice the parameter can be set in a range of 1 15 the error of the stable will be lowered if it is properly set and speed fluctuation lowered If the value is set for too large shaking occurs and running speed fluctuation increases It is usually set for 2 or 3 PAO7 Filter coefficient of torque instruction range 300 1200 Used for the cut off frequency setting of low pass filter of torque instruction It is used for limiting the instruction frequency band of current to make the current respond steadily against current shock and vibration If the value is too small the motor shakes Seta large value as far as possible if no oscillation occurs It is usually set for 600 PAO08 Low pass filter filtering coefficient of speed detection range 40 1000 The
74. value of max speed corresponding to max analog voltage 0 31000 denominator for linear speed for 1 the decimal point orientation of linear speed is 3 linear speed can be displayed in monitor with the unit m min When the speed of motor is 500r min linear speed 5 000m min will be displayed PA31 Conversion 1 32767 denominator for See parameter No 30 linear speed PA 32 Decimal point for 0 5 See parameter PA30 linear speed PA 34 Internal CCW torque Internal torque limit set in CCW direction of servo motor 0 30096 limit 2 The setting is the percent of rated torque e g if the setting is the double of rated torque the setting is 200 32 Chapter 4 Parameter PA 35 PA 36 PA 37 PA 38 PA 52 Internal CW torque limit External torque limit External CW torque limit JOG torque limit of trial speed Latency stop for hold 3 The limit is valid under any conditions 4 If the setting exceeds max overload allowable the actual torque limit is the max loading Internal torque limit set in CW direction of servo motor The setting is the percent of rated torque e g if the setting is the double of rated torque the setting is 200 S The limit is valid under any conditions If the setting exceeds max overload allowable the actual torque limit is the max loading External torque limit set in CCW direction of servo motor The setting is the percent of rated to
75. ver and motor with larger ones 1 Change servo driver 1 Check power supply 1 Check power supply D Check load Change the servo driver GSK CNC Equipment Co Ltd DD U V W lead wires of motor are not connected correctly 1 Connect them correctly 2 Lead wires of encoder cable are not connected correctly D Encoder fault 1 Change the servo motor detecting setting range is too Increase the setting range the motor doesn t D The orientation oversize rotate after switching on the main power supply and the control SE l l 1 The orientation proportional wires and inputting EEN D Increase the gain l gain is too small instruction pulse 1 Check the torque limit value 2 Reduce the load 1 Torque is not enough capacity 3 Change the driver and motor with larger power ones D Instruction pulse frequency D Reduce the frequency is too high 1 Circuit board is at fault 1 Change the servo driver Occurring in switching Cable is broken on contro power a D Check the cable suppl nternal temperature rela Upp y j d 2 Check the motor of motor is damaged D Reduce the load 2 Reduce the start stop Motor frequency Err 5 overheated imi V Securing im dolor 3 Reduce the torque limit nine D Motor is overloaded value 4 Reduce the related gain 5 Change the driver and motor with larger power Ones

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