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DOOSAN AC SERVO MOTOR/DRIVER
DASD - RH Series
Model : 1.0/2.0/3.5 KW

Maintenance manual

1. For the prevention of electric shock

☞ Please make a wire work and inspection more than 5 minute later after power is
off, and do the next work after checking the voltage by a tester because it may
cause the electric shock.
☞ Please make sure to ground the servo driver and servo motor.
☞ Please make the wire work and inspection by an authorized expert.
☞ Please make the wire work after setting up the servo driver and servo motor.
☞ Please do not touch the switch by wet hand to prevent the electric shock.
☞ Please do not damage and stress the cable.
☞ Please do not put the heavy goods on the cable because it may cause the electric
shock.

2. For the fire prevention

☞ Please install the servo driver and servo motor to the noninflammble materials. If
you install it to the inflammble materials directly or near the inflammble materials,
it may cause the fire.
☞ In case the servo driver is broken, please turn off the power from the part of
electric shock on the servo driver. If the high electric current is flowed
continuously, it may cause the fire.

3. For the injury prevention

☞ Please permit the correct voltage in the maintenance manual to each terminal only to
prevent the breakage, damage and rupture.
☞ Please do not make a mistake when terminal connection. it may cause the breakage and
damage.
☞ Please make sure the right pole( + , - ) to prevent the breakage and damage.
☞ Please do not touch the heat sink of servo driver and servo motor when power is on
or a few moment after power is off because it is heated. Do not touch the parts
(cable, etc), it may cause the damage and burn.

≪ Caution for safety operation ≫
♣ Caution before installation
● Please keep the installation direction.
● Please do not throw down it and make an impact.
● Please do not install it at the place of water, corrosive gas, inflammble gas
and materials.

♣ Caution for the wire work
● Please use only AC 200 ~220V for the input power supply of servo driver.
● Please connect the ground to the ground terminal.
● Please do not connect the main power supply to servo motor directly.
● Please do not connect the main power supply to output terminal U, V, W of servo
driver directly.
● Please use only the compression terminal with insulated tube when wiring the
power terminal of servo driver.
● Please wire the cable for power(U, V, W) and encoder cables of servo motor
separately.

♣ Caution for operation
● Please check and adjust each manu before operation.
● Please do not touch the shaft of motor rotation when operating motor.
● Please do not touch the heat sink when operating motor.
● Please connect or disconnect the connecter of CN1,CN2 when power is off,

♣ General caution
● The contents of this manual may be changed according to the product modification
and the standard change.

♣ Caution when the first installation
● Please make sure the power voltage (AC200~220V) and the wire before power is on.
● Please apply the first power when the servo is turned off.
● First of all, please check the name of motor and the number of encoder pulse
before power is on.
● And then, set up the operation mode of servo driver by connecting with the upper
numerical controller like the menu.
● Please wire CN1 connector of servo driver according to each operation mode as
referring to the system structure.

♣Caution when the maintenance and inspection
● Please turn off l1,l2 of the control power and L1,L2,L3 of the main power, and
check the state of power off after enough time passes. After that, please do the
maintenance and inspection.
It is dangerous because the charged voltage in inner electrolytic condenser is
remained.
● Please do not touch the terminal when power is on because high voltage flows.
It may cause the electric shock.
● Please do not repair, inspect, replace the components except for authorized
expert and engineer.
● Please do not alter the products.

2 Flow chart of CN1 connector terminal 2.3 Torque-Speed Characteristics of Servo Motor 2.2 Specifications of TURRET Servo Driver 1.1 Specifications of TURRET Servo Motor 1.1 Explanation of CN1 Connector 2.< CONTENTS > IMPORTANT 1. Specifications of TURRET Servo Motor and Driver 1. Explanation of Driver Structure and connection diagram 2.5 Detailed explanation of parameter setting mode for user 4.2 Trouble diagnosis and countermeasure .1 Status mode 4. Operation 3.4 Structure of driver Input/Output circuit 2.2 Diagnosis mode 4. Explanation of each mode display 4.3 Flow chart of CN2 connector terminal 2.4 Parameter list 4.3 Parameter setting mode 4.5 Connection diagram 3.1 Automatic operation 3.1 Maintenance and inspection 5. Maintenance and inspection 5.2 Method of machine reset 4.6 Alarm record mode 5.

stop the servo motor before shutting down the servo driver (terminal L1.IMPORTANT Ⅰ. use wire 30mm 2 thicker than the power line of U. ① Do not heat above 100℃ and do not open when there is fire. 10) This product uses batteries. Caution : This symbol means if not handled properly. L3. If used inappropriately. 7) Cover the terminal block while using the servo driver in order to prevent electric shock. 9) Do not dismantle the servo driver for another 5 minutes after the main power is turned off-charged voltage may still remain inside the driver. 3) While installing and wiring. To connect the wire. Take the following precautions while using the battery. use wire 30mm 2 thicker than the electric wire of the terminal L1. W. ② Do not take it apart. explosion or fire may occur. V. L2. there is 1) possible danger such as electric shock. turn the power switch off. L2. V. For PE terminal block. . 2) Take appropriate measures of protection while the servo motor is in operation. uninstalling and transferring the servo motor. 6) Take precautions while mounting. there is possible 2) danger of acquiring mild to severe injuries or machine damages. (The contents are harmful to the eye) ③ Do not recharge it. Warning 1) Do not use in areas near corrosive. Ⅱ. 5) Connect the PE terminal block of the servo motor to the PE terminal block U. L3(T) to one-point with the class 3 (below 100Ω) ground circuit. dismantling. in order to prevent electric shock. W of the servo driver in order to prevent electric shock. Definition of Symbols for Warning Warning : This symbol means of not handled properly. input and output power switch and input and output signal in order to prevent electric shock. 11) During emergency shut down. L3). The contents of the battery are harmful to the eye. in order to prevent electric shock or other malfunctions. L2(S). inflammable or explosive gas. 8) Use SELV for maintenance brake power switch. 4) Ground the PE terminal block of the front panel terminal block L1(R).

V. Use in areas free of water or oil to prevent it from touching the main wire of the servo motor.Ⅲ. W terminal block of the servo motor. ④ While doing the resisting pressure test or insulation voltage test. ⑥ Prevent water or oil from directly touching the servo motor. ⑦ Do not use the servo motor and driver differently other than stated in this manual. ① Do not connect the power directly to the U. The servo motor will be damaged. V. Also avoid the test voltage from affecting the encoder connector terminal of the servo motor. 2) Avoid the following to prevent damages to the servo motor and servo driver. ⑤ Do not install the servo motor and the servo driver differently than it should. ② Avoid external impact such as hammering to the servo motor. Take appropriate measures of protection. Caution 1) To avoid burns. disconnect the terminal of the servo driver terminal block or all the connectors and avoid the test voltage from affecting the servo driver. . do not touch the heat protecting board or the regenerative resistor of the servo motor and driver while the servo motor is in operation or right after the power switch is turned off. W terminal block of the servo driver. ③ Do not connect the power to the U. The encoder inside the servo motor will be damaged.

4 Nㆍm 14.7 9. cooling method Totally closed.05 35.3 49.1 365. self cooled Ambient temperature 0 ~ 40° C Ambient humidity 20 ~ 80 % Mounting structure Flange type Insulation resistance DC 500V 50 MΩ Insulation voltage AC 1500V one minute Vibration grade V15 .31 34.5 Nㆍm 4.1.7 97.1 Specifications of Turret Servo Motor Items Model DS-RH10ZA-1 DS-RH20ZA-1 DS-RH35ZA-1 1.5 kgfㆍcm 48.2 37.0 3.33 14.8 Rated speed(RPM) 2000 2000 2000 Maximum speed(RPM) 3000 3000 3000 7.4 511.79 F Class F Class F Class Rated output(KWatt) Rated Torque Instant maximum Torque Rotor inertia GD² /4 gfㆍcmㆍs (kgㆍm² ×10 Insulation grade Detector 2 −4 ) Multi-turn Absolute Encoder (17bits/1rotation) Protection.4 170.6 kgfㆍcm 146.0 2.48 14. Specifications 1.50 7.5 16.

Torque control Control signal input Servo ON. Jog. Ready. over load. under voltage.3 Torque-Speed Characteristics of Servo Motor DS-RH10ZA-1 DS-RH20ZA-1 DS-RH35ZA-1 . over speed.3 19. 50/60Hz Control method IPM full wave rectified. Inposition. sine wave PWM control Control mode Position.2 Specifications of TURRET Servo Driver Items Model Rated current[Arms] DASD-RH10SPZA DASD-RH20SPZA DASD-RH35SPZB 6. Unclamp Position output 7bit present position output Protection over voltage.1.5 12. +10/-15%. Sensor Position input 7bit pulse reference input Control signal output Alarm. over current. Start. Speed. encoder error Mounting Dimension[mm] (W x H x D) Rack Mount Type 115 x 230 x 203 140 x 250 x 250 1.8 Main input voltage Triple phase AC 200 ~ 220V. Stop.

28. it moves toward the POST of position data input (POSI0~POSI6) of the motor. /SENSOR 21 /SVON 22 Description This signal judges an Unclamp or Clamp. the direction of the rotation can be fixed to one direction.JOG Operation signal (fix value of parameter 3 to "1") Used for manual jog operation signal. JOG. DASD-RH20SPZA Signal PIN No. signal. 25. According to the fixed value of parameter 3. . the motor rotates clock wise. /POSI6 COM2 7 9 (minimum input data is '1'.signal is ON : When the signal is on. and runs the rest of the distance. the motor stops at the nearest POST.1 CN1 Connector Explanation of DASD-RH10SPZA. Maintain the time it is ON at minimum 50msec. When the signal is ON. the motor remains free . POSI0~POSI6 signals. COMMON terminal of sequence input signals (When DC 24V is input. 6. CW signal is ON : Direction of the rotation is fixed clock wise. Input Input Input Input Input Input .) COMMON terminal(+24V) of START. This is spare signal. the motor stops at the nearest POST. the signal turns ON) When this signal is ON while SVON signal is ON. CW is ON : Can not be defined.fixed direction signal (fix value of parameter 3 to "0") When the position is moving. and when it is off. Rotation speed and Accel/Decel time is the same as when it is operated automatically.1.2.1 Explanation of CN1 Connector 2. but ignore it during running by /STOP 4 /SPARE 3 COM1 5 /START 8 automatic operation. /POSI3. /POSI0. Explanation of Driver Structure and connection diagram 2. This signal makes the motor ready to start operation. Input data more than 10msec before the START signal is ON. /POSI5. /POSI1. /JOG+(CCW) 20 /JOG-(CW) 23 CCW. 24. CCW signal is ON : Direction of the rotation is fixed counterclock wise. Input . JOG+ signal is ON : When the signal is on. /POSI4. 27. Input POST to 7bit binary code to set the position data input /POSI2. the motor rotates counter-clock wise and when it is off. the motor stops. When the motor starts according to input. When this signal is off. CCW signal is OFF : Direction of the rotation is automatically set by short distance. there are 2 types I/O Input Input of modes. 26.

the driver turns on after the normal condition. if the pulse error is within the fixed Output value of parameter 18. thus a different relay contact point must be used from the actual brake ON/OFF.Signal PIN No. when output BRAKE- 13 contact point is OFF. the output is 'ON'. 33. POSO6 14 As position data output signal. The servo is ready. 34. the signal will not be on. POSO5 35. this signal controls the power ON/OFF for the brake. POSO2. POSO0. This signal is running the contact point of Unclamp solenoid. it will output data of the nearest POST number. POSO1. When SVON is OFF and this turns off after fixed time of parameter 14. the signal turns ON. design the circuit diagram to control the Output brake). SPARE). (This signal is Unclamp after it is ON) COMMON terminal of sequence output signals(ALM. SVRDY. when SVON is ON and this turns on after fixed time of parameter 14 and then SVRDY is ON after fixed time of parameter 13. Position completion signal output. When SVON is OFF. output is 'OFF' and when it is normal. the POST number is sent out in 7bit binary code. It will be on before the VPF turns on. 31. VPF 16 After the motor moved. the circuit so that BRAKE+ 12 when output contact point is ON. I/O Output Output Output Output In case there is an inner brake in the motor. the driver turns off. ALM 30 SVRDY 10 UN-SOL 29 COM3 11 Description Alarm signal is on. the brake is free. When the SVON is OFF. While the motor is rotating. Output . 36. POSO3. (The current flow capacity is within 30mA due to the output of photo coupler contact point. When the SVON is ON. 32. POSO4.

26. and when it is off. CW is ON : Can not be defined. This signal makes the motor ready to start operation. 11. CCW signal is OFF : Direction of the rotation is automatically set by short distance. the motor rotates clock wise. This is spare signal. . but ignore it during running by /STOP 23 /SPARE 24 COM1 40 automatic operation.2. Input /POSI6 COM2 Input . there are 2 types of modes. the motor rotates counter-clock wise and when it is off. 27. /POSI3. POSI0~POSI6 signals. COMMON terminal of sequence input signals (When DC 24V is input. the motor stops at the nearest POST. /SENSOR 6 /SVON 7 Description This signal judges an Unclamp or Clamp.fixed direction signal (fix value of parameter 3 to "0") When the position is moving. /POSI5. and runs the rest of the distance. JOG+ signal is ON : When the signal is on. /POSI1. When this signal is off. CCW signal is ON : Direction of the rotation is fixed counterclock wise. the motor stops.JOG Operation signal (fix value of parameter 3 to "1") Used for manual jog operation signal. 10. the motor stops at the nearest POST.) 44 COMMON terminal(+24V) of START. 42 (minimum input data is '1'. it moves toward /START 43 the POST of position data input (POSI0~POSI6) of the motor. the direction of the rotation can be fixed to one direction. /POSI4. /POSI2. Input data 10msec before the START signal is ON. /POSI0. the signal turns ON) Input Input Input When this signal is ON while SVON signal is ON. Input . When the signal is ON. CW signal is ON : Direction of the rotation is fixed clock /JOG+(CCW) 8 /JOG-(CW) 22 wise. Input Maintain the time it is ON at minimum 50msec. Input POST to 7bit binary code to set the position data input 12. JOG.signal is ON : When the signal is on. Rotation speed and Accel/Decel time is the same as when it is operated automatically. signal. 28. CCW.2 CN1 Connector explanation of DASD-RH35SPZB Signal PIN No. the motor remains free. I/O Input Input According to the fixed value of parameter 3.1. When the motor starts according to input.

output is 'OFF' and when it is normal. POSO2.SPARE). the circuit so that BRAKE+ 19 when output contact point is ON. POSO3. POSO5 31. VPF 47 After the motor moved. if the pulse error is within the fixed Output value of parameter 18. the signal turns ON. thus a different relay contact point must be used from the actual brake ON/OFF. (This signal is Unclamp after it is ON) COMMON terminal of sequence output signals(ALM. GND 1 GROUND SHIELD 18 Frame ground (it is connected with Shield of cable. The servo is ready. BAT- 50 Battery(3. when SVON is ON and this turns on after fixed time of parameter 14 and then SVRDY is ON after fixed time of parameter 13.SVRDY. POSO1.Signal PIN No. When SVON is OFF. 30. Output . When the SVON is ON. As position data output signal. 15. (The current flow capacity is within 30mA due to the output of photo coupler contact point. When the SVON is OFF. design the circuit diagram to control the Output brake). this signal controls the power ON/OFF for the brake. When SVON is OFF and this turns off after fixed time of parameter 14. when output BRAKE- 20 contact point is OFF.6V) voltage power (+). 16. the driver turns on after the normal condition. POSO6 46 BAT+ 49 Battery(3. POSO4.) 7bit binary code. ALM 4 SVRDY 35 UN-SOL 3 COM3 36 Description Alarm signal is on. Position completion signal output. 14.6V) voltage power (-). it will output data of the nearest POST number. the brake is free. It will be on before the VPF turns on. the signal will not be on. the driver turns off. I/O Output Output Output Output In case there is an inner brake in the motor. While the motor is rotating. This signal is running the contact point of Unclamp solenoid. 32. the output is 'ON'. the POST number is sent out in POSO0.

Manufacturer : 3M 19 21 2 23 4 25 6 27 8 29 10 31 12 33 14 35 16 2.2. 10136-3000VE (Plug) . DASD-RH20SPZA Spec. MR-50LF (Plug) .2 Flow chart of CN1 connector terminal of DASD-RH35SPZB Spec.2.2.2 Flow chart of CN1 connector terminal 2.1 Flow chart of CN1 connector terminal of DASD-RH10SPZA. Manufacturer : HONDA 18 SHIELD 17 16 POSO2 15 POSO1 14 POSO0 13 12 POSI2/ 11 POSI1/ 10 POSI0/ 9 8 JOG+/ 7 SVON/ 6 SENSOR/ 5 4 ALM 3 UN-SOL 2 1 32 POSO5 31 POSO4 30 POSO3 29 28 POSI5/ 27 POSI4/ 26 POSI3/ 25 24 SPARE/ 23 STOP/ 22 JOG-/ 21 20 BRAKE- 19 BRAKE+ 50 BAT- 49 BAT+ 48 COM4 47 VPF 46 POSO6 45 44 COM2 43 START/ 42 POSI6/ 41 40 39 38 37 36 COM3 35 SVRDY 34 GND COM1 33 18 . : 10236-52A2JL (Housing). : MR-50RMA (Housing).

2. Manufacturer : 3M 2. DASD-RH20SPZA 규격 : 10220-52A2JL (Housing).3. MR-20LF (Plug) .1 Flow chart of CN2 connector terminal of DASD-RH10SPZA.3.3 Flow chart of CN2 connector terminal 2. : MR-20RMA (Housing). 10120-3000VE (Plug).2 Flow chart of CN2 connector terminal of DASD-RH35SPZB Spec. Manufacturer : HONDA 7 6 5 4 3 2 1 +5V +5V +5V 13 GND 12 GND 11 GND 10 9 8 20 SHIELD 19 BAT- 18 BAT+ 17 16 15 PRX/ 14 PRX .

POSO0~POS06 are photo coupler output. START. SVON. ALM. AC SERVO DRIVE COM3 or COM4 +24V 50mA max R L O A D . SW ② Output The signals of SVRDY. JOG+.4K +24V COM1 COM2 5mA TR TLP620 or EQ. (The current is limited to 5mA due to inner resistance. SPARE. JOG-.2. thus the current is limited to 50mA.) AC SERVO DRIVE 4. POSI0~POSI6 can be used the following method.4 Structure of driver Input/Ouput circuit ① Input The signals of SENSOR. STOP. VPF.

2. Twisted Pair Shielded Cable 2.5. Use for Built-In Brake Type Motor B CN2 RY2 DC24V FG RY1 MC1 TB1 MC1 3 MC1 DC24V 5 SPARE 19 OPERATOR PG .5 Connection diagram 2. .1 Connection diagram of DASD-RH10SPZA and DASD-RH20SPZA 3 Phase AC 220V MCCB TURRET SERVO DRIVE NOISE FILTER NC POWER POWER OFF ON CN1 MC1 COM1 SEQUENCE INPUT 4 JOG JOG + SVON sensor COM3 SEQUENCE OUTPUT DC24V SVRDY RY1 L1 (R) MC1 STOP L2 (S) 23 L3 (T) 20 AC SERVO MOTOR 22 21 F U V I W B PE D 11 10 ALM 30 UNSOL 29 BRAKE + 12 BRAKE - 13 M E *2 G RY3 DC24V DC24V RY2 H A 5 *2 COM2 POSITION INPUT START POSI6 POSI5 POSI4 POSI3 9 8 7 6 28 6 B 7 C 8 D 9 E 14 27 POSI2 26 16 POSI1 25 17 24 18 POSI0 19 COM4 POSITION OUTPUT DC24V 15 1 VPF 16 11 POSO6 14 POSO5 36 F 10 15 K RX L RX M N VBAT+ P VBAT- R +5V H GND G 2 12 3 POSO4 35 13 POSO3 34 POSO2 33 POSO1 32 POSO0 31 SHIELD *1 20 J Battery GND 17 1 CN3 2 SHIELD *1 NOTE 1.

2 Connection diagram of DASD-RH35SPZB .5.2.

please turn 'OFF' the SVON signal. (Maintain ON status of START signal to about 50msec~100msec) When the operation is started and UNCLAMP SENSOR will turn on after UNCLAMP SOLENOID is ON. ⑤ After position movement is completed. ⑥ From the upper controller. the absolute encoder will detect the initial position and output the position data according to the initial position. SVRDY will turn ON after inner GATE is ON. ③ When START signal is ON. The current position data will be output and then the inposition signal(VPF) will be 'ON'. this signal waits for the fixed time of parameter 31. After that output the inposition signal (VPF). After UNCLAMP SENSOR is OFF. this signal waits for the fixed time of parameter 32.1 Automatic operation ① If the drive operates normally (after 500msec) after the POWER is 'ON'. After UNCLAMP SENSOR is ON. UNCLAMP SOLENOID signal is OFF and UNCLAMP SENSOR input will turn off.3. (Move to the next position after SVRDY signal is OFF) . if VPF signal is 'ON'. ④ When movement is started. ② When SVON signal is ON and. the servo will move according to the position data. VPF(inposition signal) will turn 'OFF'. Operation 3.

SET ④ Press UP or DOWN key to adjust the data of last 4 segments on the POST number of the current position. ③ Press SET key and the dot under the first two segments will be blinking. ꊲ Clamp the Turret.3. MODE parameter setting mode ② Press UP key and change the number of the first two segments to 08. please set the zero-point of absolute encoder to the status of original machine. ① Press the MODE key and change the operating display to parameter setting mode.2 Method of machine reset When assembling the first motor. The Setting method is as follows. (The below steps should be done when the external servo signal is OFF. (example :If the current position number is 10.) ꊱ Turn 'ON' the power to the machine power supply. ꊳ Fix the POST number of the current position to parameter 8 . 10 is set as the initial POST) .

. ① Press the MODE key and change the operating mode to the diagnosis mode of servo ON/OFF. The data will be stored and the dot will appear after a while.⑤ Press SET key and the dot under first two segments will disappear. MODE Diagnosis display ② Press the DOWN key and change the display to zero-point setting mode. The display will turn back to the former status. (After turn off the power and then turn on it again. the stored data will be displayed) ⇨ ⇨ SET ꊴ Set the zero-point at zero-point setting mode in diagnosis mode. ③ Press SET key for 5 seconds and the display will set the parameter related to the zero-point automatically and turn back to the zero-point setting mode.

SET press for 5 secs. . The zero-point setting is completed. ꊵ Turn OFF the power and then ON again.

4. Explanation of each mode display .

the dot under the segment will light up and when SVON signal turns OFF.0.4. ① Command pulse accumulation The command pulse accumulation will accumulate the pulse capacity counted by the inner position control device to move the target position after the START signal is on and it will be displayed and divided into lower and upper word(16bit).0. : Display range of remaining pulse accumulation value [6. ~ 600000] : minus display (-100) . Display range [00000 ~ pulse per turret rotation] : Lower word of current position : Upper word of current position ③ Remaining pulse It will display the Error capacity between position command and position feedback as accumulating the pulse unit.0. : Lower word display range of command pulse accumulation value [00000 ~ 65535] : Upper word display range of command pulse accumulation value [00000 ~ 65535] ② Current position The absolute current position within one turret rotation will be displayed by pulse counts. If the value is minus pulse.0. If the pulse exceeds over the set value of the parameter 19. When SVON signal is off.0. it will resume to '0'. the overload alarm of position deviation will appear. it will resume to '0'.1 Status mode ▶ The function of status mode can check the status of the driver during the operation. It will be displayed and divided into lower and upper word(16bit).

(To view the speed changes. The changes of fast speed cannot be seen due to inner filtering process. The value will be renewed only when the motor stops or when SVON signal is OFF. If the value is the minus. use the monitor output) In case of counterclockwise rotation (clock wise in side of motor). (a count per motor rotation) When the count exceeds 8191.0 ~ 300. : Display range of current POST number [1 ~ max POST no.0] : minus display (-100%) . it will resume to '0'. : Display range of motor rotation speed [-3000 ~ 3000] : minus display (-1000rpm) ⑥ Absolute value of encoder rotation count Displays the rotation count of the absolute value of encoder built in the motor. : Display range of absolute value of encoder rotation speed count [0 ~ 8191] ⑦ Absolute value of encoder one rotation Displays the pulse count per rotation of the absolute value of encoder built in the motor. (100% is standardization). '-' will be displayed. (2048 count per rotation) When the count exceeds 2047. it will resume to '0'.] ⑤ Motor rotation speed The rotation speed of the motor is displayed by RPM unit.④ Current POST number This displays the post number of current position. : Display range of absolute value of encoder pulse count per rotation [0 ~ 2047] ⑧ Effective load factor It is displayed the percent(%) unit counted the effective value of current load. a '-' will be displayed and it will resume to '0' when the SVON signal is OFF. : Display range of effective load factor [-300.

The contents and it's use is as follows. ▶ It will display on the OP panel LED display of driver. a '-' will be displayed and it will resume to '0' when the SVON signal is OFF. ① Servo ready status : SVON signal is OFF and then displays the free status of motor.0 ~ 300. SEQUENCE INPUT SENSOR SVON JOG + JOG - STOP < external input signal > .2 Diagnosis mode ▶ This is very convenient mode to verify the external sequence status and the system condition.0] : minus display (-250%) 4. : SVON signal is ON and displays the available running status. ② Sequence I/O signal Display ON/OFF status of external input signal in 7 segments. While the SVON signal is ON. If the value is the minus.⑨ Maximum load factor It is displayed the percent(%) unit counted the maximum value of current load. : Display range of maximum load factor [-300. it is always renewed the maximum value and can be resumed to '0' as pressing the operator SET key.

) ③ Position data I/O signal Display the ON/OFF status of position data input signal in 7 segments. SEQUENCE OUTPUT BAT_L ALM BRAKE SVRDY < external output signal > ▶ The I/O display of 7 segment LED display panel will be displayed when the LED is on and this will verify ON and OFF. the LED will be off. if it is OFF.Display ON/OFF status of external output signal in 7 segments. the LED will be on. POSITION INPUT START POSI0 POSI6 POSI1 POSI5 POSI2 POSI4 POSI3 < PLC input signal > . (If it is ON.

SET SET . Resume to initial display mode .) ④ Passive Unclamp output It outputs Unclamp signal by the hand. the LED will be on. (If it is ON. set the output data by the SET key. if it is OFF. POSITION OUPUT VPF POSO0 SOL-OUT POSO1 POSO5 POSO2 POSO4 POSO3 < PLC output signal > ▶ The I/O display of 7 segment LED display panel will be displayed when the LED is on and this will verify ON and OFF. the LED will be off.Display the ON/OFF status of the position data output signal in 7 segments. UCON signal OFF UCON signal ON SET SET .

and it will change to Jog operation mode. Resumes to initial display mode ⑤ Parameter initialization Saves in Memory as resetting the parameters by fixing value when outgoing.⑤ Jog operation The driver operates jog operation by itself regardless of external signals. . Jog operation mode CCW rotation CW rotation SET . When setting the zero-point. The driver will rotate according to the fixed speed of parameter 27 while pressing the UP or DOWN key. use this to move the right position of fixed POST. SET If press the SET key and the SVON signal will turn ON automatically. SET Press SET key and it will carry out the Parameter initialization. . but The parameters related to the zero-point setting will remain the value as it is. The stored value when sending out will be reset if pressing the SET key.

SET Press the SET key and it will initialize the position compensation value. 4. Parameter setting mode ② Set the first two segments for intended setting number by pressing the UP key.⑥ Initialization of position compensation value Saves in Memory as initializing the position compensation value per POST to '0'. the setting method is as follows. (example : in case of fixing the data to 10) . Press the SET key and it will start the initialization. (example : set 08) ③ The dot will appear under the first two segments when Press the SET key.3 Parameter setting mode The parameter must be set according to the system composition and operation contents before the motor operation. ① Set the operator display to parameter setting mode by pressing the MODE key. SET ④ Set the latter 4 segments for intended setting number by pressing the UP or DOWN key.

The parameter is for maker management. the dot will appear and it will resume to the initial value before the set up. Please do not change it. Driver will not operate properly) . After a while.⑤ When Press the SET key in current status. and the data will be saved. and it will display the set value. SET When the zero-point setting. the dot under the first two segments from parameter 10 to 33 will appear. (If you change this parameter. parameters from 34 to 45 is set automatically. the dots under first two segments from parameter 00 to 09 will appear. SET ⑥ When press the SET key.

D When machine zero-point setting. C 10/128 V B. Adjusted parameter operated as follows. B A.4 Parameter list N0. but temporary save. jog function selection reserve parameter maximum POST number gear ratio . B A. User can not set it as automatic setting or for a maker management. B POST A. it will be vaild right away. C B.4. ☞Note. C Valid to set on SVON status. B POST A. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 Section A Abbr. It has to be reset on SVON is OFF. B Rev A.motor side gear ratio . After the setting. B A. B Available to set on SVON is OFF. B A.machine side POST number of home reserve parameter position loop proportional gain speed loop proportional gain speed loop integral gain servo ready on delay time brake off control delay time brake on delay time monitor offset voltage monitor selection positioning complete range remaining pulse allowance position loop feed-forward gain feed-forward filter time constant positive torque limit 1 negative torque limit 1 positive torque limit 2 negative torque limit 2 speed limit jog speed at set home operation speed acceleration time deceleration time speed monitor output voltage torque monitor output voltage initial status display encoder coordinates compensation (lower) encoder coordinates compensation (upper) set value of machine zero-point (lower) set value of machine zero-point (upper) current loop proportional gain current loop integral gain encoder pulse per one rotation feedback pulse (lower) feedback pulse (upper) acceleration rate of remaining value accel rate compensation of remaining value reserve parameter Range 0 0 ~ 1 0 0 ~ 1 0 2 ~ 127 1 ~ 9999 1 ~ 9999 1 ~ 127 0 0 ~ 2048 0 ~ 2048 0 ~ 2048 0 ~ 40 0 ~ 40 0 ~ 40 -12 ~ 12 0 ~ 3 1 ~ 9999 1 ~ 6000 0 ~ 100 0 ~ 100 0 ~ 300 0 ~ 300 0 ~ 300 0 ~ 300 0 ~ 3000 1 ~ 1000 10 ~ 3000 0 ~ 500 0 ~ 500 0 ~ 1000 0 ~ 1000 0 ~ 10 Default 0 1 0 0 0 12 33 12 1 0 256 250 1 0 0 0 0 0 100 6000 0 0 250 250 50 50 1850 100 1800 50 80 100 100 6 Unit Division A. MPC MRD JFS MPN GR1 GR2 HSP PKP VKP VKI SROT BFT BOT VTO VTM INP RPA FFG FTC TLP1 TLN1 TLP2 TLN2 VLS JSP VEL ATC DTC UDT CDT ISD AOL AOM HOL HOM IKP IKI EPN FPL FPM ACR REM - Name motor power capacity motor running direction reserve parameter fixed direction. C PULSE B 100 PULSE B % B 4 msec B % B % B % B % B rpm B rpm B rpm B msec B msec B msec B msec B B D D D D D D D D D D D D Contents Power is OFF after parameter setting. B A. C 50 msec B. B A. B B. C 50 msec B. and the setting value will be valid if it is put into again. C B. C B. . C 50 msec B.

OFF ON The motor always rotates to clock wise.5 Detailed explanation of parameter setting mode for user [1] No.1 : Motor rotation direction This sets the motor rotation direction.3 : Direction fixing and selection of JOG function Defines the function of JOG+(no. 1 : Defines JOG operation signal JOG+ JOG- Contents OFF OFF Only operates by position data input. it rotates to the opposite.5 KW [2] No.0KW / 3. 0 : 1. This is applicable if the parameter 1 is set to '0'. 0 : Defines the signal of direction fixing. The capacity is selected according to each ROM now.2 : Spare parameter [4] No. ON ON The motor always rotates to counter-clock wise. Please set it according to the structure of the equipment. OFF ON Do Step JOG operation toward decreasing of POST number ON OFF Do Step JOG operation toward increasing of POST number ON ON Can not be defined. 1 : In case that The motor rotation direction discords with the rotation direction of equipment.0 : Motor power capacity This is the parameter that enables to select the applied motor capacity. ON OFF The motor always rotates to counter-clock wise. 0 : In case that The motor rotation direction accords with the rotation direction of equipment.20) and JOG-(no. [3] No. .4. JOG+ JOG- Rotation direction OFF OFF Rotates to distinguish the shortest distance.0KW / 2. If the parameter is set to '1'.23) signal of CN1 connector.

The machine is 10 POST turret.signal is ON. [5] Maximum POST data : 10 [6] Gear ratio of motor side : 3075 [7] Gear ratio of machine side : 1000 [9] No.7 : Gear ratio of machine side This sets the POST number when the motor rotates as the set value at parameter 6. Outgoing value : 1 [10] No. If the parameter is set to '1'. Outgoing value : 33 [8] No.9 : Spare parameter [11] No. If the value increases. Setting range : 2 ~ 127. Outgoing value : 12 Example) 1. The position data input exceeding the set data is ignored. the mechanical response gets better.6 : Gear ratio of motor side This sets the rotation count when it moves as the POST number set at parameter 7. For more detailed explanation. Outgoing value : 12 [7] No. . Setting range : 1 ~ 127. Position data input is ignored if JOG+ and JOG.75 rotations and in case the deceleration ratio is fixed so that the turret is made 1 rotation. [5] No. Turret 1 rotation fits the 10 POST movement. When the motor makes 30.8 : Origin POST number Inputs the POST number that sets as the origin when setting the machine origin(zero-point).This is applicable if the parameter 1 is set to '0'. Setting range : 1 ~ 9999. refer to 'JOG operation' section. Setting range : 1 ~ 9999. it rotates to the opposite.10 : Position loop proportionality gain The position loop proportionality gain is the parameter that determines the response of position control loop. thus the value will be set as follows.4 : Spare parameter [6] No.5 : Maximum POST number This sets the maximum POST number.

this is the delay time until BRAKE signal is ON after SVON signal is input. Setting range : 0 ~ 40 [x 50msec].11 : Speed loop proportionality gain The speed loop proportionality gain is the parameter that determines the response of speed control loop. On the external characteristics. Setting range : 0 ~ 2048. Setting range : 0 ~ 2048. the mechanical response will be late. (Of course SVRDY signal is off as the same time) . Outgoing value : 250 [13] No. but if it is increased too much. The unit is 50msec. Please set the value higher than the time releasing the actual brake. the added impact for machine increases when the motor starts or stops. After this delay. Accordingly. this is the delay time until SVRDY signal is ON after the brake signal is ON. it may cause the oscillation. but if it is larger than any degree. it is good as large as possible. Outgoing value : 256 [12] No. Outgoing value : 0 [16] No. the rigidity becomes strong. Thus.12 : Speed loop integral gain The speed loop integral gain is the compensatory factor that reduces the normal state error. If the value decreases.However. Outgoing value : 0 [15] No. Setting range : 0 ~ 40 [x 50msec]. and increases the rigidity.13 : Brake off delay time In case of the brake motor. it determines the degree of rigidity. it may cause the oscillation and hunting. and the system may become unstable. Setting range : 0 ~ 2048. If the value of the proportionality gain increases. the value will be set as large as possible under stable condition. the brake signal turns OFF. and the position error may increase due to the remaining pulse. the rigidity will get larger. If the value of integral gain is increased. This is also related to the speed loop proportionality gain. this is the delay time until the gate of the power device is OFF after the brake signal turns OFF and the SVON signal turns OFF. Outgoing value : 1 [14] No.15 : Brake ON delay time In case the brake motor.14 : Brake off control delay time In case the brake motor.

Setting range : 1 ~ 9999 [pulse]. If the error between the target position and the current position is within the set range. it is set the positioning decision completion range.22 : Positive torque limit 1 This limits the torque output of positive (+) polarity in the areas except the positioning decision completion range. the overload alarm of position deviation will appear. the hunting may occur when the motor starts or stops. Outgoing value : 0 [22] No.19 : Remaining pulse allowance When position control.16 : Spare parameter [18] No. Setting range : 1 ~ 6000 [x 100 pulse]. lf this difference value exceeds the set value. Setting range : 0 ~ 300 [%]. Setting range : 0 ~ 40 [x 50msec]. Outgoing value : 0 [23] No. The difference of position command and position feedback per each position control loop is accumulated. Outcome value : 0 [17] No. Setting range : 0 ~ 500 [x 4msec]. if the value is set too high. However. Outgoing value : 6000 [21] No. Outgoing value : 100 [20] No. If the value is set at 0%. Outgoing value : 250 . the positive torque will not occur.Please set the value higher than the time operating the actual brake. it may cause the oscillation in the machine.18 : Positioning decision completion range When position control.20 : Position loop feed-forward gain This can be enable to have a response characteristic that shortens the position determine time by using the feed-forward control. If the value is set too low.21 : Feed-forward filter time constant This sets the time constant when the first delay filter is put in the feed-forward position command. the VPF terminal (Number 16 of CN1 connector) will turn ON.17 : Spare parameter [19] No. Setting range : 1 ~ 100 [%].

Setting range : 0 ~ 3000 [rpm] Outgoing value : 1850 [28] No. the speed is limited within the set value.24 : Positive torque limit 2 This limits the torque output of the positive (+) polarity in the areas within the positioning decision completion range. This is discussed separately from the step jog speed. Please set the value more than at least 50rpm as compared with parameter 28 (operating speed). Outgoing value : 1800 . the negative torque will not occur. if the low value is set on the use to provide the invariable load constantly under SVON signal of driver is ON. Outgoing value : 250 [25] No. Even when overshooting and such cases occur during the accelerating.28 : Operation speed This is the motor speed when automatic operation or when step jog operation. it can be avoided from the overstrain of the equipment or motor. After the position decision completes. Setting range : 1 ~ 1000 [rpm].25 : Negative torque limit 2 This limits the torque output of the negative (-) polarity in the areas within the positioning decision completion range. Setting range : 0 ~ 300 [%]. If the value is set at 0%. Setting range : 0 ~ 300 [%]. Outgoing value : 100 [29] No. Outgoing value : 50 [26] No. After the position decision completes. If the value is set too low. the hunting may occur when the motor starts or stops.26 : Speed limit This limits the maximum operation speed. it can be avoided from the overstrain of the equipment or motor. if the low value is set on the use to provide the invariable load constantly under SVON signal of driver is ON. magazine and so on to the right position of when the origin (zero-point) set. Setting range : 10 ~ 3000 [rpm].23 : Negative torque limit 1 This limits the torque output of negative (-) polarity in the areas except the positioning decision completion range.[24] No. Outgoing value : 50 [27] No.27 : Origin (Home) set jog speed This sets the speed of internal jog operation in order to move equipments of turret. Setting range : 0 ~ 300 [%].

Outgoing value : 80 [32] No. the position decision time may be delayed due to the hunting when the motor stops. Setting range : 0 ~ 500 [msec].31 : UNCLAMP delay time Operate UNCLAMP for the transfer when inputs the start signal after SVON is ON and after NCLAMP SENSOR signal is ON.45 : Automatic setting and parameter managed for the maker management (manufacturer) When setting the machine origin(zero-point). Outgoing value : 50 [31] No.30 : Deceleration time This sets the time that takes from the fixed speed at parameter 28 to zero movement (motor stops).32 : CLAMP delay time Operate CLAMP after the transfer and after turning off UNCLAMP SENSOR. If the value is set too low.34 ~ No. this is the delay time before the completion signal is output.[30] No. this is the delay time before the actual transfer. If the value is set too low.33 : Initial status display selection Please select the initial status display after the main power switch ON. the speed overshooting may occur when accelerating. Outgoing value : 0 [33] No. Setting range : 0 ~ 1000 [msec]. Outgoing value : 0 [34] No.29 : Acceleration time This sets the time that takes from zero movement (motor stops) to the fixed speed at parameter 28. Setting range : 0 ~ 500 [msec]. Setting range : 0 ~ 1000 [4msec]. the parameter will be set automatically or . Set Initial display content Set Initial display content value 00 Accumulated value of command pulse (lower word) value 06 01 Accumulated value of command pulse (upper word) 07 Absolute encoder rotation 02 Current position (lower word) 08 Absolute encoder-one rotation 03 Current position (upper word) 09 Effective load ratio 04 Accumulated value of remaining pulse 10 Maximum load ratio 05 Current POST number Motor rotation speed Outgoing value : 06 (Motor rotation speed) [35] No.

It may not be operated normally if setting for user's purpose only.6 Alarm record mode It stores the recent alarm records till 9 rotations. Please use the exact voltmeter for correct measurement because measured value may occur big differences according to the types of meter.1. Please do not set it according to then user's purpose. 5. : alarm record mode : 1 time alarm display (ex. Press UP or DOWN key for checking the previous alarm records. All records of alarm will be cleared by pressing SET key at this mode. in case of overload of 1 time alarm) : 2 times alarm display : 9 times alarm display 5.1 Maintenance & Inspection This chapter explains the servo motor. 4. ② When checking motor current : Please use to connect the ammeter to the motor directly because the pulse wave is smoothed as sine wave by the motor reactance. Maintenance and inspection 5.it is for manufacturer's management use. the maintenance and inspect method of driver. the trouble shooting and countermeasure. .1 Notice ① When checking motor voltage : The wave of pulse shape is displayed as the voltage applied from the servo driver to the motor controls PWM.

W and FG ② Inspection of servo driver Please refer to the below inspection of servo driver. seal Change oil seal Minimu 1/5000hr General Minium 1/20000hr or Call to service dept in Do not dismantle and clean inspection 1/5year company servo motor. (note1) check between one of the servo motor power line U.1. digital volt meter. Daily inspection is not necessary. normal. resistance Minimum 1/year measurement measure it by 500V mega. damage and disconnection by overheat call to company .2 Checkpoint When you check. so do the inspection after power off and wait about 5 minute because it may be dangerous. If under 10MΩ. call to our if over 10MΩ.③ The other devices : please use not to contact the ground when using oscilloscope. and In case the motor with oil replace it. Please use the input current less than 1 mA as well. this is a service depart. it is remained the charged voltage in inner smoothing condense. but check it over 1/year. oil and etc Clean it with air or cloth Minimum 1/year Tighten connection terminal. Check part Clean main board and circuit board Loose screw Check time Inspection method Handling when trouble Minimum 1/year Remove dust. ① Inspection of servo motor Inspection item Inspection period Inspection and handling Vibration. connector screw Tighten Trouble of part defects on main board and circuit board Minimum 1/year Check changed color. 5. noise Every month Sense of touch. hearing Remark Not bigger than normal condition According to External demage or appearance Cleanup with cloth or air - contamination Insulating Disconnect with driver.(note1) Detach from the machine.V.

The motor bearing is affected by the operating conditions.000 hrs Replacement Battery 5 year Replacement Decide after change . so the standard life time is 100. 4. 10 years are standard. ② Relay kind : Contact faultiness may occur due to the contact abrasion by the switching current.5. break. ※ Check point as external appearance 1. leak. break 3. and load. but in case of continual operation under the condition of normal environment. so replace the motor bearing when abnormal noise or vibration is occurred. [standard replacement period of parts] Part name Smoothing condenser Relay kind Standard replacement period Replacement method 10 year Switching(ON/OFF) No is 100. ③ Motor bearing : replaces it on the basis of the standard replace time is 2~30. external crack. Life time is the time that periodically the standard capacity of condenser is under 85% about the appearance. Condition of explosion sides : sides expansion.000 Replacement (decide after check) Decide after check Fuse 10 year Replacement Electrolytic condenser 10 year Decide after check Cooling fan 5 year Replacement (over 3 KW ) Motor bearing - Motor oil seal 5. extreme crack.1. ① Smoothing condenser : the characteristics age due to the affects of ripple current.000 hrs under rated speed. therefore it is necessary to check the regular inspection and replacement not only preventing the falling-off in quality and trouble but also keeping the prevention conservation. Case condition : the side and bottom of case are expanded 2.000 times( accumulated switching number) because the relay is affected by the power capacity .3 Period of part replace The parts age because of mechanical friction or as time passes. The inspection period is minimum 1 per year (less than 1 per year when left short life time) because the condenser aging is fast in a limited period sometimes. Sometimes the life time of condenser is affected by the surrounding temperature and use condition. changed color. Top plate condition : prominent expansion. already operation. ④ Battery : replaces it 1 per 5 years under rated speed and load.

Check vibration and abnormal noise Parameter setting error (motor/encoder Check parameter related to gain. increase Check ac/deceleration cycle. . Change heat sink structure.5. Parameter reset (refer to chapter 4) Over load Check rotation condition Re-adjust machine Motor defective Check motor red terminal by tester Screw loosened Check connect part by drive Re-tighten loosed screw Check motor & encoder wiring Re-wire. handling] Phenomenon Reason Parameter setting error Not operated Check parameter like motor. In this case. Refer to parameter setting method of chapter4.2 Trouble diagnosis and countermeasure Alarm signal example) ALP-UU is displayed on the window of loader display when trouble occurs during the operation. Check screw tightness of the coupling & concentricity of joints. Call to company. Check electromotive voltage and wave type of voltage. please call to service dept. disconnected cable Encoder defective defective connection unstable Check connection of motor lead terminal Low input voltage Check driver input voltage Over load Check machine condition. Decrease load. check method. 5. control mode External wrong wirng.2. pulse value. Clean motor surface. and lubricating oil supply. Over load Magnet magnetism decrease Coupling defective noise Check motor ambient temp of setting Motor surface overheat Abnormal Handling encoder pulse value. Re-adjust coupling.1 Servo motor [Trouble reason . please take the following steps. and change cable. Remove residue from rotator. rotation Ambient temp is high Motor point (should be lower than40℃) Check adhesion of residue on contamination motor surface. ac/deceration time. If the trouble is not remedied by these steps. gain) Replace motor in case of Replace motor. Check output wave Change encoder. capacity. Change power supply. motor Check method Bearing defective normal voltage Repair defective part. Check load rate of driver.

check the operation frequency is over the standard value.check the encoder cable is pulled out or among signal of encoder signal line is disconnected.check the parameter set is correct. CPU error : occurs when the CPU malfunctions or inner board is defective . and motor is stopped automatically. error signal out contact(ALARM) is turned off.check the input power is high.change the battery. . DC link is under standard value. Unclamp solenoid error: occurs when operation of clamp solenoid.5. Encoder signal error : . range.check regenerative resistor is damaged .check the value of parameter 18 is set value of parameter 19 when positioning too low.check the operation frequency is over DC link is over standard value. Encoder I/F module error : occurs when assembly of inner encoder I/F module is not correct.check if the parameter is set correctly.check the input power is low.2.B.check the parameter set is correct. Encoder battery error : occurs when the backup battery of inner encoder is discharged or pulled out. degrees. the standard value. no .check the assembly of encoder I/F module is correct. [Alarm cord and inspection] Main OP panel LED LED display Alarm type Corrective method Lack voltage : occurs when voltage of inner . . Over voltage : occurs when voltage of inner . Parameter error : occurs when the save value of parameter is not within the setting . . .check the encoder cable is pulled out or exceeds the maximum rotation count. Over speed : occurs when the motor speed .check the short of motor power cable . . A. .check the motor power cable is Over load : occurs when the over load disconnected. wrong assembly. control.check the temp of heat sink is over 100 Main circuit error : occurs in case of error of inner IPM device. . status continues over the standard time.Z signal error . . Excessive position deviation : occurs a case that the remaining pulse exceeds the fixed .check Unclamp and clamp.2 Servo drive When the alarm occurs.

5. R-S. 1) Ground instability Check the wiring. Occurs alarm intermittently when accelerating Occurs alarm when accelerating unconditionally Change the driver unit or PAB (2) ALP . Change the driver unit or PAB the . Do investigation and handling of No problem. S-T. Do investigation and handling of investigation article 3. Inspection item Inspection result Handling Under AC 150V 1 Re-check the power Check the power voltage Do investigation and handling of Normal AC 220V investigation article 2 Occurs alarm 2 Re-check power capacity.2. DC bus voltage exceeds over 400V.UU : low voltage alarm NO. Counter-plan execution for machine that makes a noise 2) Is a machine that makes a noise beside the unit? No problem. 170V by tester Over 170V . Handling Balance improvement on the power Do investigation and handling of investigation article 4. setting circumstance 4 1) Is the ground right? 2) Easy to occur the alarm when some special machine is operate. between Check the voltage of line lines is over 10V. T-R by tester No problem.3 detailed explaination of alarm code (1) ALP . NO. investigation article 2. Check the voltage is over Under 170V . Voltage difference Power capacity increase. when decelerating motor.OU : over voltage . 1 2 Inspection item Secure regular power capacity Inspection result Power capacity lack 3 Power capacity increase. Right set of ground.

Decrease load capacity. 3) grounded. Inspection item Inspection result Occurs Servo is OFF. Check the setting value of oparameter NO. when ac/decelerating. Counter-plan execution for the machine that makes a noise makes a noise beside the unit? No problem. and open 2 side of cable Do investigation and handling of investigation article 5. 7 Check the wiring. Check the motor insulation. .OH : power module trouble .23. Always over 171V . Decrease load capacity. Occurs after servo ON . 1) loosened. 1) operated the over current protect. No set of normal value Set of normal value. 1 2 3 Inspect the occur area.(3) ALP .3). Do investigation and handling of investigation article 7. 5 Measure the line and earth of motor by Mega Resistance value is over 1MΩ. 3) overheated. NO. Do investigation and handling of investigation article 6. No problem. Sometimes voltage is under 170V 6 Check the power voltage. Do investigation and handling of investigation article 2. correct ground set.24. V. 2) downed the base power voltage. Handling Replace the driver unit or PAB. Do investigation and handling of investigation article 3. Resistance value is under 1MΩ Replace the motor. Load capacity is under 100%. Do investigation and handling of investigation article 4. Load capacity is over 100%. Check the amount of load when transferring Check wiring between drive unit and motor U. NO. M. In case the trouble occurs in power module used for driver unit . setting 1) Ground instability circumstance 2) Easy to occur the alarm 1)Is the ground right? when some special machine 2) Is a machine that is operate. Change the driver unit or PAB. Re-check the power voltage. 2) cut Change the cable. Tighten it correctly. 1)Check the looseness of 4 screw in terminal 2)Check the shorted wire 3)Check the grounded phase. when checking 2). Change the cable.

Change the detector cable. Check the wiring. detector connector(CN2) is Power off. the cnnector(CN2) of speed detector is connected or disconnected.(4) ALP . Inspection item Result Loosened. and check the detector cable connection. Normal.CA : encoder signal trouble NO. connected or disconnected. Counter-plan execution for the machine that makes a noise noise beside the unit? 3) Is the shield of speed/ positioning detector 3) Shield is not set correctly Correct Shield set. 1) Ground instability Handling Set it correctly. Change the motor. Handling investigation article 2. . Connection faultiness Change the detector cable. Change the driver unit or PAB. Do investigation and handling of Normal. Correct ground set. setting 2 circumstance 2) Easy to occur the alarm 1) Is the ground right? when some special machine is 2) Is a machine that makes a operate. Do investigation and handling of investigation article 2. Normal connection. Shake it by hand and check the 1 2 Set it correctly.OS : over speed NO. cable correctly? No problem. Inspection item Shake it by hand and check 1 Result Loosened. (5) ALP .

Check wiring between drive unit 2 Result in terminal 2)Check the shorted wire 3)Check the grounded phase.23. 2) cut Change the cable. 1) Loosened. V. Re-chech the machine. No problem Motor is closed. Tighten it correctly. [Overload characteristic curve of servo motor] motor's rating. Do investigation and handling of investigation article 6. No set of normal value Set of normal value. due to the current flowed to the motor is the value exceeded the overload detection level. Set it correctly. and motor U. 1)Check the looseness of screw 3) grounded. open 2 side of cable when Do investigation and handling of investigation article 3. No problem. and No problem. Handling Decrease load capacity. 1 Inspection item Check the setting value of parameter NO.24. the driver unit or . Change PAB. Do investigation and handling of investigation article 2.(6) ALP . NO. Normal.3). Load capacity exceeds motor's Make load capacity within 5 Check the motor load capacity. Change the cable. Normal. Connect it correctly Do investigation and handling of investigation article 5. and check the detector disconnection cable connection by tester. checking 2). Connection faultiness or 4 Power off. Change the detector cable. Shake it by hand and check the 3 Loosened.OL : over load . a case that time continues over the overload detection time NO. rating. 6 check the rotation of motor. cnnector(CN2) of speed detector is connected or disconnected. Do investigation and handling of investigation article 4. M.

Change the driver unit or PAB. a noise beside the unit? No problem. Do investigation and handling of investigation article 2. Inspection item Result Always occurs when power on. Occurs sometimes. Do investigation and handling of investigation article 2.PE : parameter trouble NO. setting 2 1) Ground instability circumstance 2) Easy to occur the alarm 1) Is the ground right? when some special machine 2) Is a machine that makes is operate. Check the wiring. Correct ground set. 1 Inspect the re-occur. Counter-plan execution for the machine that makes a noise Change the driver unit or PAB . Correct ground set. Occurs sometimes.(7) ALP . Inspection item Result Handling Always occurs when power on. a noise beside the unit? No problem. check the wiring. Counter-plan execution for the machine that makes a noise Change the driver unit or PAB (8) ALP . setting 2 Handling 1) Ground instability circumstance 2) Easy to occur the alarm 1) Is the ground right? when some special machine is 2) Is a machine that makes operate.SE : CPU trouble NO. Inspect the re-occur. 1 Change the driver unit or PAB.

Adjust the value of parameter (NO.UC : solenoid trouble NO. investigation article 5. when transferring. Handling Normal value is set Normal value is not set. Occurs sometimes.NO. M. Shake it by hand and check 4 5 Disconnected. Change the driver unit or PAB.0V. and check the speed Connection faultiness or disconnection detector cable connection by Change the detector cable. Load capacity is under 99%. in case the speed order and current speed gab exceeds the setting value at parameter (NO. 1 Inspection item Result Handling Check the battery voltage . Correct set the cnnector(CN2) of speed detector is connected or Connected. Check the setting value of parameter(NO. check the solenoid. (10) ALP . NO.18) NO.31. Do investigation and handling of investigation article 2. Change the battery.rP : speed gap exaggeration . . Normal connection. Normal connection. tester.32) Check the wiring of solenoid and sensor.En : battery trouble NO. Check wiring between driver unit and motor U. Correct set Do investigation and handling of investigation article 3. Change the cable. Load capacity is over 100%. 1 2 3 Inspection item Inspect the occurrence area. (11) ALP .(9) ALP .18) Abnormal value is set. Battery voltage is under 3. Check the setting value of parameter(NO. Check load capacity when transferring. Change the driver unit. Result Always occurs Check the clamp sensor. Do investigation and handling of investigation article 2. Handling Correct line wiring. V. Shorted or grounded. Do investigation and handling of investigation article 4. Do investigation and handling of disconnected. Do investigation and handling of investigation article 3. Decrease the load capacity. change the sensor. Make the correct connection. Normal value is not set. 1 2 3 Inspection item Result Abnormal connection.32). No problem.31. Power off.