AC Servo Motor Drive Operation Manual

DOOSAN AC SERVO MOTOR / DRIVE Vision DVSD - TT, TA Series Model : 1.5 KW Operation Manual Rev. B (rtelely Vy Infracore- Contents - IMPORTANT COMMON PART 1. Specifications and Structure 1.1. Formal type designation 1.2. Specifications for Servo Motor 1.3. Specifications for Servo Drive 1.4. Characteristics Figure 1.5. Coupling of the Servo Motor / Drive 1.6. Inner structure of Servo Drive 1.7. Direction of the servo motor rotation 2. Dimensions of the servo motor / drive 2.1. Dimensions of the servo motor 2.2. Dimensions of the servo drive TT PART 1, Installation and wiring 1.1, Designations 1.2. Environmental conditions 1.3, Installation procedure 1.4. Wiring 1.5, Noise treatment 1.6. Outside circuit connection (Sample) 1.7. Layout of driver connector terminal 1.8. YO signal for connector CN1 and its significance 1.9. YO signal for connector CN3 and its significance 1.10, Structure of driver 1/0 circuit 2. Operation 2.1. Automatic operation 2.2. Usage of Jog and brake signal 2.3. Machine Home setting method 3. Display / Setting switches 3.1. Functions 3.2. Operating the display setting switches and display flowchart 3.3. Status display 3.4. On/Off Display (Diagnosis display) 3.5. Alarm history display 3.6. Setting parameter 3.7. Setting position compensationTA PART 1. Installation and wiring 1.1. Designations 1.2. Environmental conditions 1.3. Installation procedure 1.4. Wiring 1.5. Noise treatment 1.8. Outside circuit connection (Sample) 1.7. Layout of driver connector terminal 1.8. VO signal for connector CN1 and its significance 1.9. Structure of driver 0 circuit 2. Operation 2.1. Automatic operation 2.2. Machine Home setting method 3. Display / Setting switches 3.1. Functions 3.2. Operating the display setting switches and display flowchart 3.3. Status display 3.4. On/Off Display (Diagnosis display) 3.5. Alarm history display 3.6. Setting parameter 3.7. Setting position compensation 43, 43, 44 44 46 46 47 48 49 st 52 52 53 54 54 55 57 59 65 67 42IMPORTANT |. Definition of Symbols for Warning v Warning : This symbol means if not handled properly, there Is possible fm danger such as electric shock. 2 Caution : This symbol means if not handled properly, there Is possible fm danger of acquiring mild to severe injuries or machine damages. IL, Warning 1) Do not use in areas near corrosive, inflammable or explosive gas. 2) Take appropriate measures of protection while the servo motor is in operation. 3) While installing and wiring, turn the power switch off, in order to prevent electric shock. 4) Ground the PE terminal block of the front panel terminal block L1(R), L2(S), L3(T) to one-point with the class 3 (below 1002) ground circuit, in order to prevent electric shock or other malfunctions. For PE terminal block, use wire 30mm” thicker than the electric wire of the terminal L1, L2, L3. 5) Connect the PE terminal block of the servo motor to the PE terminal block U, V. W of the servo driver in order to prevent electric shack. To connect the wir use wire 30mm? thicker than the power line of U, V, W. 6) Take precautions while mounting, dismantling, uninstalling and transferring the servo motor. 7) Cover the terminal block while using the servo driver in order to prevent electric shock. 8) Use SELV for maintenance brake power switch, input and output power switch and Input and output signal 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.10) This product uses batteries. Take the following precautions while using the battery. If used inappropriately, explosion or fire may occur. The contents of the battery are harmful to the eye. @ Do not heat above 100° and do not open when there is fire. ® Do not take it apart. (The contents are harmful to the eye) Do not recharge it. 11) During emergency shut down, stop the servo motor before shutting down the servo driver (terminal L1, L2, L3). Il, Caution 1) To avoid burns, 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. Take appropriate measures of protection. 2) Avoid the following to prevent damages to the servo motor and servo drive. ® Do not connect the power directly to the U, V, W terminal block of the servo motor. The servo motor will be damaged. Avoid external impact such as hammering to the servo motor. The encoder inside the servo motor will be damaged. Do not connect the power to the U, V, W terminal block of the servo drive. While doing the resisting pressure test or insulation voltage test, disconnect the terminal of the servo drive terminal block or all the connectors and avoid the test voltage from affecting the servo drive. Also avold the test voltage from affecting the encoder connector terminal of the servo motor. Do not install the servo motor and the servo driver differently than it should. Prevent water or oll from directly touching the servo motor. Use in areas free of water or oil to prevent it from touching the main wire of the servo motor. © Do not use the servo motor and driver differently other than stated in this manual. eeCOMMON SUBJECT 1. Specifications and Structure 1.1, Formal type designation @ Servo Motor RH 15 TA_ - 500 osFH etude lL. SEAL BRAKE sew (0: NON BRAKE ‘TAPER 1 reir oo wm KEY Servo Driver DVSD - TT- 144A - 0 oe Las . uA, MAGAZINE DVSD —- TA- 14A Aven SERES atc1.2 Specifications for Servo Motor ce Specifications Rated outout Watt 15 kgom 73.08 ated toraue Nm 746 Continuous maximum oom fia aaa Nm 21.49 Rated speed RPM 2000 Maximum soeed RPM 3000 Powor rate kwis 1328 SERVO | Rotor inortia D'/alkgom’) 39a MOTOR | insulation F Class ae Muti-tum Absolite Encoder ({7bits/trotation, rotation rate :16bits) Protection, Cooling method Totally closed, self cooled ‘Ambient temperature 0~40°C Ambient humidity 20~80 % Mounting structure Flange type Insulation resistance De S00V 50 Mohm Insulation grade AC 1500V. one minute Vioration vi51.3 Specifications for Servo Driver ItemsSERVODRIVE Specifications Rated current [Arms] 104 Maximum current [Apeak! 303 Main input voltage AC 200~230Y, +10/-15%, 5O160HZ Control method IPM full wave rected, transisterized PWM control Control mode Protection Mounting Dimension mm sition, speed, torque control ‘Over voltage, under voltage, over current, aver speed, over| load, encoder error and ote. Rack Mount Type 220 x 100 x 203 W x H x D) 1.4 Torque-Speed Characteristics of Servo Motor Torque [kg.cm (Nm)] 240 es 190 19) 120 2) © Intermittent Duty Zone Continuous Duty Zone 000 2000) "3000 ‘Speed [rpm]1.5 Coupling of the Servo Motor / Drive ‘ 1.6 Inner structure of Servo Drive G) (| EE op = enor Tele Pane1.7 Direction of the servo motor rotation > A Caution» The encoder of the servo motor is made of alass. ‘Take precautions in order to avoid damages to the encoder shaft of the servo motor. ) A, Caution » Make sure the rotation of the servo motor is tuming in the right drection @ The correct direction ot the rotation is shown in the folowing picture Forward running (COW)2. Dimensions of the servo motor / drive 2.1 Dimensions of the servo motor mise 2.2 Dimensions of the servo drive mw NOTE) TT : DVSD - TT -14A- 01 TURRET & MAGAZINE TA: DVSD -TA-14A ATCTT PART(TURRET & MAGAZINE DRIVE) 1. Installation and wiring 1.1 Designations Designations of DOOSAN AC Servo Motor and Drive are as follows, © encoder connector @ © trame @ encoder © setting bracket @ enooder connector @ controller connector @ terminal biock © setting key © operator dsplay © battery @ avertde connector1.2 Environmental conditions ‘This product was desianed for indoor usage A Caution = If used in diferent circumstances and envionment other than stated below, possble damages may occur Please use under the following conditions. SERVO NOTOR SERVO DRNE aad - phase AC 200V~230V * 10-15%, SO/6OH2 et 0 ~ +40 t o~ 400 temperature saat “5 ~ +00 “5 ~ +0 temperature Humity below 60% RH below 959% RH (1) Use in areas free of corrsive and explosive gas. Environmental | (2) Use in areas that are well ventlated condtions | (3) Vibratons of tremors nearby may be the cause of poor connection of the connactar, electnio comectar device and relay {1} The gratection level of the servo motor is IP-64, Waterprat | rou Please put the cover on in areas where there is massive water and ci (2) While handing the sere motor connecter, hande it as instucted oner Please refer to chapter 2 whie essembing and handing the wives 1.3 Installation procedure 1.3.1 Assembling the servo motor D A Waming : While assembling the serve motor, avoid dropping it D A. Caution : Whie mounting tre servo motor horontaly, the connector should be facing downward D> The seve motor can be mounted hofzontaly or vertaly. D> To prevent vibratons, the motor shaft and the loading sheft should be precisely aligned which will alow for the couping and bearing ite to last longer. Use flexbie couping when connecting directly to the foe. © Tho outor part of the couping should be measured at four equdistent points, each 90" dogrees apart so thet the gap beWween the maxmum and the least readngs should not exceed 003mm. @ Tho contr point of the motor and the loading shaft should be precisely aligned. [> Avoid excessive radial and thrust load to the motor shatt and also avoid impact that is more then 106 when mounting the gear, coupling, pulley and fc. at the same time D A minus load means that while the motor is rotating according to the load, it is successively operating while it is on regeneratve brake. The capacty of the regenerative brake & short term rating specification, thus i should not be used in minus ladD The admissble load inertia converted into the motor shaft is within § times the inertia of the applied servo motor. It it exceeds this, during deceleration it may cause regenerate malfunction. The following steps should be taken f the load inerta exceeds more than § times the inertia of the servo motor. ~ Reduce the current limit, - Slow down deceleration time, ~ Lower the maximum speed in use, 1.3.2 Setting the servo drive D> A Waming : Tur off the power while mounting or uninstaling D> Whie instaling the panel, take into consideration the size or the panel, cooing and witing in order to maintain a diference of temperature below 57 between the panel temperature and the surrounding temperature. D> The surounding tempereture should be maintained below 55°C at all cases. Proper ventiation shoud be used D> Should there be vbrations, the drver should be mounted on shock absorbing surface D> Should the sero driver be exposed to corrosive gas for a long time, it may cause damages to connecting devices, thus it should be avoded. D> Environmental conditions such as high temperature, high humidity, excessive dust and metal parlicles should be avoided @ Mounting method [> There should be & space wider than 100r™m below and above the servo drive, [> There shoud be @ space wider than 308" on both sides of the seve drive D> Mount the servo dive vertcally. Do not use if it is mounted horizontally. (a1 “tl EZ lc Eger co) (x)1.4 Wiring For signel lines and encoder lines, use twisted ines or mult-core shielded twisted-pair lines. The length for reference input lines should be @ maximum of 3m, and the encoder ine should be a maximum of below 10m. Wiring must be done in shortest dstance and the remaining lenath should be cut } The ground circut should be a thick line. Usage ot class 3 ground or above (ground resistance 1008 o less) is recommended. A'so, make sure to ground at one-point grounding D> The following precautions should be taken to avoid mafunction due to nose. ~ The noise titer should be pisced as near 2s possble. = Mount 2 surge absorbing circuit to the coll of the relay, electromagnetic contacts, solenoids and etc. = The power line (AC input, motor input line) and the signal line should be placed 30 om apart oF more. Do not run them in the same duct or in. bundle = When the same power soure is used, as for an electro welder or electrical discharge machine or when a high-frequency noise source is present, attach noise titer to the power or the input circuits. ~ The cable line for the signal line is only 02 ~ 03 mm’, thus excessive force to the line should be avoided to prevent damages. 1.5 Noise treatment The effect of the switching noise depending on the wirng or the grounding method should be reduced as much as possible. Outside noise should be reduced as much es possble ) Grounding method The sero diver supplies power to the motor according to the switching of the IPM dovice Thus the Cf dvidt current fows from the power component to the flozting capacity of the motor To prevent the effect of the switcting noise, the motor frame terminal shoud be connected to the PE terminal of the servo driver terminal block and the PE terminal of the servo driver should be drecty grounded to standard ground panel D Noise titer Noise titers used in order to prevent noise from the power ine. Please refer to the folowing conditions while instaling (al Separate the input and output wirng and do not bundle them together or run them in the same duct (b) Do not bundle or run the ground wire with the fiter oulput ine or other signal lines in the same duct. (6) The ground leed should be wired singly to the ground pane. (@) te unt contains the fiter, connect the fiter and the equipment ground to the base of the unit (@) Please use the following recommended noise fier 101.6 Outside circuit connection (Sample) NC CONTROLLER ‘SEQUENCE INPUT | (3 PHASE AC 220V. 27 554 woes NOISE |powenpower [later |e re | al ilr-a pe ae fc 2 a am & © -—"——k-4 x AC SERVO MOTOR «=——| Spent] Posiion neu Spee osiron oureut oc ,Posmon ourPuT| & 5 |» J |g e [-—"——-+ Le ovennioe nour wore ss t-reroo pases casut YX 2. Fon ronan WE MTOR "1.7 Layout of drive connector terminal 1.7.1 Layout of connector terminal CN1 Spec = 10236-S2A2JL (Housing), 10196-3000VE (Plug), Manufacturer : 3M 19 2 2 a a 2 3 3 3% re | acwRsT) Joc= | Posi | Pose | Bat | posoo | Posoz | Posot 2 Ey 26 2 30 2 a 3 svon | pos | pose | posu | atm | posoi | Posos | Posos 7 3 = 7 ° 1 3 5 7 pat+ [spare [com [Posie [come [coma [eraxe—[ com [np 2 4 @ 8 0 2 4 6 1B pat— |stop__| poss [start |svepy | praxe+) posos_| vPr yMO 1.7.2 Layout of connector terminal CN2 Spec Spec 1 13 15 7 19 DGND = RX = VBAT— 2 4 6 8 20 - RX = veaT+ | FG 1 3 3S 7 2 +5VE = = = = 2 4 6 8 10 1.7.3 Layout of connector terminal CNS 10220-52A2JL (Housing), 10120-3000VE (Plug), Manufacturer : 3M 1 13 15 7 19 2 “4 6 18 20 - : : - FG 1 3 3 7 9 ORT VRS ~ — 2 4 6 8 10 ovao | _ovn2 = = = 10220-52A2L {Housing}, 10120-3000VE (Plug), Manufacturer : Shi 121.8 1/0 signal for connector CN1 and its significance 1.8.1 Input signal Son! Deseroion v6 syoN 22 ] This signal makes the motor ready to stat operation, When this signal is off, | | tei ana fe fae ts h nn ae bate 6 on) Aecoa th ed yao of param 6 ow ov Php d wot ed dat sara va of rane 80) When the position s moving, the direction of the rotation can be fixed to ore eon GoW eal OFF + Oecton oe ast asaya by 0 doare COW sans @ ON = acer et He rate eed cour ee, Git egy OW! Orton a te out Bad Cook a GOW GH OM: Conn be dead soereow | 22 | so opoaton so! fx abe o poanete 3 10“) teas Sr mana gg eprton sara SOG sonal BON Wen tte sore on, ne mote wines chinese neo ana want's ho mor soe ae voaea POST JOG- signal is ON : When the signal is on, the motor rotates clk wise, ara wren oe elt pe ate Ne Post Ramon soe ant AeetSecel ie Me some a when oe seme co 7 [tore sora = OW Fe mor soph The mo sane aera © aR | 7 and runs the rest of the distance. seme | 8 [rose COMMON tio Seance na onde Owe BO BA & We ee - signal tums ON) : Vier the ere @ OW wie SYOW sel 8 ON fe pater sia nen san | con eve motr moves toast Wb FOS Vision eine ON & nan nan 2080, F08) |2425| x Hot oT ay Ste 0 ate pison da pt Se ; sat oman no ho STANT sa # Posi, POSS | 266 (mnimum input data is ‘1') POSIé 7 ee cow 2 | GowmW onral «START, POSUPOSE oat 131.8.2 Output signal sow | no oes ve wn 30. [Aum 99a 6 oy onbu 6 OFF and wen Ca onal ne ompule Ow. [O Tre saw (ear Wer te SYOV 6 ON, Te ow Uns on ar nov 10. [omar 18 han, Wher SHON OFF te one’ uns. ot eter [O oa 22 | Wien bate win tebw A ve sas ° covs 11 [como mn ct saan oa ars. svAOV ° the son ow cps © won mm tf OD eg Cae FOR saree | g_ [P02 ONOFF, soa te ruts te wen ext cons got & ON Pe bot wie, he eu sport OFF bate BON [0 Ths uns on wien SVOW sO au after et ne ot saante 1 3 S\ROY = OW a fae peor The us of wer SON OFF ce ser ede of pane 1 ve 18. |eimovrg wn Oo od aun of pao” sr! ane OX he [0 boro oor SYM su OF vosce,e0801 | ise | on eee eee tere While the motor is rotating, the signal will not be on. It will be on before the | O Pear eeee eat PF turns on, fee a When SVON is OFF, it will output data of the nearest POST number, = tg. [ows ouput wh ota i nara wt [1E-0 aa o 17 | Take caution whie using 1.9 Signal for connector CN3 and its significance surat | oo vest vo ors 7 oVvAT 3 ove 4 'put Ovemde to 4bit brary code to set the velocity data input sigr ov 3 141.10 Structure of driver 1/0 circuit © Inout There are ALMRST, SVON, JOG+, JOG-, STOP, SPARE, START, POSIO™POSI6 sgnals and two types of input creults are provided (the current is limited to SmA due to inner resistance.) = [2 GE AC SERVO DRIVE a wh ured or £0 ak } se Using VOC{+24Vl CONMON ® Output Using GND COMMON There are SVRDY, ALM, BATL, VPF, POSOU"FOSO6 sgnals, They are photocoupler output, thus the current is limted to S0mA. Ac SERVO DRVE 4 ea Pa 152. Operation 2.1 Automatic operation NEES eeeo LE eeeeee ®@®® © © 6D | Powen ALARM von svnoy POSITION DATA INPUT| START POSTION ATA INFUT| Sanaa eee ome Eee |N-POSTION lt the drive operates normally latter S00msec) after the POWER is ‘ON, the absolute encoder will detect the intial postion and output data according to the initial poston and the tum on the postion completion signal (VPF. ® When SVON signal is ON and after inner GATE is ON, SVRDY will turn ON. ® When START signal is ON, the servo will move eocording to the position data. (Maintain ON status of START signal to about 100msee ~ 200msec) ® When positon 's set, VPFiposition completion signal) will turn ‘OFF’ © Alter posttion movement is completed, the input position data is oulput and VPF signal wil turn oe ® From external controller, it VPF signal is ‘ON, tun OFF" the SVON signal (Move to the next postion after SVADY signal is OFF) @ Aller SVRDY tum OFF and Servo drive is ‘OFF, the current postion data is output 162.2 Usage of Jog and brake signal oe o +4 fa—rarametsr 14 OFF BRAKE ‘SERVO READY Motor Fe © Tum on the jog switch The PLC outputs serve on signal to the drive. ® When the servo on signal is on, after a fixed time in parameter 14, brake off signal is input @® After a fixed time in parameter 13, the servo ready signal is output © Atler the servo ready signal is output, the PLC must ave JOG+ signal to the servo drive. © When the command poston is fxed, current posttion data will be output and then turn on the postion completion output signal PFI @ When the position completion output signal (VPF} is on, the PLC will turn off the servo on signal. The drver will brake on and ater a fixed time in paremeter 15, tum off the servo ready signal + The jog made can not run more than 4000 rotation continuously. Should there be an input of ‘over 4000 rotation, the motor will stop and it will not rotate, In this case, turn off the JOG or JOG- signal and then tum it on again 72.3 Machine Home setting method When assembling the motor for the fist time, set the absolute encoder zero-point to the machine Home ‘The Setting method is as folows, (These steps should be done when the extemal servo ‘ON’ signal is OFF.) [1] Tum the machine power supply ON. [2] Clamp the turret Fix parameter 8 to the POST number of the current position Press the MODE key and change operating display to parameter fixing mode -| GIGISIG) = Fid-loFIF] = REKI -/-] > GIRISGIE) status display servo on/ott display Alarm display parameter display 0 0 q A A A ® Press UP key and change display of the frst tvio segments to 08. GEESE) > GLEBE {J ® Pross SET key and the dot below the first two segments will disappear q ie) ca ry ia © Press UP or DOWN key to adjust the last 4 segments to the POST number of the current postion. lexample ; If the current position number ‘s 10, the intial POST will be set to 10 eee (BERLE) @ press 9 times 18Press SET key and the dot wil sppear below the fist two segments. The data wil be stored and alter a while the dot wil disappear and the display will turn back to the former status. CECETE) + CECT + GECE &) } a (When power is tumed off and then tuned on again, it wil display the stored data.) Set the zero-point froin the zero-point dsplay of the sevo ONOFF display mode, © Press the MODE key and change the display to serve ON/OFF mode. GEGGH| = GSMESE) > LLBeS + cll sel parameter sat postion compensation value slaus display serve onfof dsplay 4 ie 4 ( Y Dl Oy ON FEE d-EF @ Press SET key for 5 seconds and the display will set the parameter automaticaly and the turn back the display to zero-point setting mode. GFRBEE OEREEE Eo) press for 10 secs, Tum the power OFF and then ON again and the setting of the zero-point is now completed, 193. Display / Setting switches Display / Setting switch is applicable when using the operator 3.1 Functions The 6 digits 7 segment display in front of the driver indicates parameter settng, position compensation value setting, diagnosis, alarm, and address and the data can be selected by 4 display mode. ( Display ) } When power is OFF, pre-set data s stored in the drive. D Even it the power is turned off when the alarm is on the contents of the alarn s stored and when the power is tumed on again, the contents can be vertied ACaution : Tum the power voltage while mounting or dismounting the front panel. 203.2 Operating the display setting switches and display flowchart 3.2.1 Overview } After turing on te main power, 7 segment LED is displayed in status made and the mode can bbe selected by pressing the mode button, Inital display atter main power is ON rs) aa j Designated series display (CT Series) ISIE) + capacity display (1.54) + Control display (Postion | Sneed contol) Status display ONIOFF display 5 Agrm dspay 5 Paramoter sotting # Position compensation setting a3.2.2 Display flowchart BE, cata SPORE | ECE 5 i] 54 8s] sd !3.3 Status display ‘The status display mode verties the status of the drive, > The operator pane! displays the status and is usage is 4s status below, } Al posttion dates are executed acoorting to pulse unit inside the drive. Therefore the status display of the pulse unit is displayed according to the pulse standard ot the encoder. (8192 pulse per rotation} 3.3.1 Accumulated command pulse The accumulated command pulse will accumulate the pulse that was counted by the position contol device after the START signal is on and it will display in both lower and upper word (16bit When SVON signal is off, it will resume to ‘01 PIC accumulated command pulse-ower word splay range (00000 ~ 65526] 5) [GIGISIGIGIG] ; ccoumuieted command pulse-iower word splay range (00000 — 655951 3 2 Current position The absolute current position within one turret rotation will be display by pulse counts. It wil be displaye din lower and upper word (16 btl. Display range [00000 ~ pulse per turret rotationl IEIGIEIE) + ower word of curent poston GTCIEE] + voner wo ot caren esion 3.3.3 Remaining pulse Displays in accumulated pulse unit the deviation of postion command and positon feedback If the pulse exceeds the set velue cf the parameter 19, postion deviation overload slarm will eppear. Hits minus pulse, the dot below the segment wil appear and when SVON signal tums OFF, it wil resu me to ‘0, EIGIEIGIGIG) accumulated remaining pulse display range (60.00.00. ~ 600000] ERIETIGE] + mis use aspay (101 3.3.4 Current POST number This displays the current postion, The number will change only when the motor has stopped or when SV ON signal is OFF. GIGLG) +: curent Fost number display range [1 ~ max POST nod 233.3.5 Motor running speed The running speed of the motor is displayed in RPM unit The changes of the speed cannot be seen du e 10 inner fiterng process. (To view the speed changes, use the moniter output In case the motor is running clock wise, a -" will be displayed FLERE) : moor unnce snes aoay ange (2000 ~ 500 [SIGS]; minus mm display (-1000%m) 3.3.6 Absolute encoder rotation count Displays the running count of the absolute enooder inside the motor. (1 count per rotation!) When the count exceeds 8191, it wil resume to ‘0, (BLIGIZIETH] : ensoiute encoder runring speed cout splay range ~ 8191) 3.3.7 Absolute encoder - one rotation Displays the pulse count per rotation of the absolute encoder. (8192 count per rotation) When the count exceeds 8192, it will resume to 0), (ALLINIGIG) ; ansoute encoder puse count per rotation display range 0 ~ 8191 3.3.8 Effective load ratio ‘The effective load 's displayed in %. It the ratio is in the minus, 2 ~' wil be displayed and it will resume to ‘0! when the SVON signal is OFF. COTA] etectve toed rao spay ange [-3090 ~ s000 RIELAGIEIG)] + minus rato dsplay (100% 3.3.9 Maximum load ratio The maximum oad is displayed in %. While the SVON signal is ON, it will always display the maximum rato and to resume to ‘0, press the operator SET key. If the ratio is in the minus, a will be displaye d and tt wil resume to ‘0! when the SVON signal is OFF, HL IBISIRIB) + maximum toad ratio display range [-3000 ~ 9000) + minus ration display [-250%) 243.4 Diagnosis display ) This display will verty the external sequence status and the condition of the system, > It will display the status 2s shown below on the OP panel LED display of the drive and the contents are as follows. 3.4.1 Servo ready status + SVON signal 's OFF and the motor is in free status, + SVON signal is ON and the motor is running, 3.4.2 Sequence 1/0 signal > Display ON/OFF status of external input signal in 7 segments al aja ofa a a} 4 aaa a a can L. 7 Sou ror PE SEEEES ae < extemal input signal > b> Display ON/OFF status of external output signal in 7 segments, af] ot aia} a ‘SEQUENCE: outeur eat tw on BRAKE ‘sveby < external output signal > > The VO display of the 7 segment LED display panel will be displayed when the LED is on and this will verly ON and OFF. (if tis ON, the LED wil be on, if it is OFF, the LED wil be off) 253.4.3 Position data /O signal [> Displays the ON/OFF status of the position data inpul signal in 7 segments. POSTION neu | srart oso rose Post rose rose rosa rose < PLC Input Signal > L D Dispiays the ON/OFF status of the position data output signal in 7 segments. POSTION ‘oupur er < PLC Output Signal > Hu i > The VO signal display in the LED panel wil verity whether it is ON or OFF. 3.4.4 Maker management eT i] + No use 3.4.5. Override data 0 signal > Dispiays the ON/OFF status of the override deta input signal in 7 segments. im I m J lee < Override inpat signal> > The VO display of the 7 segment LED dspley panel wil be dsplayed when the LED is on and this will verty ON and OFF. (it itis ON, the LED wil be on, if it is OFF, the LED will be of)3.4.6 Maker management i No use 3.4.7 Sequence output signal test D> This makes i possible to test the sequence or the connection by forcing the sequence output signal to be displayed externally & 5 Press the SET key and set the output data, Z V\ Gia F Qe 2 @ EleFbebl ) ON sami ore TGON sgral ON A 4 A GFF Be °@ GrEbhr SVRDY signal OF SVRDY signal ON Os \ BEERFE] Qe © Q GEESHE RAE eal OFF BRAKE sgt ON i) 4 O\ Gere Resume to intial display mode 3.4.8 Position data output signal test > This makes it possible to test the sequence or the connection by forcing the position data output signal to be displayed externally. + Press the SET key and set the output data, =| E] ee POSO.7 signal ON Resumes to initial display 273.4.9 Manufacturer's management code g[Slel-[c) 5 This is the code managed by the manufacturer 3.4.10 Jog operation D The drive self operates regardless of extemal sgnals. When setting the zero-point, use this to move the POST number to its intial postion Press the UP or DOWN key and meanwhile the driver will rotate according to the fixed speed of parameter 27 ue @ 4 | ress the SET key and the SVON signal wil automataly QO tur ON, end it wil change to Jog run mode Vt PET og un mots 4 4 Tea REELS tiie faa) ka lable JE] Ie a (OW rotation COW ration Qs ®\ Gaacbk | Resumes to intial dsplay mode 3.4.11 Initialization of parameter D After resetting the parameter setting value, save intial parameter in FRAN, D The stored value will be reset by pressing the SET key. D The parameters fixed while setting the zero-point will remain the same. PREEEE =) + Press SET key and it will save the parameter. ¢ 4 A {It wil automatically save the parameters trom 00 to 46 | ic) Ic) ae ae 5 After saving to 48, it wil resume to inal mode. 283.4.12 Initialization of position compensation > Alter inttalizing the position compensation value to ‘0, save it in FRAN, D> Press the SET key and it will start ‘nitiaizng, oF FISEE + Press the SET key and it wil save the parameter @ A It wil automatically save the parameters from 00 to K7. ES =| ie3| ie aa ee 3 After saving to H7, it will resume to intial mode 3.4.13 Setting machine home D This tunetion will set the current position to machine home. Press the SET key in the zero-point setting mode for 10 seconds and the parameters dealing with zero-point will be automatically set and displayed. D After setting the zero-point, turn the power OFF and then tum it ON in order to complete the setting cs = | 5 Press the SET key for more than 10 sec, It will save the parameters automatically a A AERA) it wil save the parameters automaticaly trom 34 to 46, \ a 3) C3) ‘e3) a [a fe: = | After saving to 46, f wil resume to inti! mode, 293.5 Alarm history display 3.5.1 Alarm history display D> The recent alarm records will be stored and displayed up to 9 times. The records can be vertied by pressing the UP or DOWN key. D All records of the alarm will be deared by pressing the SET key in this mode. 2 Q i alarm record display mode (== ao = Q j one time alarm dspiay (ex: in case of over load) + second time alain display 4) + ninth time alarm display b> All records wil be cleared when the SET key is pressed from the alarm record display mode. = BEEbsl A, } alarm is cleared. 1 Driver operation while alarm goes on > When the alarm is on, the photo coupler connection between the ALM terminal of the CN1 connector and the COMS terminal wil be OFF, and the motor will be on free run status. (SVRDY terminal and BRAKE terminal will be OFF as well! D> The detected alarm tem wil be displayed on the OP panel. If there is no OP panel display, it can be veritied by the main board LED display. A'so the same binary code as the main board LED code wil output data through the poston data output terninal (POSOO ~ POSO3) > Method of dismissing the alarm = Once the cause of the alam is resoWved, itis possible to return the driver by switching the power OFF. } Detection time of over toad ~The operation time of the over load alarm detect circuit is as listed below. 250% ~ ; tse, 220% ~ ; 24sec, 200% ~ ; 48se0, 180% ~ ; 98se0, 160% ~ ; 1928e0, 150% ~ ; Bdsec, 140% ~ | 76¥sec, 190% ~ ; 1836sec 30larm display and contents of the driver is as following. main] OP Panel Leo | _LeD Display Alarm type Corrective actions ander vohage 7 yey | wen te. votege GU) FRILIPIFISEA | Sander vue eure is below check if the input power is fw. check ifthe motor pawer cable § open. fo vq | Of wollte = cus whan FPL] | te votace s above tne ‘heck ifthe inout power is Hah. check if the operaton frequency is above the standard value check if regeneaive resstor is damaved. coours when the IPM malfunctons, check ifthe heat proiecton beard is over 100 degrees calsus. check ifthe operation frequency is above the standard value stenderd value, | FPERIR | mn crout over i] SEPA | cocus wren Al ELA | eases assomblod, ‘encoder WF module orror encoder WF not comecty check ifthe encoder IF module is comectly assembied, i} encoder receive inalzation error when encoder i not intaized gata coours Dive tums the power off and then tums i on 8 second later ‘over speed ‘occurs when’ he motor speed exceeds the maximum runing count, check if the encoder cable is missing or # i correct assembied, ‘over load | A standard tre, occurs when the ‘over load status coniruous a bg tne exosedag the check if there is connection error in the: Imetor power cable, check ifthe parameter is set correct ‘CPU error RIL PI-[SIE] | me cru eccurs when ‘matfunctions or ‘here ‘s faut with tre board check if the parameter is set correct, fe | be rege parameter error he oa parameter is rot vain cours when check if the paramoter is sot correctly parameter 19, cessive pion dean sens dang. prston nt Gl} BEPELD) | wer to veanng nue esos te tied ale a cack ifthe value of paramoter 18 = sot too bw, ‘he motor. ‘over current flow tne over current flows mo ocars if ‘heck the aoceVGece! parameter W Set On too bow vate, check ifthe ingulaton resistor of the motor is correctly spayed. encoder ballon rar m} AEPCER jem we C]) PIE | rates of tne ‘enters draped of docomecie. backup change the battery > When the alarm goes on, the binary code of the mein board LED dispay will output data through positon data output signal. Example) under voitage alarm POSS POSO2 POSS POSO8 Le0 soley [1] OFF OFF OFF ‘ON 313.6 Setting parameter The parameter must be set before the motor operation 3,8,1 Method of setting parameter @ Press the MODE key and change the operator display to parameter setting display mode, FLESER + Cgc] = ALACEE = OmeocE slaus dspay _Dagrose dspy «Aa istry. Prater dey a eA “G ay i A a A @ Press the UP key and set the first two segments to intended setting. (ex. set to 08) egg EEE a (b me) @ Press the SET key and the dot will appear below the fist two segments GegSC) ¢ GBISRE 6 A @ Press the UP or DOWN key and set the latter 4 segments with the intended data, (ex ; fix the data to 10) BIC ee [RCE A] press 9 times ry © Press the SET key and the first two segments wil have dots appearing below and the data will be saved. Atter 2 while, the dot will disappear and it will resume to the inital dispizy betore the set up. mo An (ols) ti asisic] is] = (Gls ic ic Fy la 32From parameter 09 to 33, press the SET key and it will display the set value as the dot below the first two segments is on, EES) = WA fetta From parameter 34 to 45, the home will be set automatically. Do not change this parameter. (it you change this parameter, Drve will not operate property] 333.6.2 Parameter list NO] Abbr Name Dotaut [Unt 0 wPC_|mator power capacity 0 a Of_| WAD_|motor running directon 1 A @ | = reserve parameter 0 A ca_| FS _ [ted drecton, jog function selection 0 A (4 [EPR [encoder pulse per one rotation 2048 A | WPN |mexmum POST number 2-7 | 2 | pos | A | GRI_|goa" ratio= motor side 1 = wo | Rov A 7_| GR? |goar ratio = machina so t= om | 2 | post | A _|-HsP_|POST number of nome tm] A (@ | 7e0 |atemate angle (only T1500, T1800! Ont 0 A 10 | PKP postion loop proportional gain o— 240 | 256 5 tt_|_VkP_|speed loop proportional pan a= aa [250 B 12 [_VKI_ speed loop integral gain o-oo [1 8 13_| SROT |sono ready on dolay tno c= | 0 | Wee | 6 14_|BFT_ brake off contol delay time: a= | 0 [msec | 8 15 | 807 [brake on delay time a= | 0 | msec | 8 16 | vTO_|manior ofset votage “z= | 0 | wey] 6 17_|_VIN_|monior selection o=3 o 5 18_|_INP_ [posting compkie range 1 = so0 [00 | puse [5 19 | APA |remaning puise elowence 1 = oom_[ enon | 100 PULSE | 5: 20 | FFG [postion loop feedontard gain o=m | o % B 21_[ FTC feed-fowardfiter time constant o= 1m | 0 | 4mme | 8 2 | TLPt [postive torque len 1 o= wo | 250 % 8 23 | TUN |negaive torque mt 1 o= mo | 250 % 5 24_| TLP2 [postive torque Temi 2 o= mo | % B 25 | TUNE |nogaiive torque imi 2 o= mo | Be 8 | vis [speed imi = 2000 | to | pm 5 2715 _|og speed at sei home: 1 = 1000 | 100 nen 5 2 | VEL operation speed To = 3000 | 1800 [om 5 23 | ATC [acceleration ume, o> 30 | 0 | mos | 5 30 | DTC _|deceieraion time o=wo [9 [mec | 8 ‘31_| WAV [speed monfor ouiput voltage So0= 5000 | sooo | env | 6 ‘@_|-WAT torque montor output votage 500= so00 | 100 | amv | 8 | 1S0_infial status display c= | 6 5 34 | A01_ [encoder coordinates compensation (ower) o 3 | AOM [encoder coordinates compensation (upper) O | HOL_|set vale of machine zero-pont lowerl D 37_| HOM [set value of machine zero-pont upper! 5 | K2 [oumrent 1o9p proportional gain o [KC |ourent loop integral gain o 40_| FPL feedback pulse (lower) o ‘41_|_FPU feedback pul luppori D. 42_| ACR accoleraton rate of remaining value O 49, [REWLL [compensator of remaining value(ower) D 44 [REMLH [compensation of remaining valueluppert D 4 |= reserve parameter o 46 lov_setlovernge selection a A "7 Note. Adusled parameter cperated as folows, A | Adjusted parameter & only vakd when powers of — on, 3 | You can agust re parameters under the serve 16 Ot [You ean adust the parameters under the servo 15 on. | You car never adlst the nararetrs Tor Maker marsaement & II you change this parameter, Drive wil not operate pronery. 343.6.3 Detalled explanation of parameter [0] Motor power capacity This Is the parameter that enables selection of applied motor capacty. Presently only 1.5KW can be selected 0: 1.5K [1] Motor running direction This sets the running direction of the motor. Please select accordingly to the structure of the equipment, 0: The rotating direction of the motor and that of the equipment are the same. 11: The rotating direction of the motor and that of the equipment are diferent [@) Reserve parameter [i] Selection of Fix-direction and JOG function, Defines the functions of JOG+ (no. 20} of CNI connector and JOG-no, 23) signal 0: Detined by set ditecton signal oe | JOG Rotating direction OFF | OFF | Dotecis the shortost distance and rotates, OFF ‘ON | The motor always rune clock wie. ON (OFF _ | The motor always runs coumter-clock wise, ON ‘ON | The motor always runs counter-clock wee, it rotates + This is applicable if the parameter 1 is set at ‘0’ It the parameter is set to the opposite way. 1+ Defined by JOG operating signal 0G | JOG Contents ‘OFF | OFF | Oniy operates by postion dala input OFF ‘ON | Step JOG operates towards the drecion the POST number decreases, oN OFF | Step JOG operates towards the drecion the POST rumber neveases ON ‘ON [Gan not be defined, D> This is applicable it the parameter 1 is set at ‘0’ if the parameter is set to ‘1’, it rotates the opposite way, D> Ignore position data input f JOG+ and JOG~ signal is ON. D> For more detailed explanation, reer to 'JOG operaton’ section [@ Encoder pulse per one rotation This is the enoader pulse per one rotetion divided by four 35Maximum POST number This sets the maximum POST number. The positon data input exceeding the set data is ignored. Settng range : 2 ~ 127, Outcome value © 12 [6] Gear ratio of motor side This sets the rotation count when the motor rotates accordingly to the POST data set at parameter 7. Setting range + 1 ~ 9999, Outcome value © 33 [1] Gear ratio of machine side ‘This sets the POST data it should move when the motor rotates accordingly to the set data at parameter 6, Setting range + 1 ~ 9999, Outcome value = 12 Example! 1, The machine is 19 POST turret and t the motor rotates 90.75 turns and should the decelerating rato be determined so that the turret will rotate 1 time, this is within the 19 POST movement, thus the value will be set 2s follows. Maximum POST data * 10 Gear ratio of motor side : 3075 Gear ratio of equipment side : 1000 2. From MCT type machine, it is 41 POSTI41 POT) magazine, and if the motor rotates 101 turns, ‘and should the deoslereting ratio be determined so thet the magazine will move 9 POST, the value will be set as follows. Maximum POST data © 41 Gear ratio of motor side : 101 Gear ratio of equipment side: 9 [8] POST number of home Input the POST numnber that sets the hone when setting the machine's zero-point. Please reter to ‘machine home setting method’ for more detalied explanetion, Setting range 1 ~ 127, Outoome value = 1 36| Alternative angie This sets the alternative angle of the Turret Please select accordingly to the support of NC program, ¥ If you change this parameter, Turret will not operate properly. : Unfit for use of altematve ange 1: fit for use of atemative ange Outcome value : 0 (9 Position loop proportional gain The proportional gain of the positon loop is the parameter which determines the response of postion control loop. If the value increases, the mechanical response gets better. However, mechanical impact on the machine may occur when the motor starts or stops. it the value decreases, the mechanical response will get worse and postion error increases by remaining pulse, This also relates to speed loop proportonal gain. Setting range = 0 ~ 2048, Quteome value Speed loop proportional gain ‘The proportenal gain of speed loop is the parameter which determines the response of the speed control faop. For external characteristics, it determines the degree of rgidty. It the value or the proportional gain increases, the raidty becomes better. Thus, the larger the setting, the better t will be, except it may cause oscillations and hunting. Taking this into consideration, the value should be set as large as possible wile under 4 stable condttion Setting range = 0 ~ 2048, Outcome value = 250 [13 Speed loop integral gain The integral gain of the speed loop is a compensatory factor which reduces normal state error and increases rigidity. i the value of integral gain is increased, the rigidity will get better except it may cause oscillations, thus the system may become unstable Settng range = 0 ~ 2048, Outcome value = 1 I Servo ready on delay time This is the delay tine it tekes for the Seo Ready signal to change to ON. Setting range: 0 ~ 40 [x 10msecl, Outcome value = 0 [H) Brake off control delay time In case the motor has an inner brake, this is the time t takes for the brake to take off Settng range : 0 ~ 40 [x 10msecl, Outoome value = 0 37[8 Brake on delay time In case the motor has an inner brake, this is the time it takes for the brake to put on. Set the value higher than the actual time it takes for the brake to put on. Setting range + 0 ~ 40 [x 10msecl, Outcome value = 0 Monitor offset voltage In case there is a need to adjust the offset of the monitor terminal (Number 18 of CNt connector, connect the esciloscope or the direct current vottmeter which can be moved by (9) while the servo is off. This value should be set to OV so that the montor output can be adjusted. Settng range = -12 ~ 12, [x 10/126 VI, Outoome value = 0 Ii) Monitor selection THis |s to select the contents of the output data by monitor terminal 0: Output data of speed feedback 1 + Output data of toraue feedback 2 * Output data of the curent in W phase 3 * Output date of the current in U phase Positioning complete range In postion contral, this sets the completion renge of the position. it the devation between the targeted postion and the curent positon s within the set range, the VPF terminal (Number 16 cf the CN1 connector} will turn ON. The numerical value unit in pulse is ‘encoder x 4 times = pulse and presently it is 8192 pulse per 1 rotation Settng range : 1 ~ 9999 [pulsel, Outcome value = 100) Remaining pulse allowance In postion control, in each position control loop the difference between position command and postion feedback is accumulated. Should this diference value exceed the set value, the position devaton overoad alarm will appear. The numerical value unit in pulse is ‘encoder x 4 times pulse and presently it is 8192 pulse per 1 rotation, Setting range: 1 6000 [x 100 pulse], Outcome value + 6000 Position loop feed-forward gain ‘This can enable to have @ response characterstio which shortens the position determining time by using the feed-forward contro. However, if the value is set too high, it may cause oscllations in the mactine. Settng range : 1 ~ 100 (241, Outcome value = 0 38{@] Feed-torward filter time constant This sets the time constant when the first delay fiter is put in the feed-forward position commend. Settng range : 0 ~ S00 [x dmsecl, Qutcome value : 0 Positive torque limit 1 This limits the torque output of the postive (+) polerty in areas otner tnan the. postioning complete range. I the value is set at WY, positve torque will not occur. If the value is set to low, when the motor stars or stops operaton, hunting may occur, Settng range : 9 ~ 300 (P41, Outcome value + 250 Negative torque limit 1 This limits the torque output of the negative (-) polenty in areas other than the positioning complete range, If the value is set at 0%, negative torque will not occur. It the value is set to low, when the motor stars or stops operation, hunting may acour. Settng range : 0 ~ 300 [26] Outcome value © 260 BW Positive torque limit 2 This limts the torque output of the postive () polarity in areas within the postioning complete range. After postion determining s complete, the SVON signal turns ON and in this case a continuous load s put on the machine. By setting a low value overstrain on the equipment or the motor can be avoided. Setting range : 9 ~ 300 (PA), Outcome value + $0 Negative torque limit 2 This mts the torque output of the negative (-) pony in areas wthin the positioning complete range, After position determining complete, the SVON signal turns ON and in this case a continuous load $ put on the machine, By setting a low value overstrain on the equipment or the motor can be avoided. Settng range : 0 ~ 300 [24] uteome value © 60 Speed limit This limts the maximum operation speed. Even when overshooting and such cases occur while accelerating, this limits the speed within the set value Set the value at least 60mm more than the set value at parameter 28 (operating speed) Settng range : 9 ~ 3000 pm Outcome value = 1860 39Jog speed at set home This sets the speed of the internal jog operation in order to move the turrel, magazine and such of the machinery while setting the zero-point. This is different trom step jog speed. Settng range : 1 ~ 1000 (rpm, Outcome value + 100 Operation speed This is the motor speed while operating automatically or whie step jog operating Settng range : 19 ~ 3000 [mpm], Outcome value = 1800 Acceleration time This sets the time i takes to get to the speed fixed in parameter 28 from zero movement (motor stops), i the value is set too low, speed overshooting may oceur when accelerating Setting range : 9 ~ 340 [msec], Outcome value * 90) Deceleration time This sets the time t takes to get to the zero movement (motor stops) ftom the speed set in parameter 28, It the value is set to low, the time it takes to determine the position may be delayed due to huntng when the motor stops. Settng range : 9 ~ 340 [msec], Outcome value + 80) Speed monitor output voltage This sets the voltage of the moniter output while rotating when the speed is generated to ‘monitor terminal in rated speed (200mm) Setting range : 1000 ~ 5000 Ik 2m¥] Outcome value = 3000 (6V when speed is 200mm! Torque monitor output voltage This sets the voltage of the monitor output when the torque outputs data in rated torque (100%) Into the monitor terminal Settna range + 1000 ~ 5000 k 2m¥] Outcome value + 1800 (GV when torque outputs. 100%), 40Initial status display Turn the main power switch ON and select the intial status display = It dpa coon (Se | _tal aapiayoonon a 21 | Aeimdad cond pb Caper nox) | a7 | Aes ewode asin 22 | exe psnton donee werd 08 | veseae ered ane ton 28 [ cures seston user word 09 | ete ted ao ox | accuse rang pub TO Maca bad ato 25 | eves FOS! nme utcome value : 6 ‘Rotation speed of the motor) ~ [| Automatic setting and parameter managed by the manufacturer While sottng the machine zero-point, the parameters. wil be set automaticaly or alse itis for menufacturer's management use. Please do not set i according to the user's purpose. It may cause dameges to the device, Override This sets the override of the turet I you change this parameter, Turret will not operate properly 0 Unfit for use of overide 1: fit for use of override Outcome value : 0 a3.7 Setting position compensation Set the postion compensation value for each POST. The unt wil be encoder 4 times pulse (8192 pulse per 1 rotation) and the setting range is trom -9999 to 9999. The setting method is as follows. © Press the MODE key and change the mode to position compensation setting mode display. WOUE) = EgrbFF] = AE -] > GREEES = BEX Se 68 8&8 8 A A A R ® The rest of the setting method similar to that of setting the parameter Please refer to that section All setting date can be set while the SVON signal is OFF and is effective rght ater setting > Reference point coe i The first two seaments are the POST number and the latter 4 segments are the position compensation value (00! and '4096° data are set for manufacturer's management, | {To display the minus value, dots will appear below the latter 4 segments, GE i From 100 to 109, there wil be @ ‘~' dgplayed in front of the POST number, EGS | From 110 to 119, there will be an ‘E' displayed in front of the POST number. BEERS) | From 120 to 127, there will be an ‘H’ displayed in front of the POST number. a2TA PART(ATC DRIVE) 1. Installation and wiring 1.1 Designations Designations of DOOSAN AC Servo Motor and Drive are as follows, © encoder connector @ © trame @ encoder © setting bracket @ enooder connector @ controller connector @ terminal biock © setting key © operator dsplay © battery @ avertde connector 431.2 Environmental conditions ‘This product was desianed for indoor usage A Caution = If used in diferent circumstances and envionment other than stated below, possble damages may occur Please use under the following conditions. SERVO NOTOR SERVO DRNE aad - phase AC 200V~230V * 10-15%, SO/6OH2 et 0 ~ +40 t o~ 400 temperature saat “5 ~ +00 “5 ~ +0 temperature Humity below 60% RH below 959% RH (1) Use in areas free of corrsive and explosive gas. Environmental | (2) Use in areas that are well ventlated condtions | (3) Vibratons of tremors nearby may be the cause of poor connection of the connactar, electnio comectar device and relay {1} The gratection level of the servo motor is IP-64, Waterprat | rou Please put the cover on in areas where there is massive water and ci (2) While handing the sere motor connecter, hande it as instucted oner Please refer to chapter 2 whie essembing and handing the wives 1.3 Installation procedure 1.3.1 Assembling the servo motor D A Waming : While assembling the serve motor, avoid dropping it D A. Caution : Whie mounting tre servo motor horontaly, the connector should be facing downward D> The seve motor can be mounted hofzontaly or vertaly. D> To prevent vibratons, the motor shaft and the loading sheft should be precisely aligned which will alow for the couping and bearing ite to last longer. Use flexbie couping when connecting directly to the foe. © Tho outor part of the couping should be measured at four equdistent points, each 90" dogrees apart so thet the gap beWween the maxmum and the least readngs should not exceed 003mm. @ Tho contr point of the motor and the loading shaft should be precisely aligned. [> Avoid excessive radial and thrust load to the motor shatt and also avoid impact that is more then 106 when mounting the gear, coupling, pulley and fc. at the same time D A minus load means that while the motor is rotating according to the load, it is successively operating while it is on regeneratve brake. The capacty of the regenerative brake & short term rating specification, thus i should not be used in minus lad 44D The admissble load inertia converted into the motor shaft is within § times the inertia of the applied servo motor. It it exceeds this, during deceleration it may cause regenerate malfunction. The following steps should be taken f the load inerta exceeds more than § times the inertia of the servo motor. ~ Reduce the current limit, - Slow down deceleration time, ~ Lower the maximum speed in use, 1.3.2 Setting the servo drive D> A Waming : Tur off the power while mounting or uninstaling D> Whie instaling the panel, take into consideration the size or the panel, cooing and witing in order to maintain a diference of temperature below 57 between the panel temperature and the surrounding temperature. D> The surounding tempereture should be maintained below 55°C at all cases. Proper ventiation shoud be used D> Should there be vbrations, the drver should be mounted on shock absorbing surface D> Should the sero driver be exposed to corrosive gas for a long time, it may cause damages to connecting devices, thus it should be avoded. D> Environmental conditions such as high temperature, high humidity, excessive dust and metal parlicles should be avoided @ Mounting method [> There should be & space wider than 100r™m below and above the servo drive, [> There shoud be @ space wider than 308" on both sides of the seve drive D> Mount the servo dive vertcally. Do not use if it is mounted horizontally. ml ah 451.4 Wiring For signel lines and encoder lines, use twisted ines or mult-core shielded twisted-pair lines. The length for reference input lines should be @ maximum of 3m, and the encoder ine should be a maximum of below 10m. Wiring must be done in shortest dstance and the remaining lenath should be cut } The ground circut should be a thick line. Usage ot class 3 ground or above (ground resistance 1008 o less) is recommended. A'so, make sure to ground at one-point grounding D> The following precautions should be taken to avoid mafunction due to nose. ~ The noise titer should be pisced as near 2s possble. = Mount 2 surge absorbing circuit to the coll of the relay, electromagnetic contacts, solenoids and etc. = The power line (AC input, motor input line) and the signal line should be placed 30 om apart oF more. Do not run them in the same duct or in. bundle = When the same power soure is used, as for an electro welder or electrical discharge machine or when a high-frequency noise source is present, attach noise titer to the power or the input circuits. ~ The cable line for the signal line is only 02 ~ 03 mm’, thus excessive force to the line should be avoided to prevent damages. 1.5 Noise treatment The effect of the switching noise depending on the wirng or the grounding method should be reduced as much as possible. Outside noise should be reduced as much es possble ) Grounding method The sero diver supplies power to the motor according to the switching of the IPM dovice Thus the Cf dvidt current fows from the power component to the flozting capacity of the motor To prevent the effect of the switcting noise, the motor frame terminal shoud be connected to the PE terminal of the servo driver terminal block and the PE terminal of the servo driver should be drecty grounded to standard ground panel D Noise titer Noise titers used in order to prevent noise from the power ine. Please refer to the folowing conditions while instaling (al Separate the input and output wirng and do not bundle them together or run them in the same duct (b) Do not bundle or run the ground wire with the fiter oulput ine or other signal lines in the same duct. (6) The ground leed should be wired singly to the ground pane. (@) te unt contains the fiter, connect the fiter and the equipment ground to the base of the unit (@) Please use the following recommended noise fier 461.6 Outside circuit connection (Sample) NC CONTROLLER - ‘SEQUENCE INPUT Tf AC SERVO DRIVE ‘3 PHASE AC 220V 444 wees NOISE lrowenvowen [uperen Sort wm || [Saal ome ' SEQUENCE OUTeU \ un eet i & ™ ! X ‘AC SERVO MOTOR SERVO INPUT NOTE |. TwsTeD PAR SHIELDED caBLE —yX— a71.7 Layout of drive connector terminal 1.7.1 Layout of connector terminal CN1 Spec = 10236-S2A2JL (Housing), 10196-3000VE (Plug), Manufacturer : 3M 19 2 2 a a 2 3 3 3% r¢_| ALMRST roa | BAT IL oracin cor 2 2 Ey 26 2 30 2 u 38 ‘SVON reo | Sjoo: [ALM TUNCLAMP| 7 3 = 7 ° 1 3 5 7 com [Seas | come _| coma coms 2 4 @ 8 0 2 4 6 1B stop | Soc: _|srart | svepy clamp | VPF 1.7.2 Layout of connector terminal CN2 Spec : 10220-S2A2L (Housingl, 10120-3000VE (Pug), Manufacturer : SM fi 3 18 7 19 DGND = RX = VBAT— 2 4 16 18 20 = RX = vBaT+ | FG 1 3 5 7 9 +5VE - eI - S 2 4 6 8 10 481.8 1/0 signal for connector CN1 and its significance 1.8.1 Input signal sina | no. Deseripion Wo SVON | 2% |The sorel mates the moter ready to Sart opercion, When the signal sof |, the moter remarrs fee. In caBe Here. on inner brace, the bree is on STEP JOG eperaion sional Used for sep! jou operation sora zr Suet teem | 29 | ~SH0G* saral is ON : Whon ne sgnal i an tho ATC rtaes clock we : and wien iis of, he ATC stops ~ §.JOG- signal is ON : Whon the sal ison, the ATC rotates courr-ceck wise, ard when ts of ATC sops sro | a | Wien he Sarat s ON, He mar saps. The motor Kars aotordng To put |, : and rus the ret ofthe dsianoe TOO | 7 | oayy toch mgt stra Toor | bp. | Heavy too! mut stra com | 5 |SOMMON teninal of sequence rput sore (When DO 24V w put, the sire ume OV) Wen ths sgral 6 ON while SVON sgrel s ON, the postion data fnary staat) | 8 |code) of te morer moves towards te input POST. Manian he tme is ON et minmum Somsee coue | 9 [COMMON fennnal of START, SIOG.MODE, SJOGr, $.JOG=, W.TCOLG, |, HTOOL! saris si0¢_vone | 7 | Step jon mode input signal \ 491.8.2 Output signal ‘Signal no, Description 0 ALM 30. | Alam sgnel © on, output ‘OFF and wien t is romal, the output 1s ‘ON The sewo is ready, When the SVON s ON, the diver tums on after SVROY 10 | parameter 13 is thed, When SVON @ OFF the diver tums of efter perameter 15 1s ted, BATL 29 | When the battery volage tals below 1A, the signal is ON’ coma 11 | COMMON ‘ernnal of sequence output signels{ALM,SVRDY} LAMP 14 | Clamp signal output Postion compleion sgnel oulput. I the pulse error readings whie the moter PF 18 | is moving 1s witnin tne fued vale of parameter 18, the sgnel tus ON. (This ssgnal son oven after SVON signal is OFF) unowawe | 38. | Unclamp signal output OnIGNLoUT | 35 | Home positon signal ouput 501.9 Structure of drive 1/0 circuit © Inout There are SVON, JOG*, JOG-, STOP, TOOLO, TOOLI, START, SJOG_MODE signais and two types of input crcuts are provided (the current is limited to 5mA due to inner resistance) = LE [= | SVL AC SERVO DRIVE ® he aa. = Using VOC{+24Vl CONMON Using GND COMMON ® Output There sre SVRDY, ALM, VPF, BATL, CLAMP, UNCLAMP, ORIGIN OUT signels. They are Photocoupler output, thus the current is limited to S0mA. Ac SERVO DRVE 4 ea Pa 512. Operation 2.1 Automatic operation © ® ® ® ©® Laat | | POWER cee CEG FR OW T T ALARM DRIVE” HORNA CONDITION ‘SVON svaoy START HOME POSTION OFF OW OFF ow @ I the drive operates normally [alter 500msec) after the POWER is ‘ON’, the absolute enoader will detect the inital position and output data according to the home position and the turn on the ongin_out signal. @ When SVON signal is ON and after inner GATE is ON, SVRDY will tur ON. @ When START signal is ON, the servo will move according to the postion data, (Maintain ON status ot START signal to about 100msec ~ 200msec} @ When position is set, Origin_out signaltHome position) wil tur 'OFF” @ After postion movement is completed, Ongin_out signaltHiome postion! will tum ‘ON’ © From extemal controler, if Origin out signelitiome postion! is ‘ON’, tum 'OFF" the SVON sianal ( The next operation after SVRDY sgnal OFF) 522.2 Machine Home setting method When assembling the motor for the first time, set the absolute enooder zero-point to the machine Home The Settng method is es follows, (These steps should be done when the extemal sere ‘ON’ sgnal is OFF.) [1] Tum the machine power supply ON. Please center ATC Home Dog on the proxmity switch, Set the current position to ATC home, © Press the MODE key and change the display to servo ON/OFF mode. ROG - FECbFF status display serve on/ott display & mn @ Press the DOWN key and change the display to zero-point setting mode. I)-lolFIF] = (BINSISFE A @ Press SET key for 10 seconds and the display will set the parameter automatically and the turn back the display to zero-point setting mode, OPEEE]) » GSOBEH, = OEEEE gig genane farsi press for 1D secs Tum the power OFF and then ON again and the setting of the zero-point is now completed. 533. Display / Setting switches Display / Setting switch is applicable when using the operator 3.1 Functions The 6 digits 7 segment display in front of the driver indicates parameter settng, position compensation value setting, diagnosis, alarm, and address and the data can be selected by 4 display mode. ( Display ) } When power is OFF, pre-set data s stored in the drive. D Even it the power is turned off when the alarm is on the contents of the alarn s stored and when the power is tumed on again, the contents can be vertied ACaution : Tum the power voltage while mounting or dismounting the front panel. 543.2 Operating the display setting switches and display flowchart 3.2.1 Overview } After turing on te main power, 7 segment LED is displayed in status made and the mode can bbe selected by pressing the mode button, Inital display atter main power is ON ATC display Capacity display (1.5KW) + Status display GI Q 1 ONIOFF display ITAL [-[=] + arm deptay a SIGIGIGIGIG) + parameter seting : t 6 EEISEETSIS] Poston compersten sete 553.2.2 Display flowchart3.3 Status play ‘The status display mode verties the status of the drive, > The operator pane! displays the status and is usage is 4s status below, } Al posttion dates are executed acoorting to pulse unit inside the drive. Therefore the status display of the pulse unit is displayed according to the pulse standard ot the encoder. (8192 pulse per rotation} 3.3.1 Accumulated command pulse The accumulated command pulse will accumulate the pulse that was counted by the position contol device after the START signal is on and it will display in both lower and upper word (16bit When SVON signal is off, it will resume to ‘01 FIGIGIGIGIG) ; accumulated command puise-ower word splay range (00000 ~ 656261 [GIGISIGIGIG] ; ccoumuieted command pulse-iower word splay range (00000 — 655951 3 2 Current position The absolute current position within one ATC rotation will be dsplay by pulse counts. It will be displayed in lower end upper word (16 bit). Display range [00000 ~ pulse per ATC rotation) IEIGIEIE) + ower word of curent poston GTCIEE] + voner wo ot caren esion 3.3.3 Remaining pulse Displays in accumulated pulse unit the deviation of postion command and positon feedback If the pulse exceeds the set velue cf the parameter 19, postion deviation overload slarm will eppear. Hits minus pulse, the dot below the segment wil appear and when SVON signal tums OFF, it wil resu me to ‘0, ai] ie3| ie5| =| ea } accumulated remaining pulse display range 16.00.0.00. ~ 600000] i minus pulse display (100) 3.3.4 Maker management ie) ie5) 5) 873.3.5 Motor running speed The running speed of the motor is displayed in RPM unit The changes of the speed cannot be seen du e 10 inner fiterng process. (To view the speed changes, use the moniter output In case the motor is running clock wise, a -" will be displayed FLERE) : moor unnce snes aoay ange (2000 ~ 500 [SIGS]; minus mm display (-1000%m) 3. 6 Absolute encoder multi turn pulse Displays the running count of the absolute enooder inside the motor. (1 count per rotation!) When the count exceeds 8191, it wil resume to ‘0, (BLIGIZIETH] : ensoiute encoder runring speed cout splay range ~ 8191) 3.3.7 Absolute encoder single turn pulse Displays the pulse count per rotation of the absolute encoder. (8192 count per rotation) When the count exceeds 8191, it will resume to (ALLINIGIG) ; ansoute encoder puse count per rotation display range 0 ~ 8191 3.3.8 Effective load ratio ‘The effective load 's displayed in %. It the ratio is in the minus, 2 ~' wil be displayed and it will resume to ‘0! when the SVON signal is OFF. COTA] etectve toed rao spay ange [-3090 ~ s000 RIELAGIEIG)] + minus rato dsplay (100% 3.3.9 Maximum load ratio The maximum oad is displayed in %. While the SVON signal is ON, it will always display the maximum rato and to resume to ‘0, press the operator SET key. If the ratio is in the minus, a will be displaye d and tt wil resume to ‘0! when the SVON signal is OFF, HL IBISIRIB) + maximum toad ratio display range [-3000 ~ 9000) + minus ration display [-250%) 583.4 Diagnosis display ) This display will verty the external sequence status and the condition of the system, > It will display the status 2s shown below on the OP panel LED display of the drive and the contents are as follows. 3.4.1 Servo ready status + SVON signal 's OFF and the motor is in free status, + SVON signal is ON and the motor is running, 3.4.2 Sequence 1/0 signal > Display ON/OFF status of external input signal in 7 segments afi aoa ifr ajo face feta Now stop < extemal input signal > b> Display ON/OFF status of external output signal in 7 segments, SEQUENCE OUTPUT, ars ‘svRoY < external output signal > > The VO display of the 7 segment LED display panel will te displayed when the LED is on and this will verify ON and OFF. (if itis ON, the LED wil be on, if it is OFF, the LED wil be off) 593.4.3 Function data /0 signal D> Displays the ON/OFF status of the function data input signal in 7 segments. 1 4, DATA NPUT “s.v0st L___ roo. soe | I HiToou [> Dispiays the ON/OFF status of the function data output signal in 7 segments, el ole aie giog H bale ajay aja aed nent } The VO signal display in the LED panel will verty whether t is ON or OFF. 3.4.4 Maker management fa Wary ket le | i No use 3.4.5. Software version display EGS } Maker management 3.4.6 Maker management Cathe Flot lor paraate3.4.7 Sequence output signal test D This makes ft possible to test the sequence or the connection by forcing the sequence output anal to be displayed external + Press the SET key and sot the output data, EbFaFF] Q = EbEbhE ®* TGON signal OFF - TGON signal ON “A gu Vl BEEFF ae ° @ Grlbbr SVADY signal OFF fe ‘SVRDY signal ON J 4 a, VO bkEbFF a oe > a fale [-lalnl- BRAKE sore ON 6, A Resume to intial display mode 3.4.8 Function data output signal test [> This makes it possible to test the sequence or the connection by forcing the function data output signal to be displayed externally. 5 Press the SET key and set the output data, Ge 2 3 PERE P.O signal ON e > 8 PR Talal PLTIVPF} egnal ON nal OFF I Resumes to initial display 3.4.9 Manufacturer's management code @RBld-E) | This is the code managed by the manufacturer 613.4.10 Jog operation > The drive self operates regardless of extemal signals. > When setting the zero-point, use this to move the ATC to its initial positon. Press the UP or DOWN key and meanwhile the driver wil rotate according to the fixed speed of parameter 27, i Press the SET key and the SVON signal will automaticaly tur ON, and it will change to Jog run mode. ( 5 Jog run mode gL a uEBLEe A COW roton | Resumes to intial dsplay mode 3.4.11 Initialization of parameter D> Alter resetting the perameter setting value, save inital parameter in FRAM D The stored value will be reset by pressing the SET key D> The parameters fixed while setting the zero-point will remain the same. PIRF RI Press SET key and it will save the parameter. ‘It wil automatically save the parameters from 00 to 72. A eile ees 7] I (Fa) C2) e5| e3| # After saving to 72, tt will resume to inital mode 623.4.12 Initialization of position compensation > After initializing the position compensation value to ‘0, save it in FRAM. D Press the SET key and it will start initializing, + Press the SET key and it wil save the parameter f) A Bt wil automatically save the parameters trom 00 to H7. HAGE) After saving to H7, it will resume to intial mode 3.4.13 Setting machine home D> This tuncton will set the current position to machine home. Press the SET key in the zero-point setting mode for 19 seconds end the parameters deaing with zero-point will be automaticaly set and displayed D> After setting the zero-point, turn the power OFF and then tum it ON in order to complete the setting es] = ir Press the SET key for more than 10 sec. twill save the parameters automatically i e i It wil save the parameters automatically trom $4 to 46 + Afler seving to 46, 1 wil resume to intial mode, 633.5 Alarm history display 3.5.1 Alarm history display > The recent alarm records will be stored and displayed up to 9 times. The records can be vertied by pressing the UP or DOWN key. D All records of the alarm wil be cleared by pressing the SET key in this mode. 8 j alarm record display mode 8 {one time alarm display (ex: in case of over load) i second time alarm display g ? lol tT lo # ninth time alarm display D All records will be cleared when the SET key is pressed from the alarm record display mode. Le) BELLI) 0, \ 1 Driver operation while alarm goes on > When the alarm is on, the photo coupler connection between the ALM terminal of the CNI connector and the COMS terminal will be OFF, and the motor will be on free run status. (SVRDY terminal and BRAKE terminal will be OFF as well! The detected alarm item wil be displayed on the OP panel, If there is no OP panel dispiay, it can be verted by the main board LED display. A'so the same binary code as the main board LED cade wil output data through the positon data output terninal (POSOO ~ POSO3) # alarm is cleared, } Method of dismissing the alarm = Once the cause of the alarm is resoWved, tt is possible to return the driver by switching the power OFF. } Detection time of over toad = The operation time of the over load alarm detect crcut is as ised below. 25M ~ i tec, 220% ~ i Blsec, 200% ~ 5 ABsec, 180% ~ ; 96sec, 160% ~ j 192e00, 150% ~ | SBéseo, 140% ~ j 768500, 190% ~ ; 1538520 64¥ The alarm display and contents of the driver is as following. main] OP Panel Uf | LED Display ‘Alarm type Corrective actions under vollage "oceans O) RPG when the vollage is below ‘he standard value check if the input power is fw. check ifthe motor pawer cable § open. fa pa = 7a cy ie ‘over voltage : occurs when te vole s above the stenderd value, ‘heck the Mout Bowe IS Tah. check if the operaton frequency is above the standard value check if regeneaive resstor is damaved. a Es] = =a ies} ae] main cireut error : occurs when the IPM malfunctons, check ifthe heat proiecton beard is over 100 degrees calsus. check ifthe operation frequency is above the standard value 4) ‘encoder WF module orror occurs when encoder UF mode § not comecty assomblod, check ifthe encoder IF module is comectly assembied, i} encoder receive _ dala intialzation error! occurs when encoder i not intaized Dive tums the power off and then tums i on 8 second later ‘over speed : occurs when he motor speed exceeds the maximum runing count, check if the encoder cable is missing or # i correct assembied, | A over load + occurs wen the ‘over load status coniruous a bg tne exosedag the standard tre, check if there is connection error in the: Imetor power cable, check ifthe parameter is set correct CPU error = occurs when tre CPU malfunctions or ‘here ‘s faut with tre board check if the parameter is set correct, fe | parameter error : oars when he oa parameter is rot vain be rege check if the paramoter is sot correctly ‘excessive position deviation ccaurs dung positon control when tie remaining pulse exceeds the fxed value of parameter 19, cack ifthe value of paramoter 18 = sot too bw, over current flow : occurs tne over current flows mo ‘he motor. ‘heck the aoceVGece! parameter W Set On too bow vate, check ifthe ingulaton resistor of the motor is correctly spayed. ‘encoder ballory error cccurs when the backup battery of the encoders discharged or disconnected. change the battery > When the alarm goos poston data output signal ‘on, the binary code of the main board LED dispiay will output data through Exemple) [IL IP] IL under vottage alarm 10 owoey Li] POSS FOSO2 FOSGS POSS] OFF OFF OFF ‘ON J3.6 Setting parameter The parameter must be set before the motor operation 3,8,1 Method of setting parameter @ Press the MODE key and change the operator display to parameter setting display mode, FI@SGR > EERFFl + ARALEE) + ERea0n status display Diagnosis display Alarm history Parameter display s A 2 A A A @ Press the UP key and set the first two segments to intended setting. (ex. set to 08) GG +++ BebeCy [A] press 7 times @ Press the SET key and the dot wil appear below the fist two segments 4 3 ie) 5 (b me) Gegacl) » BBEeEl eq \ @ Press the UP or DOWN key and set the latter 4 segments with the intended data. {ex | fix the data to 10) eRe Aan IU | yd > ioe S press 9 times @ Press the SET key and the fist twa segments will have dots appearing below and the data will be saved. After 2 while, the dot will disappear and it will resume to the inital dispizy before the set up. Rare fol) ti nen uleFrom parameter 09 to 33, press the SET key and it will display the set value as the dot below the first two segments is on, EES) = WA fetta % All Parameters will be set by the initialization of parameter. Do not change all parameters Hf you change them, ATC wii not operate properly 673.6.2 Parameter list NO. bol Boston loop proportional gain ‘Sp00d loop proportional gain ‘speed loop integral gain fed parameter fred parameter xed_parameter mottor offset votage mentor selection imposition remaining pulse allowance poston loop feed-forward gain feed-forward filer ime corstant ative Torque Int 1 Tegatve torque limi osiive Torque lint 2 Tegative torque limit 2 soe lini [og speed at set home: fred parameter acceleralon ime deceleration ime ‘speed montor output val torque mantor output voltage. inital slats asplay 10/128 Vv PULSE TODPULSE: 3% # msosNo. | Syinbol Name Range. Default Unit 5i_| SPEEDS speed 2078 5 10 = 3000_| 800 om | SPEEDS, ‘speed zore 6. 10 = 300g | 900 om 53_[_ S#EED7 speed zone 7 so = 3000 _| 1000 ‘pm bt SPEEDS speed zone 8) to = so00_| 900 ‘om 55 | SPEED speed zoe 9 Yo = 3000 | 800 om 58 SPEEDIO ‘speed zone 10 Yo = 3000 | 700 om 51_[SPEEDIT ‘speed zone 1 10 = 3000 | 600 ‘pm 58 SPEEDI2 ‘speed zone 12 10 = 000 [500 ‘pm 59 | SPEEDIS ‘speed zone 13 Y= sooo [400 ‘om 0 SPEEDI4 ‘speed zone 14 10 = 3000 | 300 ‘pm 6i_|SPEEDIa ‘speed zone 15 To = 300g | 600 ‘pm @ | SPreDIA ‘speed zone 16 10 = 00a | 300. pm 63_| SPEEDIT ‘speed zone 17 10 = so0d [450 ‘om 64_[ SPEEDI ‘speed zone 18 10 = 3000 | 600 ‘pm | SPEEDIa ‘speed zone 19 10-— 000 [600 ‘pm 65_| SPEED29 speed zone 20 10 = 3000 [450 om 61 cL, clamp posifon 1 360 269 degree | NGL unelamp postion 12360) 25 degree @ HCL Treayy 01 clamp postion 1 360. 29 degiee To |_H_UCL | heavy tool unclamp postion 1 360. S degree T_|SUSPEED Slop pq speed 10 200 130) ‘pm | sivae | step og velooty loop gan 0 = 1500, B003.6.3 Detalled explanation of parameter [0] Motor power capacity This Is the parameter that enables selection of applied motor capacty. Presently only 1.5KW can be selected 0: 1.5K [1] Motor running direction This sets the running direction of the motor. Please select accordingly to the structure of the equipment, 0: The rotating direction of the motor and that of the equipment are the same. 11: The rotating direction of the motor and that of the equipment are diferent [2] Reserve parameter [3] Maker's code EH] Reserve parameter Maker's code Outcome value : 126 [5] Gear ratio of motor sido This sets the rotaton count when the motor rotates accordingly to the ATC set at parameter 7. Setting range : 1 ~ 9999, Qutcome value = 19 [1] Maker's code Outcome value : 126 [B] Maker's code Outeome value : 1 [5] Reserve parameter [ig Position loop proportional gain The proportional gain of the position loop is the parameter which determines the response ot postion control loop. If the value inereases, the mechanical response gots better. However, mechanical impact on the machine may occur when the motor starts or stops. if the value decreases, the mechanical response will get worse and postion error increases by remaining pulse, This also relates to speed loop proportonal gain, Setting range = 0 ~ 2048, Outcome value = 450 70‘Speed loop proportional gain ‘The proportonal gain of speed loop is the parameter which determines the response of the speed control laap. For external characteristics, it determines the degree of raidty. it the value cr the proportional gain increases, the rigidiy becomes better. Thus, the larger the setting, the better twill be, except it may cause oscillations and hunting. Taking this into consideration, the value should be set as large as possible while under a stable condtton. Setting range = 0 ~ 2048, Outcome value = 400 [ Speed Joop integral gain The integral gain of the speed loop is a compensatory factor which reduces normal state error and increases rigidty. If the value of integral gain is increased, the rigidty wil get better except It may cause oscilations, thus the system may become unstable, Setting range = 0 ~ 2048, Outoome value = 1 [8 Maker's code [i Maker's code (5 Maker's code Monitor offset voltage In case there is a need to adjust the offset of the montor terminal (Number 18 of CNI connector), connect the osciloscope or the direct current voltmeter which can be moved by 0) while the servo is off. This value should be set to OV so that the monitor oulput can be adjusted. Settng range = -12 ~ 12, [x 10/128 VL, Outoome value = 0 [7] Monitor selection This is to select the contents of the ouiput data by monitor terminal 0: Output data of speed feedback 1 + Output data of torque feedback 2 + Output data of the current in W phase 3 = Output date of the current in U phase [8 Positioning complete range In postion control, this sets the completion range of the position. If the deviation between the targeted positon and the current position is within the set range, the ORIGIN OUT terminal (Number 35 of the CNI connector) will tum ON. The numerical value unit in pulse is 8192 pulse er 1 rotation. Settng range: 1 9989 [pulsel, Outcome value» 200 n(9 Remaining pulse allowance In postion control, in each position contral loop the difference between position command and position feedback is accumulated. Should this difference value exosed the set value, the position deviation overioad alarm will appear. The numerical value unit in pulse is 8192 pulse per 1 rotation. Settng range! 1 6000 [x 100 pulse], Outcome value » 6000 Position loop feed-forward gain This can enable to have a response characterstic which shortens the position determining tne by using the feed-forward control. However, if the value is set too high, it may cause oscilations in the mactine, Settng range : 1 ~ 100 (41, Outcome value © 0 ] Feed-forward filter time constant This sets the time constant when the fist delay filter is put in the feed-forward position commend, Setting range 0 ~ S00 [x dmsecl, Outcome value : 0 Positive torque limit 1 This limits the torque output of the positive [+ polarity in ateas other than the positioning complete range. If the value is set at 0%, postive torque wil not occur. If the value is set to low, when the motor stars or stops operation, hunting may acour. Settng range : 0 ~ 300 [26] Outoome value » 290 Negative torque limit 1 This limits the torque output of the negative (+) polerty in areas other than the positioning complete range, If the value is set at 0%, negative torque will not occur. It the value is set to low, when the motor starls or stops operation, hunting may occur. Setting range : 9 ~ 300 (P41, Quteome value = 290 Positive torque limit 2 This limits the torque ouput of the postive |+) polarity in areas within the postioning complete range. Alter position determining s complete, the SVON signal turns ON and in this case a continuous load put on the machine. By setting a low value overstrain on the equipment or the motor can be avoided. Settng range : 9 ~ 900 (241, Outoome value » 290 2Negative torque limit 2 This limits the torque output of the negative (-] polarity in areas within the positioning complete range. After postion determining s complete, the SVON signal tums ON and in this case a continuous fad is put on the machine. By setting a low value overstrain on the equipment or the motor can be avoided. Settng range : 0 ~ 300 [24] Outeome value © 290 Speed limit This limts the maxmmum operation speed Even when overshooting and such cases occur while accelerating, this limits the speed within the set value Settng range : 9 ~ 3000 (rpm) Outcome value = 1900 Jog speed at set home This sels the speed of the infernal jog operation in order to move the ATC while setting the zero-point. This is diferent trom step jog speed Setting range: 1 1000 (rpm, Outcome value * 20 Maker's code Acceleration time This sets the time it takes to get to the speed fixed in parameter 47 from zero movement (motor stops). I the value is set too low, speed overshooting may occur when accelerating Setting range : 0 ~ 340 [msecl, utcome value = 89 [Wl Deceleration time This sets the time it takes to get to the zero movernent (motor stops) from tne speed set in parameter 68. it the value is set too low, the time it takes to determine the position may be delayed due to huntna when the motor stops. Setting range : 9 ~ 340 [msec], Outcome value * 100 {@] Speed monitor output voltage This sets the voltage of the monitor output whie rotating when the speed is generated to monitor terminal in rated speed (200mm). Setting range + 1000 ~ 5000 bk 2mV] Outcome value + 3000 (6V when speed is 2000p) 3Torque monitor output voltage “This sets the voltage of the monitor output when the torque oulpuls data in rated torque (100%6) into the monitor terminal. Setting range + 1000 ~ 5000 ik 2m¥l Outcome value : 1500 (SV when torque outputs: 100%) Initial status display Turn the main power switch ON and select the intial status display. oe Intial display content ort Initial display content value value 00 | Accumulated command pube (ower word) || 06 | Motor naming speed 01 | Accumulated command pulse (upper word) | 07 | Absolute encoder rotaton 2 | Current postion (lower word) 08 | Absolute ernoder-one rotaton (08 | Current position (upper word) 8 | Erfectve bed ratio 04 | Accumulated remaining pulse 10 | Maxmurn load rato 05 | Maker's code Outcome value : 06 ‘Rotation speed ot the motor) ~ [8] Automatic setting and parameter managed by the manufacturer While setting the machine zero-point, the parameters wil be set automaticaly or else it is tor manufacturer's management use. Please do not set it according to the uses purpose. It may cause damages to the device. Speed table selection ‘This selects the speed table 0: User can enable to set the speed from parameter 47 to parameter 66 1+ From perameter 47 to parameter 68, this perameter will be set automatically Outcome value : 0 ff] ~ 8 Operating speed This is the motor speed whie ATC operating automatically Sottng range ! 19 ~ $000 [pm Ciamp position This sets the degree ot clamp Settng range 1 ~ S60 Outcome value : 289 Unclamp position This sets the degree of unclamp Setting range : 1 ~ 360 Outcome value : 25 1!Clamp position for heavy too! This sets the degree of clamp for the heavy tool Settng range 1 ~ S60 Outcome value : 289 Unclamp position for heavy tool ‘This sets the degree of unclamp for the heavy too, Settng range 1 ~ S60 Outcome value : 39 [Hl Step jog speed This is the motor speed whie step jog operating Settng range : 19 ~ 200 Outcome value : 190 [Proportional gain of velocity loop for step jog The proportional gain of velocity loop is the parameter which determines the response of the speed contro! loop, Setting range : 0 ~ 1500 Outcome value + 800 15@ Replacing the battery 1. Turn Off the main power of the servo drive. 2. Open the protective cover of the servo drive. 3. Remove the battery 764. Install new battery. arranged according to the polarity(+ and —) diagram in the battery compartment. 5. Close the protective cover of the servo drive. 7

AC Servo Motor Drive Operation Manual

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AC Servo Motor Drive Operation Manual

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