Page 1: ......
Page 2: ...is employed for regulation and control over the electric current loop the speed loop and the position loop with high speed and great precision AS100 is applicable to numerically controlled machine to...
Page 3: ...ner in accordance with electric safety regulations of IEC or other similar standards It is forbidden to connect the AC power supply to servo motor U V W to avoid possible equipment damage or personal...
Page 4: ...ing or worn ones Please place the Manual where it is easily accessible and disseminate it to all users for reading Our Company reserves the right to modify this Manual without notice for any doubt or...
Page 5: ...nd Space 13 2 4 EMC Installation Conditions 14 2 5 Main Circuit Terminal Wiring 15 2 6 Control Circuit Terminal Wiring 20 2 6 1 Encoder Single Wiring CN1 20 2 6 2 I O Signal Wiring CN2 22 2 6 3 Commun...
Page 6: ...Group P01 89 6 3 Monitor and Display Group P02 95 6 4 I O and Analog Control Group P03 95 6 5 Position Control Parameters Group P04 102 6 6 Speed Control Parameters Group P05 106 6 7 Torque Control Pa...
Page 7: ...ive 148 Annex 3 Matching Selection of Servo Motor and Drive 220V series 151 Annex 4 Matching Selection of Servo Motor and Drive 380V series 152 Annex 5 Specification of Braking Resistor 153 Annex 6 Ma...
Page 8: ...ormal However the inspection manner of manual rotation is not applicable to the motor with an electromagnetic holding brake Damage inspection for this conduct visual inspection on the product for dama...
Page 9: ...ould be determined based on the packing list within the packing box 1 2 Naming Rules Naming rules of the servo drive are as follows AS100 A 5R5 M2 U Encoder Type U 2500CPR standard inc Enc V 2500CPR w...
Page 10: ...0KW and 1R5 to 1 5KW Voltage class One letter is used to represent the voltage class A 100V B 220V C 380V Rated Speed Two figures are used to express rated speed To be specific rated speed the double...
Page 11: ...w holes A B C D Keyway E F G H Keyway with screw holes P Q R S 1 3 Servo Drive Nameplate Fig 1 1 Servo Drive Nameplate 1 4 Servo Motor Nameplate Fig 1 2 Servo Motor Nameplate Specification of input po...
Page 12: ...Breaker EMC filter Magnetic Contactor Ext Brake Resistor Remove the jumper between B2 and when this resistor is used Encoder Feedback Cable I O Cable Communication Cable Motor Drive Cable ASM Servo Mo...
Page 13: ...crews gaskets and metal bars fall into the servo drive otherwise it may result in fire and property loss Do not install or use the servo drive if it is damaged or its components are incomplete otherwi...
Page 14: ...se lower the rated output if the temperature is above 45 The highest temperature is 60 idle running Humidity range 5 95 RH no condensed water droplets or rainwater dripping Vibration below 4 9m s2 2 2...
Page 15: ...ongitudinal sides The product is a precision device so do not make it fall or suffer strong impact in the process of installation please Do not obstruct the air intake and air outlet otherwise it will...
Page 16: ...the installation of the servo system Install the servo drive in a shield box Ensure that the servo drive and the servo motor are reliably grounded The input and output signal cables shall be shielded...
Page 17: ...ut terminal 220V series drive AC 220V 15 50 60HZ 380V series drive AC 380V 15 10 50 60HZ B1 B2 External braking resistor connecting terminal If a built in braking resistor is used B2 and are in short...
Page 18: ...terminal connector into the opening on the hole with a tool Two methods may be applied Use a spring opener operate as shown in the illustrations Use a slotted screwdriver operate as shown in the illus...
Page 19: ...in Circuit Single phase three phase 220V Power Supply Notes AS100A 1R6M2U and AS100A 2R8M2U do not have a jumper between B2 and The above figure is applicable to the following drives AS100A 1R6M2U AS1...
Page 20: ...Chapter II Installation and Wiring 19 Three phase 380V Power Supply Notes the above figure is applicable to the following drives AS100A 3R5T3U AS100A 5R4T3U AS100A 8R4T3U...
Page 21: ...r W signal interface CN1 2 W Encoder W phase input Motor encoder W signal interface CN1 3 V Encoder V phase input Motor encoder V signal interface CN1 4 V Encoder V phase input Motor encoder V signal...
Page 22: ...ut Motor encoder B signal interface CN1 10 B Encoder B phase input Motor encoder B signal interface CN1 11 A Encoder A phase input Motor encoder A signal interface CN1 12 A Encoder A phase input Motor...
Page 23: ...coupler DC 12 24V the current is larger than 100mA CN2 40 DI1 Default unction Servo enable S ON DI1 DI7 are programmable digital inputs the input functions and effective level can be adjusted CN2 44 D...
Page 24: ...rt under analog speed mode 14 Reverse start under analog speed mode 15 18 Multi stage selection CMD1 CMD4 19 Origin search enable SHOM 20 Origin switch signal OrgNear Digital Input CN2 42 DI3 Default...
Page 25: ...holding brake Maximum rated value DC100V 0 4A CN2 17 BRK Pulse Input CN2 7 PULS Command pulse PULS The external command pulse input terminal receives differential input signals The following input me...
Page 26: ...output Encoder divider pulse output A B 90 phase difference pulse And Z origin pulse signal Differential signal output CN2 20 PZO CN2 33 PAO A pulse output CN2 34 PAO CN2 35 PBO B pulse output CN2 36...
Page 27: ...n RS485 RS485 Retain Retain 5V PE CN4 Pin No 1 2 3 4 5 6 7 8 Shell Definition GND NC NC RS485 RS485 NC NC 5V PE Notes 1 The RS485 interfaces of CN3 and CN4 are actually in parallel connection and have...
Page 28: ...Pulse Output CN2 A D Position Loop Speed Loop Current Loop PWM DSP CPLD Encoder Signal Processing Data Bus ESC SET Display Touch Panel A D A D Temperature Detect A D Relay Drive CN3 CN4 RS485 RS485 EN...
Page 29: ...T 5 0 49 S RDY S RDY DO1 ALM ALM P_CMP P_CMP BRK BRK Home Home DO2 DO3 DO4 PULS PULS DI6 PINH DI7 GR2 DI1 S ON DI2 ALM RST DI3 N OT DI4 P OT DI5 CLR 11 48 40 44 42 43 15 41 CN2 SIGN SIGN 12 7 8 MC L1...
Page 30: ...T Z OUT 50 49 S RDY S RDY DO1 ALM ALM V_CMP V_CMP BRK BRK DO2 DO3 DO4 DI6 SC2 DI7 ZCLAMP DI1 S ON DI2 ALM RST DI3 N OT DI4 P OT DI5 SC1 48 40 44 42 43 15 41 CN2 AI GN D 6 5 MC L1 L2 L3 U V W PE LC 1 L...
Page 31: ...6 PZO PZO 19 20 Z OUT Z OUT 50 49 S RDY S RDY DO1 ALM ALM BRK BRK DO2 DO3 DO4 DI1 S ON DI2 ALM RST DI3 N OT DI4 P OT 48 40 44 42 43 15 41 CN2 AI GN D 6 5 MC L1 L2 L3 U V W PE LC 1 LC 2 CN2 47 24VIN 29...
Page 32: ...CN2 of the drive has one loop of analog input 0 10V as the speed command or torque command signals the signal specification is as follows The maximum allowable voltage is 15V and the input impedance...
Page 33: ...b Digital Output Circuit IF the host device is relay input Fig 2 13 Digital Output Circuit a 1 The user shall provide the power supply DC12 24V If the polarity of the power supply is reversed the dri...
Page 34: ...ive line drive and open collector drive single end drive 1 The differential drive is a signal transmission mode that is not easy to be interfered by noise and the highest input pulse frequency is 500...
Page 35: ...stallation and Wiring 34 Fig 2 15 Pulse Differential Drive Input Circuit a Fig 2 16 Pulse Single end Drive Input Circuit b PULS 100 3 3k PULS Servo drive SIGN 100 3 3k SIGN PULS 3 9k VPP Servo drive S...
Page 36: ...nput Drive tck 2 s 5 s th 1 s 2 5 s tl 1 s 2 5 s trh 0 2 s 0 3 s trl 0 2 s 0 3 s ts 1 s 2 5 s tqck 8 s 10 s tqh 4 s 5 s tql 4 s 5 s tqrh 0 2 s 0 3 s tqrl 0 2 s 0 3 s tqs 1 s 2 5 s ts tck trl ts trh ts...
Page 37: ...10 PULS SIGN tck tl ts Sequence Diagram of CCW CW Pulse Input Interface maximum frequency 500 KHz tqh tqc k tqr l tq l tqr h 90 10 90 10 PULS SIGN tqr h tqr l tq s tq s CW CCW Sequence Diagram of Two...
Page 38: ...Chapter II Installation and Wiring 37 Encoder Pulse Divider Output Circuit Fig 2 17 Encoder Pulse Divider Output Circuit PAO PBO PZO Servo drive PAO PBO PZO Host device...
Page 39: ...17 Fig 2 18 Wiring Diagram of Brake 2 11 Wiring Precautions Ensure the voltage rating of the power supply to be connected is proper Please do not connect the output ends U V and W of the servo drive...
Page 40: ...drive is a set of industrial equipment countermeasures are not taken to fight against radio frequency interference Install the host device and noise filter around the servo drive if possible Install a...
Page 41: ...n to avoid personal injury 3 Please check the signal during operation to avoid equipment damage and electric shock 3 1 Introduction to Operation and Display Interface The keyboard is constituted with...
Page 42: ...the initial state variables e g motor speed indicating r 0 0 showing it is in the mode of servo system operation state monitoring Press to escape the status monitoring mode and press to proceed to the...
Page 43: ...de numbers under different function code groups to check or set parameters Press to proceed to the tertiary menu of corresponding parameters and it flickers at the LSB Press to move the flicker bit to...
Page 44: ...drive The function codes of monitor display are shown in Table 3 2 Table 3 2 Monitor State Function Code No Function Code Name Unit P02 00 SPd r Actual motor speed r min P02 01 Cnt Cnt Current contro...
Page 45: ...motor rotor Pulse P02 21 rES O Encoder zero pulse Pulse P02 22 Iq I Motor torque current A P02 23 bHS Instantaneous braking power W P02 24 bHL Average braking power W P02 25 n tP Motor model code Des...
Page 46: ...ch are displayed by inH 3 MSBs DI7 DI5 and by inL 4 LSBs DI4 DI1 From the high order to the low order 4 LSBs LED indicates the input state 1 indicates no input and 0 indicates input Input means there...
Page 47: ...faults with the display of start and ends it with the display of done Restart the system to get the default state See Fig 3 4 Fig 3 4 Restore Defaults In order to raise the parameter value of P00 16 t...
Page 48: ...tion Refer to Fig 4 1 for power connection three phase 220V input and connect the power in the following order 1 The power is connected to the main circuit power input end L1 L2 and L3 through electro...
Page 49: ...it shall be limited to 5 times per hour and 30 times per day If the failure of servo system is due to overheating of drive or motor it shall be cooled for 30 minutes before re connecting to power Fig...
Page 50: ...mality or not Output Tr OFF Output Tr ON Connected to power OFF ON OFF About 1 0 4 0s Confirm About 2s About 1 5s Initialization Reset Usual work Above 0s ON OFF Above 10ms Output Tr OFF Input coupler...
Page 51: ...onnection is correct Whether the control signal terminal is connected accurately Whether the power supply polarity and voltage size are correct If the motor is equipped with holding brake need to make...
Page 52: ...JOG test run mode No external control signal is required under the test run mode The trial operation operating steps are briefly described below Note the trial operation shall be performed when the mo...
Page 53: ...S means the motor is rotating in clockwise if the display is negative means the motor is rotating in anti clockwise 3 2 Keyboard operation method 5 If need to stop the motor rotating the rotating spe...
Page 54: ...ration can be performed in the normal control mode but need to connect to external control signal and the servo operation is controlled by superior instruction The trial operation steps of position mo...
Page 55: ...eration is in line with the expectation Trial Operation Under Analog Speed Control Mode P00 02 1 Steps Operations Reference Chapter 1 The drive is connected to host controller through CN2 and make sur...
Page 56: ...ion loop speed loop and current loop or torque loop from outside to inside The current loop is related to motor parameters the drive has allocated the best current loop parameters for the matching mot...
Page 57: ...onstant setting is too large the larger the speed changes of load change The larger the load rotation inertia the greater the speed loop integral time constant set value 3 The set value adjustment of...
Page 58: ...ollowing characteristics is high the set value of speed feed forward gain P00 04 can be increased But too large speed feed forward gain will cause overshooting When the syste m is unstable the set val...
Page 59: ...imulation instruction gain Speed instruction low pass filter Feed forwar d low pass filter Speed loop gain integral time constant Torque instruc tion filter Torque loop gain integral time constant Vel...
Page 60: ...remental encoder because there is four fold frequency circuit in the system so PG 4 x C C is the pulse per rotation also lines of the encoder In this system C 2 500 so PG 10 000 pulse rotation The set...
Page 61: ...wing figure Circular truncated cone reduction ratio n m 1 100 the required command pulse equivalency is 0 010 Encoder resolution PG 10 000 pulse rotation The command pulse amount of load shaft rotatin...
Page 62: ...p P09 Manufacturer parameter Group P10 Parameters of origin search and multistage position Group P11 Parameters of multistage speed function Notes The motor parameter and manufacturer parameter are no...
Page 63: ...nds 0 4 095 0 P P00 08 Speed loop gain 5 1 000 Related to the motor model Hz S P00 09 Integral time constants of the speed loop 1 1 000 20 ms S P00 10 Lowpass filtering coefficient of the speed feedba...
Page 64: ...e of times of alarm reset 1 20 5 P P01 05 Numerator of dividing ratio for encoder pulse output 1 7 1 P P01 06 Denominator of dividing ratio for encoder pulse output 1 32 1 P P01 07 Reserved 0 1 0 P S...
Page 65: ...he drive model P S T Group P02 Monitor and Display Function Code No Function Code Name Unit P02 00 SPd r Actual motor speed rpm P02 01 Cnt Cnt Current control mode P02 02 tyP tyP Drive model P02 03 So...
Page 66: ...Fault display P02 20 APo A Absolute position of motor rotor Pulse P02 21 rES O Encoder zero calibration pulse Pulse P02 22 Iq I Motor torque current A P02 23 bHS Instantaneous braking power W P02 24...
Page 67: ...ing 1 P03 06 DI3 function and enabled status setting 2 P03 07 DI4 function and enabled status setting 3 P03 08 DI5 function and enabled status setting 4 P03 09 DI6 function and enabled status setting...
Page 68: ...2 Positioning completed width 0 30 000 1 000 Pulse P P04 03 Detection range of over position error 0 30 000 400 100 pulse P P04 04 Numerator of the first electronic gear ratio 1 32 766 5 P P04 05 Deno...
Page 69: ...P05 05 Reserved P05 06 Speed limit 0 6 000 Related to the motor model r min P S P05 07 Reached speed 5 3 000 50 r min S P05 08 Threshold for over speed error detection 0 100 0 P S T P05 09 Permitted...
Page 70: ...ue limit 0 300 100 S Group P07 MODBUS Communication Function Code No Name Setting Range Delivery Value Unit Mode of Application P07 00 Baud rate selection 0 3 3 P S T P07 01 Native address 0 31 1 P S...
Page 71: ...arch 0 1 0 P P10 01 Enable control of the origin search 0 2 0 P P10 02 Origin search mode 0 3 0 P P10 03 High speed set for origin searching operation 0 3 000 100 rpm P P10 04 Low speed set for origin...
Page 72: ...eleration and deceleration time of the first segment 0 1 000 100 ms P P10 17 Waiting time of the first segment 0 10 000 10 ms s P P10 18 Displacement 4 HSBs decimal of the second segment 9 999 9 999 0...
Page 73: ...9 999 9 999 0 P P10 29 Displacement 4 LSBs decimal of the fourth segment 9 999 9 999 5 000 P P10 30 Running speed of the fourth segment 0 3 000 500 rpm P P10 31 Acceleration and deceleration time of t...
Page 74: ...00 100 ms P P10 42 Waiting time of the sixth segment 0 10 000 10 ms s P P10 43 Displacement 4 HSBs decimal of the seventh segment 9 999 9 999 0 P P10 44 Displacement 4 LSBs decimal of the seventh segm...
Page 75: ...egment 9 999 9 999 5 000 P P10 55 speed of the ninth segment 0 3 000 500 rpm P P10 56 Acceleration and deceleration time of the ninth segment 0 1 000 100 ms P P10 57 Waiting time of the ninth segment...
Page 76: ...gment 0 1 000 100 ms P P10 67 Waiting time of the twelfth segment 0 10 000 10 ms s P P10 68 Displacement 4 HSBs decimal of the twelfth segment 9 999 9 999 0 P P10 69 Displacement 4 LSBs decimal of the...
Page 77: ...SBs decimal of the fourteenth segment 9 999 9 999 0 P P10 79 Displacement 4 LSBs decimal of the fourteenth segment 9 999 9 999 5 000 P P10 80 Speed of the fourteenth segment 0 3 000 500 rpm P P10 81 A...
Page 78: ...ment 9 999 9 999 5 000 P P10 90 speed of the sixteenth segment 0 3 000 500 rpm P P10 91 Acceleration and deceleration time of the sixteenth segment 0 1 000 100 ms P P10 92 Waiting time of the sixteent...
Page 79: ...000 100 S P11 11 ACC DEC time selection of the first segment 0 3 0 S P11 12 The second segment speed 3 000 3 000 100 rpm S P11 13 Runtime of the second segment speed 0 30 000 100 S P11 14 ACC DEC tim...
Page 80: ...nt speed 3 000 3 000 1 000 rpm S P11 25 Runtime of the sixth segment speed 0 30 000 100 S P11 26 ACC DEC time selection of the sixth segment 0 3 0 S P11 27 The seventh segment speed 3 000 3 000 500 rp...
Page 81: ...us Power up effective 0 25 0 Function Description The LED initial display contents after the power up of setting drive The functions corresponding to setting values are as follows 0 Motor rotate speed...
Page 82: ...rameter Name Attribute Setting Range Unit Factory Defaults P00 03 Position loop gain Immediately effective 1 2 000 Hz 100 Function Description Set the proportional gain of position loop PI regulator T...
Page 83: ...is 0 the position feed forward function does not work Except that the higher responsiveness is needed the feed forward gain of position loop is always set as 0 Function Code Parameter Name Attribute...
Page 84: ...06 Rotate direction selection Power up effective 0 1 1 Function Description Set the relation between the command direction and motor rotate direction This parameter is effective to the position contro...
Page 85: ...r can give the servo motor a more stable running status and is more effective in the following situations 1 Host controller does not have the deceleration function 2 the electronic gear ratio is above...
Page 86: ...eed loop Immediately effective 1 1 000 ms 20 Function Description Set the integration time constant of speed loop The responsiveness of the speed loop would be determined by this parameter A smaller s...
Page 87: ...used in combination this parameter shall be set as 0 Function Code Parameter Name Attribute Setting Range Unit Factory Defaults P00 12 Torque command low pass filter coefficient Immediately effective...
Page 88: ...arameter Name Attribute Setting Range Unit Factory Defaults P00 14 Programmable I O selection Power on effective 0 1 0 Function Description The auxiliary setting of programmable I O function When the...
Page 89: ...mens system Normally choosing the general system could be suitable for pulse form of most numerical control system while the Siemens system is only for some models of Siemens numerical control system...
Page 90: ...the speed commissioning interface The servo drive will settle into forced enabled state and the servo motor is powered Refer to Section 4 1 3 for detailed operation Function Code Parameter Name Attri...
Page 91: ...actuation time for software overcurrent protection The values of this parameter and parameter P01 02 will determine the characteristic of software overcurrent protection of servo drive system Functio...
Page 92: ...Description This parameter set the logical relation between the holding brake output and servo ready S RDY signal 0 When servo ready signal S RDY is outputted the holding brake signal must not be out...
Page 93: ...mechanical brake s delay time P01 12 This parameter sets the speed of running motor to activate holding brake this parameter setting value should be greater than P01 10 setting value This parameter i...
Page 94: ...unction Description Setting the zero Z pulse output broadening width With the motor speed increasing Z pulse width becomes narrow This parameter can adjust Z pulse output width to match with the deman...
Page 95: ...the capacity of drive Function Description There is a standard built in braking resistor in the drive See its specification in the related contents of appendix in this manual It requires the external...
Page 96: ...abled status settings and output function settings together If the setting value is not in the setting range the system will retain the last one Enabled status setting value 0 Active High Factory Defa...
Page 97: ...er Name Attribute Setting Range Unit Factory Defaults P03 04 DI1 function and enabled status setting Power up effective 0 20 256 276 0 Function Description Setting of function and enabled status of di...
Page 98: ...Operation Option 4 CMD4 19 Origin Search Enable SHOM 20 Origin Switch Signal OrgNear Examples for setting The input function should be set to negative over travel limit active low and the setting val...
Page 99: ...ibute Setting Range Unit Factory Defaults P03 08 DI5 function and enabled status setting Power up effective 0 20 256 276 4 Function Description Refer to P03 04 for function description Function Code P...
Page 100: ...d pressing button to save the measured value into EEPROM is needed Only one auto zero calibration will be operated during each time when power up After auto zero calibration is done the set point must...
Page 101: ...nal relationship between the set motor speed command value and rotation command input voltage In the torque control mode it describes the proportional relationship between the set motor torque command...
Page 102: ...is threshold The parameter is effective in analog speed control mode and torque control mode 1 In the analog speed control mode only the given analog signal is above the 1 5x threshold that motor will...
Page 103: ...ce Power up effective 0 1 0 Function Description Set position command source 0 Pulse setting The position command originates from the pulse signals of PULS and SIGN ports of I O There are three kinds...
Page 104: ...rd Function Code Parameter Name Attribute Setting Range Unit Factory Defaults P04 02 Positioning completed width Immediately effective 0 30 000 Pulse 100 Function Description Set the pulse range of po...
Page 105: ...up effective 1 32 766 3 P04 06 Numerator of the second electronic gear ratio Power up effective 1 32 766 10 P04 07 Denominator of the second electronic gear ratio Power up effective 1 32 766 3 Functi...
Page 106: ...position command input to make the servo motor run more smoothly This function is more effective in the following situations 1 Host controller does not have the deceleration function 2 The electronic...
Page 107: ...Name Attribute Setting Range Unit Factory Defaults P05 01 Speed for JOG operation Immediately effective 3 000 3 000 rpm 120 Function Description Set the motor speed under JOG commissioning mode Functi...
Page 108: ...error detection Immediately effective 0 100 rpm 0 Function Description Set the speed error detection threshold Under the speed control mode when the value of speed deviation exceeds the setting value...
Page 109: ...al into smoother speed commands thus the jump or violent vibration of the motor is prevented from harming the mechanical parts This parameter is generally set as 0 to reach the fastest speed responsiv...
Page 110: ...ctual torque will be the permitted maximum overload capacity of this system Function Code Parameter Name Attribute Setting Range Unit Factory Defaults P06 02 External CCW torque limit Immediately effe...
Page 111: ...Baud rate selection 0 1 200 bps 1 2 400 bps 2 4 800 bps 3 9 600 bps 0 3 3 Note Communication rate of servo drive shall be the same as that of upper computer or the communication cannot be established...
Page 112: ...e When there s no need to save function data via communication we can set P07 05 to 0 to prohibit saving data to EEPROM to prolong its service life Please refer to the relevant instructions in attachm...
Page 113: ...gram of the Origin Search Process Function Code Parameter Name Attribute Setting Range Unit Factory Defaults P10 00 Action selection after origin search Power up effective 0 1 0 Function Description S...
Page 114: ...th deceleration point and original point are Z signal of motor Caution the origin search enabling control of parameter P10 01 can only be set as 1 to perform the origin search for many times in the co...
Page 115: ...d start perform preset internal position instruction again There are four different internal positions operation modes Single Sequence Operation Mode Under the situation that the enabling signal is ef...
Page 116: ...sequential operation will be consistent with the setting Note there are 32 displacement instructions of multi stages position such as P10 13 and P10 14 Select the relative displacement or absolute dis...
Page 117: ...y P10 09 from stage 1 repeatedly and the setting waiting time of each stage is used for the switch between two stages 2 DI Switching Operation Mode running stage is chosen by external digital input CM...
Page 118: ...ing again from segment 1 Function Code Parameter Name Attribute Setting Range Unit Factory Defaults P10 11 Displacement command type selection Immediately effective 0 1 0 Function Description Set the...
Page 119: ...by P10 13 and the 4 LSBs is set by P10 14 The total displacement of current segment 4 HSBs set value 10 000 4 LSBs set value For example set four figures high value 12 and four figures low value 5 00...
Page 120: ...Share with enabling signal CMD1 Choose 1 for multistage position command See the table below for the relationship between CMD1 CMD4 signal combination and position instruction segment number CMD2 Choo...
Page 121: ...ut 6 10 Parameters of Multistage Speed Function Group P11 1 Function Description The multi stage speed function under speed control mode refers to the speed operation function accomplished by the driv...
Page 122: ...the enable signal is effective the driver starts to run one by one segment based on preset total segments and operation time for each segment in order of segment from small to large The driver will c...
Page 123: ...d by preset operation time for each segment There are four ACC DCC time values between segments available and the default ACC DCC time is zero See description of related parameters for reference Param...
Page 124: ...me Attribute Setting Range Unit Factory Defaults P11 04 Acceleration Time 1 Immediately effective 0 10 000 ms 50 Function Description Set deceleration time 1 Deceleration time is the ramp time that it...
Page 125: ...ameter Name Attribute Setting Range Unit Factory Defaults P11 11 ACC DEC time selection of the first segment Immediately effective 0 3 0 Function Description Set the selection of ACC DEC time for the...
Page 126: ...ure for current sense Er IbF Channel B failure for current sense Er OSE Over Speed error Alarm Er OPE Over Position error Alarm Er OCS Software overcurrent Er PoF Failure to read or write in EEPROM Er...
Page 127: ...h Perfect earth Disturbed Add EMC line filter being isolated or away from interference resource Er OCU During the operation process of motor or when starting the drive or when other conditions Short c...
Page 128: ...r OU When switched on control power Circuit board fault Repair or change drives It appears while the main power is switched on The supply voltage exceeds permitted input voltage range Check whether th...
Page 129: ...that the speed overshoot is too high Add constant of acceleration or deceleration time Input electronic gear ratio is too high Set correctly Encoder fault Change motor Encoder cable defective Replace...
Page 130: ...onnected in a wrong way Change wiring Change servo drives Er PoF During the process of electricity The control software failure to complete the right initial settings Set the parameters such as drive...
Page 131: ...ower supply voltage of the encoder Check wiring Change power cable Shorten the cable and adopt multi core parallel operation Encoder destroyed Change motor encoder Control panel fault Change drives Ga...
Page 132: ...find out the problem and deal it with corresponding corrective action When checking or corrective action fails to solve the problem please seek the technical support Table 7 3 Motor Fault and Correcti...
Page 133: ...DI channel and corresponding DI P03 04 03 10 Set input signal correctly Choose wrong mode of command pulse position mode Confirm the setting of P00 05 and form of command pulse Make the setting of par...
Page 134: ...ion Wiring error of servo motor Confirm wiring Correct wiring Control board fault Confirm wiring Correct wiring Servo motor rotational instability Poor wiring of servo motor cable Power line UVW and c...
Page 135: ...mitted range Confirm the balance status of coupling Keep balance of coupling Bearing fault Confirm the sound and vibration near the bearing Change servo motor There is noise interference because the s...
Page 136: ...Confirm if the encoder cable is tied together with or near the high current cable Change the environment of encoder cable casting The pulse of servo unit is miscounted because of noise interference Co...
Page 137: ...ated servo motor Dirty surface of servo motor Determine the dirty surface of motor by visual inspection Remove dirt dust oil fouling and so on Servo motor is under heavy lode Confirm the load conditio...
Page 138: ...peed value except for special purpose It will turn out to be in danger if the data was altered 8 Please don t remove the outer cover cable connector and optional accessories in power on situation Othe...
Page 139: ...sure that the user parameter of the replaced servo drive is sent to the new one when altering the servo drive and then restart it Otherwise may cause machinery damage 2 Please do not alter the wiring...
Page 140: ...e motor for abnormal noise and vibration Check the servo drive and motor for abnormal heating Check the environment temperature for overtopping Check the load current ammeter for usual value Check the...
Page 141: ...ower light is off to avoid that the residual voltage of capacitor of servo drive hurts the maintenance staff Periodic maintenance inspections are illustrated in table 8 2 Table 8 2 Contents of Periodi...
Page 142: ...onic components of servo drive is necessary for the long term reliability service The service life of electronic components may change according to the different working environments and working condi...
Page 143: ...ncrease the input voltage of servo drive up to nominal voltage when charging Conduction time should be more than 1 or 2 hours The above tests should be carried out at least once a year Do not carry ou...
Page 144: ...he user manual The servo drives damage caused by incoming foreign matters e g insects The servo drives damage caused by incorrect connecting line The fault caused by earthquake fire wind and flood dis...
Page 145: ...related the using of the product The product is designed and manufactured under the strict quality control but if it is used for the following purpose which could endanger human or human life due to...
Page 146: ...ce Dimensions and Installation Dimensions of Drive 145 Annex 1 Appearance Dimensions and Installation Dimensions of Drive Unit mm Type A Structure applicable to Single phase 220V grade AS100A 1R6M2U a...
Page 147: ...Annex 1 Appearance Dimensions and Installation Dimensions of Drive 146 Type B Structure applicable to Three phase 220V grade AS100A 3R8M2U AS100A 5R5M2U and AS100A 7R6T2U...
Page 148: ...x 1 Appearance Dimensions and Installation Dimensions of Drive 147 Type C Structure applicable to Three phase 220V grade AS100A 012T2U Three phase 380V grade AS100A 3R5T3U AS100A 5R4T3U and AS100A 8R4...
Page 149: ...uit Power Supply Single three phase AC220V 15 50 60Hz Three phase AC220V 15 50 60Hz Control Loop Power Supply Single phase AC220V 15 50 60Hz Regenerative Braking Function External braking resistor is...
Page 150: ...y 15 10 figures indicate the rated speed Speed ratio 1 5 000 Input pulse frequency 500 KHz Control Input S ON ALM RST P OT N OT CLR PINH GR2 ZCLAMP rotation change under internal speed mode rotation c...
Page 151: ...utput terminal status Encoder UVW input signal encoder zero pulse fault code display etc Protection Function Module fault over voltage under voltage hardware over current software over current no curr...
Page 152: ...1 200W 6 Nm 2 500 ASMG 1R3B25U2 1 300W 5 Nm 2 500 ASMS 1R5B25U2 1 500W 5 Nm AS100A 7R6T2U 2 500 ASMG 1R5B25U2 1 500W 6 Nm 1 500 ASMH 1R5B15U2 1 500W 10 Nm 2 500 ASMG 2R0B25U2 2 000W 7 7 Nm 2 500 ASMG...
Page 153: ...MG 1R5C25U2 1 5KW 6Nm AS100A 5R4T3U 2 500 ASMG 2R0C25U2 2 0KW 7 7Nm 2 000 ASMG 2R0C20U2 2 0KW 10Nm 1 500 ASMG 2R3C15U2 2 3KW 15Nm 2 500 ASMG 2R6C25U2 2 6KW 10Nm AS100A 8R4T3U 2 500 ASMG 3R8C25U2 3 8KW...
Page 154: ...stance AS100A 3R5T3U 100 100W 80 AS100A 5R4T3U 100 100W 80 AS100A 8R4T3U 100 100W 40 Notes When average braking power is larger than the nominal power of built in braking resistor the drive will alarm...
Page 155: ...Area of Control Power Cable mm2 AS100A 1R6M2U 2 0 2 0 1 25 AS100A 2R8M2U 2 0 2 0 1 25 AS100A 3R8M2U 2 0 2 0 1 25 AS100A 5R5M2U 2 0 2 5 1 25 AS100A 7R6T2U 2 0 2 5 1 25 AS100A 012T2U 2 5 3 5 1 25 380V S...
Page 156: ...s of monitoring parameters or function code DATA0 8 MSBs of numbers of monitoring parameters 0x00 Currently only supporting a single parameter reading DATA1 8 LSBs of numbers of monitoring parameters...
Page 157: ...ommand 0x06 DATA0 8 MSBs of MODBUS address of function codes DATA1 8 LSBs of MODBUS address of function codes DATA2 8 MSBs of read in data DATA3 8 LSBs of read in data CRCH CRC high significant bytes...
Page 158: ...Greater than or equal to 3 5 characters idle time indicating the start of a frame ADDR Servo drive address 1 32 CMD Command 0x03 0x06 DATA0 0x80 DATA1 0x01 DATA2 8 MSBs of error code DATA3 8 LSBs of...
Page 159: ...saturation alarm Bit3 Z pulse loss Bit4 Encoder disconnection Bit5 EEPROM fault Bit6 Software overcurrent Bit7 Position out of tolerance Bit8 Speed out of tolerance Bit9 UVW combinational logical fau...
Page 160: ...alarm the fault value read is 0x0001 MODBUS ADDR Name Value Description 0012H Effective value of phase current M Effective value of phase current I 0 01A M 100 e g If the real time phase current is 4...
Page 161: ...LSBs M2 Similar to the position feedback 0036H Position command 16 MSBs M1 0038H Position error 16 LSBs M2 Similar to the position feedback 0037H Position error 16 MSBs M1 For example if you want to...
Page 162: ...161 P03 00 P03 14 0400H 040EH P04 00 P04 08 0500H 0508H P05 00 P05 13 0600H 060DH P06 00 P06 04 0700H 0704H P07 00 P07 05 0800H 0805H P08 00 P08 06 0900H 0906H P09 00 P09 35 0A00H 0A23H P10 00 P10 92...
Page 163: ...gnal connection for 60 80 and 90 flange motor Signal 5V 0V B Z U Z U A V W V A B W PE Socket No 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 Wire saving 2500 c r encoder signal connection for 60 80 and 90 flan...
Page 164: ...000 3 000 Rated Torque Nm 0 64 1 27 Peak Torque Nm 1 91 3 8 Rotor Inertia kg m2 0 17 10 4 0 30 10 4 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP64 Service Enviro...
Page 165: ...of 80 Flange Series E 220V Motor Motor Model Series 80 ASMS R75B30U2 ASMS 1R0B25U2 Rated Power KW 0 75 1 0 Rated Current 3 0 4 4 Rated Speed rpm 3 000 2 500 Rated Torque Nm 2 4 4 0 Peak Torque Nm 7 1...
Page 166: ...of 90 Flange Series E 220V Motor Motor Model Series 90 ASMG R75B30U2 ASMG 1R0B25U2 Rated Power KW 0 75 1 0 Rated Current 3 0 4 0 Rated Speed rpm 3 000 2 500 Rated Torque Nm 2 4 4 0 Peak Torque Nm 7 1...
Page 167: ...rake will increase 57mm Parameters of 110 Flange Series E 220V Motor Motor Model Series 110 ASMS 1R2B30U2 ASMG 1R2B20U2 ASMS 1R5B30U2 Rated Power KW 1 2 1 2 1 5 Rated Current 5 0 4 5 4 0 Rated Speed r...
Page 168: ...midity 90 without condensation Installation Size Motor Torque Nm 4 0 5 0 6 0 LA 189 204 219 LB 55 55 55 LC 5 5 5 LD 12 12 12 LE 95 95 95 LF 110 110 110 LG 130 130 130 LZ 9 9 9 S 19 19 19 H 21 5 21 5 2...
Page 169: ...2 500 Insulation Grade of Motor Class F Protection Level IP65 Service Environment Environment temperature 20 50 environment humidity relative humidity 90 without condensation Motor Model Series 130 A...
Page 170: ...500 2 500 Motor Torque Nm 4 0 5 0 6 0 7 7 10 10 15 LA 166 171 179 192 213 209 231 LB 57 57 57 57 57 57 57 LC 5 5 5 5 5 5 5 LD 14 14 14 14 14 14 14 LE 110 110 110 110 110 110 110 LF 130 130 130 130 13...
Page 171: ...0U2 ASMG 2R7B15U2 ASMH 3R0B15U2 Rated Power KW 3 0 2 7 3 0 Rated Current 14 0 10 5 12 Rated Speed rpm 2 000 1 500 1 500 Rated Torque Nm 15 0 17 2 19 0 Peak Torque Nm 30 0 43 0 47 0 Rotor Inertia kg m2...
Page 172: ...ke and the length of motor with a brake will increase 73mm Parameters of 110 Flange Series E 380V Motor Motor Model Series 110 ASMS R80C20U2 ASMS 1R2C30U2 ASMS 1R5C30U2 ASMG 1R2C20U2 Rated Power KW 0...
Page 173: ...00 Insulation Grade of Motor Class F Protection Level IP65 Service Environment Environment temperature 20 50 environment humidity relative humidity 90 without condensation Installation Size Motor Torq...
Page 174: ...0 5 0 10 0 Peak Torque Nm 12 0 15 0 20 0 Rotor Inertia kg m2 8 5 10 4 10 6 10 4 19 4 10 4 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP65 Service Environment Envi...
Page 175: ...ries 130 ASMG 2R0C20U2 ASMG 2R3C15U2 ASMG 2R6C25U2 ASMG 3R8C25U2 Rated Power KW 2 0 2 3 2 6 3 8 Rated Current 5 1 5 0 5 9 7 4 Rated Speed rpm 2 000 1 500 2 500 2 500 Rated Torque Nm 10 0 15 0 10 0 15...
Page 176: ...30 130 130 130 130 130 130 130 130 130 LG 145 145 145 145 145 145 145 145 145 145 LZ 9 9 9 9 9 9 9 9 9 9 S 22 22 22 22 22 22 22 22 22 22 H 24 5 24 5 24 5 24 5 24 5 24 5 24 5 24 5 24 5 24 5 W 6 6 6 6 6...
Page 177: ...0 53 0 Rotor Inertia kg m2 34 0 10 4 61 0 10 4 47 0 10 4 Encoder Resolution C R 2 500 Insulation Grade of Motor Class F Protection Level IP65 Service Environment Environment temperature 20 50 environ...
Page 178: ...ation Failure time input power no load load Other Symptom Indication none others Use control terminals Operation after reset yes no Output voltage yes no Total working hours Fault frequency Installati...
Page 179: ......
