ATO MG-1000 Series Connection And Debugging Manual Download

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Connection and Debugging Manual

for All-digital AC Servo Driver

Summary of Contents for MG-1000 Series

Page 1: ...ConnectionandDebuggingManual forAll digitalAC Servo Driver...

Page 2: ...Signal Input output 19 Definitions of CN2 interface and Encoder Input Signal 27 Principle of the Input Interfacefor Switching Value 29 Principle of the Output Interface for Switching Value 30 Princip...

Page 3: ...Troubleshooting 58 Chapter VIII Debugging and Application 63 Notices to Quick Debugging 63 PositionControl Quick adjustment of parameters after power on 64 Speed Control Quick adjustment of parameters...

Page 4: ...t touch the terminals within five 5 minutes after power down It is not allowed to touch the motor and cables when the motor is in operation in order to avoid accidental injuries such as scalding and w...

Page 5: ...Remarks It is hereby declared that 2A 3A 5A shown in the manual or nameplate are the abbreviations for 20A 30A 50A II...

Page 6: ...1 1 Outline Dimensions of the Servo Driver Figure 1 1 Outline Dimensional Drawings for the Servo Driver of 30A 30A Chapter I Installation 1...

Page 7: ...1 11 Outline Dimensions of the Servo Driver Figure 1 2 Outline Dimensional Drawings for the Servo Driver of 50A 75A 2...

Page 8: ...1 2 Installation Dimensions for the Servo Driver Figure1 11InstallationDimensions for the Servo Driver of 30A 30A 3...

Page 9: ...1 21 Installation Dimensions for the Servo Driver Figure 1 21 Installation Dimensions for the Servo Driver of 50A 75A 4...

Page 10: ...odriver IV The servo driver could be disturbed when it is disturbing other facilities at the same time so attention must be paid to the wiring of heavy current and weak current during the installation...

Page 11: ...river with a spring washer added IV The servo must be installed in a relatively closed space with ventilation maintained in the electric cabinet and a filter screen installed at the vent to prevent th...

Page 12: ...CCW and CWdisabled 5 Position switching 6 Speed selection 7 Zero speed clamping 8 The secondreset 9 Extended functions options such as orientation and permissible stop etc Encoderfeedback 10000p r st...

Page 13: ...20A are called 2A for short 30A 3A and 50A 5A and75A 5 Main circuit voltage L single phase or three phase 220V H three phase 380V default 220V when this voltage is omitted TypeCode Applicable Driver...

Page 14: ...5 130ST M15025LBF 3 9 17 15 6 150ST M12030LBF 3 6 16 5 12 7 150ST M15025LBF 3 8 16 5 15 8 150ST M18020LBF 3 6 16 5 18 9 150ST M23020LBF 4 7 20 5 23 10 150ST M27020LBF 5 5 20 5 27 11 150ST M12020LBF 2...

Page 15: ...130ST M15025LBF 3 9 17 15 6 150ST M12030LBF 3 6 16 5 12 7 150ST M15025LBF 3 8 16 5 15 8 150ST M18020LBF 3 6 16 5 18 9 150ST M23020LBF 4 7 20 5 23 10 150ST M27020LBF 5 5 20 5 27 11 150ST M12020LBF 2 4...

Page 16: ...ching wires should be strictly selected according to power Power distribution and touchingof the terminals are not allowed when the driver is electrified Do not touch the terminals within five 5 minut...

Page 17: ...terminals should be cold pressed ones firm and reliable CN1 and CN2 are high density signal plugs with both ends of the shielding layer grounded and connectedwiththehousing The wires for connectingPE...

Page 18: ...Typical Wiring Position Control pulse type Figure 3 1 Wiring of Position Control 13...

Page 19: ...CCW driver disabled CW driver disabled Zero speed clamping speed selection 1 Speed selec tion 2 Servo ready Servo alarm The second reset Band type brake tightness Speed analog command 10V 10V Feedback...

Page 20: ...enable Alarm reset CCW driver disabled CW driver disabled CCW torque limit CW torque limit Servo ready Servo alarm Servo motor socket Band type brake tightness Torque analog comman d 10V 10V Feedback...

Page 21: ...der A wire saving encode r should be selected for servo motors below 80 series A common incremental encoder should be selected for servo motors above 110 series see Figure 3 2 Recover the automatic re...

Page 22: ...wer supply should be separated from the upper computer and the DC power supply of the driver to prevent interference The braking power supply for the band type brake has positive and negative poles wh...

Page 23: ...r supply ground wire Connected to the equipment housing and the power supply earth of the workshop B1 External connection to braking resistors Normally not used because the driver has a built in resis...

Page 24: ...tartup and shutdown of the motor 11 A CLR Alar m clearance mode switching Alar m clearance mode switching terminal When 0V is switched off A CLR is OFF and the alarm device is in normal state or keeps...

Page 25: ...laying the value When 0V is switched in CLE is ON and the counter resets SC1 Ter minal 1 for selection of internal speed s Ter minal 1 for selection of internal speed s The mode of the internal speed...

Page 26: ...positive rotation RIL CCW torque limit During torque control the motor is limited to rotate the terminal clockwise When 0V is switched on the value of Parameter PA38 is effective otherwi se it is ine...

Page 27: ...of 0V SC1 OFF SC2 OFF internal speed 1 SC1 ON SC2 OFF internal speed 2 SC1 OFF SC2 ON internal speed 3 SC1 ON SC2 ON internal speed 4 FIL CCW Torque limit During torque control the motor is limited t...

Page 28: ...er When the servo is in normal state the upper computer is able to receive the electrical level of 0V When the servo alarms 0V is disconnected from the upper computer normal close Electrical level inv...

Page 29: ...r Siemens Positioning done or speed reached Example Pin 28 is connected to 24V and Pin 2 9 to the upper computer When positioning is done speed is reached or in zero position the upper computer is abl...

Page 30: ...is connected to 0V and Pin 30 to the negative pole of the relay coil After the motor is enabled the coil of the intermediate relay is able to receive the electrical level of 0V otherwise 0V is disconn...

Page 31: ...y the Encoder s Z phase signal is output by the open circuit of open circuit of the collecting electrode CZ is ON electrified when the the collecting encoder s Z phase signal is output otherwise CZ ou...

Page 32: ...the encoder To be connected to B of the servo motor 4 B A input for the encoder To be connected to B of the servo motor 5 Z A input for the encoder To be connected to Z of the servo motor 6 Z A input...

Page 33: ...nd wire for the shielding layer To be connected with the housing Improve anti interference by short circuiting P E with the digital ground wire to ensure reliable grounding according to different uppe...

Page 34: ...y of DC12V 24V with a current equal to and more than 105MA Inverse connection of the positive and negative poles may damage the driver and make it unable to worknormally Principle of the Output Interf...

Page 35: ...inductive component which should be inversely connected in parallel with a fly wheel diode Make sure that the poles are properly connected otherwise the driver will be damaged Inverse connection of th...

Page 36: ...atively reliable so it is suggested to use AM26LS31 and the like that are similar to a RS422 line driver The power supply is provided externally under the single ended output mode and the working freq...

Page 37: ...eter Selection Pulse direction Parameter PA14 0 CCW pulse CW pulse Parameter PA14 1 AB biphase orthogonal pulse Parameter PA14 2 Principe of the input interface of Analog Value Figure 4 5 a Interface...

Page 38: ...e 4 5 b Interface forAnalog Single ended Input Figure 4 5 c Input Interface forAnalogDifferentialPotentiometer Servo driver AS or AT Potentiometer AS or AT Upper computer Servo driver AS or AT AS or A...

Page 39: ...le with a shielding layer be used for connection with its both ends grounded Parameter PA49can be used to set the threshold voltage unit rpm The analog value has a deviation indeed so it must be adjus...

Page 40: ...igure 4 7 CN2 Input Interface for Photoelectric Encoder CN1 Output Interface for Z signal of the Encoder from driver output to zeroing by the upper computer Figure 4 8 CN 1 Output Interface for Z Sign...

Page 41: ...hierarchy and refers to increasing or decreasing a sequence number or a value When the red indicating lamp is on it means that there is an alarm and the alarm is displayed on the digital tube When th...

Page 42: ...ameter Structure The first layer is used for mode selection There are totally seven modes Press to return the main menu Use and to select a mode Press Enter to enter the second layer of a selected mod...

Page 43: ...lution refers to the position of the rotor relative to the stator in one revolution One revolution is a cycle with a range of 0 9999 The electronic gear ratio is not used in calculations 5 The display...

Page 44: ...ut terminal is ON when it goes out the input terminal is disconnected to OFF 6 The display of the output terminal status is shown in the following figure Figure 5 3 Display of Input TerminalStatus Whe...

Page 45: ...nput the encoder is ON when it goes out the encoder is disconnected to OFF Encoder s U phase Encoder s V phase Encoder s W phase Encoder s Z phase Encoder s B phase Encoder sA phase 42 Encoder s U pha...

Page 46: ...the EEPROM backup area and EE RS is used in combination of EE BD 3 EE BD restore backup means restoring the backup parameters in the backup area from EEPROM into a parameter table 4 EE BD restore defa...

Page 47: ...splayed and the zero drift value will be automatically stored to PA45 or PA39 Thereafter the zero drift value stored in PA45 or PA39 can Table5 7a Operation of ZeroingMode of Speed Analog Value Parame...

Page 48: ...Open Loop Operation Press Enter to enter the open loop operation mode OL Press Enter again for more than 3 seconds and the open loop operationmode starts up andthe motor rotates After that Finish wil...

Page 49: ...ompletion range Pulse 0 30000 20 17 Positionoverproofdetectionrange x100pulse 0 30000 400 18 Position overproofincorrectandineffective 0 1 0 19 Smoothingfilterforpositioncommand 0 1mS 0 30000 0 20 Dis...

Page 50: ...motoris enabled 10mS 0 200 80 48 Setting of enable time delay when the band type brake of the motor is closed 10mS 0 200 0 49 Analog value voltage threshold value speed control r min 0 3000 0 50 Spee...

Page 51: ...e has a function of analog value control but the pulse typehasn t 80 9999 98 3 Initialstatus display Theinitial displaystatus ofthe digitaltube when the driveris switched on 0 Displaymotorspeed 1 Disp...

Page 52: ...b Able to inhibit motor overshooting The smaller the set value is the faster the integral speed is Atoo smallset value easilyproduces overshooting while a too great set value slows the response c The...

Page 53: ...the control system but it makes the position loop ofthe control systemunstable and easilyproduce oscillation d The feed forward of the position loop generally is zero unless a very high response chara...

Page 54: ...filtering ofcommandpulseandoptimizeaccelerationanddeceleration This filterlosesno pulses but the execution speedis possibletobe delayed 0 3000 0 20 Disabled input of Driver ineffective 0 The disable i...

Page 55: ...again to clear the alarm 0 300 200 31 Usertorque overload Alarm detection time The unit of theuser torque overload detection timeis millisecond When this time is zero the alarm function of the user t...

Page 56: ...tion Theset valuemeanstheaccelerationtimeofthemotor from0 1000r min 1 10000 time constant Linearacceleration anddeceleration characteristics are onlyused for thespeed 100 control mode If the upper com...

Page 57: ...or 5 seconds default0 8s 0 when the This parameter means the time from disconnection of BRK and BRK to band type brake of the enabling delay when the diver is normally electrified The band type brake...

Page 58: ...Torealize thereversion ofthefunctionsusingthechanges ofParameters0 and 0000 1111 input terminal 1 namely the reversion of the original external switch input circuit normal 0000 logic open changestono...

Page 59: ...A 59 can reach PA 299 at most in default in the parameter structure of MG 1000 series of servo drivers The internal super password of the manufacturer or the password of the cooperation manufacturer o...

Page 60: ...rect 10 Software failure The chip ofthe circuit board fails 11 IPMmodulefailure IPM intelligentmodule fails 12 Overcurrent The currentofthe motor is toogreat 13 Overload The driver and the motor overl...

Page 61: ...circuitfailure Checkthebrakingresistor 3 Maincircuit undervoltage Beingenabled Main power supplyvoltage too low Replacethe powersupply Circuitboardfailure Replacetheservodriver Softstartcircuitfailur...

Page 62: ...dfailure Replacetheservodriver Short circuit between U V and W of themotor Check the wire and replace the motor Inoperation Motor failure Check the wire and replace the motor Poor connection to power...

Page 63: ...Check the wiring or replace the motor 29 Torque insufficient Inoperation Set torqueexceeded CheckParametersPA30andPA31 Check the model selection of the motor Readaptthemotoragain Mechanicaloverload D...

Page 64: ...o the brake should not be electrified until the servo is enabled for more than 1 second Only in this way can the position precision and safety of the equipment be guaranteed Due to integrated design o...

Page 65: ...wn Enter for three seconds When Finish appears it means the default value has been restored according to the current adapted motor and will be effective only after power down c After power on again ch...

Page 66: ...s correct after power on 2 Confirm that the wiring of the differential input of the torque analog value or the single ended input is correct 3 Do not connect the servo enable signal temporarily Check...

Page 67: ...pulse In order to improve speed and transmission precision multiple electronic gears with different gear ratios are added for switching so as to achieve better effect Example In the application of CNC...

Page 68: ...agnetic heavy current circuit If yes isolate the circuit as much as possible III The servo motorjitters a Confirm whether the load and inertia of the servo motor is within the permissible range of the...

Page 69: ...s when the motor for 5revolutions If the numerical control system programming is 10 mm then sent out 10000 pulse The photoelectric encoder has 2500 wires The pitch of the lead screw is 6mm PA12 PA13 c...

Page 70: ...5V 0V A A B B Z Z U U V V W W Socket No 2 3 4 7 5 8 6 9 10 13 11 14 12 15 1 A B Z A B Z U U V V W and W signals are the output signals of incremental encoder Socket with 9 prongs for wire saving incr...

Page 71: ...arameter characteristics Seat mm 80 110 130 150 Rated torque Nm 1 3 27 Rated speed rpm 1500 2000 2500 3000 Ratedpower kW 0 4 5 5 Standard matching feedback elements incremental encoder 2500C T Safebra...

Page 72: ...f Servo Motors Seat 80 Type 80ST M01330LF1B 80ST M02430LF1B 80ST M03330LF1B Power 0 4 kW 0 75 kW 1 0 kW Ratedtorque 1 3 Nm 2 4 Nm 3 3 Nm Ratedspeed 3000 rpm 3000 rpm 3000 rpm Rated current 2 6 A 4 2 A...

Page 73: ...m 3000 rpm 2000 rpm 3000 rpm Rated current 4 0 A 5 0 A 6 0 A 6 0 A 8 0 A Rotorinertia 0 425 10 3 Kgm2 0 489 10 3 Kgm2 0 828 10 3 Kgm2 0 892 10 3 Kgm2 0 915 10 3 Kgm2 0 979 10 3 Kgm2 1 111 10 3 Kgm2 1...

Page 74: ...W Ratedtorque 4 0 Nm 5 0 Nm 5 0 Nm 6 0 Nm Ratedspeed 2500 rpm 2000 rpm 2500 rpm 2500 rpm Rated current 4 0 A 5 0 A 5 0 A 6 0 A Rotor inertia 1 101 10 3 Kgm2 1 333 10 3 Kgm2 1 333 10 3 Kgm2 1 544 10 3...

Page 75: ...m2 1 50 10 3 Kgm2 1 50 10 3 Kgm2 1 711 10 3 Kgm2 Maximumcurrent 12 0 A 15 0 A 15 0 A 18 0 A Maximumtorque 12 0 Nm 15 0 Nm 15 0 Nm 18 0 Nm Maximum radia l and axialforces Fr 900N Fs 300N Key A Key B Ke...

Page 76: ...Rotor inertia 2 017 10 3 Kgm2 2 184 10 3 Kgm2 2 017 10 3 Kgm2 2 184 10 3 Kgm2 2 017 10 3 Kgm2 2 184 10 3 Kgm2 2 595 10 3 Kgm2 2 762 10 3 Kgm2 Maximum current 18 0 A 20 7 A 27 0 A 18 0 A Maximum torque...

Page 77: ...2500 rpm Rated current 10 0A 9 5 A 17 0 A Rotor inertia 2 595 10 3 Kgm2 2 762 10 3 Kgm2 4 32 10 3 Kgm2 4 487 10 3 Kgm2 4 32 10 3 Kgm2 4 487 10 3 Kgm2 Maximum current 30 0A 28 5 A 51 0 A Maximum torque...

Page 78: ...61 136 50 40 5 22 0 0 013 6 0 0 03 18 5 0 0 1 130ST M15015 LFB 267 309 184 50 40 5 22 0 0 013 6 0 0 03 18 5 0 0 1 130ST M15025 LFB Seat 150 Type 150ST M15025LFB 150ST M18020LFB Power 3 8 Kw 3 6 Kw Rat...

Page 79: ...0 Nm 54 0 Nm Seat 150 Type 150ST M23020LFB 150ST M27020LFB Power 4 7 Kw 5 5 Kw Ratedtorque 23 0 Nm 27 0 Nm Ratedspeed 2000 rpm 2000 rpm Ratedcurrent 20 5 A 20 5 A Rotorinertia 8 94 10 3 Kgm2 9 54 10...

Page 80: ...24 0 0 1 150ST M23020LFB 280 342 72 60 KeyB 55 KeyC 5 28 0 0 01 8 0 0 03 24 0 0 1 150ST M27020LFB 306 368 72 60 KeyB 55 KeyC 5 28 0 0 01 8 0 0 03 24 0 0 1 Curve diagram of torque and speed LB and HBs...

Page 81: ...em is matched for the driver PA36shouldbe equal to 1 and PA37to 0 otherwise repeated position precision will beaffected Where reset deviations are not uniform appropriatelyincrease Parameter 5 of the...

Page 82: ...81...

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