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ASDA-B2

Chapter 7 Servo Parameters

Revision September 2013

7-85

Settings:
JOG operation command:
1. Operation Test

(1) Press the SET key to display the JOG speed. (The default value is 20 r/min).
(2) Press the UP or DOWN arrow keys to increase or decrease the desired JOG

speed. (This also can be undertaken by using the SHIFT key to move the
cursor to the desired unit column (the effected number will flash) then changed
using the UP and DOWN arrow keys).

(3) Press the SET when the desired JOG speed is displayed. The Servo Drive will

display "JOG".

(4) Press the UP or DOWN arrow keys to jog the motor either P(CCW) or N(CW)

direction. The motor will only rotation while the arrow key is activated.

(5) To change JOG speed again, press the MODE key. The servo Drive will display

"P4 - 05". Press the SET key and the JOG speed will displayed again. Refer
back to #(2) and #(3) to change speed.

(6) In JOG operation mode, if any fault occurs, the motor will stop running. The

maximum JOG speed is the rated speed of the servo motor.

2. DI Signal Control

Set the value of DI signal as JOGU and JOGD (refer to Table 7.A).
Users can perform JOG run forward and run reverse control.

3. Communication Control

To perform a JOG Operation via communication command, use communication
addresses 040AH and 040BH.
(1)  Enter 1 ~ 5000 for the desired JOG speed
(2)  Enter 4998 to JOG in the P(CCW) direction
(3)  Enter 4999 to JOG in the N(CW) direction
(4)  Enter 0 to stop the JOG operation
Please note that when using communication control, please set P2-30 to 5 to avoid
that there are excessive writes to the system flash memory.

P4-06

▲

■

FOT

Digital Output Register (Readable and
Writable)

Address: 040CH

040DH

Operation

Interface:

Keypad / Software

Communication

Related Section:
Section 4.4.3

Default:

0

Control

Mode:

ALL

Unit: -

Range: 0 ~ 0x3F

Data Size: 16-bit

Display

Format:

Hexadecimal

Settings: Contact control of the force output

0: Non-force output (When the communication sets to 0, it can cancel

VARITEL INGENIERIA ELECTRONICA S.A.

[email protected] - www.varitel.com - Tel. (54) 11-4243-1171 / Fax: (54) 11-4292-7545

Manuel Baliña 456, Lomas de Zamora (B1832CCJ) Buenos Aires, Argentina.

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Summary of Contents for ASDA-B2 series

Page 1: ...L INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina Version V1 0 DELTA_ASDA B2_M_EN_20130906 ...

Page 2: ...ion on how to install operate and maintain ASDA B2 series AC servo drives and ECMA series AC servo motors The contents of this manual include the following topics Installation of AC servo drives and motors Configuration and wiring Trial run steps Control functions and adjusting methods of AC servo drives Parameter settings Communication protocol Inspection and maintenance Troubleshooting Applicati...

Page 3: ...EASE READ PRIOR TO INSTALLATION FOR SAFETY Carefully note and observe the following safety precautions when receiving inspecting installing operating maintaining and troubleshooting The following words DANGER WARNING and STOP are used to mark safety precautions when using the Delta s servo product Failure to observe these precautions may void the warranty ASDA B2 series drives are open type servo ...

Page 4: ...e or personal injury Operation Before starting the operation with a mechanical system connected change the drive parameters to match the user defined parameters of the mechanical system Starting the operation without matching the correct parameters may result in servo drive or motor damage or damage to the mechanical system Ensure that the emergency stop equipment or device is connected and workin...

Page 5: ...and the maximum length of encoder PG feedback cables is 20m 65 62ft As a charge may still remain in the drive with hazardous voltages even after power has been removed be sure to wait at least 10 minutes after power has been removed before performing any wiring and or inspection It is not recommended to frequently power the drive on and off Do not turn the drive off and on more than once per minut...

Page 6: ...allation Notes 2 1 2 2 Storage Conditions 2 1 2 3 Installation Conditions 2 2 2 4 Installation Procedure and Minimum Clearances 2 3 2 5 Circuit Interrupter and Fuse Current Recommended Value 2 5 2 6 EMI Filter Selection 2 6 2 7 Regenerative Resistor 2 8 Chapter 3 Connections and Wiring 3 1 3 1 Connections 3 1 3 1 1 Connecting to Peripheral Devices 3 1 3 1 2 Servo Drive Connectors and Terminals 3 2...

Page 7: ... 3 3 2 Signals Explanation of Connector CN1 3 21 3 3 3 User defined DI and DO signals 3 29 3 3 4 Wiring Diagrams of I O Signals CN1 3 36 3 4 Encoder Connector CN2 3 37 3 5 Serial Communication Connector CN3 3 40 3 6 Analog Monitor Output Connector CN5 3 41 3 7 Standard Connection Example 3 42 3 7 1 Position PT Control Mode 3 42 3 7 2 Speed Control Mode 3 43 3 7 3 Torque Control Mode 3 44 Chapter 4...

Page 8: ... 4 4 4 DI Diagnosis Operation 4 12 4 4 5 DO Diagnosis Operation 4 13 Chapter 5 Trial Run and Tuning Procedure 5 1 5 1 Inspection without Load 5 1 5 2 Applying Power to the Drive 5 3 5 3 JOG Trial Run without Load 5 7 5 4 Speed Trial Run without Load 5 9 5 5 Tuning Procedure 5 11 5 5 1 Tuning Flowchart 5 12 5 5 2 Load Inertia Estimation Flowchart 5 13 5 5 3 Auto Mode Tuning Flowchart 5 14 5 5 4 Sem...

Page 9: ... 6 2 4 Low pass Filter 6 9 6 2 5 Position Loop Gain Adjustment 6 10 6 3 Speed Control Mode 6 12 6 3 1 Command Source of Speed Control Mode 6 12 6 3 2 Structure of Speed Control Mode 6 14 6 3 3 Smoothing Strategy of Speed Control Mode 6 15 6 3 4 Analog Speed Input Scaling 6 19 6 3 5 Timing Chart of Speed Control Mode 6 20 6 3 6 Speed Loop Gain Adjustment 6 20 6 3 7 Resonance Suppression 6 27 6 4 To...

Page 10: ... 42 6 6 3 Analog Monitor 6 43 6 6 4 Electromagnetic Brake 6 47 Chapter 7 Parameters 7 1 7 1 Definition 7 1 7 2 Parameter Summary 7 2 7 3 Detailed Parameter Listings 7 10 Group 0 P0 xx Monitor Parameters 7 10 Group 1 P1 xx Basic Parameters 7 21 Group 2 P2 xx Extension Parameters 7 49 Group 3 P3 xx Communication Parameters 7 78 Group 4 P4 xx Diagnosis Parameters 7 83 Table 7 1 Input Function Definit...

Page 11: ... 9 3 9 3 Clearing Faults 9 12 Chapter 10 Specifications 10 1 10 1 Specifications of Servo Drives ASDA B2 Series 10 1 10 2 Specifications of Servo Motors ECMA Series 10 4 10 3 Servo Motor Speed Torque Curves 10 8 10 4 Overload Characteristics 10 9 10 5 Dimensions of Servo Drives 10 11 10 6 Dimensions of Servo Motors 10 15 Appendix A Accessories A 1 Appendix B Maintenance and Inspection B 1 VARITEL ...

Page 12: ...this product We look forward to serving your needs and are willing to offer our best support and service to you ASIA DELTA ELECTRONICS INC Taoyuan Plant 3 No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 TAIWAN R O C TEL 886 3 362 6301 FAX 886 3 362 7267 NORTH SOUTH AMERICA DELTA PRODUCTS CORPORATION USA Raleigh Office P O BOX 12173 5101 DAVIS DRIVE RESEARCH TRIANGLE PARK NC 27709 U S A TEL 1 9...

Page 13: ...vision September 2013 This page is intentionally left blank VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 14: ... not damaged during shipment Check for loose screws Ensure that all necessary screws are tight and secure If any items are damaged or incorrect please inform the distributor whom you purchased the product from or your local Delta sales representative A complete and workable AC servo system should include the following parts Part I Delta standard supplied parts 1 Servo drive 2 Servo motor 3 5 PIN T...

Page 15: ... to connect the encoder of servo motor to the CN2 terminal of servo drive 3 CN1 Connector 4 PIN Connector 3M type analog product 4 CN2 Connector 9 PIN Connector 3M type analog product 5 CN3 Connector 6 PIN Connector IEEE1394 analog product 1 2 Model Explanation 1 2 1 Nameplate Information ASDA B2 Series Servo Drive Nameplate Explanation Serial Number Explanation ASMT Series Servo Motor Nameplate E...

Page 16: ...el Explanation Revision September 2013 1 3 Serial Number Explanation VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 17: ...put Voltage and Phase 21 220V 1 phase 23 220V 3 phase Model Type Product Series B2 Product Name AC SERVO Drive Rated Power Input 01 100W 20 2kW 02 200W 30 3kW 04 400W 07 750W 10 1kW 15 1 5kW VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 18: ...d Power Output 01 100W 05 500W 10 1 0kW 02 200W 06 600W 15 1 5kW 03 300W 07 700W 20 2 0kW 04 400W 09 900W 30 3 0kW Motor Frame Size 04 40mm 09 86mm 18 180mm 06 60mm 10 100mm 08 80mm 13 130mm Name of the Series Rated Voltage and Rated Speed C 220V 3 000 rpm E 220V 2 000 rpm F 220V 1 500 rpm G 220V 1 000 rpm Encoder Type 1 Incremental 20 bit 2 Incremental 17 bit M Magnetic encoder 13 bit Servo Type ...

Page 19: ...MA E21320 S S 22mm ECMA E21820 S S 35mm 3000W ASD B2 3023 ECMA E21830 S S 35mm ECMA F21830 S S 35mm The servo drives shown in the above table are designed for use in combination with the specific servo motors Check the specifications of the drives and motors you want to use Also please ensure that both the servo drive and motor are correctly matched for size power rating If the power of motor and ...

Page 20: ...del Explanation Revision September 2013 1 7 1 4 Servo Drive Features VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 21: ...n be achieved via parameters set within the controller or from an external analog 10 10 VDC command Control of the internal torque mode is via the Digital Inputs DI A maximum of three torque levels can be stored internally Internal Torque Control Tz Internal Torque control mode for the servo motor is only achieved via parameters set within the controller Control of the internal torque mode is via ...

Page 22: ...coder cable and motor connection cable connected to U V W terminals Make sure to tighten the screws for securing motor 2 2 Storage Conditions The product should be kept in the shipping carton before installation In order to retain the warranty coverage the AC servo drive should be stored properly when it is not to be used for an extended period of time Some storage suggestions are Store in a clean...

Page 23: ...on has impacted the electric devices in the control panel Please observe the following precautions when selecting a mounting location Failure to observe the following precautions may void the warranty Do not mount the servo drive or motor adjacent to heat radiating elements or in direct sunlight Do not mount the servo drive or motor in a location subjected to corrosive gases liquids airborne dust ...

Page 24: ... of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional space may be necessary for wiring and cable connections Also as the drive conducts heat away via the mounting the mounting plane or surface should not conduct heat into the drive from external sources Motor Mounting The ECMA servo motors should be mounted firmly to a dry and solid mounting s...

Page 25: ... 4 Revision September 2013 Minimum Clearances Side by Side Installation VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 26: ...B2 0121 B 5A 5A ASD B2 0221 B 5A 6A ASD B2 0421 B 10A 10A ASD B2 0721 B 10A 20A ASD B2 1021 B 15A 25A ASD B2 1521 B 20A 40A ASD B2 2023 B 30A 50A ASD B2 3023 B 30A 70A NOTE 1 When using a GFCI Ground Fault Circuit Interrupter select a current sensor with sensitivity of equal to or more than 200mA and not less than 0 1 second detection time to avoid nuisance tripping VARITEL INGENIERIA ELECTRONICA ...

Page 27: ...a s EMI filter to have the best interference elimination performance We assure that it can comply with following rules when AC servo drive and EMI filter are installed and wired according to user manual EN61000 6 4 2001 EN61800 3 2004 PDS of category C2 EN55011 A2 2007 Class A Group 1 General Precaution To ensure the best interference elimination performance when using Delta s EMI filter please fo...

Page 28: ...f the motor cable should be grounded with the minimum length and maximum contact area Remove any paint on metal saddle for good ground contact with the plate and shielding Please refer to Figure 1 below The connection between the metal saddle and the shielding on both ends of the motor cable should be correct and well installed Please refer to Figure 2 on next page for correct wiring method Figure...

Page 29: ...100 60 30 60 1 0 40 60 30 30 1 5 40 60 30 30 2 0 20 100 50 15 3 0 20 100 50 15 1 Regenerative Power Calculation The amount of regenerative power average value that can be processed is rated at 50 of the capacity of the servo drive s built in regenerative resistor The regenerative power calculation method of external regenerative resistor is the same When the regenerative power exceeds the processi...

Page 30: ...r Calculation Method and Simple Calculation Method for calculating the regenerative power capacity of external regenerative resistors 1 Regenerative Power Calculation Method a Without Load When there is no external load torque if the servo motor repeats operation the returned regenerative power generated when braking will transmitted into the capacitance of DC bus After the capacitance voltage exc...

Page 31: ...o N Input by the users or read via P0 02 Drive State Display 5 Calculate the max regenerative power Eo Eo J x wr2 182 6 Set the regenerative power Ec that can be absorbed Refer to the table above 7 Calculate the required regenerative power capacity 2x N 1 x Eo Ec T For example If we use 400W servo drive the time of repeat operation cycle is T 0 4 sec max motor speed is 3000r min the load inertia 7...

Page 32: ...eed when a sudden external load torque change and great power is transmitted to regenerative resistor rapidly Motor Rotation Speed External Load Torque Motor Output Torque Reverse Rotation Reverse Rotation Forward Rotation Forward Rotation External load torque in reverse direction TL x Wr TL External load torque For the safety we strongly recommend the users should select the proper resistance val...

Page 33: ...10 15 20 20 30 ECMA C 312 137 83 F100 ECMA E 42 32 24 F130 10 F180 11 ECMA G 42 31 When the servo motor runs with load the allowable frequency will change according to the changes of the load inertia and rotation speed Use the following equation to calculate the allowable frequency Allowable frequency Allowable frequency when servo motor run without load m 1 x Rated speed Operating speed times min...

Page 34: ...ning Without Load times min When Using External Regenerative Resistor Motor Capacity Regenerative Resistor ECMA G 0 3kW 0 6kW 0 9kW 03 06 09 200W 80Ω 149 144 109 400W 40Ω 217 When the regenerative resistor capacity is not enough the users can connect to multiple the same capacity regenerative resistors in parallel to increase it Dimensions Delta Part Number BR400W040 400W 40Ω L1 L2 H D W MAX WEIGH...

Page 35: ...385 50 5 3 100 2800 NOTE 1 Regarding the selection of regenerative resistor please refer to the table of regenerative resistor specifications described in Appendix A VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 36: ...es products the descriptions of I O signals and gives typical examples of wiring diagrams 3 1 Connections 3 1 1 Connecting to Peripheral Devices VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 37: ...esistor Ensure the circuit is closed between P and D and the circuit is open between P and C External resistor Connect regenerative resistor to P and C and ensure an open circuit between P and D External braking unit Connect braking unit to P and and ensure an open circuit between P and D and P and C N terminal is built in L1c L2c and R S T P Connecting to terminal of V_BUS voltage Connecting to t...

Page 38: ...pad Please refer to section 3 5 for details CN4 Reserved connector Reserved CN5 Analog voltage output terminal Used to monitor the operation status The drive provides two channels MON1 and MON2 to output the analog voltage data Output voltage is reference to the power ground GND NOTE 1 U V W CN1 CN2 CN3 terminals provide short circuit protection VARITEL INGENIERIA ELECTRONICA S A info varitel com ...

Page 39: ...er signal cables Separate them by at least 30cm 11 8 inches 5 If the encoder cable is too short please use a twisted shield signal wire with grounding conductor The wire length should be 20m 65 62ft or less For lengths greater than 20m 65 62ft the wire gauge should be doubled in order to lessen any signal attenuation Regarding the specifications of 20m 65 62ft encoder cable please choose wire gaug...

Page 40: ...s 1 5kW and below only In the wiring diagram figures 3 2 3 3 Power ON contact a normally open Power OFF contact b normally closed MC coil of electromagnetic contactor self holding power contact of main circuit power Single Phase Power Supply 1 5kW and below VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora ...

Page 41: ...B2 3 6 Revision September 2013 Three Phase Power Supply all models VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 42: ...NG JOWLE C4201H00 2 2PA A ECMA C 0602 S 200W ECMA C 0604 S 400W ECMA CM0604PS 400W ECMA C 0804 7 400W ECMA C 0807 S 750W ECMA C 0907 S 750W ECMA C 0910 S 1000W HOUSING JOWLE C4201H00 2 3PA B ECMA G 1303 S 300W ECMA E 1305 S 500W ECMA G 1306 S 600W ECMA GM1306PS 600W ECMA G 1309 S 900W ECMA GM1309PS 900W ECMA C 1010 S 1000W ECMA E 1310 S 1000W ECMA E 1315 S 1500W ECMA C 1020 S 2000W ECMA E 1320 S 2...

Page 43: ...he received voltage into consideration when selecting the wire size Please refer to Section 3 1 6 for wire rod selection NOTE 1 The coil of brake has no polarity The names of terminal identification are BRAKE1 Blue and BRAKE2 Brown 2 The power supply for brake is DC24V Never use it for VDD the 24V source voltage 3 Box in servo motor model represents brake or keyway oil seal VARITEL INGENIERIA ELEC...

Page 44: ...refer to the descriptions of Terminal Identification of Encoder Connector on page 3 10 2 Please refer to section 3 4 for the descriptions of Encoder Connector CN2 The boxes in the model names are for optional configurations keyway brake and oil seal Please refer to section 1 2 for model explanation Motor Model Name Encoder Connector ECMA C20401 S 100W ECMA C20602 S 200W ECMA C20604 S 400W ECMA CM0...

Page 45: ... Red Red White Green Black Shield T T Reserved Reserved Reserved Reserved DC 5V GND View from this side If the users do not use the connector without housing and connect the cores from the cable for wiring please follow the terminal identification and core number of encoder connector shown in the above table to complete the wiring The users need to connect core 1 to core 1 core 2 to core 2 and so ...

Page 46: ...s as shown in the drawing above For different models of AC servo drives and motors the connection cables may differ 1 Please refer to section 3 4 for the descriptions of Encoder Connector CN2 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 47: ...S 1500W ECMA C21020 S 2000W ECMA E21320 S 2000W ECMA E21820 S 2000W ECMA E21830 S 3000W ECMA F21830 S 3000W Pin No Terminal Identificati on Color A T Blue B T Blue Black S DC 5V Red Red White R GND Black Black White L BRAID SHIELD Please select shielded multi core and the shielded cable should connect to the SHIELD end Please refer to the description of Section 3 1 6 NOTE Box in servo motor model ...

Page 48: ... AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ECMA G21306 S 1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ECMA GM1306PS 1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ASD B2 1021 ECMA C21010 S 1 3 AWG16 2 1 AWG14 1 3 AWG16 2 1 AWG14 ECMA C20910 S 1 3 AWG16 2 1 AWG14 1 3 AWG16 2 1 AWG14 ECMA E21310 S 1 3 AWG16 2 1 AWG14 1 3 AWG16 2 1 AWG14 ECMA G21309 S 1 3 AWG16 2 1 AWG14 1 3 AWG16 2 1 AWG14 ECMA GM1309PS 1 3 AWG16 ...

Page 49: ...se use shielded twisted pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interference 2 The shield of shielded twisted pair cables should be connected to the SHIELD end terminal marked of the servo drive 3 In order to prevent fire hazard and accidents please form the wiring by following the cable specifications outlined above 4 The boxes at the ends of the serv...

Page 50: ... CN1 A D External Speed External Torque Position Pulse Digital Input Digital Output Encoder Signal A B Z Output Serial Communication RS 232 RS 485 Analog Monitor Output Encoder Servo Motor M Protection Circuit 3 3V Regeneration Circuit Control Power 15V 5V 24V C S T D R P Connect to external regenerative resistor Servo Drive Battery PRB 60W IPM Module D A CN5 Display CHARGE MODE SHIFT SET Phase Lo...

Page 51: ...ember 2013 3 2 2 750W model with built in regenerative resistor but without cooling fan VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 52: ...r 2013 3 17 3 2 3 1kW 1 5kW models with built in regenerative resistor and cooling fan VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 53: ...ptember 2013 3 2 4 2kW 3kW models with built in regenerative resistor and cooling fan VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 54: ...nd 6 digital outputs of each axis provided by ASDA B2 which are parameter P2 10 P2 17 P2 36 and parameter P2 18 P2 22 P2 37 respectively In addition the differential output encoder signal A A B B Z and Z input of analog torque command analog speed position command and pulse position command are also provided The followings are the pin diagrams Side View Rear View VARITEL INGENIERIA ELECTRONICA S A...

Page 55: ...t 37 SIGN Position sign 23 OB Encoder B pulse output 8 DI4 Digital input 38 HPULSE High speed position pulse 24 OZ Encoder Z pulse output 9 DI1 Digital input 39 SIGN Position sign 25 OB Encoder B pulse output 10 DI2 Digital input 40 HSIGN High speed position sign 26 DO4 Digital output 11 COM Power input 12 24V 41 PULSE Pulse input 27 DO5 Digital output 12 DI9 Digital input 42 HSIGN High speed posi...

Page 56: ... C3 C4 High speed Position Pulse Input HPULSE HPULSE HSIGN HSIGN 38 36 42 40 The drive can accept two different types of high speed pulse inputs 5V input and Line driver input The max input frequency is 4MHz Three different pulse commands can be selected via parameter P1 00 They are A phase B phase Quadrature CW pulse CCW pulse and Pulse Direction C4 2 Position Pulse Output OA OA 21 22 Encoder sig...

Page 57: ...nt way the selection of I O signal has to be programmable That is to say users can choose the desired DI DO signal to meet the demand Basically the default setting of DI DO signal has already have the appropriate function which can satisfy the demand of normal application VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 L...

Page 58: ...ses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1 38 TSPD ALL except PT TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed setting as defined in parameter P1 39 TPOS PT PT S PT T 1 26 1 When the drive is in PT mode TPOS will be activated when the position error is equal and below the setting value of P1 54 TQL Not ...

Page 59: ...3 3 3 for details DI Signals DI Signal Assigned Control Mode Pin No Default Details Wiring Diagram Refer to 3 3 3 SON ALL 9 Servo On Switch servo to Servo Ready C9 C10 C11 C12 ARST ALL 33 A number of Faults Alarms can be cleared by activating ARST GAINUP ALL Gain switching CCLR PT 10 When CCLR is activated the setting is parameter P2 50 Pulse Clear Mode is executed ZCLAMP ALL When this signal is O...

Page 60: ...ct b and normally ON or a fault ALRM will display PL CCWL PT S T Sz Tz 31 Forward inhibit limit It should be contact b and normally ON or a fault ALRM will display TLLM Not assigned Reverse operation torque limit Torque limit function is valid only when P1 02 is enabled TRLM Not assigned Forward operation torque limit Torque limit function is valid only when P1 02 is enabled JOGU ALL Forward JOG i...

Page 61: ... as each control mode is separated and listed in different row it is easy for user to view and can avoid confusion However the Pin number of each signal can not be displayed in the table 3 F and table 3 G Table 3 1 Default DI signals and Control modes Signal DI Code Function PT S T Sz Tz PT S PT T S T SON 0x01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 ARST 0x02 Reset DI5 DI5 DI5 DI5 DI5 GAINUP 0x03...

Page 62: ...I7 DI7 DI7 Reserved 0x24 Reserved TLLM 0x25 Reverse operation torque limit TRLM 0x26 Forward operation torque limit Reserved 0x27 Reserved Reserved 0x36 Reserved JOGU 0x37 Forward JOG input JOGD 0x38 Reverse JOG input GNUM0 0x43 Electronic gear ratio Numerator selection 0 GNUM1 0x44 Electronic gear ratio Numerator selection 1 INHP 0x45 Pulse inhibit input NOTE 1 For Pin numbers of DI1 DI8 signals ...

Page 63: ...larm output Servo fault DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 BRKR 0x08 Electromagnetic brake DO4 DO4 DO4 DO4 OLW 0x10 Output overload warning WARN 0x11 Servo warning output SNL SCWL 0x13 Reverse software limit SPL SCCWL 0x14 Forward software limit SP_OK 0x19 Speed reached output NOTE 1 For Pin numbers of DO1 DO6 signals please refer to section 3 3 1 VARITEL INGENIERIA ELECTRONICA S A info varitel com w...

Page 64: ...mode is 10V 10V The command value can be set via relevant parameters C1 Speed Torque analog signal input GND Approx 10kΩ SG 20 V REF 19 Servo Drive 18 T REF 10kΩ 10kΩ 10V _ C2 Analog monitor output MON1 MON2 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 65: ...of Open collector input is 200kpps C3 1 The source of pulse input is open collector NPN equipment which applies the internal power of the servo drive C3 2 The source of pulse input is open collector PNP equipment which applies the internal power of the servo drive VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de ...

Page 66: ...input pulse frequency is 200Kpps 75Ω SG SIGN PULSE PULL_HI 35 37 41 Servo Drive Controller 2KΩ 2KΩ DC24V C3 4 The source of pulse input is open collector PNP equipment which applies the external power of the servo drive Caution Do not apply to dual power or it may damage the servo drive VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manu...

Page 67: ...ly only Never apply a 24V power supply Caution The high speed pulse input interface is not an isolated input interface To prevent noise and interference ensure that the ground terminal of the controller and the servo drive should be connected to each other VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B...

Page 68: ...se of internal power supply general load C6 Wiring of DO signal for the use of internal power supply inductive load C7 Wiring of DO signal for the use of external power supply general load C8 Wiring of DO signal for the use of external power supply inductive load VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Z...

Page 69: ...gnal for the use of external power supply PNP transistor with multiple emitter fingers SOURCE Mode C11 Wiring of DI signal for the use of internal power supply C12 Wiring of DI signal for the use of external power supply Caution Do not apply to dual power or it may damage the servo drive VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Man...

Page 70: ...4 Encoder output signal Photocoupler C15 Encoder OCZ output Open collector Z pulse output Servo Drive Max Spec 30V 100mA 24V OCZ 44 GND 29 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 71: ...the following Table 3 H for the settings Table 3 H User defined DI and DO signals Signal Name Pin No Parameter Signal Name Pin No Parameter DI DI1 CN1 9 P2 10 DO DO1 CN1 7 P2 18 DI2 CN1 10 P2 11 DO1 CN1 6 DI3 CN1 34 P2 12 DO2 CN1 5 P2 19 DI4 CN1 8 P2 13 DO2 CN1 4 DI5 CN1 33 P2 14 DO3 CN1 3 P2 20 DI6 CN1 32 P2 15 DO3 CN1 2 DI7 CN1 31 P2 16 DO4 CN1 1 P2 21 DI8 CN1 30 P2 17 DO4 CN1 26 DI9 CN1 12 P2 3...

Page 72: ... Connector Side View Rear View 2 The layout of CN2 Motor Connector Quick Connector A E B D C H F G L K J M N P R S T 3106A 20 29S Military Connector VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 73: ...ack Black White Shell Shielding Shielding L 9 Using the encoder cable with shielding double shielding is the best is able to prevent voltage coupling and eliminate the noise and interference from other electrical sources Be sure to observe the following steps to complete the shielding surrounding the encoder cable 1 Solder the centre cores on the metal part of the connector adequately for good gro...

Page 74: ...ll the cores with shielding into the plastic case of the connector as shown in the figure 3 Tighten the screws to complete the shielding VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 75: ...N No Signal Name Terminal Identification Description 1 Grounding GND Ground 2 RS 232 data transmission RS 232_TX For data transmission of the servo drive Connected to the RS 232 interface of PC 3 Reserved 4 RS 232 data receiving RS 232_RX For data receiving of the servo drive Connected to the RS 232 interface of PC 5 RS 485 data transmission RS 485 For data transmission of the servo drive differen...

Page 76: ...he desired characteristics Please refer to the parameter P0 03 for monitoring commands and P1 04 P1 05 for scaling factors Output voltage is reference to the power ground GND CN5 Terminal Layout and Identification 1 2 3 CN5 Signal Cable for CN5 Connector PIN No Signal Name Description Color Wiring Diagram Refer to 3 3 3 1 MON1 Monitor analog data 1 Red C2 2 GND Ground White 3 MON2 Monitor analog d...

Page 77: ...5KΩ 1 5KΩ SRDY ZSPD TPOS HOME ALRM 24V 1 5KΩ 0 3 5 KΩ 5 KΩ 5 KΩ 5 KΩ 5 KΩ 5 KΩ 5 KΩ 5 KΩ 5 KΩ Reserved GND MON1 MON2 3 1 2 CN5 Blue Black Max output current 3A Voltage 50V Servo Drive A phase differential signal B phase differential signal Z phase differential signal Z phase signal open collector Encoder pulse input Regenerative resistor Brake Power supply Encoder Red Red White Black Black White 1...

Page 78: ...KΩ Reserved GND MON1 MON2 3 1 2 CN5 SG 10KΩ 10KΩ 10KΩ 10KΩ 10V 10KΩ 10V 10KΩ 10KΩ 1 0 SON TRQLM SPD0 SPD1 ARST CWL CCWL EMGS Red White Black Green Twisted pair or twisted shield cable Blue Black Servo Drive A phase differential signal B phase differential signal Z phase differential signal Z phase signal open collector Encoder pulse output Regenerative resistor Brake Power supply Encoder Red Red W...

Page 79: ...served GND MON1 MON2 3 1 2 CN5 SG 10KΩ 10KΩ 10KΩ 10KΩ 10V 10KΩ 10V 10KΩ 10KΩ 1 0 SON SPDLM TCM0 TCM1 ARST CWL CCWL EMGS Twisted pair or twisted shield cable Blue Black Max output current 3A Voltage 50V Servo Drive A phase differential signal B phase differential signal Z phase differential signal Z phase signal open collector Encoder pulse output Regenerative resistor Brake Power supply Encoder Re...

Page 80: ...can scrolls through parameter groups After a parameter is selected and its value displayed pressing SHIFT key can move the cursor to the left and then change parameter settings blinking digits by using arrow keys UP and DOWN Key UP and DOWN arrow Key Pressing the UP and DOWN arrow key can scroll through and change monitor codes parameter groups and various parameter settings SET Key SET Key Pressi...

Page 81: ...display for approximately one second 5 In monitor mode pressing MODE key can enter into parameter mode pressing the SHIFT key can switch parameter group and pressing UP or DOWN arrow key can change parameter group code 6 In parameter mode the system will enter into the setting mode immediately after the Set key is pressed The LCD display will display the corresponding setting value of this paramet...

Page 82: ...ter setting is completed LCD display will show the end code SAVED and automatically return back to parameter mode VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 83: ...low byte Negative value display When the data is displayed in decimal format the most left two digits represent negative sign no matter it is a 16 bit or 32 bit data If the data is displayed in hexadecimal format it is a positive value always and no negative sign is displayed 4 3 3 Fault Message Display Display Message Description When the AC servo drive has a fault LCD display will display ALnnn ...

Page 84: ... value of P0 02 For example if the setting value of P0 02 is 4 when the power is applied the monitor function will be input pulse number of pulse command After ASDA B2 shows on the LCD display the C PLS monitor codes will display next and then the pulse number will display after P0 02 Setting Display Message Description Unit 0 Motor feedback pulse number after electronic gear ratio is set user uni...

Page 85: ...ay Message Description Dec 16 bit Data Decimal display When the actual value is 1234 the display is 01234 Hex Hexadecimal display When the actual value is 0x1234 the display is 1234 Dec High Byte Dec Low Byte 32 bit Data Decimal display When the actual value is 1234567890 the display of high byte is 1234 5 and the display of low byte is 67890 Hex High Byte Hex Low Byte Hexadecimal display When the...

Page 86: ...mode 3 All monitor variables are 32 bit data The users can switch to high byte or low byte and display format Dec or Hex freely Regarding the parameters listed in Chapter 8 for each parameter only one kind of display format is available and cannot be changed VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora...

Page 87: ...tion After entering the parameter mode P4 00 to P4 04 Fault Record press SET key to display the corresponding fault code history for the parameter Figure 4 3 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 88: ...and DOWN arrow keys The example display in Figure 4 4 is adjusted as 100 r min Step3 Press the SET key when the desired JOG speed is set The Servo Drive will display JOG Step4 Press the UP or DOWN arrow keys to jog the motor either CCW or CW The motor will only rotate while the arrow key is activated Step5 To change JOG speed again press the MODE key The servo Drive will display P4 05 Press the SE...

Page 89: ...output DO2 is activated When P4 06 is set to 7 the digital outputs DO1 DO2 and DO3 are both activated The parameter setting value of P4 06 is not retained when power is off After re power the servo drive all digital outputs will return to the normal status If P2 08 is set to 400 it also can switch the Force Output Control operation mode to normal Digital Output DO Control operation mode The DO fun...

Page 90: ...5 NOTE 1 As the display of P4 06 is hexadecimal 0 zero of the fifth digit will not show on the LED display VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 91: ...he servo drive LED display When the Bit is set to 1 it means that the corresponding digital input signal is ON Please also refer to Figure 4 6 For example Suppose that the servo drive LED display is 1E1 E is hexadecimal which is equal to 1110 in binary system and it means that the digital inputs DI6 DI8 are ON Figure 4 6 Hexadecimal Display VARITEL INGENIERIA ELECTRONICA S A info varitel com www v...

Page 92: ... on the servo drive LED display When the Bit is set to 1 it means that the corresponding digital output signal is ON Please also refer to Figure 4 7 For example Suppose that the servo drive LED display is 3F F is hexadecimal which is equal to 1111 in binary system and it means that the digital outputs DO1 DO4 are ON Figure 4 7 Hexadecimal Display VARITEL INGENIERIA ELECTRONICA S A info varitel com...

Page 93: ... 4 14 Revision September 2013 This page is intentionally left blank VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 94: ...on procedure when trial run without load is completed then the users can connect to the load and mechanical system to run the servo motor In order to prevent accidents the initial trial run for servo motor should be conducted under no load conditions separate the motor from its couplings and belts Caution Please perform trial run without load first and then perform trial run with load connected Af...

Page 95: ...attention on the connection of the cables and notice that if they are damaged frayed or over extended Check for abnormal vibrations and sounds during operation If the servo motor is vibrating or there are unusual noises while the motor is running please contact the dealer or manufacturer for assistance Ensure that all user defined parameters are set correctly Since the characteristics of various m...

Page 96: ... power to the AC servo For three phase input power connection and single phase input power connection please refer to Section 3 1 3 3 Turn the Power On The Power includes control circuit power L1c L2c and main circuit power R S T When the power is on the normal display should be shown as the following figure As the default settings of digital input signal DI6 DI7 and DI8 are Reverse Inhibit Limit ...

Page 97: ...2 of servo motor is loose or incorrect Corrective Actions Check if the users perform wiring recommended in the user manual Examine the encoder connector and cable Inspect whether wire is loose or not Check if the encoder is damaged 3 When display shows Emergency stop activated Please check if any of digital inputs DI1 DI9 signal is set to Emergency Stop EMGS Corrective Actions If it does not need ...

Page 98: ...verse inhibit limit NL The setting value of parameter P2 10 to P2 17 and P2 36 is not set to 22 If it is necessary to use Reverse inhibit limit NL as input signal the users only need to confirm that which of digital inputs DI1 DI9 is set to Reverse inhibit limit NL and check if the digital input signal is ON It should be activated 5 When display shows Forward limit switch error Please check if any...

Page 99: ... motor Check if the circuit of the wiring is closed Remove the short circuited condition and avoid metal conductor being exposed 7 When display shows Undervoltage Corrective Actions Check whether the wiring of main circuit input voltage is normal Use voltmeter to check whether input voltage of main circuit is normal Use voltmeter to check whether the input voltage is within the specified specifica...

Page 100: ...rive will enter into JOG operation mode automatically STEP 3 The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust the digit number of the displayed value STEP 4 Pressing SET key can determine the speed of JOG operation STEP 5 Pressing UP key and the servo motor will run in CCW direction After releasing UP key the motor will stop running STEP 6 Pressing DOWN key and...

Page 101: ...ber 2013 In the example below the JOG speed is adjusted from 20r min Default setting to 100r min VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 102: ...abled This DI function is disabled DI9 P2 36 0 Disabled This DI function is disabled By default DI6 is the function of reverse inhibit limit DI7 is the function of forward inhibit limit and DI6 is the function of emergency stop DI8 if the users do not set the setting value of parameters P2 15 to P2 17 and P2 36 to 0 Disabled the faults ALE13 14 and 15 will occur For the information of fault messag...

Page 103: ...P1 10 is set to 1000 CW P1 11 is set to 30000 CCW STEP 3 1 The users can use DI1 to enable the servo drive Servo ON 2 If DI3 SPD0 and DI4 SPD1 are OFF both it indicates S1 command is selected At this time the motor is operating according to external analog command 3 If only DI3 is ON SPD0 it indicates S2 command P1 09 is set to 3000 is selected and the motor speed is 3000r min at this time 4 If on...

Page 104: ...P key to cycle through the available settings 10 At this time the servo drive is ON and the right side display will appear next 11 Press DOWN key three times to select the ratio of Load Inertia to Servo Motor Inertia J_load J_motor 12 Display the current ratio of Load Inertia to Servo Motor Inertia J_load J_motor 5 0 is default setting 13 Press MODE key to select parameter mode 14 Press SHIFT key ...

Page 105: ...io of Load Inertia to Servo Motor Inertia J_load J_motor Then execute JOG operation again press MODE key once and press SET key twice to view the display on the keypad Check if the value of J_load J_motor is adjusted to a fixed value and displayed on the keypad after acceleration and deceleration repeatedly 5 5 1 Tuning Flowchart VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com ...

Page 106: ...ure Revision September 2013 5 13 5 5 2 Load Inertia Estimation Flowchart VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 107: ...lt setting 80 In Auto mode and Semi Auto mode the speed loop frequency response settings are as follows 1 50Hz Low stiffness and low frequency response 51 250Hz Medium stiffness and medium frequency response 251 550Hz High stiffness and high frequency response Adjust P2 31 Increase the setting value of P2 31 to enhance the stiffness or reduce the noise Continuously perform the adjustment until the...

Page 108: ...P1 37 again The servo drive will refer to the frequency response settings of P2 31 when estimating the system inertia P2 31 Auto Mode Stiffness Setting Default setting 80 In Auto mode and Semi Auto mode the speed loop frequency response settings are as follows 1 50Hz Low stiffness and low frequency response 51 250Hz Medium stiffness and medium frequency response 251 550Hz High stiffness and high f...

Page 109: ...semi auto mode has been completed and the measured load inertia value is saved and memorized in P1 37 automatically 2 If reset bit0 of P2 33 to 0 it will start estimating the system inertia again VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 110: ...uto Mode P2 32 is set to 1 the measured load inertia value will be saved automatically and memorized in P1 37 every 30 minutes In Semi Auto Mode it will stop estimating the load inertia after a period of continuous adjustment time when the system inertia becomes stable The measured load inertia value will be saved automatically and memorized in P1 37 when load inertia estimation is stopped VARITEL...

Page 111: ... not 0 it indicates that one resonance frequency exists in the system and then the users can read P2 43 i e the frequency unit is Hz of the resonance point When there is any resonance point in the system its information will be shown in P2 45 and P2 46 as P2 43 and P2 44 2 If the resonance conditions are not improved when P2 47 is set to 1 for over three times please adjust notch filters resonance...

Page 112: ...ameters for resonance suppression Two notch filters can be set to suppress the resonance automatically If the users do not want to suppress the resonance automatically these two notch filter can also be set to or eliminate the resonance manually Please refer to the following flowchart for manual adjustment VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax ...

Page 113: ...25 P2 26 P2 49 P2 31 Auto Stiffness and Frequency response Level Continuous Adjusting every 30 minutes Semi Auto Mode Non continuous Adjustment 2 P1 37 P2 00 P2 02 P2 04 P2 06 P2 25 P2 26 P2 49 P2 31 Auto Stiffness and Frequency response Level Non continuous Adjusting stop after a period of time When switching mode 1 to 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 25 P2 26 and P2 49 will chan...

Page 114: ...he response to the position command is quicker the position error is less and the settling time is also shorter However if the setting value is over high the machinery system may generate vibration or noise or even overshoot during positioning The position loop responsiveness is calculated as follows KVP Parameter P2 04 Proportional Speed Loop Gain This parameter is used to determine the frequency...

Page 115: ...igh it may easily lead to the instability of speed loop and overshoot of machinery system The recommended setting value is as follows DST Parameter P2 26 External Anti Interference Gain This parameter is used to enhance the anti interference capability and reduce the occurrence of overshoot The default setting is 0 Disabled It is not recommended to use it in manual mode only when performing a few ...

Page 116: ...ernal speed mode is via the Digital Inputs DI A maximum of three speeds can be stored internally Torque Control T External Internal Torque control mode for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC command Control of the internal torque mode is via the Digital Inputs DI A maximum of three torque levels can be stored internally Int...

Page 117: ...ntrol loop is the principal part and the auxiliary parameters are position loop gain and feed forward compensation The users can also select two kinds of tuning mode Manual Auto modes to perform gain adjustment This Section 6 2 mainly describes the applicability of loop gain adjustment and feed forward compensation of Delta servo system 6 2 1 Command Source of Position PT Control Mode The command ...

Page 118: ...e frequency that exceeds the setting value will be regarded as noise and filtered Setting Value Low speed Filter Frequency Min Filter Frequency see note 1 Setting Value High speed Filter Frequency Min Filter Frequency see note 1 0 0 83Mpps 600ns 0 3 33Mpps 150ns 1 208Kpps 2 4us 1 0 83Mpps 600ns 2 104Kpps 4 8us 2 416Kpps 1 2us 3 52Kpps 9 6us 3 208Kpps 2 4us 4 No Filter Function 4 No Filter Function...

Page 119: ...e that this function is available for DSP version V1 036 sub05 CPLD version V10 and later models only Note If the signal is a 4Mpps high input pulse setting the value B to 4 is able to ensure that the signal will not be filtered and will be certainly delivered VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamo...

Page 120: ...lse Pulse Direction T6 T4 TH T5 T5 T5 T6 T4 Sign Pulse Pulse specification Max input pulse frequency Min time width T1 T2 T3 T4 T5 T6 High speed pulse Line driver 4Mpps 62 5ns 125ns 250ns 200ns 125ns 125ns Low speed pulse Line driver 500Kpps 0 5μs 1μs 2μs 2μs 1μs 1μs Open collector 200Kpps 1 25μs 2 5μs 5μs 5μs 2 5μs 2 5μs VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 1...

Page 121: ...Terminal Identification PULSE_D SIGN_D Position pulse can be input from these terminals PULSE 41 PULSE 43 HPULSE 38 HPULSE 36 SIGN 37 SIGN 39 and HSIGN 42 HSIGN 40 It can be an open collector circuit or line driver circuit For the detail wiring please refer to 3 6 1 6 2 2 Structure of Position Control Mode Basic Structure In order to pursue the goal of perfection in position control the pulse sign...

Page 122: ...7 1 When the drive is in position mode if INHP is activated the external pulse input command is not valid and the motor will stop 6 2 3 Electronic Gear Ratio Relevant parameters P1 44 GR1 Electronic Gear Ratio 1st Numerator N1 Address 0158H 0159H Operation Interface Keypad Software Communication Related Section Section 6 2 3 Default 16 Control Mode PT Unit pulse Range 1 226 1 Data Size 32 bit Disp...

Page 123: ...tronic gear ratio setting range must be within 1 50 N M 25600 Please note 1 In PT mode the setting value of P1 45 can not be changed when the servo drive is enabled Servo On The electronic gear function provides easy travel distance ratio change However the over high electronic gear ratio will command the motor to move not smoothly At this time the users can use low pass filter parameter to improv...

Page 124: ...P1 08 PFLT Smooth Constant of Position Command Low pass Filter Address 0110H 0111H Operation Interface Keypad Software Communication Related Section Section 6 2 4 Default 0 Control Mode PT Unit 10ms Range 0 1000 Data Size 16 bit Display Format Decimal Settings 0 Disabled For example 11 110 msec PFLT Target position Position Time ms VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel co...

Page 125: ...at least four times faster than the position loop responsiveness This also means that the setting value of Proportional Speed Loop Gain KVP should be at least four times faster than Proportional Position Loop Gain KPP The equation is shown as follows fp fv 4 fv Speed Loop Responsiveness Hz fp Position Loop Responsiveness Hz KPP 2 fp For example the desired position loop responsiveness is equal to ...

Page 126: ...l system When the value of Proportional Position Loop Gain KPP is too great the position loop responsiveness will be increased and it will result in small phase margin If this happens the rotor of motor will oscillate At this time the users have to decrease the value of KPP until the rotor of motor stop oscillating When there is an external torque command interrupted over low KPP value will let th...

Page 127: ...ASDA B2 series servo drive also provides complete S curve profile for speed control mode For the closed loop speed control ASDA B2 series servo drive provides gain adjustment function and an integrated PI or PDFF controller Besides two modes of tuning technology Manual Auto are also provided for the users to select parameter P2 32 There are two turning modes for gain adjustment Manual and Auto mod...

Page 128: ...command is the analog voltage between V REF and GND The setting range of the input voltage is from 10V to 10V and the corresponding motor speed is adjustable Please see parameter P1 40 When at least one of SPD0 and SPD1 is not 0 OFF the speed command is internal parameter P1 09 to P1 11 The command is valid enabled after either SPD0 or SPD1 is changed The range of internal parameters is within 500...

Page 129: ...drive and calculate the current input provided to motor instantaneously The resonance suppression block diagram is used to suppress the resonance of mechanical system The function and structure of speed command processing is shown as the figure below The command source is selected according to the state of SPD0 SPD1 and parameter P1 01 S or Sz Whenever the command signal needs to be more smoothly ...

Page 130: ...o can make the motor run more smoothly S curve filter parameters include P1 34 Acceleration Time TACC P1 35 Deceleration Time TDEC and Accel Decel S curve TSL and the users can use these three parameters to improve the motor performance during acceleration deceleration and operation ASDA B2 series servo drives also support the time calculation of completing speed command T ms is the operation runn...

Page 131: ... ms Range 1 20000 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed The functions of parameters P1 34 P1 35 and P1 36 are each individual Please note 1 When the source of speed command is analog command the maximum setting value of P1 36 is set to 0 the acceleration and deceleration function will...

Page 132: ...alog Speed Command S curve Filter ASDA B2 series servo drives also provide Analog Speed Command S curve Filter for the smoothing in response to a sudden analog input signal Speed rpm 3000 3000 0 1 3 2 4 6 5 7 9 8 Time sec Motor Torque Analog speed command The analog speed command S curve filter is for the smoothing of analog input signal and its function is the same as the S curve filter The speed...

Page 133: ...d Command Low pass Filter Address 010CH 010DH Operation Interface Keypad Software Communication Related Section Section 6 3 3 Default 0 Control Mode S Unit ms Range 0 1000 0 Disabled Data Size 16 bit Display Format Decimal Settings 0 Disabled NOTE 1 If the setting value of parameter P1 06 is set to 0 it indicates the function of this parameter is disabled and the command is just By Pass SFLT Targe...

Page 134: ... Mode S T Unit r min Range 0 10000 Data Size 16 bit Display Format Decimal Settings In Speed mode this parameter is used to set the maximum analog speed command based on the maximum input voltage 10V In Torque mode this parameter is used to set the maximum analog speed limit based on the maximum input voltage 10V For example in speed mode if P1 40 is set to 3000 and the input voltage is 10V it ind...

Page 135: ...ed 2 When speed control mode is Sz the speed command S1 0 when speed control mode is S the speed command S1 is external analog voltage input Please refer to P1 01 3 After Servo ON the users can select command according to the state of SPD0 1 6 3 6 Speed Loop Gain Adjustment The function and structure of speed control mode is shown as the figure below VARITEL INGENIERIA ELECTRONICA S A info varitel...

Page 136: ... 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 07 P2 25 and P2 26 can be user defined When switching mode 1 or 2 to 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 07 P2 25 and P2 26 will change to the value that measured in 1 auto tuning mode or 2 semi auto tuning mode Explanation of auto tuning mode The servo drive will continuously estimate the system inertia save the measured load inerti...

Page 137: ... of load inertia to servo motor Inertia 1 37 Please refer to the following description Proportional gain Adjust this gain can increase the position loop responsiveness Integral gain Adjust this gain can enhance the low frequency stiffness of speed loop and eliminate the steady error Also reduce the value of phase margin Over high integral gain will result in the unstable servo system Feed forward ...

Page 138: ...ddress 020EH 020FH Operation Interface Keypad Software Communication Related Section Section 6 3 6 Default 0 Control Mode ALL Unit Range 0 100 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the feed forward gain when executing speed control command When using speed smooth command increase gain can improve speed track deviation When not using speed smooth command dec...

Page 139: ...ation ASDA B2 6 24 Revision September 2013 Frequency Domain VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 140: ...t such as spectrum analyzer is needed and used to analyze when using frequency domain method and the users also should have this kind of VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 141: ... can reduce the responsiveness of input command tracking by using input command low pass filter Auto Mode Continuous adjustment This Auto Mode provides continuous adjustment of loop gains according to measured inertia automatically It is suitable when the load inertia is fixed or the load inertia change is small and is not suitable for wide range of load inertia change The period of adjustment tim...

Page 142: ...nical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 24 is set to 0 this parameter is disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters P2 24 DPH1 Notch Filter Attenuation Rate 1 Resonance Suppression Addre...

Page 143: ...ibration of mechanical system If P2 43 is set to 0 this parameter is disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters P2 44 DPH2 Notch Filter Attenuation Rate 2 Resonance Suppression Address 0258H 0259H Operation Interface Keypad Software Communication Related Section Section 6 ...

Page 144: ...ssion Address 025CH 025DH Operation Interface Keypad Software Communication Related Section Section 6 3 7 Default 0 Control Mode ALL Unit dB Range 0 32 Data Size 16 bit Display Format Decimal Settings This parameter is used to set magnitude of the resonance suppression that is set by parameter P2 45 If P2 46 is set to 0 the parameters P2 45 and P2 46 are both disabled P2 25 NLP Low pass Filter Tim...

Page 145: ...r the mechanical system becomes stable approximate 20 minutes the setting value of P2 47 will return to 0 Disable auto resonance suppression function When P2 47 is set to 2 the system will find the resonance point continuously even after the mechanical system becomes stable When P2 47 is set to 1 or 2 if the resonance conditions can not be eliminated we recommend the users to check the settings of...

Page 146: ...rrent Value Desired Value Function 0 1 Clear the setting value of P2 43 P2 46 and enable auto resonance suppression function 0 2 Clear the setting value of P2 43 P2 46 and enable auto resonance suppression function 1 0 Save the setting value of P2 43 P2 46 and disable auto resonance suppression function 1 1 Clear the setting value of P2 43 P2 46 and enable auto resonance suppression function 1 2 D...

Page 147: ...2 Revision September 2013 Flowchart of auto resonance suppression operation VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 148: ...ce frequency we recommend the users can eliminate the resonance conditions directly by using notch filter parameter P2 23 P2 24 However the range of frequency setting is from 50 to 1000Hz only and the range of resonant attenuation is 0 32 dB only Therefore if the resonant frequency is out of this range we recommend the users to use low pass filter parameter P2 25 to improve resonant condition Plea...

Page 149: ...djusted from 0 to high value the value of Low pass frequency will become smaller see the figure on page 6 26 The resonant condition is improved but the frequency response and phase margin will also decrease and the system may become unstable Therefore if the users know the resonance frequency the users can eliminate the resonance conditions directly by using notch filter parameter P2 23 P2 24 Usua...

Page 150: ...and is 0 0 T2 0 1 Internal parameter P1 12 300 T3 1 0 P1 13 300 T4 1 1 P1 14 300 State of TCM0 1 0 indicates OFF Normally Open 1 indicates ON Normally Closed When TCM0 and TCM1 are both 0 OFF if the control mode of operation is Tz then the command is 0 Therefore if the users do not use analog voltage as torque command the users can choose Tz mode to operation torque control to avoid the zero point...

Page 151: ... provided to motor instantaneously As the current control block diagram is too complicated setting the parameters of current control block diagram is not allowed The function and structure of torque command processing is shown as the figure below The command source is selected according to the state of TCM0 TCM1 and parameter P1 01 T or Tz Whenever the command signal needs to be more smoothly we r...

Page 152: ...lated Section Section 6 4 3 Default 0 Control Mode T Unit ms Range 0 1000 0 Disabled Data Size 16 bit Display Format Decimal Settings 0 Disabled NOTE 1 If the setting value of parameter P1 07 is set to 0 it indicates the function of this parameter is disabled and the command is just By Pass TFLT Target Speed VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fa...

Page 153: ...1000 Data Size 16 bit Display Format Decimal Settings In Torque mode this parameter is used to set the maximum analog torque command based on the maximum input voltage 10V In PT and Speed mode this parameter is used to set the maximum analog torque limit based on the maximum input voltage 10V For example in torque mode if P1 41 is set to 100 and the input voltage is 10V it indicates that the torqu...

Page 154: ... indicates normally open and ON indicates normally closed 2 When torque control mode is Tz the torque command T1 0 when torque control mode is T the speed command T1 is external analog voltage input Please refer to P1 01 3 After Servo ON the users can select command according to the state of TCM0 1 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 42...

Page 155: ...s not provided In order to avoid using too much DI inputs we recommend that the users can use external analog signal as input command in speed and torque mode to reduce the use of DI inputs SPD0 1 or TCM0 1 Please refer to table 3 B and table 3 C in section 3 3 2 to see the default pin number of DI DO signal 6 5 1 Speed Position Control Mode Selection PT S Mode The command source of PT S mode is f...

Page 156: ... T is ON torque command is selected by TCM0 1 When switching to the speed mode when S T is OFF the speed command is selected by SPD0 1 and then the motor will immediately rotate following the command After S T is ON again it will immediately return to torque mode 6 5 3 Torque Position Control Mode Selection PT T Mode The command source of PT T mode is from external input pulse The torque command c...

Page 157: ...s in parameter P1 02 is set to 0 Command Source Selection of Speed Limit 6 6 2 Torque Limit The command source of torque limit command is the same as torque command It can be the external analog voltage but also can be internal parameters P1 12 to P1 14 For more information of torque command source please refer to chapter 6 4 1 The torque limit only can be used in position mode PT mode and speed m...

Page 158: ...his parameter determines the functions of the analog monitor outputs MON1 MON2 Settings 0 Motor speed 8V maximum motor speed 1 Motor torque 8V maximum torque 2 Pulse command frequency 8Volts 4 5Mpps 3 Speed command 8Volts maximum speed command 4 Torque command 8Volts maximum torque command 5 V_BUS voltage 8Volts 450V 6 Reserved 7 Reserved Please note For the setting of analog output voltage propor...

Page 159: ...ttings A Analog monitor outputs polarity 0 MON1 MON2 1 MON1 MON2 2 MON1 MON2 3 MON1 MON2 B Position pulse outputs polarity 0 Forward output 1 Reverse output P1 04 MON1 Analog Monitor Output Proportion 1 MON1 Address 0108H 0109H Operation Interface Keypad Software Communication Related Section Section 6 4 4 Default 100 Control Mode ALL Unit full scale Range 0 100 Data Size 16 bit Display Format Dec...

Page 160: ...eration Interface Keypad Software Communication Related Section Section 6 4 4 Default 100 Control Mode ALL Unit full scale Range 0 100 Data Size 16 bit Display Format Decimal Settings Please note For the setting of analog output voltage proportion refer to the P1 03 Example P0 03 01 MON1 is motor speed analog output MON2 is motor torque analog output MON1 output voltage 8 Motor speed unit Volts Ma...

Page 161: ...voltage signal of channel 1 if the monitor output setting range is 8V per 325Kpps then it is needed to change the setting value of parameter P1 04 Analog Monitor Output Proportion 1 to 50 325Kpps Max input frequency Other related parameters setting include parameter P0 03 A 3 and P1 03 A 0 3 output polarity setting In general when output voltage value of Ch1 is V1 the pulse command frequency is eq...

Page 162: ...on to reduce the large energy generated from servo motor Using electromagnetic brake can avoid the load may slip since there is no motor holding torque when power is off Without using electromagnetic brake may reduce the life of servo motor To avoid malfunction the electromagnetic brake should be activated after servo system is off Servo Off If the users desire to control electromagnetic brake via...

Page 163: ...ic brake is locked if the delay time set by P1 43 is not reached and the motor speed is still lower than the setting value of P1 38 Electromagnetic Brake Wiring Diagram NOTE 1 Please refer to Chapter 3 Connections and Wiring for more wiring information 2 The BRKR signal is used to control the brake operation The VDD DC24V power supply of the servo drive can be used to power the relay coil Relay Wh...

Page 164: ... S T Main Circuit Power BUS Voltage READY SERVO READY SERVO ON DI Input SERVO ON DO Output Position Speed Torque Command Input 1 sec 0msec 800ms 2 sec 1 msec min P2 09 Response Filter Time of Digital Input Input available VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 165: ...B2 6 50 Revision September 2013 This page is intentionally left blank VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 166: ...gnal S Speed control mode T Torque control mode Explanation of symbols marked after parameter Read only register such as P0 00 P0 01 P4 00 Parameter cannot be set when Servo On when the servo drive is enabled such as P1 00 P1 46 and P2 33 Parameter is effective only after the servo drive is restarted after switching power off and on such as P1 01 and P3 00 Parameter setting values are not retained...

Page 167: ...1A Status Monitor Selection 1 0 N A P0 18 CM2A Status Monitor Selection 2 0 N A P0 19 CM3A Status Monitor Selection 3 0 N A P0 20 CM4A Status Monitor Selection 4 0 N A P0 21 CM5A Status Monitor Selection 5 0 N A P0 46 SVSTS Servo Output Status Display 0 N A O O O P1 04 MON1 Analog Monitor Output Proportion 1 MON1 100 full scale O O O 6 4 4 P1 05 MON2 Analog Monitor Output Proportion 2 MON2 100 ful...

Page 168: ... Resonance Suppression 0 dB O O O 6 3 7 P2 43 NCF2 Notch Filter 2 Resonance Suppression 1000 Hz O O O 6 3 7 P2 44 DPH2 Notch Filter Attenuation Rate 2 Resonance Suppression 0 dB O O O 6 3 7 P2 45 NCF3 Notch Filter 3 Resonance Suppression 1000 Hz O O O 6 3 7 P2 46 DPH3 Notch Filter Attenuation Rate 3 Resonance Suppression 0 dB O O O 6 3 7 P2 47 ANCF Auto Resonance Suppression Mode Selection 1 N A O...

Page 169: ...Switching Time Constant 10 10ms O O O P2 29 GPE Gain Switching Condition 1280000 pulse Kpps r min O O O P2 31 AUT1 Speed Frequency Response Level in Auto and Semi Auto Mode 80 Hz O O O 5 6 6 3 6 P2 32 AUT2 Tuning Mode Selection 0 N A O O O 5 6 6 3 6 Explanation of symbols marked after parameter Read only register Parameter cannot be set when Servo On when the servo drive is enabled Parameter is ef...

Page 170: ... 4th Numerator N4 1 pulse O Explanation of symbols marked after parameter Read only register Parameter cannot be set when Servo On when the servo drive is enabled Parameter is effective only after the servo drive is restarted after switching power off and on Parameter setting values are not retained when power is off Speed Control Parameter Name Function Default Unit Control Mode Related Section P...

Page 171: ...se r min N M O O O 6 1 P1 02 PSTL Speed and Torque Limit 0 N A O O O 6 6 P1 46 GR3 Encoder Output Pulse Number 1 pulse O O O P1 55 MSPD Maximum Speed Limit rated r min O O O P1 09 P1 11 SP1 3 1st 3rd Speed Limit 1000 3000 r min O O 6 6 1 P1 12 P1 14 TQ1 3 1st 3rd Torque Command 100 O O O 6 4 1 P1 40 VCM Max Analog Speed Command or Limit rated r min O O P1 41 TCM Max Analog Torque Command or LImit ...

Page 172: ...Output Terminal 3 DO3 109 N A O O O Table 7 B P2 21 DO4 Digital Output Terminal 4 DO4 105 N A O O O Table 7 B P2 22 DO5 Digital Output Terminal 5 DO5 7 N A O O O Table 7 B P2 37 DO6 Digital Output Terminal 6 DO6 7 N A O O O Table 7 B P1 38 ZSPD Zero Speed Range Setting 100 0 1 r min O O O Table 7 B P1 39 SSPD Target Motor Speed 3000 r min O O O Table 7 B P1 42 MBT1 On Delay Time of Electromagnetic...

Page 173: ...r cannot be set when Servo On when the servo drive is enabled Parameter is effective only after the servo drive is restarted after switching power off and on Parameter setting values are not retained when power is off Diagnosis Parameter Name Function Default Unit Control Mode Related Section PT S T P4 00 ASH1 Fault Record N 0 N A O O O 4 4 1 P4 01 ASH2 Fault Record N 1 0 N A O O O 4 4 1 P4 02 ASH...

Page 174: ...ase Factory Setting N A O O O P4 18 COF4 Current Detector Drift Adjustment W2 phase Factory Setting N A O O O P4 19 TIGB IGBT NTC Calibration Factory Setting N A O O O P4 20 DOF1 Analog Monitor Output Drift Adjustment MON1 0 mV O O O 6 4 4 P4 21 DOF2 Analog Monitor Output Drift Adjustment MON2 0 mV O O O 6 4 4 P4 22 SAO Analog Speed Input Offset 0 mV O P4 23 TAO Analog Torque Input Offset 0 mV O E...

Page 175: ...RST DI signal Data Size 16 bit Display Format BCD Settings This parameter shows the current servo drive fault if the servo drive is currently faulted The fault code is hexadecimal data but displayed in BCD format Binary coded decimal Servo Drive Fault Codes 001 Overcurrent 002 Overvoltage 003 Undervoltage This fault code shows when main circuit voltage is below its minimum specified value while Se...

Page 176: ... overload warning 024 Encoder initial magnetic field error 025 Encoder internal error 026 Encoder data error 027 Motor internal error 028 Motor internal error 029 Motor internal error 030 Motor protection error 030 Motor protection error 031 U V W GND wiring error 035 Motor temperature error 048 Excessive encoder output error 067 Motor temperature warning 099 DSP firmware upgrade P0 02 STS Drive S...

Page 177: ...command Kpps 07 Motor rotation speed r min 08 Speed input command Volt 09 Speed input command r min 10 Torque input command Volt 11 Torque input command 12 Average load 13 Peak load 14 Main circuit voltage Volt 15 Ratio of load inertia to Motor inertia 0 1times 16 IGBT temperature 17 Resonance frequency Hz 18 Absolute pulse number relative to encoder use Z phase as home The value of Z phase home p...

Page 178: ...mand 8Volts maximum torque command 5 V_BUS voltage 8Volts 450V 6 Reserved 7 Reserved Please note For the setting of analog output voltage proportion refer to the P1 04 and P1 05 Example P0 03 01 MON1 is motor speed analog output MON2 is motor torque analog output MON1 output voltage 8 Motor speed unit Volts Max motor speed P1 04 100 Communication error Communication quality Continuous communicatio...

Page 179: ...ttings High Word Servo enable time Low Word Servo power on time P0 09 CM1 Status Monitor 1 Address 0012H 0013H Operation Interface Keypad Software Communication Related Section Section 4 3 5 Default Control Mode ALL Unit Range Data Size 32 bit Display Format Decimal Settings This parameter is used to provide the value of one of the status monitoring functions found in P0 02 The value of P0 09 is d...

Page 180: ...unctions found in P0 02 The value of P0 10 is determined by P0 18 desired drive status through communication setting or the keypad The drive status can be read from the communication address of this parameter via communication port When reading the drive status through the keypad if P0 02 is set to 24 VAR 2 will quickly show for about two seconds and then the value of P0 10 will display on the dis...

Page 181: ...arameter via communication port When reading the drive status through the keypad if P0 02 is set to 26 VAR 4 will quickly show for about two seconds and then the value of P0 12 will display on the display P0 13 CM5 Status Monitor 5 Address 001AH 001BH Operation Interface Keypad Software Communication Related Section Section 4 3 5 Default Control Mode ALL Unit Range Data Size 32 bit Display Format ...

Page 182: ...will return the motor rotation speed in r min P0 18 CM2A Status Monitor Selection 2 Address 0024H 0025H Operation Interface Keypad Software Communication Related Section N A Default 0 Control Mode Unit Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the drive status found in P0 02 P0 19 CM3A Status Monitor Selection 3 Address 0026H 0027H Operation In...

Page 183: ... Operation Interface Keypad Software Communication Related Section N A Default 0 Control Mode Unit Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the drive status found in P0 02 P0 21 CM5A Status Monitor Selection 5 Address 002AH 002BH Operation Interface Keypad Software Communication Related Section N A Default 0 Control Mode Unit Range 0 18 Data S...

Page 184: ... be set through communication setting only P0 45 PCMNA Status Monitor Register Selection PC Software Setting Address 005AH 005BH Operation Interface Keypad Software Communication Related Section Section 4 3 5 Default 0x0 Control Mode ALL Unit Range 0 127 Data Size 16 bit Display Format Decimal Settings The function of this parameter is the same as P0 17 Please refer to P0 17 Please note that this ...

Page 185: ...arm activated Bit7 BRKR Electromagnetic brake control Bit9 OLW Output overload warning Bit10 WARN Servo warning activated WARN is activated when the drive has detected reverse limit error forward limit error emergency stop serial communication error and undervoltage these fault conditions Bit11 Reserved Bit12 Reserved Bit13 Reserved Bit14 Reserved Bit15 Reserved The servo output status display can...

Page 186: ...sed to suppress or reduce the chatter caused by the noise etc However if the instant input pulse filter frequency is over high the frequency that exceeds the setting value will be regarded as noise and filtered Setting Value Low speed Filter Frequency Min Filter Frequency see note 1 Setting Value High speed Filter Frequency Min Filter Frequency see note 1 0 0 83Mpps 600ns 0 3 33Mpps 150ns 1 208Kpp...

Page 187: ...Please note that this function is available for DSP version V1 005 sub10 or above Note If the signal is a 4Mpps high input pulse setting the value B to 4 is able to ensure that the signal will not be filtered and will be certainly delivered VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos A...

Page 188: ...ncy Min time width T1 T2 T3 T4 T5 T6 High speed pulse Line driver 4Mpps 62 5ns 125ns 250ns 200ns 125ns 125ns Low speed pulse Line driver 500Kpps 0 5μs 1μs 2μs 2μs 1μs 1μs Open collector 200Kpps 1 25μs 2 5μs 5μs 5μs 2 5μs 2 5μs Pulse specification Max input pulse frequency Voltage specification Forward specification High speed pulse Line driver 4Mpps 5V 25mA Low speed pulse Line driver 500Kpps 2 8V...

Page 189: ...s 0102H 0103H Operation Interface Keypad Software Communication Related Section Section 6 1 Table 7 A Default 0 Control Mode ALL Unit pulse P mode r min S mode N m T mode Range 00 110 Data Size 16 bit Display Format Hexadecimal Settings A Control mode settings Mode PT S T Sz Tz Single Mode 00 01 Reserved 02 03 04 05 Multiple Mode 06 07 08 Reserved 09 Reserved 0A VARITEL INGENIERIA ELECTRONICA S A ...

Page 190: ...internal torque commandMultiple Mode Control of the mode selection is via DI signals For example either PT or S control mode can be selected via DI signals S P see Table 7 A B Torque output direction settings Direction 0 1 Forward Reverse P1 02 PSTL Speed and Torque Limit Address 0104H 0105H Operation Interface Keypad Software Communication Related Section Section 6 6 Table 7 A Default 0 Control M...

Page 191: ... speed mode Other Reserved P1 12 1 P1 13 2 P1 14 3 Tref TCM0 TCM1 0 Torque Limit Command Users could use torque limit function via parameter setting or DI triggering That is to say set P1 02 to 0x0010 or trigger DI will do Also users could enable or disable the limit function via DI TRQLM which is a more flexible way but would need to take one DI setting Torque limit can be enabled by P1 02 or DI ...

Page 192: ...e For the setting of analog output voltage proportion refer to the P1 03 Example P0 03 01 MON1 is motor speed analog output MON2 is motor torque analog output MON1 output voltage 8 Motor speed unit Volts Max motor speed P1 04 100 MON2 output voltage 8 Motor toque unit Volts Max motor torque P1 05 100 P1 05 MON2 Analog Monitor Output Proportion 2 MON2 Address 010AH 010BH Operation Interface Keypad ...

Page 193: ...ow pass Filter Address 010CH 010DH Operation Interface Keypad Software Communication Related Section Section 6 3 3 Default 0 Control Mode S Unit ms Range 0 1000 0 Disabled Data Size 16 bit Display Format Decimal Settings 0 Disabled P1 07 TFLT Smooth Constant of Analog Torque Command Low pass Filter Address 010EH 010FH Operation Interface Keypad Software Communication Related Section Section 6 4 3 ...

Page 194: ...T Unit 0 1r min Range 50000 50000 Data Size 32 bit Display Format Decimal Settings For example 120 12 r min 1st Speed Command In Speed mode this parameter is used to set speed 1 of internal speed command 1st Speed Limit In Torque mode this parameter is used to set speed limit 1 of internal speed command P1 10 SP2 2nd Speed Command or Limit Address 0114H 0115H Operation Interface Keypad Software Co...

Page 195: ... this parameter is used to set speed 3 of internal speed command 3rd Speed Limit In Torque mode this parameter is used to set speed limit 3 of internal speed command P1 12 TQ1 1st Torque Command or Limit Address 0118H 0119H Operation Interface Keypad Software Communication Related Section Section 6 4 1 Default 100 Control Mode T P S Unit Range 300 300 Data Size 16 bit Display Format Decimal Settin...

Page 196: ... 011CH 011DH Operation Interface Keypad Software Communication Related Section Section 6 4 1 Default 100 Control Mode T P S Unit Range 300 300 Data Size 16 bit Display Format Decimal Settings 3rd Speed Command In Torque mode this parameter is used to set torque 3 of internal torque command 3rd Speed Limit In Position and Speed mode this parameter is used to set torque limit 3 of internal torque co...

Page 197: ...st low frequency filter P1 26 VSG1 Low frequency Vibration Suppression Gain 1 Address 0134H 0135H Operation Interface Keypad Software Communication Related Section Section 6 2 9 Default 0 Control Mode PT Unit Range 0 9 0 Disable the first low frequency filter Data Size 16bit Display Format DEC Settings The first low frequency vibration suppression gain The bigger value it is the better the positio...

Page 198: ...ency filter Data Size 16bit Display Format DEC Settings The second low frequency vibration suppression gain The bigger value it is the better the position response will be However if the value is set too big the motor will not be able to smoothly operate It is suggested to set the value to 1 P1 31 Reserved Do Not Use Address 013EH 013FH P1 32 LSTP Motor Stop Mode Selection Address 0140H 0141H Oper...

Page 199: ...eleration time is set to 1ms the motor will stop instantly P1 33 Reserved Do Not Use Address 0142H 0143H P1 34 TACC Acceleration Time Address 0144H 0145H Operation Interface Keypad Software Communication Related Section Section 6 3 3 Default 200 Control Mode S Unit ms Range 1 20000 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the acceleration time to acceler...

Page 200: ...to 0 the acceleration and deceleration function will be disabled P1 36 TSL Accel Decel S curve Address 0148H 0149H Operation Interface Keypad Software Communication Related Section Section 6 3 3 Default 0 Control Mode S Unit ms Range 0 10000 0 Disabled Data Size 16 bit Display Format Decimal Settings This parameter is used to make the motor run more smoothly when startup and windup Using this para...

Page 201: ...Ratio of load inertia to servo motor inertia for Rotation Motor J_load J_motor J_load Total equivalent moment of inertia of external mechanical load J_motor Moment of inertia of servo motor P1 38 ZSPD Zero Speed Range Setting Address 014CH 014DH Operation Interface Keypad Software Communication Related Section Table 7 B Default 10 0 100 Control Mode ALL Unit 1 r min 0 1 r min Range 0 0 200 0 0 200...

Page 202: ...l the motor speed drops below the Target Motor Speed P1 40 VCM Max Analog Speed Command or Limit Address 0150H 0151H Operation Interface Keypad Software Communication Related Section Section 6 3 4 Default rated speed Control Mode S T Unit r min Range 0 10000 Data Size 16 bit Display Format Decimal Settings In Speed mode this parameter is used to set the maximum analog speed command based on the ma...

Page 203: ...tage is changed to 5V then the torque command is changed to 50 rated torque Torque Command Limit Input Voltage Value x Setting value of P1 41 10 P1 42 MBT1 On Delay Time of Electromagnetic Brake Address 0154H 0155H Operation Interface Keypad Software Communication Related Section Section 6 5 5 Default 0 Control Mode ALL Unit ms Range 0 1000 Data Size 16 bit Display Format Decimal Settings Used to ...

Page 204: ...xcept AL022 or by EMGS Emergency stop being activated if the off delay time set by P1 43 is a negative value it will not affect the operation of the motor A negative value of the off delay time is equivalent to one with a zero value P1 44 GR1 Electronic Gear Ratio 1st Numerator N1 Address 0158H 0159H Operation Interface Keypad Software Communication Related Section Section 6 2 3 Default 16 Control...

Page 205: ...The electronic gear ratio setting range must be within 1 50 N M 25600 Please note 1 In PT mode the setting value of P1 45 can not be changed when the servo drive is enabled Servo On P1 46 GR3 Encoder Output Pulse Number Address 015CH 015DH Operation Interface Keypad Software Communication Related Section N A Default 2500 Control Mode ALL Unit pulse Range 4 40000 Data Size 32 bit Display Format Dec...

Page 206: ...is the speed command input by the users no Accel Decel not the frond end command of speed control loop The source of this command includes analog voltage and registers 2 Feedback Speed It is the actual motor speed which is filtered 3 Get Absolute Value 4 Judge if the speed error is equal and below the setting value of P1 47 When P1 47 is set to 0 this digital output will be always off 5 ON or OFF ...

Page 207: ...licable regenerative resistor Model Default For 750W models 100Ω For 1kW to 3kW models 40Ω P1 53 RES2 Regenerative Resistor Capacity Address 016AH 016BH Operation Interface Keypad Software Communication Related Section Section 6 6 3 Default See the table below Control Mode ALL Unit Watt Range 30 3000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the capacity of the...

Page 208: ...bit Display Format Decimal Settings This parameter is used to set maximum motor speed The default setting is rated speed P1 56 OVW Output Overload Warning Time Address 0170H 0171H Operation Interface Keypad Software Communication Related Section N A Default 120 Control Mode ALL Unit Range 0 120 Data Size 16 bit Display Format Decimal Settings This parameter is used to set output overload time If t...

Page 209: ... i e DO signal OLW will be activated If the drive is continuously overloaded for 8 seconds the overload alarm will be detected and shown on the LED display AL006 Then Servo Fault signal will be ON DO signal ALRM will be activated P1 57 CRSHA Motor Protection Percentage Address 0172H 0173H Operation Interface Keypad Software Communication Related Section N A Default 0 Control Mode ALL Unit Range 0 ...

Page 210: ... ms 15 1 5 ms Settings This parameter is used to eliminate the noise generated during the operation when the host external controller sends the step analog voltage speed command The parameter P1 06 is Low pass Filter and parameter P1 59 is Moving Filter The differences are that Low pass Filter is usually used to smooth the end of the command but Moving Filter can be used to smooth the start and th...

Page 211: ... P1 62 is enabled when the setting value of P1 62 is set to 1 or more P1 63 FRCT Friction Compensation Percentage Address 017EH 017FH Operation Interface Keypad Software Communication Related Section N A Default 0 Control Mode PT S Unit ms Range 0 1000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the smooth constant of friction compensation P1 64 Reserved Do Not U...

Page 212: ... Filter can facilitate the smooth operation of the motor very effectively but it will cause command delay P1 69 Reserved Do Not Use Address 018AH 018BH P1 70 Reserved Do Not Use Address 018CH 018DH P1 71 Reserved Do Not Use Address 018EH 018FH P1 72 Reserved Do Not Use Address 0190H 0191H P1 73 Reserved Do Not Use Address 0192H 0193H P1 74 Reserved Do Not Use Address 0194H 0195H P1 75 Reserved Do ...

Page 213: ...ally When P1 76 is set to 0 it indicates that equalizing function is not available P1 77 PFLT3 Position Command Moving Filter 2 Address 019AH 019BH Operation Interface Keypad Software Communication Related Section N A Default 4 Control Mode PT Unit ms Range 0 100 0 Disabled Data Size 16 bit Display Format Decimal Settings Moving Filter can be used to smooth the start and the end of step position c...

Page 214: ...mmunication Related Section Section 6 2 5 Default 100 Control Mode PT Unit Range 10 500 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the position gain switching rate when the gain switching condition is satisfied Please refer to P2 27 for gain switching control selection settings and refer to P2 29 for gain switching condition settings P2 02 PFG Position Feed Forw...

Page 215: ...tion of mechanical system P2 04 KVP Proportional Speed Loop Gain Address 0208H 0209H Operation Interface Keypad Software Communication Related Section Section 6 3 6 Default 500 Control Mode ALL Unit rad s Range 0 8191 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the speed loop gain When the value of proportional speed loop gain is increased it can expedite speed l...

Page 216: ...se the speed control deviation However if the setting value is over high it may generate vibration or noise P2 07 KVF Speed Feed Forward Gain Address 020EH 020FH Operation Interface Keypad Software Communication Related Section Section 6 3 6 Default 0 Control Mode ALL Unit Range 0 100 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the feed forward gain when executin...

Page 217: ...s 1 After enter the 5 digital numbers please enter the same password again And the setting shall be finished 2 When turning on the power again the proctective password will be activated Parameter setting after setting up the password When entering the correct password the parameter can be set Clear the password After entering the correct password please enter 0 twice continuously P2 09 DRT Bounce ...

Page 218: ...lue of P2 10 P2 17 and P2 36 please refer to Table 7 A B DI Digital Input Enabled Status Settings 0 Normally closed contact b 1 Normally open contact a For example when P2 10 is set to 101 it indicates that the function of DI1 is SON Servo On setting value is 0x01 and it requires a normally open contact to be connected to it Please re start the servo drive after parameters have been changed Please...

Page 219: ...ddress 021AH 021BH Operation Interface Keypad Software Communication Related Section Table 7 A Default 117 Control Mode ALL Unit N A Range 0 015Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 14 DI5 Digital Input Terminal 5 DI5 Address 021CH 021DH Operation Interface Keypad Software Communication Related Section Table 7 A Default 102 Control Mode ALL Unit ...

Page 220: ...e 0 015Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 17 DI8 Digital Input Terminal 8 DI8 Address 0222H 0223H Operation Interface Keypad Software Communication Related Section Table 7 A Default 21 Control Mode ALL Unit N A Range 0 015Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 18 DO1 Digital Output Terminal 1 ...

Page 221: ...act to be connected to it Please re start the servo drive after parameters have been changed P2 19 DO2 Digital Output Terminal 2 DO2 Address 0226H 0227H Operation Interface Keypad Software Communication Related Section Table 7 B Default 103 Control Mode ALL Unit N A Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 18 for explanation P2 20 DO3 Digital Output Terminal 3...

Page 222: ...for explanation P2 23 NCF1 Notch Filter 1 Resonance Suppression Address 022EH 022FH Operation Interface Keypad Software Communication Related Section Section 6 2 5 Default 1000 Control Mode ALL Unit Hz Range 50 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set first resonance frequency of mechanical system It can be used to suppress the resonance of mechanical sys...

Page 223: ... Constant Resonance Suppression Address 0232H 0233H Operation Interface Keypad Software Communication Related Section Section 6 3 7 Default 0 2 1kW and below models or 0 5 other models 2 1kW and below models or 5 other models Control Mode ALL Unit 1ms 0 1ms Range 0 0 100 0 0 1000 Data Size 16 bit Display Format One digit Decimal Input Value Example 1 5 1 5 ms 15 1 5 ms Settings This parameter is u...

Page 224: ...mat Hexadecimal Settings Gain Switching Condition Settings A Gain Switching Condition Settings 0 Disabled 1 Gain switching DI Digital Input signal GAINUP is On see Table 8 A 2 In position mode position deviation is higher than the setting value of P2 29 3 Position command frequency is higher than the setting value of P2 29 4 Servo motor speed is higher than the setting value of P2 29 5 Gain switch...

Page 225: ... Input Value Example 15 150 ms Settings This parameter is used to set the time constant when switching the smooth gain P2 29 GPE Gain Switching Condition Address 023AH 023BH Operation Interface Keypad Software Communication Related Section N A Default 160000 Control Mode ALL Unit pulse Kpps r min Range 0 3840000 Data Size 32 bit Display Format Decimal Settings This parameter is used to set the val...

Page 226: ...Please set P2 30 to 0 during normal operation 2 The setting value of P2 30 will return to 0 automatically after re power the servo drive P2 31 AUT1 Speed Frequency Response Level in Auto and Semi Auto Mode Address 023EH 023FH Operation Interface Keypad Software Communication Related Section Section 5 6 Section 6 3 6 Default 80 Control Mode ALL Unit Hz Range 1 1000 Data Size 16 bit Display Format H...

Page 227: ...d in P1 37 every 30 minutes by referring to the frequency response settings of P2 31 1 When switching mode 1 or 2 to 0 the servo drive will continuously estimate the system inertia save the measured load inertia value automatically and memorized in P1 37 Then set the corresponding parameters according to this measured load inertia value 2 When switching mode 0 or 1 to 2 enter the appropriate load ...

Page 228: ...he measured load inertia is memorized in P1 37 If P2 33 is reset to 0 the servo drive will perform continuous adjustment for estimating the load inertia P1 37 again B Reserved P2 34 SDEV Overspeed Warning Condition Address 0244H 0245H Operation Interface Keypad Software Communication Related Section N A Default 5000 Control Mode S Unit r min Range 1 6000 Data Size 16 bit Display Format Decimal Dis...

Page 229: ...5 the servo fault Excessive Deviation AL009 will be activated P2 36 DI9 External Digital Input Terminal 9 DI9 Address 0248H 0249H Operation Interface Keypad Software Communication Related Section Table 7 A Default 0 Control Mode ALL Unit N A Range 0 015Fh Data Size 16 bit Display Format Hexadecimal Settings The parameters from P2 36 to P2 41 are used to determine the functions and statuses of exte...

Page 230: ...Resonance Suppression Address 0256H 0257H Operation Interface Keypad Software Communication Related Section Section 6 3 7 Default 1000 Control Mode ALL Unit Hz Range 50 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set second resonance frequency of mechanical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanica...

Page 231: ...ommunication Related Section Section 6 3 7 Default 1000 Control Mode ALL Unit Hz Range 50 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set third resonance frequency of mechanical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 45 is set to 0 this parameter is disabled P2 46 DPH3 Notch Filter...

Page 232: ...uously will not stop The setting value of P2 23 P2 24 P2 43 P2 44 P2 45 and P2 46 will not be fixed When P2 47 is set to 1 the resonance suppression will be enabled automatically After the mechanical system becomes stable the setting value of P2 47 will return to 0 When the mechanical system is stable the resonance suppression point will be memorized When the mechanical system is not stable if the...

Page 233: ...tecting resonance The setting value of P2 48 the sensitivity of detecting resonance P2 49 SJIT Speed Detection Filter and Jitter Suppression Address 0262H 0263H Operation Interface Keypad Software Communication Related Section Section 6 2 5 Default 0 Control Mode ALL Unit sec Range 0 1F Data Size 16 bit Display Format Decimal Settings Setting Value of P2 49 Cutoff Frequency of Speed Loop Feedback ...

Page 234: ... Unit N A Range 0 11 Data Size 16 bit Display Format Hexadecimal Settings Not used Triggering Method Function Selection For digital input function DI function please refer to Table 7 A This pulse deviation clear function is enabled when a digital input is set to pulse clear function CCLR mode DI Digital Input setting value is 0x04 When this input is triggered the position accumulated pulse number ...

Page 235: ...tion 6 3 6 Default 0 Control Mode ALL Unit rad s Range 0 1023 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the integral time of position loop When the value of position integral compensation is increased it can decrease the position control deviation However if the setting value is over high it may generate position overshoot or noise P2 54 Reserved Do Not Use Add...

Page 236: ...ator value is set by P1 44 When the users wish to set the gear numerator value by using GNUM0 GNUM1 please set P2 60 P2 62 after the servo motor has been stopped to prevent the mechanical system vibration P2 61 GR5 Electronic Gear Ratio 3rd Numerator N3 Address 027AH 027BH Operation Interface Keypad Software Communication Related Section N A Default 16 Control Mode PT Unit pulse Range 1 226 1 Data...

Page 237: ...ration Interface Keypad Software Communication Related Section N A Default 0 Control Mode PT S Unit N A Range 0 0xFFFF Data Size N A Display Format N A Settings Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit5 Bit4 Bit3 Bit2 Bit2 Bit5 Reserved Must be set to 0 Bit6 Bit6 Abnormal pulse command detection 0 enable abnormal pulse command detection 1 disable ab...

Page 238: ...are satisfied 0 When the command source is an internal speed command the users can use ZCLAMP DI signal to stop the motor at the desire position and keep the the acceleration and deceleration speed curve of the internal speed command The motor will be locked at the position when ZCLAMP conditions are satisfied 1 When the command source is an analog speed command the users can use ZCLAMP DI signal ...

Page 239: ...er NL or PL exists or not external position pulse command will be input into the servo drive 1 Enable NL CWL PL CCWL pulse input inhibit function In PT mode if NL exists the external NL pulse input into the servo drive will be inhibited and PL pulse input will be accepted On the one hand in PT mode if PL exists the external PL pulse input into the servo drive will be inhibited and PL pulse input w...

Page 240: ... TQP or TQN is used the torque command is activated by TQP or TQN When TQP is ON the torque will be output directly as the same as the command souce For example when TQP is ON if the torque command source is an input voltage of 5V and P1 41 is set to 100 it indicates that the torque command is 50 rated torque until the speed is limited However whenTQN is ON if the torque command source is an input...

Page 241: ...and torque command TQP TQN Bit1 Bit1 Reserved Must be set to 0 Bit2 Bit2 Undervoltage Servo Drive Fault AL003 clear mode selection 0 The fault Undervoltage will not be cleared automatically 1 The fault Undervoltage will be cleared automatically Bit6 Bit5 Bit4 Bit3 Bit3 Bit6 Reserved Must be set to 0 Bit7 Bit7 Motor temperature warning Servo Drive Fault AL067 display mode selection 0 The fault Unde...

Page 242: ...0 2000 Data Size 16 bit Display Format One digit Decimal Input Value Example 1 5 1 5 times 15 1 5 times Settings In semi auto tuning mode after the servo drive continuously perform the adjustment for a period of time which is determined by P2 67 the system will consider that the system inertia has become stable and finish the operation of system inertia estimation VARITEL INGENIERIA ELECTRONICA S ...

Page 243: ...ve or device must be uniquely identified One servo drive only can set one address If the address is duplicated there will be a communication fault This address is an absolute address which represents the servo drive on a RS 232 485 network Please note 1 When the address of host external controller is set to 0xFF it is with auto respond function Then the servo drive will receive from and respond to...

Page 244: ...fault 0x0066 Control Mode ALL Unit N A Range 0x0000 0x0088 Data Size 16 bit Display Format Hexadecimal Settings This parameter is used to set the communication protocol The alphanumeric characters represent the following 7 or 8 is the number of data bits N E or O refers to the parity bit Non Even or Odd the 1 or 2 is the numbers of stop bits 0 Z Y X COM Port RS 485 RS 232 Range 0 0 0 8 0 8 0 Modbu...

Page 245: ...ommunication Related Section Section 8 2 Default 0 Control Mode ALL Unit sec Range 0 20 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the maximum permissible time before detecting a fault due to communication time out When P3 04 is set to a value over than 0 it indicates this parameter is enabled However if not communicating with the servo in this period of time th...

Page 246: ...t7 shows DI8 status Bit settings 0 Digital input is controlled by external command via CN1 1 Digital input is controlled by parameter P4 07 For the settings of DI1 DI9 please refer to P2 10 P2 17 and P2 36 This parameter P3 06 also works in conjunction with the parameter P4 07 which has several functions Please see section 8 2 for details P3 07 CDT Communication Response Delay Time Address 030EH 0...

Page 247: ...software Word Low High Function Monitor mode Range 0 0 0 0 3 H Monitor mode the value must be within the range from 0 through 3 0 Disabled i e disable monitor function 1 Reserved 2 High speed monitor mode The sampling time is 2000 times per second and 4 channels can be monitored 3 High speed monitor mode The sampling time is 4000 times per second and 2 channels can be monitored P3 09 Reserved Do N...

Page 248: ...lated Section Section 4 4 1 Default 0 Control Mode ALL Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Settings This parameter is used to set the second most recent fault record Display of Low Word LXXXX It indicates the fault code i e alarm code Display of High Word hYYYY It indicates the CANopen error code P4 02 ASH3 Fault Record N 2 Address 0404H 0405H Operation Interface Keypad ...

Page 249: ...code P4 04 ASH5 Fault Record N 4 Address 0408H 0409H Operation Interface Keypad Software Communication Related Section Section 4 4 1 Default 0 Control Mode ALL Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Settings This parameter is used to set the fifth most recent fault record Display of Low Word LXXXX It indicates the fault code i e alarm code Display of High Word hYYYY It indi...

Page 250: ...G speed is the rated speed of the servo motor 2 DI Signal Control Set the value of DI signal as JOGU and JOGD refer to Table 7 A Users can perform JOG run forward and run reverse control 3 Communication Control To perform a JOG Operation via communication command use communication addresses 040AH and 040BH 1 Enter 1 5000 for the desired JOG speed 2 Enter 4998 to JOG in the P CCW direction 3 Enter ...

Page 251: ...rvo drive is controller through digital keypad or communication control the function of this parameter is the same For example External Control Display the final status of DI input signal When the read value of P4 07 is 0x0011 it indicates that DI1 and DI5 are ON Communication Control Internal DIs Read the status of input signal upon software For example When the write value of P4 07 is 0x0011 it ...

Page 252: ... There is no difference when reading DO output signal via the drive keypad or the communication P4 10 CEN Adjustment Function Address 0414H 0415H Operation Interface Keypad Software Communication Related Section N A Default 0 Control Mode ALL Unit N A Range 0 6 Data Size 16 bit Display Format Decimal Settings 0 Reserved 1 Execute analog speed input drift adjustment 2 Execute analog torque input dr...

Page 253: ...ecommend the users to change the default setting value of these parameters P4 11 P4 19 manually Please note that when P2 08 is set to 10 the users cannot reset this parameter P4 12 SOF2 Analog Speed Input Drift Adjustment 2 Address 0418H 0419H Operation Interface Keypad Software Communication Related Section N A Default Factory setting Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Displ...

Page 254: ...P4 15 COF1 Current Detector Drift Adjustment V1 phase Address 041EH 041FH Operation Interface Keypad Software Communication Related Section N A Default Factory setting Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter P4 16 COF2 Current Detector Drift...

Page 255: ...et this parameter P4 18 COF4 Current Detector Drift Adjustment W2 phase Address 0424H 0425H Operation Interface Keypad Software Communication Related Section N A Default Factory setting Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter P4 19 TIGB IGBT...

Page 256: ...set this parameter P4 21 DOF2 Analog Monitor Output Drift Adjustment MON2 Address 042AH 042BH Operation Interface Keypad Software Communication Related Section Section 6 4 4 Default 0 Control Mode ALL Unit mV Range 800 800 Data Size 16 bit Display Format Decimal Settings Please note that when P2 08 is set to 10 the users cannot reset this parameter P4 22 SAO Analog Speed Input Offset Address 042CH...

Page 257: ...ngs In speed mode the users can use this parameter to add an offset value to analog speed input P4 24 LVL Undervoltage Error Level Address 0430H 0431H Operation Interface Keypad Software Communication Related Section N A Default 160 Control Mode ALL Unit V rms Range 140 190 Data Size 16 bit Display Format Decimal Settings When DC Bus voltage is lower than the value of P4 24 x 2 the fault Undervolt...

Page 258: ...od Control Mode GAINUP Gain switching in speed and position mode When GAINUP is activated P2 27 is set to 1 the gain is switched to the gain multiplied by gain switching rate Level Triggered PT S Setting value 0x04 DI Name DI Function Description Trigger Method Control Mode CCLR When CCLR is activated the setting parameter P2 50 Pulse Clear Mode is executed 0 After CCLR is activated ON the positio...

Page 259: ...DI Function Description Trigger Method Control Mode TRQLM Torque limit enabled When the drive is in speed and position mode and TRQLM is activated it indicates the torque limit command is valid The torque limit command source is internal parameter or analog voltage Level Triggered PT S Setting value 0x10 DI Name DI Function Description Trigger Method Control Mode SPDLM Speed limit enabled When the...

Page 260: ...ame DI Function Description Trigger Method Control Mode TCM0 TCM1 Torque command selection 0 1 Command T1 T4 Command No DI signal of CN1 Command Source Content Range TCM1 TCM0 T1 OFF OFF Mode T Analog command Voltage between V REF and GND 10 V Tz None Torque command is 0 0 T2 OFF ON Internal parameter P1 12 300 300 T3 ON OFF P1 13 T4 ON ON P1 14 Level Triggered T Setting value 0x18 DI Name DI Func...

Page 261: ...gered All Setting value 0x22 DI Name DI Function Description Trigger Method Control Mode NL CWL Reverse inhibit limit It should be contact b and normally ON or a fault AL014 will display Level Triggered All Setting value 0x23 DI Name DI Function Description Trigger Method Control Mode PL CCWL Forward inhibit limit It should be contact b and normally ON or a fault AL015 will display Level Triggered...

Page 262: ... Method Control Mode JOGD Reverse JOG input When JOGD is activated the motor will JOG in reverse direction see P4 05 Level Triggered All Setting value 0x43 0x44 DI Name DI Function Description Trigger Method Control Mode GNUM0 GNUM1 Electronic gear ratio Numerator selection 0 1 see P2 60 P2 62 Level Triggered PT Setting value 0x45 DI Name DI Function Description Trigger Method Control Mode INHP Pu...

Page 263: ...me DI Function Description Trigger Method Control Mode TQN Torque command source Please refer to the settings of P2 66 Bit0 Level Triggered T NOTE 1 11 17 Single control mode 18 20 Dual control mode 2 When P2 10 to P2 17 and P2 36 is set to 0 it indicates input function is disabled VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Ba...

Page 264: ...rm exists Level Triggered All Setting value 0x03 DO Name DO Function Description Trigger Method Control Mode ZSPD ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1 38 For Example at factory default ZSPD will be activated when the drive detects the motor rotating at speed at or below 10 r min ZSPD will remain activated unt...

Page 265: ...evel Triggered All except T Tz Setting value 0x07 DO Name DO Function Description Trigger Method Control Mode ALRM ALRM is activated when the drive has detected a fault condition However when Reverse limit error Forward limit error Emergency stop Serial communication error and Undervoltage these fault occur WARN is activated first Level Triggered All Setting value 0x08 DO Name DO Function Descript...

Page 266: ...0 rated output the overload fault AL006 will be detected and shown on the LED display At this time tOL 8 x 60 4 8 seconds Result When the drive output is at 200 rated output and the drive is continuously overloaded for 4 8 seconds the overload warning signal will be ON DO code is 0x10 i e DO signal OLW will be activated If the drive is continuously overloaded for 8 seconds the overload alarm will ...

Page 267: ...mit SPL is activated when the servo drive has detected that forward software limit is reached Level Triggered All Setting value 0x19 DO Name DO Function Description Trigger Method Control Mode SP_OK Speed reached output SP_OK will be activated when the speed error is equal and below the setting value of P1 47 Level Triggered S Sz NOTE 1 When P2 18 to P2 22 and P2 37 is set to 0 it indicates output...

Page 268: ...nication The two communication modes can be used at a time Please refer to the following sections for connections and limitations RS 232 Connection NOTE 1 Recommended maximum cable length is 15m 50ft Please note RFI EME noise should be kept to a minimum communication cable should kept apart from high voltage wires If a VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4...

Page 269: ...is installed in a location where there are only a few interferences Please note RFI EME noise should be kept to a minimum communication cable should kept apart from high voltage wires If a transmission speed of 38400bps or greater is required the maximum length of the communication cable is 15m 50ft which will ensure the correct and desired baud rate 2 The number shown in the pervious figure indic...

Page 270: ...C voltage 4 Please use a REPEATER if more than 32 synchronous axes are required 5 For the terminal identification of CN3 please refer to Section 3 5 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 271: ...X Range 0 7 0 F X Axis number which indicates the value must be within the range from 0 through F Y Group number which indicates the value must be within the range from 0 to through 7 When using RS 232 485 communication this parameter is used set the communication address in hexadecimal format If the AC servo drive is controlled by RS 232 485 communication each drive or device must be uniquely ide...

Page 272: ...speed bits second 1 Baud rate 9600 data transmission speed bits second 2 Baud rate 19200 data transmission speed bits second 3 Baud rate 38400 data transmission speed bits second 4 Baud rate 57600 data transmission speed bits second 5 Baud rate 115200 data transmission speed bits second P3 02 PTL Communication Protocol Address 0304H 0305H Operation Interface Keypad Software Communication Related S...

Page 273: ...mode 8 N 2 4 Modbus ASCII mode 8 E 1 5 Modbus ASCII mode 8 O 1 6 Modbus RTU mode 8 N 2 7 Modbus RTU mode 8 E 1 8 Modbus RTU mode 8 O 1 P3 05 CMM Communication Selection Address 030AH 030BH Operation Interface Keypad Software Communication Related Section Section 8 2 Default 1 Control Mode ALL Unit N A Range 0x00 0x01 Data Size 16 bit Display Format Hexadecimal Settings RS 232 Communication interfa...

Page 274: ...haracters For example a 1 byte data 64 Hex shown as 64 in ASCII consists of 6 36Hex and 4 34Hex The following table shows the available hexadecimal characters and their corresponding ASCII codes Character 0 1 2 3 4 5 6 7 ASCII code 30H 31H 32H 33H 34H 35H 36H 37H Character 8 9 A B C D E F ASCII code 38H 39H 41H 42H 43H 44H 45H 46H RTU Mode Each 8 bit data is the combination of two 4 bit hexadecima...

Page 275: ...s of 2 ASCII codes DATA n 1 Contents of data n word n x 2 byte consists of n x 4 ASCII codes n 10 DATA 0 LRC LRC check sum 1 byte consists of 2 ASCII codes End 1 End code 1 0DH CR End 0 End code 0 0AH LF ASCII Mode character ADR Communication Address consists of 2 ASCII codes and it ends in CR Carriage Return and LF Line Feed CR Carriage Return is represented by ASCII number 13 and LF Line Feed is...

Page 276: ... the function code The available command codes and examples for AC servo drive are described as follows Example 1 Function code 03H read N words multiple words The maximum value of N is 10 For example reading continuous 2 words from starting address 0200H of AC servo drive with address 01H ASCII Mode Command message Response message Start Start Slave address 0 Slave address 0 1 1 Function 0 Functi...

Page 277: ...pper bytes Please note that a silent interval of more than 10ms is required before and after data transmission in RTU mode Example 2 Function code 06H write 1 word For example writing 100 0064H to starting data address 0200H of ASDA B2 series with address 01H ASCII Mode Command message Response message Start Start Slave address 0 Slave address 0 1 1 Function 0 Function 0 6 6 Starting data address ...

Page 278: ... before and after data transmission in RTU mode Example 3 Function code 10H write N words multiple words The maximum value of N is 10 For example writing continuous 2 words 0BB8H and 0000H from starting address 0112H and address 0113H ASCII Mode Command message Response message Start Start Slave Address 0 Slave Address 0 1 1 Function 1 Function 1 0 0 Starting data address 0 Starting data address 0...

Page 279: ... bytes B8H Lower bytes Content of 2nd data 00H Upper bytes 00H Lower bytes CRC Check Low FCH Lower bytes CRC Check High EBH Upper bytes Please note that a silent interval of more than 10ms is required before and after data transmission in RTU mode LRC ASCII Mode LRC Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADR to last data character then cal...

Page 280: ...will have been processed then perform step 5 Step 5 Repeat step 2 to step 4 for the next 8 bit byte of the command message Continue doing this until all bytes have been processed The final contents of the CRC register are the CRC value NOTE 1 When transmitting the CRC value in the message the upper and lower bytes of the CRC value must be swapped i e the lower order byte will be transmitted first ...

Page 281: ...unsigned char length The function returns the CRC value as a type of unsigned integer unsigned int crc_chk unsigned char data unsigned char length int j unsigned int reg_crc 0xFFFF while length reg_crc data for j 0 j 8 j if reg_crc 0x01 LSB bit 0 1 reg_crc reg_crc 1 0xA001 else reg_crc reg_crc 1 return reg_crc PC communication program example include stdio h include dos h include conio h include p...

Page 282: ...rupt as data in outportb PORT LCR inportb PORT LCR 0x80 the BRDL BRDH can be access as LCR b7 1 outportb PORT BRDL 12 outportb PORT BRDH 0x00 outportb PORT LCR 0x06 set prorocol 7 E 1 1AH 7 O 1 0AH 8 N 2 07H 8 E 1 1BH 8 O 1 0BH for I 0 I 16 I while inportb PORT LSR 0x20 wait until THR empty outportb PORT THR tdat I send data to THR I 0 while kbhit if inportb PORT LSR 0x01 b0 1 read data ready rdat...

Page 283: ... servo motor For the description refer to Chapter 7 4 P4 06 Force output contact control This parameter is for the users to test if DO Digit output is normal User can set 1 2 4 8 16 32 to test DO1 DO2 DO3 DO4 DO5 DO6 respectively After the test has been completed please set this parameter to 0 to inform the drive that the test has been completed 5 P4 10 Adjustment function selection If the user de...

Page 284: ...or ASDA B2 series are including Group 0 P0 00 P0 46 Group 1 P1 00 P1 76 Group 2 P2 00 P2 67 Group 3 P3 00 P3 11 Group 4 P4 00 P4 24 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 285: ... 8 18 Revision September 2013 This page is intentionally left blank VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 286: ...eration is in error Overload Servo motor and drive is overload Overspeed Motor s control speed exceeds the limit of normal speed Abnormal pulse control command Input frequency of pulse command exceeds the limit of its allowable setting value Excessive deviation Position control deviation value exceeds the limit of its allowable setting value Reserved Reserve Encoder error Pulse signal is in error ...

Page 287: ...he setting value of the encoder is in error Motor internal error The encoder U V W signals are in error Motor internal error The internal address of the encoder is in error Motor protection error In order to protect the motor this alarm will be activated when the setting value of P1 57 is reached after a period of time set by P1 58 U V W GND wiring error The wiring connections of U V W for servo m...

Page 288: ...ency is stable too much fluctuation 2 Activate filter function Overvoltage Potential Cause Checking Method Corrective Actions The main circuit voltage has exceeded its maximum allowable value Use voltmeter to check whether the input voltage falls within the rated input voltage Use correct power supply or stabilizing power Input power error Incorrect power input Use voltmeter to check whether the i...

Page 289: ...Overload Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load during continuous operation Check if the drive is overloaded Increase motor capacity or reduce load Control system parameter setting is incorrect Check if there is mechanical vibration Adjust gain value of control circuit Accel Decel time setting is too fast Decrease Accel Decel time setting The wirin...

Page 290: ... of encoder is in error 1 Check if all wiring is correct 2 Check if the users conduct the wiring by the wiring information in the user manual Ensure all wiring is correct Encoder is loose Examine the encoder connector Install the motor again The wiring of encoder is defective Check if all connections are tight Conduct the wiring again Encoder is damage Check the encoder for the damage Repair or re...

Page 291: ...eter data error when writing into EE PROM Examine the parameter settings Please do the following steps 1 Press SHIFT key on the drive keypad and examine the parameter shown on LED display 2 If E320A is displayed in hexadecimal format it indicates it is parameter P2 10 Please examine the parameter settings of P2 10 3 If E3610 is displayed in hexadecimal format it indicates it is parameter P6 16 Ple...

Page 292: ... 2 6 10 19 8 4 46 1 P 60 Speed Motor Correctly set P1 76 and P1 46 1 Ensure that the motor speed is below the value set by P1 76 2 6 10 19 8 4 46 1 P 60 Speed Motor Serial communication error Potential Cause Checking Method Corrective Actions Communication parameter setting is defective Check the communication parameter setting Correctly set parameter setting Communication address is incorrect Che...

Page 293: ...les connected to R S T and U V W terminals to prevent the interference 3 Check if the shielded cables are used when performing encoder wiring If the error does not clear after each checking is done please contact your distributor for assistance or contact with Delta Encoder internal error Potential Cause Checking Method Corrective Actions The internal memory of the encoder is in error An encoder c...

Page 294: ...bles connected to R S T and U V W terminals to prevent the interference 3 Check if the shielded cables are used when performing encoder wiring 1 Please connect the grounding green color of U V W terminal to the heat sink of the servo drive 2 Ensure that the encoder signal cables are placed in separate conduits from the cables connected to R S T and U V W terminals to prevent the interference 3 Ple...

Page 295: ...not clear after all the above actions are done please contact your distributor for assistance or contact with Delta Motor protection error Potential Cause Checking Method Corrective Actions The setting value of parameter P1 57 is reached after a period of time set by parameter P1 58 1 Check if P1 57 is enabled 2 Check if the setting values of P1 57 and P1 58 are both too small 1 Set P1 57 to 0 2 C...

Page 296: ...ccur P1 76 Motor rotation speed or 10 19 8 4 46 1 60 speed rotation Motor P Correctly set P1 76 and P1 46 P1 76 Motor rotation speed and 6 10 19 8 4 46 1 60 speed rotation Motor P Motor temperature warning Potential Cause Checking Method Corrective Actions Motor is working under temperature over 85 C 185 F Check if the environment temperature is too high Try to reduce environment temperature DSP f...

Page 297: ...the servo drive Reserved This fault message cannot be cleared Encoder error This fault message can be removed by restarting the servo drive Adjustment error This fault message can be removed after the wiring of CN1 connector I O signal connector is removed and auto adjustment function is executed Emergency stop activated This fault message can be removed automatically by turning off EMGS DI signal...

Page 298: ...a error This fault message can be removed by restarting the servo drive Motor internal error This fault message can be removed by restarting the servo drive Motor internal error This fault message can be removed by restarting the servo drive Motor internal error This fault message can be removed by restarting the servo drive Motor protection error Turn ARST DI signal ON to clear the fault U V W GN...

Page 299: ...14 Revision September 2013 This page is intentionally left blank VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 300: ...A phase B phase CCW pulse CW pulse Command Source External pulse train Smoothing Strategy Low pass filter Electronic Gear Electronic gear N M multiple N 1 226 1 M 1 231 1 1 50 N M 25600 Torque Limit Operation Set by parameters Feed Forward Compensation Set by parameters Speed Control Mode Analog Input Command Voltage Range 0 10 VDC Input Resistance 10K Time Constant 2 2 us Speed Control Range 1 1 ...

Page 301: ...ult activated Electromagnetic brake control Output overload warning Servo warning activated Protective Functions Overcurrent Overvoltage Undervoltage Motor overheated Overload Overspeed Excessive deviation Regeneration error Abnormal pulse control command Encoder error Adjustment error Emergency stop activated Reverse Forward limit switch error IGBT temperature error Serial communication error Inp...

Page 302: ... load rotation speed Rated rotation speed 3 TN system A power distribution system having one point directly earthed the exposed conductive parts of the installation being connected to that points by protective earth conductor 4 Please refer to Chart of load and operating time in section 10 4 Overload Characteristics VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243...

Page 303: ... 18 5 17 2 27 5 24 2 16 8 19 2 Armature resistance Ohm 9 30 2 79 1 55 0 93 0 42 1 34 0 897 0 20 0 13 Armature inductance mH 24 0 12 07 6 71 7 39 3 53 7 55 5 7 1 81 1 50 Electrical time constant ms 2 58 4 30 4 30 7 96 8 36 5 66 6 35 9 30 11 4 Insulation class Class A UL Class B CE Insulation resistance 100M DC 500V Insulation strength 1500V AC 60 seconds Weight kg without brake 0 5 1 2 1 6 2 1 3 0 ...

Page 304: ... temperature when attaching with the sizes of heatsinks listed below ECMA __04 06 08 250mm x 250mm x 6mm ECMA __10 300mm x 300mm x 12mm ECMA __13 400mm x 400mm x 20mm ECMA __18 550mm x 550mm x 30mm Material type Aluminum F40 F60 F80 F100 F130 F180 2 The holding brake is used to hold the motor shaft not for braking the rotation Never use it for decelerating or stopping the machine 3 For the specifi...

Page 305: ... Ohm 0 57 0 47 0 26 0 174 0 119 0 052 0 077 1 06 0 82 0 43 Armature inductance mH 7 39 5 99 4 01 2 76 2 84 1 38 1 27 14 29 11 12 6 97 Electrical time constant ms 12 96 12 88 15 31 15 86 23 87 26 39 16 51 13 55 13 55 16 06 Insulation class Class A UL Class B CE Insulation resistance 100M DC 500V Insulation strength AC 1500V 60 sec Weight kg without brake 6 8 7 0 7 5 7 8 13 5 18 5 18 5 6 8 7 0 7 5 W...

Page 306: ...nt temperature when attaching with the sizes of heatsinks listed below ECMA __04 06 08 250mm x 250mm x 6mm ECMA __10 300mm x 300mm x 12mm ECMA __13 400mm x 400mm x 20mm ECMA __18 550mm x 550mm x 30mm Material type Aluminum F40 F60 F80 F100 F130 F180 2 The holding brake is used to hold the motor shaft not for braking the rotation Never use it for decelerating or stopping the machine 3 For the speci...

Page 307: ... 8 Revision September 2013 10 3 Servo Motor Speed Torque Curves VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 308: ...torque 2 Motor had driven high inertia machine and had accelerated and decelerated at high frequency 3 Motor UVW cable or encoder cable was not connected correctly 4 Servo gain was not set properly and caused motor hunting 5 Motor holding brake was not released Chart of load and operating time Low Inertia Series ECMA C CM Series VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com T...

Page 309: ... Medium and Medium High Inertia Series ECMA E F Series High Inertia Series ECMA G GM Series VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 310: ...IGHT 1 07 2 36 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms kg and pounds lbs 2 Dimensions and weights of the servo drive may be revised without prior notice VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 311: ...ns are in millimeters inches Weights are in kilograms kg and pounds lbs 2 Dimensions and weights of the servo drive may be revised without prior notice VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 312: ...Dimensions are in millimeters inches Weights are in kilograms kg and pounds lbs 2 Dimensions and weights of the servo drive may be revised without prior notice VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 313: ...imensions are in millimeters inches Weights are in kilograms kg and pounds lbs 2 Dimensions and weights of the servo drive may be revised without prior notice VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 314: ...30 LS with oil seal 20 24 24 24 5 29 5 30 30 LR 25 30 30 30 35 35 35 LE 2 5 3 3 3 3 3 3 LG 5 7 5 7 5 8 8 8 8 LW 16 20 20 20 25 20 20 RH 6 2 11 11 11 15 5 13 13 WK 3 5 5 5 6 5 5 W 3 5 5 5 6 5 5 T 3 5 5 5 6 5 5 TP M3 Depth 8 M4 Depth 15 M4 Depth 15 M4 Depth 15 M6 Depth 20 M5 Depth 15 M5 Depth 15 NOTE 1 Dimensions are in millimeters 2 Dimensions and weights of the servo motor may be revised without p...

Page 315: ...L with brake 183 5 183 5 183 5 198 192 5 LS 47 47 47 47 37 LR 55 55 55 55 45 LE 6 6 6 6 5 LG 11 5 11 5 11 5 11 5 12 LW 36 36 36 36 32 RH 18 18 18 18 18 WK 8 8 8 8 8 W 8 8 8 8 8 T 7 7 7 7 7 TP M6 Depth 20 M6 Depth 20 M6 Depth 20 M6 Depth 20 M6 Depth 20 NOTE 1 Dimensions are in millimeters 2 Dimensions and weights of the servo motor may be revised without prior notice 3 The boxes in the model names ...

Page 316: ... 202 226 216 LS 47 47 37 47 LR 55 55 45 55 LE 6 6 5 6 LG 11 5 11 5 12 11 5 LW 36 36 32 36 RH 18 18 18 18 WK 8 8 8 8 W 8 8 8 8 T 7 7 7 7 TP M6 Depth 20 M6 Depth 20 M6 Depth 20 M6 Depth 20 NOTE 1 Dimensions are in millimeters 2 Dimensions and weights of the servo motor may be revised without prior notice 3 The boxes in the model names are for optional configurations Please refer to section 1 2 for m...

Page 317: ...0 30 30 WK 10 10 10 W 10 10 10 T 8 8 8 TP M12 Depth 25 M12 Depth 25 M12 Depth 25 NOTE 1 Dimensions are in millimeters 2 Dimensions and weights of the servo motor may be revised without prior notice 3 The boxes in the model names are for optional configurations Please refer to section 1 2 for model explanation 4 in the mode of ser vo motor indicates the type of encoder 1 increment 20 bit 2 incremen...

Page 318: ...C4201TOP 2 JOWLE Delta Part Number ASDBCAPW0100 Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASD CAPW1000 Delta Part Number ASD CAPW2000 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 319: ...PW0203 3000 50 118 2 2 ASDBCAPW0205 5000 50 197 2 Delta Part Number ASDBCAPW0303 0305 Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4201TOP 2 JOWLE Title Part No L mm inch 1 ASDBCAPW0303 3000 50 118 2 2 ASDBCAPW0305 5000 50 197 2 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ...

Page 320: ...DBCAPW1303 1305 Title Part No Straight L mm inch 1 ASDBCAPW1303 3106A 20 18S 3000 50 118 2 2 ASDBCAPW1305 3106A 20 18S 5000 50 197 2 Delta Part Number ASD CAPW2203 2205 Title Part No Straight L mm inch 1 ASD CAPW2203 3106A 24 11S 3000 50 118 2 2 ASD CAPW2205 3106A 24 11S 5000 50 197 2 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel...

Page 321: ...06A 24 11S 5000 50 197 2 Encoder Connectors Delta Part Number ASDBCAEN0000 Title Part No Manufacturer Housing AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA Delta Part Number ASDBCAEN1000 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 322: ...DELTA Title Part No L mm inch 1 ASDBCAEN0003 3000 50 118 2 2 ASDBCAEN0005 5000 50 197 2 Delta Part Number ASDBCAEN1003 1005 Title Part No Straight L mm inch 1 ASDBCAEN1003 3106A 20 29S 3000 50 118 2 2 ASDBCAEN1005 3106A 20 29S 5000 50 197 2 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos A...

Page 323: ...o Drive and Computer for PC Delta Part Number ASD CNUS0A08 Title Part No ASD CNUS0A08 cable L 3000 100 mm 118 4 inch connector RJ connector RJ 45 USB connector A type USB V2 0 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 324: ...ber 3864471800 Title Part No Manufacturer Housing A2004H00 3P JWT Terminal A2004TOP 2 JWT RS 485 Connector Delta Part Number ASD CNIE0B06 VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 325: ...B2 0122 B Low inertia Servo Motor ECMA C 0602 S Motor Power Cable Without Brake ASDBCAPW020X Power Connector Without Brake ASDBCAPW0000 Motor Power Cable With Brake ASDBCAPW030X Power Connector With Brake ASDBCAPW0100 Encoder Cable ASDBCAEN000X Encoder Connector ASDBCAEN0000 X 3 means 3m X 5 means 5m 400W Servo Drive and 400W Low Inertia Servo Motor Servo Drive ASD B2 0421 B Low inertia Servo Moto...

Page 326: ...ia Servo Motor Servo Drive ASD B2 0421 B High inertia Servo Motor ECMA G 1303 S Motor Power Cable Without Brake ASDBCAPW120X Motor Power Cable With Brake ASDBCAPW130X Power Connector ASD CAPW1000 Encoder Cable ASDBCAEN100X Encoder Connector ASDBCAEN1000 X 3 means 3m X 5 means 5m 750W Servo Drive and 750W Low Inertia Servo Motor Servo Drive ASD B2 0721 B Low inertia Servo Motor ECMA C 0807 S ECMA C...

Page 327: ...rvo Motor ECMA C 1010 S Motor Power Cable Without Brake ASDBCAPW120X Motor Power Cable With Brake ASDBCAPW130X Power Connector ASD CAPW1000 Encoder Cable ASDBCAEN100X Encoder Connector ASDBCAEN1000 X 3 means 3m X 5 means 5m 1kW Servo Drive and 1kW Low Inertia Servo Motor Servo Drive ASD B2 1021 B Low inertia Servo Motor ECMA C 0910 S Motor Power Cable Without Brake ASDBCAPW020X Power Connector Wit...

Page 328: ...1309PS Motor Power Cable Without Brake ASDBCAPW120X Motor Power Cable With Brake ASDBCAPW130X Power Connector ASD CAPW1000 Encoder Cable ASDBCAEN100X Encoder Connector ASDBCAEN1000 X 3 means 3m X 5 means 5m 1 5kW Servo Drive and 1 5kW Medium Inertia Servo Motor Servo Drive ASD B2 1521 B Medium Inertia Servo Motor ECMA E 1315 S Motor Power Cable Without Brake ASDBCAPW120X Motor Power Cable With Bra...

Page 329: ...Motor Power Cable Without Brake ASDBCAPW120X Motor Power Cable With Brake ASDBCAPW130X Power Connector ASD CAPW1000 Encoder Cable ASDBCAEN100X Encoder Connector ASDBCAEN1000 X 3 means 3m X 5 means 5m 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD B2 2023 B Medium Inertia Servo Motor ECMA E 1820 S Motor Power Cable Without Brake ASD CAPW220X Motor Power Cable With Brake ASD CAPW...

Page 330: ...tor ASDBCAEN1000 X 3 means 3m X 5 means 5m Other Accessories for ASDA B2 series all models Description Delta Part Number Communication Cable between Servo Drive and Computer for PC ASD CARS0003 Regenerative Resistor 400W 100Ω BR400W040 Regenerative Resistor 1kW 1000Ω BR1K0W020 NOTE 1 at the ends of the servo drive model names are for optional configurations Full closed loop CANopen and extension D...

Page 331: ... Revision September 2013 This page is intentionally left blank VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

Page 332: ... foreign objects do not fall inside the servo drive motor control panel or ventilation slots and holes As these will cause damage Ensure the correct installation and the control panel It should be free from airborne dust harmful gases or liquids Ensure that all wiring instructions and recommendations are followed otherwise damage to the drive and or motor may result Inspection before operation Con...

Page 333: ...n order to avoid accident or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value Ensure to reset some parameters when the servo drive is off Please refer to Chapter 7 Otherwise it may result in malfunction If there is no contact sound or there be any unusual noises when the relay of the servo drive is operating please contact your distribu...

Page 334: ...ear and result in malfunction due to switching current The life of relay varies according to power supply capacity Therefore the common guaranteed life of relay is cumulative 100 000 times of power on and power off Cooling fan The cooling fan life is limited and should be changed periodically The cooling fan will reach the end of its life in 2 3 years when it is in continuous operation However it ...

Page 335: ... B2 B 4 Revision September 2013 This page is intentionally left blank VARITEL INGENIERIA ELECTRONICA S A info varitel com www varitel com Tel 54 11 4243 1171 Fax 54 11 4292 7545 Manuel Baliña 456 Lomas de Zamora B1832CCJ Buenos Aires Argentina ...

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