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EMSD5 AC Servo Manual

Chapter 5 Running Mode and Wiring

Fig.5-2 Position Mode Wiring

5.1.3 Parameter Settings In Position Mode

⚫

Gain And Smooth Filter

Parameter

Introduction

Range

Default

PA-4

Control mode

PA-9

Position Proportional Gain

1-1000

PA-19

Position Command Smooth Filter

0-1000×0.1ms

100

PA-100

Command Filter Selection

0-1

◆

The voltage of the internal 24V power supply ranges 20V~28V, and

maximum operating current 100mA. If use a external 24V power supply, please
connect the external 24V+ to pin16(COM) and the external 0V to pin43(E0V).

◆

A power supply for DO output should be prepared by customers. The power

ranges 5V~24V. The maximum allowable voltage is DC30V and current is 50mA.

Summary of Contents for EMSD5 Series

Page 1: ......

Page 2: ...l must be connected one to one correspondence otherwise the motor may cause equipment losing and casualties caused by the over speed vehicle Please fasten the power supply and motor output terminals o...

Page 3: ......

Page 4: ...2 4 1 Servo System Wiring 12 4 2 Servo driver terminals Introduction 14 4 3 Main Circuit Terminal 15 4 4 CN1 Control Signal Terminal 16 4 5 CN2 Encoder Signal Terminal 28 4 6 CN3 And CN4 Terminal Defi...

Page 5: ...oder Selection 55 6 7 How To Reset Default Parameters 55 Chapter 7 Parameters 56 7 1 PA Group 56 7 2 P3 Group Parameters For Multifunctional Terminals 71 7 3 P4 Group Parameters For Internal Position...

Page 6: ...and servo motor and ensure that are the same types in the order form The purchased product is identical with your desired Please do not power it on if there is any damage on the product appearance In...

Page 7: ...al encoder CN2B Encoder signal terminal for 17 bits absolute encoder L1 L2 L3 Power supply terminal for 3 phases 220VAC CHARGE Bus voltage indicator It is used to indicate the bus capacitance in a cha...

Page 8: ...he drive please wire the cable down refer to the below picture to avoid any liquid attached on the cable and then it flows into the drive along with the cable Fig 1 3 Wring Direction Requirement Insta...

Page 9: ...reventive measure shall be taken against raindrop or moist environment Avoid direct sunlight Preventive measure shall be taken against corrosion by oil mist and salinity Keep away from radioactive and...

Page 10: ...damaged 1 3 4 Motor Rotation Direction Definition The motor rotating direction description in this handbook is defined as facing the shaft of the servo motor if the rotating shaft is in counterclockwi...

Page 11: ...Function Speed Current position Command pulse accumulation Position deviation Motor torque Motor current Running state etc Control Input 1 Servo on 2 Alarm clearance 3 CCW drive inhibition 4 CW drive...

Page 12: ...400W 075 750W 2 3 Servo Motor Naming Rule EM 60 S 024N 30 S 2 2 Serial No Definition EMHEATER Servo Motor Flange 60 mm 80 mm 110 mm 130 mm Rated voltage 220V S Rated torque 0 1N m 048 4 8N m Rated sp...

Page 13: ...EM 110S040N20I22 800 2000 EM 110S040N30I22 1200 3000 EM 110S050N30I22 1500 3000 EM 110S060N20I22 1200 2000 EM 110S060N30I22 1800 3000 130mm EM 130S040N25S22 1000 2500 17 bit absolute encoder EM 130S0...

Page 14: ...otor Dimension 3 1 Drive Dimension The user can install the servo drive with the bottom plate and the installed direction is perpendicular to the installation facing Recommended to cool the servo driv...

Page 15: ...LB LC LD M EM 60S006N30S22 60 72 70 14 50 25 5 30 4 EM 60S013N30S22 60 90 70 14 50 25 5 30 4 Flange 80mm Fig 3 4 Flange 80mm And Table 3 3 Model W L LE S LA LB LC LD M EM 80S024N30S22 80 96 90 19 70 2...

Page 16: ...6 57 6 EM 130S050N25S22 130 171 145 22 110 42 6 57 6 EM 130S060N25S22 130 179 145 22 110 42 6 57 6 EM 130S077N25S22 130 192 145 22 110 42 6 57 6 EM 130S100N10S22 130 213 145 22 110 42 6 57 6 EM 130S1...

Page 17: ...Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual 12 Chapter 4 Wiring and Introduction 4 1 Servo System Wiring 4 1 1 Servo Drive Wiring Fig 4 1 Servo System Wiring...

Page 18: ...the output circuit breakdown In order to protect the servo driver from noise interference that can cause malfunction please use an insulation transformer and noise filter on the power lines Wiring the...

Page 19: ...Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual 14 4 2 Servo driver terminals Introduction Fig 4 2 EMSD5 A Drive Terminals Fig 4 3 EMSD5 B Drive Terminals...

Page 20: ...e P D When use the built in resistor please connect P and D P C When the external regeneration resistance is required please disconnect P and D and crossover it to terminal P and C Leaving N disconnec...

Page 21: ...ic A Pic B 4 4 CN1 Control Signal Terminal 4 4 1 CN1 Terminal Introduction The CN1 connector DB44 plug provides the signals interfaced with the host controller The signal includes 8 programmable input...

Page 22: ...vo Manual Chapter 4 Wiring and Introduction 17 4 4 2 CN1 terminal pin distribution Fig 4 5 EMSD5 A B S Series CN1 Terminal Pin Distribution Fig 4 6 EMSD5 A B S Series CN1 Terminal A 24 26 AWG cable is...

Page 23: ...Chapter 4 Wiring and Introduction EMSD5 AC Servo Manual 18 Fig 4 7 EMSD5 A B H Series CN1 Terminal Pin Distribution Fig 4 8 EMSD5 A B H Series CN1 Terminal A 24 26 AWG cable is recommended...

Page 24: ...it of instruction pulse of the upper device side can be selected from the differential output or collector open circuit output Its maximum input frequency and minimum pulse width are shown in the foll...

Page 25: ...is collector open mode A For internal 24V power sources Common Anode Connection for example Mitsubishi PLC Common Cathode Connection for example Siemens PLC B For external power supply Case 1 To use...

Page 26: ...EMSD5 AC Servo Manual Chapter 4 Wiring and Introduction 21 Common Cathode Connection Case 2 To use external resistance of the drive Common Anode Connection Common Cathode Connection...

Page 27: ...n DI5 18 Forward external torque limit DI6 2 Reverse external torque limit DI7 17 Zero speed clamp DI8 1 Zero instruction PULS 21 21 In position mode internal position mode and non position mode SIGN...

Page 28: ...l 0V Internal isolated 24V power output and the voltage range is 20V 28V and max output current 100ma E24V 44 44 Internal 24V Input Circuit Of Digital Quantity Diagram For DI1 as an example the DI1 DI...

Page 29: ...vo Manual 24 B For external 24V power supply Output Circuit Of Digital Quantity Diagram For DO1 as an example the DO1 DO6 S DO1 DO4 interface circuit is the same 1 When the upper device is relay input...

Page 30: ...struction input AS AT 24 Analog velocity torque input range 10V 10V AS AT 9 AGND 25 Be sure to connect a continuation diode when the upper device is a relay otherwise it may damage DO ports or cause s...

Page 31: ...ensated by parameters 1 When it is analog differential input 2 When it is analog single end input 4 4 6 Output Signal Of Encoder Frequency Division EMSD5 A BH Signal Name Pin No Function General AO 28...

Page 32: ...can realize through an open circuit signal of collector Usually it feedbacks signal when the position control system is formed for the upper device On the upper device side please use the photocoupler...

Page 33: ...he servo motor is a fixed special mechanism of non electric action type which can not be used for braking purposes Only when the servo motor is kept in a stop state can it work The brake coil has no p...

Page 34: ...phase output of encoder A 1 Encoder B Phase Input B 7 Connect with B phase output of encoder B 2 Encoder Z Phase Input Z 8 Connect with Z phase output of encoder Z 3 Encoder U Phase Input U 9 Connect...

Page 35: ...Absolute encoder communication positive end Absolute encoder communication negative end SD 2 Absolute encoder communication negative end Null NC 3 Reserve Null NC 4 Reserve Shielded layer Metal cover...

Page 36: ...Drive And PLC Communication Cable Drive RJ45 A end PLC B end Signal Name Pin No Signal Name Pin No RS485 5 RS485 5 RS485 4 RS485 4 It can connect PC or the upper controllers through a special serial p...

Page 37: ...14 Parallel Cable Diagram Of Multi Drives Table 4 3 Connection Between Multi Drives Drive RJ45 A end PLC B end Signal Name Pin No Signal Name Pin No RS485 5 RS485 5 RS485 4 RS485 4 GND 7 GND 7 PE shi...

Page 38: ...ing the followingmethods can be used 1 Install the upper device and a noise filter near the servo drive 2 Install a surge suppressors on coils of relays solenoids electromagnetic contacts 3 Separate h...

Page 39: ...oise Filter In order to prevent the interference of the power cable and weaken the influence of the servo driver on other sensitive devices please select a corresponding noise filter at the input end...

Page 40: ...ut Cables The ground wire of the noise filter is separated from its output power cord Fig 4 18 Diagram Of Separating Cables Between Ground And Output Line Of Noise Filter Noise filters need to use a t...

Page 41: ...nstalled in the control cabinet When the noise filter and servo driver are installed in the same control cabinet it is recommended that the filter and servo driver are fixed on the same metal plate To...

Page 42: ...nd so on The speed control mode controls rotation speed through the given analog quantity the given digital quantity and the given communication speed It is mainly used in the constant speed applicati...

Page 43: ...motor can run normally 3 To connect the pulse direction input and pulse instruction input of the CN1 terminal as well as the required DI DO signals such as servo enable alarm clearance location compl...

Page 44: ...0 80 PA 19 Position Command Smooth Filter 0 1000 0 1ms 100 PA 100 Command Filter Selection 0 1 0 The voltage of the internal 24V power supply ranges 20V 28V and maximum operating current 100mA If use...

Page 45: ...for position pulse 1 32767 0 PA 78 3rd numerator of electronic gear for position pulse 1 32767 0 PA 79 4th numerator of electronic gear for position pulse 1 32767 0 PA 80 Effective level of command di...

Page 46: ...7 function 0 99 7 P3 7 Digital Input DI8 function 0 99 8 P3 15 Force digital input valid1 00000000 11111111 00000000 P3 16 Force digital input valid2 00000000 11111111 00000000 P3 17 Force digital inp...

Page 47: ...Pulse max cnt P6 1 0 1 P4 17 Circle 30000 P4 19 V6 P4 18 Pulse max cnt P7 1 1 0 P4 20 Circle 30000 P4 22 V7 P4 21 Pulse max cnt P8 1 1 1 P4 23 Circle 30000 P4 25 V8 P4 24 Pulse max cnt Note The state...

Page 48: ...r cable and encoder cable The servo panel displays r 0 after powering on which means that the servo power supply and encoder connection are correct 2 Operate the servo JOG trial running mode through t...

Page 49: ...er First make the motor rotate at low speed and confirm whether the rotation direction and electronic gear ratio are normal then make the gain adjustment 5 2 2 Speed Mode Wiring Fig 5 4 Speed Mode Wir...

Page 50: ...1 10000ms 100 PA 41 Deceleration Time Constant 1 10000ms 100 PA 42 S Type Acceleration And Deceleration Time Constant 0 1000ms 0 PA 43 Gain Of Analog Speed Command 10 3000r min v 300 PA 44 Direction...

Page 51: ...rect 2 Operate the servo JOG trial running mode through the panel keys to confirm whether the motor can run normally 3 To connect the required DI DO signals in CN1 terminal such as servo enable alarm...

Page 52: ...Parameter Settings In Torque Mode Parameter Introduction Range Default PA 4 Control mode 2 0 PA 29 Gain of analog torque command Set by yourself 30 PA 32 Selection for internal and external torque co...

Page 53: ...P4 32 Origin detector type or search direction setting 0 5 0 P4 33 Set the model of short distance movement to the origin 0 2 0 P4 34 Origin trigger start mode 0 2 0 P4 35 Origin stop mode setting 0...

Page 54: ...t as a rough reference point When completing origin positioning CCWL is limit input function The subsequent retrigger will occur limit warning When using limit input point as a rough reference point r...

Page 55: ...ly applicable to 2 or 3 Under Z pulse origin point detecting P4 32 is only applicable to 4 or Z pulse D The mode setting of origin point stops P4 35 P4 35 0 after the origin detection has been complet...

Page 56: ...ut off power supply circuit and stop alarm circuit to maintain access ope 3 Servo driver applied voltage reference should be correct Power the servo drive when the controller does not send a running c...

Page 57: ...or button and maintain it you would get a duplicate result and stay longer the repetition rate is higher Fig 6 1 Drive Panel Display 6 1 2 Front Keys Introduction Key Name Function Increasing Increase...

Page 58: ...can make the value increased or decreased continuously After modifying the value of the parameter please press SET button and when the LED flashes two times it means the setting is completed Finally p...

Page 59: ...de analog input speed 500 r min In torque mode analog input torque 50 Absolute rotor position 3265 Input terminal Output terminal Line voltage 336V No 4 alarm Relay open Relay Uncharged Relay alarming...

Page 60: ...the encoder NO 53 alarm caused by battery power down After long press the SET key for more than 3 seconds and show done the operation is activate After that press the key to return to the upper menu...

Page 61: ...077N25 EM 60S040N25 EM 130S100N10 EM 110S020N30 EM 130S100N15 EM 110S040N20 EM 130S100N20 EM 110S040N30 EM 130S100N25 EM 110S050N30 EM 130S150N15 EM 110S060N20 EM 130S150N25 EM 110S060N30 No Name Func...

Page 62: ...mode 6 Encoder zeroing mode 0 6 0 PA 5 Proportional gain of speed loop 1 Set the proportional gain of speed loop 2 The value is bigger the gain is higher and rigidity is stronger The parameter value i...

Page 63: ...gain of position loop 2 The value is bigger the gain is higher and its rigidity is stronger So the position lag is smaller under the same frequency command pulse condition But if it is too big it will...

Page 64: ...and pulse 1 Set the input mode of position command pulse 2 To set one of 4 input modes 0 Pulse Direction 1 CCW pulse CW pulse 2 phase A and phase B orthogonal input 3 Internal position input Remark CC...

Page 65: ...mooth 4 When set to value 0 the filter does not work 0 1000 0 1ms 100 PA 20 Invalid input of drive inhibition To set 0 CCW drive inhibition or CW drive inhibition is effective If the switch of CCW dri...

Page 66: ...d is set as the rated speed 0 6000 r min 5000 PA 24 Internal speed selection 1 1 Set the internal speed 1 2 In speed control mode PA 22 0 when SC1 and SC2 are OFF internal speed 1 is the speed command...

Page 67: ...ue is the percentage of rated torque The limit is independent to direction and CW or CCW direction is protected 2 When PA 31 9 motor torque PA 30 and duration PA 31 the drive alarms and the code is Er...

Page 68: ...g value is the percentage of rated torque For example it is set to 2 times of the rated torque the value is 200 2 At any time this restriction is valid 3 If the setting value is over than the max over...

Page 69: ...ly applies in speed control mode and internal position control mode while other modes are invalid 3 This parameter should be set to 0 if the drive is used in combination with an external position loop...

Page 70: ...otor current cut off to mechanical brake action output terminal BRK from ON to OFF during motor working 2 The actual action time is the time it takes to drop from PA 48 or current motor speed to PA 49...

Page 71: ...nput terminal 1 Set the removing jitter filter time for input terminal 2 The value is smaller the terminal input response frequency is quicker 3 The value is bigger the anti jamming performance of inp...

Page 72: ...unication baud rate 48 1152 1 00 96 PA 73 MODBUS protocol selection 0 8 N 2 MODBUS RTU 1 8 E 1 MODBUS RTU 2 8 O 1 MODBUS RTU The parameter decide the communication protocol Value 8 represents the tran...

Page 73: ...2 The default value is the max pulse input frequency 500khz kpps The value is bigger the max input frequency is slower 3 To filter the noise from the signal line in order to avoid incorrect counting h...

Page 74: ...lse range of near position under the position control mode 2 When the pulse number in position deviation counter is smaller than or equal to the setting value of this parameter the digital output DO N...

Page 75: ...n PA 91 the ATRQ torque arrival of digital output DO is ON otherwise it is OFF 2 The comparator has hysteresis function and it is set by PA 90 3 It also has polarity setting function PA 91 PA 89 Compa...

Page 76: ...an add a programmable output port which can output differential signal Z signal as default 0 1 0 PA 107 Zero offset angle of saving line encoder When PA 62 1 and a saving line motor is used this param...

Page 77: ...DI2 Function 0 99 0 P3 40 Virtual I O Input DI3 Function 0 99 0 P3 41 Virtual I O Input DI4 Function 0 99 0 P3 42 Virtual I O Input DI5 Function 0 99 0 P3 43 Virtual I O Input DI6 Function 0 99 0 P3...

Page 78: ...PA 20 0 1 PA 83 0 CCW torque limit is 0 but it does not limit CCW pulse input 2 PA 83 1 it does not inhibit CCW pulse input 4 CWL CW Drive Inhibition 1 The input terminal of CW drive inhibition OFF I...

Page 79: ...eed or torque command OFF Normal command ON Zero command 9 CINV Instruction Reverse In speed or torque control mode speed or torque command OFF Normal command ON Command reversed 10 SP1 Speed Choice 1...

Page 80: ...and speed is set by PA 21 Attention If the signal is connected to CW inching inching function does not work 23 JOGN CW Inching In speed control mode PA 22 5 connect to the signal the motor is in inchi...

Page 81: ...ced output ON 2 RDY Servo Ready OFF Main power supply is off or alarm occurs ON Main power supply is normal no alarm occurs 3 ALM Alarm OFF alarm occurs ON no alarm occurs 4 ZSP Zero Speed In speed or...

Page 82: ...d is smaller than PA 76 15 HOME Origin Regression Completion OFF No signal output when the origin regression doesn t complete ON The signal outputs when the origin regression completes 16 CMDOK Intern...

Page 83: ...y Planned ON forced valid 7 3 P4 Group Parameters For Internal Position Command No Name Function Rang Default P4 0 Internal position instruction control mode 0 absolute position instruction 1 incremen...

Page 84: ...internal position 30000 30000 0 P4 6 The pulse number setting in position loop of internal position instruction 2 1 To set the position pulses of the second stage internal position 2 Internal positio...

Page 85: ...4 To set the move speed of internal position instruction 4 0 5000 r min 1000 P4 14 The position cycles of internal position instruction 5 To set the position cycles of the 5th stage internal position...

Page 86: ...ition instruction 7 the position cycles setting of the 7th internal position the pulse number setting of the 7th internal position max cnt rev 0 P4 22 The move speed of internal position instruction 7...

Page 87: ...gin when it is 2 only the type of origin detector and the setting value of the search direction can be used as 2 3 4 or 5 0 2 0 P4 34 Origin trigger start mode 0 Close origin regression function 1 Aut...

Page 88: ...t HOF2 1 To set the pulse number of origin regression offset 2 When the parameter function HOF1 and HOF2 are set to 0 the origin is defined as Z pulse or ORGP by the origin regression mode If they are...

Page 89: ...30 11 IPM module error IPM smart module error 13 Drive overload Servo drive and motor overload overheat instantaneously 14 Brake fault Brake circuit Error 18 Relay switch fault The real state of relay...

Page 90: ...derbatteryvoltageerroralarm Encoder battery voltage error alarm and storage information has occurred error needing to reset encoder 54 Encoder error alarm Encoder non battery alarm but need to reset e...

Page 91: ......

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