GSK DA98B User Manual Download Page 21

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Chapter 3 System configuration and assembly

3.1 Servo unit specification

Table 3

－

Servo unit specification

Output power (kW)

0.4

～

0.8 1.0

～

1.5 1.7

～

2.6

Motor rated torque

（

）

～

4 4

～

10 6

～

Input power supply

Single phase or

three-phase AC220V

-15

～

+10% 50/60Hz

three-phase AC220V

-15

～

+10% 50/60Hz

Temperature Working

：

～

55 Storage

℃

：

-20

℃

～

℃

Humidity

Less than 90%

（

no dewing

）

Environment

Vibration

Less than 0.5G

（

4.9m/s2

）

,10

～

60 Hz(non-continuous running)

Control method

①

Orientation control

②

External speed control Internal speed

③

control Trial speed run JOG speed

④

⑤

⑥

Encoder zero-adjusting

Energy brake

Built-in

Speed frequency response: 200Hz or more

Speed fluctuation rate:

＜

±0.03

（

load 0

～

100%

）；＜

±0.02

（

power supply -15

～

+10%

）（

numerical value corresponding to rated speed

）

Timing ratio: 1

5000

Control

characteristi

Pulse frequency:

≤

500kHz

Control input

Servo on

①

Alarm

cancellation

②

Disable in positive direction

③

Disable in negative direction

④

⑤

Zero-speed clamping

⑥

Error

counter reset/speed choice11

⑦

Disable instruction pulse/speed

choice 2

⑧

CCW torque limit

⑨

CW torque limit

⑩

Universal I/O port

Control output

①

Servo ready output

②

Servo alarm output

③

Orienting completing

output/speed in-orientation output

④

Hold release

⑤

Zero speed

output

⑥

Universal output

⑦

Pulse feedback output

Input mode

①

Pulse+ direction

②

CCU pulse /CW pulse

③

A/B

orthogonal phases pulse

Orientation control

Electronic

gear ratio

Ratio numerator:1

～

32767 Ratio denominator: 1

～

32767

Chapter 3 System configuration and assembly

Summary of Contents for DA98B

Page 1: ...GSK DA98B AC Servo Drive Unit User Manual ...

Page 2: ......

Page 3: ...limit of the manual specific operations of the product and other causes Therefore the matters not specified herein may be considered impractical or unavailable This operating manual is the property of GSK CNC Equipment Co Ltd All rights reserved It is against the law for any organization or single to publish or reprint this manual without the express written permission of GSK and the latter reserv...

Page 4: ...r and other mechanical products Today GSK has already expressed into a large scale new high tech enterprise that deals with research teaching working and trading Our products support more than 60 domestic manufacturers of machine tools with after sales service network through the country With a yield in the lead in China for four years in succession GSK series products are in great demand in the d...

Page 5: ...ut notice z We do not assume any responsibilities for the change of the product by users therefore the warranty sheet will be void for the change z Chinese version of all technical documents in Chinese and English languages is regarded as final Thank you for using DA98B AC Servo Drive Unit and User Manual Welcome you to feedback your suggestions about our product and User Manual by the telephone o...

Page 6: ...ate a potentially hazardous situation which if not avoided may result in minor or moderate injury or in damage to property Indicate a potential situation which if not avoided may result in an undesirable result or state This symbol appears in the user Manaul whenever it is necessary to draw your attention to an important item of information The following symbols indicate some operations must not o...

Page 7: ...e pressure load tension is not permitted to exert on it Electric shock fault damage occurring if the indication not observed Moving wiring and checking can only be performed after the power is switched off for 10 minutes Electric shock occurring if the indication not observed Danger ...

Page 8: ...nning it must be eliminated before going on running Destructive result occurring if the indication not observed Don t touch the motor control device or the brake resistance for the heating in the running Scalding occurring if the indication not observed Caution ...

Page 9: ...Warning Ⅴ Notes ...

Page 10: ...GSK CNC Enquipment Co Ltd Ⅵ ...

Page 11: ...rameters for motors 33 Chapter 5 Display and operation 35 5 1 Keys operation 35 5 3 Parameter setting 39 Chapter 6 Trial run 43 6 1 Check before trial run 43 6 2 1 Sequence of power on for servo unit 44 6 2 2 JOG running 45 6 2 3 Sr trial run 46 6 2 4 Speed control run 46 6 2 5 Orientation control run 49 6 3 Application of hold release signal 52 6 4 Parameter adjustment for machining characteristi...

Page 12: ...GSK CNC Enquipment Co Ltd 2 ...

Page 13: ...8B AC Servo Driver Unit has advantages as follows Servomotor is equipped with encoder its orientation signal feedbacks to servo driver with open loop orientation controller to compose a semi closed loop control system The timing ratio is 1 5000 with stable torque from low speed to high speed Max speed can be 3000rpm and the speed fluctuation rate is less than 2 Note There is different rated speed ...

Page 14: ...motor type Output power see table1 a Series code Table 1 a Mark Rated output Mark Rated output Mark Rated output 04 0 4 kW 12 1 2 kW 18 1 8 kW 06 0 6 kW 14 1 4 kW 20 2 0 kW 08 0 8 kW 15 1 5 kW 23 2 3 kW 10 1 0 kW 17 1 7 kW 26 2 6 kW Model significance Item z Do not install servo unit which is damaged or lacks of components z Servo driver must be matched with servomotor which performance matches th...

Page 15: ... CN1 socket DB44 female 1 set note 1 CN2 plug DB25 male 1 set note 2 2 Standard accessories of servo motor are provided according to user manual of servo motor Accessory list 2 Feedback cable 3m available should be used when our servo motor is provided 1 Signal cable 3m can be provided when it is matched with our servo unit ...

Page 16: ...GSK CNC Equipment Co Ltd 4 1 3 Outline Fig 1 1 Outline of servo unit Fig 1 2 Outline of servo motor Outline of servo unit Outline of servo motor ...

Page 17: ...ion with no permission to fix it on or near the inflammable object Run the servo unit below the temperature of 45 for reliable long term usage The driver is employed with bottom board or panel installation mode in the upright direction of installation plane Fig 2 1 is sketch map for bottom board installation and Fig 2 2 for panel installation Unit below mm Installation environment Item DA98B servo...

Page 18: ...nel installation pattern Fig 2 3 is installation interval for one servo unit and Fig 2 4 is for servo units The actual interval for installation should be larger as possible as to get a good heat radiation Fig 2 3 Installation interval for a single servo unit Installation interval ...

Page 19: ...al temperature from continuously rising 2 2 Installing motor Be careful for the protection against rain and sunlight The motor must be installed in the electric cabinet to prevent dust corrosive gas liquid conductors and inflammable substances from entering it The motor should be fixed in the well ventilative dampproof and dustproof environment The motor should be fixed in a place that is convenie...

Page 20: ... and assembling Servo motor cannot support heavy axial radial load It should be employed with flexible shaft coupling for load Anti loose washer should be used to fix the motor against loosing Oil and water should be protected from the motor for that the oil or water from the cable which has been dipped in the oil or water can be sticked to the motor so such possibility should be avoided Installat...

Page 21: ...or more Speed fluctuation rate 0 03 load 0 100 0 02 power supply 15 10 numerical value corresponding to rated speed Timing ratio 1 5000 Control characteristics Pulse frequency 500kHz Control input Servo on Alarm cancellation Disable in positive direction Disable in negative direction Zero speed clamping Error counter reset speed choice11 Disable instruction pulse speed choice 2 CCW torque limit CW...

Page 22: ...r current linear speed rotor absolute orientation instruction pulse frequency running state input output terminal signal and so on Protection function Overspeed overvoltage under voltage of main power supply overcurrent overload brake abnormity encoder abnormity control power supply abnormity orientation oversize Display operation 6 bit LED digital tube 4 buttons Load inertia Less than quintuple o...

Page 23: ...block for DA98B servo unit 3 3 Wiring There are several control modes for DA98B orientation control mode speed control mode etc Personnel who take up the wiring and checking should be qualified for Control board diagram block inside the broken line and power supply board diagram block outside the broken line above ...

Page 24: ... the drop away current is more1 3 times than servo rated input one otherwise is less than 1 05 times than the servo rated input current Single phase power supply AC220V 10 15 can be employed when the precision is comparative low and the power is less than 0 8KW for servo unit and its the wiring is as fig 3 2 While connecting the terminals peel the insulative surface of the wire and twist the naked...

Page 25: ...cy switch current in the motor the leaking current is relatively larger the motor grounding terminal must be connected with the servo unit grounding terminal PE and the grounding resistance should be less than 100Ω Do not touch the servo unit and motor in 5 minutes after the power supply is switched off because there is large electrolytic capacitance keeping high voltage inside the servo unit even...

Page 26: ... feedback signal cable and the shielded tier should connect with FG terminal The cables and wares should be well fixed as well as not be adjacent to servo unit radiator or motor for their protection of insulation against heating The wiring of CN2 in the following sketch map is done by accordance of GSK SJT series motor If user uses motor from other manufacturers or self made wires the wiring below...

Page 27: ...ance to the main circuit cable should be above 30cm as well as the both cables should not use the same tube or be bound together for protection against disturbance The external power supply should be provided by user There are different wirings for CN1 terminal in different control modes see section 3 5 for details CN2 DB25F CN1 terminal wiring ...

Page 28: ...GSK CNC Equipment Co Ltd 16 Fig 3 4 Terminals and definition of CN1 ...

Page 29: ...o Sign 23 SON 19 ZSP 2 DGND 8 ALRS 35 COIN SCMP 4 AGND 9 RSTP 34 GOU1 16 AGND 24 FSTP 5 ALM 31 PE 40 CLE SC1 20 SRDY 32 DG 41 INH SC2 7 33 DG 10 RIL 6 HOLD HOLD_ 38 COM 25 FIL 36 39 COM 26 ZSL 37 CZ CZ 44 PE 11 GIN1 22 1 AGND 21 RLYOU RLYOU 17 VCMD 27 30 12 PAOUT PAOUT 15 PULS PULS 28 29 13 PBOUT PBOUT 14 SIGN SIGN 42 43 PZOUT PZOUT Input and output interface pattern for CN1 ...

Page 30: ...o internal Darlington output photoelectric couplings The max current 50mA Pulse input interface A lateral pole is connected to positive input terminal via a resistance in series and K pole to negative input terminal for one internal high speed photoelectric coupling Differential output internally connecting the output terminal of differential output chip 26LS31 Analog signal input interior is the ...

Page 31: ...5V Load of switching volume output signal must meet the requirement If the load exceeds them or output is connected directly with power supply the servo unit may be damaged 3 If the load is an inductive one such as relay terminals of load must be connected with freewheeling diode in parallel If they are connected reversely the servo unit will be damaged 270 270 控制装置侧 PULS PULS SIGN SIGN Fig 3 7 Di...

Page 32: ...voltage of external power and 10 15mA drive current of the pulse input circuit Practical data VCC 24V R 1 3 2K VCC 12V R 510 820Ω VCC 5V R 82 120Ω 4 Refer to Table 3 4 about pulse input form arrowhead indicates counting curb and Table 3 5 shows pulse input time sequence and parameter If two phase input form is employed 4 fold pulse frequency is less than 500kHz Table 3 4 Pulse input pattern Pulse ...

Page 33: ...l 0 2µS 0 3µS ts 1µS 2 5µS tqck 8µS 10µS tqh 4µS 5µS tql 4µS 5µS tqrh 0 2µS 0 3µS tqrl 0 2µS 0 3µS tqs 1µS 2 5µS th tl trh trl ts ts tck trh trl 90 90 10 10 CW CW CCW PULS SIGN Fig 3 9 Sketch map of pulse sign input interface time sequence max pulse frequency 500kHz th tl trh trl ts tck trh trl 10 10 90 90 CCW CW PULS SIGN Fig 3 10 CCW pulse CW pulse input interface time sequence max pulse frequen...

Page 34: ...qrl CCW CW PULS SIGN Fig 3 11 2 phase instruction pulse input interface time sequence max pulse frequency 125kHz 控制装置侧电机侧 X X X A B Z U V W AM26LS32 Fig 3 12 Input interface of servo motor photoelectric encoder Controller side Motor side Input interface of photoelectric encoder ...

Page 35: ...Table 3 6 Terminal functions of orientation control mode Sign Function Sign Function SON Servo on input terminal PAOUT PAOUT Encoder A phase differential positive output Encoder A phase differential negative output ALRS Alarming cancellation input PBOUT Encoder B phase differential positive Standard Wiring Terminal functions of position control mode ...

Page 36: ...e input CZ CZ Z phase pulse output of photoelectric encoder Common terminal of z phase pulse output terminal GIN Universal input terminal COIN Orienting completion output CLE Orientation deviation reset input GOU1 General output 1 INH Instruction pulse disabled input RLYOU RLYOU Reserved FIL CCW torque limit input HOLD HOLD Hold release output of motor Hold release grounding output of motor see se...

Page 37: ...ng CZ 37 CZ 36 Z phase output of encoder Z phase output earthing of encoder GOU1 SCMP DG DG 32 33 1k 27 12 28 13 42 43 PAOUT PAOUT PBOUT PBOUT PZOUT PZOUT A B Z CN1 CN1 31 44 PE PE Pulse feedback A Pulse feedback B Pulse feedback C Speed choice 1 Speed choice 2 1 17 AGND VCMD Speed instruction 10V 10VDC Speed instruction earthing 19 26 ZSP ZSL Zero speed clamping input Zero speed output of motor D...

Page 38: ...ric encoder Common terminal of z phase pulse output terminal RSTP CW drive stop SCMP Speed in orientation output FIL CCW torque limit input GOU1 General output 1 RIL CW torque limit input RLYOU RLYOU Reserved VCMD AGND Speed analog instruction input the instruction voltage range 10 10 VDC Earthing of analog instruction input terminal HOLD HOLD Hold release output of motor Hold release grounding ou...

Page 39: ...er constant P S 1 5000 200 PA 09 Orientation proportional gain P 1 1000 40 1 S PA 10 Orientation feedforward gain P 0 100 0 PA 11 Orientation feedforward instruction filter cut off frequency P 1 1200 300 Hz PA 12 Orientation instruction pulse dividing numerator P 1 32767 1 PA 13 Orientation instruction pulse dividing denominator P 1 32767 1 PA 14 Input and analog instruction selection of orientati...

Page 40: ...00 Password It is used for parameter not to be modified by mistake Set it for 315 when a parameter is needed to set After debugging set it for 0 to ensure it not to be modified by mistake later 0 9999 PA 01 Motor type code The motor models Corresponding to PA01 are as following refer to Section 4 3 for details PA01 Motor model 12 110SJT M060D 17 130SJT M100D 19 130SJT M150D 35 110ST M04030H 46 130...

Page 41: ... pulse input port 1 Speed control mode speed instruction input by VCMDIN VCMDINC analog input terminals 2 Internal speed control mode 3 Manual mode 4 JOG mode 5 Encoder zero adjusting mode 0 5 PA 05 Speed proportional gain Proportional gain set of speed loop regulator The bigger the setting value is the higher the gain is and the bigger the rigidity is Parameter value is determined by specific ser...

Page 42: ...ncreased appropriately 1 5000 PA 09 Orientation proportional gain Proportional gain set of orientation loop regulator he bigger the setting value is the higher the gain is and the bigger the rigidity is the smaller the orientation lag is But if the value is too big the vibration and overshoot may occur The value is decided by special servo unit model and load 1 1000 S PA 10 Orientation feedforward...

Page 43: ...s than or equal to the setting value of the parameter the servo unit defaults that the orienting is completed and the signal for it is COIN ON otherwise it is COIN OFF Orienting completing output signal is COIN in orientation control mode and speed in orientation output signal is SCMP in other control mode 0 30000 pulse PA 17 Orientation out of tolerance detecting range Alarm detection range set o...

Page 44: ...1r min PA 30 Conversion numerator for linear speed Used for linear speed Linear speed motor speed r min speed linear for r denominato conversion speed linear for numerator conversion The orientation of linear speed decimal point is determined by parameter PA32 And 0 stands for no point 2 for 2 bit and so on Example If servo motor drives 10mm ball screw then set the conversion numerator for linear ...

Page 45: ...limit set in CW direction of servo motor The setting is the percent of rated torque e g if the setting is the rated torque the setting is 100 The limit is valid only when the CW torque limit input terminal RIL is ON If the limit is valid the actual torque limit is the minimum of the absolute values among the max overload allowable internal or external torque limit 300 0 PA 38 JOG torque limit of t...

Page 46: ...4030H 1 2kW 220V 3000rpm 5A 0 65 10 3 kg m2 36 110ST M05030H 1 5kW 220V 3000rpm 6A 0 82 10 3 kg m2 37 110ST M06020H 1 2kW 220V 2000rpm 6A 1 00 10 3 kg m2 39 130ST M04025H 1 0kW 220V 2500rpm 4A 0 85 10 3 kg m2 45 130ST M05025H 1 3kW 220V 2500rpm 5A 1 06 10 3 kg m2 46 130ST M06025H 1 5kW 220V 2500rpm 6A 1 26 10 3 kg m2 47 130ST M07720H 1 6kW 220V 2000rpm 6A 1 58 10 3 kg m2 49 130ST M10015H 1 5kW 220...

Page 47: ...am block of the main menu 3 According to the diagram block above pressing key or holding can enter into the main menu then press or key to select any mode in the 9 modes After selecting a mode press key to enter the next menu of the mode Press key to return if backing to upper menu is required Chapter 5 Display and operation Operation procedure 6 bit digital LED displayer For increment of sequence...

Page 48: ...arameter management Parameter setting Monitor mode Fig 5 1 Diagram block of main menu 5 2 Monitoring mode Select in the main menu and press key to enter into monitoring mode There re 21 display modes in monitoring mode Select the desired display mode by keys then press to enter into monitoring mode ...

Page 49: ...sely in that speed 1000 0 Speed value for motor Unit rev min 2 The pulse number unit in this servo unit is 10000 pulse rev and orientation pulse number is comprised by two parts of high 4 bit and low 5 bit e g 1245806 pulses i d orientation instruction pulse number is also comprised by two parts e g 1245810 pulses Explanation 10000 100000 ...

Page 50: ...tronic gear with positive number for positive direction and negative number for negative direction and its min unit is 0 1kHz 7 The formula for effective value of phase current of motor is as follows 3 1 2 2 2 W V U I I I I 8 The absolute orientation of rotor in a revolution means the relative orientation of rotor to stator where a revolution for a period with the range 0 9999 9 The orientations o...

Page 51: ... the setting press the key for confirming the setting Attention should be paid for the parameter setting range against accident Select PA in the first layer and press to enter into parameter setting mode Select parameter number by then press to display the value of the parameter modify the value by Press or key for once to increase or decrease 1 for the parameter value press and hold on or to cont...

Page 52: ...ameter management is mainly used for memory and EEPROM operation Select EE in the first layer and press to enter into parameter management mode 5 operation modes can be selected by keys For example for parameter writing select EE Set then press and hold it on for over 1 second the monitor displays that means the parameter is being written into EEPROM After 1 2 seconds the monitor displays if the w...

Page 53: ...area into the memory to recover the original parameters in the state of power on z EE bA Parameter backup Reserved z EE rs Restoring backup Reserved z EE dEF Restoring default value It means to read all default values factory setting of parameters into the memory and write them into EEPROM parameter area that they will be used when power is on again Perform the above operation to restore all param...

Page 54: ...ng developed at present is not available The encoder zero adjusting function unallowable to be used by user is provided for motor manufacturer The parameter setting will not be saved after the power is down and the modification is invalid if the writing has not been executed for the modified parameter ...

Page 55: ...the power supply wiring and motor wiring of servo unit z Ensure the earthing connection Check power supply to ensure the normal voltage Fix the servo motor securely against overturning or bumping Perform the dry run operation in trial run to make sure the normal running prior to loading running Chapter 6 Trial run ...

Page 56: ... Fig 6 1 Power supply wiring 3 If servo on SON is ON after the connection of the control power with the main circuit power the motor is activated and the system is on running If servo on signal is switched off or alarming occurs the base electrode circuit closes and the motor is in a free state a If servo on SON is switched on with power supply the motor is activated in about 100 ms b Frequent swi...

Page 57: ...JOG running is well done it means that the connection between the motor and the servo unit is correct Steps Connect CN1 for the control signal OFF for servo enabling ON for CCW drive stop FSTP ON for CW drive stop RSTP Power on for servo unit and the initial display is Press key it displays Repress key to back to the first layer menu it displays Press or key to find the parameter setting menu Pres...

Page 58: ...ter into trial run mode The prompt for speed trial run is r and its unit is 0 1r min The system is in a speed control mode and the instructions of speed are provided by keys operation C the motor runs by the speed instructions changed by key Pressing key increases the speed and pressing key decreases the speed While the speed displayed is positive number the motor runs forward and negative number ...

Page 59: ...ge When PA19 1 motor runs backward CW for positive voltage forward CCW for negative voltage 5 If vibration occurs in the CNC closed loop running adjust parameter PA08 for feedback filtering Wiring diagram block pameter list Sequence number Name Setting range Factory setting PA04 Control mode selection 0 6 1 PA08 Low pass filter for speed detecting 1 5000 200 PA19 Reverse of analog speed 0 1 0 PA22...

Page 60: ... N 5 P A O U T P A O U T P B O U T P Z O U T P Z O U T P B O U T 1 7 V C M D V C M D 1 Fi g 6 3 a Valid for analog and pulse instructions D G S O N A L M F S T P R S T P C O M C O M P B O U T P B O U T P Z O U T P Z O U T V C M D V C M D P A O U T P A O U T 1 7 P C A P C B P C B P C A P C Z P C Z 2 4 V S O N S R D Y 0 V S O N 0 V 4 1 4 1 5 2 9 3 8 1 1 6 1 2 1 3 7 5 9 2 4 3 2 3 8 2 3 3 9 2 8 4 3 4 ...

Page 61: ...00 30000 0 1rpm 0 1 2 PA25 30000 30000 0 1rpm 1 0 3 PA26 30000 30000 0 1rpm 1 1 4 PA27 30000 30000 0 1rpm 6 2 5 Orientation control run 1 Input the control signal by the Fig 6 4 wiring diagram block OFF for servo on SON ON for CCW drive stop FSTP ON for CW drive stop RSTP 2 Switch on the power and adjust the parameters set appropriate electronic gear ratio PA12 PA13 The so called electronic gear f...

Page 62: ...be actuated for zero speed 4 Input low frequency pulse to make the motor run in a low speed and check whether the motor speed is the setting one Stop inputting low frequency pulse to see whether the motor stops Adjust the parameter if the motor runs in a low speed Electronic gear ratio not used For a 6mm moving in a revolution it needs 10 6 1 6666 revolution as for 2500 4 pulses for a revolution t...

Page 63: ...entation feedforward instruction filter Adjust it by requirement See parameter adjustment in Section 6 4 300 Fig 6 4 Wring of orientation instruction control Wiring sketch map for CNC system of GSK980TD turning machine S O N P U L S P U L S S I G N S I G N C Z C O M C O M R S T P F S T P n E N n S E T C P C P D I R D I R D A L M 2 4 V 7 1 1 4 0 V 1 1 0 6 5 3 P C 2 9 2 3 2 4 3 8 9 3 3 D G 3 2 3 7 D...

Page 64: ...en switching on the hold release signal HOLD The time sequence of SRDY and HOLD are identical and they both can be used for the hold release signal for special purpose The wiring is as following Fig 6 6 a Typical instance of the HOLD hold release signal Fig 6 6 b Typical instance of the SRDY hold release signal The Fig 6 7 shows the time sequence sketch map of normal hold release signal When the s...

Page 65: ...r a c t i v a t e d 6 0 0 m s P o w e r s u p p l y H O L D A L M S O N P o w e r o n Fig 6 7 Sequence sketch map for hold release signal When the power is cut off no drive is available for servo unit Affected by the outer circuit etc relay the braking coil is powered off in suspense for dwelling braking action that will cause the instant falling of the work table by gravity When turning off the s...

Page 66: ...oil KM1 Used for cutting off hold signal against work table falling down while power down 980TD system System switch power KM1 KM1 Switch on Switch off 220V L 220V N KM1 Typical wiring diagram of GSK 980TD matched with DA98B servo unit on turning machine 6 4 Parameter adjustment for machining characteristics improvement DA98B basic parameter adjustment diagram ...

Page 67: ...er the PA05 value set is PA06 Speed loop integral gain range 1 15 PA06 is speed loop integral gain In practice the parameter can be set in a range of 1 15 the error of the stable will be lowered if it is properly set and speed fluctuation lowered If the value is set for too large shaking occurs and running speed fluctuation increases It is usually set for 2 or 3 PA07 Filter coefficient of torque i...

Page 68: ...g Also oscillation is liable to occur in the stop orienting If the orientation loop proportional gain is set too small the action of the system is slow and the machining precision is bad Over cutting occurs if the value is below 10 PA10 Orientation feedforward gain is set for 0 PA11 Cut off frequency of orientation feedforward instruction filter range 1 1200 While the orientation feedforward gain ...

Page 69: ...n circuit over voltage Power voltage of main circuit too high 3 Main circuit under voltage Power voltage of main circuit too low 4 Orientation oversize Value of orientation deviation counter exceeding its setting 5 The motor overheated Motor temperature too high 6 Saturation fault of speed amplifier Long saturation of speed regulator 7 Abnormity of drive stop CCW CW drive stop OFF 8 The orientatio...

Page 70: ...correctly the input instruction pulse Acceleration deceleration time constant is too small to cause the speed overshooting too large Increase acceleration deceleration time constant The electronic gear ratio input is too large Set it correctly Encoder fault Change the servo motor Encoder cable is inferior Change the encoder cable Occurring in motor running Servo system is not stable to cause the o...

Page 71: ...oltage Occurring in motor running The capacity of brake loop is not enough Reduce start stop frequenc Increase acceleration deceleration time constant Reduce torque limit Reduce load inertia Change the driver and motor with larger ones Circuit board is at fault Fuse of power supply is damaged Soft start circuit fault Rectifier is damaged Change servo driver Occurring in switching on main power sup...

Page 72: ...tion pulse Instruction pulse frequency is too high Reduce the frequency Circuit board is at fault Change the servo driver Occurring in switching on control power supply Cable is broken Internal temperature relay of motor is damaged Check the cable Check the motor Motor is overloaded Reduce the load Reduce the start stop frequency Reduce the torque limit value Reduce the related gain Change the dri...

Page 73: ...iver is inferior Switch power supply is abnormal Chip is damaged Change the driver Check the connector assembly Check the switch power supply Occurring in switching on control power supply Circuit board is at fault Change the servo driver Power up voltage is low Overheated Check the driver Power on again Change the driver Driver U V W terminals are short circuit Check the connection Earthing is no...

Page 74: ...Overload Occurring in motor running One of U V W phases is broken off The connection of encoder is mistaken Check the connection Occurring in switching on control power supply Circuit board is at fault Change the servo driver Brake resistance connection is broken off Connect the wire again Brake transistor is damaged Internal brake resistance is damaged Change the servo driver Err 14 Brake circuit...

Page 75: ...rheating Occurring in motor running Mechanical transmission is not good Check the mechanical part Err 20 Data and detecting alarm of EEPROM EEPROM chip damaged Chip or circuit board is damaged Change the servo driver Driver model parameter PA01 must be set again after repairing then restore the defaults Chip or circuit board is damaged Change the servo driver Err 22 Zero adjusting error of encoder...

Page 76: ...h three phase type The following isolated transformer models provided by us have good quality high cost performance ratio and good looking figure and user can choose according to your servo motor power and actual load Table 8 1 Isolated transformer specification Type Capacity KVA Phase Input voltage V Output voltage V BS 120 1 2 BS 200 2 0 BS 300 3 0 Three phase BD 80 0 8 BD 120 1 2 Single phase 3...

Page 77: ...Chapter 8 Isolated transformer 65 Fig 8 2 Outline and installation dimensions for BS 200 model ...

Page 78: ...GSK CNC Equipment Co Ltd 66 Fig 8 3 Outline and installation dimensions for BS 300 model ...

Page 79: ...Chapter 8 Isolated transformer 67 Fig 8 4 Outline and installation dimensions for BD 80 model ...

Page 80: ...GSK CNC Equipment Co Ltd 68 Fig 8 5 Outline and installation dimensions for BD 120 model ...

Page 81: ...d of motor 2πM is the work done by the motor torque M in a revolution while FL is the work done by force F moving an object for L distance Practically due to the factors of transmission efficiency and friction coefficient the torque required by ball screw overcoming the external load force P for uniform velocity movement is shown as following diagram W ith pre fastened double nuts Servo m otor Bal...

Page 82: ... rolling slideway µ 0 003 0 004 η1 Efficiency of ball screw 0 90 0 95 MB Frictional torque of supporting bearing namely start torque N m which can be looked up in the sample of bearing for ball screw z1 Tooth number of gear 1 z2 Tooth number of gear 2 Select a servo motor which satisfies the following inequation M1 Ms Ms is the rated torque of the servo motor Calculation for inertia matched The fo...

Page 83: ...d screw L lead screw lead hsp 3 The inertia converted to the motor shaft in deceleration and the deceleration of gears gear form belt drive J J0 2 1 z z 2 Motor Tooth number Refer to the sketch map above the load inertia JL converted to the motor shaft is JL JG1 2 1 z z 2 JG2 JS g W π 2 L 2 kg m2 JG1 Inertia of gear 1 kg m2 JG2 Inertia of gear 2 kg m2 JS Inertia of ball screw kg m2 Calculation of ...

Page 84: ...t above can t be met increment of mechanical reduction ratio the actual highest speed is lowered or a higher capacity motor may be employed 9 2 Electronic gear ratio Refer to chapter 4 Section 4 2 Parameter function chapter 6 Section 6 2 5 Orientation control run for the significance and adjustment of electronic gear ratio In the orientation control mode the actual speed of load is Instruction pul...

Page 85: ...ncy denominator DR Servo dividing frequency numerator DD Servo dividing frequency denominator ST Servo motor scale of per rev ZD Side gear tooth numbers of motor ZM Side gear tooth numbers of lead screw L Lead screw pitch mm Generally S I the instruction value is equal to the actual one 2 Max instruction speed of CNC F Instruction speed mm min fmax Max output frequency of CNC Hz L ZM ZD ST DD DR C...

Page 86: ...max Max speed allowed by servo motor r min The practical max speed of machine is limited by max speed of CNC and servo 4 Min movement of machine tool α Min movement of machine tool mm N Natural number INT Integer rounding INT min Min integer L DD DR n V max max δ α L ZM ZD ST DD DR CD CR N INT INT 1 min ...

Page 87: ......

Page 88: ...d Luochongwei Guangzhou 510165 China Website http www gsk com cn E mail gsk gsk com cn Tel 86 20 81796410 81797922 Fax 86 20 81993683 All specifications and designs are subject to change without notice Nov 2006 Edition 1 Nov 2006 Printing 1 ...

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