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DA98E Series AC Servo Drive Unit    User Manual 

 

6 

Safety Responsibilities 

 

Safety Responsibilities of Manufacturer 

—— The manufacturer shall be responsible for the risks eliminated and/or controlled in 

the design and structure of the supplied servo unit and accompanying accessories.   

——The manufacturer shall ensure the safety of the supplied servo unit and 

accompanying accessories.   

——The manufacturer shall be held responsible for the information and advices on 

usage given to the user.   

 

Safety Responsibilities of User 

——A user shall study and be trained for the safe operation of the servo unit and 

understand and master the knowledge regarding safe operation. 

——The user shall take responsibility for the risks arising from his/her addition, change 

or modification of the original servo unit and accessories. 

——The user shall be held responsible for the risks caused by the operations, 

adjustments, installation and transport of the product without following the 
requirements of the manual.

 

 

This manual is retained by the end user.   

Thank you for your friendly support in using the products of GSK 

CNC Equipment Co., Ltd. 

Summary of Contents for DA98E Series

Page 1: ......

Page 2: ...l content limit product specific operations and other causes Therefore the operations not specified herein shall be considered impossible or unallowable This user manual is the property of GSK CNC Equipment Co Ltd All rights are reserved It is against the law for any organization or individual to publish or reprint this manual without the express written permission from GSK and the latter reserves...

Page 3: ...contents herein are subject to change as a result of product modification without further notice We assume no reliability for any consequence of user s modification of the product In this case the product warranty will become void To ensure the safety as well as the normal and efficient operation of the product it is important to thoroughly read this manual prior to the installation and operation ...

Page 4: ...least five minutes before moving wiring examining or maintaining it Negligence of the instruction may lead to electric shock or fire Negligence of the instruction may lead to electric shock Strictly abide by the procedures herein in wiring Make sure to tighten the power supply terminals and motor output terminals Negligence of the instruction may lead to equipment damage and electric shock Neglige...

Page 5: ...shock The electric motor must be equipped with a suitable servo unit The voltage applied on all terminals must be consistent with the ratings specified on the manual Negligence of the instruction may lead to equipment damage Negligence of the instruction may lead to equipment damage Loaded operation is only permitted after successful no load operation In case of alarm make sure to eliminate the tr...

Page 6: ... during operation as they may become very hot Do not perform any limit adjustment or change of parameters Negligence of the instruction may lead to burn Negligence of the instruction may lead to equipment damage Do not attempt to modify remove or repair the drive unit without permission from your dealer The electronic components inside a discarded drive unit shall be disposed as industrial waste w...

Page 7: ...s on usage given to the user Safety Responsibilities of User A user shall study and be trained for the safe operation of the servo unit and understand and master the knowledge regarding safe operation The user shall take responsibility for the risks arising from his her addition change or modification of the original servo unit and accessories The user shall be held responsible for the risks cause...

Page 8: ...als 21 3 3 Circuitous Philosophy of I O Interface 28 Chapter 4 Parameters 29 4 1 Summary of Parameters 29 4 2 Functions of Parameters 32 4 3 Checklist of Model Numbers and Specification of Motor 42 Chapter 5 Alarms and Remedies 44 5 1 Abnormalities Arising from Improper Usage 44 5 2 Summary of Alarms 45 5 3 Solutions for Alarms 47 Chapter 6 Display and Operations 58 6 1 Keyboard Operations 58 6 2 ...

Page 9: ...ter 8 Product Specification 75 8 1 Specification of Drive Unit 75 8 2 Specification of Servomotor 76 8 3 Isolation Transformer 85 Chapter 9 Ordering Guide 91 9 1 Capacity Selection 91 9 2 Electronic Gear Ratio 91 9 3 Stop Characteristics 92 9 4 Calculation for Type Selection of Servo and Position Controller 92 9 5 Examples of Model Numbers Available for Ordering 93 ...

Page 10: ... the system may exert control over the operation of a motor and better realize the real time monitoring of the control and drive Unit through configuration of position speed command and adaptive parameters of the system thereby further improving the processing efficiency and accuracy of the NC system With a built in advanced and dedicated chip for control over the motor a FPGA Field Programmable G...

Page 11: ... an AC servomotor 3 phase permanent magnet synchronous motor hereinafter called servomotor The servo unit rectifies 3 phase alternating current into direct current namely AC to DC and produces approximately simple harmonic alternating current with 120 phase difference in the 3 phase stator winding of the servomotor by controlling the switching of the power switching tube The current creates a rota...

Page 12: ...al rotating speed or angle of rotation of the servomotor rotor from the command value within the required range by continuous regulating the amplitude and frequency of the current through the winding of the servomotor The basic structure of the servo system is shown in Figure 1 2 Control unit Power drive unit Motor Driving machine Feedback check CNC equipment AC servo drive equipment setting Figur...

Page 13: ...not provided with a feedback device For a stepper motor drive for example the rotor of a stepper motor shall rotate with the change in the phase sequence of its output current Since normally a stepper motor is not fitted with a speed or position feedback device excessive load or acceleration deceleration may prevent the motor rotor from accurately rotation with the change in the phase sequence of ...

Page 14: ...ntroller input time integral upon output input gradually affects output The bigger an integral time constant is the more smoothly the system runs without steady state error and the slower the system responds D is the initial of Differential indicating the influence of input differential the slope of input change Differential control can forecast produces advanced correction reduces following error...

Page 15: ...rque control The amplitude and direction of the output torque of the motor are set by means of analog voltage or data communication The servo unit controls the direction of rotation and output torque of the motor rotor The servo unit described herein currently does not receive any torque setting signal or provide torque controlling mode PG Position feedback signal Power amplification Current adjus...

Page 16: ...ference Rmax t R t between rotating speed output and steady state value to steady state value R t It reflects the relative stability of a servo unit and is as follows when indicated by percentage 100 max t R t R t R σ Steady state error The difference between the expected steady state value and actual output of the system after rotating speed becomes steady during system response Servo static perf...

Page 17: ...Receiving Inspection 1 When the goods is received make sure to inspect the following items 1 Check that the packing case is integrate and no cargo is damaged in transport 2 Check that the received goods are those ordered against the nameplates on the servo drive unit and servomotor 3 Check that the accessories are complete against the packing list Attentions z Do not install a defective or incompl...

Page 18: ...le 150 10 1 15N m None Aviation socket type Shaft extenstion or installation config Y Special cylinder shaft extension Encoder type A or None Increment type 2500 p r Rated speed AC synchronous servo motor Safe brake A Remark The working power supply of safe brake is DC 0 9 1 1 24V the interface is 3 cord socket pin 1 and pin 2 are power supply terminal not differ polarity pin 3 is earth terminal W...

Page 19: ...S1 plug DB9 jack BUS2 plug DB9 pin 1 set Note 1 CN1 plug DB26 jack 1 set Note 2 The standard accessories of a servo motor will be supplied to its operation manual Note 1 Our Ethernet bus communication position control device is supplied with a CAT 5e UTP signal cable standard length 3m Note 2 A feedback cable standard length 3m is available with our servomotor upon user s request Note 3 The encode...

Page 20: ...Chapter 1 Summary 11 2 Appearance of Servomotor ...

Page 21: ...nd impact z Never pull the motor cable shaft and encoder 2 1 Ambient Conditions Item DA98E series of servo drive Unit GSK SJT series of servomotors Operating temp humidity 0 40 nonfreezing RH 90 noncondensing 10 40 nonfreezing RH 90 noncondensing Storage and transport temp humidity 20 70 90 RH noncondensing 40 70 RH 85 noncondensing Atmospheric environment In a control cabinet without corrosive or...

Page 22: ...nstalled in an environment at altitude less than 2000m and temperature below 40 and protected with good ventilation conditions 1 Vibration and Impact The drive unit shall be protected from vibration Measures shall be taken to control vibration under 0 5 4 9m s2 as the drive unit cannot bear any high pressure or impact 3 Installation Procedure 1 Installation Means The user may install the unit by m...

Page 23: ...nit 2 Installation Space Figure 2 3 shows the installation space for a single drive unit and Figure 2 4 the spacing between several drive Unit In actual installation a space as big as possible shall be kept to ensure good heat ventilation Figure 2 3 Installation space for single drive unit ...

Page 24: ...its shaft outgoing wires or encoder z The motor shaft shall be protected from overloading as this may cause damage to it z The motor must be installed securely and protected from becoming loose 1 Installation Environment 1 Protection In consideration of that currently GSK SJT series and Huazhong ST series of servomotors are not waterproof the motors must be kept away from liquid and oil or water p...

Page 25: ...ure 1 Installation Means At present the SJT and ST series of motors are installed in any direction by means of flange 2 Precautions for Installation z While removing the pulley do not know the motor or its shaft as this may cause damage to the encoder Remove or fit it with a spiral pressing and pulling tool z Currently most of the SJT and ST series of motors cannot bear high axial and radial loads...

Page 26: ...ct or bind them together In wiring the connecting cables for the main circuit and signal cables shall be routed separately or crosswise with spacing over 30cm in order to prevent heavy current lines from interfering the signal cables and causing the malfunction of the servo unit Do not frequently turn on off the power supply as the built in high capacity capacitors in the servo unit generates high...

Page 27: ...potential of electric shock z It is recommended to supply power through a noise filter in order to improve the anti jamming capacity of the unit z Install non fusible NFB breaker so that the external power supply can be duly disconnected in the event of drive unit fault 2 Control Signals BUS1 and BUS2 and Feedback Signal CN1 z CAT 5e UTP engineering cables are used control signal cables z Sizes of...

Page 28: ...r insulating property from deterioration by heating z The high capacity electrolytic capacitors in the servo drive unit maintain high voltage residual voltage immediately after power off Do not touch the drive unit and the motor within five minutes after power off Figure 3 1 Standard wiring for position and speed control modes when an incremental encoder is provided Three phase or single phase Ser...

Page 29: ...C Servo Drive Unit User Manual 20 Figure 3 2 Standard wiring for position and speed control modes when a Tamagawa absolute encoder is provided Three phase or single phase Servo driver Electric motor Absolute encoder ...

Page 30: ...ng the terminals on the servo drive unit and absolute encoder type motor In the diagram TB is a terminal block and BUS1 and BUS2 are DB9 connectors CN1 is a MDR26 connector Figure 3 3 Diagram of configuring the terminals on the drive unit and incremental encoder type motor R S T PE U V W P D r t TB 1 2 3 4 5 7 6 8 9 10 11 12 13 14 15 16 17 18 20 19 21 22 23 24 25 26 GND GND GND GND VCC VCC VCC VCC...

Page 31: ...utput terminals U V and W of the motor TB 4 PE Grounding of the system Ground terminal Earth resistance 100Ω The output and power input of the servo motor share one grounding terminal TB 5 U TB 6 V TB 7 W Output of servo motor Output terminals of servo motor They must be connected to the terminals U V and W of the motor correspondingly TB 8 P Reserved TB 9 D Reserved TB 10 r TB 11 T Control power ...

Page 32: ...nding BUS2 7 ATX Typel Bus differential data sending Brief Description of Bus Communication Control terminals BUS1 and BUS2 are the connection network created by the control device and servo in order to compose a closed loop of Ethernet transfer The data transferred through Ethernet includes periodic and non periodic data Periodic data is transferred once per Interpolation period and non periodic ...

Page 33: ...nable zeroing 1 is valid Bit9 Zeroing direction 1 is valid Bit10 Bit15 Reserved The format of the MDT data send by the servo unit 5 words Length of periodic data 10 bytes 16bits 32bits 32bits Control word Current position information Reserved The format of the MDT control words send by the servo unit The format of the control words send by the servo 16bits Control bit Meaning Remarks Bit0 Servo is...

Page 34: ...NC i e BUS2 of CNC to the servo BUS1 DB 9 holes is the first axis Axis X The servo connecting BUS2 DB 9 pins back to the bus interface 1 of the system i e BUS1 of CNC is the last axis 4 Feedback signal terminal CN1 Feedback signal from an incremental encoder Table 3 4 Signal input output terminal CN1 of encoder Terminal marking Color Functions Terminal No Signal designation Marking I O Mode CN1 14...

Page 35: ...4 Connecting the Z of the photoelectric encoder for the servomotor CN1 3 Encoder U input U Connecting the U of the photoelectric encoder for the servomotor CN1 2 Encoder U input U Type4 Connecting the U of the photoelectric encoder for the servomotor CN1 1 Encoder V input V Connecting the V of the photoelectric encoder for the servomotor CN1 10 Encoder V input V Type4 Connecting the V of the photo...

Page 36: ...f the photoelectric encoder for the servomotor CN1 26 Encoder SD input SD Type4 Connecting the A of the photoelectric encoder for the servomotor CN1 24 CN1 25 Battery input 3 6V The absolute encoder for the servomotor uses 3 6V power supply to maintain the data of several loops For a long cable connect several core wires in parallel If the servo unit is not powered on for an extended period of tim...

Page 37: ...oelectric Encoder for Servomotor Figure 3 7 Input Interface of Incremental Photoelectric Encoder for Servomotor 2 Input Interface of Tamagawa Absolute Photoelectric Encoder for Servomotor Figure 3 8 Input Interface of Absolute Encoder for Servomotor Drive unit side Motor side X X X A B Z U V W AM26LS32 Motor side Drive unit side ...

Page 38: ... unit of GSK 110SJT M040D 4N m 2500rpm motor as an example The relevant parameters vary with motors z The current software version is V2 05 for servomotors with incremental encoder Table 4 1 Summary of Parameters S N Name Applicable mode Range of parameter Delivery setting Unit 0 Password P S 0 9999 315 1 Model code P S 0 78 60 2 Software version read only P S 3 Initial display status P S 0 21 0 4...

Page 39: ...0 21 Speed of JOG operation S 3000 3000 120 rpm 22 Selection of internal and external commands S 0 4 0 23 Limitation of maximum speed P S 0 4000 3000 rpm 24 Internal speed 1 S 3000 3000 0 rpm 25 Internal speed 2 S 3000 3000 100 rpm 26 Internal speed 3 S 3000 3000 300 rpm 27 Internal speed 4 S 3000 3000 100 rpm 28 Arriving speed S 0 3000 500 rpm 29 Contracting brake release signal delay P S 0 1000 ...

Page 40: ... operation S 0 300 100 V2 04 Reserved 39 V3 00 Writing in of drive unit type P S 0 100 0 40 Acceleration time constant S 1 10000 0 ms 41 Deceleration time constant S 1 10000 0 ms Note 1 The current version of the software for the servo with a Tamagawa absolute type encoder is V3 01 The version only applies to the servomotor with a Tamagawa 17 bit absolute encoder Note 2 No 39 parameter in V3 01 is...

Page 41: ...assword 385 0 9999 1 Model code Different model codes correspond to the Drive Unit and motors at different power levels in the same series Different model codes correspond to different default parameter settings Always ensure the correctness of this parameter while using the default parameter recovery function In the event of EEPROM alarm No Alarm 20 make sure to set this parameter again and then ...

Page 42: ...ear speed 10 To display control modes 11 To display the frequency of position command pulse 12 To display a speed command 13 To display a torque command 14 To display the absolute position of the rotor in a revolution 15 To display the state of input terminal 16 To display the state of the output terminal 17 To display the input signal of the encoder 18 To display the operating state 19 To display...

Page 43: ...tional gain of the speed ring adjuster The bigger the setting is the higher the gain and rigidity and the smaller the speed overshooting during acceleration and deceleration will be The setting of the parameter depends on the specific model number and load of the drive system As a general rule the setting declines with the increase of load inertia It shall be set as big as possible provided that t...

Page 44: ...tection The parameter is used to set the characteristics of the low pass filter for speed detection The smaller the setting is the lower the cut off frequency the better the filtering effect and the lower the noise produced by the motor will be In case of high load inertia it is possible to appropriately reduce the setting Excessively small setting may slow down response increase speed fluctuation...

Page 45: ...y of the low pass filter for the position feedforward quantity This filter is intended to improve the compound position control 1 Hz 1200Hz 12 Numerator of position command countdown This parameter is used to set the frequency division and multiplication of command pulse electronic gear In position control mode it is very easy to be adaptive to all pulse sources by setting the PA12 PA13 parameter ...

Page 46: ...number in the position deviation counter is less than or equal to the setting of the parameter the drive unit unit considers that the positioning has been completed The positioning completion signal is COIN ON Otherwise it is COIN OFF The output positioning completion signal is COIN in the position control mode and the output speed reaching signal SCMP 0 30 000 pulses 17 Range of position out of t...

Page 47: ... the torque in CCW direction is 0 The same goes for CW If both CCW and CW drive disabling switches are turned off a drive disabling input error alarm will be given 1 CCW and CW input disabling is deactivated CCW and CW drives are allowed irrespective of the state of CCW and CW drive disabling switches At the same time a drive disabling input error alarm will not be given if both CCW and CW drive d...

Page 48: ...parator has lagging characteristics 0 ms 3000rpm 29 Contracting brake release signal delay When the drive unit is enabled SON is ON the contracting brake release signal will delay the output by following the delay time set by the parameter in order to ensure that the contracting brake motor will release the contracting brake unit only after it is energized and excited and that the workbench will n...

Page 49: ...system cancels the enabling signal the drive unit continues to excite the motor for some time to ensure that the motor contracting brake fully arrests the motor rotor before stopping the excitation of the motor Delay time Setting 4ms 0 2000 ms 34 Limitation of internal CCW torque This parameter is used to set the internal torque limit in the CCW direction of the servomotor The setting is a percent...

Page 50: ...example if it is set to one time the rated torque the setting is 100 The limitation is active only when the CW torque limit input terminal RIL is ON When the limitation is active the actual torque limit is the smallest of the absolute values of the maximum overloading capacity of the system internal CW torque limit and external CW torque limit 300 0 38 Torque limitation of speed trial operation an...

Page 51: ...n of position varies a lot for incremental and absolute servomotors The setting of No 9 parameter of V3 01 to 8 corresponds to setting of No 9 parameter of V2 05 to 60 4 3 Checklist of Model Numbers and Specification of Motor Table 4 3 Checklist of No 1 Parameter and Star Series of Servo Motors 1 Parameter Model numbers and Specification of Servomotors Remarks 30 110ST M02030H 0 6kw 220V 3000rpm 4...

Page 52: ...10 3 kg m2 68 130SJT M100D 2 5kw 220V 2500 rpm 10A 2 42 10 3 kg m2 69 130SJT M150B 2 3kw 220V 1500 rpm 8 5A 3 1 10 3 kg m2 70 130SJT M150D 2 3kw 220V 1500 rpm 8 5A 3 1 10 3 kg m2 71 175SJT M150D 3 1 kw 220V 2500 rpm 14 A 5 1 10 3 kg m2 72 175SJT M180B 2 8 kw 220V 1500 rpm 15 A 6 5 10 3 kg m2 73 175SJT M180D 3 8 kw 220V 2500 rpm 16 5 A 6 5 10 3 kg m2 74 175SJT M220B 3 5 kw 220V 1500 rpm 17 5 A 9 0 ...

Page 53: ...de Check the setting of PA4 The motor fails to operate when pulse commands are given in the position mode 2 Failure to give an enabling signal Check that SON is correct and judge that the CNC of the system can give enabling signal by examine or internally force enabling by setting PA98 1 Excessive vibration during the operation of the motor Improper setting of proportional gain of speed ring and i...

Page 54: ...sition ring 5 2 Summary of Alarms Table 5 2 Summary of Alarms Alarm code Alarm name Contents 1 Overspeed The speed of the servomotor is higher than the setting 2 Overvoltage of main circuit Excessively high supply voltage of main circuit 3 Undervoltage of main circuit Excessively low supply voltage of main circuit 4 Position out of tolerance The indication of the position deviation counter goes be...

Page 55: ...ion of bus communication Table 5 3 Added Alarms of V3 01 Software 18 Overspeed of encoder Overspeed of absolute encoder 21 Error of reading and writing of encoder EEPROM Error of reading and writing of absolute encoder EEPROM 24 Multi turn data error Absolute encoder s error in reading multi turn data 25 Error of encoder battery The voltage of external battery is below 2 5V 26 Encoder battery alar...

Page 56: ...cessive speed overshooting Increase the acceleration deceleration time constant The electronic gear ratio entered is too high Correctly set the ratio Fault of encoder Change the servomotor Defective power cable of encoder Change the power cable of encoder The alarm is given during the operation of the motor The servo system is not stable causing overshooting Reconfigure the relevant gain If the ga...

Page 57: ...given when the control power supply is switched on Fault of circuit board Change the servo Drive Unit The alarm is given when the main power supply is switched on High supply voltage Abnormal waveform of supply voltage Check the power supply The wires connecting the brake resistor are disconnected Connect the wires again 2 Overvoltage of main circuit The alarm is given during the operation of the ...

Page 58: ...Damaged rectifier Change the servo drive unit The alarm is given when the main power supply is switched on Lover supply voltage Temporary power fai lure for 20mS or longer Check the power supply Insufficient capacity of power supply Transient power failure Check the power supply 3 Undervoltage of the main circuit The alarm is given during the operation of the motor Overtemperature of radiator Chec...

Page 59: ...ely low proportional gain of position Increase the gain Insufficient torque Check the torque limit Reduce the load capacity Replace it wi th a drive unit and motor with higher power When the main power supply and control cables are connected and command pulses input the motor does not rotate High command pulse frequency Reduce the frequency Fault of circuit board Change the servo drive unit 5 Over...

Page 60: ...during the operation of the motor Excessive load Reduce the load Replace it with a drive unit and motor with higher power 7 Drive disabling failure Both CCW and CW drive disabling input terminals are open Che ck the wiring and the power supply for the input terminals 8 Overflow of the position deviation counter The motor is mechanically blocked Abnormal input command pulse Check the mechanical por...

Page 61: ...s Check the switching power supply The alarm is given when the control power supply is switched on Fault of circuit board Change the servo drive unit Low supply voltage Overheating Check the Drive Unit Restart it Replace the Drive Unit Short circuit b etween terminals U V and W of the Drive Unit Check the wiring Improper grounding Correctly ground it Damaged insulation of the motor Change the moto...

Page 62: ...er power The holding brake is not released Check the holding brake Unsteady operation of the motor with vibration Adjust the gain Increase the acceleration deceleration time Reduce the load inertia 13 Overload The alarm is given during the operation of the motor Open circuit of one of the wires U V and W Error in encoder wiring Check the wiring The alarm is given when the control power supply is s...

Page 63: ...oltage on the main circuit Check the main power supply Damaged encoder Change the motor Error in encoder wiring Check the wiring 15 Counting error of encoder Improper grounding Correctl y ground it 20 EEROM error Damaged chip or circuit board Change the servo Drive Unit After the remedy make sure to set the model number No 1 parameter again and then restore the default parameters 23 A D conversion...

Page 64: ...ncoder Check the encoder interface circuit 32 Illegal encoding of UVW signal of encoder Damage of UVW signal of encoder Defective power cable Poor cable shielding Improper connection of shield earth wire Fault of the encoder interface circuit Change the encoder Check the encoder interface circuit 33 Abnormality of bus communication Loose network cable and poor contact Damaged communication chip in...

Page 65: ...al battery is lower than 2 5V The absolute encoder operates incorrectly Change the external battery Change the servomotor Reconfigure the zero point of the machine tool 26 External battery alarm The voltage of the external battery is lower than 3 1V Check the external battery and when necessary change it 27 Mismatching model number of motor The motor model number saved in the memory of the drive u...

Page 66: ...ged Change the servo drive unit The communication quality is impaired by interference causing the error of data transmission Check and adjust the wiring of the encoder 29 Alarm of absolute position abnormality The encoder is defective Change the servo motor if it frequently happens ...

Page 67: ...onal menu or cancel an operation Enter To enter the next layer of functional menu or confirm entry Note When and are pressed and held an operation is repeated The repeating rate increases with the holding time 2 The 6 digit LED nixie tubes indicate all states and data The flashing of all the nixie tubes or the decimal point on the right nixie tube indicates an alarm 3 The operating menus are arran...

Page 68: ... position x 100 000 pulses Lower 5 digits of position command pulse Upper 5 digits of position command x 100 000 pulses Upper 5 digits of position command x 100 000 pulses Lower 5 digits of position deviation pulse Upper 5 digits of position deviation x 100 000 pulses Upper 5 digits of position deviation x 100 000 pulses Motor torque Motor current A Linear speed m min Current control mode Pulse fr...

Page 69: ...one revolution relative to the stator A revaluation is regarded one cycle and its range is 0 9999 The range of single turn absolute date indication is 0 131072 for V3 01 Note 8 V3 01 software provides no input signal display terminal It is used to display the multi turn data of the absolute encoder 32767 32767 Note 9 The input terminals are indicated as shown in Figure 6 3 No input signal display ...

Page 70: ... 2 It indicates err in case of alarm means that the system operates normally without alarm 6 3 Parameter Setting Attention z Other parameters cannot be changed unless No 0 parameter is set to the corresponding value z To set parameters first make sure the model number of the motor in No 1 parameter conforms to that of the motor z The parameter setting becomes effective immediately and improper set...

Page 71: ...cting state by pressing the key If you are not satisfied with the setting being changed press the key other than the Enter key to cancel the setting restore it to the original value and return to the parameter setting state Figure 6 6 Block diagram of parameter setting 2 Setting of Parameters on the System After start first check the drive unit parameters saved in CNC system and servo are consiste...

Page 72: ...arameter area of EEPROM When the parameter is modified a user can only change its setting in the memory and it will be restored to the original value in the next power on For permanent modification of the parameter setting it is required to perform parameter writing in operation The changed setting will be used in the next power on if the parameters in the memory are written in the parameter area ...

Page 73: ... of EEPROM by parameter writing z EE rS to recover backup It means that the data in the backup area of the EEPROM is saved in memory Note that parameters are not written in this operation and the data in the parameter area of EEPROM will be read in the memory in the next power on If a user wants to use the parameters in the backup area of EEPROM permanently the parameter writing operation must be ...

Page 74: ...Trial operating mode then select Sr in the first layer and press the Enter key to start the trial operating mode The prompt for speed trial operation is S and figures are expressed in rpm When the system is speed control mode the speed command is given by keys Speed commands may be changed using and keys so that the motor operates at given speed Speed is increased in forward direction when is pres...

Page 75: ...s released The motor operates reversely at JOG speed when the key is depressed and stops and keeps zero speed when it is released JOG speed is set through No 21 parameter Speed commands may be changed using and keys so that the motor operates at given speed Speed is increased in forward direction when is pressed and decreased in reverse direction increased in reverse direction when is pressed The ...

Page 76: ...e Figure 7 1 for connection to power supply and switch on the equipment in the following sequence 1 Connect the power supply to the input power terminals of the main circuit to R S and T for 3 phase and to R and S for single phase through an electromagnetic contactor 2 The power supplies r and t to the control circuit and the power supply to the main circuit are switched on simultaneously or the f...

Page 77: ... after the removal of the fault Figure 7 1 Power supply wiring diagram Time sequence of power on and alarm Figure 7 2 Diagram of power on time sequence 3 phase or single phase Emergency stop Servo driver Noise filter Power supply of control circuit Servo alarm output Power supply of main circuit Servo ready output Servo enabling input Servo ready Excitation of servo motor Response in 10ms ...

Page 78: ...ly correct z Are the drive unit and motor fixed securely z Is the motor shaft connected to a load 2 Power on and Trial operation A Trial operating mode 1 Connect network cables BUS1 and BUS2 so that the input control signal Servo Enabled SON is OFF 2 Turn on the control circuit the main circuit is not switched on for the time being The display of the drive unit is on If an alarm is given check the...

Page 79: ...led SON to ON Now the motor is excited and operates at zero speed 6 Start JOG operation through key operations The prompt for speed Trial operation is J and figures are expressed in rpm When the system is speed control mode the speed and direction are dependent on No 21 parameter The motor operates at the speed in the direction as specified in No 21 parameter when is pressed and runs reversely at ...

Page 80: ...3 Adjustments Attention z Make sure the parameters are set correctly as incorrect parameter configuration may cause equipment fault and accidents z It is advised to make no load adjustments before the equipment is loaded 1 Basic Gain Adjustment z Speed Control 1 Proportional gain of speed No 5 parameter shall be set as big as possible provided that no vibration occurs Generally the setting of Prop...

Page 81: ...tter the position overshoot and vibration are suppressed The smaller the setting is the less clear the effect of feedforward and the bigger the vibration caused by feedforward control will be in case of sudden change in speed As a general rule it is possible not to use PA10 Feedforward gain of position and PA11 Cut off frequency of positional feedforward low pass filter Note 1 When the setting of ...

Page 82: ...requency circuit Pt is equal to 4 C C is the number of lines of the encoder in each revolution Pt is equal to 10 000 pulses revolution since C is 2 500 lines revolution in the system A command pulse can be converted to a position control pulse only when it is multiplied by the electronic gear ratio G Therefore a command pulse stroke l is expressed as l Pt S Δ G Where division frequency pulse comma...

Page 83: ...r 150ms 2 Factors Influencing the Servomotor The start stop frequency and acceleration deceleration time permitted by different types of motors vary with load condition operating time loading constant rate ambient temperature and other factors Make adjustments as required by following the instruction manual for the motor in order to avoid alarm or influence on service life due to overheating 3 Adj...

Page 84: ...sing Operating environment Vibration 0 5G 4 9m s2 10Hz 60Hz discontinuous operation DA98EA Non bus oriented incremental encoder servo motor DA98EB bus oriented incremental encoder servo motor Controlled object Single axis servo motor DA98EC bus oriented absolute encoder servo motor Minimum communication cycle 50µs Length of communication data 0 256 Bit Communication interface Ethernet bus communic...

Page 85: ...or torque motor current linear speed absolute position of rotor command pulse frequency operating state input output terminal signal etc The speed and current of the motor may be monitored on the CNC side and drive side Protective functions Overspeed overvoltage and undervoltage of main power supply overcurrent overload braking failure encoder malfunction abnormality of control power position out ...

Page 86: ...nding The schematic diagram of the motor winding is as shown below A B and C are the outlet terminals of the winding Outlet means 4 pin socket Table 8 2 Wiring of motor Outlet means of the photoelectric encoder 19 pin socket Table 8 3 Wring of encoder 2 Winding for SJT Series of Motors The schematic diagram of the motor winding is as shown below U V and W are the outlet terminals of the winding Ou...

Page 87: ... 14 12 15 Marking Vcc GND A A B B Z Z U U V V W W GND is the earth wire of encoder power supply Vcc Pin 1 is grounded enclosure Table 8 6 Wiring of absolute encoder Marki 2 3 4 7 5 8 6 9 10 13 11 14 12 15 Pin VCC GND A A B B Z Z U U V V W W Rem arks GND is the earth wire of encoder power supply Vcc Pin 1 is grounded enclosure Socket No 2 3 4 Motor winding U V W Remarks Pin 1 is grounded enclosure ...

Page 88: ... 220 300 Note Specify the specification while ordering a motor with dead electromagnet brake Table 8 8 Specification of ST series of motors Model number Power kw zero speed Torque Nm Rated torque rpm Rated current A Rotor inertia kgm2 Mechanical time constant ms Operatin g voltage V DC Mass kg 110ST M02030 0 6 2 3000 4 0 0 33 10 3 3 64 220 300 4 2 110ST M04030H 1 2 4 3000 7 5 5 0 0 65 10 3 2 32 22...

Page 89: ... high voltage Note 2 Specify the specification while ordering a motor with dead electromagnet brake 3 External Dimensions 1 External view and installation dimensions of 80SJT series of motors Industrial aviation socket type Cable plug in type Fig 8 1 External view and installation dimensions of SJT series of AC servomotors with 8 base ...

Page 90: ... AC servomotors with 110 base Fig 8 2 External view and installation dimensions of SJT series of AC servomotors with 110 base Table 8 10 Model No D mm N mm LB mm L mm 110SJT M040D A φ190 0 013 φ950 0 035 186 237 241 292 110SJT M040E A φ190 0 013 φ950 0 035 186 237 241 292 110SJT M060D A φ190 0 013 φ950 0 035 212 263 267 318 110SJT M060E A φ190 0 013 φ950 0 035 212 263 267 318 Note The LB and L fig...

Page 91: ...7 225 284 130SJT M050D A φ220 0 013 φ1100 0 035 168 227 225 284 130SJT M060D A φ220 0 013 φ1100 0 035 176 235 233 292 130SJT M075D A φ220 0 013 φ1100 0 035 188 247 245 304 130SJT M100B A φ220 0 013 φ1100 0 035 208 267 265 324 130SJT M100D A φ220 0 013 φ1100 0 035 208 267 265 324 130SJT M150B A φ220 0 013 φ1100 0 035 238 297 295 354 130SJT M150D A φ220 0 013 φ1100 0 035 248 307 305 364 Note The LB ...

Page 92: ... M180B A φ350 0 01 φ114 30 0 025 244 311 323 390 175SJT M180D A φ350 0 01 φ114 30 0 025 244 311 323 390 175SJT M220B A φ350 0 01 φ114 30 0 025 279 346 358 425 175SJT M220D A φ350 0 01 φ114 30 0 025 279 346 358 425 175SJT M300B A φ350 0 01 φ114 30 0 025 309 382 388 461 175SJT M300D A φ350 0 01 φ114 30 0 025 309 382 388 461 175SJT M380B A φ350 0 01 φ114 30 0 025 359 432 438 561 Note The LB and L fig...

Page 93: ...16 263 C mm 76 102 118 134 Note The B figures in the brackets are the lengths of the motors with dead electromagnet brake 6 External view of ST series of AC servomotors with 130 base Figure 8 6 External view of ST series of AC servomotors with 130 base zero speed Torque N m 4 5 6 7 7 10 15 A mm 110 119 128 142 166 214 B mm 162 209 171 218 180 227 194 241 218 265 266 313 C mm 80 89 98 112 136 184 N...

Page 94: ...ingle axis the capacity of the isolation transformer shall not be less than 80 of the power of the servo motor A user may select a transformer with capacity between 70 and 100 of the power of the servo motor For two or more axes the capacity of the isolation transformer shall not be less than 70 of the total power of the servo motor A user may select a transformer with capacity between 60 and 80 o...

Page 95: ...DA98E Series AC Servo Drive Unit User Manual 86 Figure 8 7 External view and installation dimensions of BS 120 ...

Page 96: ...Chapter 8 Product of Specification 87 Figure 8 8 External view and installation dimensions of BS 200 ...

Page 97: ...DA98E Series AC Servo Drive Unit User Manual 88 Figure 8 9 External view and installation dimensions of BS 300 ...

Page 98: ...Chapter 8 Product of Specification 89 Figure 8 10 External view and installation dimensions of BD 80 ...

Page 99: ...DA98E Series AC Servo Drive Unit User Manual 90 Figure 8 11 External view and installation dimensions of BD 120 ...

Page 100: ...otating speed 3 Check the inertia and torque Convert the load inertia and load torque to the motor axis with the mechanical reduction ratio The converted inertia and active torque shall not exceed five times the inertia of the motor inertia and the rated torque of the motor respectively If the above requirements cannot be fulfilled increase the mechanical reduction ratio the actual maximum speed i...

Page 101: ...s obtained under the condition that Feedforward gain of position is 0 If Feedforward gain of position is above 0 the lagging pulse will be less than the result of the above formulae 9 4 Calculation for Type Selection of Servo and Position Controller Command position and actual displacement Where S actual displacement mm I command displacement mm δ minimum unit of CNCk mm CR command multiplier fact...

Page 102: ...eger 9 5 Examples of Model Numbers Available for Ordering Table 9 1 Example of types of SJT series of 2500 line incremental servomotor available for ordering Drive unit Main specification of motor Model No Structure Motor Model No Rated power Rated current Rated torque Rated speed Encoder R1 80SJT M024C 0 5kW 3A 2 4N m 2000rpm 2500 line incremental type R1 80SJT M024E 0 75kW 4 8A 2 4N m 3000rpm 25...

Page 103: ...W 6A 10N m 1500rpm 2500 line incremental type R2 130SJT M100D A 2 5kW 10A 10N m 2500rpm 2500 line incremental type DA98E A B 030 R2 130SJT M150B A 2 3kW 8 5A 15N m 1500rpm 2500 line incremental type R3 130SJT M150D A 3 9kW 14 5A 15N m 2500rpm 2500 line incremental type DA98E A B 050 R3 175SJT M180B 2 8kW 15A 18N m 1500rpm 2500 line incremental type R3 175SJT M180D 3 8kW 16 5A 14 5N m 2500rpm 2500 ...

Page 104: ...ructure Motor Model No Rated power Rated current Rated torque Rated speed Encoder R1 110SJT M040D A4 1 0kW 4 5A 4N m 2500rpm 131072 line absolute type DA98EC 020 R1 110SJT M040E A4 1 2kW 5A 4N m 3000rpm 131072 line absolute type R1 110SJT M060D A4 1 5kW 7A 6N m 2500rpm 131072 line absolute type DA98EC 030 R2 110SJT M060E A4 1 8kW 8A 6N m 3000rpm 131072 line absolute type R1 130SJT M040D A4 1 0kW 4...

Page 105: ... A4 2 8kW 15A 18N m 1500rpm 131072 line absolute type R3 175SJT M180D A4 3 8kW 16 5A 14 5N m 2500rpm 131072 line absolute type R3 175SJT M220B A4 3 5kW 17 5A 22N m 1500rpm 131072 line absolute type R3 175SJT M220D A4 4 5kW 19A 17 6N m 2500rpm 131072 line absolute type R3 175SJT M300B A4 4 7kW 24A 30N m 1500rpm 131072 line absolute type DA98EC 075 R3 175SJT M300D A4 6kW 27 5A 24N m 2500rpm 131072 l...

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