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4.3 Speed control mode

4.3 Speed control mode

The speed control applies in the need of accurate-speed control situation, such as braider,

drill, CNC machine. Also may construct a positioning control system with host controller.

4.3.1 Simple example for speed control mode

This is a simple example of speed control (speed command is an analog input). The wiring

diagram is as below.

Summary of Contents for EP3 AC Series

Page 1: ...Wuhan Maxsine Electric Co Ltd...

Page 2: ...this company s written permission forbid strictly the reprint either the part or the complete content of this handbook DECLARATION Because improves and so on the reasons the product specification or d...

Page 3: ...ty and metal powder places Do not use the product in the places that has water oil and drugs drops 2 Wiring Connect the earth terminal PE to earth reliably otherwise can cause an electric shock or fir...

Page 4: ...personnel casualty Do not touch servo driver and servomotor while the equipment is operating otherwise can result in an electric shock or in burn Do not move any connection cables while the equipment...

Page 5: ...ease do not use in some equipment which may directly harm the personal safety such as nuclear energy spaceflight aeronautic equipment and life safeguard life support equipment and each kind of safety...

Page 6: ...1 3 Electric wire specifications 11 2 1 4 Main circuit terminal explanation 12 2 1 5 Servo motor and AC power supply wiring diagrams 13 2 2 X1 terminals for control signals 16 2 2 1 X1 terminal conne...

Page 7: ...position control mode 62 4 3 Speed control mode 63 4 3 1 Simple example for speed control mode 63 4 3 2 Parameters related to speed commands 65 4 3 3 Sources of the speed commands 65 4 3 4 Accelerati...

Page 8: ...tions 105 4 12 Torque limitations 107 4 12 1 Parameters for torque limitations 107 4 12 2 Modes of torque limitation 107 4 13 Timing chart of operation 109 4 13 1 Timing chart when power supply switch...

Page 9: ...ation example 198 Chapter 7 Alarm 199 7 1 Alarm table 199 7 2 The reason and handling of alarm 201 Chapter 8 Specifications 211 8 1 Types of servo driver 211 8 2 Dimensions of servo driver 212 8 3 Spe...

Page 10: ...arameters of 110 series servo motor 229 8 7 6 Parameters of 130 series servo motor 230 8 7 7 Parameters of 150 series servo motor 231 8 7 8 Parameters of 180 series servo motor 232 After service intro...

Page 11: ...that are the same types in the order form Inspect the outward appearance of servo driver and servomotor to see any abrasion or damage if so please do not wire to the power supply Inspect the parts of...

Page 12: ...Chapter 1 Product inspection and installment 2 1 2 Product nameplate...

Page 13: ...1 1 Product inspection 3 1 3 Product front panel Applicable models EP3 GL1A0 EP3 GL1A8 EP3 GL3A0 EP3 GL7A5 EP3 GL120 EP3 GL160...

Page 14: ...240 servo driver is different from above picture Please refer to Main circuit terminal explanation Applicable models EP3 GH3A5 EP3 GH5A4 Note 1 The front panels of EP3 GH8A5 EP3 GH130 and EP3 GH170 se...

Page 15: ...ooling keep less than 40 for long term trouble free service If there are vibration sources nearby punch press for example and no way to avoid it please use absorber or antivibration rubber filling pie...

Page 16: ...Chapter 1 Product inspection and installment 6...

Page 17: ...the servomotor in a place without water vapor and direct sunlight 1 5 2 The method of installation For horizontal installation In order to prevent water oil etc from entering inside of the servomotor...

Page 18: ...otating direction for servomotor The motor rotating direction description in this handbook is defined as facing the shaft of the servomotor if the rotating shaft is in counterclockwise direction will...

Page 19: ...Wiring 2 1 System construction and wiring 2 1 1 Servo driver wiring diagram 1 EP3 GL series Servo driver wiring diagram Note This wiring method is only suitable for EP3 GL1A0 EP3 GL1A8 EP3 GL3A0 EP3 G...

Page 20: ...EP3 GL190 and EP3 GL240 please refer to chapter 2 1 5 2 EP3 GH series Servo driver wiring diagram Note This wiring method is only suitable for EP3 GH3A5 and EP3 GH5A4 servo driver For EP3 GH8A5 EP3 GH...

Page 21: ...terminal otherwise can cause 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...

Page 22: ...A5 EP3 GH5A4 When the external brake resistor is needed disconnect the short wires between B1 and B2 note 2 and crossover the external brake resistor to terminals P and B1 Leave B2 unconnected NC P B...

Page 23: ...pply wiring diagrams 1 The power supply for the servo driver EP3 GL series is a three phase AC 220V which generally come from three phase AC380V power supply through a transformer In peculiar circumst...

Page 24: ...Chapter 2 Wiring 14 Applicable types EP3 GL1A0 EP3 GL1A8 EP3 GL3A0 EP3 GL7A5 EP3 GL120 EP3 GL160 Applicable types EP3 GL190 EP3 GL240 note...

Page 25: ...ote there is no internal brake resistor in EP3 GL240 When the external brake resistor is connected please crossover the terminal P and B and leave the NC alone 2 Two kinds of connection of EP3 GH seri...

Page 26: ...Chapter 2 Wiring 16 Applicable types EP3 GH8A5 EP3 GH130 EP3 GH170 2 2 X1 terminals for control signals The X1 connector DB25 plug provides the signals interfaced with the host controller The...

Page 27: ...e inputs Three programmable outputs Analog command inputs Pulse command inputs Encoder signal outputs 2 2 1 X1 terminal connector The X1 connector plug uses DB25 male head the contour and pin disposit...

Page 28: ...n terminal position command pulse PULS PULS SIGN SIGN 20 7 19 6 high speed photo isolation input working mode set by parameter P035 pulse mark positive Reverse pulse Orthogonal pulse C3 Analog command...

Page 29: ...C2 The digital outputs use Darlington photo coupler It can be connected with relay photo coupler Matters of note are Inverting the polarity of DC power source which is provided by the user can cause t...

Page 30: ...to avoid interference Maximum pulse frequency is 200kHz kpps recommend the value of resistor R VCC R 5V 82 120 12V 510 820 24V 1 5k 2k 4 Analog command input interfaces C4 There are both differential...

Page 31: ...S32 or equivalent to make the receiver must connect the terminal resistance the value is 220 470 Encoder signal GND of servo driver must connect with the ground terminal on host controller On host con...

Page 32: ...signal terminals and motor encoder The terminal which is used to connect incremental encoder is 3 rowa of DB 15 socket VGA socket The contour and pon are displayed as follow Servo Drive X2 Connector...

Page 33: ...e Incremental Encoder Incremental Connector X2 Soldering Lug Disposition The terminal which is used to connect 17 bits absolute encoder or rotary encoder is 2 rows of DB 9 socket The contour and pin a...

Page 34: ...saving 10core note2 Power supply 5V 13 red red white red red white Use 5VDC power supply provided by servo driver If the cable is longer than 20m in order to prevent encoder from voltage drop down it...

Page 35: ...ncoder Not connect for wire saving W 11 Orange white Shield protection ground FG 15 Bare wire Bare wire Connect with cable shield wire Definition of absolute encoder Signal name of encoder Pin number...

Page 36: ...n ground FG 9 Bare wire Connect with cable shield wire Note 1 16 core cable for the type of 16FMB15 for using in the 110 and above frame of servomoto Note 2 10 core cable for the type of 10FBM15X for...

Page 37: ...resolver EXC 9 red white Sine difference signal input SIN 1 brown They are a pair of difference signal and need to be twisted together They are used for the sine signal of resolver to feedback to dri...

Page 38: ...e RS 485 two wire communication B 4 Terminal resistor connection wire Ar 2 Short circuit pin 2 and pin 3 Crossover the 120 terminal resistance between signal A and B Br 3 Shield protection ground FG 6...

Page 39: ...2 5 Standard wiring diagram 29 2 5 Standard wiring diagram 2 5 1 Wiring diagram for position control...

Page 40: ...Chapter 2 Wiring 30 2 5 2 Wiring diagram for speed or torque control...

Page 41: ...he driver models as picture C shows but for the servo driver models as picture D shows the internal brake resisitor wire between terminals P and B must be disconnected and connect those two wires to N...

Page 42: ...2 7 The connection of reactor When it needs to be restrained to the power supply higher order harmonics connect the direct current reactor between N1 and N2 Note 1 There is the function of connecting...

Page 43: ...utes in layer 3 1 2 Front panel explanations Symbol Name Functions POW Main power lamp Lit Main power supply already turn on Go out Main power supply did not turn on RUN Running lamp Lit Servomotor is...

Page 44: ...by five digital displays a minus symbol in front of the value represents a negative value the lit decimal points in all the digits indicate a negative 5 digit value Some displays have a prefix charac...

Page 45: ...is the main menu and has four operating modes Pressing 8 or 2button changes the operation mode Pressing the 5 button enters the second layer and then executes a concrete operation Pressing 4 button r...

Page 46: ...itor Choose status monitor d under the main menu Pressing the 5 button enters the monitor mode There are many kinds of monitor s project Use 8 and 2 buttons to select the needing project Pressing the...

Page 47: ...32 binary bits value translates into a decimal value that is in the range of 2147483648 147483647 It is divided into the low portion and the top portion Use 8 and 2 button to select the needing portio...

Page 48: ...rent note3 The servomotor current is Irms 4 Peak torque and peak current note4 The maximum torque and maximum Irms of the servomotor in previous 10 second duration is defined as the peak value 5 Posit...

Page 49: ...encoder note8 A vertical segment of LED shows an input status The lit top vertical segment shows a HIGH level signal and the lit bottom vertical segment a LOW level signal Note It means nothing for t...

Page 50: ...tus the monitor mode can be changed to other mode by pressing buttons but the decimal point of the last LED is still flickering and shows existence of an alarm 12 Multi turn position of encoder note12...

Page 51: ...8 or 2 button the parameter value can increase decrease continuously When the parameter value is modified the decimal point on the most right sides LED is lit Press 5 button to confirm the parameter v...

Page 52: ...but for the next time when the power supply is on the parameter value will restore its original value Making permanent change to a parameter value it is the need to carry out the parameter write opera...

Page 53: ...ers the corresponding function After finished this operation pressing the 4 button returns to the operation mode selection 3 6 1 Special functions Choose the special functions and press the button 5 t...

Page 54: ...tomatically examines analog zero bias and writes in the zero bias value parameter P047 or P054 This operation already preserved the zero bias parameter in the EEPROM therefore did not need to carry ou...

Page 55: ...ry out the following step 2 Modify the password parameter P000 by 360 3 Modify the servomotor code parameter P002 with newly servomotor code referring to chapter 8 4 servomotor adaptive table 4 Enter...

Page 56: ...Chapter 3 Front panel operation 46 6 Turn off and on the power supply then an operation can be performed again...

Page 57: ...3 7 Resume the parameter default values 47 Remarks...

Page 58: ...s the servomotor The servomotor has no loading on the shaft decoupling from the machinery if already coupled Because the servomotor has an impact during acceleration or deceleration therefore the serv...

Page 59: ...97 Neglect inhibition of servo driver 3 3 Neglect CCW inhibition CCWL and CW inhibition CWL P098 Forced enable 1or 0 0 Set 1 for forced enable Set 0 for external enable P100 Digital input DI1 function...

Page 60: ...tion CCWL and CW inhibition CWL P098 Forced enable 1or 0 0 Set 1 for forced enable Set 0 for external enable P100 Digital input DI1 function 1 1 Set DI1 for servo enable SON 3 Operation Confirming tha...

Page 61: ...e for position control mode This is a simple example of positioning control The wiring diagram is as below Parameter setting of the example parameter Name Setting value Default value Parameter explana...

Page 62: ...1 0 P P037 Signal logic of input command pulse 0 3 0 P P038 Signal filter of input command pulse 0 21 7 P P039 Filter mode of input command pulse 0 1 0 P P040 Time constant of exponential form filter...

Page 63: ...The command pulse input mode is dependent on the parameter P035 For adjusting the counting edge of a pulse the parameter P037 sets the phases of the PULS and the SIGN signals Parameter P036 uses in ch...

Page 64: ...0 3 s tqrl 0 3 s tqs 2 5 s 5 Signal filter Numeral filters related to the parameter P038 will filter the input signal PULS and SIGN The bigger the P308 value the larger filter time constant and the l...

Page 65: ...pulse but can delay its action time When P040 is zero the filter does not have any effect The parameter value indicates the time in which the repeated frequency increases from 0 to 63 2 command frequ...

Page 66: ...500 lines 17 bits 10 16bits P089 Pt The needed pulse number pulse rev that the encoder rotates for one circle by default the electronic gear ratio is 1 1 4 C 4 2500 10000 pulse rev P027 P028 10000 1 1...

Page 67: ...t 1 Electronic gear is used for ball screw drive The ball bearing screw load has R P P M N c t ratio gear Electronic Here P Pitch c P Take the incremental encoder as the example Known the encoder line...

Page 68: ...R P P M N c t ratio gear Electronic Here P 360 Pc Take the absolute encoder for example Known that the encoder bit C 17 bits the reducer gear ratio 1 3 a pulse travel equivalent P 0 1 Calculate the el...

Page 69: ...e P D c P For example Known that the encoder bit C 16 bits the reducer gear ratio 1 10 the rolling cylinder diameter D 200mm a pulse travel equivalent P 0 001mm Calculate the electronic gear ratio Cal...

Page 70: ...Chapter 4 Running 60 Set parameters By first numerator as an example Numerator N 2500 denominator M 157 set P029 2500 and P030 157...

Page 71: ...Hz f r t 60 min speed Servomotor Among them f is the repeated frequency of the input pulse unit is Hz pps For example the encoder line number C 2500 line N 3 M 1 f 100 kHz kpps the calculation is min...

Page 72: ...egulator of the system Increasing the gain of position loop can get higher position loop bandwidth but it is limited by the speed loop bandwidth Therefore in order to increase the gain of the position...

Page 73: ...f accurate speed control situation such as braider drill CNC machine Also may construct a positioning control system with host controller 4 3 1 Simple example for speed control mode This is a simple e...

Page 74: ...mmand 0 0 Set analog input P060 Acceleration time of speed command suitable 0 P061 Deceleration time of speed command suitable 0 P097 Neglect inhibition of servo driver 0 3 Use CCW inhibition CCWL and...

Page 75: ...0 50 00 2 00 ms S P050 Polarity of analog speed command 0 2 0 S P051 Dead zone 1 of analog speed command 0 13000 0 mv S P052 Dead zone 2 of analog speed command 13000 0 0 mv S P076 Running speed of JO...

Page 76: ...arameter P143 1 1 1 Internal speed 8 parameter P144 Note 2 analog speed command plus inner speed command DI Signals Speed command SP3 SP2 SP1 0 0 0 Analog speed command 0 0 1 Internal speed 2 paramete...

Page 77: ...an slow down the sudden change of speed and result in smooth movement of the servomotor The following chart shows that the parameter P060 sets the acceleration time from zero to rated speed of the ser...

Page 78: ...oblems a clamp function of zero speed can be used Start the clamp function of zero speed when the following condition satisfies Condition 1 Speed mode Condition 2 ZCLAMP zero speed clamp of DI is on C...

Page 79: ...oper rotation inertia ratio of load and then adjusts gain and integral time constant of speed loop The diagram of speed control loop is as the following To increase the gain Kv can enhance the speed r...

Page 80: ...rol torque command is an analog input The wiring diagram is as below Parameter setting of example Param eter Name Setting value Default value Parameter explanation P004 Control mode 2 0 Set for torque...

Page 81: ...Default value Unit Usag e P026 Source of torque command 0 2 0 T P053 Gain of analog torque command 1 300 30 V T P054 Zero offset compensation of analog torque command 1500 0 1500 0 0 0 mv T P055 Direc...

Page 82: ...ls Torque command TRQ2 TRQ1 0 0 Internal torque 1 parameterP145 0 1 Internal torque 2 parameterP146 1 0 Internal torque 3 parameterP147 1 1 Internal torque 4 parameterP148 Note 2 analog torque command...

Page 83: ...et by the parameter P079 The smaller the value of P079 the greater effect on the negative feedback can be and the steeper of limit speed curve shows Therefore the quantity of over speed is smaller but...

Page 84: ...1 Internal speed 2 parameter P138 0 1 0 Internal speed 13 parameter P139 0 1 1 Internal speed 4 parameter P140 1 0 0 Internal speed 5 parameter P141 1 0 1 Internal speed 6 parameter P142 1 1 0 Intern...

Page 85: ...d it will be triggered by DI CTRG The path number could be set The delay time could be set between paths too 4 5 1 The unit of motion mode The position data of motion mode is all presented by the driv...

Page 86: ...MDATA3 and then trigger the execution of the path by the rising edge DI CTRG DO after the path is finished and delayed according to the setting time it outputs MDONE signal Applicable occasion PC or P...

Page 87: ...P503 0 1 0 path3 P404 P405 P504 P505 0 1 1 path4 P406 P407 P506 P507 1 0 0 path5 P408 P409 P508 P509 1 0 1 path6 P410 P411 P510 P511 1 1 0 path7 P412 P413 P512 P513 1 1 1 path8 P414 P415 P514 P515 No...

Page 88: ...eed Bit 14 Bit 13 Bit 12 0 0 0 Path target speed 1 parameter P310 0 0 1 Path target speed 2 parameter P311 0 1 0 Path target speed 3 parameter P312 0 1 1 Path target speed 4 parameter P313 1 0 0 Path...

Page 89: ...08 P509 1 0 1 Path 6 P410 P411 P510 P511 1 1 0 Path 7 P412 P413 P512 P513 1 1 1 Path 8 P414 P415 P514 P515 4 Path data Path data is valid when path TYPE is 1 For example path 1 data is path target pos...

Page 90: ...gins to count when the command has been finished 2 Interrupted Path 1 Speed or position command when it is set interrupt available INS 1 regardless of whether DLY is set Path 2 speed or position comma...

Page 91: ...Because the current control loop of the servo driver is already adjusted in an optimum condition the only parameters of speed and position control loops have to be adjusted by the user 4 6 1 Gain para...

Page 92: ...anical system or noise reduces the integral time constant Ti of speed loop then the stiffness of the system increases and reduces the static error If load inertia ratio is very big or a resonating fac...

Page 93: ...constant of speed loop Ti 3 Decrease gain of speed loop Kv Gain adjustment procedure for speed control loop 1 Set the load inertia ratio 2 Set integral time constant of the speed loop with a relativel...

Page 94: ...n the desired response cannot obtain Now use low pass or notch filter for torque to suppress the resonance and then carry on above steps again enhancing responsiveness First use the low pass filter of...

Page 95: ...meter Name Range Default value Unit Usage P007 Time constant of filter for first torque 0 10 50 00 2 50 ms ALL P012 Time constant of filter for second torque 0 10 50 00 2 50 ms ALL P200 Frequency of f...

Page 96: ...cy setting will affect the performance It is not suitable that if the resonance frequency drifts all the time 4 7 1 Low pass filters The low pass filter is active by default There are two parameters P...

Page 97: ...que possibly can eliminate the vibration The smaller the value the better control response achieves but it is limited by mechanical condition The bigger the value the better suppressing effect achieve...

Page 98: ...e while the vibration is smallest If resonance frequency changes with time or other factor and the frequency displacement is too large therefore it is not suitable to use the notch filter Except frequ...

Page 99: ...are the first group and the second group of gain Each group has four parameters The first group will switch to the second group or vice versa First gain group Second gain group Paramet er Name Parame...

Page 100: ...isfied After that if the switching condition is not satisfied make a switching to the first gain group The switching condition must maintain a period set by parameter P211 and then can make switching...

Page 101: ...000 500 r min ALL P184 Second speed of homing 1 3000 50 r min ALL P185 Acceleration time of homing 0 30000 0 ms ALL P186 Deceleration time of homing 0 30000 0 ms ALL P187 Positioning time delay of hom...

Page 102: ...t rising edge trigger in CCW direction with first speed P183 and take it the reference point 1 After starts homing seek REF external detector input rising edge trigger in CW direction with first speed...

Page 103: ...ut signal of terminal GOH Then the normal command execution suspends The GOH maintains ON continuously After the homing completed the position and the position deviation reset the output signal of ter...

Page 104: ...es ON After the delay time completed then HOME signal becomes OFF When P189 0 after the homing completed waited for the OFF signal of the HOME and then carry out the normal command execution again Dur...

Page 105: ...ay time set by P188 has completed then HOME signal becomes OFF Then can carry out the normal command execution again When P189 0 after the homing completed waited for the OFF signal of the HOME and th...

Page 106: ...detailed actions of each combined mode refer to 4 9 3 section A P179 0 or 2 P180 0 Parameter Setting explanation P179 0 or 2 After starts homing seek REF rising edge trigger or CCWL falling edge trigg...

Page 107: ...point P180 0 After found the reference point seek Z pulse in backward direction with second speed P184 and take it the origin C P179 0 P180 1 Parameter Setting Explanation P179 0 After starts homing s...

Page 108: ...ke it the origin E P179 0 P180 2 Parameter Setting Explanation P179 0 After starts homing seek REF rising edge trigger in CCW direction with first speed P183 and take it the reference point P180 2 Aft...

Page 109: ...eed P183 and take it the reference point P180 2 After found the reference point directly make it the origin H P179 5 P180 2 Parameter Setting Explanation P179 5 After starts homing seek Z pulse in CW...

Page 110: ...hen it is lower than the upper limit value of CCW direction 32768 multi turn data 32767 4 10 1 Set the standard connection diagram and SEN signal of absolute encoder kinds Signal name Connector pin nu...

Page 111: ...position data of absolute encoder battery unit needs to be installed Note do not set battery unit on both sides of servo drive Please set the battery unit to any side of servo drive requirement of ba...

Page 112: ...ing and sending order of absolute encoder Next it will explain the sequence from receiving the output of absolute encoder to the absolute data sent to the upper position by servo unit 1 Summary for ab...

Page 113: ...action state SEN Signal At inversion mode P173 1 the output polarity of signal B will take reverse Multi turn information serial data means the position at which the motor axis has rotated several cir...

Page 114: ...ental pulse number R The pulse number when encoder rotates one circle P027 P028 the detailed specification of signal The detailed specification of all signals is as below OA serial data specification...

Page 115: ...stop A schematic diagram showing the over travel protection as follows The limit switch suggested using normal closed type It is close in the safety range and it is open in over travel range The limi...

Page 116: ...Chapter 4 Running 106 P097 Motion inhibition in CW direction CWL Motion inhibition in CCW direction CCWL 0 Use Use 1 Use Neglect 2 Neglect Use 3 Default Neglect Neglect...

Page 117: ...0 ALL P068 External torque limit in CW direction 300 0 100 ALL P069 Torque limit in trial running 0 300 100 ALL 4 12 2 Modes of torque limitation P064 Explanation CCW CW 0 Basic limit Determines by TC...

Page 118: ...3 Even if the setting value greater than the permission maximum speed of the system but the operation also can limit in the maximum torque range The inner torque commands are DI Signals Note Torque co...

Page 119: ...ower supply turn on the servo ready signal RDY is OFF After the main power supply turn on at about 1 5 seconds later the servo ready signal is on RDY from now can accept the servo enable signal SON Th...

Page 120: ...arm timing chart while servo ON is executed 4 13 3 Action timing chart while servo ON OFF are executed during the servo motor is in standstill When the speed of the servomotor is lower than parameter...

Page 121: ...g chart of operation 111 4 13 4 Action timing chart while servo ON OFF are executed during the servo motor is in motion When the speed of the servomotor is higher than parameter P165 the action timing...

Page 122: ...s ALL P168 Action speed for electromagnetic brake when servomotor is in motion 0 3000 100 r min ALL 4 14 2 Make use of electromagnetic holding brake The chart below is the brake wiring diagram the bra...

Page 123: ...speed and then the brake is active to avoid damaging the brake The delay time is set by the parameter P167 or is the time that the speed of the servomotor decelerates to the speed set by parameter P1...

Page 124: ...Chapter 4 Running 114 Remarks...

Page 125: ...constant of speed loop 1 0 1000 0 20 0 ms P S P007 First filter time constant of torque 0 10 50 00 2 50 ms ALL P009 First gain of position loop 1 1000 40 1 s P P010 Second gain of speed loop 1 3000 40...

Page 126: ...form filter for position command 0 1000 0 ms P P046 Gain of analog speed command 10 3000 300 r min V S P047 Zero offset compensation of analog speed command 1500 0 1500 0 0 0 mv S P048 Direction of a...

Page 127: ...3500 r min ALL P076 JOG running speed 0 5000 100 r min S P077 Selection of speed limit 0 2 0 T P078 Speed limit in torque control 0 5000 3000 r min T P079 Speed limit error in torque control 1 5000 10...

Page 128: ...l inputs 00000 11111 00000 ALL P122 third group function of DI digital inputs 00000 11111 00000 ALL P123 Fourth group function of DI digital inputs 00000 11111 00000 ALL P124 Fifth group function of D...

Page 129: ...check point for servomotor is near standstill 0 1000 5 r min ALL P166 Delay time for electromagnetic brake when servomotor is in standstill 0 2000 0 ms ALL P167 Waiting time for electromagnetic brake...

Page 130: ...of homing 1 3000 500 r min ALL P184 Second speed of homing 1 3000 50 r min ALL P185 Acceleration time of homing 0 30000 0 ms ALL P186 Deceleration time of homing 0 30000 0 ms ALL P187 Positioning tim...

Page 131: ...first notch filter 0 100 0 ALL P203 Frequency of second notch filter 50 1500 1500 Hz ALL P204 Quality factor of second notch filter 1 100 7 ALL P205 Depth of second notch filter 0 100 0 ALL P208 Gain...

Page 132: ...ccelerate and decelerate time 2 30 10000 1000 ms M P332 Accelerate and decelerate time 3 30 10000 1000 ms M P333 Accelerate and decelerate time 4 30 10000 1000 ms M P334 Accelerate and decelerate time...

Page 133: ...3 control word high 16 bits 32768 32767 0 M P406 Path 4 control word low 16 bits 32768 32767 0 M P407 Path 4 control word high 16 bits 32768 32767 0 M P408 Path 5 control word low 16 bits 32768 32767...

Page 134: ...3 control word high 16 bits 32768 32767 0 M P506 Path 4 control word low 16 bits 32768 32767 0 M P507 Path 4 control word high 16 bits 32768 32767 0 M P508 Path 5 control word low 16 bits 32768 32767...

Page 135: ...H Pulse input inhibition 6 TCW CW torque limitation 22 PC Proportional control 7 ZCLA MP Zero speed clamp 23 GOH Homing triggering 8 CZERO Zero command 24 REF Reference point of homing 9 CINV Command...

Page 136: ...BRK Electromagnetic brake 1 ON Always valid 9 RUN Servo is in motion 2 RDY Servo ready 10 NEAR Near positioning 3 ALM Alarm 11 TRQL Torque under limitation 4 ZSP Zero speed 12 SPL Speed under limitati...

Page 137: ...he user cannot modify it P002 Identity code of servomotor Range Default value Unit Usag e ALL The model code of the servomotor in use now is set when it is out of factory The meaning of this parameter...

Page 138: ...onstant of the speed regulator Reduces the parameter value can reduce the speed control error and increase rigidity It is easy to cause the vibration and the noise when the value is too small If using...

Page 139: ...ault value Unit Usag e 1 1000 40 1 s P Refer to the description of the P009 parameter It is necessary to set this parameter when begins using the gain switching function P017 Inertia ratio of load Ran...

Page 140: ...ge Default value Unit Usag e 0 20 50 00 1 00 ms P For filtering the feed forward signal in position loop This function is to increase the stability of feed forward control P025 Sources of speed comman...

Page 141: ...eed command It needs to set this parameter when begins using the JOG operation 4 This is the button speed command It needs to set this parameter when begins using the Sr operation 5 This is the demons...

Page 142: ...circumstance electronic gear ratio is 1 1 The default value of P027 is 10000 and P028 is 1 PLUSE P027 P028 10000 1 10000 means that the motor rotating for one circle needs 10000 command pulse when th...

Page 143: ...ectronic gear for command pulse Range Default value Unit Usag e 1 32767 1 P This is electronic gear denominator M of command pulse The application method refers to parameter P029 P031 Second numerator...

Page 144: ...0 The diagram of command pulse inputs The parameter needs to preserve firstly and then turn off and on the power supply P036 Input direction of command pulse Range Default value Unit Usag e 0 1 0 P T...

Page 145: ...input signal to avoid counting mistake Because if found the running not perfect caused by the counting pulse then can suitably increase the parameter value The parameter needs to preserve firstly and...

Page 146: ...motor actual speed divides by the analog input voltage The analog input voltage is in the range from 10V to 10V P047 Zero offset compensation of analog speed command Range Default value Unit Usag e 15...

Page 147: ...w pass filter of the analog speed input The bigger the value the slower response of the analog speed input will be and it is advantageous in reducing the high frequency noise jamming the smaller the v...

Page 148: ...s the input command to be zero P052 Dead zone 2 of analog speed command Range Default value Unit Usag e 13000 0 0 mv S Refer to the explanation of parameter P051 P053 Gain of analog torque command Ran...

Page 149: ...alog torque input minus this parameter value By using the analog zero bias auto setting function this parameter is set automatically Refer to 3 6 2 section P055 Direction of analog torque command Rang...

Page 150: ...Bipolarity 1 Single positive polarity The input positive polarity is effective when negative polarity forces the input to be zero 2 Single negative polarity The input negative polarity is effective wh...

Page 151: ...ero otherwise affects the position control performance P064 Torque limit selection Range Default value Unit Usag e 0 2 0 ALL Set torque limitation mode P064 Explanation CCW CW 0 Basic limit Determines...

Page 152: ...er then the actual limits will be equal to the biggest overload capacity P067 External torque limit in CCW direction Range Default value Unit Usag e 0 300 100 ALL Set the external torque limitation va...

Page 153: ...f rated torque When the torque of the servomotor surpasses P070 and the duration is bigger than P072 then the servo driver alarms and the servomotor stops The number of the alarm is Err29 P072 Detecti...

Page 154: ...e higher than the limit value slightly P079 Speed limit error in torque control Range Default value Unit Usag e 1 5000 100 r min T This parameter can govern the quantity of speed negative feedback if...

Page 155: ...0 ALL The meanings of this parameter 0 set the encoder resolution to 16 bits 1 set the encoder resolution to 14 bits 2 set the encoder resolution to 12 bits 3 set the encoder resolution to 10 bits P0...

Page 156: ...t 19 Brake ratio 8 Peak current 20 Control mode 9 Frequency of input pulse 21 Number of alarm 10 Speed command 22 Reserved 11 Torque command P097 Neglect inhibition of servo driver Range Default value...

Page 157: ...ses the logic Refer to the 5 5 sections for the functions The symbolic expresses the input logic Positive number expresses positive logic and the negative number express the negative logic ON is effec...

Page 158: ...onstant of DI1 input digital filter The smaller the value the quicker signal responses the bigger the value the slower signal responses but filtering ability of noise is stronger P111 Filter of digita...

Page 159: ...t planned or has planned ON Note Has planned indicates the function which is selected by parameter P100 P104 Not yet planned indicates the function which is not selected by parameter P100 P104 P121 Fo...

Page 160: ...gic Refer to the 5 6 sections for the functions 0 is forcing OFF 1 is forcing ON The symbol indicates the output logic the positive number expresses the positive logic and the negative number expresse...

Page 161: ...ange Default value Unit Usag e 5000 5000 0 r min S This is the internal speed 5 Refer to the explanation of parameter P025 P142 Internal speed 6 Range Default value Unit Usag e 5000 5000 0 r min S Thi...

Page 162: ...qual to this setting value the digital output DO COIN is ON positioning completion otherwise is OFF The comparator has hysteretic function set by parameter P151 P151 Hysteresis for positioning complet...

Page 163: ...CCW or CW speed 1 0 Only detect CCW speed 0 Only detect CW speed P 155 Hysteresis of arrival speed Range Default value Unit Usag e 0 5000 30 r min ALL Refer to the explanation of parameter P154 P156...

Page 164: ...P160 P162 Zero speed clamp mode Range Default value Unit Usag e 0 1 0 S When the following conditions satisfies the zero speed clamp function will start Condition 1 In the speed control mode Conditio...

Page 165: ...han the parameter value and will consider the servomotor static Only uses in the timing chart judgment of the electromagnetic brake P166 Delay time for electromagnetic brake when servomotor is in stan...

Page 166: ...3 4 section P168 Action speed for electromagnetic brake when servomotor is in motion Range Default value Unit Usag e 0 3000 100 r min ALL Refer to the explanation of parameter P167 P170 Encoder output...

Page 167: ...der line number can be fraction P171 Encoder outputs pulse fraction frequency denominator Range Default value Unit Usag e 1 31 1 ALL Refer to P170 P172 Absolute encoder output lines Range Default valu...

Page 168: ...value Unit Usag e 0 1 0 ALL The meaning of this parameter are 0 in phase 1 anti phase P175 Encoder outputs Z pulse width Range Default value Unit Usag e 0 15 0 ALL The meaning of this parameter are 0...

Page 169: ...when homing execution but resume the prohibition function after the homing finished Refer to 4 9 sections for detailed explanation P180 Origin mode of homing Range Default value Unit Usag e 0 2 0 ALL...

Page 170: ...ndingly reduces Use only in the homing execution P186 Deceleration time of homing Range Default value Unit Usag e 0 30000 0 ms ALL This is the deceleration time from rated speed to zero speed of the s...

Page 171: ...filter Range Default value Unit Usag e 50 1500 1500 Hz ALL Notch filter is the filter for eliminating the specific frequency resonance caused by machinery If the parameter P202 sets zero then closes t...

Page 172: ...epth of the notch filter If the parameter P205 sets zero the north closes Refer to the explanation of parameter P201 for others P208 Gain switching selection Range Default value Unit Usag e 0 5 0 ALL...

Page 173: ...ndition The comparator has hysteretic function set by parameter P210 P208 Gain switching condition unit 3 Frequency of command pulse 0 1kHz kpps 4 Pulse deviation pulse 5 Servomotor speed r min P210 L...

Page 174: ...rameters 164 goal gain group according to the setting time by parameter P212 Each parameter of the gain group also changes at the same time The machinery impact caused by changing the parameter sudden...

Page 175: ...DBUS communication baud rate The meanings of this parameter are the unit is bit s 0 MODBUS mode prohibition USB communication enabled 1 Baud rate is 4800 2 Baud rate is 9600 3 Baud rate is 19200 4 Bau...

Page 176: ...g position automatically with the speed set by this parameter P310 Target speed 1 Range Default value Unit Usag e 0 5000 0 rpm M This parameter is valid under motion mode It is the target speed of pat...

Page 177: ...acceleration time of motor from zero speed to 1000rpm speed If the target speed of current path is less than 1000rpm the needed acceleration time should be shorter accordingly The acceleration and dec...

Page 178: ...cceleration and deceleration time 8 Range Default value Unit Usag e 30 10000 1000 ms M Acceleration and deceleration time 8 refers to the explanation of parameter P330 P350 Delay time 1 Range Default...

Page 179: ...to the explanation of parameter P350 P357 Delay time 8 Range Default value Unit Usag e 30 10000 1000 ms M delay time 8 refers to the explanation of parameter P350 5 4 5 Parameters of section 4 P400 Pa...

Page 180: ...ill decelerate and stop at the current position 2 relative location command increases at the current position 3 no meaning CMD content is invalid under the speed instruction NEXT 0 When this path is f...

Page 181: ...nge Default value Unit Usag e 32768 32767 0 M Path 4 control word high 16 bits refers to parameter P401 for explanation P408 Path 5 control word low 16 bits Range Default value Unit Usag e 32768 32767...

Page 182: ...on 5 P500 Path 1 data low 16 bits Range Default value Unit Usag e 32768 32767 0 PUU M This parameter is used in motion mode When path TYPE is one and position command is chose this parameter means the...

Page 183: ...s Range Default value Unit Usag e 32768 32767 0 PUU M Path 3 data high 16 bits refers to parameter P501 for explanation P506 Path 4 data low 16 bits Range Default value Unit Usag e 32768 32767 0 PUU M...

Page 184: ...Default value Unit Usag e 32768 32767 0 PUU M Path 7 data low 16 bits refers to parameter P500 for explanation P513 Path 7 data high 16 bits Range Default value Unit Usag e 32768 32767 0 PUU M Path 7...

Page 185: ...ill clear the alarm Attention only a part of alarm can have the permission to clear 3 CCWL CCW drive inhibition OFF Inhibit CCW running ON Enable CCW running Uses this function for protection of the m...

Page 186: ...ue limitation OFF Torque is not limited by parameter P067 in CCW direction ON Torque is limited by parameter P067 in CCW direction Attention whether the TCCW is effective or not the torque is also lim...

Page 187: ...ed by the combination from SP1 SP2 and SP3 1 8 DI Signals note Speed command SP3 SP2 SP1 0 0 0 Internal speed 1 parameter P137 0 0 1 Internal speed 2 parameter P138 0 1 0 Internal speed 3 parameter P1...

Page 188: ...Servo driver stops removes the main current and the excitation of servomotor 16 CMODE Control mode switching Set parameter P004 3 4 or 5 can carry out the control mode switching P004 CMOD E Control m...

Page 189: ...N Level P163 1 CLR Rising edge from OFF become ON 21 INH Pulse input inhibition OFF Permits position command pulse to go through ON Position command pulse is inhibited 22 PC Proportio nal control OFF...

Page 190: ...lanation 27 CTRG Motion command trigger Trigger motion command The rising edge is valid Refer to chapter 4 10 28 MDATA1 Motion command choice 1 Choosing motion mode path refers to chapter 4 5 4 29 MDA...

Page 191: ...ter P150 ON Position deviation is smaller than parameter P150 6 ASP Arrival speed OFF Servomotor speed is lower than parameter P154 ON Servomotor speed is higher than parameter P154 Can set polarity f...

Page 192: ...itation In torque control mode OFF Servomotor speed has not reached the limit value ON Servomotor speed has reached the limit value Speed limitation is set by parameter P077 13 HOME Homing complete Af...

Page 193: ...which could achieve functions of driving servo system altering parameters and monitoring servo system state through MODBUS agreement It has USB communication function which need to use with PC termin...

Page 194: ...ommunication interface Different value is corresponding to different baud rate The chosen communication baud rate needs to keep in correspondence with the communication baud rate of upper controller T...

Page 195: ...O 1 MODBUS ASCII 3 8 N 1 MODBUS RTU 4 8 E 1 MODBUS RTU 5 8 O 1 MODBUS RTU Figure 8 indicates the transmissive data is eight bits English letter N E O represent parity bit N represents not to use this...

Page 196: ...arameter P320 There is explanation for MODBUS communication as follows The encoding meaning ASCII mode Every 8 bits data consists of two ASCII character For example one 1byte data 64H hexadecimal nota...

Page 197: ...DATA n 1 Data content Nword 2Nbyte N 100 DATA 0 CRC Verification code 2byte End1 the minimum time interval with below frame is 3 5 character time The explanations of all the items of communication dat...

Page 198: ...meter of 01H station number servo drive ASCII mode command information Respond information STX STX ADR 0 ADR 0 1 1 CMD 0 CMD 0 3 3 Initial data position 0 Data number count by byte 0 0 4 0 Section 0 n...

Page 199: ...0H high byte 0 section number 5 parameter content 00H high byte 02H low byte 278H low byte CRC Low D4H high byte 0 section number 6 parameter content 00H high byte CRC High OAH low byte C8H low byte C...

Page 200: ...and information Respond information STX STX ADR 0 ADR 0 1 1 CMD 0 CMD 0 6 6 Initial data position 0 Initial data position 0 0 0 0 0 5 5 Data content 0 Data content 0 0 0 6 6 4 4 LRC Check E LRC Check...

Page 201: ...byte Every operational parameter is only limited to the same parameter section Different parameter section needs to be operated respectively Frame check calculate of LRC ASCII mode and CRC RTU mode L...

Page 202: ...st byte of command information and the low byte of 16 bits CRC register and store the result back to CRC register Step 3 Check the lowest bit LSB of CRC register If this bit is 0 then move right for o...

Page 203: ...on is as follows It needs to note that byte 94H should be sent before byte 37H ADR 01H CMD 03H Initial data position 00H hign byte 05H low byte Data number 00H hign byte 02H low byte CRC Low D4H hign...

Page 204: ...en in and read out must be the decimal integer The parameters with decimal point on the drive display panel and in the manuals are all magnified for corresponding times in the process of writing in an...

Page 205: ...s is shown as follows Register Operation Explanation Contact address Data size Operate command code register 0x1100 16bit Operate state register 0x1101 16bit The command codes supported by the current...

Page 206: ...it 0x1004 Position command input pulse high 16 bit 0x1005 Current position input pulse low 16 bit 0x1006 Current command input pulse high 16 bit 0x1007 Positional deviation input pulse low 16 bit 0x10...

Page 207: ...put state of DI5 DI1 1 means to input high level 0 means to input low level bit15 bit5 are stored for usage in future Note 2 the data read by this address is 16bit of which bit2 bit0 mean the output s...

Page 208: ...t shows 1 00 The unit is ms The value of parameter P007 modified through communication interface is 2 00 The value written in is 200 The precision of this parameter is accurate to the second place aft...

Page 209: ...signals of encoder no Err11 Power model fault Power model fault occurs no Err12 Over current Over current of servomotor no Err13 Overload Overload of servomotor no Err14 Overload of brake peak power I...

Page 210: ...or Drive can not communicate with encoder no Err42 Fault internal counting of absolute encoder Absolute encoder counts abnormally no Err43 Absolute encoder communication responds error Absolute encode...

Page 211: ...tion time Encoder wiring error Check the encoder wiring Correct wiring Err 2 Main circuit over voltage Potential cause Check Handle The voltage of input AC power supply is too high Check the voltage o...

Page 212: ...ter of division multiplication Slow down the input frequency Adjust the parameter of division multiplication The gain of position loop is too small Check the parameters P009 and P013 Increasing the ga...

Page 213: ...heck the servomotor type Set the servomotor type again Encoder is damaged Check the encoder Replace the encoder Err11 IGBT model fault Potential cause Check Handle Short circuit at drive output U V W...

Page 214: ...in if the alarm still exists the servo driver may damage possibly Replace the servo driver Err13 Over load Potential cause Check Handle Excess the rated load for continuous duty operation Check the lo...

Page 215: ...igger brake resistor Err15 Encoder counter error Potential cause Check Handle Encoder wiring error Check the encoder wiring Correct wiring included shield wire Ground is bad Check the ground wiring Gr...

Page 216: ...cess the rated load for continuous duty operation Check current Reduce load or replace the servo driver with bigger one Encoder zero point changes Check the encoder zero point Install the encoder agai...

Page 217: ...error Check optocoupler power on again If error still exists please replace drive Err29 Over torque alarm Potential cause Check Handle Unexpected big load occurs Check load condition Correctly readjus...

Page 218: ...rror Check the encoder wiring Correct wiring included shield wire Err33 Wire saving encoder error Potential cause Check Handle Encoder has problem Check the encoder signals Replace the encoder Servomo...

Page 219: ...ncoder communication responds error Potential cause Check Handle Encoder cable and connector unsteady Check cable and connector Replace cable and connector Encoder damage Check encoder Replace encoder...

Page 220: ...ential cause Check Handle The power of motor does not match that of drive Check the motor match list of drive Replace suitable drive or motor Err51 Resolver loses track Potential cause Check Handle En...

Page 221: ...198 Chapter 8 Specifications 8 1 Types of servo driver...

Page 222: ...L7A5 GL120 GL160 GL190 GL240 A 150 150 180 180 180 180 210 B 55 65 85 95 95 105 115 C 168 168 168 168 200 220 250 D 158 158 158 158 189 209 239 E 55 65 65 65 94 104 Model Size mm GH3A5 GH5 A4 GH8A5 GH...

Page 223: ...ssure 86kPa 106 kPa IP rating IP20 Control of main circuit vector control Regeneration Built in built out built out Feedback type 2500P R incremental encoder 17 bits absolute encoder resolver type enc...

Page 224: ...ial function Homing Gain switching Notch of mechanical resonance supporting Modbus protocol Monitor function Speed current position position deviation motor torque motor current command pulse frequenc...

Page 225: ...er adaptatio n Average adaptation A series K series 40MSL00230 0 16 3000 0 05 GL1A0 C041 C041 40MSL00330 0 32 3000 0 1 GL1A0 GL1A8 C042 C042 60MSL00630 0 6 3000 0 2 GL1A8 GL3A0 C065 b061 60MSL01330 1...

Page 226: ...04 130MSL07730 7 7 3000 2 3 GL160 GL190 C311 130MSL10010 10 1000 1 GL7A5 GL120 C306 b305 130MSL10015 10 1500 1 5 GA7A5 GL120 GL160 C307 b306 130MSL10025 10 2500 2 5 GL160 GL190 C309 b307 130MSL15015 1...

Page 227: ...F083 80ST M04025 4 2500 1 0 GL7A5 b084 F084 90ST M02430 2 4 3000 0 75 GL7A5 b091 F091 90ST M03520 3 5 2000 0 7 GL7A5 b092 F092 90ST M04025 4 2500 1 0 GL7A5 b093 F093 110ST M02030 2 3000 0 6 GL3A0 GL7...

Page 228: ...GL190 GL240 A501 B501 F501 150ST M15020 15 2000 3 0 GL190 B502 F502 150ST M18020 18 2000 3 6 GL190 GL240 A502 B503 F503 150ST M23020 23 2000 4 6 GL240 A503 B504 F504 150ST M27020 27 2000 5 4 GL240 A50...

Page 229: ...130MSH05025 5 2500 1 3 GH3A5 GH5A4 A323 130MSH06025 6 2500 1 5 GH5A4 A324 130MSH07720 7 7 2000 1 5 GH5A4 A325 130MSH07725 7 7 2500 2 GH8A5 A326 130MSH07730 7 7 3000 2 3 GH8A5 GH130 A327 130MSH10010 10...

Page 230: ...70 b811 180MSH25020 25 2000 5 GH130 GH170 C803 180MSH27010 27 1000 2 7 GH130 b812 180MSH27015 27 1500 4 3 GH170 b813 180MSH30010 30 1000 3 GH130 GH170 C804 180MSH35010 35 1000 3 GH130 b814 180MSH35015...

Page 231: ...8 5 Types of servo motor 8 5 Types of servo motor...

Page 232: ...ase drive input W 4 W phase drive input 1 Ground terminal of motor case 8 6 2 Holding brakes Terminal symbol Terminal number Terminal explanation DC 1 The brake power supply is DC without polarity ins...

Page 233: ...15 PE 1 Metal case of encoder 8 6 4 Incremental Wire saving encoders Terminal symbol Terminal number Terminal explanation 5V 2 5V input power 0V 3 A 4 A phase output A 7 B 5 B phase output B 8 Z 6 Z...

Page 234: ...d rpm 3000 3000 Rated torque N m 0 159 0 318 Peak torque N m 0 477 0 954 Rotor inertia kg m 2 0 025 10 4 0 046 10 4 Lines of encoder PPR 2500 Insulation class ClassB 130 IP rating IP65 Environmental c...

Page 235: ...220 Rated line current A 1 5 2 8 3 5 Rated speed rpm 3000 3000 3000 Rated torque N m 0 637 1 27 1 91 Peak torque N m 1 911 3 8 5 73 Rotor inertia kg m 2 0 17 10 4 0 302 10 4 0 438 10 4 Lines of encode...

Page 236: ...power KW 0 4 0 75 0 73 1 0 Rated line voltage V 220 220 220 220 Rated line current A 2 0 3 0 3 0 4 4 Rated speed rpm 3000 3000 2000 2500 Rated torque N m 1 27 2 39 3 5 4 0 Peak torque N m 3 8 7 1 10...

Page 237: ...90 series 02430 03520 04025 Rated power KW 0 75 0 73 1 0 Rated line voltage V 220 220 220 Rated line current A 3 0 3 0 4 0 Rated speed rpm 3000 2000 2500 Rated torque N m 2 4 3 5 4 0 Peak torque N m 7...

Page 238: ...Chapter 8 Specifications 228 conditions humidity Relative humidity 90 non condensing Socket number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Wiring Definitio n PE 5V 0V B Z U Z U A V W V A B W...

Page 239: ...rrent A 2 5 3 5 5 0 5 0 6 0 4 5 6 0 Rated speed rpm 3000 2000 3000 2000 3000 2000 3000 Rated torque N m 2 0 4 0 4 0 5 0 5 0 6 0 6 0 Peak torque N m 6 0 12 12 15 15 18 18 Rotor inertia kg m 2 0 31 10 3...

Page 240: ...6 0 6 0 7 5 4 5 6 0 10 9 5 13 5 Rated speed rpm 2500 2500 2500 2000 2500 1000 1500 2500 1500 2500 Rated torque N m 4 0 5 0 6 0 7 7 7 7 10 10 10 15 15 Peak torque N m 12 15 18 22 22 20 25 25 30 30 Roto...

Page 241: ...20 220 220 220 Rated line current A 16 5 16 5 20 5 20 5 Rated speed rpm 2500 2000 2000 2000 Rated torque N m 15 0 18 0 23 0 27 0 Peak torque N m 45 0 54 0 69 0 81 0 Rotor inertia kg m 2 6 15 10 3 6 33...

Page 242: ...220 Rated line current A 7 5 10 5 12 16 16 19 32 Rated speed rpm 2000 1500 1500 1500 1500 1500 1500 Rated torque N m 15 17 2 19 21 5 27 35 48 Peak torque N m 45 43 47 53 67 70 96 Rotor inertia kg m 2...

Page 243: ...5 10 7 5 12 10 20 Rated speed rpm 2000 1500 1500 2000 2000 2000 1500 1000 1500 1000 1500 Rated torque N m 15 17 2 19 20 21 5 25 27 30 35 40 48 Peak torque N m 45 43 47 60 53 75 67 90 70 120 96 Rotor...

Page 244: ...y or totally due to overuse passing its worklife or being broken seriously Maxsine will scrap these drivers strictly according to the handling method of company regulations after testing rigorously by...

Page 245: ...Edition antecedents Edition number Published time Modify content First edition Janunary 2013 Applies to software version...

Page 246: ...Wuhan University Science Park Road Donghu District Wuhan Hubei Province China Zip code 430223 Central office 027 87921282 027 87921283 Sales Tel 027 87920040 027 87923040 transfer 809 817 818 Sales F...

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