GSK DA98D User Manual Download

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DA98D Digital AC Servo Drive Unit

User Manual

(V5.00)

Summary of Contents for DA98D

Page 1: ...DA98D Digital AC Servo Drive Unit User Manual V5 00 ...

Page 2: ...ation of this drive unit will be not included Therefore items that are not specially indicated in this manual will all be regarded as impossible or disallowed operations Copyright of this manual belongs to GSK Equipment Co Ltd and any publication or copying of this manual by any unit or individual will be deemed as illegal behaviors GSK Equipment Co Ltd shall reserve the rights to ascertain legal ...

Page 3: ...n 50 technicians with senior professional titles With a superior cost performance GSK series of products have a very good sale in China and far in Southeastern Asia Between 2000 and 2006 its market share has ranked No 1 in China for 7 consecutive years and its yield and sale volumes have led the peers for 7 consecutive years which have consolidated its position as the biggest domestic production b...

Page 4: ...Abiding by the operation concept of creating century old company and molding gold brand GSK people will make unrelenting efforts to build a digital control industry base in Southern China and push forward national digital control industry Field Technical Support Services If you have problems that cannot be resolved through phone calls you can receive our technical support on the spot GSK will auth...

Page 5: ... Improper operation will cause accidents and the drive unit must be operated by personnel with related qualifications Please see to it that you have carefully read the manual prior to operation If there are changes to specifications and designs we will not provide further notices Sincere thanks to your friendly support for using products of GSK Equipment Co Ltd Chinese version of all technical doc...

Page 6: ...he customer on the product and the warranty form will hereby go invalid Please give special attention to the following warning sings when reading the manual Warning Attention Wrong operation may lead to disastrous consequences death or serious injury Wrong operation may hurt the operator and the equipment may also be damaged Improper operation may damage the product and equipment Attention ...

Page 7: ... shall not be imposed on servo drive units and servo motors Installment Servo drive units and servo motors Shall not be installed above or around combustible articles to prevent fire disaster Shall avoid vibration Impact shall be strictly forbidden Shall not be installed when they are damaged or the parts are incomplete Servo Drive unit Must be installed in the control panel with sufficient degree...

Page 8: ...hall not close up to the servo drive unit s radiator and servo motor Continuous current diode connected in parallel to the DC relay for output signals shall not be connected reversely Commissioning and Runing Confirm that the servo drive unit and servo motor have been properly and firmly installed and that the power voltage and wiring are correct before switching on power When commissioning first ...

Page 9: ...y In case of alarming the trouble must be shot Before restarting the machine the alarming signal shall be reset Keep away from the machine when re switching on the power after instantaneous power failure for the machine may be restarted suddenly when designing the machine make sure that there will be no danger when restarting the machine System Selecting and Matching Rated torque of the servo moto...

Page 10: ...nctions of Parameters 27 4 3 List for comparison of Modle Codes Parameters and Motor 34 Chapter Five Alarming and Handling 35 5 1 List of Alarms 35 5 2 Methods for Handling Alarms 36 Chapter Six Display and Operation 40 6 1 Keyboard Operation 40 6 2 Ways of Monitoring 41 6 3 Parameter Setting 43 6 4 Parameter Management 44 6 5 Speed Trial Operation 45 6 6 JOG Operation 46 6 7 Others 46 Chapter Sev...

Page 11: ...er manual 2 Chapter Nine Order Instructions 65 9 1 Capacity Selecting 65 9 2 Electronic Gear Ratio 65 9 3 Stop Features 66 9 4 Calculation Method for Selecting Models of Servo System and Position Controller 66 ...

Page 12: ...re adopted inside the servo so it has such advantages as high degree of integration compact perfect protection and good reliability The optimal PID is employed to achieve PWM control Performance of this product has reached internationally advanced level among its peers at home and aboard Compared with stepper drive DA98D AC servo unit has the following strong points z Avoid out of Synchronization ...

Page 13: ...ontact supplier or us 2 Model meaning a Models of servo drive unit DA98D 06 110SJT M020E Model matching servo motor indicate GSK SJT series 1 Output power two digit 04 06 23 correspond to 0 4 2 3KW 2 Series Code 1 It can be matched with other domestic or imported servo motor If there is no parameter in the drive unit it can only be matched with SJT and ST series of servo motors 2 Small power 1 5KW...

Page 14: ...nual 1 M4 8 countersunk head screws 4 CN1 Plug DB44 female 1 note 1 CN2 Plug DB25 male 1 note 2 Note 1 For matching our position controller it will be provided together with the signal cable whose standard length is 3 meters Note 2 when we provide servo motor you can ask us to provide its matching feedback cable whose standard length is 3 meters b Standard accessories of servo motor will be provid...

Page 15: ...DA98D User Manual 4 Fig 1 1 Appearance of Servo Drive unit 2 Servo motor appearance ...

Page 16: ...DA98D User Manual 5 Fig 1 2 Servo Motor Appearance ...

Page 17: ...er of the servo motor 2 1 Environmental Conditions Items DA98DServo Drive unit GSK SJT Series of AC Servo Motor Operation Temperature Humidity 0 55 no frozen frost Less than 90 RH no dew condensation 10 40 no frozen frost 90 RH no dew condensation Storage Temperature Humidity 20 80 90 RH no dew 40 55 85 RH no dew Atmospheric Environment Within the control panel there shall be not corrosive air com...

Page 18: ...while temperature for long term safety operation shall be kept below 45 Good conditions for heat radiating shall be guaranteed 3 Vibration and Impact When installing the drive unit vibration shall be avoided Vibration reduction measures shall be taken to control the vibration below 0 5G 4 9m S2 2 Installment Methods 1 Ways of Installment The user can adopt the ways of installment by back panel or ...

Page 19: ...e interval shall be as great as possible to ensure good conditions for heat radiating Fig 2 3 Installment for Single Drive unit Fig 2 4 Installment Interval for Multiple Drive units 3 Heat Radiating To ensure that surrounding temperature of the drive unit will not be constantly increased there shall be convective current wind blowing towards radiator of the drive unit within the electric cabinet ...

Page 20: ...long hours of operation the motor will have an increasingly hot temperature so compulsory heat radiating shall be considered when the surrounding space is relatively small or there are heating equipment The humidity shall not be more than 90 RH without dew condensation 3 Vibration Servo motor shall not be installed at places with vibration The vibration inflicted on the motor shall not be more tha...

Page 21: ...as thick as possible The servo driver and motor has ground contact at the point of PE terminal with a grounding resistance less than 100Ω z Terminal connection adopts SVM2 4 pre insulation cold pressing terminal The connection must be fastened z It is recommended to supply power with three phase isolating transformer which will reduce the possibility of electric shock z It is recommended that the ...

Page 22: ...ed with motor winding in the way of one to one correspondence Reverse connecting shall be forbidden The wires and leads shall be fastened firmly and avoid approaching radiator of the drive unit and the motor for the fear that the insulation performance will be reduced due to heat There will remain large quantities of electrolyzed capacitance in the servo drive unit so there will a high remaining v...

Page 23: ...DA98D User Manual 12 Fig 3 1 Standard Wiring for Position Control Mode AM26LS32 Receiver ...

Page 24: ...DA98D User Manual 13 Fig 3 2 Standard Wiring for Speed Control Mode AM26LS32 Receiver ...

Page 25: ...uration of Terminal Fig 3 3 is a configuration chart for interface terminals of the servo drive unit TB is the plate of terminals CN1 is for connector of DB44 with male socket and female plug CN2 is also for connector of DB28 with female socket and male plug ...

Page 26: ... circuit power 220V 50Hz Notes Do not connect with motor output terminals of U V and W TB 4 PE Product Earthling Grounding terminals Grounding resistance is less than 100Ω Servo motor output and power input have ground contact at the common point TB 5 U TB 6 V TB 7 W Servo Motor Output Servo motor output terminal shall be connected with motor terminals of U V and W in the way of one to one corresp...

Page 27: ... CCW driving operation FSTP OFF stop CCW driving operation Note 1 If limit of the machine is surpassed the CCW torque will remain zero when switching on OFF Note 2 The function of FSTP OFF can be screened off or the function of ON can permanently surface by setting No 20 parameter CN1 9 CW Drive Stopping RSTP Type1 Input terminal for CW clockwise direction drive stopping RSTP ON allow CW driving o...

Page 28: ...erminal for CW clockwise direction torque limiting RIL ON CW torque is limited within the scope of parameter No 37 RIL OFF CW torque is not limited by parameter No 37 Note 1 No matter FIL is on or off CCW torque will still be limited by parameter No 35 Generally parameter No 351 parameter No 371 CN1 20 Servo Ready for Output SRDY Type2 Terminal of Servo Ready for Output SRDY ON Control power suppl...

Page 29: ... of CCW CW command pulse CN1 31 Shielding Ground Wire FG Earthling shielding terminal CN1 2 CN1 16 Analog Ground AGND S Analog ground CN1 17 Input Simulation Command VCMD S CN1 1 Input Analog command Ground SG Type4 S Input analog command 10V Input resistance of 20K CN1 7 Positive Terminal of Hold Output HOLD S P CN1 6 Negative Terminal of Hold Output HOLD Type2 S P Open loop output of drain elect...

Page 30: ... 12 Encoder A Input A Type4 Connected with A phase of the servo motor s photoelectric encoder CN2 23 Encoder B Input B Connected with B phase of the servo motor s photoelectric encoder CN2 11 Encoder B Input B Type4 Connected with B phase of the servo motor s photoelectric encoder CN2 22 Encoder Z Input Z Connected with Z phase of the servo motor s photoelectric encoder CN2 10 Encoder Z Input Z Ty...

Page 31: ...ervo drive unit may be damaged 2 The output is an open circuit form of collector with a maximal current of 50mA and a maximal external power voltage of 25V Therefore the load of switch value output signal must satisfy this limited requirement If the limited requirement is surpassed or the output terminal is directly connected with the power supply the servo drive unit will be damaged 3 If the load...

Page 32: ...er PULS PULS SIGN SIGN R R VCC Fig 3 8 Type4 Uni polar Drive Mode of Pulse Input Interface 1 For correctly transmitting pulse data it is recommended to adopt the differential drive mode 2 Under differential drive mode AM26LS31 and MC3487 or similar cable driver of RS422 3 The uni polar drive mode will reduce the motion frequency According to the requirements on the pulse amount input circuit drivi...

Page 33: ...ounting trend Table 3 5 shows the time sequence and parameters for pulse input Table 3 4 Pulse Input Forms Forms of Pulse Command CCW CW Set Parameter Values Symbol for Pulse Train PULS SIGN 0 Command Pulse Symbol CCW Pulse Train CW Pulse Train PULS SIGN 1 CCW Pulse CCW Pulse Table 3 5 Time sequence Parameters for Pulse Input Parameter Differential Drive Input Uni polar Drive Input tck 2μS 5μS th ...

Page 34: ...500kHz th tl trh trl ts tck trh trl 10 10 90 90 CCW CW PULS SIGN Fig 3 10 Time sequence for CCW Pulse CW Pulse Input Interface Maximal Pulse Frequency 500kHz 4 Driver Speed Signal Output Interface servo amplifier servo motor X X X A B Z U V W AM26LS32 Fig 3 11 Type5 Driver Speed Signal Output Interface 5 Input Interface for Servo Driver s Photoelectric Encoder Driver Side ...

Page 35: ...DA98D User Manual 24 servo amplifier servo motor X X X A B Z U V W AM26LS32 Fig 3 12 Input Interface for Servo Driver s Photoelectric Encoder Driver Side Motor Side ...

Page 36: ...nd Pulse Frequency Division Numerator P 1 32767 1 13 Position Command Pulse Frequency Division Denominator P 1 32767 1 14 Position Command Pulse Input Mode P 0 1 0 15 Position Command Pulse Direction Reversing P 0 1 0 16 Range for Positioning Completing P 0 30000 20 Pulse 17 Inspection Range for Position Excess P 0 30000 400 100 Pulse 18 Invalid Position Excess Error P 0 1 0 19 Position Command Sm...

Page 37: ...7 Internal CW Torque Limiting P S 300 0 100 38 Torque Limiting for Speed Trial Operation and JOG Operation S 0 300 100 39 Acceleration Time Constant S 1 10000 0 ms 40 Deceleration Time Constant S 1 10000 0 ms 41 Numerator of Output Electronic Gear Ratio S 1 255 1 42 Denominator of Output Electronic Gear Ratio S 1 255 1 43 Choice of Speed Command S 0 1 1 44 High Speed AD Zero Point S 412 1600 1024 ...

Page 38: ...pair then restore the default parameter value Otherwise the driver many not work normally or be damaged When changing the parameter first set the password PAO as 385 then the parameter concerned can be changed Please refer to this chapter for detained meanings about parameters 0 69 2 Software Version The software version No can be checked but cannot be changed 3 Initial Display State Select displa...

Page 39: ...tion Gain Set proportion gain of the speed regulator The higher the value is set the gain will be larger and rigidity greater Parameter value shall be determined by specific models and loads of the servo drive unit Generally the greater the load inertia is the higher the value will be set Under the condition that the system will not produce vibration the value can be set as high as possible 5 Hz 2...

Page 40: ...uency If the position feed forward gain is increased the high speed response feature of the control system will be enhanced but the position loop of the system will be instable and easy to cause vibration If not specially requiring very fast response the feed forward gain of the position loop is generally set as 0 0 100 11 Low Pass Filter Cut off Frequency for Position Feed forward Set low pass fi...

Page 41: ...Under the position control mode position excess alarm will occur in the servo drive unit when the number on the position error meter exceeds this parameter value 0 30000 100 pulses 18 Invalid Position Excess Error Set as 0 Valid inspection for position excess alarm 1 Invalid inspection for position excess alarm stop inspecting position excess error 0 1 19 Position Command Smoothing Filter Smoothin...

Page 42: ...ombination of SC1 On and SC2 ON will be used to select internal speed 4 as the speed command 3000 r min 3000 r min 28 Speed Completing Set speed completing Under non position control modes if the motor speed surpasses this set value the signal of SCMP ON will be output Otherwise the signal of SCMP OFF will be output Under the position control mode this parameter will not be used Unrelated to rotat...

Page 43: ...miting will be the maximal over loading capacity permitted by the system 300 0 36 External CCW Torque Limiting Set external CCW torque limiting for the servo motor The value set is the percentage of rated torque e g if the value needs to be set is as much as the rated torque set the value at 100 This limiting will be valid only when the input terminal FIL for CCW torque limiting is ON When the lim...

Page 44: ...from internal speed or analog command 0 Internal speed 1 Analog command 0 1 44 High Speed AD Zero Point When restoring default value this parameter will not be recovered 412 1600 45 Low Speed AD Zero Point When restoring default value this parameter will not be recovered 412 1600 46 Motor Rotation Direction Control 0 Normal 1 Opposite to the analog speed command 2 Opposite to the output pulse rota...

Page 45: ...ST M07720H 1 6kw 300V 2000 r min 6A 1 58 10 3 kg m2 49 130ST M10015H 1 5kw 300V 1500 r min 6A 2 14 10 3 kg m2 50 130ST M10025H 2 6kw 300V 2500 r min 10A 2 14 10 3 kg m2 51 130ST M15015H 2 3kw 300V 1500 r min 9 5A 3 24 10 3 kg m2 Table 4 4 List for Comparison of Parameter No 1 and SJT Series of Servo Motors 1 Parameter Models and Technical Parameters of Servo Motors Remarks 60 110SJT M020E 0 6kw 30...

Page 46: ...cuit power is too low 4 Position Excess Value in the position error meter surpasses the set value 5 Motor Overheating Excessively high motor temperature 6 Saturation Failure of Speed Regulator Long time saturation of the speed regulator 7 Abnormal Drive Stopping Both CCW and CW drive stopping are OFF 8 Overflow of Position Error Meter Absolute Value of the number in the position error meter exceed...

Page 47: ...ively large load inertia Reduce load inertia Replace it with driver and motor of greater frequency Zero point error in encoder Replace servo motor Contact the manufacturer for readjusting the zero point 1 Excessive Speed Occur immediately after the motor is started Wrong connection of motor leads of U V and W Wrong connection of encoder cable leads Correct wiring Occur when switching on control po...

Page 48: ...ine torque limiting value Reduce loading capacity Replace it with drive unit and motor of greater frequency 4 Position Excess After switching on main power supply and control wire the motor does not work when inputting command pulse Excessively high command pulse frequency Reduce the frequency Failure in circuit board Replace servo drive unit Occur when switching on control power Cable disconnecti...

Page 49: ... Replace servo drive unit Excessively low power voltage Overheating Examine drive unit Re electrify Replace drive unit Short circuit between motor leads of U V and W Examine wire connection Bad ground contact Correct ground contact Damaged motor insulation Replace motor 11 Encoder Failure Occur during motor operation Be jammed Add circuit filter Keep away from jamming source Short circuit between ...

Page 50: ...unting Error of Encoder Bad ground contact Correct ground contact 20 EEPROM Error Damaged chip or circuit board Replace servo drive unit After repair first reset driver model parameter No 1 then restore default parameter value 30 Z Pulse Losing in Encoder Z pulse does not exist damaged encoder Bad cable Bad cable shielding Bad connection between shielded wire and shielding layer Failure in encoder...

Page 51: ...t Note Press down or and hold on the operation will be repeated The longer the key is kept being pressed down the faster the repetition frequency will be z The six phase LED nixie tube display can show various states and data about the system If decimal point of all the nixie tubes or the nixie tube on the fastest right side keeps flashing it means alarm z Operation is conducted according to multi...

Page 52: ...press down to enter the specific display state Fig 6 2 Operation Chart for Ways of Monitoring Note 1 Position and command pulse are both values multiplied by input electronic gear Note 2 Pulse unit is the internal pulse unit of the system where it means 100 000 pulses round The pulse is expressed by value higher by 5 plus value lower by 5 The calculation method is Pulse value higher by 5 100 000 v...

Page 53: ...ition display for negative number Note 6 The calculation method for motor current I is 3 2 2 2 2 W V U I I I I Note 7 Absolute position of rotor during one round stands for the position of rotor in relative to stator during the round One round is taken as a cycle ranging from 0 to 9999 Note 8 Input terminal is shown in Fig 6 3 the output terminal is shown in Fig 6 4 and encoder signal is shown in ...

Page 54: ...l number of the parameter and enter to display the value which can be changed by using and Click or for one time the parameter value will be increased or decreased by 1 press down or and hold on the parameter value will be increased or decreased continuously When the parameter is changed the decimal point on LED nixie tube at the furthest right side will shine then press down to confirm the validi...

Page 55: ...er the user changes the parameter the value in the memory will be changed when the user is not satisfied with the changed parameter or the parameter is adjusted in a disorderly way the parameter reading operation can be implemented for reading the data in the parameter area of EEPROM back into the memory and restoring the parameter value at the power on time z EE bA Back up parameter i e write the...

Page 56: ...itched on the next time When the user adjusts the parameter in a disorderly way and the system cannot work he or she can implement this operation to restore all the parameters back to the factory leaving conditions Since different driver models correspond to different default parameter values the driver models must be ensured to be correct when restoring the default parameters Fig 6 7 Operation Ch...

Page 57: ...ter the JOG operation mode i e itching mode The hint character for JOG operation is J and the value unit is r min When the system is under speed control mode the speed command will be provides by keys After entering the JOG operation press down and hold on then the motor will run at the JOG speed release the key the motor will stop and keep zero speed Press down and hold on the motor will run in t...

Page 58: ... Connect the power supply with input terminal of main circuit power the three phases are connected with R S and T and the single phase is connected with R and S through electromagnetic contactor 2 Power supply r and t in the control circuit shall be connected at the same time with or prior to main circuit power If only the control power is connected the servo ready signal SRDY will be OFF 3 After ...

Page 59: ...DA98D User Manual 48 Fig 7 1 Power Supply Connecting Time sequence for Power Supply Connecting and Alarming Fig 7 2 Time sequence for Power Supply Connecting Fig 7 3 Time sequence for Alarming ...

Page 60: ...h key operation The hint character for speed trial operation is S and the value unit is r min When the system is under the speed control mode the speed command will be provided by the keys The speed command can be changed by or and the motor will run at the given speed 2 JOG Itching Operation Connect CN1 and set the input control signals as servo on SON OFF CCW drive stopping FSTP ON CW drive stop...

Page 61: ... speed operation mode set as 1 and set the PA43 parameter as 1 Switch on the main circuit power Render servo on SON ON after confirming that there is no alarm or any other abnormal condition then the motor will be activated and under the operation state of external control speed by analog voltage Analog speed zero adjusting 1 Set PA49 parameter as 1 2 Switch display to DP SPD 3 Observe current rot...

Page 62: ... gain shall be set The value of speed integral time constant parameter No 6 shall be set as low as possible according to the given conditions If the value of speed integral time constant is set too low the response speed will be improved but it is also easy to cause vibration So under the precondition that no vibration will be caused the value shall be set as low as possible For if the value is to...

Page 63: ... Position Position resolution one pulse itinerary l is determined by itinerary per round of servo motor S and feedback pulse per round of encoder Pt as expressed in the following calculation formula l Pt S Δ In which l one pulse itinerary mm S one pulse itinerary mm round Pt feedback pulse per round of encoder pulses round Since there is a four time frequency circuit in the system Pt 4 C in which ...

Page 64: ...2 10 60 Hz non continuous operation Control Mode Position Control Speed Control Speed Trial Operation JOG Operation Open loop Operation Regenerative Brake Built in Speed Frequency Response 200Hz or more Speed Wave Frequency 0 03 load 0 100 0 02 power supply 15 10 the value shall correspond to rated velocity Speed Ratio 1 5000 Control Features Pulse Frequency 500kHz Control Input Servo on Alarm Cle...

Page 65: ...rmanent magnet synchronous servo motors has the following technical features Adopt new rare earth materials with great output power Good low speed performance with speed ratio 1 10000 High dielectric strength and insulation resistance for safe operation Powerful overlaod capacity torque can reach 8 times of rated torque in an instant 2 Terminal Explanation 1 SJT Series of Motor Winding U V W PE te...

Page 66: ...N m Rated Rotation Rated Current Rotor Inertia 2 Acceleration Time Operating Voltage 110SJT M020E0 6 4 2 3000 3 0 3 4 10 4 52 220 300 110SJT M040D1 0 4 4 2500 4 5 6 8 10 4 45 220 300 110SJT M060D1 5 4 6 2500 7 0 9 5 10 4 42 220 300 130SJT M040D1 0 4 4 2500 4 0 1 19 10 3 80 220 300 130SJT M050D1 3 4 5 2500 5 0 1 19 10 3 64 220 300 130SJT M060D1 5 4 6 2500 6 0 1 95 10 3 82 220 300 130SJT M075D1 88 4...

Page 67: ...05025H 1 3 5 2500 6 5 5 0 1 06 10 3 3 07 220 300 7 9 130ST M06025H 1 5 6 2500 8 0 6 0 1 26 10 3 2 83 220 300 8 6 130ST M07720H 1 6 7 7 2000 9 0 6 0 1 58 10 3 2 44 220 300 9 5 130ST M10015H 1 5 10 1500 9 0 6 0 2 14 10 3 2 11 220 300 11 1 130ST M10025H 2 6 10 2500 14 5 10 0 2 14 10 3 2 11 220 300 11 1 130ST M15015H 2 3 15 1500 13 5 9 5 3 24 10 3 1 88 220 300 14 3 Note 1 The value within the bracket ...

Page 68: ... 220 0 013 1100 0 035 168 227 225 284 130SJT M050D 220 0 013 1100 0 035 168 227 225 284 130SJT M060D 220 0 013 1100 0 035 190 249 247 306 130SJT M075D 220 0 013 1100 0 035 190 249 247 306 130SJT M100B 220 0 013 1100 0 035 208 267 265 324 130SJT M100D 220 0 013 1100 0 035 208 267 265 324 130SJT M150B 220 0 013 1100 0 035 238 297 295 354 130SJT M150D 220 0 013 1100 0 035 248 307 305 364 Note The LB ...

Page 69: ...t is the length of motor with electricity losing brake 4 Figuration Drawing for DST series of 130 stand model AC servo motors Zero speed Torque Nm 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 Note The B value in the bracket is the length of motor with the electricity losing brake ...

Page 70: ...adopt single phase power supply while drive units of more than 0 8kW can adopt three phase power supply We provide the following several models of transformers for the user to select The user can make a choice by referring to the power and actual load of servo motor Table 8 5 Specifications on Some Isolating Transformers Models Capacity kVA Phase Number Input Voltage V Output Voltage V BS 120 1 2 ...

Page 71: ...DA98D User Manual 60 Installation Dimension Drawing for BS 120 Model ...

Page 72: ...DA98D User Manual 61 Installment Dimension Drawing for BS 200 Model ...

Page 73: ...DA98D User Manual 62 Installment Dimension Drawing for BS 300 Model ...

Page 74: ...DA98D User Manual 63 Installment Dimension Drawing for BD 80 Model ...

Page 75: ...DA98D User Manual 64 Installment Dimension Drawing for BD 120 Model ...

Page 76: ... the machinery deceleration ratio the actual maximal speed is decreased or choose motor with higher rotation rate 3 Calculating Inertia and Torque The load inertia and torque can be converted to the motor shaft with machinery deceleration ratio The converted inertial shall be no more than 5 times of the inertia of the motor rotor and the converted load torque and effective torque shall be not high...

Page 77: ...s reached under the condition that position feed forward gain is 0 If the position feed forward gain is 0 the lag pulse will be less than that in the above calculation formula 9 4 Calculation Method for Selecting Models of Servo System and Position Controller 1 Command displacement and actual displacement in which S actual displacement mm I command displacement mm δ minimal unit of CNC mm CR comma...

Page 78: ...bench permitted by the servo system mm min nmax maximal rotation rate permitted by the servo motor r min Actual maximal speed of machine tools is restricted by maximal speed of CNC and the servo system in which α minimal displacement of machine tools mm N natural number INT integral number INT min minimal integral num L DD DR n V max max δ α L ZM ZD ST DD DR CD CR N INT INT 1 min ...

Page 79: ...ad Luochongwei Guangzhou 510165 China Website http www gsk com cn E mail gsk gsk com cn Tel 86 20 81796410 81797922 Fax 86 20 81993683 All specification and designs are subject to change without notice Aug 2007 Edition 1 Aug 2007 Printing 1 ...

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