Wheatstone iK series User Manual Download

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K/iK series
AC Servo Driver
User’s Manual

2016

（

V1.9

）

Summary of Contents for iK series

Page 1: ...K iK series AC Servo Driver User s Manual 2016 V1 9 ...

Page 2: ... for the first time please carefully read this Manual If there is any question with the function or performance of this product please contact our technical support staff for help in order to use this product correctly We have tried our best to improve the contents of this manual However if you find any problem in this Manual please contact our technical support staff in time for us to make timely...

Page 3: ...t touch the driver with wet hands for fear of electric shock Wrong voltage or power supply polarity may cause an explosion or operational accidents Ensure that the wire is properly insulated to avoid squeezing the wire and electric shock 2 Warning of Damage to Equipment Warning Do not directly connect power to the U V or W terminals of the driver for fear of damaging the driver The servo motor and...

Page 4: ...ble materials Otherwise a fire accident may occur Do not use it at a place which is damp full of corrosive gas or flammable gas for fear of a fire When any abnormal situation occurs while the driver operates please immediately cut off the power for repair Long time overloaded operation of the driver may cause damage and fire ...

Page 5: ...f Main Circuit 8 3 1 1 Descriptions of Terminals 8 3 1 2 Typical Examples for Main Circuit Wiring 9 3 2 Encoder Signal Wiring 11 3 2 1 Connection with Encoder Interface CN1 CN2 and Processing of Output Signal from CN3 12 3 3 Input Output Signal Wiring 14 3 3 1 Speed Torque Control Mode 14 3 3 2 Position Control Mode 16 3 3 3 Signals and Their Functions for Input Output Connector CN3 17 3 3 4 Inter...

Page 6: ...nected to the Machine 49 5 1 4 Trial Operation of Servomotor with Brakes 50 5 1 5 Position Controlled by Command Controller 50 5 2 Selection of Control Mode 50 5 3 Setting of General Basic Functions 51 5 3 1 Servo ON Setting 51 5 3 2 Rotation Direction Switching of Motor 52 5 3 3 Overtravel Setting 52 5 3 4 Setting for Holding Brake 54 5 4 Use of Absolute Encoder 57 5 4 1 Interface Circuit 58 5 4 ...

Page 7: ...ternal Torque Limit Analog Voltage Reference 90 5 9 5 Confirmation under Input Torque Limit 92 5 10 Control Mode Selection 92 5 10 1 User Parameter Setting 92 5 10 2 Shift of Control Mode 92 5 11 Other Output Signal 93 5 11 1 Servo Alarm Output ALM 93 5 11 2 Rotation Detection Output TGON 93 5 11 3 Servo Ready Output S RDY 94 5 12 Mode Motion Sequence Manner 94 5 12 1 Single Data Set Manner 94 5 1...

Page 8: ...rvo Drive 145 Appendix A Summary of User Parameters 146 Appendix B Table of iK Series M2 Drive Parameters 178 Appendix C List of Alarm Display 193 Appendix D Guidelines for Motor Model by Users 195 Motor Adaption Table 196 1 M Series Motor 196 2 H Series Motor 198 ...

Page 9: ...er 1 Chapter I Function Overview 1 1 Description of Servo Driver Models Naming rule of K series servo driver Naming rule of iK series bus servo driver Note 3 5kW and 5kW products are single axis products 1 2 External Dimension ...

Page 10: ... set freely RS 485 communica tion Communication protocol MODBUS 1 N communication N 127 stations at maximum Axial address setting Set by parameters CAN communica tion Communication protocol CANOpen DS301 DS402 guild regulations 1 N communication N 127 stations at maximum Axial address setting Set by parameters Display functions CHARGE indicator 7 segment digital tube 5 bit Regeneration processing ...

Page 11: ...n should be under control in order to ensure that the ambient temperature for the servo driver is under 55 Installed near vibration source A vibration isolation device should be installed to avoid vibration passing to the servo driver Installed in a place exposed to corrosive air Necessary measures should be taken to prevent the servo driver from exposing to corrosive air Corrosive air may not imm...

Page 12: ...a space of above 10 mm should be reserved at both sides of the horizontal direction and a space of above 50mm should be reserved at both sides of the vertical direction The temperature inside the control cabinet should be kept even to avoid excess temperature in some parts of the servo driver If necessary a fan for compulsory cooling and convection should be installed above the servo driver Enviro...

Page 13: ...cur if any mechanical mismatch occurs during installation Please follow the instructions below for correct installation Precautions before installation Antirust agent is applied at the motor axis end and should be wiped off using a soft cloth dipped in diluent before installation When wiping off the antirust agent attention should be paid to prevent the diluent from contacting other parts of the s...

Page 14: ...a circle to make sure that difference between max value and min value is lower than 0 03 mm rotating with coupling Mechanical vibration will be caused by large concentricity deviation and therefore will lead to damages to servo motor bearing When installing coupling axial percussion is prohibited otherwise damages will be caused to encoder of servo motor 2 2 4 Installation Direction Servo motors c...

Page 15: ...ing radius cannot be too small when connecting cables It is also not suggested to exert too much tension in cables Specially diameter for core wire of signal line is usually very fine 0 2 or 0 3 mm therefore too much tension cannot be exerted during wiring ...

Page 16: ... the power frequency should be limited to 1 time min below Due to capacitance in power of servo unit large charging current charging for 0 2 s will flow through when power is ON Therefore performance of components in main circuit within servo unit will be damaged if power is turned on off frequently 3 1 1 Descriptions of Terminals Terminals and respective function and precaution for driver panel a...

Page 17: ...K iK Series AC Servo Driver 9 3 1 2 Typical Examples for Main Circuit Wiring Three phase 220 V double axis drive ...

Page 18: ...ce 1 Design of power ON sequence power should be OFF after output of signals of servo alarm Refer to the above circuit diagram 2 Press the POWER ON button for over 2 s When control power of servo unit is ON output 2s servo alarm signal 1Ry OFF It is required to be done during initial setting of servo driver 3 Power specification for used parts should match with input power ...

Page 19: ...driver and their wiring pin No vary with servo motors Signal of side encoder interface CN1 CN2 for servo driver Terminal No Signal leads Terminal No Signal leads Incremental encoder Bus encoder Incremental encoder Bus encoder 1 PA 8 PU 2 PA 9 PU 3 PB 10 PV 4 PB 11 PV 5 PC E 12 PW SD 6 PC E 13 PW SD 7 5V 5V 14 GND GND Casing Shielded wire ...

Page 20: ...In the figure 1 connector wiring pin No varies with used servo motor 2 refers to multi stranded shielded wire 3 connector wiring pin No varies with used servo motor 19 25 is pin number for axis A of single axis or double axis motor 44 49 is pin number of axis b of double axis motor 1 2500 incremental wire saving encoder ...

Page 21: ...K iK Series AC Servo Driver 13 2 2500 incremental standard encoder 3 Bus incremental encoder 4 Bus absolute encoder ...

Page 22: ...AC Servo Driver 14 3 3 Input Output Signal Wiring 3 3 1 Speed Torque Control Mode Pin out for signal wiring of single axis driver should be subject to A axis wiring pin out The b axis pin out will not be connected ...

Page 23: ...K iK Series AC Servo Driver 15 ...

Page 24: ...K iK Series AC Servo Driver 16 3 3 2 Position Control Mode Pin out for signal wiring of single axis driver should be subject to A axis wiring pin out The b axis pin out will not be connected ...

Page 25: ... can be reallocated Factory setting A axis S ON 39 IN5 Input port 5 which can be reallocated Factory setting ALM RST Input port 5 which can be reallocated Factory setting b axis S ON 15 IN2 Input port 2 which can be reallocated Factory setting P CON Input port 2 which can be reallocated Factory setting A axis P CON 40 IN6 Input port 6 which can be reallocated Factory setting CLR Input port 6 which...

Page 26: ...nput circuit a Analog input circuit The following is to describe 5 6 speed reference input terminals and 18 25 torque reference input terminals of CN3 connector Analog signal is the signal of speed reference or torque reference Input impedance is shown as below Speed reference input appx 20 KΩ Torque reference input appx 20 KΩ Maximum allowable voltage of input signal is 12 V b Position reference ...

Page 27: ...relay for small current when using relay for connection If otherwise bad contact will occur Note For interface of SEN signal input circuit please refer to Chapter Usage of Absolute Value Encoder 3 Absorption circuit and release circuit Use two way photocoupler as input circuit of servo driver Please select absorption circuit connection and release circuit connection according to the specification ...

Page 28: ... connected through relay circuit or bus receiver circuit Note maximum allowable voltage and current capacity of photocoupler output circuit are shown as below Maximum voltage DC 30 V Maximum current DC 50 mA 3 4 Other wiring 3 4 1 Precautions 1 For reference input and wiring leading to encoder please use the specified cable Please select the cable with shortest connection distance 2 Use heavy wire...

Page 29: ...e same pipeline or bind them Do not use the same power as electric welding machine electrical discharge machine etc Even if so please insert noise filter at the input side of power wire when there is high frequency generator around 6 Use molded case circuit breaker QF or fuse to protect power wire The servo driver is directly connected to industrial power wire To protect servo system from cross el...

Page 30: ...hrough the stray capacitance of servo motor The above are precautions for such influence b When there is interference on reference input wire When there is interference on reference input wire please ground the OV wire GND of the input wire When passing the main circuit wiring of motor through a metal conduit please ground the conduit and its junction box Please conduct one point grounding for the...

Page 31: ...se do not put the output wiring of noise filter and other signal wires and grounding wires into the same pipeline or bind them together 3 Connect the grounding wire of filter alone with grounding plate and do not connect other grounding wires 4 Processing of grounding wire of noise filter within a device ...

Page 32: ...nal pin NO 1 2 3 4 Signal U V W PE 3 Power socket 4 pin of series greater than or equal to 100 Terminal pin no 1 2 3 4 Signal PE U V W 4 pin AMP 4 straight pin bent type 4 straight pin aviation type 1 U 2 V 3 W 4 PE 1 PE 2 U 3 V 4 W 1 U 2 V 3 W 4 PE 3 5 2 Connector Terminal Wiring for Motor Encoder 1 Non wire saving encoder socket 15 pin AMP of series less than or equal to 90 Terminal No 1 2 3 4 5...

Page 33: ... 10 11 12 13 14 15 Signals PE 5V GND A B Z A B Z U V W U V W 3 Wire saving encoder socket 3 rows and 9 pin AMP Terminal No 1 2 3 4 5 6 7 8 9 Signals 5V GND A A B B Z Z PE 4 Motor absolute encoder socket 7 pin Terminal No 1 2 3 4 5 6 7 Signals PE E E SD GND SD 5V ...

Page 34: ...ve rotation during JOG running in auxiliary function mode DOWN Press DOWN to reduce set value Functioning as start key of negative rotation during JOG running in auxiliary function mode Shift key Press the key to shift the selected bit the decimal point of which flickers one bit to the left SET Press the key to display the setting and set value of parameters and access parameter setting status and...

Page 35: ...3 Status Display Distinguishing method of status display is shown as below Display content of bit data Item Velocity torque control mode Position control mode Bit data Display content Bit data Display content A axis Running Light on when servo ON power being supplied to motor A axis Running Servo ON power being supplied to motor A axis Same speed Light on when gap between motor A axis Positioning ...

Page 36: ... value Specified value PB503 Factory default 10 rpm b axis Positioning completed COIN Light on when offset of actual motor position and position reference is lower than the specified value Specified value PA500 Factory default 10 pulse b axis Rotation detection TGON Light on when motor speed is higher than the specified value Specified value PA502 Factory default 20 rpm b axis Rotation detection T...

Page 37: ...dy F 004 User password authentication F 005 Motor model confirmation F 006 Manual adjustment of speed reference offset F 007 Manual adjustment of torque reference offset F 008 Automatic adjustment of speed torque reference offset F 009 Clear of multi coil information data of bus encoder F 010 Clear of internal errors of bus encoder F 011 Initialization of user parameter setting F 012 Display of hi...

Page 38: ...ate position demonstration operation 4 Press SET for more than 1 second until the display flickers donE to indicate position demonstration operation has been completed 5 Press SET to return to the display of FA001 4 2 4 Identification of Inertia Percentage The following are operations steps for display of A axis inertia percentage detected in normal mode by turning 3 circles clockwise and another ...

Page 39: ... inertia percentage currently detected is displayed 10 Press SET to return to the display of Fb000 4 2 5 Confirmation of Motor Model It is the function for confirming the model capacity and encoder model of servo motor being controlled by servo driver Operation steps Operation instruction Operation key Display after operation 1 Press M function key to select A axis auxiliary function mode If FA005...

Page 40: ...s alarms can be validated at most The history alarm records can be cleared by a long press on SET The history alarm data will not be cleared by alarm reset or servo power off Moreover the alarm history data will not impact the operation See Abnormality Diagnosis and Treatment Methods for alarm content 1 In case of continuous occurrence of the same alarm the alarm history data will not update 2 The...

Page 41: ... of User Parameters For example the operation steps to change b axis user parameter Pb100 Speed loop gain from 40 to 100 are shown as follows Operation steps Operation instruction Operation key Display after operation 1 Press M function key to select parameter setting mode 2 Press M function key for more than 1 second Pb000 is displayed and the decimal point in Bit 0 flickers 3 Press shift key twi...

Page 42: ...sentation of the Manual The user parameters for function selection are represented with hexadecimal system and every bit of the set value has respective meaning User parameters for function selection in the Manual are represented as follows PA000 0 or A Hxxx stands for the set value 0 bit data of A axis user parameter PA000 PA000 1 or A Hxx x stands for the set value 1 bit data of A axis user para...

Page 43: ...09 0 H xxx S ON 1 2 3 4 5 6 7 8 0 9 Proportional action reference PA509 1 H xx x P CON 1 2 3 4 5 6 7 8 0 9 Positive side over travel prohibited PA509 2 H x xx POT 1 2 3 4 5 6 7 8 0 9 Negative over travel prohibited PA509 3 H xxx NOT 1 2 3 4 5 6 7 8 0 9 Alarm reset PA510 0 H xxx ALM RST 1 2 3 4 5 6 7 8 0 9 Deviation counter reset PA510 1 H xx x CLR 1 2 3 4 5 6 7 8 0 9 Positive side external torque ...

Page 44: ...nal torque limit P 510 2 H x xx PCL 1 2 3 4 5 6 7 8 0 9 Negative side external limit P 510 3 H xxx NCL 1 2 3 4 5 6 7 8 0 9 Gain switch P 511 0 H xxx G SEL 1 2 3 4 5 6 7 8 0 9 Select internal position setting P 511 1 H xx x POS0 1 2 3 4 5 6 7 8 0 9 Select internal position setting P 511 2 H x xx POS1 1 2 3 4 5 6 7 8 0 9 Select internal position setting P 511 3 H xxx POS2 1 2 3 4 5 6 7 8 0 9 Referen...

Page 45: ...54 is displayed and the decimal point in Bit 2 flickers 9 Press UP or DOWN to set current bit as 1 10 Press SET to return to the display of PA510 and distribute S ON to IN7 CN3 41 and PCL to IN1 CN3 14 4 Polarity reversal setting of input port active level Single double axis driver can set active level parameters of input port signals PA519 and PA520 to reverse IN1 IN7 active level polarity Note 1...

Page 46: ... 8 9 10 11 12 32 33 34 35 36 37 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 User parameter distribution Polarity setting of signal output PA521 H xxx PA521 H xx x PA521 H x xx PA521 H xxx PA522 H xxx PA522 H xx x 0 1 0 1 0 1 0 1 0 1 0 1 Servo alarm ALM PA513 0 H xxx 0 Invalid 1 L H 2 L H 3 L H 4 L H 5 L H 6 L H Positioning completed same speed detection COIN or V CMP PA513 1 H xx x 0 Invalid 1 L H 2 L H 3 L H 4...

Page 47: ...ut circuit the output circuit only output ALM signals 2 When PGC signals and other signals rather than ALM are distributed to the same output circuit the output circuit only output PGC signals 3 Multiple signals except for ALM and PGC distributed to the same output circuit will be output through OR circuit ...

Page 48: ...L H 5 L H 6 L H Motor rotation detection TGON PA513 2 H x xx 0 Invalid 1 L H 2 L H 3 L H 4 L H 5 L H 6 L H Servo alarm ALM Pb513 0 H xxx 0 Invalid 1 L H 2 L H 3 L H 4 L H 5 L H 6 L H Positioning completed same speed detection COIN or V CMP Pb513 1 H xx x 0 Invalid 1 L H 2 L H 3 L H 4 L H 5 L H 6 L H Motor rotation detection TGON Pb513 2 H x xx 0 Invalid 1 L H 2 L H 3 L H 4 L H 5 L H 6 L H Servo re...

Page 49: ...struction Operation key Display after operation 1 Press M function key to select parameter setting mode In case of failing to display PA513 press UP or DOWN to set 2 Press SET to display current PA513 data Distribute TGON to CN3 11 12 3 Press shift key twice and select Bit 2 of the displayed number H 43 21 is displayed and the decimal point in Bit 2 flickers 4 Press UP or DOWN to set current bit a...

Page 50: ...l display only valid under position control mode 1 reference pulse Un011 Feedback pulse counter four octave frequency data of encoder pulse 32 bit decimal display 1 reference pulse Un012 Position offset counter only valid under position control mode 1 reference pulse Un013 Accumulative load rate when rated torque is set as 100 1 Un014 Ratio of moment of inertia the ratio of load moment inertia to ...

Page 51: ... CN3 7 8 ALM A axis ALM 2 OUT2 CN3 9 10 COIN or V CMP A axis COIN or V CMP 3 OUT3 CN3 11 12 TGON A axis TGON 4 OUT4 CN3 32 33 S RDY b axis ALM 5 OUT5 CN3 34 35 CLT b axis COIN or V CMP 6 OUT6 CN3 36 37 BK b axis TGON Un009 Only valid for incremental encoder 1 PW CN 12 13 axis encoder W phase represents for 1 or 2 2 PV CN 10 11 axis encoder V phase 3 PU CN 8 9 axis encoder U phase 4 UVW off line de...

Page 52: ...is Un010 data are as follows Operation steps Operation instruction Operation key Display after operation 1 Press M function key to select A axis monitoring mode In case of failing to display Un010 press UP or DOWN to set 2 Press SET to display Un010 The decimal point of current Bit 0 is off so low 16 bit of A axis Un010 is displayed 3 Press UP or Down the decimal point of current Bit 0 is on so lo...

Page 53: ...idated as correct perform trial operation for servo motor units based on the following serial number in order Jogging JOG and mode running F 002 The following are operation steps for display of axis A JOG operation Operation steps Operation instruction Operation key Display after operation 1 Press M function key for more than 1 second and switch to auxiliary function mode of axis A 2 Press M funct...

Page 54: ...onnect CN3 to servo unit Please set as follows 1 Input servo On and input signal S ON 2 Turn On L level input signals of Forward Drive Prohibited P OT and Reverse Drive Prohibited N OT forward drive prohibited and reverse drive prohibited can be performed 3 Do not input reference 0V reference or 0 pulse If the external wiring is to be omitted the input signal distribution function based on user pa...

Page 55: ... setting 150 r min V 4 Please validate the speed reference Un004 r min value input to servo driver See Selection and Operation of Basic Mode for relevant display methods 5 Please validate servo motor speed Un000 r min See Selection and Operation of Basic Mode for relevant display methods 6 Please validate the values of Step 4 and 5 Un004 and Un000 are equivalent Change speed reference input voltag...

Page 56: ... 3 Operation steps under position control mode P 000 H 1 The following external input signal circuits and equivalent signal circuits must be configured Step Content Verification methods and supplementary instruction 1 Please validate the conformity between pulse shape and the pulse output from the superior pulse commander Reference pulse shape is set with P 200 H Please refer to Setting of User Pa...

Page 57: ...Setting for Holding Brake 2 Please set necessary parameters for users based on used control mode Based on used control mode please refer to the Speed Control Analog Voltage Reference Operation the Position Control Operation the Torque Control Operation 3 Please connect to servo motor and machinery via coupling with power being cut off Please refer to Installation Precautions for Servo Motor 4 When...

Page 58: ...hods Re corrected content Reference JOG operation Reference with certain speed input by command controller RPM of servo motor Confirm speed of servo motor by the following methods RPM monitoring for motor using panel operator Un000 Try to operate servo motor at a lower speed For example input a speed reference of 60r min and check whether the servo motor rotates 1 round per second Please determine...

Page 59: ...l S ON which sends out commands for energized de energized state of servo motor 1 Servo ON signal S ON Name Signal Pin No of connector factory Set Meanings A axis B axis Input S ON CN3 14 CN3 39 ON L Level Servo motor can operate in energized state servo ON state OFF H Level Servo motor cannot operate in de energized state servo OFF state Attentions Make sure that commands are input to start stop ...

Page 60: ... parts to stop if they exceed the allowable range of motion and turn ON a limit switch 1 Connection of overtravel signal In order to use overtravel function connect input signals of the following overtravel limit switch to corresponding pin numbers in CN3 connector of servo driver without fail Type Signal Pin No of connector factory Set Meanings A axis B axis Input POT CN3 16 CN3 41 ON L Level Pos...

Page 61: ...ges to the user parameter so as to effect the setting POT and NOT signals may freely distribute inputted connector pin numbers by user parameters See the Signal Distribution of Input Circuit for details 3 Motor stop method when using overtravel Methods used to stop operation of motor when inputting overtravel signals POT and NOT during rotation of servo motor User Parameter Methods for motor stop ...

Page 62: ...ity Please refer to Trial Operation for Servo Motor with Brake Note 1 The brake built in the servo motor with brake should be a actuated type holding brake without excitation which cannot be used for braking It should only be used to maintain the stop state of servo motor Brake torque is over 120 of rated torque of servo motor 2 When operation of servo motor is enabled only by speed loop servo and...

Page 63: ...ugh output terminal of OUT2 CN3 9 CN3 10 H 3 OUT3 CN3 11 12 Output BK signal through output terminal of OUT3 CN3 11 CN3 12 H 4 OUT4 CN3 32 33 Output BK signal through output terminal of OUT4 CN3 32 CN3 33 H 5 OUT5 CN3 34 35 Output BK signal through output terminal of OUT5 CN3 34 CN3 35 H 6 OUT6 CN3 36 37 Output BK signal through output terminal of OUT6 CN3 36 CN3 37 Attentions Brake signals BK set...

Page 64: ... brake ON during rotation of servo motor If an alarm occurs while the servomotor is rotating the servomotor will come to a stop and the brake signal will be turned OFF The timing of brake signal output can be adjusted by setting the following parameter ...

Page 65: ...l be in inertial operation de energized state after stop Setting of user parameter is valid under the following conditions S ON output signal OFF servo OFF Main power L1 L2 and L3 OFF Words and expressions Plug braking stopping stop the motor via deceleration brake torque P 407 Inertial operation stopping naturally stop the motor by friction resistance arising from motor rotation other than brakin...

Page 66: ... 32767 5 4 1 Interface Circuit Standard connection of absolute encoder installed in the servo motor is as follows Connection of SEN signal Name Signal Pin No of connector Set Meanings Input ASEN CN3 38 FF L level When power is supplied ON H level Absolute value is required Input BSEN CN3 50 FF L level When power is supplied ON H level Absolute value is required This input signal must be used to re...

Page 67: ... and battery is not required Power must be turned on again upon changes to the user parameter so as to effect the setting 5 4 3 How to Use Battery Recommended battery specification ER36V Procedures for battery replacement 1 Please replace batteries when control power of servo unit is ON 2 After batteries are replaced use auxiliary function F 010 to remove alarm of absolute encoder so as to stop al...

Page 68: ...emental pulse Normal time Incremental pulse PBO At initialization Initial incremental pulse Normal time Incremental pulse PCO Always Origin pulse 2 Sending sequence and content of absolute data 1 Set SEN signal as H level 2 After 100 ms wait state for serial data acceptance starts Reversible counters used for incremental pulse count should be reset 3 Receive serial data in 8 bytes 4 It will change...

Page 69: ...er P0 Count of initial incremental pulse PS Count of initial incremental pulse read from the set point this value is subject to storage and management of host PM Current value required in client system R Pulse count for 1 circle of rotating encoder value after frequency dividing and value of P 201 3 Detailed specification of signal a Specification of PAO serial data Output rotation in 5 digits Dat...

Page 70: ... state 2 When absolute encoder alarm is displayed auxiliary function F 010 should be executed to stop alarm Alarm reset ALM RST of servo driver cannot stop alarm Bus encoder multi coil information error A25 b25 Bus encoder multi coil information overflow A26 b26 Bus encoder battery alarm 1 A27 b27 Bus encoder battery alarm 2 A28 b28 Bus encoder overspeed A41 b41 5 4 6 Clear of Multi coil Data of A...

Page 71: ...on can be used to remove multi coil information Operation steps Operation instruction Operation key Display after operation 1 Press M function key to select auxiliary function mode for A axis In case of failing to display FA010 press UP or DOWN to set FA010 2 Press SET to display ErrCL 3 Press M function key to display CLFIn and clear encoder multi coil information completely 4 Press SET to return...

Page 72: ...mum allowable input voltage DC 12V 2 Proportional action reference signal P CON Name Signal Pin No of connector factory Set Meanings A axis B axis Input P C0N CN3 15 CN3 40 ON L Level Operate servo driver by P control mode OFF H Level Operate servo driver by PI control mode P CON signal is a signal that selects speed control modes from PI proportional and integral or P proportional control If P co...

Page 73: ...reference offset for details 1 Auto adjustment of speed reference offset When offset pulse is set as zero with the servo locked in the OFF state by the command controller equipped with a position loop auto adjustment of reference offset F 008 is not available instead manual adjustment of speed reference offset F 00A should be applied Under speed reference of zero function of zero clamping speed co...

Page 74: ... and auto adjustment of analog speed torque reference offset F 008 are the same But for manual adjustment F 006 adjustment must be made along with direct input of offset Adjustment range of offset and setting unit are listed as below Auto adjustment of speed reference offset of A axis is conducted as below Operation steps Operation instruction Operation key Display after operation 1 Press M functi...

Page 75: ...he servo driver 1 Trapezoidal start up User Parameter Meanings P 309 H 0 Trapezoidal start up 2 S curved start up User Parameter Meanings P 309 H 1 S curved start up H 0 Close to linearity Selection of S curve ratio H 1 Low H 2 Central H 3 Height 3 Acceleration and deceleration filtering start up User Parameter Meanings P 309 H 2 Acceleration and deceleration filtering start up ...

Page 76: ...y stop with servo in the locked state regardless of speed reference when input voltage of speed reference V REF is lower than the value corresponding to the rotation speed of P 501 zero clamping level Servo motor is clamped within 1 pulse at the position where zero clamping takes effect Even through external rotation the servo motor will return to zero clamping User Parameter Meanings P 000 H A Co...

Page 77: ...nal distribution of input circuit for distribution 5 5 6 Encoder Signal Output Feedback pulse of encoder is output after processing in servo unit Name Signal Pin No of connector Name A axis B axis Output APAO CN3 19 CN3 44 Encoder output Phase A APAO CN3 20 CN3 45 Encoder output Phase A Output APBO CN3 21 CN3 46 Encoder output Phase B APBO CN3 22 CN3 47 Encoder output Phase B Output APCO CN3 23 CN...

Page 78: ...s encoder C phase pulse output of servo driver should be applied for mechanical origin reset after two cycles of rotation of servo motor Setting of frequency dividing ratio of encoder pulse 5 5 7 Same Speed Detection Output Name Signal Pin No of connector factory Set Meanings A axis B axis Output V CMP CN3 9 CN3 10 CN3 34 CN3 35 ON L Level State of same speed OFF H Level State of different speed ...

Page 79: ...Signal Pin No of connector Name A axis B axis Input PULS CN3 1 CN3 26 Reference pulse input PULS CN3 2 CN3 27 Reference pulse input SIGN CN3 3 CN3 28 Sign input SIGN CN3 4 CN3 29 Sign input 2 Selection of pulse reference form User Parameter Reference form Input multiple Positive rotation reference Negative rotation reference P 200 H 0 Sign pulse train H 1 CW CCW H 2 Two phase pulse train with 90 p...

Page 80: ...ignal CLR regular clear of offset pulse can be selected based on state of servo driver Three types of action mode of clear offset pulse can be selected through user parameter P 200 0 User Parameter Meanings P 200 H 0 Under servo OFF clear offset pulse under over travel not clear offset pulse H 1 Under servo OFF or over travel not clear offset pulse H 2 Under servo OFF or over travel excluding zero...

Page 81: ...sitioning accuracy 4 To calculate movement of loading axis with 1 cycle of rotation Reference units for 1 cycle of loading axis should be calculated based on determinate reference unit 5 To calculate electronic gear ratio Electronic gear ratio B A should be calculated according to the related formula 6 To set user parameter The value calculated should be set as electronic gear ratio 5 Example for ...

Page 82: ...example numerator and denominator are reduced by 4 As a result P 202 32768 and P 203 1500 Then the setting is completed 6 Equation of electronic gear ratio 5 6 3 Position Reference Position of servo motor is controlled by the reference in the form of pulse train Pulse train output forms of command controller are listed as below Bus driver output 24V collector open circuit output 12 V collector ope...

Page 83: ...um reference frequency 500 kpps In case of open collector output maximum reference frequency 200 kpps SIGN H Forward reference L Reverse reference CW pulse CCW pulse Maximum reference frequency 500 kpps In case of open collector output maximum reference frequency 200 kpps Two phase pulse with 90 phase difference Phase A Phase B Maximum reference frequency multiplier 500kpps multiplier 400kpps mult...

Page 84: ...n example of open collector output R1 value of limiting resistor should be selected to ensure that input current is within the range below Input current i 7mA 15mA 3 Chart of control box Chart of control box is as below during position control ...

Page 85: ...h reference pulse input with certain frequency 1 Selection of position reference filter User Parameter Meanings P 206 H 0 First acceleration and deceleration filtering H 1 Second acceleration and deceleration filtering 2 User parameter related to filter 5 6 5 Positioning Completed Output Signal ...

Page 86: ...p may produce continuous low frequency jitter at early stage of loading resulting in longer positioning and affecting production efficiency Servo driver is equipped with jitter buffer control function which can suppress low frequency jitter by estimating loading position and compensation 1 Scope of Application Low frequency jitter suppression is available in speed control mode and position control...

Page 87: ...ication software can be used to measure jitter frequency of load indirectly 5 6 7 Inhibition Function of Reference Pulse INHIBIT Function 1 Inhibition function of reference pulse INHIBIT function It is the function to stop inhibit reference counting input pulses during position control When the function is activated servo locking clamping state is also activated 2 Setting of user parameter User Pa...

Page 88: ...er Meanings P 000 H 2 Control mode torque control analog voltage reference 5 7 2 Torque Reference Input If torque reference is sent to servo driver in the form of analog voltage reference torque of servo motor is controlled in proportion to input voltage Name Signal Pin No of connector Name A axis B axis Input T REF CN3 18 CN3 43 Torque reference input GND CN3 25 CN3 50 Signal earth for torque ref...

Page 89: ...e of the host controller or external circuit has a minute offset of a few millivolts In such case the offset can be automatically or manually adjusted by panel operator Auto adjustment of analog speed torque or reference offset is the function for offset measurement and auto adjustment of voltage In case of voltage reference offset of the host controller or in external circuit servo driver will ma...

Page 90: ...rEF_o instead of flickering donE is displayed 6 Press SET to return to the display of FA008 2 Manual adjustment of torque reference offset Manual adjustment of torque reference offset F 007 should be applied in case that the host controller is equipped with a position loop to set the offset pulse as zero when the servo is locked in the OFF state the offset is set as a certain value consciously che...

Page 91: ...ntrolled by the specified torque output but the motor speed is not controlled If an excessive reference torque is set for the load torque on the mechanical side then it will exceed the torque of the machinery which will lead to greatly increase of motor speed As a protective measure at the mechanical side a function of limiting servo motor speed under torque control is provided No speed limit Spee...

Page 92: ... Note Principle of speed limit If the speed is out of the range of speed limit it may return to the range of speed limit through negative feedback of torque proportional to the speed difference with the limited speed Therefore actual motor speed limit will fluctuate based on loading conditions 5 8 Speed Control Internal Speed Selection Operation Meaning of internal set speed selection This functio...

Page 93: ...L need to be distributed by parameter P 510 Operation modes of the three input signals P CON P CL and N CL are utilized they are distributed in factory settings 5 8 3 Operation at Internal Set Speed Operation is allowed through internal settings by ON OFF combination of the following input signals Input signal Rotation direction of motor P CON PCL NCL OFF H OFF H OFF H Positive rotation Stop by th...

Page 94: ...ed then the impact during speed shifting will decrease Please refer to Soft start for soft start Example operation based on internal set speed soft start If P 000 1 5 internal set speed control position control is set the soft start function only works when the internal set speed is selected The soft start function is not available when pulse reference is input If it is shifted to pulse reference ...

Page 95: ...iver provides the following four methods for limiting output torque to protect the machine Method Way of limit Reference 1 Internal torque limit 5 9 1 2 External torque limit 5 9 2 3 Torque limit by analog voltage reference 5 9 3 4 Torque limit by external torque limit analog voltage reference 5 9 4 5 9 1 Internal Torque Limit Limitation on Output Torque Maximum Value The function limits the maxim...

Page 96: ...ing machine operation such as forced stop or hold operations for robot workpieces The torque limit value preset at the user parameter become valid through signal input 1 Related user parameter Note Setting unit corresponds to a percent of the used servo motor rated torque Rated torque limits is 100 2 Input signal Name Signal Pin No of connector Set Meanings Limit value A axis B axis ...

Page 97: ...logic becomes OR logic when several signals are distributed to a terminal effects from ON OFF of other signals distributed to the same terminal may be inevitable Please refer to Signal distribution of input circuit for distribution of input signal 3 Changes in output torque during external torque limit When external torque limit P 403 P 404 800 N CL status PCL positive external torque limit H leve...

Page 98: ...usly 2 Input signal Name Signal Pin No of connector Name A axis B axis Input T REF CN3 18 CN3 30 Torque reference input GND CN3 25 CN3 50 Signal ground P 400 is used to set torque reference input gain Please refer to Setting of user parameter 5 9 4 Torque Limit Based on External Torque Limit Analog Voltage Reference Torque limit based on external input signal and torque limit based on analog volta...

Page 99: ... torque reference input gain Please refer to Setting of user parameter Name Signal Pin No of connector Set Meanings Limit value A axis B axis Input PCL Different drives for single axis and double axis ON L Level Positive side external torque limit ON The smaller value at Pn403 and Pn405 OFF H Level Positive side external torque limit OFF Pn403 Input NCL Different drives for single axis and double ...

Page 100: ...e Speed control analog reference H 5 Internal set speed control contact reference Position control pulse train reference H 6 Internal set speed control contact reference Torque control analog reference H 7 Position control pulse train reference Speed control analog reference H 8 Position control pulse train reference Torque control analog reference H 9 Torque control analog reference Speed control...

Page 101: ...nal input signal so it cannot be set to be constantly valid Please use the action of setting level from H to L to reset alarm In case of servo alarm ALM finish troubleshooting and set this signal ALM RST from OFF H level to ON L level to reset to alarm status In addition alarm reset can also be done through panel operator or digital operator Please refer to Name and function of key Note 1 Sometime...

Page 102: ...id motion null data Absolute motion Relative motion Data sets can start up through 2 different manners Start up a single data set For startup of a single data set only the selected data set starts up No other data sets will start up upon successful execution of the data set Time coordination among several data sets is then completed through main control system e g PLC Start up a data set sequence ...

Page 103: ...K iK Series AC Servo Driver 95 ...

Page 104: ...sequence In the single data set manner when POS START signal is ON the motor is allowed to operate when it is OFF the motor stops operation For input signals POS START POS STEP POS0 POS1 POS2 PCON any of the 15 data sets are available for selection as the current data set to be executed The data sets are as follows Data set POS2 POS1 POS0 POS START POS STEP Corresponding parameter P0 OFF OFF OFF O...

Page 105: ... change with step change condition value 1 in the data set determining validity of rising edge or falling edge H 3 Level step change with step change condition value 1 in the data set determining validity of rising edge or falling edge User Parameter Meanings P 704 H 0 No step change condition directly start up subsequent data sets H 1 No step change condition directly start up subsequent data set...

Page 106: ...tion 1 and 2 User Parameter Meanings P 705 H 0 Aborting neglect step change condition immediately interrupt motion and start up subsequent data sets H 1 Standard when the current motion is in place and the step change condition is fulfilled start up subsequent data sets H 2 Standard after reaching the goal position and if the step change condition is fulfilled start up subsequent data sets ...

Page 107: ...ed based on the speed of subsequent data set H 4 BlendingPrevious neglect step change condition and after reaching the goal position adjust speed based on the speed of subsequent data set H 5 BlendingNext neglect step change condition and after reaching the goal position adjust speed based on the speed of subsequent data set ...

Page 108: ...K iK Series AC Servo Driver 100 H 6 BlendingHigh neglect step change condition and after reaching the goal position adjust speed based on the speed of subsequent data set ...

Page 109: ...ration Attentions Every time after servo is OFF or alarm is solved and before data set sequence is rerun it is necessary to set POS START signal from ON to OFF and then ON so as to start up load data set 5 12 3 Operation of Seeking Reference Point Return to Zero Zero point can also be determined through reference point and it is the reference point in the absolute motion in mode motion sequence ma...

Page 110: ...ulse is required H 3 For on off operation of seeking reference point in the negative direction C pulse is required H 4 For on off operation of seeking reference point in the positive direction C pulse is required H 5 For on off operation of seeking NOT in the negative direction C pulse is not required ...

Page 111: ...ce point in the positive direction C pulse is not required P 770 H 0 Not return to zero automatically after power on H 1 After power on return to zero automatically after 1st servo is enabled with the return to zero manner determined by P 770 0 2 Setting of input signal Name Signal Pin No of connector Name A axis B axis Input POS START Need P 512 for distribution Startup signal of mode motion sequ...

Page 112: ...eed P 512 for distribution Start return to zero operation and seek for zero point as per P 770 0 setting When POS START signal is ON the motor is allowed to operate return to zero allowed when it is OFF the motor suspends operation return to zero suspended ...

Page 113: ...ly describes MODBUS communication 6 1 Communication Wiring Signal name and functions of communication connector are as follows Terminal No 1 2 3 4 5 6 7 8 Name CN4 CANH CANL GND GND RS485 RS485 Reserved Reserved CN5 CANH CANL GND GND RS485 RS485 Built in 120 ohm resistance Servo drive CN4 always acts as communication cable input terminal and CN5 always as communication cable output terminal Wiring...

Page 114: ...485 communication baud rate 57600 bps P 600 H 0 ASCII 7 data bits no parity 2 stop bits H 1 ASCII 7 data bits even parity bit 2 stop bits H 2 ASCII 7 data bits odd parity bit 2 stop bits H 3 ASCII 8 data bits no parity 1 stop bits H 4 ASCII 8 data bits even parity bit 1 stop bits H 5 ASCII 8 data bits odd parity bit 1 stop bits H 6 RTU 8 data bits no parity 1 stop bit H 7 RTU 8 data bits even pari...

Page 115: ...xample one 1 byte datum 64H sexadecimal notation ASCII code 64 indicates it includes ASCII code 36 H of 6 and ASCII code 34H of 4 ASCII codes of digits 0 9 and alphabets A F are as shown in the table below Character symbol 0 1 2 3 4 5 6 7 Corresponding ASCII code 30 H 31 H 32 H 33 H 34 H 35 H 36 H 37 H Character symbol 8 9 A B C D E F Corresponding ASCII code 38 H 39 H 41 H 42 H 43 H 44 H 45 H 46 ...

Page 116: ...s 2 ASCII codes DATA n 1 Data content n word 2n byte includes 4n ASCII codes n 12 DATA 0 LRC Check code 1 byte includes 2 ASCII codes End 1 End code 1 0DH CR End 0 End code 0 0A H LF RTU mode STX Rest time of at least four byte transmission time ADR Communication address 1 byte CMD Command code 1 byte DATA n 1 Data content n word 2n byte n 12 DATA 0 CRC CRC code 1 byte End 1 Rest time of at least ...

Page 117: ... bytes ADR Communication address Legal communication address ranges from 1 to 254 For example communication for servo with address of 32 sexadecimal 20 ASCII mode ADR 2 0 2 32H 0 30H RTU mode ADR 20 H CMD Command and DATA Data Data format is determined based on command code Common command codes are as follows Command code 03H read N word maximum of N is 20 For example Read 2 words from the startin...

Page 118: ...K iK Series AC Servo Driver 110 RTU mode Command code 06H write in 1 word For example write 100 0064 H in address 0200H of servo with office number 01 H ASCII mode ...

Page 119: ...it of 256 and removes exceeding part for example the result after totaling is sexadecimal 128 H and 28 H is then obtained and then calculates its complement thus the obtained results is the LRC detection error value For example read 1 word from 0201 address of servo with official number 01H Add from ADR data to the last data 01 H 03 H 02 H 01 H 00 H 01 H 08 H 08 H becomes F8 H after applying compl...

Page 120: ...ple For example read 2 words from 0101 H address of servo with official number of 01 H The final content of CRC register calculated from ADR to the last bit of the data number is 3794 H and then its command massage is as shown below Note that 94H is transmitted prior to 37 H ADR 01H CMD 03H Starting data address 01H address high order 01H address low order Data number Calculated based on word 00 H...

Page 121: ...Upper computer data frame start Slave station address Command Data address data etc Check Command Servo drive feedbacks error frame start Slave station address Response code Error code Check Command 80H Where the error frame response code command 80H Error code 00 H communication is normal 01H servo drive fails to identify the requested function 02H data address given in request does not exist in ...

Page 122: ...ffset Read only 0411h Torque reference zero offset Read only 0412h Iu zero offset Read only 0413h Iv zero offset Read only 0420h 0437h Monitoring data Read only 0420h Motor speed Unit 1 r min Read only 0422h Rotation angle electric angle Unit 1deg Read only 0424h Input reference pulse speed Unit 1kHz Read only 0426h Bus voltage Unit 1 V Read only 0428h Speed reference value of analogue input Unit ...

Page 123: ...us encoder alarm 1 Clear bus encoder alarm Read and write 0523h Clear bus encoder multi circle data 1 Clear bus encoder multi circle data Read and write 0528h Speed JOG speed as set in P 304 BIT15 1 JOG servo enable BIT01 1 JOG JOG positive BIT00 1 JOG JOG negative Read and write 0529h Position JOG speed as set in P 304 BIT15 1 Enter position jog mode BIT01 1 JOG BIT00 1 JOG Read and write 0540h F...

Page 124: ... h Step change attribute 3 Read and write 0604 h Step change condition 1 value Read and write 0605 h Step change condition 2 value Read and write 0606 h Subsequent data set number Read and write 0607 h Data set type 0 NULL 1 Absolute 2 Relative Read and write Data set 1 parameter 0608h Destination position low byte Read and write 0609h Destination position high byte Read and write 060Ah Target spe...

Page 125: ... type 0 NULL 1 Absolute 2 Relative Read and write Data set 4 parameter 0620h Destination position low byte Read and write 0621h Destination position high byte Read and write 0622h Target speed rpm Read and write 0623h Step change condition attribute Read and write 0624h Step change condition 1 value Read and write 0625h Step change condition 2 value Read and write 0626h Subsequent data set number ...

Page 126: ...tribute Read and write 063Ch Step change condition 1 value Read and write 063Dh Step change condition 2 value Read and write 063Eh Subsequent data set number Read and write 063Fh Data set type 0 NULL 1 Absolute 2 Relative Read and write Data set 8 parameter 0640h Destination position low byte Read and write 0641h Destination position high byte Read and write 0642h Target speed rpm Read and write 0...

Page 127: ... and write Data set 11 parameter 0658h Destination position low byte Read and write 0659h Destination position high byte Read and write 065Ah Target speed rpm Read and write 065Bh Step change condition attribute Read and write 065Ch Step change condition 1 value Read and write 065Dh Step change condition 2 value Read and write 065Eh Subsequent data set number Read and write 065Fh Data set type 0 N...

Page 128: ...nge condition 1 value Read and write 0675h Step change condition 2 value Read and write 0676h Subsequent data set number Read and write 0677h Data set type 0 NULL 1 Absolute 2 Relative Read and write Data set 15 parameter 0678h Destination position low byte Read and write 0679h Destination position high byte Read and write 067Ah Target speed rpm Read and write 067Bh Step change condition attribute...

Page 129: ...position low byte Read and write 0691h Destination position high byte Read and write 0692h Target speed rpm Read and write 0693h Step change condition attribute Read and write 0694h Step change condition 1 value Read and write 0695h Step change condition 2 value Read and write 0696h Subsequent data set number Read and write 0697h Data set type 0 NULL 1 Absolute 2 Relative Read and write Data set 1...

Page 130: ...hange condition 2 value Read and write 06AEh Subsequent data set number Read and write 06AFh Data set type 0 NULL 1 Absolute 2 Relative Read and write Data set 22 parameter 06B0h Destination position low byte Read and write 06B1h Destination position high byte Read and write 06B2h Target speed rpm Read and write 06B3h Step change condition attribute Read and write 06B4h Step change condition 1 val...

Page 131: ... position high byte Read and write 06CAh Target speed rpm Read and write 06CBh Step change condition attribute Read and write 06CCh Step change condition 1 value Read and write 06CDh Step change condition 2 value Read and write 06CEh Subsequent data set number Read and write 06CFh Data set type 0 NULL 1 Absolute 2 Relative Read and write Data set 26 parameter 06D0h Destination position low byte Re...

Page 132: ...t data set number Read and write 06E7h Data set type 0 NULL 1 Absolute 2 Relative Read and write Data set 29 parameter 06E8h Destination position low byte Read and write 06E9h Destination position high byte Read and write 06EAh Target speed rpm Read and write 06EBh Step change condition attribute Read and write 06ECh Step change condition 1 value Read and write 06EDh Step change condition 2 value ...

Page 133: ...on position high byte Read and write 0702h Target speed rpm Read and write 0703h Step change condition attribute Read and write 0704h Step change condition 1 value Read and write 0705h Step change condition 2 value Read and write 0706h Subsequent data set number Read and write 0707h Data set type 0 NULL 1 Absolute 2 Relative Read and write Address description 1 Communication IO input 0451h Input s...

Page 134: ...K iK Series AC Servo Driver 126 3 Step change condition attribute ...

Page 135: ...K iK Series AC Servo Driver 127 ...

Page 136: ...ge is too high No 12 H Undervoltage Servo drive main circuit voltage is too low No 13 H Parameter damage EEROM data in servo drive is abnormal Clear 14 H Over speed Servo motor speed is extremely high Clear 15 H Deviation counter overflow Internal position deviation counter overflow Clear 16 H Position deviation is overlarge Position deviation pulse exceeds the set value of parameter P 504 Clear 1...

Page 137: ...rcuit damage Clear 47 H Stop bit error in bus encoder SFOME Encoder signal is interrupted or encoder decoding circuit damage Clear 48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear 49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear 60 H MODBUS communication timeout Drive fails to accept data normally at the set time in P 60...

Page 138: ...rcuit board develops fault Replace the servo drive 02 Incremental encoder UVW disconnects When power supply is on or during operation Wiring of encoder is wrong Correct wiring of encoder Encoder cables are interfered due to different specifications Change cable specifications to stranded wire or stranded shielded wire Encoder cables are interfered due to overlength The max wiring distance should b...

Page 139: ... fault Replace the servo drive 10 Overcurrent When control power supply is on Overload alarm reset for several times due to power off Change reset method of alarms Servo drive circuit board develops fault Replace the servo drive When main power circuit is on or overcurrent during motor operation A faulty connection occurs between U V W and ground wire Check wiring and connect correctly Ground wire...

Page 140: ...ad Servo drive circuit board develops fault Replace the servo drive When the servo motor decelerates Occurrence Number of turns is high and moment of inertia of load is too large Review loading condition and operation condition 12 Undervoltage Detect when main circuit power is on When control power supply is on Servo drive circuit board develops fault Replace the servo drive When main circuit powe...

Page 141: ... servo drive 15 Position counter overflow When the servo motor starts operation or during high speed rotation Motor stalling Check the load Input reference frequency is abnormal Reduce frequency of command computer Wiring is wrong Correct wiring 16 Position error is too large position error with servo ON exceeds user parameter overflow level P 504 setting When control power supply is on Excessive ...

Page 142: ...is on Servo unit capacity and motor capacity are not suitable for motor capacity Match servo unit capacity with servo motor capacity Parameters written into encoder are abnormal Replace the servo motor encoder Drive motor parameter setting is abnormal Replace the servo drive Servo drive circuit board develops fault Replace the servo drive 25 Multi circle data of bus encoder goes wrong When control...

Page 143: ... continuous regeneration status Normally during operation regenerative resistor temperature increases slightly Servo drive circuit board develops fault Replace the servo drive When the servo motor decelerates Regenerative energy is too much Reselect regenerative resistor capacity or review load and operation conditions 32 Power supply has open phase When main power supply is ON any of L1 L2 and L3...

Page 144: ...oard develops fault Replace the servo drive 41 Bus encoder overspeed When control power supply is on Servo motor rotates at a speed of over 100 r min when PG power is on PG power is set ON when servo rotating speed is less than 100 r min Encoder failure Replace servo motor Servo drive circuit board develops fault Replace the servo drive During operation Encoder failure Replace servo motor Servo dr...

Page 145: ...otential due to influence by motor side equipment welding machine etc Connect equipment ground wire to prevent shunting to FG at PG side Signal line of encoder is interfered Take anti interference measures for encoder wiring Encoder failure Replace servo motor Servo drive circuit board develops fault Replace the servo drive 46 Cut off position in bus encoder status field is wrong When control powe...

Page 146: ...ervo drive circuit board develops fault Replace the servo drive 48 Bus encoder data is not initialized When control power supply is on or during operation Encoder EEROM is not initialized Replace servo motor 49 Sum check of bus encoder data is wrong When control power supply is on or during operation Wiring of encoder is wrong Correct wiring of encoder Encoder cables are interfered due to differen...

Page 147: ...control power supply terminals Correct control power supply ON circuit Main circuit power is not connected Check voltage between main circuit power terminals Correct main circuit power ON circuit Input Output CN3 connector wiring is wrong or comes off Check installation and wiring of CN3 connector Correctly wire CN3 connector Wiring of servo motor and encoder comes off Inspect wiring Connect wirin...

Page 148: ...signal from ON to OFF Motor rotates unstably Servo motor wiring is in bad contact Power line U V and W phases and encoder connector are in unstable connection Tighten loose fastening part between treatment terminal and connector Motor rotates when no reference has been sent Speed reference input is improper during speed control Confirm control method and input are consistent or check between V REF...

Page 149: ...interfered due to engaging in and damage in sheath of encoder cables Correct layout of encoder cables Interference to encoder cable is too great Whether encoder cables are too close with high current line Lay encoder cables at places free from surge voltage Change in FG potential due to influence by servo motor side equipment welding machine etc What is grounding state not grounded or incomplete g...

Page 150: ...ore wire over 0 12 mm2 and is made of tined soft copper Enable encoder cables meet relevant specifications Encoder cables are interfered due to length beyond range of application The max wiring distance should be 20 m Enable encoder cables meet relevant specifications Encoder cables are interfered due to damages Signal lines are interfered due to engaging in and damage in sheath of encoder cables ...

Page 151: ...table Whether wiring of overtravel limit SW is correct Cable damage and screw fastening Correct wiring of overtravel limit SW Positive negative rotation drive prohibited input signal P OT N OT signal selection is wrong Check POT signal selection P 510 2 Correct POT signal selection P 510 2 Check NOT signal selection P 510 3 Correct NOT signal selection P 510 3 Motor stop method selection is wrong ...

Page 152: ...g between machine and servo motor is abnormal Whether coupling between machine and servo motor has offset Correctly connect coupling between machine and servo motor Input signal lines are interfered due to different specifications Whether stranded wire or stranded shielded wire has core wire over 0 12 mm2 and is made of tined soft copper Enable input signal line meet relevant specifications Input ...

Page 153: ...meter Resistance over 10 MΩ is considered as normal Please contact local dealer in case the resistance is less than 10 MΩ Replacement of oil seal Once at least every 5000 h Please contact local dealer Only for servo motor with oil seal Comprehensive check Once every five years or at least every 20000 h Please contact local dealer Check item Check period Tips for check and maintenance Remarks Clean...

Page 154: ...Driver 146 Appendix A Summary of User Parameters Parame ter No Name Setting range Setting unit Factory setting Power reboot Remarks P 000 Basic function selection switch 0010 Y P 001 Basic function selection switch 1 0001 Y ...

Page 155: ...K Series AC Servo Driver 147 Parame ter No Name Setting range Setting unit Factory setting Power reboot Remarks P 002 Basic function selection switch 2 1100 Y P 003 Basic function selection switch 3 0000 Y ...

Page 156: ... gain 1 2000 0 1 s 400 N P 103 Moment of inertia ratio 0 20000 1 0 N P 104 Second speed loop gain 1 2500 0 1 Hz 400 N P 105 Second speed loop integral time constant 1 4000 0 01ms 2000 N P 106 Second position loop gain 1 2000 0 1 s 400 N P 107 Offset speed offset 0 450 1r min 0 N P 108 Scope of offset stack 0 5000 1 reference pulse 10 N P 109 Feedforward gain 0 100 1 0 N P 110 Feedforward filter ti...

Page 157: ...0000 1 reference pulse 0 N P 118 Gain switch delay time 0 20000 0 1 ms single axis 0 N 0 2 ms double axis P 119 Gain switch range 0 20000 free 0 N When P 113 1 2 the unit is 1 When P 113 1 3 the unit is 1 reference pulse When P 113 1 4 the unit is 10 r min s When P 113 1 5 the unit is 1 r min When P 113 1 6 the unit is 1 reference pulse P 120 Position gain switch time 0 20000 0 1 ms single axis 0 ...

Page 158: ...Parame ter No Name Setting range Setting unit Factory setting Power reboot Remarks P 126 Speed observer period 0 100 0 1ms 0 35 70 N P 127 Online autotune switches 1340 Y N P 200 Position control reference form selection switch 0000 Y ...

Page 159: ...leration time constant 0 6400 0 1ms 0 N P 206 Position reference filter form selection 0 1 0 Y P 300 Speed reference input gain 0 3000 r min V 150 N P 301 Internal set speed 1 0 6000 1r min 100 N P 302 Internal set speed 2 0 6000 1r min 200 N P 303 Internal set speed 3 0 6000 1r min 300 N P 304 Jogging JOG speed 0 6000 1r min 500 N P 305 Acceleration time of soft start 0 10000 1 ms 0 N P 306 Decel...

Page 160: ...0 N P 409 Frequency of notch filter section 1 50 5000 1Hz 5000 N P 410 Depth of notch filter section 1 0 100 10 N P 411 Frequency of notch filter section 2 50 5000 1 Hz 5000 N P 412 Depth of notch filter section 2 0 100 10 N P 413 Vibration frequency of B type 10 1000 0 1 Hz 1000 N P 414 Vibration damping of B type 0 200 25 N P 500 Positioning completion width 0 5000 1 reference unit 10 N P 501 Ze...

Page 161: ...rvo Driver 153 Parame ter No Name Setting range Setting unit Factory setting Power reboot Remarks P 508 Brake command wait time when servo is OFF 10 100 10ms 50 N P 509 Input signal selection 1 4321 Y 8765 double axis b ...

Page 162: ...154 Parame ter No Name Setting range Setting unit Factory setting Power reboot Remarks P 510 Input signal selection 2 8765 single axis Y 0000 double axis P 511 Input signal selection 3 0000 Y P 512 Input signal selection 4 0000 Y ...

Page 163: ... No Name Setting range Setting unit Factory setting Power reboot Remarks P 513 Output signal selection 1 4321 Y 0321 double axis A 0654 double axis b P 514 Output signal selection 2 0065 Y 0000 double axis P 515 Output signal selection 3 0000 Y ...

Page 164: ...g unit Factory setting Power reboot Remarks P 516 Reserved N P 517 Input port filter time constant 0 1000 0 1ms 1 N P 518 Alarm input filter time constant 0 3 0 1ms 1 N P 519 Active input port signal level selection 1 0000 N P 520 Input port signal logic selection 2 0000 N ...

Page 165: ...ower reboot Remarks P 521 Output port signal reverse select 1 0000 N P 522 Output port signal inverse select 2 0000 N P 600 RS 485 communication parameter selection switch 0151 Y P 601 RS 485 communication axis address 1 127 1 A axis Y 2 b axis P 602 RS 485 communication timeout 0 1000 100 ms 0 N ...

Page 166: ...f data set 8 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in relative motion P 611 Low byte value of Data Set 8 9999 9999 1 reference pulse 0 Y P 612 High byte value of Data Set 8 9999 9999 10000 reference pulse 0 Y P 613 Speed of data set 8 0 6000 rpm 100 Y P 614 Step change attribute in Data Set 8 0000 Y P 615 Step change condition value 1 in data set 8 0 65535 0 Y U...

Page 167: ... 4 0 level P 616 Step change condition value 2 in data set 8 0 65535 0 Y Ditto P 617 Follow up data set number of data set 8 0 14 9 Y P 618 Type of data set 9 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in relative motion P 619 Low byte value of Data Set 9 9999 9999 1 reference pulse 0 Y P 620 High byte value of Data Set 9 9999 9999 10000 reference pulse 0 Y P 621 Spe...

Page 168: ...g edge or falling edge Level required for step change Value 3 1 level Value 4 0 level P 624 Step change condition value 2 in data set 9 0 65535 0 Y Ditto P 625 Follow up data set number of data set 9 0 14 10 Y P 626 Type of data set 10 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in relative motion P 627 Low byte value of Data Set 10 9999 9999 1 reference pulse 0 Y P 6...

Page 169: ...dge required for step change Value 0 rising edge Value 1 falling edge Value 2 rising edge or falling edge Level required for step change Value 3 1 level Value 4 0 level P 632 Step change condition value 2 in data set 10 0 65535 0 Y Ditto P 633 Follow up data set number of data set 10 0 14 11 Y P 634 Type of data set 11 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in re...

Page 170: ...t 11 0000 Y P 639 Step change condition value 1 in data set 11 0 65535 0 Y Unconditional no transitional condition value Delay value 0 65535 latency time 0 65535 unit ms Pulse edge required for step change Value 0 rising edge Value 1 falling edge Value 2 rising edge or falling edge Level required for step change Value 3 1 level Value 4 0 level P 640 Step change condition value 2 in data set 11 0 6...

Page 171: ...Y P 644 High byte value of Data Set 12 9999 9999 10000 reference pulse 0 Y P 645 Speed of data set 12 0 6000 rpm 100 Y P 646 Step change attribute in Data Set 12 0000 Y P 647 Step change condition value 1 in data set 12 0 65535 0 Y Unconditional no transitional condition value Delay value 0 65535 latency time 0 65535 unit ms Pulse edge required for step change Value 0 rising edge Value 1 falling e...

Page 172: ...t is in absolute motion 2 data set is in relative motion P 651 Low byte value of Data Set 13 9999 9999 1 reference pulse 0 Y P 652 High byte value of Data Set 13 9999 9999 10000 reference pulse 0 Y P 653 Speed of data set 13 0 6000 rpm 100 Y P 654 Step change attribute in Data Set 13 0000 Y P 655 Step change condition value 1 in data set 13 0 65535 0 Y Unconditional no transitional condition value...

Page 173: ... 13 0 65535 0 Y Ditto P 657 Follow up data set number of data set 13 0 14 14 Y P 658 Type of data set 14 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in relative motion P 659 Low byte value of Data Set 14 9999 9999 1 reference pulse 0 Y P 660 High byte value of Data Set 14 9999 9999 10000 reference pulse 0 Y P 661 Speed of data set 14 0 6000 rpm 100 Y P 662 Step change...

Page 174: ...Level required for step change Value 3 1 level Value 4 0 level P 664 Step change condition value 2 in data set 14 0 65535 0 Y Ditto P 665 Follow up data set number of data set 14 0 14 0 Y P 700 Type of data set 0 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in relative motion P 701 Low byte value of Data Set 0 9999 9999 1 reference pulse 0 Y P 702 High byte value of Da...

Page 175: ... edge required for step change Value 0 rising edge Value 1 falling edge Value 2 rising edge or falling edge Level required for step change Value 3 1 level Value 4 0 level P 706 Step change condition value 2 in data set 0 0 65535 0 Y Ditto P 707 Follow up data set number of data set 0 0 14 1 Y P 708 Type of data set 1 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in rela...

Page 176: ...13 Step change condition value 1 in data set 1 0 65535 0 Y Unconditional no transitional condition value Delay value 0 65535 latency time0 65535 unit ms Pulse edge required for step change Value 0 rising edge Value 1 falling edge Value 2 rising edge or falling edge Level required for step change Value 3 1 level Value 4 0 level P 714 Step change condition value 2 in data set 1 0 65535 0 Y Ditto P 7...

Page 177: ...9 10000 reference pulse 0 Y P 719 Speed of data set 2 0 6000 rpm 100 Y P 720 Step change attribute in Data Set 2 0000 Y P 721 Step change condition value 1 in data set 2 0 65535 0 Y Unconditional no transitional condition value Delay value 0 65535 latency time0 65535 unit ms Pulse edge required for step change Value 0 rising edge Value 1 falling edge Value 2 rising edge or falling edge Level requi...

Page 178: ...lue of Data Set 3 9999 9999 1 reference pulse 0 Y P 726 High byte value of Data Set 3 9999 9999 10000 reference pulse 0 Y P 727 Speed of data set 3 0 6000 rpm 100 Y P 728 Step change attribute in Data Set 3 0000 Y P 729 Step change condition value 1 in data set 3 0 65535 0 Y Unconditional no transitional condition value Delay value 0 65535 latency time0 65535 unit ms Pulse edge required for step c...

Page 179: ... data set is null 1 data set is in absolute motion 2 data set is in relative motion P 733 Low byte value of Data Set 4 9999 9999 1 reference pulse 0 Y P 734 High byte value of Data Set 4 9999 9999 10000 reference pulse 0 Y P 735 Speed of data set 4 0 6000 rpm 100 Y P 736 Step change attribute in Data Set 4 0000 Y P 737 Step change condition value 1 in data set 4 0 65535 0 Y Unconditional no transi...

Page 180: ... 2 in data set 4 0 65535 0 Y Ditto P 739 Follow up data set number of data set 4 0 14 5 Y P 740 Type of data set 5 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in relative motion P 741 Low byte value of Data Set 5 9999 9999 1 reference pulse 0 Y P 742 High byte value of Data Set 5 9999 9999 10000 reference pulse 0 Y P 743 Speed of data set 5 0 6000 rpm 100 Y P 744 Step...

Page 181: ...Level required for step change Value 3 1 level Value 4 0 level P 746 Step change condition value 2 in data set 5 0 65535 0 Y Ditto P 747 Follow up data set number of data set 5 0 14 6 Y P 748 Type of data set 6 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in relative motion P 749 Low byte value of Data Set 6 9999 9999 1 reference pulse 0 Y P 750 High byte value of Data...

Page 182: ... edge required for step change Value 0 rising edge Value 1 falling edge Value 2 rising edge or falling edge Level required for step change Value 3 1 level Value 4 0 level P 754 Step change condition value 2 in data set 6 0 65535 0 Y Ditto P 755 Follow up data set number of data set 6 0 14 7 Y P 756 Type of data set 7 0 2 0 Y 0 data set is null 1 data set is in absolute motion 2 data set is in rela...

Page 183: ... Step change condition value 1 in data set 7 0 65535 0 Y Unconditional no transitional condition value Delay value 0 65535 latency time0 65535 unit ms Pulse edge required for step change Value 0 rising edge Value 1 falling edge Value 2 rising edge or falling edge Level required for step change Value 3 1 level Value 4 0 level P 762 Step change condition value 2 in data set 7 0 65535 0 Y Ditto P 763...

Page 184: ... 10000 Y P 766 Deceleration of data set 0 60000 10 rpm s 10000 Y P 767 Emergency deceleration of data set 0 60000 10 rpm s 60000 Y P 768 Data set position electronic gear ratio numerator 1 65535 1 Y P 769 Data set position electronic gear ratio denominator 1 65535 1 Y P 770 Zero returning method selection switch 0000 Y P 771 On off speed to meet reference point 0 6000 rpm 100 Y P 772 On off speed ...

Page 185: ... Setting range Setting unit Factory setting Power reboot Remarks point P 773 Low byte of speed position switching reference point 0 9999 1 reference pulse 0 N P 774 High byte of speed position switching reference point 0 9999 10000 reference pulse 0 N ...

Page 186: ... 178 Appendix B Table of iK Series M2 Drive Parameters Param eter No Name Setting range Setting unit Factory setting Power reboot Remarks P 000 Basic function selection switch 0010 Y P 001 Basic function selection switch 1 0001 Y ...

Page 187: ...K Series AC Servo Driver 179 Param eter No Name Setting range Setting unit Factory setting Power reboot Remarks P 002 Basic function selection switch 2 1100 Y P 003 Basic function selection switch 3 0000 Y ...

Page 188: ...sition loop gain 1 2000 0 1 s 400 N P 103 Ratio of moment of inertia 0 20000 1 0 N P 104 Second speed loop gain 1 2500 1 Hz 40 N P 105 Second speed loop integral time constant 1 4000 0 1ms 200 N P 106 Second position loop gain 1 2000 1 s 40 N P 107 Offset speed offset 0 450 1r min 0 N P 108 Scope of offset stack 0 5000 1 reference pulse 10 N P 109 Feedforward 0 100 1 0 N P 110 Feedforward filter t...

Page 189: ...et pulse 0 10000 1 reference pulse 0 N P 118 Gain switch delay time 0 20000 0 1 ms single axis 0 N 0 2 ms double axis P 119 Gain switch range 0 20000 free 0 N When P 113 1 2 the unit is 1 When P 113 1 3 the unit is 1 reference pulse When P 113 1 4 the unit is 10 r min s When P 113 1 5 the unit is 1 r min When P 113 1 6 the unit is 1 reference pulse P 120 Position gain switch time 0 20000 0 1 ms si...

Page 190: ...me Setting range Setting unit Factory setting Power reboot Remarks P 125 Friction gain 0 30000 0 N P 126 Speed observer cycle 0 100 0 1ms 0 35 70 N P 127 Online autotune switches 1340 Y N P 200 Position control reference form selection switch 0000 Y ...

Page 191: ... deceleration time parameter 0 6400 0 1ms 0 N P 206 Position reference filter form selection 0 1 0 Y P 300 Speed reference input gain 0 3000 r min V 150 N P 301 Internal speed 1 0 6000 1r min 100 N P 302 Internal speed 2 0 6000 1r min 200 N P 303 Internal speed 3 0 6000 1r min 300 N P 304 Jogging JOG speed 0 6000 1r min 500 N P 305 Acceleration time of soft start 0 10000 1 ms 0 N P 306 Deceleratio...

Page 192: ...n 1500 N P 409 Frequency of notch filter section 1 50 5000 1 Hz 5000 N P 410 Depth of notch filter section 1 0 100 10 N P 411 Frequency of notch filter section 2 50 5000 1 Hz 5000 N P 412 Depth of notch filter section 2 0 100 10 N P 413 B type vibration frequency 10 1000 0 1 Hz 1000 N P 414 B type vibration damping 0 200 25 N P 500 Positioning completion width 0 5000 1 reference unit 10 N P 501 Ze...

Page 193: ...K iK Series AC Servo Driver 185 Param eter No Name Setting range Setting unit Factory setting Power reboot Remarks P 508 Brake command wait time when servo is OFF 10 100 10ms 50 N ...

Page 194: ...K iK Series AC Servo Driver 186 Parame ter No Name Setting range Setting unit Factory setting Power reboot Remarks P 509 Input signal selection 1 4321 Y 8765 double axis b ...

Page 195: ...187 Parame ter No Name Setting range Setting unit Factory setting Power reboot Remarks P 510 Input signal selection 2 8765 single axis Y 0000 double axis P 511 Input signal selection 3 0000 Y P 512 Input signal selection 4 0000 Y ...

Page 196: ... No Name Setting range Setting unit Factory setting Power reboot Remarks P 513 Output signal selection 1 4321 Y 0321 double axis A 0654 double axis b P 514 Output signal selection 2 0065 Y 0000 double axis P 515 Output signal selection 3 0000 Y ...

Page 197: ...wer reboot Remarks P 516 Reserved N P 517 Input port filter time constant 0 1000 0 1ms 1 N P 518 Alarm input filter time constant 0 3 0 1ms 1 N P 519 Active input port signal level selection 1 0000 N P 520 Input port signal logic selection 2 0000 N P 521 Output port signal reverse select 1 0000 N ...

Page 198: ... Power reboot Remarks P 522 Output port signal reverse select 2 0000 N P 600 RS 485 communication parameter selection switch 0151 Y P 601 RS 485 communication axis address 1 127 1 A axis Y 2 b axis P 602 RS 485 communication timeout parameter 0 1000 100 ms 0 N P 603 CANopen communication 0004 Y ...

Page 199: ...xis P 605 Metratrolink communication parameter 0011 Y P 606 Metratrolink station address 0000 001F 0001 Y 0001 b axis P 620 Linear acceleration 1 65535 10000 p s s 100 N P 621 Linear deceleration 1 65535 10000 p s s 100 N P 622 Emergency deceleration 1 65535 10000 p s s 10000 N P 623 External positioning displacement distance 1073741823 1073741823 1 reference unit 100 N P 625 Zero return mode sett...

Page 200: ... P 605 2 1 Name Original parameter No P 605 2 0 P 100 Speed loop gain P 100 P 506 Brake command latency time when servo is OFF P 508 P 101 Speed loop integral P 101 P 50A Input signal selection 1 P 509 P 102 Position loop gain P 102 P 50B Input signal selection 2 P 510 P 212 Encoder frequency divider P 201 P 50E Output signal selection 1 P 513 P 20E Electronic gear numerator P 202 P 50F Output sig...

Page 201: ...onic gear fault Electronic gear is unreasonably set or pulse frequency is too high Clear 18 H 1st channel of current detection is abnormal Current detection abnormal Clear 19 H 2nd channel of current detection is abnormal Current detection abnormal Clear 22 H Motor model is incorrect Servo drive parameters do not match with those of motor Clear 23 H Servo drive does not match with motor Servo driv...

Page 202: ... error in bus encoder SFOME Encoder signal is interrupted or encoder decoding circuit damage Clear 48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear 49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear 60 H MODBUS communication timeout Drive fails to accept data normally at the set time in P 602 Clear 61 H CANopen master stat...

Page 203: ...6 Long press continuously for over 1 s SET key to confirm password 7 Gently press SET key to exit password operation 8 Gently press M function key for several times to switch to A axis parameter setting mode 9 Gently press key for six times and set FA006 10 Press SET key to display current PA000 data The decimal point in bit 0 currently displayed flickers Set motor manufacturer and encoder type wi...

Page 204: ...turer and encoder type first which can both be set via PA006 1 M Series Motor If the motor is M Series Motor refer to PA006 setting below Motor model Voltage V Torque N m Rotation speed rpm Power kW Motor type Pn005 60ST M00630 220 0 637 3000 0 2 0 60ST M01330 220 1 27 3000 0 4 1 60ST M01930 220 1 91 3000 0 6 2 80ST M01330 220 1 27 3000 0 4 3 80ST M02430 220 2 39 3000 0 75 4 80ST M03520 220 3 5 20...

Page 205: ...80ST M19015 220 19 0 1500 3 0 26 180ST M21520 220 21 5 2000 4 5 27 180ST M27010 220 27 0 1000 2 9 28 180ST M27015 220 27 0 1500 4 3 29 180ST M35010 220 35 1000 3 7 30 180ST M35015 220 35 0 1500 5 5 31 130ST M05015 220 5 1500 0 75 32 180ST M17230 220 17 2 3000 5 4 33 130ST M10030 220 10 3000 3 40 40ST M00130 220 0 16 3000 0 05 41 40ST M00330 220 0 32 3000 0 1 42 80ST M03530 220 3 5 3000 1 0 43 130S...

Page 206: ...M10025B 220 10 2500 2 6 68 2 H Series Motor If the motor is H Series Motor refer to PA006 setting below Motor model Torque N m Rotation speed rpm Power kW Motor type Pn005 80ST M01330LF1B 1 3 3000 0 4 0 80ST M02430LF1B 2 4 3000 0 75 1 80ST M03330LF1B 3 3 3000 1 0 2 110ST M02030LFB 2 0 3000 0 6 3 110ST M04030LFB 4 0 3000 1 2 4 110ST M05030LFB 5 0 3000 1 5 5 110ST M06020LFB 6 0 2000 1 2 6 110ST M060...

Page 207: ...B 10 1500 1 5 15 130ST M10025LFB 10 0 2500 2 5 16 130ST M15015LFB 15 0 1500 2 3 17 130ST M15025LFB 15 0 2500 3 8 18 150ST M15025LFB 15 0 2500 3 8 19 150ST M18020LFB 18 0 2000 3 6 20 150ST M23020LFB 23 0 2000 4 7 21 150ST M27020LFB 27 0 2000 5 4 22 ...

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