LiteOn ISA-7 Series Скачать руководство пользователя страница 45

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Lite-On Technology Corp.

Industrial Automation

Note: The double power input is not allowed, otherwise the burning may occur.

This is the pulse command input (differential input). This is a 5V system. The 24V power supply is not
allowed for input.

This is the pulse command input with high speed (differential input). This is a 5V system. The 24V
power supply is not allowed for input.

Содержание ISA-7 Series

Страница 1: ...Lite On Technology Corp Industrial Automation 1 User Manual ISA 7 Servo Drive series Standard General Purpose Servo Drive Technical Manual...

Страница 2: ...Lite On Technology Corp Industrial Automation 2 Revision History...

Страница 3: ...eral device and main power circuit 24 3 1 1 Wiring diagram of the peripheral device 24 3 1 2 Connector and terminal of the drive 26 3 1 3 Power wiring 27 3 1 4 Specifications for the U V W connectors...

Страница 4: ...gital output 67 4 4 4 Operation for the diagnosis of digital input 67 4 4 5 Operation for the diagnosis of digital output 69 CHAPTER 5 STEPS FOR COMMISSIONING AND TUNING 70 5 1 No load detection 70 5...

Страница 5: ...162 7 3 2 Control structure of the speed mode 163 7 3 3 Smoothing of speed command 164 7 3 4 Proportioner at the analog command end 166 7 3 5 Timing diagram of speed mode 168 7 3 6 Adjustment for the...

Страница 6: ...agram 222 CHAPTER 11 ABSOLUTE SERVO SYSTEM 225 11 1 Battery and cable for absolute servo 225 11 1 1 Battery specification 225 11 1 2 Battery case specification 225 11 1 3 Absolute encoder cable 225 11...

Страница 7: ...ology Corp Industrial Automation 7 11 6 Digital output definition absolute encoder function 234 11 7 Absolute System Alarm List 234 11 7 1 Reason for and handling of the alarm 235 11 8 Display of stat...

Страница 8: ...ning and tuning Personnel for maintenance or inspection The content includes The steps for installation and inspection of the drive and motor Description for the formation of wiring for the drive Step...

Страница 9: ...ock or fire Do not connect the three phase power supply to U V and W motor output terminal otherwise it may result in personal injury or fire Secure the set screw of the power supply and motor output...

Страница 10: ...ing of the main circuit Do not thread the power and signal cable into the same channel or bind them For wiring the distance between the power and signal cables must be above 30 cm 11 8 in As for the s...

Страница 11: ...motor shaft Turn the motor by hand The motor operates normally if it can be rotated smoothly Damage of the appearance Visually check the appearance of the product for damage The complete parts and com...

Страница 12: ...of the product numbers 1 2 1 Description for the name plate ISA 7 series servo drive Description for the name plate Product number Power specifications Input power specifications Output power specific...

Страница 13: ...01 400W Low inertia LMH401 400W High inertia LMA751 750W Low inertia LMH7S1 750W High inertia LMM102 1kW Medium inertia LMH102 1kW High inertia LMM152 1 5kW Medium inertia LMH152 1 5kW High inertia LM...

Страница 14: ...connect to the motor encoder Earth terminal Motor power output It is used to connect to the motor UVW cable Do not connect to the power supply of the main circuit Wrong connections may result in drive...

Страница 15: ...inal block The command selection is based on the DI signal The DI status of the external input in the original S mode is the speed command zero The drive receives the torque command and controls the m...

Страница 16: ...ld be packed properly and stored on the shelf or platform 2 3 Condition of installation environment Operating temperature ISA 7 series servo drive 0 C 55 C 32 F 131 F ISA 7 series servo motor 0 C 40 C...

Страница 17: ...o drive otherwise it may result in malfunction Drive installation The ISA 7 series server drive must be installed vertically on a dry and stable platform complying to the NEMA standard To ensure the c...

Страница 18: ...table platform Ensure the circulation of the ventilation air and heat radiation remain effective for installation and keep the earth adequate Installation diagram The windage of the radiator fan must...

Страница 19: ...Lite On Technology Corp Industrial Automation 19...

Страница 20: ...tion of the EMI filter All electronic equipment including the servo drive generates certain high or low frequency noises during normal operation Such noises interfere with the peripheral equipment via...

Страница 21: ...B84143A0008R105 EPCOS 3 400W ISA 7 040 S1 B84113C0000x110 B84143A0008R105 EPCOS 4 750W ISA 7 075 S1 B84113C0000x110 B84143A0008R105 EPCOS 5 1000W ISA 7 100 S1 B84113C0000x110 B84143A0016R105 EPCOS 6 1...

Страница 22: ...nstallation of the servo drive and EMI filter the servo drive should be installed above the EMI filter if possible 3 The wiring must be as short as possible 4 Adequate earthing is required for the met...

Страница 23: ...he drive The energy entered the capacitor of the DC bus so that the voltage of the capacitor increases The energy recharged can only be consumed by the regenerative resistor when the voltage rises to...

Страница 24: ...gnetic contactor MC to disconnect the power supplied to the servo drive Use a proper EMI filter and a correct installation method to diminish the interference Regenerative resistor To prevent the abno...

Страница 25: ...e resistor open the circuit for the P and D ends and connect the external regenerative resistor to the P and C ends When using the internal external regenerative resistor short the circuit for the P a...

Страница 26: ...e braking unit to the P and N ends of the servo motor Open the circuit for the P and D ends as well as the P and C ends Electrical connection terminal The contact for the earth wire of the power suppl...

Страница 27: ...three phase The single phase can only be used for models with the power equal to 1kW or below In the diagram Power On is for Point a Power Off and ALRM_RY are for Point b MC indicates the coil of the...

Страница 28: ...3 1 4 Specifications for the U V W connectors of the motor Motor number U V W electromagnetic braking connector LMA201 LMH201 Series LMA401 LMH401 Series LMA751 LMH751 Series LMM102 LMH102 Series LMM1...

Страница 29: ...the encoder Motor number Encoder connector LMA201 LMH201 Series LMA401 LMH401 Series LMA751 LMH751 Series CN2 connector Connector for the leadwire of the encoder Servo drive Front view 04 Red 05 Red a...

Страница 30: ...Diagram II for encoder connection Refer to Sec 3 4 CN2 Wiring for the encoder signal Motor number Encoder connector LMM102 LMH102 Series LMM152 LMH152 Series LMM202 LMH202 Series CN2 connector Connec...

Страница 31: ...100 S1 MM102 MH102 1 3 AWG16 2 1 AWG14 2 1 AWG14 UL2733 2 1 AWG14 ISA 7 150 S2 MM152 MH152 1 3 AWG16 2 1 AWG14 2 1 AWG14 UL2733 2 1 AWG14 ISA 7 200 S2 MM202 MH202 1 3 AWG16 2 1 AWG14 2 1 AWG14 UL2733...

Страница 32: ...ve resistor or fan AC DC M Control panel P C D AC DC AC DC 5V 15V 15V Current feedback U V W Voltage detection 24V PWM drive 15V Alarm Regeneration detection ENC L1 L2 R S T CN2 CN3 CN5 CN1 DA Analog...

Страница 33: ...l P C D AC DC AC DC 5V 15V 15V Current feedback U V W Voltage detection 24V PWM drive 15V Regeneration detection ENC L1 L2 R S T CN2 CN3 CN5 CN1 DA Analog output monitoring RS232 RS485 External speed...

Страница 34: ...esistor and fan AC DC M Control panel P C D AC DC AC DC 5V 15V 15V Current feedback U V W Voltage detection 24V PWM drive 15V 12V Regeneration detection ENC L1 L2 R S T CN2 CN3 CN5 CN1 DA Analog outpu...

Страница 35: ...pin out diagram is as follows 1 DO4 Digital output 23 EB Encoder B pulse output 2 DO3 Digital output 24 EZ Encoder Z pulse output 3 DO3 Digital output 25 EB Encoder B pulse output 4 DO2 Digital outpu...

Страница 36: ...upply 36 HOUT High speed position Command pulse 15 DO6 Digital output 37 DIR Position command symbol 16 DO6 Digital output 38 HOUT High speed position Command pulse 17 24V 24V power output for externa...

Страница 37: ...nected to an external power supply for level increasing High speed position pulse command input HOUT HOUT HDIR HDIR 38 36 42 40 The high speed position pulse only allows the input via the line driver...

Страница 38: ...meter PC 20 this input is ON RSPD ALL P excluded If the actual rotation speed r min of the motor exceeds the setting value of the parameter PD 43 this input is ON INP P P S P T 16 15 If the error PULS...

Страница 39: ...er setting SPD1 8 TCM0 PT T Tn PT T 34 The source of the torque command is selected TCM1 TCM0 Command Source 0 0 The T mode is the analog input 0 1 Parameter setting 1 0 Parameter setting 1 1 Paramete...

Страница 40: ...ctronic gear ratio The numerator of the gear ratio available PA 11 PA 13 GNUM1 P P S Select 1 for the electronic gear ratio The numerator of the gear ratio available PA 11 PA 13 INHP P P S The pulse i...

Страница 41: ...0x0B Selection of Torque Command 0 DI3 DI3 DI3 DI3 DI6 TCM1 0x0C Selection of Torque Command 1 DI4 DI4 DI4 DI4 DI7 S P 0x0D Switching of the speed position mixed mode DI9 S T 0x0E Switching of the spe...

Страница 42: ...DO5 DO5 BREAK 0x07 Electromagnetic brake OLW 0x08 Overload alert WARN 0x0A Servo warning SNL 0x0B Software limit reverse direction SPL 0x0C Software limit forward direction SP_IN 0x0F Speed reaching o...

Страница 43: ...pulse for the input via the line driver is 500 Kpps The maximum input pulse for the open collector is 200 Kpps The wire length is within 2m The pulse input source is the NPN type open collector The p...

Страница 44: ...he pulse input source is the NPN type open collector The external power supply is used Note The double power input is not allowed otherwise the burning may occur The pulse input source is the PNP type...

Страница 45: ...wed otherwise the burning may occur This is the pulse command input differential input This is a 5V system The 24V power supply is not allowed for input This is the pulse command input with high speed...

Страница 46: ...ring internal power supply inductive load DO wiring external power supply normal load VDD 17 DOX DOX COM DC 24V DOX X 1 2 3 4 5 6 VDD 17 DOX DOX COM DC 24V DOX X 1 2 3 4 5 6 DOX DOX DOX X 1 2 3 4 5 6...

Страница 47: ...wiring external power supply inductive load DI wiring internal power supply SINK mode DOX DOX DOX X 1 2 3 4 5 6 24V VDD DOX 4 7K Servo Driver DC 24V COM 17 COM SON The VDD must not be connected to th...

Страница 48: ...hnology Corp Industrial Automation 48 DI wiring external power supply SINK mode DI wiring internal power supply SOURCE mode 4 7K Servo Driver DC 24V COM 17 COM SON DC 24V 4 7K Servo Driver DC 24V COM...

Страница 49: ...hnology Corp Industrial Automation 49 DI wiring external power supply SOURCE mode Encoder position output line driver 4 7K Servo Driver DC 24V COM 17 COM SON DC 24V SG AC26C31 OA 21 OA 22 OB 25 OB 23...

Страница 50: ...p Industrial Automation 50 Encoder position output photo coupler Encoder OCZ output Z pulseoutput for the open collector SG AC26C31 OA 21 OA 22 OB 25 OB 23 OZ 13 OZ 24 High speed Photo VDD 17 OCZ 44 G...

Страница 51: ...put the DI or DO code in the corresponding parameter to set the function of this DI DO Signal Name Pin No Corresponding parameter Signal Name Pin No Corresponding parameter Standard DI DI1 CN1 9 PC 01...

Страница 52: ...r the leadwire of the encoder Joint motor CN2 connector Connection drive Drive end CN2 Definition of the connectors on both sides 1 CN2 connector 2 Connector for the leadwire of the encoder 5 4 3 2 1...

Страница 53: ...ut output 6 3 White and black 5 Serial communication signal input output 5 2 White 7 5V 5V power supply 1 4 Red 8 GND Earth wire of the power supply 2 5 Red and white Shell Shielding Shielded 10 6 Ref...

Страница 54: ...MODBUS communication and combines with the assembly language to operate the drive The user may also use PLC and HMI to operate the drive We offer two communication interfaces that are commonly used 1...

Страница 55: ...ferential data transfer at the drive end 5 RS 485 data transmission RS 485 Differential data transfer at the drive end 6 Signal grounding GND 5V ground to the signal end 7 8 3 6 CN5 Analog voltage out...

Страница 56: ...echnology Corp Industrial Automation 56 Pin No Signal Name Function and description Color Remark 1 MON1 Monitoring analog data 1 Red 2 GND Earth wire of the power supply Red 3 MON2 Monitoring analog d...

Страница 57: ...put Line Driver High speed pulse command input Line Receiver Encoder pulse output A phase differential signal B phase differential signal Z phase differential signal Z phase open collector signal Rege...

Страница 58: ...eed mode Three phase A phase differential signal B phase differential signal Z phase differential signal Z phase open collector signal Regenerative resistor Red White Black Green Power supply part Bra...

Страница 59: ...rque mode Three phase A phase differential signal B phase differential signal Z phase differential signal Z phase open collector signal Regenerative resistor Red White Black Green Power supply part Br...

Страница 60: ...de In the editing mode shift the blinking character to the left would be able to modify the higher character value that is set In the monitoring mode the display of the high low order digit can be swi...

Страница 61: ...confirm to enter the display 5 In the parameter display press the SHIFT key to switch the group code Press the UP DOWN key to change the last two character parameter codes 6 In the parameter display p...

Страница 62: ...he setting value press the SET key to save the parameter or execute the command 9 After the parameter setting is finished the display shows the exit code SAVED and returns to the parameter code automa...

Страница 63: ...shows for the hexadecimal numerical system 1 Dec indicates the decimal numerical system and Hex the hexadecimal numerical system 2 The above ways of displaying numerical values are applicable to the...

Страница 64: ...o designate the monitoring code For example PD 21 4 indicates the motor rotation speed PD 21 LED display Content description Unit 0 Cd P The number of pulses entered for the pulse command the number o...

Страница 65: ...33 PD 37 press the SET key to display the corresponding code of the error history or 4 4 2 Operation for the jog mode After entering the parameter mode PD 30 execute the jog operating mode according t...

Страница 66: ...utomation 66 or Press The servo motor rotates counterclockwise Press The servo motor rotates clockwise Press to return Release the key and the motor stops instantly If there is no reaction check the w...

Страница 67: ...ully DO2 turned on forcefully DO3 turned on forcefully DO4 turned on forcefully DO5 turned on forcefully DO6 turned on forcefully DO1 DO2 and DO3 turned on forcefully 4 4 4 Operation for the diagnosis...

Страница 68: ...Lite On Technology Corp Industrial Automation 68 1 1 0 1 0 0 0 0 1 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8 DI 9 Binary code Corresponding DI state Hexadecimal display...

Страница 69: ...DO1 DO6 the signal corresponding to these output signals shows on the panel display The signal is displayed in the hexadecimal format bit0 corresponds to DO1 bit1 to DO2 etc The value 1 indicates trig...

Страница 70: ...the servo motor to go into the normal operation under the unloaded condition and connect the motor to the load afterwards to avoid danger Check the items listed below one by one to find out problems...

Страница 71: ...ow I Check the relevant wiring between the motor and drive U V W and FG must be connected to red white black and green wires respectively If the wiring is wrong the motor operates abnormally The earth...

Страница 72: ...adjust it to the allowable range 2 When the screen shows Abnormality of the encoder The drive does not receive any encoder data or a data error occurs Solution Check if the wire distribution for the e...

Страница 73: ...is not conducted Solution Make sure that the CW limit PL signal is conducted The default setting is DI7 If not using the emergency stop function set the input to Contact b and the default PC 07 to 117...

Страница 74: ...d STEP 1 Set Parameter PD 30 Enter the jog speed unit r min and press the SET key so that the drive enters JOG mode STEP 2 Press the Up key so that the motor turns clockwise Press the Down key so that...

Страница 75: ...eled The parameters PC 06 PC 09 are set to 0 Disabled After the setting is complete the motor must be restarted or the abnormality must be reset if any irregular signal appears for the drive If the ab...

Страница 76: ...s performed for a while stop the calculation when the the inertia of the system becomes stable and save the calculated load inertia ratio toPB 35 The rigidity and bandwidth settings in PB 32 are refer...

Страница 77: ...et jog target speed in PD 30 Operation speed up or down Reduce PB 32 setting Or modify PB 10 to reduce mechanical resonance Refer to 7 3 7 Continuous vibration or noise from the mechanism Panel displa...

Страница 78: ...to gain adjustment mode 5 5 3 Flowchart of the tuning steps in the automatic gain mode Set PB 32 response bandwidth of the speed loop in the auto and semi audit gain adjustment mode The bandwidth valu...

Страница 79: ...peed in PD 30 Operation speed up or down Automatic inertia calculation unit Calculation every 30 minutes Reduce PB 32 setting Or modify PB 10 to reduce mechanical resonance Refer to 7 3 7 Continuous v...

Страница 80: ...r The calculation method of the position loop response frequency is described below Position loop response frequency Hz 2 Position feed forward gain PFG PB 22 Position feed forward gain can increase t...

Страница 81: ...tic gain adjustment Persistent calculation of the inertia ratio 1 PB 35 PB 20 PB 22 PB 24 PB 26 PB 17 PB 28 PB 19 PB 32 Automatic adjustment mode and responsive setting Response level Persistent adjus...

Страница 82: ...eep the machine running repeatedly to test the effect on the resonance suppression If the resonance remains use PB 11 PB 13 and PB 15 to increase the filter depth Please note that the system will be u...

Страница 83: ...xx GroupB Gain filter parameters e g PB xx GroupC I O configuration parameters e g PC xx GroupD Expansion parameters e g PD xx Control mode description P is the position control mode The position com...

Страница 84: ...tronic Gear Ratio N1 1 pulse O S off PA 10 GRD Denominator of the Electronic Gear Ratio M 1 pulse O S off PA 11 GRM2 Numerator of the Electronic Gear Ratio N2 1 pulse O S off PA 12 GRM3 Numerator of t...

Страница 85: ...e of the resonance suppression 2 0 dB O O O PB 14 NCF3 Notch filter for resonance suppression 3 1000 Hz O O O PB 15 NCD3 Notch filter for the attenuation rate of the resonance suppression 3 0 dB O O O...

Страница 86: ...f low frequency 2 0 dB O PB 40 KPI The integral compensation of the position 0 Hz O O O PB 41 JSL The level for the stability determination of inertia estimation 15 1 times O O O PB 42 AVSM PB 43 VCL...

Страница 87: ...l output Based on the control mode O O O PC 16 PC 17 PC 18 PC 19 PC 20 ZSPD The level for zero speed detection 100 0 1 r min O O O PC 21 BTOD The turn on delay time for the electromagnetic brake 0 ms...

Страница 88: ...tus Monitoring Register 4 0 O O O PD 27 CM5 The selection for the content of the display for Status Monitoring Register 5 0 O O O PD 28 VMR1 The ratio for MON1 analog monitoring output 100 O O O PD 29...

Страница 89: ...on protection for the motor protection time ms PD 49 EXREG The selection of the external braking unit 0 N A O O O PD 50 AUTS The status of inertia adjustment in the semi auto mode 0 N A O O O N keep P...

Страница 90: ...The analog output monitoring 01 N A O O O PD 23 CM1 The selection for the content of the display for Status Monitoring Register 1 0 N A PD 24 CM2 The selection for the content of the display for Statu...

Страница 91: ...h filter for resonance suppression 1 1000 Hz O O O PB 11 NCD1 Notch filter for the attenuation rate of the resonance suppression 1 0 dB O O O PB 12 NCF2 Notch filter for resonance suppression 2 1000 H...

Страница 92: ...for speed 0 O O O PB 28 DSG The resistance gain for the external interference 50 0 001 O O O PB 29 GCM Condition of the gain switch and the selection for the switch method 10 N A O O O PB 30 GCT The t...

Страница 93: ...ue 2048 pulse O O O S off PA 07 MSPL Maximum speed limit rated r min O O O PA 09 GRM1 Numerator of the Electronic Gear Ratio N1 1 pulse O S off PA 10 GRD Denominator of the Electronic Gear Ratio M 1 p...

Страница 94: ...7 MSPL Maximum speed limit rated r min O O O PA 14 ISP1 Internal Speed Command 1 10000 0 1 r min O O PA 15 ISP2 Internal Speed Command 2 20000 0 1 r min O O PA 16 ISP3 Internal Speed Command 3 30000 0...

Страница 95: ...e 2048 pulse O O O S off PA 07 MSPL Maximum speed limit rated r min O O O PA 14 ISP1 Internal Speed Command 1 10000 0 1 r min O O PA 15 ISP2 Internal Speed Command 2 20000 0 1 r min O O PA 16 ISP3 Int...

Страница 96: ...N A O O O PC 08 DI8 Function planning for Pin DI8 of the digital input 21 N A O O O PC 09 DI9 Function planning for Pin DI9 of the digital input 0 N A O O O PC 10 DO1 Function planning for Pin DO1 of...

Страница 97: ...tion 97 S off This indicates Servo Off which can be set only when the servo is off Re on This implies that the parameter is valid when the servo is booted again N keep The set content value won t be m...

Страница 98: ...O O PD 04 COT The setting for the communication timeout 0 sec O O O PD 06 SWDI Control switch for the source of the input contact DI 0 N A O O O N keep PD 07 CDT The time for the delay of the communi...

Страница 99: ...l condition N 1 0 N A O O O R only PD 35 ALH3 The record of the abnormal condition N 2 0 N A O O O R only PD 36 ALH4 The record of the abnormal condition N 3 0 N A O O O R only PD 37 ALH5 The record o...

Страница 100: ...01 T 02 PS 05 Mixed mode PT 06 ST 07 Sn 08 Single mode Tn 09 Single mode P Position control mode S Speed control mode The command comes from the external analog voltage internal register and can be se...

Страница 101: ...irection of the torque output 0 1 Clockwise direction Counterclockwise direction PA 01 S off CMPT Setting for the input format of the external pulse train Communication address 0002H 0003H Initial val...

Страница 102: ...less than 150 ns The low level pulse of the pulse will be ignored when its length is less than 150 ns Note 1 The pulse reception can be ensured if the signal comes with the 4Mpps high speed pulse and...

Страница 103: ...mode On and off for torque limit function valid in P S mode On and off for speed limit function 1 on 0 off Speed limit function can be turned on and off with DI terminal SPDLM Parameters and DI SPDLM...

Страница 104: ...first segment TCM0 TCM1 1 0 Internal Torque Limit 1 The setting of the internal torque limit in the first segment TCM0 TCM1 1 0 PA 04 ITQ2 Internal torque limit 2 internal torque command 2 Communicati...

Страница 105: ...he setting of the internal torque limit in the third segment TCM0 TCM1 1 1 PA 06 S off EOUT The setting for the detector output of the pulse value Communication address 000CH 000DH Initial value 2048...

Страница 106: ...ion selection 0 The accumulated pulse error magnitude of the drive position is cleaned up as 0 when the CCLR is conducted 1 The Feed Back PUU of the drive is cleaned up to 0 when CCLR is being conduct...

Страница 107: ...d p2 p1 p2 Scope for the input ratio of the command pulse 1 50 N 25600 x 1 2 3 4 PA 11 S off GRM2 Numerator of the Electronic Gear Ratio N2 Communication address 0016H 0017H Initial value 1 Control mo...

Страница 108: ...al Speed Command 1 The setting of the internal torque command in the first segment SPD0 SPD1 1 0 Internal Speed Limit 1 The setting of the internal torque limit in the first segment SPD0 SPD1 1 0 PA 1...

Страница 109: ...alog speed command Communication address 0022H 0023H Initial value By Rated Control mode T S Unit r min Configuration range 0 max Speed Data size 16bit Data format Dec Maximum rotation speed of the an...

Страница 110: ...ue control command is 100 rated torque 5V implies that the torque control command is 50 rated torque Torque control command Input voltage value x Setting value 10 In the speed and position modes the p...

Страница 111: ...ia to servo motor inertia the corresponding gain value is calculated automatically The parameters affected are PB 18 NLPF PB 19 SCJT PB 20 KPP PB 24 KVP PB 26 KVI and PB 28 DSG The setting value and c...

Страница 112: ...s 0100H 0101H Initial value 0 Control mode S Unit ms Configuration range 0 1000 0 The function is turned off Data size 16bit Data format Dec PB 01 TFIL Smoothing constant of the analog torque command...

Страница 113: ...STAC Acceleration constant of the smooth S curve Communication address 0106H 0107H Initial value 200 Control mode S Unit ms Configuration range 1 20000 Data size 16bit Data format Dec Constant for sp...

Страница 114: ...function for S shaped acceleration deceleration PB 05 STL Smooth constant of the smooth S curve Communication address 010AH 010BH Initial value 0 Control mode S Unit ms Configuration range 0 10000 Dat...

Страница 115: ...the step command for the low pass filter Recommendation If the speed loop receives the command from the upper computer to form the control of the position loop the low pass filter can be used For simp...

Страница 116: ...ommand Communication address 0112H 0113H Initial value 0 Control mode P Unit ms Configuration range 0 100 Data size 16bit Data format Dec For the moving filter the smoothing effect occurs at the begin...

Страница 117: ...uppression 2 Communication Address 0118H 0119H Initial value 0 Control mode P Unit Configuration range Data size Data format PB 13 NCD2 Notch filter for the attenuation rate of the resonance suppressi...

Страница 118: ...of auto resonance Communication address 0120H 0121H Initial value 0 Control mode P Unit Configuration range Data size Data format PB 17 NCLA The setting for the sensitivity suppression of auto resonan...

Страница 119: ...ode P Unit rad s Configuration range 0 2047 Data size 16bit Data format Dec When the gain of the position control is increased the position response is increased and the error magnitude of the positio...

Страница 120: ...n control Communication address 012EH 012FH Initial value 5 Control mode P Unit ms Configuration range 2 100 Data size 16bit Data format Dec For smooth change of the position control command the decre...

Страница 121: ...on range 0 1023 Data size 16bit Data format Dec When the integral value of the speed control is increased the position response is increased and the error magnitude of the speed control is reduced Vib...

Страница 122: ...s 013AH 013BH Initial value 10 Control mode ALL Unit N A Configuration range 0 18 Data size 16bit Data format Dec Condition of the gain switch 0 The gain switch function is off 1 The signal GAINUP for...

Страница 123: ...the gain switch Communication address 013EH 013FH Initial value 0 Control mode ALL Unit pulse Kpps r min Configuration range 0 3840000 Data size 32bit Data format Dec The setting of the switching con...

Страница 124: ...ication address 0146H 0147H Initial value 0 Control mode ALL Unit 0 1 times Configuration range 0 2000 Data size 16bit Data format Dec Ratio of load inertia to servo motor inertia rotation motor J_loa...

Страница 125: ...tor It is suggested to increase the setting gradually PB 38 VSF2 Frequency for the vibration suppression of low frequency 2 Communication address 014CH 014DH Initial value 1000 Control mode P Unit 0 1...

Страница 126: ...it Hz Configuration range 0 1023 Data size 16bit Data format Dec If the integral value of the position control increases the magnitude of the steady state error of the position is reduced If the setti...

Страница 127: ...n address 0202H 0203H Initial value Based on the control mode Control mode ALL Unit N A Configuration range 0 0x12D Data size 16bit Data format Hex Selection of the input function Attribute of the inp...

Страница 128: ...0x0C Selection of Torque Command 1 DI4 DI4 DI4 DI4 DI7 S P 0x0D Switching of the speed position mixed mode DI9 S T 0x0E Switching of the speed torque mixed mode DI9 T P 0x0F Switching of the torque p...

Страница 129: ...03 DI3 Function planning for Pin DI3 of the digital input Communication address 0206H 0207H Initial value Based on the control mode Control mode ALL Unit N A Configuration range 0 0x12D Data size 16bi...

Страница 130: ...DI6 The function planning for Pin DI6 of the digital input Communication address 020CH 020DH Initial value Based on the control mode Control mode ALL Unit N A Configuration range 0 0x12D Data size 16...

Страница 131: ...bit Data format Hex Refer to the description for PC 01 PC 10 DO1 Function planning for Pin DO1 of the digital output Communication address 0214H 0215H Initial value Based on the control mode Control m...

Страница 132: ...arget speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 INP 0x05 Target position reached DO6 DO6 DO6 ALM 0x06 Servo alarm DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 BREAK 0x07 Electromagnetic brake OLW 0x08 Overload...

Страница 133: ...13 DO4 Function planning for Pin DO4 of the digital output Communication address 021AH 021BH Initial value Based on the control mode Control mode ALL Unit N A Configuration range 0 0x10F Data size 16b...

Страница 134: ...on range 0 2000 Data size 16bit Data format Dec This is used to set the output range for the zero speed signal ZSPD If the clockwise and counterclockwise rotation speed of the motor is below the setti...

Страница 135: ...interlock signal of the electromagnetic brake BREAK is turned off 2 When the BTCD delay time is over and the motor rotation speed is above the one for PC 20 the interlock signal of the electromagneti...

Страница 136: ...ion range 0 100 Data size 16bit Data format Dec If the setting is between 0 and 100 and the continuous output load of the servo motor is above the set ratio PC 25 the warning signal for expected overl...

Страница 137: ...mber may be set per servo drive If one branch number is set for multiple drives the communication would not work properly The station number implies the absolute address communication network It is al...

Страница 138: ...n of the setting value 6 8 N 2 MODBUS RTU 7 8 E 1 MODBUS RTU 8 8 O 1 MODBUS RUT PD 03 CFP The handling of the communication error Communication address 0306H 0307H Initial value 0 Control mode ALL Uni...

Страница 139: ...of the input contact DI Communication address 030CH 030DH Initial value 0 Control mode ALL Unit N A Configuration range 0 1 Data size 16bit Data format Dec 0 The DI status is controlled by the extern...

Страница 140: ...Register 1 Communication address 031EH 031FH Initial value Control mode ALL Unit N A Configuration range Data size 32bit Data format Dec The status value to be read by PD 23 can be set via the panel o...

Страница 141: ...egister 3 Communication address 0322H 0323H Initial value Control mode ALL Unit N A Configuration range Data size 32bit Data format Dec The status value to be read by PD 25 can be set via the panel or...

Страница 142: ...munication address through the port PD 20 N keep ALD The display for the error status of the drive Communication address 0328H 0329H Initial value Control mode ALL Unit N A Configuration range 0 58 Th...

Страница 143: ...the command entered to the upper controller the electronic gear ratio pulse 06 Eer P The number of differential pulses for the ECd P and EFb P pulse 07 CP Fr The pulse command input frequency Kpps 08...

Страница 144: ...orque 8 volts maximum torque 2 Pulse command frequency 8 volts 4 5 Mpps 3 Speed command 8 volts maximum speed command 4 Torque command 8 volts maximum torque command 5 VBUS voltage 8 volts 464 V PD 23...

Страница 145: ...D 25 CM3 Selection for the content of the display for Status Monitoring Register 3 Communication address 0332H 0333H Initial value 0 Control mode ALL Unit N A Configuration range 0 18 Data size 16bit...

Страница 146: ...on address 0338H 0339H Initial value 100 Control mode ALL Unit Configuration range 0 100 Data size 16bit Data format Dec Example PD 22 01 MON1 is the analogue output of motor speed while MON2 is the a...

Страница 147: ...display on the panel Press the UP key to control normal jog running Press the DOWN key to control reverse jog running Release the key to stop jog running No running is possible if any error is display...

Страница 148: ...atus Bit0 Bit8 corresponds to DI1 DI9 respectively PD 33 R only ALH1 The record of the abnormal condition N Communication address 0342H 0343H Initial value 0 Control mode ALL Unit N A Configuration ra...

Страница 149: ...abnormal condition N 3 Communication address 0348H 0349H Initial value 0 Control mode ALL Unit N A Configuration range Data size 16bit Data format Dec Parameter function The fourth last abnormal statu...

Страница 150: ...42 MSTP The function of the motor stop mode Communication address 0354H 0355H Initial value 0 Control mode ALL Unit N A Configuration range 0 0x21 Data size 16bit Data format Hex Motor stop mode Dynam...

Страница 151: ...lockwise and counterclockwise rotation speed of the motor exceeds the setting value the target speed signal is formed and the output pin is enabled PD 44 RegMisc1 The write in of the special parameter...

Страница 152: ...odel Initial value 750W 40 1KW 2KW 40 PD 46 RESC The capacity of the regenerative resistor Communication address 035CH 035DH Initial value See the table below Control mode ALL Unit Watt Configuration...

Страница 153: ...brake resistor is low For the information about the connection refer to Section 3 1 Set PD 49 to 0 when an internal or external braking resistor is used Set PD 49 to 1 when an external braking unit i...

Страница 154: ...Unit N A Configuration range 0 1 0 Deactivation of the input phase failure detection Data size 16bit Data format Dec PD 53 OSPW The condition for the overspeed warning Communication address 036AH 036B...

Страница 155: ...tial value 160 Control mode ALL Unit Volt rms Configuration range 140 190 Data size 16bit Data format Dec This parameter set the low voltage detection level The low voltage alarm is released when the...

Страница 156: ...nputs the analog voltage 10V 10V The command selection is based on the DI signal Torque mode T 02 The drive receives the torque command and controls the motor to reach the target torque The internal r...

Страница 157: ...ernal pulse The device accepts the pulse input up to 4Mpps The closed loop system of the position focuses on the speed mode The gain position controller and lead compensation are added externally Two...

Страница 158: ...The following diagram shows the structure Position command Processing unit of position command Processing unit of position control Processing unit of speed control Processing unit of current control...

Страница 159: ...e ratio through the low pass filter If the electronic gear ratio equals 0 5 the ratio of each two pulses from the command end to the pulse of the motor rotation is 1 pulse Relevant parameters PA 09 S...

Страница 160: ...ted before setting the proportional gain PB 20 and feed forward gain PB 22 of the position circuit Proportional gain PB 20 The gain increase would expand the response bandwidth of the position circuit...

Страница 161: ...f proportional gain is adjusted to an excessive degree the open loop bandwidth of the position is expanded which results in the reduction of phase margin and the motor vibration The KPP must be lowere...

Страница 162: ...rameters for speed loop and all auto or auxiliary functions are turned off Automatic gain mode The estimation of load inertia is provided The parameter of the drive is adjusted simultaneously The para...

Страница 163: ...command of speed limit under the torque mode T or Tn 7 3 2 Control structure of the speed mode The processing unit of speed command selects the source of speed command based on 7 3 1 The selection in...

Страница 164: ...ility during start and stop of motor The device provides the calculation for the time required for the completion of command T ms indicates the operating time S r min represents the command of absolut...

Страница 165: ...ooth function for S shaped acceleration deceleration PB 05 STL Smooth constant of the smooth S curve Communication address 010AH 010BH Initial value 0 Control mode S Unit ms Configuration range 0 1000...

Страница 166: ...following property shows in the graph The user may adjust the time setting PB 03 PB 04 and PB 05 based on the actual situation for improvement Low pass filter at the command end The low pass filter a...

Страница 167: ...tes the setting of the rotation speed while the maximum voltage 10V is input for the analog speed command If the speed is set to 3000 and 10V is input for external voltage the speed control command is...

Страница 168: ...circuit Open and ON represents close circuit Close 2 For Sn Mode Speed Command S1 0 For S Mode Speed Command S1 is the analog voltage of external input 3 After Servo On the command is selected based o...

Страница 169: ...2 Semi auto Mode non persistent adjustment 0 Description for Manual Mode If PB 33 is set to 0 the user is allowed to set all parameters related to control gain The parameters are PB 20 PB 23 PB 24 PB...

Страница 170: ...2 Description for Semi auto Mode When the system inertia is stabilized the estimation stops after PB 50 shows 1 The load inertia ratio estimated is stored in PB 35 The adjustment continues when switch...

Страница 171: ...t to an excessive value PB 27 KVF Feed forward gain for the speed control Communication address 0136H 0137H Initial value 0 Control mode ALL Unit Configuration range 0 100 Data size 16bit Data format...

Страница 172: ...tomation 172 2 STEP 2 Fix the KVP and adjust the KVI KVI3 KVI2 KVI1 3 STEP 3 Select the KVI If the phase margin is too low relatively unstable adjust the KVP again so that the phase margin reaches 45...

Страница 173: ...d also be low For fixing the steady state following error this is not more evidently helpful than the KVI Refer to the following illustration KVP3 KVP2 KVP1 2 The higher the KVI is the faster the stea...

Страница 174: ...asurement equipment at hand The time domain method only requires one oscilloscope By using the analog input and output terminals provided by the drive in the meantime the user can utilize the time dom...

Страница 175: ...Notch Filter 1 PB 10 and PB 11 Notch Filter 2 PB 12 and PB 13 as well as Notch Filter 3 PB 10 and PB 11 The resonance suppression is achieved without affecting the original control parameter Relevant...

Страница 176: ...uppression 2 Communication address 010AH 010BH Initial value 0 Control mode P Unit Configuration range Data size Data format PB 14 NCF3 Notch filter for resonance suppression 3 Communication address 0...

Страница 177: ...ance point continues The resonance exists if PB 15 is set to 1 or 2 If either the value of PB 11 or PB13 is 32 it is suggested to reduce the speed bandwidth and reactivate the auto resonance suppressi...

Страница 178: ...he values of PB 12 PB 1x to activate the auto resonance suppression 1 0 Store the current values of PB 12 PB 1x to deactivate the auto resonance suppression 1 1 Clear the values of PB 12 PB 1x to acti...

Страница 179: ...ffect is illustrated in the Bode plot below The resonance point will be filtered by the resonant low pass filter Reduce broadband Servo on Resonance Yes No No No No No No Yes Yes Yes Yes Set PB 15 1 R...

Страница 180: ...ore the effect created by applying the notch filter to the resonance system In the following Bode plot the resonance system suppresses the resonance point effectively after the notch filter is added t...

Страница 181: ...Lite On Technology Corp Industrial Automation 181 System resonance point Addition of NLP low pass filter...

Страница 182: ...oltage difference between T REF and GND 10 V 10V Tn None The torque command is 0 0 T2 0 1 Parameter of internal register PA 03 300 0 300 0 T3 1 0 PA 04 300 0 300 0 T4 1 1 PA 05 300 0 300 0 TCM0 TCM1 s...

Страница 183: ...e set by the proportioner PA 18 as well as the smoothing of the torque command The torque control unit manages the gain parameter of the drive and computes the magnitude of the current supplied to the...

Страница 184: ...que command Relevant parameters PB 01 TFIL Smoothing constant of the analog torque command Communication address 0102H 0103H Initial value 0 Control mode T Unit ms Configuration range 0 1000 0 The fun...

Страница 185: ...e the torque control command is 100 rated torque 5V implies that the torque control command is 50 rated torque Torque control command Input voltage value x Setting value 10 In the speed and position m...

Страница 186: ...analog voltage or internal parameter PA 14 PA 15 setting The S P signal controls the switching of the speed position mode 7 4 8 Position torque mixed mode P T position command comes from the pulse inp...

Страница 187: ...ufficient the speed limit command can also be input via the analog voltage The speed limit is activated when PA 02 us set to 1 The following shows the diagram 7 5 2 Use of the torque limit The speed l...

Страница 188: ...ing Communication address 032CH 032DH Initial value 01 Control mode ALL Unit N A Configuration range 00 0x55 Data size 16bit Data format Hex PD 28 VMR1 Ratio for MON1 analog monitoring output Communic...

Страница 189: ...cation address 034AH 034BH Initial value Control mode Unit Configuration range Data size Data format 7 5 4 Use of the electromagnetic brake PC 21 BTOD Turn on delay time for the electromagnetic brake...

Страница 190: ...drive 1 BREAK is set to OFF In this case the electromagnetic brake is inoperative and the motor is under the machinery lockout condition 2 BREAK is set to ON In that case the electromagnetic brake is...

Страница 191: ...t the in PC 22 has elapsed In this case BREAK is OFF electromagnetic brake lockout 2 After the servo is off the motor rotation speed might go below the one set in PC 20 even before the time set the in...

Страница 192: ...communication dock TX of the master end for communication to RS232RX at the slave end Dock RX at the master end to RS232TX at the slave end Description for the use of RS232 1 15 m is required for the...

Страница 193: ...munication group of Parameter PD Communication address for rate of ADR communication transmission 0300H 0301H PD 00 ADR Setting of the communication office number Communication address 0300H 0301H Ini...

Страница 194: ...38400 4 57600 5 115200 Communication address for PTL protocol 0304H 0305H PD 02 PTL Protocol setting Communication address 0304H 0305H Initial value 0x0006 Control mode ALL Unit Configuration range 0...

Страница 195: ...CRC error check CRC error check 1 byte End 1 Standstill period over 10 ms The RTU Remote Terminal Unit communication mode begins from a static signal and ends with another static signal The communica...

Страница 196: ...ow bit set CRC Check Low 1 Bytes D5H low bit set CRC Check High 1 Bytes C1H high bit set Note A standstill period for 10 ms is required before and after transmission Example 2 Function Code 06H Single...

Страница 197: ...he master passes down the writing command to Slave No 127 7FH for writing two words EF01H and 2345H to the home address 0012H In other words Location 0012H is written to EF01H and Location 0013H is wr...

Страница 198: ...to transfer data for writing the next data after the new setting value of transmission speed is written when the communication speed is altered For PD 02 the new protocol value must be used to transf...

Страница 199: ...ite On Technology Corp Industrial Automation 199 Communication read parameter The parameter read by the servo drive via the communication method include PA 00 PA 21 PB 00 PB 41 PC 00 PC 25 PD 00 PD 55...

Страница 200: ...ive location error It is activated when the value of location error is above the setting value ALM Servo Off AL009 Abnormality in the encoder The communication error regarding the data of the encoder...

Страница 201: ...put voltage below level The RST input voltage is too low ALM Servo Off AL050 Low voltage The voltage of the main circuit is too low WRN Servo Off AL051 Emergency stop It is activated when the emergenc...

Страница 202: ...own and abnormality in the IGBT module Return it to the dealer or factory for repair Abnormality in the setting of the control parameter The control or gain value is set too high The value is reset to...

Страница 203: ...in the pulse command Reason for abnormality Check for abnormality Handling of abnormality Frequency in the pulse command above the rated input frequency Check the pulse frequency sent by the upper co...

Страница 204: ...data entries of the encoder data received by the drive in a row 1 Check if the motor is grounded normally 2 Check if the signal cable of the encoder is entangled with the line with the power or high c...

Страница 205: ...e control or gain value is set too high The value is reset to the initial value It will be set and calibrated again Abnormality in the control command Check if the input command is in a state of high...

Страница 206: ...lity Handling of abnormality Abnormality in the fan Check the condition of the fan Return it to the dealer or factory for repair AL058 Abnormalityin the DSP Reason for abnormality Check for abnormalit...

Страница 207: ...after temperature recovery AL024 Abnormality in the encoder output DI ARST clear AL025 Overheated encoder It is cleared automatically after temperature recovery AL026 Overcurrent output by the servo D...

Страница 208: ...monitoring signal range of output voltage 8V External control method Pulse and analog signals Position control mode Pulse frequency of maximum output 500k 4Mpulses s if the differential receiver is us...

Страница 209: ...vo procedure complete Protection function Overcurrent protection regenerative overvoltage protection overload protection electronic thermal relay servo motor overheat protection encoder error protecti...

Страница 210: ...High inertia Low inertia High inertia Medium inertia High inertia Medium inertia High inertia Medium inertia Retention actuator N No actuator A DC24V actuator Voltage specifications 2 AC200 240V Axle...

Страница 211: ...ic friction torque N m Above 0 16 Above 0 32 Pull in time ms Below 35 Release time ms Below 20 Release voltage V Above DC1V Condition of application environment Rated time Continuous Temperature of ap...

Страница 212: ...ngerous voltage Rated voltage V DC24V 10 Rated current A 0 3 Static friction torque N m Above 1 27 Pull in time ms Below 50 Release time ms Below 15 Release voltage V Above DC1V Condition of applicati...

Страница 213: ...friction torque N m Above 2 39 Pull in time ms 70 Release time ms 20 Release voltage V Above DC1V Condition of application environment Rated time Continuous Temperature of application environment 0 40...

Страница 214: ...nd the power supply regarding the reinforced insulation for the dangerous voltage Rated voltage V DC24V 10 Rated current A 1 0 Static friction torque N m Above 9 55 Pull in time ms 120 Release time ms...

Страница 215: ...leak from the output shaft into the motor In this case it is required to order the motor with oil seal If not the motor lifetime may be shortened and the motor would no longer be fully functional Mot...

Страница 216: ...216 10 2 2 Outline dimension drawing motor Medium inertia Medium inertia Voltage With oil seal With oil seal Motor model Without oil seal Without oil seal Medium inertia Flange size No actuator With...

Страница 217: ...217 Low inertia Shaft Shaft Shaft Shaft High inertia Low inertia High inertia Voltage Motor model Low inertia High inertia Low inertia High inertia depth 10 depth 8 Unit mm Size of attached key With a...

Страница 218: ...218 Low inertia Shaft High inertia Shaft Low inertia Shaft High inertia Shaft Voltage Motor model Low inertia High inertia Low inertia High inertia depth 10 depth 8 Unit mm Size of attached key With a...

Страница 219: ...Lite On Technology Corp Industrial Automation 219 Low inertia High inertia Voltage Motor model Low inertia High inertia depth 10 Unit mm Size of attached key With actuator No actuator Flange size...

Страница 220: ...Lite On Technology Corp Industrial Automation 220 Low inertia High inertia Voltage Motor model Low inertia High inertia depth 10 Unit mm Size of attached key With actuator No actuator Flange size...

Страница 221: ...221 Medium high inertia Medium high inertia Medium inertia Voltage Motor model Medium inertia High inertia depth 20 Size of attached key With actuator No actuator Flange size No actuator With actuato...

Страница 222: ...Rotation torque characteristics Transient action area Continuous action area N T characteristics 400W Rotation speed Continuous torque ambient temperature characteristics Without oil seal With oil sea...

Страница 223: ...acteristics Transient action area Continuous action area Rotation speed Rotation speed Rotation speed N T characteristics 1 5kW Continuous torque ambient temperature characteristics Without oil seal W...

Страница 224: ...224 N T characteristics 2kW Rotation torque characteristics Transient action area Continuous action area Continuous torque ambient temperature characteristics Without oil seal With oil seal Rated torq...

Страница 225: ...lization and operation 11 3 1 System and Initialization For absolute servo host controller can access absolute motor position by communication rs232 485 or DI DO ISA 7 absolute system supports two typ...

Страница 226: ...Technology Corp Industrial Automation 226 limited If the motor turns exceed the range 32768 32767 AL035 will be triggered In PUU mode if the position value exceed 2147483648 2147483647 AL038 will be t...

Страница 227: ...n in counter clockwise number of turns is defined positive The maximum range of countable turn is 32768 32767 if number of turns exceed this range AL035 will be triggered and need to re initialize the...

Страница 228: ...of turns exceed 32768 32767 AL035 will be triggered If PUU value exceed 2147483648 2147438647 the position overflow warning AL038 will be triggered and need to re initialize to relieve warning AL035...

Страница 229: ...tion by DI DO When DI AENC_E signal ON and DI AENC_C signal change from OFF to ON coordinate system will be initialized After initialization absolute pulse value and PUU will be reset to zero Please r...

Страница 230: ...other numbers are invalid 11 3 6 Read absolute position by DI DO If PD 57 Bit 0 0 PUU can be accessed by DI DO The format is as follow Bit79 Bit64 Bit63 Bit32 Bit31 Bit8 Bit7 Bit0 Check Sum Encoder PU...

Страница 231: ...r switch AENC_Q to ON again and delay Tq for next bit data Repeating step to until all the data bit0 bit79 transmitted If AENC_Q switched from ON to OFF and hold for TOUT alarm AENC_ERR occurs and han...

Страница 232: ...t Data format Hex Bit0 DI DO unit setting 1 Pulse 0 PUU Bit1 Communication unit setting 1 Pulse 0 PUU Bit2 Overflow warning 1 Disable 0 Enable AL038 AL035 Bit3 Bit15 reserved 0 PD 58 ABSRST Absolute p...

Страница 233: ...PREV Absolute encoder position numbers of turns Communication address 0378H 0379H Initial value 0 Control mode ALL Unit Revolution Configuration range 32768 32767 Data size 32bit Data format DEC If PD...

Страница 234: ...DO 11 3 6 Read absolute position by DI DO AENC_C 0x11 Absolute coordination reset refer to 11 3 4 Initialization by DI DO AENC_Q 0x12 Handshaking pin of data transmission refer to 11 3 6 Read absolute...

Страница 235: ...ternal error Reason for abnormality Check for abnormality Handling for abnormality Battery over voltage 1 Check battery voltage 3 8V Replacing the battery Encoder internal error 1 Check encoder type a...

Страница 236: ...Re initialize system Refer to 11 3 4 11 3 5 2 This alarm can be closed by setting PD 57 bit2 as 1 AL036 Absolute data I O transmission error Reason for abnormality Check for abnormality Handling for a...

Страница 237: ...Lite On Technology Corp Industrial Automation 237 11 8 Display of status value PD 21 LED display Description Unit 19 Battery voltage Absolute encoder battery voltage Volt...

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