Shanghai Siheng Motor KA Series Скачать руководство пользователя

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Shanghai Siheng Motor Co Ltd

www.sihengmotor.com

Chapter 4 parameters and functions

4.1 list of parameters

The factory values in the following table take the servo driver of 110sjt-m02030 (2N

•

3000r/min) motor as an example. Relevant parameters of different motors are different

。

P00 Parameters

Parameters No

Name

Setting rage

factory

default

Unit Application way

P00.00

Password

～

9999

315

，

P00.01

Motor model code

～

60*

，

P00.02

Software version (read only)

，

P00.03

Initial display state

～

，

P00.04

Control Strategy Choice

～

，

P00.05

Velocity proportional gain

～

2000

150*

，

P00.06

Velocity integral time constant

～

1000

80*

，

P00.07

Torque command filter

～

500

，

P00.08

Speed detection low pass filter

～

500

120

，

P00.09

Position proportional gain

～

1000

1/s

P00.10

Position feed forward gain

～

100

P00.11

Position feed forward low pass filter

cutoff frequency

～

1200

300

P00.12

Position command pulse frequency

divider molecule

～

32767

10000

P00.13

Position order pulse frequency

divider denominator

～

32767

1000

P00.14

Position instruction pulse input mode

～

P00.15

Reverse the direction of the position

command pulse

～

P00.16

Positioning completion range

～

30000

Pulse

P00.17

Location out of tolerance detection

range

～

30000

200

×100

Pulse

P00.18

Location error not valid

～

P00.19

Position order smoothing filter

～

30000

100*

0.1ms

Содержание KA Series

Страница 1: ...pment Prohibition It means strictly prohibiting the behavior otherwise it will lead to equipment damage or can not be used Use occasion Wring Do not connect 220V driver power to 380 power supply otherwise it will cause equipment damage or fire Please grounding terminal reliably Poor grounding may cause electric shock or fire Do not connect the output terminal of driver U V W motor to three phase p...

Страница 2: ...ntaneously do not approach the machine The machine may suddenly start again Do not switch on or off the power frequently otherwise it will cause overheating inside the driver Operation Function Stop When the motor is running do not contact any rotating parts otherwise it will cause casualties When the equipment is running it is forbidden to touch the driver and motor otherwise it will cause electr...

Страница 3: ...nse 200Hz Velocity fluctuation rate 0 03 load 0 100 0 02 0 9 1 1 power supply voltage Value corresponds to rated speed Speed ratio 1 5000 Pulse frequency 500kHz control input 1 Servo Enablation 2 Alarm Clearance 3 CCW Drive Ban 4 CW Drive Ban 5 Deviation counter clearing speed selection 1_ 6 Instruction pulse prohibition speed selection 2 7 CCW torque limit 8 CW torque limit Control output 1 Servo...

Страница 4: ...t bus voltage absolute rotor position instruction pulse frequency operation status input and output terminal signals etc Protection function Overspeed overvoltage and undervoltage of main power supply overcurrent overload abnormal braking abnormal encoder abnormal control power supply abnormal position etc Applicable load inertia Less than 5 times the inertia of the motor ...

Страница 5: ... 5 27 Shanghai Siheng Motor Co Ltd www sihengmotor com Installation 2 1 KA02 KA03 below 400W Motor Driver Outward Size Diagram 2 2 KA05 0 6 1 kW Outward Size Diagram of Motor Driver ...

Страница 6: ... 6 27 Shanghai Siheng Motor Co Ltd www sihengmotor com 2 3 KA10 1 0 2 6 kW Outward Size Diagram of Motor Driver ...

Страница 7: ... 7 27 Shanghai Siheng Motor Co Ltd www sihengmotor com 2 2 1 2 4 Standard wiring diagram Position control mode Drawing 2 3 1 Position control wiring ...

Страница 8: ... 8 27 Shanghai Siheng Motor Co Ltd www sihengmotor com 2 2 2 Speed Torque Mode Wiring Diagram Figure 2 3 2 Speed Torque Mode Wiring ...

Страница 9: ...Input SC1 S In the speed control mode the combination of SC1 and SC2 is used to select different internal speeds SC1 OFF SC2 OFF Internal speed 1 SC1 ON SC2 OFF Internal Speed 2 SC1 OFF SC2 ON Internal Speed 3 SC1 ON SC2 ON Internal Speed 4 Note The values of internal velocities 1 4 can be modified by parameters 11 Speed Selection 2 Input SC2 S Counter clearing CLE P CLE ON When position control p...

Страница 10: ... angle and speed of the motor 33 PULS 34 Directional input of instruction pulse SIGN P Determine the rotation direction of the motor 35 SIGN 20 Analog Speed Torque Instruction Input AS S Differential mode the input impedance of 10 k Ω 10 v 10 v input range 19 AS T 22 simulation AGND Analog input ground wire 1 Encoder A Phase Signal Output OA ABZdifferentialdriveoutputofencoder 26LS31output equival...

Страница 11: ...encoder A 4 Encoder B input B Connected with photoelectric encoder B 5 Encoder B input B Connected with photoelectric encoder B 10 Encoder Z input Z connected with the photoelectric encoder Z 15 Encoder Z input Z Photoelectric encoder Z phase connection 14 Encoder U input U Photoelectric encoder U phase connection 9 Encoder U input U Photoelectric encoder U phase connection 13 Encoder V input V Ph...

Страница 12: ...et value long press can increase quickly Reduce Reduce the monitoring code parameter number or set value long press can quickly reduce Shift When setting parameters press this key to move the selected flicker bit to the left by one SET Confirm Go to the next menu or save the Settings Numerical indication The numerical value USES 5 digital tube displays The minus sign in front of the numerical valu...

Страница 13: ...位置低4位脉冲当前位置高4位 10000 脉冲位置指令低4位脉冲位置指令高4位 10000 脉冲位置偏差低4位脉冲位置偏差高4位 10000 脉冲电机转矩电机电流 A 直线速度 m min 当前控制方式位置指令脉冲频率 kHz 速度指令 r min 转矩指令一转中转子绝对位置脉冲输入端子状态输出端子状态编码器输入信号运行状态报警代码保留电机速度1000r min 当前位置125806脉冲位置指令125810脉冲位置偏差4脉冲 Torque 70 电机电流 2 3A 直线速度5 000m min 控制方式 0 位置指令脉冲频率 12 6kHz 速度指令 35r min 转矩指令 20 转子绝对位置 3265 输入端子输出端子编码器信号运行状态正在运行 9号报警 U 0 3 2 1 Monitor mode operation block d...

Страница 14: ...000 125806pcs pulse Similarly the pulse amount of position instruction is also composed of CPO high 4 bits CPO low 4 bits Such as C 12x10000 C5810 125810pcs pulse When the encoder is fixed the Z pulse is fixed as the zero pulse position D apo display motor encoder The pulse value of the output position signal deviating from the zero pulse If the number of lines of the encoder is 2500 the display r...

Страница 15: ...oder signal display stroke ON means ON OFF means OFF Note 5 running state is denoted as Rn oF The main circuit is not charged and the servo system is not running Rn CH The main circuit has been charged and the servo system is not running the servo system does not enable or alarm exists Rn on The main circuit is charged and the servo system is running ...

Страница 16: ...on to continue to modify the parameters After the modification press MODE button to return to the parameter selection menu If you are not satisfied with the value being modified do not press the SET key to confirm You can press the MODE button to cancel restore the original value of the parameter and return to the parameter selection menu 3 3 1 Parameter setting operation block diagram Restore par...

Страница 17: ...0 06 Velocity integral time constant 1 1000 80 P S P00 07 Torque command filter 1 500 30 P S P00 08 Speed detection low pass filter 1 500 120 P S P00 09 Position proportional gain 1 1000 50 1 s P P00 10 Position feed forward gain 0 100 0 P P00 11 Position feed forward low pass filter cutoff frequency 1 1200 300 Hz P P00 12 Position command pulse frequency divider molecule 1 32767 10000 P P00 13 Po...

Страница 18: ...3600 r min P S P01 04 Internal velocity 1 3000 3000 0 r min S P01 05 Internal velocity 2 3000 3000 100 r min S P01 06 Internal velocity 3 3000 3000 300 r min S P01 07 Internal velocity 4 3000 3000 100 r min S P01 08 Reach the speed 0 3000 500 r min S P01 09 reserve P01 10 Internal CCW torque limitation 0 300 300 P S P01 11 Internal CW torque limits 300 0 300 P S P01 12 External CCW torque limit 0 ...

Страница 19: ...log torque command filter 1 1000 300 Hz T P02 10 The lower 4 bit input terminal enforces the ON control word 0 15 0 ALL P02 11 High 4 bit input terminal force ON control word 0 15 0 ALL P02 12 Reverse control word for lower 4 bit input terminal 0 15 0 ALL P02 13 Reverse control word for high 4 bit input terminal 0 15 0 ALL P02 14 Reverse control word for output terminal 0 15 0 ALL P02 15 Input ter...

Страница 20: ...ameter after repairing and then restore the default parameter Otherwise the servo drive will not work properly or damage When changing this parameter set the password P00 00 parameter to 385 before changing this parameter See this chapter for the detailed meaning of the parameters 0 69 P00 02 software version You can view the software version number but you can t change it P00 03 Initial display s...

Страница 21: ...ey and keep it The motor operates at JOG speed loosen key stop the motor and keep zero speed press_key and keep it the motor operates at JOG speed in reverse loosen key stop the motor and keep zero speed _Zero adjusting mode of encoder used to adjust the zero point of encoder disc when the motor leaves the factory 0 8 P00 05 Velocity proportional gain 1 set the proportional gain of the speed loop ...

Страница 22: ...remits sharp vibrationnoise please reduce this parameter 3 Thesmallerthe value the lowerthe cut offfrequency and the smallerthe noisegenerated bythe motor Iftheload inertia islarge the settingvalue canbe reducedappropriately Too smalla valuewillslow downthe responseandmay cause instability 4 Thelargerthe numericalvalue the higherthe cut off frequencyandthe faster theresponse Ifhigher Mechanicalrig...

Страница 23: ...peed response characteristics of the control system are improved but the position loop of the system is unstable and prone to oscillation Unless very high response characteristics are required the feedforward gain of the position loop is usually 0 0 100 P00 11 Position feed forward low Through filter cutoff frequency Set the cut off frequency of the low pass filter for the position loop feedforwar...

Страница 24: ...ng completion under position control This parameter provides the basis for the servo driver to judge whether the positioning is completed or not under the position control mode When the number of remaining pulses in the position deviation counter is less than or equal to the set value of this parameter the servo driver thinks that the positioning has been completed and the positioning signal is CO...

Страница 25: ... numerical value represents the time constant The filter does not lose input pulse but instruction delay occurs This filter is used for The upper controller has no acceleration and deceleration function Electronic gear division frequency larger 10 Instruction frequency is low Stepping jump and unsteady phenomenon appear in motor operation When set to 0 the filter does not work 0 30000 0 1ms ...

Страница 26: ...en FSTP is ON When CCW drive OFF switch FSTP CCW directional torque remains at 0 The CW in the same way If both CCW and CW drivers are OFF an error alarm will be generated to disable the driver input 1 Cancel CCW and CW input prohibition CCW and CW drivers are allowed regardless of the status of CCW and CW drivers At the same time if both CCW and CW drivers are OFF there will be no error alarm of ...

Страница 27: ... SC1 is OFF and SC2 is ON select internal speed 3 as the speed instruction 3000 3000 r min P01 07 Internal speed 4 Set internal speed 4 In the speed control mode when SC1 is ON and SC2 is ON select internal speed 4 as the speed instruction 3000 3000 r min P01 08 Reach the speed Set arrival speed In the non position control mode if the motor speed exceeds the set value SCMP ON otherwise SCMP OFF In...

Страница 28: ...que limit value of the CW direction servo motor The setting value is the percentage of the rated torque for example 1 of the rated torque the value is set to 100 This restriction is only valid if the CW torque limit input terminal RIL ON When the limit is effective the actual torque limit is the minimum absolute value of the maximum allowable overload capacity of the system internal CW torque limi...

Страница 29: ...rea The command force is 0 when the analog speed input voltage is in the no control area 500 500 P02 04 Analog speed command filter A low pass filter for analog velocity input The larger the setting value is the faster the response speed to the speed input analog quantity will be and the greater the influence of signal noise will be The smaller the setting value the slower the response and the sma...

Страница 30: ...ut terminal internal force ON valid The terminals that are not mandatory ON need to be controlled ON OFF in the external connection The terminals that are mandatory ON do not need to be connected in the external connection and the internal drive is automatically set ON The 4 bit binary number indicates that 0 indicates that the corresponding input terminal is not mandatory ON and 1 indicates that ...

Страница 31: ...for output terminal Set the output terminal to invert The definition of the reverse terminal on and off is exactly the opposite of the standard definition It is represented by a 4 bit binary number 0 means the corresponding output terminal is not inverted and 1 means the corresponding output terminal is inverted The output terminal represented by binary number is as follows 0 SRDY servo ready 1 AL...

Страница 32: ... of software overcurrent The setting value is the percentage of the system s maximum current 30 100 P03 05 Software overcurrent detection time Software overcurrent detection time unit 0 1 ms Set to 0 the software overcurrent alarm function is forbidden Normally this parameter is set to 0 10 10000 P03 06 SON Servo force enable When set to 0 SON is determined by IO port input signal When set to 1 SO...

Страница 33: ...aturation failure speed regulator saturates for a long time 7 Driver disable exception CCW and CW drive are OFF 8 Position deviation counter overflow absolute value of the position deviation counter is greater than 2 30 9 Encoder failed Encoder signal error 10 Control under voltage of power supply Control power supply 15V is low 11 IPM module failure IPM Intelligent module fault 12 Over current Ex...

Страница 34: ...hen switching on the control power Control board fault Replace the servo driver Motor encoder failure Replace the servo motor Motor appears during operation Input instruction pulse frequency is too high Set the input instruction pulse correctly The acceleration deceleration time constant is too small so that the speed overshoot is too large Increase the acceleration deceleration time constant ...

Страница 35: ...e waveform is abnormal Check the power supply Motor appears during operation Brake resistance wire is disconnected rewiring Brake transistor is damaged Internal brake resistance is damaged Replace the servo driver Insufficient capacity of brake circuit Reduce start and stop frequency Increase the acceleration deceleration time constant Reduce the torque limit Reduce the load inertia Replace high p...

Страница 36: ...it Reduce the relevant gain Replace high power ac servo drive unit and motor Motor internal fault Replace the servo motor 6 Speed amplifier saturation failure Motor appears during operation motor jammed mechanically Check the mechanical part of the load Over load Reduce the load Replace high power servo drivers and motors 7 Driver disable exception CCW CW drive forbidden input terminal Disconnect ...

Страница 37: ...cuit board failure Replace the servo driver Motor appears during operation Operating in excess of rated torque Check the load Reduce start stop frequency Reduce the torque limit Replace high power servo drivers and motors Keep the brake on Check the hold brake Unsteady oscillation of the motor Adjust the gain Increase the acceleration deceleration time Reduce the load inertia servo drivers U V and...

Страница 38: ... error Damage to chip or circuit board Replace the servo driver After the fix the servo driver model code parameter P00 01 must be reset and the default parameters restored 23 A D chip error Damage to chip or circuit board current sensor is damaged Replace the servo driver 30 encoder Z pulse is lost Z pulse not present encoder damaged Cable is bad Poor cable shielding The shielded ground wire is n...

Страница 39: ...W 4 0 4 0 2500 0 37 KA10 110SFM E04020 220 V 800 W 3 5 4 0 2000 0 54 KA10 110SFM E04030 220 V 1 2 kW 5 0 4 0 3000 0 54 KA10 110SFM E05030 220 V 1 5 kW 6 0 5 0 3000 0 63 KA10 110SFM E06020 220 V 1 2 kW 4 5 6 0 2000 0 76 KA10 110SFM E06030 220 V 1 8 kW 6 0 6 0 3000 0 76 KA10 130SFM E05025 220 V 1 0 kW 4 0 4 0 2500 0 85 KA10 130SFM E05025 220 V 1 3 kW 5 0 5 0 2500 1 06 KA10 130SFM E06025 220 V 1 5 kW...

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