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                                                                                             5-61                               

 

5-5-2 Manual Gain Adjustment

 

Manual Gain adjustment is made available for applications when auto tune is not 
providing a good and stable system response, or a system where there is no significant 
load variations and the auto tune is not used.   

 

Manual Gain Adjustment in Speed control Mode

 

 Step 1: Set Rigidity level

 in parameter Cn 26 (See section 5-5-1 for the selection table) and Cn25. 

 Step 2: 

If the Servo system includes a host controller which is used for positioning control, then it’s 

position loop Gain

 should be set lower, relative to the servo drive Gain. 

 

Step 3: Adjusting Speed Loop Gain 1 (Sn211):

 

a) Increase Sn212

 

(Integral Time Constant 1of Speed Loop). Set a higher value than default 

or the set value when auto tune was unsuccessful. 

b)  Increase the Speed Loop Gain (Sn211) until there is no vibration or noise.  
c)  Then decrease the Speed Loop Gain (Sn211) slowly and increase Position Loop Gain of 

Host Controller until there is no vibration or noise.  

 Step 4: Adjusting Speed Loop Integral Time Constant 1 

(

Sn212)

: 

Set the Integral Time Constant of Speed Loop for minimum time setting that without causing 

mechanical vibration. 

Step 5: 

Finally, Slowly adjust the Speed Loop Gain, Position Loop Gain of Host Controller and Integral 

Time Constant of Speed Loop until the servo system provides the best response.  

 

Manual Gain Adjustment in Position Control mode

 

Step 1: Set Rigidity level in parameter Cn 26

 (See section 5-5-1 for the selection table) for the 

correct 

Load Inertia Ratio

.

  

Step 2: Decrease Position Loop Gain 1 (Pn 310). 

Set a lower value than default or the set value when auto tune was unsuccessful.

 

             Set a relatively higher value in Sn212 (Integral Time Constant 1 of Speed Loop). 

 

Step 3: Adjust Speed Loop Gain 1(Sn211). 

Increase the Speed Loop Gain until there is no vibration or noise. 

Step 4: Adjusting Position Loop Gain 1 (Pn310).  

Slowly decrease the Speed Loop Gain again, then increase the Position Loop Gain until there is 
no vibration or noise.  

Step 5: Adjusting Speed Loop Integral Time Constant 1 (Sn212).

  

Set the Integral Time Constant of Speed Loop for a minimum time without causing mechanical 
vibration. 

Step 6: 

Finally, slowly adjusting the Speed Loop Gain, Position Loop Gain and the Integral Time 

Constant of Speed Loop until the servo system provides the best response.  

Содержание JSDAP Series

Страница 1: ......

Страница 2: ... before operate servo drive Matching up machine to change the user parameter setting before machine performs If there is no according correct setting number it could lead to out of control or breakdown Safety proceeding Check the covering letter detail before installing running maintaining and examining Furthermore only the profession qualified people can proceed to the line assembly Safety procee...

Страница 3: ...ing and procedure of assembly line Controller procedure for digital board status displaying unusual alarm and strategy explanation Servo System control function running testing and procedures adjusted Explanation for all parameter of Servo Driver Standard specification of JSDAP Series In order to daily examine maintain and understand the reason of unusual situation and handle strategy please put t...

Страница 4: ...Peripheral Devices 2 1 2 1 2 Wiring for Servo Drives 2 3 2 1 3 Specifications of Wiring 2 4 2 1 4 Motor Terminal Layout 2 6 2 1 5 TB Terminal 2 9 2 1 6 Wiring for Mechanical Brake 2 10 2 1 7 MCCB Fuse Noise Filter Specification 2 10 2 2 I O Terminal 2 11 2 2 1 Output Signals from the Servo pack 2 12 2 2 2 Encoder Connector CN2 Terminal Layout 2 24 2 2 3 CN3 CN4 Communication Terminal Layout 2 26 2...

Страница 5: ...Selection for Speed Command 5 9 5 3 2 Analog Speed Command Ratio 5 10 5 3 3 Adjusting the Analog Reference Offset 5 10 5 3 4 Analog Reference for Speed Command Limit 5 11 5 3 5 Encoder Signal Output 5 11 5 3 6 Smoothing the Speed Command 5 13 5 3 7 Setting Rotation Direction 5 16 5 3 8 Speed Loop Gain 5 17 5 3 9 Notch Filter 5 18 5 3 10 Torque Limit of Speed Control Mode 5 19 5 3 11 Gain Switched ...

Страница 6: ...low Chart 5 80 5 7 4 Timing Diagram of Tool Turret Homing 5 81 5 7 5 Timing Diagram of Auto selection Mode 5 82 5 7 6 Timing Diagram of JOG Mode 5 83 Chapter 6 Parameters 6 1 Explanation of Parameter Groups 6 1 6 2 Parameter Display Table 6 2 Chapter 7 Communications Function 7 1 Communications Function RS232 RS485 7 1 7 1 1 Communication Wiring 7 1 7 1 2 RS232 Communication Protocol and Format 7 ...

Страница 7: ...and Motor Check if the Motor s rotor and shaft can be rotated smoothly by hand The Servo Motor with Mechanical Brake can not be rotated directly There must be the QC seal in each servo drive if not please do not proceed Power ON If there is any bug or irregular under the situation above please contact TECO s Local sales representative or distributor instantly 1 1 1 Confirming with Servo Drives JSD...

Страница 8: ...ow L Low M Middle H Middle Rated Speed A 1000 rpm B 2000 rpm C 3000 rpm H 1500 rpm Encoder B 2500 ppr H 8192 ppr 7 17 bit 5 15 bit absolute Motor ratio power P5 50 W 20 2 KW 01 100 W 30 3 KW 03 300 W 44 4 4KW 04 400 W 55 5 5 KW 05 550 W 75 7 5 KW 08 750 W 110 11 KW 10 1 KW 150 15 KW 15 1 5 KW AC Input Voltage A AC 200V B AC 400V M Machinery BK No BK B BK IP67 except shaft and connector ...

Страница 9: ...t KW Speed rpm Encoder Specification H1011 JSMA P SCP5AB 2500 H1015 JSMA PSCP5A5 15 bit ABS H1017 JSMA PSCP5A7 0 05 3000 17 bit H1021 JSMA P SC01AB 2500 H1025 JSMA PSC01A5 15 bit ABS H1027 10A 1 JSMA PSC01A7 0 1 3000 17 bit H1101 JSMA PSC02AB 2500 H1102 JSMA PSC02AH 8192 H1105 JSMA PSC02A5 15 bit ABS H1107 JSMA PSC02A7 0 2 3000 17 bit H1111 JSMA P SC01AB 2500 H1115 JSMA PSC01A5 15 bit ABS H1117 JS...

Страница 10: ...500 H1212 JSMA PLC08AH 8192 H1215 JSMA PLC08A5 15 bit ABS H1217 JSMA PLC08A7 0 75 17 bit H1221 JSMA SC04AB 2500 H1222 JSMA SC04AH 8192 H1225 JSMA SC04A5 15 bit ABS H1227 JSMA SC04A7 0 4 Rated 3 5A 17 bit H1231 JSMA P SC08AB 2500 H1232 JSMA PSC08AH 8192 H1235 JSMA PSC08A5 15 bit ABS H1237 JSMA PSC08A7 0 75 3000 17 bit H1241 JSMA PMA05AB 1000 2500 H1252 JSMA PMH05AH 8192 H1255 JSMA PMH05A5 15 bit AB...

Страница 11: ...317 JSMA PSC08A7 0 75 3000 17 bit H1321 JSMA PMA10AB 2500 H1322 JSMA PMA10AH 8192 H1325 JSMA PMA10A5 15 bit ABS H1327 JSMA PMA10A7 1000 17 bit H1331 JSMA PMB10AB 2500 H1332 JSMA PMB10AH 8192 H1335 JSMA PMB10A5 15 bit ABS H1337 JSMA PMB10A7 1 0 2000 17 bit H1341 JSMA PMH10AB 2500 H1342 JSMA PMH10AH 8192 H1345 JSMA PMH10A5 15 bit ABS H1347 JSMA PMH10A7 1500 17 bit H1351 JSMA PMC10AB 2500 H1352 JSMA ...

Страница 12: ...MA PMB15A5 15 bit ABS H1527 JSMA PMB15A7 2000 17 bit H1531 JSMA PMC15AB 2500 H1532 JSMA PMC15A5H 8192 H1535 JSMA PMC15A5 15 bit ABS H1537 JSMA PMC15A7 1 5 3000 17 bit H1541 JSMA PMB20AB 2500 H1542 JSMA PMB20AH 8192 H1545 JSMA PMB20A5 15 bit ABS H1547 JSMA PMB20A7 2000 17 bit H1551 JSMA PMC20AB 2500 H1552 JSMA PMC20AH 8192 H1555 JSMA PMC20A5 15 bit ABS H1557 50A3 JSMA PMC20A7 2 0 3000 17 bit H1711 ...

Страница 13: ...bit H1732 JSMA PMH30AH 8192 H1735 JSMA PMH30A5 15 bit ABS H1737 75A3 JSMA PMH30A7 3 0 1500 17 bit H1822 JSMA PMH44AH 8192 H1825 JSMA PMH44A5 15 bit ABS H1827 JSMA PMH44A7 4 4 17 bit H1832 JSMA PHH30AH 8192 H1835 JSMA PHH30A5 15 bit ABS H1837 100A3 JSMA PHH30A7 3 0 1500 17 bit H1922 JSMA PMH55AH 8192 H1925 JSMA PMH55A5 15 bit ABS H1927 JSMA PMH55A7 5 5 17 bit H1932 JSMA PHH44AH 8192 H1935 JSMA PHH4...

Страница 14: ...PMH75A7 7 5 17 bit H1A22 JSMA PHH55AH 8192 H1A25 JSMA PHH55A5 15 bit ABS H1A27 200A3 JSMA PHH55A7 5 5 1500 17 bit H1B12 JSMA PMH110AH 8192 H1B15 JSMA PMH110A5 15 bit ABS H1B17 JSMA PMH110A7 11 0 17 bit H1B22 JSMA PMH150AH 8192 H1B25 JSMA PMH150A5 15 bit ABS H1B27 JSMA PMH150A7 15 0 17 bit H1B32 JSMA PHH75AH 8192 H1B35 JSMA PHH75A5 15 bit ABS H1B37 300A3 JSMA PHH75A7 7 5 1500 17 bit ...

Страница 15: ...B5 15 bit ABS H1237 JSMA PMB15B7 1 5 2000 17 bit H1251 JSMA PMB20BB 2500 H1252 JSMA PMB20BH 8192 H1255 JSMA PMB20B5 15 bit ABS H1257 25B JSMA PMB20B7 2 0 2000 17 bit H1311 JSMA PMB20BB 2500 H1312 JSMA PMB20BH 8192 H1315 JSMA PMB20B5 15 bit ABS H1317 JSMA PMB20B7 2 0 2000 17 bit H1331 JSMA PMB30BB 2500 H1332 JSMA PMB30BH 8192 H1335 JSMA PMB30B5 15 bit ABS H1337 JSMA PMB30B7 3 0 2000 17 bit H1341 JS...

Страница 16: ...t ABS H1417 JSMA PMH30B7 3 0 1500 17 bit H1421 JSMA PMH44BB 2500 H1422 JSMA PMH44BH 8192 H1425 JSMA PMH44B5 15 bit ABS H1427 50B JSMA PMH44B7 4 4 1500 17 bit H1501 JSMA PMH44BB 2500 H1502 JSMA PMH44BH 8192 H1505 JSMA PMH44B5 15 bit ABS H1507 JSMA PMH44B7 4 4 1500 17 bit H1511 JSMA PMH55BB 2500 H1512 JSMA PMH55BH 8192 H1515 JSMA PMH55B5 15 bit ABS H1517 75B JSMA PMH55B7 5 5 1500 17 bit H1611 JSMA P...

Страница 17: ...1 11 1 2 Surface and Panel Board JSDAP 10A 15A 20A 30A JSDAP 50A3 75A3 100A3 25B 35B 50B ...

Страница 18: ...Control Power Input Terminal Main Power Input Terminal Motor Terminal Ground Terminal FG Serial Communication Interface I O Interface Motor Encoder Interface LED Display External Regenerative Resistor Terminal Terminal P and PC can not be closed ...

Страница 19: ...rvo motor can be achieved via parameters set within the controller or from an external analog 10 10 Vdc command Control of the internal speed parameters is via the Digital Inputs A maximum of three steps speed can be stored internally Single Mode Torque Mode T Torque control for the servo motor can be achieved via parameters set or from an external analog 10 10 Vdc command Pe S Pe and S can be swi...

Страница 20: ...f grease and salt To avoid the corrosive gases and liquids To avoid the invading of airborne dust or metallic particles When over 1 Drives are installed in control panel enough space have to be kept to get enough air to prevent the heat the fan also must be installed to keep the ambient temperature under 55 Please Install the drive in a vertical position face to the front in order to prevent the h...

Страница 21: ...1 15 1 4 2 Direction and Distance ...

Страница 22: ...airborne dust or metallic particles Do not mount the servo motor in a location where temperatures and humidity will exceed specification Do not mount the motor in a location where it will be subjected to high levels of electromagnetic radiation 1 5 2 Method of Installation 1 Horizontal Install Please let the cable cavity downside to prevent the water or oil or other liquid flow into the servo moto...

Страница 23: ...ease fixing the wiring cable certainly to avoid the cable ablating or breaking 4 The extending length of the shaft shall be enough otherwise there will be the vibration from motor operating Wrong Example Correct Example Brake Encoder 5 Please do not beat the motor when installing or taking it apart Otherwise the shaft and the encoder of backside will be damaged Attention Brake Encoder ...

Страница 24: ...2 1 Chapter 2 Wiring 2 1 Basic Wiring for Servo System 2 1 1 Wiring for Main Circuit and Peripheral Devices 200V Class ...

Страница 25: ...2 2 400V Class ...

Страница 26: ...st be correctly connected otherwise it can not output signal and cause the protect loop of emergency stop abnormal Please do these below to avoid the wrong operation from noise Please install devices such as the insulated transformer and noise filter at the input power Keep more than 30 cm between Power wire power cable or motor cable etc and signal cable do not install them in the same conduit Pl...

Страница 27: ... 0 6 Terminal FG Ground Over 2 0 14 Connection Terminal Servo Drives and Wire Specifications Connection Terminal Position Number Position Name 10 15 20 30 50 75 100 150 200 300 26 27 Speed Command Limit Torque Command Limit SIC TIC 30 31 Analog Monitor Output MON 1 MON 2 33 34 Power Output 15V 15V 28 29 32 Analog Ground Terminal AG 0 2mm or 0 3mm Twisted pair cable connecting to the Analog Groundi...

Страница 28: ...Terminal 5V 5E 3 4 PW Grounding Terminal GND CN2 Joint of motor encoder 5 10 Encoder Signal Input A A B B Z Z 0 2mm or 0 3mm Twisted pair cable including shield cable 1 4 5 7 Data transfer receive 3 Communication grounding wire 0 2mm or 0 3mm Twisted pair cable including shield cable CN3 CN4 Communication connector 2 6 8 Floating P S 1 Please pay attention to the NFB and the capacity of noise filt...

Страница 29: ...24V 2 Military Specifications Joint No Brake Terminal Color Signal A Red U B White V C Black W D Green FG A B D C 3 Military Specifications Joint Brake Terminal Color Signal B Red U G White V E Black W C Green FG A Fine White 1 0V F Fine White 2 BK control wire DC 24V A B D C E F G P S The military joint with BK of servo motor has 9 Pins and the encoder joint has also 9 Pins Please confirm before ...

Страница 30: ...its 15bits 17bits 1 Red White 5V VCC 2 Black 0V GND 3 Brown VB 4 Brown Black VB 5 Blue SD 6 Blue Black Purple SD 7 8 9 Shield FG 2 Military Specifications Joint Color Signal Terminal Symbol 15bits 17bits 15bits 17bits B Red White 5V I Black 0V A Brown VB C Brown Black VB H Blue SD D Blue Black Purple SD G E F Shield FG ...

Страница 31: ... Red 5V 2 Black 0V 3 Blue A 4 Blue Black A 5 Green B 6 Green Black B 7 Yellow Z 8 Yellow Black Z 9 Shield FG 2 Military Specifications Joint Terminal Symbol Color Signal B Red 5V I Black 0V A Blue A C Blue Black A H Green B D Green Black B G Yellow Z E Yellow Black Z F Shield FG ...

Страница 32: ...esistance set the resistance power in Cn012 If no using external regeneration resistance PC P1 need be close P doesn t be connected When using external regeneration equip regeneration resistance between PC P do not connect P1 terminal U Motor terminal wire is red V Motor terminal wire is white Motor power output terminal W Motor terminal wire is black Motor case grounding terminal FG Motor termina...

Страница 33: ...ating Suggestion Suggestion JSDAP 15A 10A 20A Bussmann 20CT Schaffner FN3258 7 45 JSDAP 20A 15A 20A Bussmann 20CT Schaffner FN3258 7 45 JSDAP 30A 15A 20A Bussmann 20CT Schaffner FN3258 16 45 JSDAP 50A3 30A 40A Bussmann 40FE Schaffner FN3258 16 45 JSDAP 75A3 30A 40A Bussmann 40FE Schaffner FN3258 16 45 JSDAP 100A3 50A 63A Bussmann 63FE Schaffner FN3258 30 47 JSDAP 150A3 50A 63A Bussmann 63FE Schaff...

Страница 34: ...ignal terminal CN1 encoder terminal CN2 and communication connector CN3 CN4 The diagram below displays all positions for the terminal 1 2 24 25 27 26 50 49 1 2 10 9 19 20 12 11 CN1 connector Male CN2 connector Male CN3 CN4 Female Communication Connector 8 6 3 5 1 2 ...

Страница 35: ... 46 IG24 24V PW Ground Terminal 48 IG24 50 27 TIC Speed Control Torque Limit Torque control Torque Command 29 AG Analog Signal Ground Terminal 31 MON2 Analog Monitor Output 2 33 15V 15V PW output 35 PA Encoder output A Phase 37 PB 39 PZ 41 EXT1 24V Open Collector Pulse command input 43 ZO Home Signal Output 45 IP24 24V PW Output 47 DICOM DI PW Command Point 49 BAT Absolute Encoder Power Supply Pos...

Страница 36: ...Phase PB 38 Encoder Output Z Phase PZ 39 Open Collector Position Command Power Input EXT1 41 IO3 Z Phase PZ 40 IO4 Analog Signal Ground Terminal AG 28 29 32 Speed Control Speed Command Torque Control Speed Limit SIC 26 15Vdc Output Terminal 15V 33 Speed Control Torque Limit Torque control Torque Command TIC 27 15Vdc Output Terminal 15V 34 DO Common DOCOM 44 IO5 Digital input Com Terminal DOCOM 47 ...

Страница 37: ... CW negative voltage Analog Monitor Output 2 MON2 ALL Operating the motor to control the current torque to transform the voltage output in accordance with the rate 10V 3 5 times ratio torque CCW torque stands for positive voltage CW negative voltage Encoder Output A Phase PA Encoder Output A Phase PA Encoder Output B Phase PB Encoder Output B Phase PB Encoder Output Z Phase PZ Encoder Output Z Pha...

Страница 38: ...nal Function Sign Pin No Wired Mode Servo ON DI 1 SON 1 Servo Lock DI 8 LOK 8 Alarm reset DI 2 ALRS 2 Emergency Stop DI 9 EMC 9 PI P Switch DI 3 PCNT 3 Internal speed command Limit select 1 DI 10 SPD1 10 CCW Operation Limit DI 4 CCWL 4 Internal speed command Limit select 2 DI 11 SPD2 11 CW Operation Limit DI 5 CWL 5 Control Mode Switch DI 12 MDC 12 External Torque Limit DI 6 TLMT 6 Reverse Directi...

Страница 39: ...ver travel operates CW Operation limit CWL ALL Connect to CW over travel detector CWL and IG24 close loop open loop with IG24 CW over travel operates External torque limit TLMT Pi Pe S TLMT and IG24 close loop will cause the motor output torque limit to stay in the command voltage range of torque limit terminal layout PIC NIC Pulse error amount delete CLR Pi Pe When CLR and IG24 close loop delete ...

Страница 40: ...Select G SEL Pi Pe S When G SEL and IG24 close loop first stage control gain switch to the second control gain Electric Gear ratio Numerator 1 2 GN1 GN2 Pi Pe Electric gear ratio select explanation GN2 GN1 Electric Gear ratio Numerator 0 0 Pn302 0 1 Pn303 1 0 Pn304 1 1 Pn305 1 Close loop with IG24 0 Open loop withIG24 Internal Position Command Trigger PTRG Pi When PTRG and IG24 close loop positive...

Страница 41: ...Pn335 Pn336 0 1 1 1 0 Pn338 Pn339 1 0 0 0 0 Pn341 Pn342 1 0 0 1 0 Pn344 Pn345 1 0 1 0 0 Pn347 Pn348 1 0 1 1 0 Pn350 Pn351 1 1 0 0 0 Pn353 Pn354 1 1 0 1 0 Pn356 Pn357 1 1 1 0 0 Pn359 Pn360 1 1 1 1 0 Pn362 Pn363 Internal position command select explanation 1 close loop with IG24 0 open loop with IG24 Torque Command Counter Clock Wise TRQINV T When TRQINV and IG24 close loop in torque mode setting to...

Страница 42: ...tor speed has achieved the setting speed from Cn007 INS and IG24 close loop In Position INP Pi Pe When the amount of position error counter is less than the amount range which is set in Pn307 INP and IG24 close loop Home HOME Pi Pe When HOME is accomplished HOME and IG24 close Torque Reach signal INT ALL When the output torque reached the setting value of Tn108 INT and IG24 close Limiting Torque A...

Страница 43: ...tor circuit The relay should be the low electric current in order to avoid the faulty contacting External voltage 24V Internal 24V Power External 24V Power b Digital Output Interface Circuit IO2 When using external power please attention to the power polarity Adverse polarity will case circuit damage Digital output is Open Collector The maximum of external voltage is 24V and the maximum electric c...

Страница 44: ...cc is 24V limited Input current is about 8 15mA Please refer to the examples below to select resistance Please refer to 5 4 1 to check pulse input command timing Line Driver pulse command input Open Collector pulse command input The max frequency of line driver type pulse command is 500kpps Maximum input command frequency of open collector is 200kpps Open Collector Internal 24V Open Collector Sele...

Страница 45: ...e is sometimes ripple inside the servo internal power Adverse external power polarity will cause severe damage Maximum external power voltage Vc should be less than12V terminal input voltage should not more than10V Over voltage will cause damage When using internal power of server user need to choose the resistance suggestion more than 3KΩ which maximum current is less than 10mA SIC Input impedanc...

Страница 46: ...2 23 f Analog Output Interface Circuit IO6 The maximum current of analog output is 5mA so user needs to choose the device which Impedance is larger Analog Input Interface Circuit AG MON1 V Servo Driver ...

Страница 47: ... Wiring Type Encoder b Diagram of 15 bits 17 bits Encoder 1 Vcc Power Supply Output 3 GND Ground 5 7 9 2 4 6 8 10 11 VB Battery 13 SD Serial Data output 15 17 19 12 VB Battery 14 SD Serial Data output 16 18 20 Pin No Terminal Layout Function P S Do not wire to the terminal which is un operated ...

Страница 48: ...e distributorship 5 A Green Green A 6 A Phase encoder input A A Blue Green White C Encoder A Phase From motor terminal to the driver 7 B Red Gray H 8 B Phase encoder input B Pink Gray white D Encoder B Phase From motor terminal t the driver 9 Z Yellow Yellow G 10 Z Phase encoder input Z Orange Yellow white E Encoder Z Phase From motor terminal to the driver 11 U Brown 12 U Phase encoder input U Br...

Страница 49: ... 6 3 5 1 2 1 RxD Serial Data Received 2 3 GND Ground 4 TxD Serial Data Transmission 5 Data Serial Data Terminal Layout Function 6 7 Data Serial Data 8 1 2 3 4 5 Data Serial Data Terminal Layout Function 6 7 Data Serial Data 8 Notes Do not wire to the terminal which is un operated ...

Страница 50: ...cuit Wiring Examples 2 3 1 Position Control Mode Pe Mode Line Driver Notes 1 Pe mode External pulse positioning command 2 DOCOM means common port of digital input DOCOM must connect to IG24 when using internal power supply ...

Страница 51: ... 2 3 2 Position Control Mode Pe Mode Open Collector Notes 1 Pe mode External pulse positioning command 2 DOCOM means common port of digital input DOCOM must connect to IG24 when using internal power supply ...

Страница 52: ...it CW Limit Emergency stop External Torque Limit TLMT Position Select 2 POS2 24V ground Torque Limit Analog Grounding Shield ground Regeneration resistor Encoder Encoder Output A Phase Encoder Output A Phase Encoder Output B Phase Encoder Output B Phase Encoder Output Z Phase Encoder Output Z Phase Vc 24V R4 4 7KΩ Vc 12V R4 2 4KΩ Vc 5V R4 1 0KΩ Origin Output Max Vc 24V Servo Ready RDY Servo in lim...

Страница 53: ... input common Servo ON CCW Limit CW Limit Emergency stop PI P Switch Speed 2 24V ground Torque Limit Analog Ground Analog Ground Shield ground Regeneration resistor Encoder Encoder Output A Phase Encoder Output A Phase Encoder Output B Phase Encoder Output B Phase Encoder Output Z Phase Encoder Output Z Phase External supply Max Vc 24V Vc 24V R4 4 7KΩ Vc 12V R4 2 4KΩ Vc 5V R4 1 0KΩ Servo Ready RDY...

Страница 54: ...Speed 2 24V ground Torque Command 0 10V Analog Ground Analog Ground Shield ground Regeneration resistor Encoder Encoder Output A Phase Encoder Output A Phase Encoder Output B Phase Encoder Output Z Phase External supply Max Vc 24V Vc 24V R4 4 7KΩ Vc 12V R4 2 4KΩ Vc 5V R4 1 0KΩ Servo Ready RDY Alam ALM Zero Speed ZS In Speed INS Limiting Torque Alarm Code0 P in Action Alarm Code1 Servo in limit Ala...

Страница 55: ...2 32 2 3 6 Turret Mode Pt Mode Notes 1 DOCOM means common port of digital input DOCOM must connect to IG24 when using internal power supply ...

Страница 56: ...ower capacitors are discharged complete Do NOT wire or assemble to the servo drive before Charge LED is off Key Name Function Keys Description MODE SET 1 To select a basic mode such as the status display mode utility function mode parameter setting mode or monitor mode 2 Returning back to parameter selection from data setting screen INCREMENT DECREMENT 1 Parameter Selection 2 To increase the set v...

Страница 57: ...ow Step Key LED Display after Operation Description 1 Power on Drive status parameters 2 Diagnostic parameters 3 Alarm parameters 4 System Control parameters 5 Torque Control parameters 6 Speed Control parameters 7 Position Control parameters 8 Quick set up parameters 9 Multi function I O programmable Inputs Outputs Parameters 10 Return to Drive status parameters ...

Страница 58: ...R Key for 2 seconds 5 Shift to the second digit by press ENTER Key once 6 Shift to next Digit by press ENTER Key once again 7 Change the digit preset value by press the DECREMET Key twice 8 To save the altered preset value Press the ENTER Key for 2 seconds until SET is displayed briefly and then display is returned to parameter Sn203 Following example shows the sequence where a parameter preset va...

Страница 59: ...rnal Speed Command 1 30000 30000 For negative numbers with 5 digits the negative sign is indicated by displaying all the 5 decimal points on the display Ex Pn317 Internal Position Command 1 Rotation number Setting a negative value 1 If the negative value has 4 digits or less follow the steps in the example below Ex Sn201 Internal speed command 1 preset speed of 100 to 100 rpm Step Key LED Display ...

Страница 60: ... set the most significant digit To 1 And press the DECREMENT Key once again All 5 decimal points will light up to indicate a negative number 7 To save the altered preset value Press the ENTER Key for 2 seconds until SET is displayed briefly and then display is returned to parameter Pn 317 Alarm Reset from the Keypad All alarm displays can be cleared from the keypad without a need for an external A...

Страница 61: ...007 Speed reached preset Motor speed was less than Cn007 Speed reached preset Speed Command Reached Speed command was greater than Cn007 Speed reached preset Speed command less than Cn007 Speed reached preset Torque Command Reached Torque command was greater than 0 of rated torque Torque command was less than 0 of rated torque Status Code Description BASE BLOCK Servo OFF Motor hasn t established t...

Страница 62: ...eater than Cn007 Speed reached preset Motor speed was less than Cn007 Speed reached preset External Pulse Train Command External Pulse Train Command Internal Pulse Command Pulse Error Clear Mode Input Contact CLR Pulse error clear opration Input Contact CLR Pulse error clear Disable Status Code Description BASE BLOCK Servo OFF Motor hasn t established the magnetic flux Servo drive running Servo ON...

Страница 63: ...nd is set to 100 Un 13 External CW Torque limit command value Ex Display 100 Means current external CW toque limit command is set to 100 Un 14 Motor feed back Rotation value absolute value pulse After power on it displays motor rotation number as an absolute value Un 15 Motor feed back Less then 1 rotation pulse value absolute value pulse After power on it displays the pulse number for less than a...

Страница 64: ...e rotation as High Byte value Un 27 15bits 17bits encoder status 15 bits 17bits encoder status feedback Un 28 Torque command It displays the torque command as a percentage of the rated torque Ex Display 50 Means current motor torque command is 50 of rated torque Un 29 Load inertia x0 1 When Cn002 2 0 Auto gain adjust disabled it displays the current preset load inertia ratio from parameter Cn025 W...

Страница 65: ...dn 09 ASIC software version display dn 10 Absolute Encoder Rotation Value Reset dn 01 Control Mode Display Access dn 01 to display the selected control mode Control mode display description is listed in the table below Control Mode dn 01 Control mode display Torque control T Speed control S Position control External pulse command Pe Position Speed control switch Pe S Speed Torque control switch S ...

Страница 66: ...Table below shows the functions of the digital outputs DO 1 DO 4 are programmable outputs Default settings are shown below DO 5 DO 8 are fix function outputs non programmable For programmable output list see section 5 6 1 LED No Output terminal number Default function 1 DO 1 RDY 2 DO 2 ALM 3 DO 3 ZS 4 DO 4 INP 5 DO 5 LM A0 6 DO 6 PC A1 7 DO 7 ST A2 8 DO 8 BB A3 Note To set the logic state High or ...

Страница 67: ...ED will be on When Input terminal signal has a high logic level open loop with IG24 the corresponding LED will be off Table below shows the functions of the digital input DI 1 DI 10 are programmable Inputs Default settings are shown below For programmable function list see section 5 6 1 LED Number Input terminal number Default function 1 DI 1 SON 2 DI 2 ALRS 3 DI 3 PCNT 4 DI 4 CCWL 5 DI 5 CWL 6 DI...

Страница 68: ... is in accordance with setting of Sn201 internal speed command 1 Ensure that the required speed is set in Sn201 before executing this function Warning Motor will be agitated run as soon as JOG command is activated without the need for SON input Servo On signal Step Key LED display Description 1 Power on On power on Drive Status is displayed 2 Press MODE Key once to view diagnostics parameter dn 01...

Страница 69: ...re proceeding 2 Power on On power on Drive Status is displayed 3 Press MODE Key twice into diagnostics parameter dn 01 4 Press INCREMENT Key 6 times to display dn 7 5 Press ENTER Key for 2 seconds to enter dn 07 6 Press INCREMENT Key once to set to 1 Enable auto offset adjustment 7 To save the altered preset value and activate auto offset adjust Press the ENTER Key for 2 seconds until SET is displ...

Страница 70: ...ation H1011 JSMA P SCP5AB 2500 H1015 JSMA PSCP5A5 15 bit ABS H1017 JSMA PSCP5A7 0 05 3000 17 bit H1021 JSMA P SC01AB 2500 H1025 JSMA PSC01A5 15 bit ABS H1027 10A 1 JSMA PSC01A7 0 1 3000 17 bit H1101 JSMA PSC02AB 2500 H1102 JSMA PSC02AH 8192 H1105 JSMA PSC02A5 15 bit ABS H1107 JSMA PSC02A7 0 2 3000 17 bit H1111 JSMA P SC01AB 2500 H1115 JSMA PSC01A5 15 bit ABS H1117 JSMA PSC01A7 0 1 3000 17 bit H112...

Страница 71: ...2500 H1212 JSMA PLC08AH 8192 H1215 JSMA PLC08A5 15 bit ABS H1217 JSMA PLC08A7 0 75 17 bit H1221 JSMA SC04AB 2500 H1222 JSMA SC04AH 8192 H1225 JSMA SC04A5 15 bit ABS H1227 JSMA SC04A7 0 4 Rated 3 5A 17 bit H1231 JSMA P SC08AB 2500 H1232 JSMA PSC08AH 8192 H1235 JSMA PSC08A5 15 bit ABS H1237 JSMA PSC08A7 0 75 3000 17 bit H1241 JSMA PMA05AB 1000 2500 H1252 JSMA PMH05AH 8192 H1255 JSMA PMH05A5 15 bit A...

Страница 72: ...317 JSMA PSC08A7 0 75 3000 17 bit H1321 JSMA PMA10AB 2500 H1322 JSMA PMA10AH 8192 H1325 JSMA PMA10A5 15 bit ABS H1327 JSMA PMA10A7 1000 17 bit H1331 JSMA PMB10AB 2500 H1332 JSMA PMB10AH 8192 H1335 JSMA PMB10A5 15 bit ABS H1337 JSMA PMB10A7 1 0 2000 17 bit H1341 JSMA PMH10AB 2500 H1342 JSMA PMH10AH 8192 H1345 JSMA PMH10A5 15 bit ABS H1347 JSMA PMH10A7 1500 17 bit H1351 JSMA PMC10AB 2500 H1352 JSMA ...

Страница 73: ...MA PMB15A5 15 bit ABS H1527 JSMA PMB15A7 2000 17 bit H1531 JSMA PMC15AB 2500 H1532 JSMA PMC15A5H 8192 H1535 JSMA PMC15A5 15 bit ABS H1537 JSMA PMC15A7 1 5 3000 17 bit H1541 JSMA PMB20AB 2500 H1542 JSMA PMB20AH 8192 H1545 JSMA PMB20A5 15 bit ABS H1547 JSMA PMB20A7 2000 17 bit H1551 JSMA PMC20AB 2500 H1552 JSMA PMC20AH 8192 H1555 JSMA PMC20A5 15 bit ABS H1557 50A3 JSMA PMC20A7 2 0 3000 17 bit H1711 ...

Страница 74: ... bit H1732 JSMA PMH30AH 8192 H1735 JSMA PMH30A5 15 bit ABS H1737 75A3 JSMA PMH30A7 3 0 1500 17 bit H1822 JSMA PMH44AH 8192 H1825 JSMA PMH44A5 15 bit ABS H1827 JSMA PMH44A7 4 4 17 bit H1832 JSMA PHH30AH 8192 H1835 JSMA PHH30A5 15 bit ABS H1837 100A3 JSMA PHH30A7 3 0 1500 17 bit H1922 JSMA PMH55AH 8192 H1925 JSMA PMH55A5 15 bit ABS H1927 JSMA PMH55A7 5 5 17 bit H1932 JSMA PHH44AH 8192 H1935 JSMA PHH...

Страница 75: ... PMH75A7 7 5 17 bit H1A22 JSMA PHH55AH 8192 H1A25 JSMA PHH55A5 15 bit ABS H1A27 200A3 JSMA PHH55A7 5 5 1500 17 bit H1B12 JSMA PMH110AH 8192 H1B15 JSMA PMH110A5 15 bit ABS H1B17 JSMA PMH110A7 11 0 17 bit H1B22 JSMA PMH150AH 8192 H1B25 JSMA PMH150A5 15 bit ABS H1B27 JSMA PMH150A7 15 0 17 bit H1B32 JSMA PHH75AH 8192 H1B35 JSMA PHH75A5 15 bit ABS H1B37 300A3 JSMA PHH75A7 7 5 1500 17 bit ...

Страница 76: ...B5 15 bit ABS H1237 JSMA PMB15B7 1 5 2000 17 bit H1251 JSMA PMB20BB 2500 H1252 JSMA PMB20BH 8192 H1255 JSMA PMB20B5 15 bit ABS H1257 25B JSMA PMB20B7 2 0 2000 17 bit H1311 JSMA PMB20BB 2500 H1312 JSMA PMB20BH 8192 H1315 JSMA PMB20B5 15 bit ABS H1317 JSMA PMB20B7 2 0 2000 17 bit H1331 JSMA PMB30BB 2500 H1332 JSMA PMB30BH 8192 H1335 JSMA PMB30B5 15 bit ABS H1337 JSMA PMB30B7 3 0 2000 17 bit H1341 JS...

Страница 77: ...t ABS H1417 JSMA PMH30B7 3 0 1500 17 bit H1421 JSMA PMH44BB 2500 H1422 JSMA PMH44BH 8192 H1425 JSMA PMH44B5 15 bit ABS H1427 50B JSMA PMH44B7 4 4 1500 17 bit H1501 JSMA PMH44BB 2500 H1502 JSMA PMH44BH 8192 H1505 JSMA PMH44B5 15 bit ABS H1507 JSMA PMH44B7 4 4 1500 17 bit H1511 JSMA PMH55BB 2500 H1512 JSMA PMH55BH 8192 H1515 JSMA PMH55B5 15 bit ABS H1517 75B JSMA PMH55B7 5 5 1500 17 bit H1611 JSMA P...

Страница 78: ...Motor wiring Encoder wiring Setting servo motor rotation direction and speed 2 No load servo motor with a host controller Trial run Reference 4 2 A Servo drive wiring and motor installation B Purpose of trial run Confirm if the items below are correct Control signal wiring between host controller and servo drive Servo motor rotation direction speed and rotating number Brake function operation limi...

Страница 79: ...rive 3 Servo drive power Apply power to servo drive If the display showed any Alarm message as below please refer to chapter 8 to identify the cause The above is caused by Input terminals CCWL Counter clockwise Limit and CWL Clockwise Limit being activated at the same time See the default setting of high or low input logic state according to the description in section 5 6 1 Because of the alarm th...

Страница 80: ...teps reset the power If there are any other alarms then refer to section 8 2 Clearing Alarms Once there is no alarms then operate the drive again If any of the alarms can not be cleared please contact your local supplier for assistance 4 Mechanical Brake Release When a brake type servo motor is used then must release the brake before starting trial run by applying 24vdc voltage to brake terminals ...

Страница 81: ...ress INCREMENT Key 4 times to display dn 5 4 Press ENTER Key for 2 seconds to enter JOG MODE Motor will power on immediately 5 Press INCREMENT Key motor will run in the pre defined positive direction 6 Press DECREMENT Key motor will run in the pre defined negative direction 7 Press MODE Key once to return to dn 05 and parameter selection Motor power will be turned off immediately ...

Страница 82: ...l Cn001 1 Position Control Cn001 2 M CN1 14 CN1 15 CN1 16 CN1 17 Pulse Pulse Sign Sign SON CCWL CWL CN1 1 CN1 4 CN1 5 CN1 45 CN1 47 CN1 48 IG24 IP24 DICOM Servo Motor Servo Drives a Disable Analog Input command terminals Speed control mode Link analog input terminal SIN to 0V terminal AG Position control mode Link external pulse command terminals Pulse to Pulse and Sign to Sign b Enable Servo ON S...

Страница 83: ...itching SON terminal to IG24 input digital Ground If the motor rotates slowly while the speed analog input voltage is 0 volts then use dn 07 function to auto offset adjustment for the analog input value refer to section 3 2 2 3 Check the relationship between motor speed and the analog input speed command Increase the analog speed input voltage gradually by potentiometer and monitor the actual moto...

Страница 84: ...e diagram below 5 Confirm the rotation number and encoder output of Servo Motor Use parameter Un 14 to check if the Motor feed back number of revolutions per minute is correct and the same as number of revolutions sent by the host controller If there is any difference then check and make sure that parameter Cn005 Encoder ppr is set correctly Once this is complete remove SON signal to switch off po...

Страница 85: ...irection and number of revolutions Apply a low speed pulse command from the host controller to the servo drive so that the servo motor operates at low speed Compare the number of pulses per revolution from parameters Un 15 motor feed back pulse ppr and Un 17 Input command ppr these should be the same Compare the number of revolutions using parameters Un 14 motor feed back rotation number and Un 16...

Страница 86: ...ps required for Trial run 1 Ensure that the ServoDrive Power is off 2 Connect the servo motor to the load shaft Refer to Chapter 1 5 to check the installation guidelines for the servo motor 3 Gain adjustment for the servo control loop Refer to Chapter 5 5 for details 4 Trial run with a host controller Run command is to be signaled by the host controller Refer to Chapter 4 2 to choose the required ...

Страница 87: ...control switch 4 Input contact MDC can be used to switch between speed torque control Please refer to section 5 6 2 Position Torque control switch 5 Input contact MDC can be used to switch between position torque control Please refer to section 5 6 2 Position control internal position command 6 Input contacts POS 1 POS 4 can be used to select 16 programmable preset position commands to control pos...

Страница 88: ...ase refer to Chapter 5 2 4 5 2 1 Analog Torque Command Ratio Analog torque command ratio can be used to adjust the relationship between Input voltage torque command and actual torque command Parameter Name Default Unit Setting range Control Mode Tn103 Analog torque command ratio 300 10V 0 600 T Setting example refer to the following diagram 1 With Tn103 set to 300 a torque command input voltage of...

Страница 89: ...the input voltage of 10V is 2000 rpm if the input voltage is 5V the corresponding speed should be limited to 1000 rpm 5 2 3 Adjusting the Analog Torque Command Offset For a torque command of 0V motor could possibly be rotating slowly To rectify this effect by adjust offset value in parameter Tn104 or use auto offset adjust feature Please refer to section 3 2 2 Note To check and set the offset to z...

Страница 90: ... time Constant 0 2 T Torque command acceleration deceleration time is the time taken for the torque to rise from zero to the required level by Tn102 As per diagram below Parameter Name Default Unit Setting Range Control mode Tn102 Linear acceleration deceleration time period 1 msec 1 50000 T New setting will become effective after re cycling the power Setting examples 1 To achieve 50 of rated torq...

Страница 91: ...irection 1 0 Reverse the current torque command direction 1 1 Zero torque T Note RS2 and RS1 contact status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN Parameter Signal Name Setting Description Control mode No Torque Control Speed Control 0 Counter Clockwise CCW Counter Clockwise CCW 1 Clockwise CW Counter Clockwise CCW 2 Counter Clockwise CCW Clockwise CW ...

Страница 92: ...according to the table below Caution For achieving smooth speed response please refer to section 5 3 6 Input contact SPD2 Input contact SPD1 Speed limit command Control mode 0 0 External analog command SIC CN1 26 0 1 Internal speed limit1 Tn105 1 0 Internal speed limit2 Tn106 1 1 Internal speed limit3 Tn107 T Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low...

Страница 93: ... Unit Setting range Control mode Tn108 Torque output monitor level 0 0 300 ALL Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Torque Smoothing Filter Torque vibration can be diminution by setting an appropriate value in Cn034 Torque command smoothing filter In the other hand this will cause a delay in the response time of t...

Страница 94: ...ue Limit Cn010 Cn011 Torque Control Loop Speed Controller 1 Sn211 Sn212 Speed Controller 2 Sn213 Sn214 Input Contact Gain switch method Cn015 Cn024 Resonance filter Cn013 Cn014 Speed Feed Back Smooth Filter Cn032 Speed Feed Back Speed Command From Speed Processor 5 3 Speed Mode Speed Mode is necessary for applications that require precisely speed control such as weaving drilling and CNC type machi...

Страница 95: ...mmand Control Mode 0 0 External analog command SIC CN1 26 0 1 Internal speed command 1 Sn201 1 0 Internal speed command 2 Sn202 1 1 Internal speed command 3 Sn203 S Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Diagram below shows the external analog speed command wiring Internal presetable speed limit parameters for speed...

Страница 96: ... input voltage of 10V corresponds to 3000rpm for an input voltage of 5V speed command will be 1500rpm 2 With Sn216 set to 2000 a speed command input voltage of 10V corresponds to 2000rpm for an input voltage of 5 volts speed command will be 1000rpm 5 3 3 Adjusting the Analog Reference Offset For a speed command of 0V motor could possibly be rotating slowly To rectify this effect by adjust offset v...

Страница 97: ... an external control loop Set the required encoder Pulse Per Revolution PPR in parameter Cn005 Default output value is the actual encoder PPR Parameter Name Default Unit Setting range Control mode 2500 8192 Cn005 Encoder pulse output scale 32768 pulse 1 Encoder PPR ALL New setting will become effective after re cycling the power Encoder pulse output terminal description Pin Name Pin NO of CN1 Cont...

Страница 98: ...5 12 PA PB PZ 90 PA PB PZ 90 TIME A leads B CW CCW B leads A TIME ...

Страница 99: ...6 2 Linear accel decel according to parameter Sn207 Sn205 Speed command accel decel smooth method 3 S curve accel decel according to parameter Sn208 S Above three methods of Acceleration deceleration are described below 1 Speed command smooth ac deceleration Set Sn205 1 to enable the use of speed command smooth acceleration deceleration function Parameter Name Default Unit Setting range Control mo...

Страница 100: ... 2 to enable the use of speed command linear acceleration deceleration function Parameter Name Default Unit Setting range Control mode Sn207 Speed command linear accel decel time constant 1 msec 1 50000 S Linear acceleration deceleration time corresponds to the time in which the speed increases linearly from zero to the rated speed As shown in the diagram below Setting examples 1 To achieve 50 of ...

Страница 101: ...S Curve speed command acceleration time setting 200 msec 0 5000 S Sn210 S Curve speed command deceleration time setting 200 msec 0 5000 S In applications where normal acceleration deceleration on ramp up or ramp down bring in vibration of the mechanical system S curve acceleration deceleration parameters could help to reduce vibration as diagram below Speed Command rpm Time ms ts ts ta ts ts td ts...

Страница 102: ...tting Description Control mode No Torque control Speed control 0 Counter Colckwise CCW Counter Colckwise CCW 1 Colckwise CW Counter Colckwise CCW 2 Counter Colckwise CCW Colckwise CW Cn004 Motor rotation direction observation from load side CCW CW 3 Colckwise CW Colckwise CW S T Input contact SPDINV Description Control mode 0 Rotation by speed command direction 1 Rotation by reverse speed command ...

Страница 103: ...ne of the parameters Cn20 Cn24 as required Please refer to section 5 3 11 section B for more details Parameter Name Default Unit Setting range Control mode Sn211 Speed loop gain 1 40 Hz 10 1500 Pe Pi S Sn212 Speed loop integral time constant 1 100 x0 2 ms 1 5000 Pe Pi S Sn213 Speed loop gain 2 40 Hz 10 1500 Pe Pi S Sn214 Speed loop integral time constant 2 100 x0 2 ms 1 5000 Pe Pi S Diagram below ...

Страница 104: ...s of transmission systems used with servo motors such as couplings bearings lead screws etc Enter the mechanical system vibration resonance frequency in parameter Cn013 Notch Filter frequency and adjust Cn014 to set the filter bandwidth scaling factor Lower the setting of Cn014 value wider is the notch filter frequency bandwidth The adjustment required depends on the application Caution If Cn013 i...

Страница 105: ...mand limit source Control mode 0 Cn010 Cn011 ALL 1 External analog command TIC CN1 27 External analog command TIC CN1 27 Pi Pe S Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Caution To use external analog torque command limit if analog torque command limit is greater than internal torque command limit the internal torque ...

Страница 106: ...ons below Parameter Signal Name Setting Description Control mode 0 Switch from PI to P if the torque command is greater than Cn016 1 Switch from PI to P if the speed command is greater than Cn017 2 Switch from PI to P if the acceleration command is greater than Cn018 3 Switch from PI to P if the position error is greater than Cn019 Cn015 0 PI P control mode switch 4 Switch from PI to P by the inpu...

Страница 107: ...ommand 1 PI to P mode switch over by comparing Torque command When the Torque command is less than Cn016 PI control is selected When the Torque command is greater than Cn016 P control is selected As shown in diagram below 2 PI to P mode switch over by comparing Speed command When the Speed command is less than Cn017 PI control is selected When the Speed command is greater than Cn017 P control is s...

Страница 108: ...d As shown in diagram below 4 PI to P mode switch over by comparing Position Error value When the Position Error value is less than Cn019 PI control is selected When the Position Error value is greater than Cn019 P control is selected As shown in diagram below 5 PI to P mode switch over by PCNT input contact When the PCNT input contact is open PI control is selected When the PCNT input contact is ...

Страница 109: ...ntact G SEL Set one of the multi function terminals to option 15 of Hn501 Pi Pe S 0 JSDAP new automatic gain proportion Cn015 3 Automatic gain proportion switch 1 JSDAP old automatic gain proportion ALL Parameter Name Default Unit Setting Range Control Mode Cn020 Automatic gain 1 2 switch delay time 0 x0 2 msec 0 10000 Pi Pe S Cn021 Automatic gain 1 2 switch condition torque command 200 0 399 Pi P...

Страница 110: ...utomatically switch back to Gain 1 the switch time delay can be set by Cn020 As show in the diagram below Automatic gain 1 2 switch condition by Speed command When speed command is less than Cn022 Gain 1 is selected When speed command is greater than Cn022 Gain 2 is selected When Gain 2 is active and speed command becomes less than Cn022 system will automatically switch back to Gain 1 the switch t...

Страница 111: ...Cn020 As show in the diagram below Automatic gain 1 2 switch condition by Position error value When position error value is less than Cn024 Gain 1 is selected When position error value is greater than Cn024 Gain 2 is selected When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back to Gain 1 and the switch time delay can be set by Cn020 As show i...

Страница 112: ...n G SEL input contact opens again then Gain 1 is selected and switch delay time can be set by Cn20 As show in the diagram below 1 0 Gain 2 Gain 1 Gain 1 Cn020 Delay Time Motion Input Contact G SEL Statu Use Input Contact G SEL to Switch 2 Stages Gain Mode Note Input contacts status 1 ON and 0 OFF Please refer to 5 6 1 for setting required high Low signal levels PNP NPN selection ...

Страница 113: ... Range Control Mode Cn007 Speed reached preset Rated rpm 1 3 rpm 0 4500 S T Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the required high Low signal levels PNP NPN selection Zero Speed preset When the speed is less than the speed set in Sn215 Value of ZS the output contact ZS operates Parameter Signal Name Default Unit Setting Range Control Mode Sn215 Value of zero ...

Страница 114: ... Lock is used to lock servo motor when input voltage command is not at 0V When input contact LOK operates The control mode changes to internal position control mode it temporarily stop motor rotation Please refer to section 5 6 1 for setting input contact LOK function Speed Feedback Smooth Filter When there is system abnormal vibration or noise Set Cn032 speed feed back smoothing filter to restrai...

Страница 115: ...ntrol mode offers two methods of control External pulse input position command Internal position command In external pulse command input mode the positioning command is signaled to the drive by a host Controller to achieve a fixed position In internal position command mode 32 preset position commands can be set by parameters Pn401 Pn496 and can be activated by use of input contacts POS1 POS5 Set p...

Страница 116: ... 3 AB Phase Pulsex4 Pe 0 Positive Logic Pn301 1 Position pulse command logic selection 1 Negative Logic Pe Pulse command smoothing filter Pn329 Pulse command smoothing filter timing 0 2500 ms Timing of filter can be set by this parameter Pe Pulse command moving filter Pn330 Pulse command moving filter timing 0 250 ms Timing of filter can be set by this parameter Pe New setting will become effectiv...

Страница 117: ...tor t1 t2 0 2μs t3 3μs τ 2 0μs τ T 50 LineDrive t1 t2 0 1μs t3 3μs τ 1 0μs τ T 50 CCW CW Pulse t1 t2 T t t3 Pulse Sign OpenCollector t1 t2 0 2μs t3 3μs τ 2 0μs τ T 50 LineDrive t1 t2 0 1μs τ 1 0μs τ T 50 AB Phase Pulse t2 t1 T t Pulse Sign OpenCollector t1 t2 0 2μs τ 2 0μs τ T 50 Position command can be disabled Inhibited by extrernal input contact INH Input Contact INH Description Control Mode 0 ...

Страница 118: ... P7 0 0 1 1 0 Pulse Number Pn420 Pn421 Rotation Number Pn422 P8 0 0 1 1 1 Pulse Number Pn423 Pn424 Rotation Number Pn425 P9 0 1 0 0 0 Pulse Number Pn426 Pn427 Rotation Number Pn428 P10 0 1 0 0 1 Pulse Number Pn429 Pn430 Rotation Number Pn431 P11 0 1 0 1 0 Pulse Number Pn432 Pn433 Rotation Number Pn434 P12 0 1 0 1 1 Pulse Number Pn435 Pn436 Rotation Number Pn437 P13 0 1 1 0 0 Pulse Number Pn438 Pn4...

Страница 119: ...er Pn485 P29 1 1 1 0 0 Pulse Number Pn486 Pn487 Rotation Number Pn488 P30 1 1 1 0 1 Pulse Number Pn489 Pn490 Rotation Number Pn491 P31 1 1 1 1 0 Pulse Number Pn492 Pn493 Rotation Number Pn494 P32 1 1 1 1 1 Pulse Number Pn495 Pn496 For internal positioning mode there are two types of moves incremental move or absolute move selectable byparameter Pn316 as below Parameter Signal Name Setting Descript...

Страница 120: ...ommand is P8 the motor will continue last command P1 0 0 0 Input Contact POS5 PTRG Position Trigger Once any preset position is selected by input contacts POS1 POS5 then require a trigger signal PTRG from the input contact enable PTRG to start operation Diagram below shows an example for 4 different absolute encoders Note Input contacts status 1 ON and 0 OFF Please check section 5 6 1 to set the r...

Страница 121: ...LR Clear position command If the CLR input is activated when a position command is in process then the motor will stop immediately and the remaining positioning pulses will be cleared Parameter Pn315 must be set to 1or 2 as required refer to section 5 4 7 Once the PTRG input contact is activated again then a new position command will be started according to the selection of input contacts POS1 POS...

Страница 122: ...m then Ball screw needs to rotate by 10mm 5 mm rev 2 Revs 3 Command pulses required to cause one revolution Encoder ppr Internal multiplication factor 2000 ppr x 4 8000 pulses 4 So the Command pulses required to move 10mm 2 revs 8000 pulses x 2 revs 16000 Pulses Number of command pulses for an specific move distance can be calculated according to the formula below Number of Ball Screw Revs x Encod...

Страница 123: ...ill move by 2mm 1um pulse 2000pulse The Electronic Gear Ratio must be set correctly 3 Calculate the Electronic Gear Ratio Calculate the Electronic Gear Ratio according to the formula below If the deceleration ratio between motor and load shaft is m n m Motor Rotating number n Load Shaft Rotating Value Then the formula for Electronic Gear Ratio is Warning The calculated Electronic Gear Ratio must b...

Страница 124: ...ator of Electronic Gear Ratio 4 1 X 1 50000 Pi Pe Pn306 Denominator of Electronic Gear Ratio 1 X 1 50000 Pi Pe New setting will become effective after re cycling the power This device provides 4 selections of Numerator for Electronic Gear Ratio Input contacts GN1 and GN2 can be used to select the required Numerator for the Electronic Gear Ratio According to the following table Input Contact GN2 In...

Страница 125: ...1 5 b Load Shaft Mechanical Disc Move Value per one revolution 360 ﾟ Motor Encoder ppr Pulse per revolution 2500 pulses 2 Move distance per one pulse of move Command Distance for 1Pulse Command 0 1 ﾟ 3 Calculation of the Electronic Gear Ratio 3600 50000 1 5 1 0 360 4 2500 Ratio Gear Electronic pulse rev pulse 4 Set the parameter of Electronic Gear Ratio Numerator of Electronic Gear Ratio 50000 Den...

Страница 126: ...g the power Time Constant of Smooth Acceleration Deceleration of Position Command defined for a cycle as below The require time of the Position Pulse Frequency started from 0 to 63 2 Frequency of Position Pulse Command Time ms Pn313 100 50 63 2 Frequency of Position Pulse Command Setting Examples 1 To achieve 95 of Position Pulse Command Frequency Output in 30msec 10 msec 95 ln 1 30 msec Pn313 2 T...

Страница 127: ... the motor characteristic of acc dec but also helps the motor to operate more smoothly in machinery structure S curve time constant generator is only applicable to the mode of internal position command input When position command input switch to external position pulse the speed and acceleration are already constant so it doesn t use the S curve time constant generator Notice 1 Setting rule Pn323 ...

Страница 128: ...5 42 a t a t ACC T SL T t ACC T SL T 1 T ACC T SL T 1 T 1 T ACC T SL T 1 T j t 0 t v t t x t b c d S Curve trip time definition aMAX jMAX vMAX aMAX jMAX ...

Страница 129: ...from input contact terminals according to table below For selection methods refer to section 5 3 11 Parameter Signal Name Default Unit Setting Range Control Mode Pn310 Position Loop Gain1 40 1 s 1 1000 Pe Pi Pn311 Position Loop Gain 2 40 1 s 1 1000 Pe Pi Pn312 Position Feed Forward Gain 0 0 100 Pe Pi Cn033 Speed Feed Forward Smooth Filter 500 Hz 0 1000 Pe Pi Diagram below shows the position contro...

Страница 130: ...put CLR contact clears the pulse error value Pe 1 When Input CLR contact to cancels the position command Stops the motor rotating the pulse error value is cleared and mechanical Home signal is reset Pi Pe Pn315 Pulse Error Clear Mode 2 When Input CLR contact to cancels the position command stops the motor rotating and the pulse error value is cleared Pi Note Input contacts status 1 ON and 0 OFF Pl...

Страница 131: ...n switch in 1st preset speed in CCW direction and sets the input contact ORG external sensor input as a Home reference when ORG contact is activated If Pn317 1 2 it will directly find the closest Rising Edge of ORG to be the Home position without a need for Home reference then it stops in accordance with Pn317 3 setting 3 Once the home routine is activated motor will search for Home Position switc...

Страница 132: ...tarted automatically This method is useful for applications that do not require repeated home routines No external home reference switch is required Pn317 2 Setting of Home Routine Start method 2 Use SHOME input contact to start a home routine In position mode SHOME can be used to start a home routine at any moment Pi Pe 0 After detecting the Home signal it sets this position to be the Home refere...

Страница 133: ...ations where the machine mechanical home position is a different position to the detected home position This offset can be achieved by setting the two parameters below Once the detected home position is found in accordance with Pn317 Home routine mode and then it will search by number of revolutions and pulses set in Pn320 and Pn 321 to find the new off set Home position Parameter Signal Name Defa...

Страница 134: ... 1 1 1 Pn317 2 1 After Power ON Home function will be automatically operated when first time Servo ON 1 Time Input Contact SON Process of Home Output Contact Home Time Into the Process of Home Pn317 2 2 SHOME triggers HOME Turn ON Power Output Contact RDY Input Contact SON Input Contact SHOME Process of Home Output Contact Home Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set th...

Страница 135: ... speed for HOME Reference CCWL CWL or ORG Pn317 1 0 After finding HOME Reference reverse direction in 2nd preset low speed to search for the nearest Z Phase pulse to be set as the HOME position Pn317 2 2 Input Contact SHOME to Start Home routine Pn317 3 0 Reverse search for HOME position 1 1 Speed Position Pn318 1st stage high speed Input Contact SHOME Input Contacts CCWL CWL or ORG Pn319 2nd stag...

Страница 136: ... position 1 1 Speed Position Pn319 Pn317 1 0 2nd Stage low speed Pn317 3 0 Pn318 1st Stage high Speed Pn317 2 2 Z Phase Pulse of Motor Encoder Pn317 0 1 Pn317 0 3 Input Contact SHOME Input Contacts CWL CCWL or ORG 3 Pn317 0 2 After starting HOME routine run CCW in 1st preset high speed to search for HOME Reference ORG Pn317 1 1 After finding HOME Reference continues in the same direction in 2nd pr...

Страница 137: ...e Pn317 3 0 Reverse search for HOME position 1 1 Speed Position Pn317 3 0 Z Phase Pulse of Motor Encoder Input Contact ORG Pn317 0 3 Input Contact SHOME Pn319 2nd Stage low speed Pn317 1 1 Pn318 1st Stage High Speed Pn317 2 2 5 Pn317 0 2 After Starting HOME routine run CCW in 1st preset high speed to search for HOME Reference ORG Pn317 1 2 After Finding the HOME Reference the Rising Edge of ORG se...

Страница 138: ...ed Pn318 1st stage high speed Pn317 1 2 Pn317 2 2 Input Contact ORG Pn317 0 3 Input Contact SHOME 7 Pn317 0 4 After Starting HOME routine run CCW in 1st preset high speed to search for the nearest Z phase pulse Pn317 1 2 After Finding the Z phase pulse set this position as the HOME position Pn317 2 2 Input Contact SHOME Starts the HOME routine Pn317 3 0 Reverse search for HOME position 1 Pn318 1st...

Страница 139: ...After Finding the Z phase pulse set this position as the HOME position Pn317 2 2 Input Contact SHOME Starts the HOME routine Pn317 3 0 Reverse search for HOME position 1 Position Pn319 2nd stage low speed Pn317 3 0 Pn318 1st stage high speed Pn317 1 2 Speed Pn317 2 2 Z Phase Pulse of Motor Encoder Pn317 0 5 Input Contact SHOME ...

Страница 140: ...orrect Value pulse Speed Command Motor Speed INP Statue 1 0 Note Input contacts status 1 ON and 0 OFF Please check 5 6 1 to set the required high Low signal levels PNP NPN selection Position error alarm When the Position error value is greater than the preset pulse value of Pn308 Positive position error level or Pn309 Negative position error level this will generate AL 11 Position error signal Par...

Страница 141: ... for these three control loops is as follows Current Loop Inner Speed Loop Middle Position Loop outer The default current control bandwidth has already been set for optimum response So Only speed and position control loop gains may be adjusted Table below shows the Gain adjustment parameters for the three control loops Parameter Name Default Unit Setting Range Control Mode Sn211 Speed Loop Gain 1 ...

Страница 142: ...tate error Under the condition of no vibration or noise reducing the speed loop Integral Time Constant can enhance system rigidity If the Load Inertia Ratio is very high or the system has vibration factors ensure that the Speed Loop Integral Time Constant is also high enough otherwise the mechanical system would produce resonance easily Integral Time Constant for Speed Loop can be set using the fo...

Страница 143: ...unction will be insignificant Quick Parameters for Gain adjustment Quick Gain adjust parameters are available for setting manually The related Gain Adjust parameters are listed in the Quick Parameter leaflet for convenient reference Quick adjust parameters once altered are saved and become effective immediately without pressing the Enter Key The table below shows the Gain Adjust Quick Parameters P...

Страница 144: ... 2 Sn214 Speed loop Integral time constant 2 Pn310 Position Loop Gain 1 Pn311 Position Loop Gain 2 Pn312 Position Loop Feed Forward Gain When Cn002 2 is set to 1 auto tuning is enabled and the Servo controller will adjust the Servo Gain in accordance with Cn026 Rigidity Setting and the measured Load Inertia Ratio by monitor parameter Un 19 Load Inertia Ratio when the Load Inertia Ratio is becomes ...

Страница 145: ...ssive Rigidity Setting When Auto tuning is used set the Rigidity Level depending on the various Gain settings for applications such as those listed below Rigidity Setting Cn026 Position Loop Gain Pn310 1 s Speed Loop Gain Sn211 Hz Speed loop Integral time constant 1 Sn212 x0 2msec Mechanical Rigidity Application 1 15 15 300 2 20 20 225 3 30 30 150 Machines driven by timing Belt Chain or Gear Large...

Страница 146: ...to tuning is complete Set 0 in Cn002 2 otherwise it will not record the present measured Load Inertia Ratio If the power is cut off during Auto tuning then when the power is established Servo controller will use the previously recorded setting of Load Inertia Ratio which is stored in parameter Cn025 ...

Страница 147: ... Constant of Speed Loop for minimum time setting that without causing mechanical vibration Step 5 Finally Slowly adjust the Speed Loop Gain Position Loop Gain of Host Controller and Integral Time Constant of Speed Loop until the servo system provides the best response Manual Gain Adjustment in Position Control mode Step 1 Set Rigidity level in parameter Cn 26 See section 5 5 1 for the selection ta...

Страница 148: ...Forward Gain Position Loop Feed Forward Gain can be used to reduce the error result from position control and improve the response speed Position loop Feed forward gain and position loop gain should be matched with If adjusting to higher position loop gain the feed fordward gain can be ignored Oppositly if the loop gain value is setting for a relatively low level adjust position loop feed forward ...

Страница 149: ...INH Position Command Inhibit 0E SPDINV Speed Inverse 0F G SEL Gain Select 10 GN1 Electronic Gear Ratio Numerator 1 11 GN2 Electronic Gear Ratio Numerator 2 12 PTRG Position Trigger 13 PHOLD Position Hold 14 SHOME Start Home 15 ORG Home Position Reference Origin 16 POS1 Internal Position select 1 17 POS2 Internal Position select 2 18 POS3 Internal Position select 3 19 POS4 Internal Position select ...

Страница 150: ...cted same as that shown for digital input 1 See Hn501 Parameter Name Description Control Mode Hn602 DI 2 Programmable Hn603 DI 3 Programmable Hn604 DI 4 Programmable Hn605 DI 5 Programmable Hn606 DI 6 Programmable Hn607 DI 7 Programmable Hn608 DI 8 Programmable Hn609 DI 9 Programmable Hn610 DI 10 Programmable Hn611 DI 11 Programmable Hn612 DI 12 Programmable Refer to Hn601 for programmable options...

Страница 151: ... control mode Cn001 Setting Parameter 0 1 2 3 4 5 6 7 8 9 A Hn601 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 Hn602 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 Hn603 0003 0003 0003 0003 0003 0003 0016 0016 0016 0016 0003 Hn604 0104 0104 0104 0104 0104 0104 0017 0017 0017 0017 0104 Hn605 0105 0105 0105 0105 0105 0105 0018 0018 0018 0018 0105 Hn606 001B 0006 0006 0006 001B 001B...

Страница 152: ...nternal Pulse Command Position Control External Pulse Command ALL New setting will become effective after re cycling the power Please check 5 6 1 to setting the input contact required high Low signal levels PNP NPN selection 5 6 3 Auxiliary Functions Function of Input Contacts SON CCWL and CWL can be set according to the list below Parameter Name Setting Description Control Mode 0 Use input contac...

Страница 153: ... ALL Note When the CCW CW Drive Inhibit occur the Cn009 has the higher priority than Cn008 Example If Cn008 is set to 0 or 1 which means no Dynamic Brake BUT Cn009 1 with Dynamic Brake then the dynamic brake will be effective enabled 5 6 5 Timing Diagram of Mechanical Brake In applications with vertical loading if the power is turned off to prevent the load from falling due to gravity a servo moto...

Страница 154: ...on Servo on is activated at the same time then after a time delay set by parameter Cn003 Output Contact BI is switched on Signal to release the brake When SON input contact is switched off BI output contact is also switched off Signal to operate the brake Then after a time delay set by parameter Cn003 Servo ON is de activated 2 Cn003 set to a time value with a Negative sign AS soon as the input co...

Страница 155: ...o take effect after setting changed Cn009 CW CCW drive inhibit 2 Once max torque limit 300 is detected then deceleration to stop with zero clamp ALL New setting will become effective after re cycling the power Note When the Drive Inhibit occurs in CCW CW the Cn009 has the higher priority than Cn008 Example If Cn008 is set to 0 or 1 which means without Dynamic Brake BUT Cn009 1 with Dynamic Brake t...

Страница 156: ...generation Power W absorbed by the built in Resistor Average Power Minimum allowed Resistance Value Ω JSDAP 15 25 60 24 25 JSDAP 20 25 60 24 25 JSDAP 30 25 60 24 25 JSDAP 50 20 150 60 15 JSDAP 75 12 5 150 60 10 JSDAP 100 12 5 150 60 10 JSDAP 150 8 200 80 6 JSDAP 200 3 JSDAP 300 3 Built in Regeneration Resistor The Regeneration Resistor which is built in this device can absorb the Regeneration Powe...

Страница 157: ...1 on TB1 Terminal Then the resistor should be installed between terminals P and PC For safety use of resistors with thermal protection is recommended The thermal switch contact can then be interlocked to disable drive or remove power if necessary Refer to connection diagram below When installing Regeneration Resistors care must be taken as the resistor absorbs the regeneration power and it is poss...

Страница 158: ...e regeneration energy capacity in Joules which can be absorbed by the built in resistor during no load acceleration deceleration period refer to the table list below Drive Model Motor Model Permitted number of no load operation cycles min Main Capacitor energy absorption capacity in Joules C E J JSMA LC03 433 JSMA SC02 1775 JSDAP 15 JSMA SC04 1004 6 JSMA LC08 118 JSMA SC04 1004 JSMA SC08 321 JSMA ...

Страница 159: ...Energy of the servo system 182 2 rm T M ω J E M E Working Energy of Servo system J T J Inertia applied to the motor shaft 2 m kg rm ω Motor running Speed rpm 2 Calculate the Energy consumption by the load during deceleration D L rm L t T ω π E 60 L E The Energy during deceleration J L T Loading Torque Nm D t The Time from deceleration to stopping s 3 Calculate the Energy absorbed by internal main ...

Страница 160: ...o ON 2 Always Running Cn031 0 Cooling fan running mode 3 Disabled ALL 5 6 9 Low Voltage Protection Auto reset Parameter Name Setting Description Control Mode 0 As servo on it shows AL 01 low voltage alarm immediately when it detect low voltage and after eliminating the situation to reset it servo off is a must Cn031 1 Low Voltage Protection AL 01 auto reset selection 1 It shows BB baseblock immedi...

Страница 161: ...Position deviation value 6 Electrical angle 7 Main circuit Vdc Bus voltage 8 Speed command 10V 3 5 times of the rated torque 9 Speed feedback detection 10V 1 5 times of the rated speed A Torque command 10V 3 5 times of the rated torque Cn006 0 B Torque feedback detection 10V 3 5 times of the rated torque 2 Analog monitor output selection MON2 Cn006 1 Refer to Cn006 0 for setting this parameter 0 X...

Страница 162: ...Monitor 2 Offset adjustment 4 x40mV 250 250 ALL Analog Monitor Output Voltage V Adjusting Value for Bias Voltage Time 5 6 12 Factory Setting Parameter This parameter can reset all parameter settings to default value factory reset Parameter Name Setting Description Control Mode 0 Disabled Cn029 Reset parameters 1 All parameters are reset to default values ALL New setting will become effective after...

Страница 163: ...S signal P S It is NOT allow to reset when SON is applied Cn002 3 EMC reset mode selection 1 When EMC status is released AL 09 can be reset on both Servo ON and Servo OFF conditions Attention Ensure that the speed command are removed before the alarm is reset to avoid motor unexpected start Cn010 CCW Torque command Limit 0 300 Ex For a torque limit in CCW direction which is twice the rated torque ...

Страница 164: ...ition complete value 0 50000 pulse Set a value for In position output signal When the Position pulse error value is less then Pn307 output contact INP In position output signal will be activated Pn313 Position command smooth Acceleration Deceleration Time Constant 0 10000 ms Set the time period for the Position command pulse frequency to rise from 0 to 63 2 Pn324 Total Number Setting 1 64 Sets tot...

Страница 165: ...an improve system rigidity The formula below shows the relationship between Integral time and Speed loop Gain qn505 Position Loop Gain 1 1 1000 Without causing vibration or noise on the mechanical system the position loop gain value can be increased to speed up response and shorten the positioning time Generally the position loop bandwidth should not be higher then speed loop bandwidth The relatio...

Страница 166: ...s Turret qn501 qn507 Rigidity Setting Control mode swithing MDC 1 MDC 2 Homing Position Trigger PTRG Tool turret position displays DO1 4 In Position INP END JOG mode Position Trigger PTRG Rotated to next tool turret number Tool turret position displays DO1 4 In Position INP END Auto selection mode Tool turret selection Pos1 4 Position Trigger PTRG Tool turret position displays DO1 4 In Position IN...

Страница 167: ...ol Turret selection Pos 4 Position Trigger PTRG Control Mode switching MDC 1 Control Mode switching MDC 2 Motor Speed rpm In Position INP Tool turret display DO 1 Tool turret display DO 2 Tool turret display DO 3 Tool turret display DO 4 Alarm ALM Tool Turret No 6 selected Tool Turret No 1 displayed Tool Turret No 6 displayed Homing Operating ...

Страница 168: ...n313 Pn313 Servo on Tool Turret selection Pos 1 Tool Turret selection Pos 2 Tool Turret selection Pos 3 Tool Turret selection Pos 4 Control Mode switching MDC 1 Control Mode switching MDC 2 Motor Speed rpm Tool turret display DO 4 Tool Turret No 4 selected Tool Turret No 11 selected Tool Turret No 1 displayed Tool Turret No 4 displayed Tool Turret No 11 displayed ...

Страница 169: ...ection Pos 3 Tool Turret selection Pos 4 Position Trigger PTRG Control Mode switching MDC1 Control Mode switching MDC2 Motor Speed rpm In Position INP Tool turret display DO 1 Tool turret display DO 2 Tool turret display DO 3 Tool turret display DO 4 Tool Turret No 1 displayed Tool Turret No 2 displayed Tool Turret No 3 displayed ...

Страница 170: ...rameters Pn4xx Point to Point Control Parameter qn5xx Quick Set up Parameters Hn6xx Multi function I O parameters Control Mode Code Signal Control Mode ALL All Control Mode Pi Position Control Mode Internal Positional Command Pe Position Control Mode External Pulse Command Pt Tool Turret Control Mode S Speed Control Mode T Torque Control Mode Definition of Symbols Symbol Explanation Parameter beco...

Страница 171: ...On Cn002 0 1 Input Contact has no function SON is enabled when Power on 0 X 0 1 CCWL CWL Input contact function Setting Explanation 0 CCWL and CWL input contacts are able to control the drive inhibit of CCW and CW Cn002 1 1 CCWL CWL input contacts are not able to control CCW and CW drive inhibit CCW and CW drive inhibit is disable 0 X 0 1 ALL Auto Tuning Setting Explanation 0 Continuously Auto Tun...

Страница 172: ...put signal before to perform this function Refer to sequence diagram above Note Signal logic level status 1 ON 0 OFF Refer to section5 6 1 for setting contact the high Low logic levels 0 msec 2000 2000 ALL 511H 0003H Motor rotate direction Inspect from the load side CCW CW When Torque or Speed Command value is Positive the setting of Motor retation direction are Explanation Setting Torque Control ...

Страница 173: ...on 10V 1 5 times of the rated torque 4 Pulse command input 5 Position deviation value 6 Electrical angle 7 Main circuit Vdc Bus voltage 8 Speed command 10V 3 5 times of the rated torque 9 Speed feedback detection 10V 1 5 times of the rated speed A Torque command 10V 3 5 times of the rated torque Cn006 0 B Torque feedback detection 10V 3 5 times of the rated torque 2 Analog monitor output selection...

Страница 174: ... 300 0 ALL 519H 000BH Power setting for External Regeneration Resistor Cn012 Refer to section 5 6 7 to choose external Regen resister and set its power specification in Watts of Cn012 P S This default value will change depend on servo model 0 W 0 10000 ALL 51AH 000CH Frequency of resonance Filter Notch Filter Cn013 Enter the vibration frequency in Cn013 to eliminate system mechanical vibration 0 H...

Страница 175: ...st If Speed Command is less than Cn017 PI control is selected If Speed Command is greater than Cn017 P control is selected 0 rpm 0 4500 Pi Pe S C4CH 0011H PI P control mode switch by accelerate Command Cn018 Set the Cn015 0 2 first If Acceleration is less than Cn018 PI control is selected If Acceleration is greater than Cn018 P control is selected 0 rps s 0 18750 Pi Pe S C4DH 0012H PI P control mo...

Страница 176: ...an be set by Cn020 accel is acceleration 0 rps s 0 18750 Pi Pe S 53FH 0017H Automatic gain 1 2 switch condition Position error value Cn024 Set Cn015 1 3 first When position error value is less than Cn024 Gain 1 is selected When position error value is greater than Cn024 Gain 2 is selected When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back t...

Страница 177: ...ible problem contact supplier for more information Default X X ALL 50BH 001EH Cooling fan running modes Available forJSDAP 50A3 75A3 100A3 200A3 300A3 Setting Explanation 0 Auto run by internal temperature sensor 1 Run when Servo ON 2 Always Running Cn031 0 3 Disabled 0 X 0 3 ALL Low Voltage Protection AL 01 auto reset selection This parameter AL 01 could be set the method of Low Voltage Protectio...

Страница 178: ...lay content for LED panel for power on status Setting Explanation 0 Display data set and drive status parameter Refer 3 1 Cn035 1 31 Display Un 01 Un 31 content Refer to page 6 38 to 6 39 for more information Ex Set Cn035 1 when power on it display the actual speed of motor content of Un 01 0 X 0 31 ALL 541H 0023H Servo ID number Cn036 When using Modbus for communication each servo units has to se...

Страница 179: ...ation response delay time Cn040 Delay Servo response time to master control unit 0 0 5 msec 0 255 ALL 5EDH 0028H Absolute encoder rotation value reset Setting Explanation 0 Disable Cn041 1 Reset absolute encoder rotation value 0 X 0 1 ALL 524H 0029H Cn042 Reserved Analog monitor output ratio MON1 Cn043 For example the Analog monitor output ratio is 10V 1 5 times speed when we set 100 if we want 10...

Страница 180: ...y hex code and each bit represents for each alarm Setting the corresponding bit to 1 for the alarm is an warn mode Drive warns and then trigger alarm after continuously executing the setting time of Cn055 when alarm occurs Ex Set Cn054 to 0801H and then set Cn055 to 100 when low voltage or overspeed alarm is a warn which triggers alarm one second later 0000100000000001 is the setting status presen...

Страница 181: ...sabled 1 Enabled Tn101 2 Enable Torque command smooth accel decel time Constant 0 X 0 2 T C8CH 0101H Linear accel decel time period Tn102 Time taken for the torque command to linearly accelerate to the rated torque level or Decelerate to zero torque 1 msec 1 50000 T 523H 0102H Analog Torque Command Ratio Tn103 Slope of voltage command Torque command can be adjusted 300 10V 0 600 T 521H 0103H ...

Страница 182: ...2 can be used to select Preset speed limit 2 As follows Input Contact SPD2 Input Contact SPD1 1 0 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels 200 rpm 0 3000 T 527H 0106H Preset Speed Limit 3 Torque control mode Tn107 In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 3 As follows Input Contact SPD2 Input Contac...

Страница 183: ...etting Range Control Mode RS232 RS485 Torque command smooth accel decel time Constant Tn110 Set Tn101 2 to enable this function Set the time period to rise to 63 2 of the full torque Torque Command Time ms Tn110 100 50 Torque Command 63 2 0 msec 0 10000 T 520H 010AH ...

Страница 184: ...FF Refer to 5 6 1 to set high or low input logic levels 200 rpm 4500 4500 S 537H 0202H Internal Speed Command 3 Sn203 In Speed control input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed command select for speed command 3 contact status shows below Input Contact SPD2 Input Contact SPD1 1 1 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input log...

Страница 185: ...cel decel time constant Sn207 Set Sn205 2 to enable this function then set the time period for the speed to rise linearly to full speed 1 msec 1 50000 S 52CH 0207H S curve speed command acceleration and deceleration time setting Sn208 Set Sn205 3 to enable this function In the period of Acc Dec drastic speed changing might cause vibration of machine S curve speed command acc dec time setting has t...

Страница 186: ... S 530H 020BH Speed loop Integral time 1 Sn212 Speed loop integral element can eliminate the steady speed error and react to even slight speed variations Decreasing Integral time can improve system rigidity The formula below shows the relationship between Integral time and Speed loop Gain ain SpeedLoopG t TimeCons ntegration SpeedLoopI 2 1 5 tan 100 x0 2 ms 1 5000 Pi Pe S 531H 020CH Speed loop Gai...

Страница 187: ...og Speed Command offset adjust Sn217 The offset amount can be adjusted by this parameter Input Voltage V Offset Voltage Speed Command rpm 0 mV 10000 10000 S 534H 0211H Analog speed command limited Sn218 Setting Sn218 for limit the highest speed command of analog input Rate rpm x 1 02 rpm 100 4500 S C11H 0212H ...

Страница 188: ...tion Setting Explanation 0 4500KHz 4 370KHz 1 2500KHz 5 180KHz 2 1200KHz 6 90KHz Pn301 3 3 750KHz 7 40KHz 1 X 0 7 Pe 550H 0301H Electronic Gear Ratio Numerator 1 Pn302 Use input contacts GN1 GN2 to select one of four electronic Gear Ratio Numerators To select Numerator 1 the statue of the input contacts GN1 GN2 should be as follows Input Contact GN2 Input Contact GN1 0 0 Note Input contacts status...

Страница 189: ...r Ratio should comply with the formula below 0 20 0 20 1 GearRatio Electronic 1 X 1 50000 Pi Pe 554H 0306H Position complete value Pn307 Set a value for In position output signal When the Position pulse error value is less then Pn307 output contact INP In position output signal will be activated 10 pulse 0 50000 Pi Pe 552H 553H 0307H Incorrect position Error band Upper limit Pn308 When the Positio...

Страница 190: ...period for the Position command pulse frequency to rise from 0 to 63 2 Time ms Pn313 100 50 63 2 Position Pulse Command Frequency Position Pulse Command Frequency 0 msec 0 10000 Pi Pe 55CH 030DH Positioning Command Direction Definition CCW CW Setting Explanation 0 CW Clockwise Pn314 1 CCW Counter Clockwise 1 X 0 1 Pi Pe 55DH 030EH Pulse Error Clear Modes Setting Explanation 0 Once CLR signal is ac...

Страница 191: ...ing Setting Explanation 0 According to Cn005 Pn316 3 1 According to Cn005 4 0 X 0 1 ALL 50DH 0310H Setting for HOME routine Setting Explanation 0 Once the home routine is activated motor wil for Home Position switch in 1st speed in CCW direction Input contacts CCWL or CWL can be used a Home Reference Switch Once Home reference switch is detected the Contacts CCWL and CWL will act as normal limits ...

Страница 192: ...using this function set Pn365 1 2 After setting the Z Phase to be the Home it stops in accordance with the setting of Pn365 3 Pn317 0 5 Once the home routine is activated motor will search for Home position in 1st speed in CW direction and sets the Home reference position as soon as the nearest Z marker pulse is detected When using this function set Pn365 1 2 After setting the Z Phase to be the Ho...

Страница 193: ...reverses direction in 2nd speed to detect the Home Position again then it decelerates and stops Pn317 3 1 After detecting the Home signal it sets this position to be the Home reference Un 14 encoder feed back rotating number and Un 15 encoder feed back pulse number are all 0 motor decelerates and stops 0 X 0 1 54AH 0311H Machine Home reference search speed 1st speed Fast Pn318 HOME Refeence search...

Страница 194: ... Position command TACC Pn323 Please refer to Pn322 1 x0 4ms 1 5000 Pi 52EH 0317H Total Number Setting Pn324 Sets total number of tool turret 12 1 64 Pt C56H 0318H The Location of Zero CNC Tool Turret Pn325 Sets the location of zero tool 0 pulse 0 131071 Pt C58H 0319H Reduction Gear Rate for CNC Tools Turret Pn326 Sets reduction rate for turret 1 rev 0 16383 Pt C57H 031AH Rotation Speed of tool tur...

Страница 195: ...n402 0 pulse 131072 131072 Pi 56EH 56FH 0706H 0707H Internal Position Command 2 Move Speed Pn406 Please refer to Pn403 0 rpm 0 3000 Pi 56DH 0708H Internal Position Command 3 Rotation Number Pn407 Please refer to Pn401 0 rev 16000 16000 Pi 570H 0709H Internal Position Command 3 Pulse Number Pn408 Please refer to Pn402 0 pulse 131072 131072 Pi 572H 573H 070AH 070BH Internal Position Command 3 Move S...

Страница 196: ...to Pn402 0 pulse 131072 131072 Pi 586H 587H 071EH 071FH Internal Position Command 8 Move Speed Pn424 Please refer to Pn403 0 rpm 0 3000 Pi 585H 0720H Internal Position Command 9 Rotation Number Pn425 Please refer to Pn401 0 rev 16000 16000 Pi 588H 0721H Internal Position Command 9 Pulse Number Pn426 Please refer to Pn402 0 pulse 131072 131072 Pi 58AH 58BH 0722H 0723H Internal Position Command 9 Mo...

Страница 197: ... Internal Position Command 14 Move Speed Pn442 Please refer to Pn403 0 rpm 0 3000 Pi 59DH 0738H Internal Position Command 15 Rotation Number Pn443 Please refer to Pn401 0 rev 16000 16000 Pi 5A0H 0739H Internal Position Command 15 Pulse Number Pn444 Please refer to Pn402 0 pulse 131072 131072 Pi 5A2H 5A3H 073AH 073BH Internal Position Command 15 Move Speed Pn445 Please refer to Pn403 0 rpm 0 3000 P...

Страница 198: ...sition Command 21 Rotation Number Pn461 Please refer to Pn401 0 rev 16000 16000 Pi 5B8H 0751H Internal Position Command 21 Pulse Number Pn462 Please refer to Pn402 0 pulse 131072 131072 Pi 5BAH 5BBH 0752H 0753H Internal Position Command 21 Move Speed Pn463 Please refer to Pn403 0 rpm 0 3000 Pi 5B9H 0754H Internal Position Command 22 Rotation Number Pn464 Please refer to Pn401 0 rev 16000 16000 Pi ...

Страница 199: ...ition Command 27 Pulse Number Pn480 Please refer to Pn402 0 pulse 131072 131072 Pi 5D2H 5D3H 076AH 076BH Internal Position Command 27 Move Speed Pn481 Please refer to Pn403 0 rpm 0 3000 Pi 5D1H 076CH Internal Position Command 28 Rotation Number Pn482 Please refer to Pn401 0 rev 16000 16000 Pi 5D4H 076DH Internal Position Command 28 Pulse Number Pn483 Please refer to Pn402 0 pulse 131072 131072 Pi ...

Страница 200: ...r to Pn402 0 pulse 131072 131072 Pi 5E2H 5E3H 077AH 077BH Internal Position Command 31 Move Speed Pn493 Please refer to Pn403 0 rpm 0 3000 Pi 5E1H 077CH Internal Position Command 32 Rotation Number Pn494 Please refer to Pn401 0 rev 16000 16000 Pi 5E4H 077DH Internal Position Command 32 Pulse Number Pn495 Please refer to Pn402 0 pulse 131072 131072 Pi 5E6H 5E7H 077EH 077FH Internal Position Command...

Страница 201: ...ms 1 5000 Pi Pe S 531H 0402H Speed Loop Gain 2 Same function as Sn213 qn503 Refer to qn401 40 Hz 10 1500 Pi Pe S 53AH 0403H Speed Loop Integration Time Constant 2 Same function as Sn214 qn504 Refer to qn402 100 x0 2 ms 1 5000 Pi Pe S 53BH 0404H Position Loop Gain 1 Same function as Pn310 qn505 Without causing vibration or noise on the mechanical system the position loop gain value can be increased...

Страница 202: ...rse 0F G SEL Gain Select 10 GN1 Electronic Gear Ratio Numerator 1 11 GN2 Electronic Gear Ratio Numerator 2 12 PTRG Position Trigger 13 PHOLD Position Hold 14 SHOME Start Home 15 ORG Home Position Reference Origin 16 POS1 Internal Position select 1 17 POS2 Internal Position select 2 18 POS3 Internal Position select 3 19 POS4 Internal Position select 4 1A TRQINV Torque Inverse 1B RS1 Torque CW Selec...

Страница 203: ... 7 Hn607 Please refer to Hn601 X 001 11F ALL C29H 0507H DI 8 Hn608 Please refer to Hn601 X 001 11F ALL C2AH 0508H DI 9 Hn609 Please refer to Hn601 X 001 11F ALL C2BH 0509H DI 10 Hn610 Please refer to Hn601 X 001 11F ALL C2CH 050AH DI 11 Hn611 Please refer to Hn601 X 001 11F ALL C2DH 050BH DI 12 Hn612 Please refer to Hn601 Refer to the cross reference table on page 5 65 X 001 11F ALL C2EH 050CH New...

Страница 204: ...al 10 BAT Absolute Encoder Battery Module Fault Si gnal Hn613 0 Hn613 1 11 LIM CWL CCWL Drive Disable Signal X 01 11 ALL DO 1 Active Level Setting Explanation 0 Close when the output is activated Hn613 2 1 Open when the output is activated X 0 1 ALL C47H 050DH DO 2 Hn614 Please refer to Hn614 X 001 111 ALL C48H 050EH DO 3 Hn615 Please refer to Hn614 X 001 111 ALL C49H 050FH DO 4 Hn616 Please refer...

Страница 205: ...by communication Ex Set DI 1 3 6 10 12 for communication control other pins by external terminal The corresponding binary code is 0 1010 0010 0101 convert to Hex code is H 0A25 for entering parameter For the setting Bit0 DI 1 is control by communication and Bit1 DI 2 is control by external terminal etc H0000 X H0000 H0FFF HEX ALL C31H 0511H Setting digital input status in communication mode Hn618 ...

Страница 206: ...CCW Torque Limit Command Value Ex Display 100 Means current external CCW torque limit command is set to 100 6C0H 060CH Un 13 External CW Torque LimitCommand Value Ex Display 100 Means current external CW toque limit command is set to 100 6C1H 060DH Un 14 Motor feed back Less then 1 rotation pulse value Low Byte pulse After power on it displays the number of pulses for an incomplete revolution of t...

Страница 207: ...tion as High Byte value 9E6H 061AH Un 27 15bits 17bits encoder status 15 bits 17bits encoder status feedback 9DAH 061BH Un 28 Torque command It displays the torque command as a percentage of the rated torque Ex Display 50 Means current motor torque command is 50 of rated torque 67EH 061CH Un 29 Load inertia x0 1 When Cn002 2 0 Auto gain adjust disabled it displays the current preset load inertia r...

Страница 208: ... status 6AFH N A dn 03 Input terminal signal status 6CBH N A dn 04 Software version C42H N A dn 05 JOG mode operation N A N A dn 06 Reserved C43H N A dn 07 Auto offset adjustment of external ana command voltage 5FCH N A dn 08 Servo model code 50CH N A dn 09 ASIC software version display 98CH N A dn 10 Absolute Encoder Rotation Value Reset 524H N A ...

Страница 209: ...vo drive provides RS232 communication The description below shows the communication wiring and communication protocol 7 1 1 Communication Wiring RS 232 Wiring Driver terminal MD Type 8Pins PC terminal D Type 9Pins female Pin 4 and Pin 6 is short circuits Pin 7 and Pin 8 is short circuits ...

Страница 210: ... MD Type 8Pins RS 232 RS 485 Converter Description Receive Data Serial transmission Ground 1 2 3 4 5 6 7 8 TxD RxD GND Data Data Power Supply Ground Data Data VS GND Power Supply Name Name Description Serial transmission Serial transmission Serial transmission Description Pin Transmit Data ...

Страница 211: ...1 Write to SRAM 0 X 0 1 ALL Communication RS232 is read and written to the selection of EEPROM Setting Explanation 0 JSDAP Command address E8 EC Cn037 3 1 JSDAP Command address 70 74 While setting to 1 Pn407 Pn410 are prohibited from applying 0 X 0 1 ALL Communication protocol Setting Explanation 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 O 1 Modbus ASCII 3 8 N 2 Modbus ASCII 4 8 E 1 Modbus ASC...

Страница 212: ...communication Ex Set DI 1 3 6 10 12 for communication control other pins by external terminal The corresponding binary code is 0 1010 0010 0101 convert to Hex code is H 0A25 for entering parameter For the setting Bit0 DI 1 is control by communication and Bit1 DI 2 is control by external terminal etc H0000 X H0000 H0FFF HEX ALL Setting digital input status in communication mode Hn618 Change Hn618 H...

Страница 213: ...0H 30H 30H 38H EDH 0 0 0 8 Drive response message 0008ED When function code incorrect drive response ASCII code 21H 2 Read consecutive 2 words from drive Function code format L5NnSs Nn A request to read register Nn from slave device Unit Byte Hex representation Ss Check Sum Ss L 5 N n Unit Byte Hex representation Ex2 Read data from register address 60H and Convert L560 into ASCII codes Check Sum 4...

Страница 214: ...e response ASCII code 21H 4 Write consecutive 2 words to drive Function code format M5NnXxYyAaBbSs Nn Address for write data Unit Byte Hex representation XxYy Writes the data contents of address Nn 1 Unit Word Hex representation AaBb Writes the data contents of address Nn Unit Word Hex representation Ss Check Sum Ss M 5 N n X x Y y A a B b Unit Byte Hex representation Ex4 Write data 0002 000BH to ...

Страница 215: ...II or RTU ASCII American Standard Code for information interchange Mode and RTU Remote Terminal Unit Mode Use Cn038 to select ASCII or RTU mode Coding method ASCII Mode 8 bits Data consist of two ASCII code Ex Data 26H 1 byte the 26 convert to ASCII code is include character 2 32H and 6 36H ASCII Chart 0 9 and A F Character 0 1 2 3 4 5 6 7 ASCII code Hex 30H 31H 32H 33H 34H 35H 36H 37H Character 8...

Страница 216: ...s Character Frame 10 bits 7O1 Start bit 0 1 2 3 4 5 6 Odd parity Stop bit Data 7 bits Character Frame 10 bits 11 bits Frame 8 bits Data 8N2 Start bit 0 1 2 3 4 5 6 7 Stop bit Stop bit Data 8 bits Character Frame 11 bits 8E1 Start bit 0 1 2 3 4 5 6 7 Even parity Stop bit Data 8 bits Character Frame 11 bits 8O1 Start bit 0 1 2 3 4 5 6 7 Odd parity Stop bit Data 8 bits Character Frame 11 bits ...

Страница 217: ...depend on Function code LRC Check code Include 2 ASCII code within 1 byte END 1 END 1 CR 0DH Char r END 0 END 0 LF 0AH Char n RTU Mode Symbol Name Description STX Comm start Excess comm loss time setting 10ms ADR Slave address 1 byte Comm address 1 254 convert to Hex representation Ex Comm address 20 convert representation to 14 Hex ADR 14H Function Code Function code 1 byte Function codes 03H Rea...

Страница 218: ...e 4 Exception code 2 0 0 7 Register ADD Lo 0 Hi 0 LRC A 0 B END1 CR 0DH 0 Data of 0200H Lo 1 END0 LF 0AH 0 1 Data length word 2 Hi F F 4 LRC 8 Data of 0201H Lo 0 END1 CR 0DH E END0 LF 0AH LRC 8 END1 CR 0DH END0 LF 0AH RTU Mode Query PC Servo Response Servo PC OK Servo PC ERROR ADR 01H ADR 01H ADR 01H Function Code 03H Function Code 03H Function Code 83H Hi 02H Data Byte 04H Exception 02H Register ...

Страница 219: ... 0 0 7 Register ADD Lo 0 Register ADD Lo 0 LRC 6 0 0 END1 CR 0DH 0 0 END0 LF 0AH 6 6 Write data word 4 Write data word 4 9 9 LRC 3 LRC 3 END1 CR 0DH END1 CR 0DH END0 LF 0AH END0 LF 0AH RTU Mode Query PC Servo Response Servo PC OK Servo PC ERROR ADR 01H ADR 01H ADR 01H Function Code 06H Function Code 03H Function Code 86H Hi 02H Hi 02H Exception code 03H Register ADD Lo 00H Register ADD Lo 00H CRC ...

Страница 220: ...nction Code 8 0 0 0 HI 0 HI 0 Exception code 3 0 0 7 Sub Function Lo 0 Sub Function Lo 0 LRC 4 A A END1 CR 0DH 5 5 END0 LF 0AH 3 3 Data word 7 Data word 7 1 1 LRC B LRC B END1 CR 0DH END1 CR 0DH END0 LF 0AH END0 LF 0AH RTU Mode Query PC Servo Response Servo PC OK Servo PC ERROR ADR 01H ADR 01H ADR 01H Function Code 08H Function Code 08H Function Code 88H HI 00H HI 00H Exception code 03H Sub Functi...

Страница 221: ...sponse Servo PC OK Servo PC ERROR STX STX STX 0 0 0 ADR 1 ADR 1 ADR 1 1 1 9 Function Code 0 Function Code 0 Function Code 0 0 0 0 HI 1 HI 1 Exception code 2 0 0 6 Register ADD Lo 0 Register ADD Lo 0 LRC D 0 0 END1 CR 0DH 0 0 END0 LF 0AH 0 0 Data length word 2 Data length word 2 0 E Byte counters byte 4 LRC C 0 END1 CR 0DH HI 0 END0 LF 0AH 6 ADD 0100H Lo 4 0 HI 1 C ADD 0101H Lo 2 5 LRC 7 END1 CR 0D...

Страница 222: ... and CRC RTU Mode Check methods LRC Checking ASCII Mode LRC Longitudinal Redundancy Check checking method The LRC is calculated by adding together successive 8 bit bytes of the message discarding any carries Ex add ADR Function code register address and data contents together if it get the sum 19DH then discard carrier 1 and find two s complement for 9DH to obtain LRC code Ex Execute diagnostic fu...

Страница 223: ...st followed by the high order byte For example if the CRC value is 1241 hex the CRC 16 Low put the 41h the CRC 16 Hi put the 12h Example An example of a C language function performing CRC generation is shown on the following pages All of the possible CRC values are preloaded into two arrays which are simply indexed as the function increments through the message buffer One array contains all of the...

Страница 224: ...41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x41 0x00 0xC1 0x81 0x40 0x00 0xC1 0x81 0x40 0x01 0xC0 0x80 0x...

Страница 225: ... 0xBC 0x7C 0xB4 0x74 0x75 0xB5 0x77 0xB7 0xB6 0x76 0x72 0xB2 0xB3 0x73 0xB1 0x71 0x70 0xB0 0x50 0x90 0x91 0x51 0x93 0x53 0x52 0x92 0x96 0x56 0x57 0x97 0x55 0x95 0x94 0x54 0x9C 0x5C 0x5D 0x9D 0x5F 0x9F 0x9E 0x5E 0x5A 0x9A 0x9B 0x5B 0x99 0x59 0x58 0x98 0x88 0x48 0x49 0x89 0x4B 0x8B 0x8A 0x4A 0x4E 0x8E 0x8F 0x4F 0x8D 0x4D 0x4C 0x8C 0x44 0x84 0x85 0x45 0x87 0x47 0x46 0x86 0x82 0x42 0x43 0x83 0x41 0x81...

Страница 226: ...or Alarm List refer to the section 8 2 In the example above AL 01 indicate Under Voltage There is also an Alarm history which can record ten entry of alarm record History record is listed as alarm history record table shows Alarm History Record Display Explanation AL The Latest Alarm A1 Previous First Alarm A2 Previous Second Alarm A3 Previous Third Alarm A4 Previous Fourth Alarm A5 Previous Fifth...

Страница 227: ... 2 Press MODE key to enter the Alarm History record 3 Press Key to view the Alarm 1 message that previously happened and the alarm code is 03 Overload 4 Press Key again to view Alarm 2 message and repeat this to see entire alarm history list In this example Alarm code is 01 Under voltage 5 Press MODE key once to view System Parameters Repeat this to select all other available parameters ...

Страница 228: ...and large current will lead to motor over load 3 Extend acc deceleration time or reduce load ratio in the permitted range Turn ALRS DI ON Drive Over current 04 Drive main circuit Over current or Transistor error 1 Check connection of the motor cable U V W and encoder Check power cable connection Refer to the diagram in Chapter 2 2 Turn off the power and turn on again after 30 min If the alarm stil...

Страница 229: ...ck if the motor wiring U V W is correct Turn ALRS DI ON Motor over speed 12 Motor s speed is 1 5 times more then motor s rated speed 1 Reduce the speed command 2 Electronic gear ratio is incorrect check and set correctly 3 Adjust speed loop gains Sn211 Sn213 for a better motor response Turn ALRS DI ON CPU Error 13 Control system Mal function Turn off the power Turn on again after 30min If error al...

Страница 230: ...s rectified disable SON signal Switch off Servo ON then press the buttons and at the same time to reset Alarm and the drive will be ready for operation 2 Power reset Once the cause of Alarm is rectified disable SON signal Switch off Servo ON and re cycling power Alarm condition can be reset and the drive will be ready for operation Waning 1 Before applying power rest ensure that SON is off SON sig...

Страница 231: ... Drive Over current Reset Power Supply 1 0 1 1 05 Encoder ABZ phase signal error Reset Power Supply 1 0 1 0 06 Encoder UVW phase signal error Reset Power Supply 1 0 0 1 07 Multi function contact setting error Reset Power Supply 1 0 0 0 08 Memory Error Reset Power Supply 0 1 1 1 09 Emergency Stop Turn ALRS DI ON 0 1 1 0 10 Motor over current Turn ALRS DI ON 0 1 0 1 11 Position error Turn ALRS DI ON...

Страница 232: ...y Control Circuit r s Single Phase AC 200 230V 15 10 DC 24V 10 Cooling System Natural Air Cooling Fan Cooling Control of Main Circuit Three phase full wave rectification IGBT SVPWM Control Sine wave current drive way Basic Specifications Feedback Encoder Resolution Incremental type 2500ppr 8192ppr 15 bit ABS 17 bit Panel and Operation Key Main control circuit power indicator 5 digital seven segmen...

Страница 233: ... command Voltage Input Range 0 10Vdc 0 6000rpm set by internal parameters External analog Command Input Impedance 10KΩ Speed Control Range 1 5000 internal speed command 1 2000 external analog command 0 03 or less at Load fluctuation 0 to 100 at Rated Speed 0 2 or less at power fluctuation 10 at Rated Speed Speed fluctuation Rate 0 5 or less at ambient temperature fluctuation 0 to 50 at Rated Speed...

Страница 234: ...put Alarm Code Digital Output Photocoupler Optional Output to 4 ports 17 Types of Optional Functions Input Output Signal Analog Monitor Output Optional Output to 2 ports 12 Types of Optional Functions 0 10Vdc Indoor avoiding direct sunshine Installing Location no erosion air avoiding oil gases inflammable gas and dust Altitude Sea level 1000m below Temperature Operating Temperature 0 50 storage Te...

Страница 235: ...9 4 Dimensions for JSDAP 10A 15A 20A 30A W mm JSDAP 10A 15A 69 JSDAP 20A 30A 80 Dimensions for JSDAP 50A3 75A3 100A3 25B 35B 50B ...

Страница 236: ...9 5 Dimensions for JSDAP 150A3 75B 100B Dimensions for JSDAP 200A3 300A3 ...

Страница 237: ...00 rpm B 2000 rpm C 3000 rpm H 1500 rpm Encoder B 2500 ppr H 8192 ppr 7 17 bit 5 15 bit absolute Rated Output Power P5 50 W 20 2 KW 01 100 W 30 3 KW 03 300 W 44 4 4 KW 04 400 W 55 5 5 KW 05 550 W 75 7 5 KW 08 750 W 110 11 KW 10 1 KW 150 15 KW 15 1 5 KW AC Input Voltage A AC 200V Class B AC 400V Class Mechanical BK Without BK B With Brake IP67 except shaft and connector Encode Spline Grease Seal No...

Страница 238: ...nt Imax A 1 95 2 82 5 40 7 50 12 90 6 00 11 25 Torque Constant KT N m A 0 36 0 38 0 39 0 51 0 61 0 52 0 77 Rotor Moment of Inertia JM Kg cm2 0 03 0 04 0 17 0 28 0 94 0 68 2 46 Armature Resistor Ra Ω 78 00 25 00 7 50 5 60 2 10 5 58 2 18 Armature Inductance La mH 78 0 35 0 16 2 14 5 8 6 11 6 7 7 Mechanical Time Constant Tm ms 2 70 0 94 0 90 0 69 0 81 1 98 1 67 Electrical Time Constant Te ms 0 34 1 4...

Страница 239: ...re Current Imax A 10 30 15 50 22 35 15 50 22 71 27 50 42 00 Torque Constant KT N m A 1 68 2 04 2 11 1 02 1 04 1 14 1 13 Rotor Moment of Inertia JM Kg cm2 6 26 12 14 17 92 6 26 8 88 12 14 17 92 Armature Resistor Ra Ω 3 58 1 85 1 19 1 22 0 79 0 58 0 33 Armature Inductance La mH 18 3 12 1 8 4 6 7 4 7 3 8 2 1 Mechanical Time Constant Tm ms 1 19 0 81 0 72 1 09 0 98 0 80 0 70 Electrical Time Constant Te...

Страница 240: ... Current Imax A 14 88 21 20 28 50 42 00 8 94 15 00 Torque Constant KT N m A 0 72 0 74 0 74 0 75 1 29 1 41 Rotor Moment of Inertia JM Kg cm2 4 60 6 26 8 88 12 54 6 26 12 14 Armature Resistor Ra Ω 1 02 0 65 0 40 0 25 2 31 0 95 Armature Inductance La mH 5 06 3 58 2 40 1 62 10 80 8 78 Mechanical Time Constant Tm ms 1 39 1 12 0 97 0 81 1 33 0 89 Electrical Time Constant Te ms 4 96 5 48 6 00 6 57 4 68 9...

Страница 241: ...ent Imax A 39 00 58 50 74 10 98 80 152 00 170 00 Torque Constant KT N m A 1 27 1 24 1 23 1 26 1 21 1 22 Rotor Moment of Inertia JM Kg cm2 39 99 51 44 63 52 93 94 160 94 222 20 Armature Resistor Ra Ω 0 18 0 12 0 09 0 05 0 03 0 02 Armature Inductance La mH 2 89 1 98 1 52 1 02 0 80 0 50 Mechanical Time Constant Tm ms 0 69 0 60 0 56 0 49 0 48 0 37 Electrical Time Constant Te ms 16 12 16 81 17 24 18 96...

Страница 242: ...ture Current Imax A 59 80 86 30 109 50 151 00 Torque Constant KT N m A 0 83 0 84 0 83 0 82 Rotor Moment of Inertia JM Kg cm2 39 99 53 02 63 52 93 94 Armature Resistor Ra Ω 0 08 0 05 0 04 0 02 Armature Inductance La mH 1 48 0 89 0 68 0 43 Mechanical Time Constant Tm ms 0 70 0 62 0 56 0 51 Electrical Time Constant Te ms 18 75 16 54 17 46 18 00 Weight Standard W kgw 19 5 26 2 30 0 42 0 Insulation Gra...

Страница 243: ...t Imax A 7 74 13 08 17 34 26 7 Torque Constant KT N m A 2 06 1 80 1 76 1 78 Rotor Moment of Inertia JM Kg cm2 6 26 8 88 12 14 17 92 Armature Resistor Ra Ω 5 38 2 39 1 45 1 07 Armature Inductance La mH 23 12 8 96 5 89 Mechanical Time Constant Tm ms 1 32 0 97 0 865 0 93 Electrical Time Constant Te ms 4 28 5 02 6 18 5 5 Weight Standard W kgw 6 47 8 08 10 16 13 87 Insulation Grade Class B 130 Class F ...

Страница 244: ...57 2 Torque Constant KT N m A 2 39 2 43 2 19 2 17 Rotor Moment of Inertia JM Kg cm2 43 70 61 77 77 98 112 20 Armature Resistor Ra Ω 0 64 0 38 0 20 0 12 Armature Inductance La mH 14 94 9 34 5 00 3 19 Mechanical Time Constant Tm ms 0 75 0 60 0 48 0 44 Electrical Time Constant Te ms 23 45 24 51 25 63 26 82 Weight Standard W kgw 17 5 22 5 27 0 36 5 Insulation Grade Class F 155 Operating Ambient Temp T...

Страница 245: ...80 25 3 35 183 2 JSMA PL Series With Brake LC08AB H 0C 6 5 100 86 2 5 19 80 25 3 35 183 2 SCP5AB H 3 5 48 42 8 30 16 2 5 25 5 85 3 SC01AB H 3 5 48 42 8 30 16 2 5 25 106 8 SC02AB H 5 5 70 60 2 5 14 50 22 3 30 114 8 SC04AB H 5 5 70 60 2 5 14 50 22 3 30 132 8 Without Brake SC08AB H 5 5 90 80 2 5 6 19 70 30 3 40 139 SC01AB H 3 5 48 42 8 30 16 2 5 25 144 1 SC02AB H 5 5 70 60 2 5 14 50 22 3 30 147 3 SC0...

Страница 246: ... 110 6 58 163 8 MB20 9 145 130 4 2 5 6 22 110 6 58 213 8 MC20 9 145 130 4 2 5 6 22 110 6 58 184 8 MB30 9 145 130 4 2 5 6 22 110 6 58 263 8 MC30 9 145 130 4 2 5 6 22 110 6 58 213 8 MH30 13 5 200 180 3 10 35 114 3 3 2 79 254 MH44 13 5 200 180 3 10 35 114 3 3 2 79 283 MH55 13 5 200 180 3 12 42 114 3 3 2 113 297 MH75 13 5 200 180 3 12 42 114 3 3 2 113 382 MH110 13 5 235 220 3 12 42 200 4 116 352 MH150...

Страница 247: ... 218 3 MC10 9 145 130 4 2 5 6 22 110 6 58 203 3 MH10 9 145 130 4 2 5 6 22 110 6 58 268 3 MA15 9 145 130 4 2 5 6 22 110 6 58 318 3 MB15 9 145 130 4 2 5 6 22 110 6 58 238 3 MC15 9 145 130 4 2 5 6 22 110 6 58 218 3 MB20 9 145 130 4 2 5 6 22 110 6 58 268 3 MC20 9 145 130 4 2 5 6 22 110 6 58 238 3 MB30 9 145 130 4 2 5 6 22 110 6 58 318 3 JSMA PM JSMA PH Series With Brake MC30 9 145 130 4 2 5 6 22 110 6...

Страница 248: ...0 9 145 130 4 2 5 6 22 110 6 58 263 8 MH30 13 5 200 180 3 10 35 114 3 3 2 79 221 MH44 13 5 200 180 3 10 35 114 3 3 2 79 249 MH55 13 5 200 180 3 12 42 114 3 3 2 113 275 Without Brake MH75 13 5 200 180 3 12 42 114 3 3 2 113 330 MB10 9 145 130 4 2 5 6 22 110 6 58 218 3 MB15 9 145 130 4 2 5 6 22 110 6 58 238 3 MB20 9 145 130 4 2 5 6 22 110 6 58 268 3 JSMA PM JSMA PH Series With Brake MB30 9 145 130 4 ...

Страница 249: ...A 1 Appendix A Accessories ...

Страница 250: ...A 2 ...

Страница 251: ...A 3 ...

Страница 252: ...nd point voltage at the temperature of 23 3 2 Nominal Voltage 3 6V 3 Operating Temperature Range 40 85 4 Max Continuos Discharge Current 100mA 5 Structures Thiony chloride lithium anode acetylene black separator and stainless steel cell shell etc 6 Weight for reference 19 0g Installation When customers received the battery modules battery and casing has been installed properly please refer to the ...

Страница 253: ...ective cover the customers can find the two connectors and select one of them reference the attached manual which was in battery module for installation Another connector is reserved for replacing the battery that is in order to avoid power supply outage ...

Страница 254: ...B 3 d When the battery module is installed pay attention to installation marked on the drive as below e Installation completed ...

Страница 255: ......

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