Page 1
Connection and Debugging Manual
for All-digital AC Servo Driver
Page 2
Table of Contents
Import ant Safety Information .................................................................................................................................... I
Chapter I Installation ................................................................................................................................... 1
Outline Dimensions of the Servo Driver ............................................................................................................. 1
Installation Dimensions for the Servo Driver ........................................................................................................ 3
Installation Site ....................................................................................................................................................... 4
Direction and Space of Installation ....................................................................................................................... 6
Chapter II Overview of Functions ......................................................................................................................... 7
Basic Functions of MG
Type Se lection of the Servo Driver .................................................................................................................... 8
Chapter III Wiring .................................................................................................................................... 11
Noti ces..................................................................................................................................................................... 11
Wiring Requirements ................................................................................................................................. 11
Wiring Methods ........................................................................................................................................ 11
Typical Wiring ......................................................................................................................................... 13
Positio n Control (pulse type) ........................................................................................................................... 13
Speed Control ( a na log value) ................................................................................................................. 14
Torque C ont r ol (analog value) ................................................................................................................ 15
Wiring Diagram for Wire Saving Motor Encoder ................................................................................................... 16
Wiring Diagram for the Band-type Brake of the Servo Motor ...................................................................... 16
Chapter IV Interfaces ................................................................................................................................. 18
Definitions of Servo Control Power Supply and Heavy Current Terminal
Definitions of CN1 Interface and Control Signal Input/output ................................................................... 19
Definitions of CN2 interface and Encoder Input Signal ................................................................................ 27
Principle of the Input Interface for Switching Value .......................................................................................................... 29
Princi ple of the Output Interface for Switching Value...............................................… ................................. 30
Principle of the Input Interface for Pulse Value .............................................................................................. 32
Input Mode of Pulse ................................................................................................................................ 32
Princ ipe of the input interface of Analog Value .............................................................................................. 32
Princ ipe of Encoder Interface ............................................................................................................................. 34
CN1 Output Interface for Encoder Signal (from the driver to the upper computer)..................................................... 34
CN2 Input Interface for Encoder Signal (from the servo motor to the driver) ......................................................... 35
CN1 Output Interface for Z signal of the Encoder (from driver output to zeroing by the upper computer) ...35
Chapter V Display and Operation ............................................................................................................... 38
Operation Panel ........................................................................................................................................ 38
Components of Parameter Structure .................................................................................................................... 39
Status Monitoring Mode (DP - -) .................................................................................................................... 40
Parameter Modif icat ion Mode (PA--) ............................................................................................................... 43
Parameter Management Mode (EE--)
JOG Op
Speed Trial Run Mode (Sr- -) ....................................................................................................................... 44
Autom atic Zeroing Mode o f Analog Value (AU- -) ........................................................................................ 44
Autom atic Zeroing Mode of Enc oder (CO- -) ............................................................................................... 44
Open Lo op Operation Mode (OL- -)............................................................................................................... 46
erational Mode (Jr- -) ...................................................................................................................... 43
-1000 Ser ies of Servos .............................................................................................. 7
..................................
...................................................................................................... 43
................ 18
Page 3
Chapter VI Parameters .............................................................................................................................. 47
List of Parameters [PA Mode] ......................................................................................................................... 47
Detailed Explanation of Parameters ...................................................................................................................... 48
Chapter VII Failures and Diagnosis.................................................................................................................. 58
List of Alarms ......................................................................................................................................... 58
Troubleshooting ...........................................................................................................................................
Chapter VIII Debugging and Application ........................................................................................................... 63
Notices to Quick Debugging .................................................................................................................. 63
Position Control (Quick adjustment of parameters after power on) ......................................................................... 64
Speed Control (Quick adjustment of parameters after power on) ....................................................................... 64
Torque Control (Quick adjustment of parameters after power on) .................................................................. 65
Dynamic Electronic Application.............................................................................................................. 66
Debugging of Typical Problems .......................................................................................................................... 67
58
Page 4
III. roduct and Equipment Safety
●
Thi
s product is a high-vo
ltage hea
vy current product. Incorr
ect c
onn
ecti
on may
lead t
o d
amage to the
e
e
accidental injurie
s such as s
caldi
ng and wrench,
etc
.
II. ite Safety
I. Personnel Safety
Thi
s product is a high-vo
ltage hea
vy current product. Make sure that personal are within th
e
Important Safety Information
●
safety area of moving
● Improper oper
t i
s not
● I
●
product where there are combustible or corrosive gases; otherwise fire and explosion may be caused.
● I
otherwise fire and explosion may be caused.
● I
otherwise dangerous
allowed t
Thi
s product is a high-vo
t i
s not
allowe
t i
s not
allowed t
mechanism
ati
on may cause
o oper
ate
d to
electri
o use the product in the p
accident
s.
accident
, wire and
ltage hea
fy and use the product where combustible or corrosive ar
s such as
s such as
electri
vy current product. It is not
electric
electric arc
fy the product without following this manual.
lace
s with high humidity, moisture and
shock,
etc. ma
burn or
electric
allowe
y be caused.
shock,
d to
etc
electri
.
fy and use th
ticle
s drop
metal
powder
e
;
;
product.
● PE terminal must be conn
ground
e
d.
C
220V power supply is su
● A
dr
ive
r.
●
The
U, V and W of the product should be conn
t
hem with input power supply.
● Do not conn
inc
orr
ect c
product.
●Tighten
t
o power.
e
● Pow
● Do no
● It is not
ect the three
onn
ecti
on may
all terminal
r distribution and touching of the terminals are not
t touch the terminal
allowe
d to touch the motor and cables when the motor is in oper
ecte
d to a ground wire and make sure that the ground wire is r
itable
for this product. Do not conn
-phase outputs U, V and W of the product in an incorr
lea
d to motor r
s. The
material
s of
s within five (5) minutes after power down.
ecte
aci
ng, d
all matchi
ect a
n AC380V one to the servo
d with the motor. They are outputs. Do not conn
ect sequence; beca
amage t
o equipment, and overcurrent d
ng wires should be str
allowe
d when the driver is
ictl
y s
electrifie
ati
on in order to avoid
electe
amage t
d
acc
d.
eliabl
ect
ording
y
us
o th
I
Page 5
Remarks
It is hereby declared that :
●
2A/3A/5A/ shown in the manual or nameplate are the abbreviations for 20A/30A/50A.
II
Page 6
1.1 Outline Dimensions of the Servo Driver
Chapter I Installation
Figure 1.1 Outline Dimensional Drawings
for the Servo Driver of 30A/30A
1
Page 7
1.11 Outline Dimensions of the Servo Driver
Figure 1.2 Outline Dimensional Drawings
for the Servo Driver of 50A/75A
2
Page 8
1.2 Installation Dimensions for the Servo Driver
Figure 1.11 Installation Dimensions
for the Servo Driver of 30A/30A
3
Page 9
1.21
Installation Dimensions for the
Servo Driver
Figure 1.21 Installation Dimensions
for the Servo Driver of 50A/75A
4
Page 10
Installation Site
I.
To make sure that the servo driver works normally, it is necessary to ensure that the temperature
around t
he driver is below 50°C and that the relative humidity is below 90%. The long-term safe
working temperature should be below 40°C.
II.
The servo driver is subject to failures when used in a severe environment with corrosive gases,
umidity, metal powder, water or processing liquids. Therefore, the working environment
high h
should be fully taken into consideration during the use and installation.
III.
The vibration acceleration of the equipment which is directly or indirectly connected with the
servo driver should be below 0.5G (4.9m/S2) or less in order to ensure long-t
erm stable operation
of the s ervo driver.
IV.
The servo driver could be disturbed when it is disturbing other facilities at the same time, so
attention mu
st be paid to the wiring of heavy current and weak current during the installation of a
electric cabinet or complete equipment. The servo driver is unable to work normally and also
probably led to produce malfunction due to strong external disturbing signals or the serious effect
on the power cord of the servo driver and control signal. At the same time control equipment such
as a upper computer, etc. also cannot work stably under the disturbance of the servo driver due to
poor wiring. Pay attention to install a sound magnetic ring, a wave filter and an isolation
transformer, etc. at the source of the disturbance and in the places which are disturbed. Pay special
attention that the wire of control signal is subject to disturbance; therefore reasonable wiring and
shielding measures should be taken.
5
Page 11
Direction and Space of Installation
Servo Diver
Servo Diver
Servo Diver
Upward
ventilation
Upward
ventilation
I.
Pay attention to the direction of installation (See Figure 1.3).
II.
Pay attention to the spacing of installation (See Figure 1.3).
III.
Four (4) M5 bolts can fix the servo driver with a spring washer added.
IV.
The servo must be installed in a relatively closed space, with ventilation maintained in the
electric cab
inet and a filter screen installed at the vent to prevent the entry of dust. Clear the filter
screen periodically to prevent air flow from being blocked.
Figure 1.3 Direction of Installation
6
Page 12
Chapter II Overview of Functions
Basic Funct
ions of MG
-1000 Series of Servos
Type
Control power supply and main
circuit power supply
Temperature
Environment
Control mode
External I/O
Encoder feedback 10000p/r(standard); frequency division permissible (options)
Humidity No more than 90%( without condensation)
Air index No dust (conductive media such as metal powder, etc.) in the electric
Single phase or three phase AC 220V
Voltage fluctuation:-15-+10%, 50/60Hz
Working temperature: 0-55
Storage temperature: -40
cabinet
1. Position control 2. Speed control
3. Torque control 4. JOG operation
5. Four Internal speed control 6. Internal position control
7. Internal torque control 8. Position & speed control
9. Speed & torque control
1. Servo enable 2. Reset
3. Position deviation reset
4. Pulse, CCW, and CW disabled.
5. Position switching
6. Speed selection
7. Zero speed clamping
8. The second reset
9. Extended functions (options) such as orientation and permissible stop,
etc.
-1000 (20A/30A/50A/75A)
MG
0
C
0
C-800C
Communication mode 1. RS232(closed)
2. RS485 (closed)
Load inertia 5 times smaller than that of the motor
Monitoring function Speed, current position, command pulse accumulation, position deviation,
motor c urrent, operation status, input a nd output terminals, and Z pulse
signal, etc.
Protection function Overvoltage, overcurrent, overspeed, and incorrect feedback, etc.
Alarm function Alarms (LED flashing; red lamp on) are often given off when the servo
operates abnormally.
Gain adjustment
Adaptive motor See Tables 2.21, 2.22 and 2.23.
Gain adjustment can be carried out to match motor performance when the
motor operates or stops.
7
Page 13
Type Selection of the Servo Driver
(kW)
27
80ST-M01330
0.4
2.6
1.3
28
80ST-M02430
0.75
4.2
2.4
29
80ST-M03330
1.0
4.2
3.3
34
110ST-M02030LBF
0.6 4 2
35
110ST-M04030LBF
1.2 5 4
36
110ST-M05030LBF
1.5 6 5
37
110ST-M06020LBF
1.2 6 6
38
110ST-M06030LBF
1.8 8 6
44
130ST-M04025LBF
1 4 4
45
130ST-M05025LBF
1.3 5 5
46
130ST-M06025LBF
1.5 6 6
47
130ST-M07720LBF
1.6 6
7.7
130ST-M07725LBF
2.0
7.5
7.7
130ST-M07730LBF
2.4 9
7.7
49
130ST-M10015LBF
1.5 6
10
50
130ST-M10025LBF
2.6
10
10
51
130ST-M15015LBF
2.3
9.5
15
MG
-1000
(1) (2)
B
30 L
(3) (4)
(5)
(1) Series: Dealour’s common types of servo drivers are adaptable to multiple
specificati
ons of servo motors and industries with rich forms of database.
(2) Feedback elements: 1000 2500C/T incremental type and wiring saving type
17
encoders, S sine and cosine (2
17/216
(2
bit(131072/65536)), and B single-loop bus type (220bit(1048576))
bi/218bit(131072/262144)), M multi-loop bus type
(3) Control mode: B position control, C all-function position/speed/torque control,
and T special type PLC function with a touch screen
(4) IPM module specification: 15A and 20A are called 2A for short; 30A, 3A; and
50A, 5A and 75A.
(5) Main circuit voltage: L single phase or three phase 220V; H three phase 380V;
default 220V when this voltage is omitted.
Type Code
Applicable Driver
Applicable Motor
Powe
r
Rated Current
(A)
Rated Toque
(Nm)
MG-1000/30A
48
52 130ST-M12020LBF 2.4 10 12
Table 2.21 MG
-1000/30A
8
Page 14
Type Code
0
130ST-M07720LBF
1.6 6
7.7
1
130ST-M07725LBF
2.0
7.5
7.7
130ST-M07730LBF
2.4 9
7.7 2
130ST-M10015LBF
1.5 6
10
3 130ST-M10025LBF
2.6
10
10
4 130ST-M15015LBF
2.3
9.5
15
5 130ST-M15025LBF
3.9
17
15
6 150ST-M12030LBF
3.6
16.5
12 7
150ST-M15025LBF
3.8
16.5
15
8 150ST-M18020LBF
3.6
16.5
18
9 150ST-M23020LBF
4.7
20.5
23
10
150ST-M27020LBF
5.5
20.5
27
11
150ST-M12020LBF
2.4
10
12
12
180ST-M17215LBF
2.7
10.5
17
13
180ST-M19015LBF
3 12
19
14
180ST-M21520LBF
4.5
16
21
15
180ST-M27010LBF
2.9
12
27
16
180ST-M27015LBF
4.3
16
27
17
180ST-M35010LBF
3.7
16
35
18
180ST-M35015LBF
5.5
24
35
Applicable Driver
MG-1000/50A
Applicable Motor
Power
(kW)
Rated
Current
(A)
Rated Toque
(Nm)
19
180ST-M48015LBF 7.5 32
Table 2.22
MG
-1000/50A
48
9
Page 15
0
130ST-M07720LBF
1.6 6
7.7
130ST-M07725LBF
2.0
7.5
7.7
130ST-M07730LBF
2.4 9
7.7
2 130ST-M10015LBF
1.5 6
10
3 130ST-M10025LBF
2.6
10
10
4 130ST-M15015LBF
2.3
9.5
15
5 130ST-M15025LBF
3.9
17
15
6 150ST-M12030LBF
3.6
16.5
12
7 150ST-M15025LBF
3.8
16.5
15
8 150ST-M18020LBF
3.6
16.5
18
9 150ST-M23020LBF
4.7
20.5
23
10
150ST-M27020LBF
5.5
20.5
27
11
150ST-M12020LBF
2.4
10
12
12
180ST-M17215LBF
2.7
10.5
17
13
180ST-M19015LBF
3 12
19
14
180ST-M21520LBF
4.5
16
21
15
180ST-M27010LBF
2.9
12
27
16
180ST-M27015LBF
4.3
16
27
17
180ST-M35010LBF
3.7
16
35
18
180ST-M35015LBF
5.5
24
35
19
48
Type Code
1
Applicable Driver
-1000/75A
MG
Rated
Current
(A)
Rated Toque
(Nm)
Applicable Motor
Power
(kW)
180ST-M48015LBF 7.5 32
Table 2.23 MG-1000/75A
10
Page 16
Notices
Chapter III Wiring
●
The servo driver is a high voltage e heavy current product. Improper connection may cause
damage to pe
●
PE terminal must be connected to a ground wire and make sure that the ground wire is reliably
grounded.
AC 220V power supply is suitable for this product. Do not connect an AC380V one to the servo
●
driver.
●
The U, V and W of the product should be conn ected with the motor. They are outputs. Do not
connect t
●
Do not connect the three-phase outputs U, V and W of the product in an incorrect sequence;
because incorrect connection may lead to motor racing, damage to equipment, and ov
burnout to the product.
●
Tighten all terminals. The materials of all matching wires should be strictly selected according
ower.
to p
●Power distribution and touching of the terminals are not allowed when the driver is electrified.
rsonnel and equipment.
hem with input power supply.
ercurrent
●
Do not touch the terminals within five (5) minutes after power down.
●
It is not allowed to touch the motor and cables when the motor is in operation in order to avoid
accidental in
juries such as scalding and wrench, etc.
Wiring Requirements
●
A three-phase isolation transformer is preferred for power supply.
●
The required diameters of R, S, T and U, V, W, PE wires should be equal to and more than
2
1.5mm
●
●CN1 and CN2 are high-density signal plugs that need cables with a shielding layer.
●
and more than 2.
.
All power terminals should be cold-pressed ones, firm and reliable.
The wires for connecting PE te r minals should be yellow-green ones with a diameter equal to
5mm2.
Wiring Methods
●A three-phase isolation transformer is preferred for power supply.
11
Page 17
●The required diameters of R, S, T and U, V, W, PE wires should be equal to and more than
2
1.5mm
●
.
All power terminals should be cold-pressed ones, firm and reliable.
●CN1 and CN2 are high-density signal plugs, with both ends of the shielding layer grounded and
connected w
ith the housing.
●The wires for connecting PE terminals should be put through with the equipment housing ground
wire and c
onnected to the earth.
12
Page 18
Typical Wiring
Positi on Contr ol ( pulse type)
Figure 3.1 Wiring of Position Control
13
Page 19
Spe ed C ontrol (analog value)
Single ph ase or three phase AC 220V
External connect ion to braking resistors
DC12V-24V
Servo ena b le
Alarm reset
CCW driver disabled
CW driver disabled
Zero speed clamping/speed selection 1
Speed selec tion 2
Serv o r ea dy
Servo motor
Circuit breaker
Servo motor socket
Servo alarm
The second reset
Band -type brake tightness
Speed analog command (-10V-+10V)
Feedback to control unit
Signal ground wire encoder
Encoder Z signal used for equipment reset
Servo motor encoder socket
Figure 3.1 Wiring of Speed Control
14
Page 20
Torque C ontr ol (analog value)
(Circuit breaker)
Single phase or three phase AC 220V
External connect ion to braking resisto rs
DC12V-24V
Servo enable
Alarm reset
CCW driver disabled
CW driver dis abled
CCW tor que limit
CW torque limit
Servo motor
Servo motor socket
Servo ready
Servo alarm
Band -type brake tightness
Torque analog comman d (-10V-+10V )
Feedback to control unit
Signal gro un d wire encoder
Encoder Z signal used for equipment reset
Servo motor encoder socket
Figure 3.1 Wiring of Torque Control
15
Page 21
Wiring Diagram for Wire Saving Motor Encode r
Servo driver
Servo motor
Wire saving servo motor
encoder
Servo motor socket
Figure 3.4 Wiring Diagram for Wire Sav ing Motor Encoder
●
A wire saving encode r should be selected for servo motors below 80 series
●
A common incremental encoder should be selected for servo motors above 110
series(see F
adaptive mo
igure 3.2). Recover the automatic recognition of the driver when the
tor is delivered. It is not necessary to change parameters (see Page 64).
Wiring Diagram for the Band-type Brake of the Servo Motor
16
Page 22
Servo motor
Pin No.
Pin mark
Function Description
1
DC+
DC power supply positive pole DC24V +
2
DC-
DC power supply negative pole 0V
3
PE
Housing ground wire
MG -1000 servo driver
DC12V-
KA relay
Band-type brake c oil
DC12V-
Figure3.5 Wiring Diagram for Band -type B rake Motor
Table 3.1 Socket for S er vo Motor Band-type Brake
● It is required that the band -type brake braking power supply should be separated from the
upper computer and the DC power supply of the driver to prevent interference.
● The braking power supply for the band-type brake has p ositive and negative poles, which
should not be connected reversely to prevent short circuit.
● In order to improve braking effect and res po nse, a fly- wheel diode ma y be added at both ends
of the braking coil(pay attention to the positive and negative poles of the diode).
17
Page 23
Definitions of Servo Cont rol Power Supply and Heavy Current
Chapter IV Interfaces
R
V
d
d
S
T
PE
B1
B2
PE
Terminal
Mark
U
V
W
Signal Name
Control
circuit and
circuit
power supply
(sw
itche
d in via the iso
tra
nsformer)
Power supply ground wire
External connection t
br
aki
ng resistors
Output to the servo motor U, V and W on the servo terminals must correspond to the ones on
Motor ground wire
mai
n
R
, S and T can be conn
50HZ power supply. The control power supply for the driver an
lati
on
the
power supply for the
manne
r.
Note that It should not be conn
C
onn
ected to the equipment
the
workshop.
of
o
mall
y not used, b
Nor
Externally c
ith large inertia
w
the
servo motor without misp
c
onn
servo and motor could be d
Note that it should not conn
C
onn
onn
ecte
.
ecti
on, the motor w
ected to the PE
d braking resistors are used in case of a load
Function
ected to a signal
main circuit are designed in an integrate
ected t
housing and the power supply earth
ecause the
ill
puls
amage
ecte
for the housing of the servo motor.
-phase or three-phase 220
o U, V and W.
driver has a bu
lacement
ate
d.
d with R, S and T.
. In case of incorr
, the servo w
ilt-i
n resistor.
ill alarm
, and th
ect
e
18
Page 24
Definitions of CN1 Interface and C ont r ol Si g na l Input/output
Pin
Mark
Signal Name
Function
18
10
11
● When PA32 = 1, mode switching is effective.
12
● Used in combination with Parameter PA20. When FSL
Figure 4.1 Front Elevation of 36-core Plug Soldering Terminal of CN1 Interface
+24V
SON Servo enable
A-CLR
FSL CCW
Input
supply positive
Alar m
clearance/mode
switching
disabled
power
driver The servo motor is not allowed to rotate the terminal
Common end for
+12V-+24V power supply)
Enable terminal ：
When 0V is switched off, SON is OFF: The driver stops
and the motor is in free state.
When 0V is switched on, SON is ON: The driver works
and the motor is in locking state.
Commands can be receiv ed aft er enab ling for 40MS.
This signal cannot be switched on and off frequently and
used for startup and shutdown of the motor.
Alar m clearance /mode switching terminal:
When 0V is switched off, A-CLR is OFF and the alarm
device is in normal state or keeps an alarm state.
When 0V is switched on, A-CLR is ON and the alarm is
cleared.
counterclockwise.
● When Parameter PA20 = 0,
input
terminal (connected to
When 0V is switched off, FSL is OFF and the servo
motor can rotate counterclockwise.
When 0V is switched on , FSL is ON and the servo motor
is not allowed to rotate counterclockwise.
● Have the sa me function with a limit switch ; PA55 can
be set to normal open or normal close.
is 1, this function is shielded .
19
Page 25
13 FSR CW driver
is 1, this function is shielded .
PA26 , and PA27 .
command is res et to zero.
The servo motor is not allowed to rotate the terminal
disabled
14 CLE Deviation counter
reset
clockwise.
● When Parameter PA20 = 0,
When 0V is switched off, FSR is OFF and the servo
motor can rotate clockwise.
When 0V is switched on, FSR is ON and the servo motor
is not allowed to rotate clockwise.
● Have the sam e funct ion with a li mit switch ; PA55 can
be set to normal open or normal close.
● Used in combination with Parameter PA20. When FSR
Reset Terminal 1 of the p osition deviation counter:
● Under the mode of position control, namely when PA4
= 0,
When 0V is switched off, CLE is OFF and the counter
keeps displaying the value.
When 0V is switched in , CLE is ON and the counter
resets.
SC1 Ter minal 1 for
ZERO
selection
internal speed s
Zero
clamping
of
speed
Ter mi nal 1 for sele ction of interna l speed s:
● The mode of the internal speed when PA4 =1 and PA22
= 0:
Four types of internal speeds are selected via the
combination of SC1 (P in 14) and SC2(Pin 15) as well as
the make-and -break of 0V.
SC1 OFF, SC2 OFF : internal speed 1;
SC1 ON, SC2 OFF : internal speed 2;
SC1 OFF, SC2 ON: internal s peed 3;
SC1 ON, SC2 ON: interna l speed 4;
Four types of speeds can be modifi ed via PA24, PA25,
Reset t erminal for the ana l og value of speed command:
● The mode of the external analog speed wh e n PA4 = 1
and PA2 2 = 1:
ZERO is OFF when 0V is switched off, and the speed
command is an analog input value.
ZERO is ON when 0V is switched on, and the speed
20
Page 26
CCW
0-+10
rotation controls positive rotation .
positive ● External analog value control PA22=2 ; 0-+10V
RIL CCW torque limit During torque control, the motor is limited to rotate the
terminal clockwise.
When 0V is switched on, the value of Parameter PA38 is
effective; otherwi se it is ineffe ctive.
● During torque control, Parameter PA34 plays a
limiting role all the time.
21
Page 27
INH Command pulse
The command pulse disabled terminal:
disabled
SC2 Ter minal 2 for
selection
internal speeds
15
FIL
CCW
Torque
● The mode of external position contr ol when Parameter
PA4 = 0:
When 0V is switched off, INH is OFF and the comman d
pulse inp ut is effective.
When 0V is switched on, INH is ON and the comman d
pulse inp ut is disabled.
Ter mi nal 2 for s el ect ion of internal speeds:
●The mode of the internal speed when PA4 = 1 and PA22
of
= 0:
Four types of internal speeds (set via PA24 -PA27) are
select ed via t he comb ination of SC1 (Pin 14) and SC2
(P in 15) as well as the make -and-brea k of 0V.
SC1 OFF, SC2 OFF : internal speed 1;
SC1 ON, SC2 OFF : internal speed 2;
SC1 OFF, SC2 ON: internal speed 3;
SC1 ON, SC2 ON: interna l speed 4;
During torque control, the motor is limited to rotate the
CW
8 SRDY+
25 SRDY-
limit
0-+10
Reverse rotation
The
servo is
ready
output.
for
terminal counter clockwise.
When 0V is switched on, the value of Parameter PA38 is
effect iv e; o t her wis e it is ineffe ctive.
●During torque control , Para meter PA35 plays a limiting
role all the time.
●External analog value
controls forward rotation.
Example: Pin 8 is connected to +24V and Pin 25 to the
upper computer.
When the servo is in normal st at e, the upper computer is
able to receive the elect r ica l level of +24V.
When the servo alarms, +24V is dis conn ect ed from the
control PA22=2 ; 0-+10V
22
Page 28
upper computer.
switchin g can be done via Parameter PA57.
Example: Pin 25 is connecte d to 0V and Pin 8 to the
upper computer.
When the servo is in normal st at e, the upper computer is
able to receive the elect r ica l level of 0V.
When the servo alarms, 0V is disconnected from the
upper computer (normal close).
●Electrical level inversion or normal open/ normal close
23
Page 29
Pin Mark Signal Name Function
close switching c an be done via Parameter PA57.
numeric controls in the mac hine tool industry.
26 ALM+
27 ALM-
28 COIN+
29 COIN-
Servo
output
The
reset ( used for
Siemens)
alarm
second
Example: Pin 26 is connected to +24 V and Pin 27 to the
upper computer.
When the servo alarms, the upper comput er is able to
receive the ele ct rica l level of +24V.
When the servo is in normal st ate, +24V is disconnected
from the upper computer.
Example: Pin 27 is conne cted to 0V and Pin 26 to the
upper computer.
When the servo is in no rmal state, the upper computer is
able to receive the elect r ica l level of 0V.
When the servo alarms, 0V is disconnected from the
upper computer (normal close).
● Electrical level inversion or normal open/ normal
Example: Pin 28 is connected to +24V a nd Pin 2 9 to the
upper computer.
When positioning is done, speed is reached, or in zero
30 BRK+
31 BRK-
Positioning
done or speed
reached
Mechanical
brake
position , the upper computer is able to receive the
electrical level of +24V; otherwise +24V is
disconn ecte d from the upper computer.
Example: P in 29 is conn ected to 0V and Pin 28 to the
upp er computer.
When positioning is done, speed is reached, or in zero
position , the upper computer is able to receive the
electrical level of 0V; otherwise 0V is disconnected
from the upper computer.
● Electrical level inversion or normal open/ normal
witching can be done via Parameter PA57.
close s
● Primarily used for reset of Siemens 801 and 802
The output end of the band -type brake switch:
Example:
Pin 30 is con ne ct ed t o +24V and Pin 31 to
24
Page 30
● PA48 is used to set enabled delayed switching off.
(band -type the positive pole of the relay coil.
brake) ti ghtness After the motor is enabled, the coil of the intermediate
relay is a ble to re ceiv e the el ect r i ca l level of +24V;
otherwise +24V is disconnected from the relay.
Example: P in 31 is conn ect ed to 0V and Pin 30 to the
negative pole of the relay coil.
After the motor is enabled, the coil of the intermediate
relay is a b l e to recei v e the electrical level of 0V;
otherwise 0V is disconnected from the relay.
● Electrical level inversion or normal open/ normal
close switching can be done via Parameter PA57.
● PA47 is used to set delayed s witching on of the
band -type brake.
25
Page 31
Encoder ’s Z-phase signal is output by the open circuit of
encoder ’s Z-phase signal is output; otherwise CZ outputs
OFF. +>
I+> OA+>
2ρ
OA+>
3ρ
OB+>
4ρ
OB+>
5ρ
OZ+>
6+> OZ+>
7+> CZ+>
9ρ
GND+>
36+>
PE+>
Encoder's Phase
Aρ
Encoder
B+>
Encoder
Zρ
Encoder's
Z-phase signal
is output by the
open circuit of
the collecting
electrode. +>
Encoder's OV ρ
The ground wire
for the sl ielding
layer +>
’s Phase
’s Phase
The difference of ABZ signal of the encoder is output and
fed back by the driver to the upp er computer.
，
Us ed for setting to find out the zero p oint. There is or.ly
one Z-phase signal when the motor rotates for one 口rcle. •
the collecting electrode. CZ is ON (electrified) when the
Encoder
same ground wire with Pin 36
To be connected with the housing Improve 副itiinterfer ence by short cir cu 山ng PE with the digi:al
ground wire to ensure reliable grounding, according to
’s OV (the common ground wire
）. ’
+'
can share the
different upper computers. ρ
26
Page 32
Definitions of CN2 interface and Encoder Input Signal
Mark
Signal Name
Function
14,15,16,17
+5V
+5V power supply for the encoder
To provide power supply for the
18,19,20,21,22,23
0V
0V ground wire for the encoder
1
A+
A+ input for the encoder
To be connected to A+ of the servo
2
A
A- input for the encoder
To be connected to A- of the servo
3
B+
A+ input for the encoder
To be connected to B+ of the servo
4
B-
A- input for the encoder
To be connected to B- of the servo
5
Z+
A+ input for the encoder
To be connected to Z+ of the servo
6
Z-
A- input for the encoder
To be connected to Z- of the servo
7
U +
A+ input for the encoder
To be connected to U+ of the servo
8
U-
A- input for the encoder
To be connected to U- of the servo
9
V+
A+ input for the encoder
To be connected to V+ of the servo
10
V-
A- input for the encoder
To be connected to V- of the servo
11
W+
A+ input for the encoder
To be connected to W+ of the servo
12
W-
A- input for the encoder
To be connected to W- of the servo
Figure 4.2 Front Elevation of 26-core Plug Soldering Te rminal of CN 2 Interface
encoder (via shielded cables).
motor.
－
motor.
motor.
motor.
motor.
motor.
motor.
motor.
motor.
motor.
motor.
motor.
27
Page 33
26
PE
The ground wire for the shielding
layer
To be connected with the
housing. Improve antiinterference by short circuiting
P E with the digit al gr ound wire
to ensure reliable grounding,
according to different upper
computers.
28
Page 34
Principle of the Input Interface for Switching Value
Figure 4.3-a Input Interface for Switching Value
Servo controller
●
The input i nt erf a c e sh oul d be ex te rn al l y conne ct ed to a po w er suppl y of DC12V-24V with a
current equal to and more than 105MA.
●
Inverse c o nn e ct io n of th e posi ti v e an d neg ative poles may damage the driver and make it
unable to work normally.
Principle of the Output Interface for Switching Value
Figure 4.3-b Output Interface for Switching Value
Servo controller
●
The maximum output voltage is 25V and the maximum output current is equal to and less than
55MA.
29
Page 35
●
Inverse connection of the positive and negative poles may damage the driver and make it
unable to work normally.
●
The output load is a inductive component which should be inversely connected in parallel with
a fly-wheel diode (Make sure that the poles are properly connected; otherwise the driver will be
damaged. Inverse connection of the poles is equal to short circuit).
Principle of the Input Interface for Pulse Value
Figure 4.4-a Differential Output Mode of Pulse
30
Page 36
Input voltage Vcc
Series resistance R
12V
500Ω-820Ω
Servo controller
Servo controller
Figure 4.4-b Single-ended Output Mode of Pulse
● The differential output mode of pulse is relatively reliable, so it is suggested to
use AM26LS31 and the like that are similar to a RS422 line driver.
● The power supply is provided externally under the single-ended output mode and the working
frequency will lower. There are empirical data below:
24V 1.4K-2K
5V 80Ω-120Ω
31
Page 37
4.6.1 Input Mode of Pulse
Upp er computer
Servo driver
AS- or AT-
Input Mode of
Pulse
CCW Operation CW Operation
Parameter
Selection
Pulse + direction Parameter PA14=0
CCW pulse
Parameter PA14=1
CW pulse
AB-biphase
Parameter PA14=2
orthogonal pulse
Principe of the input interface of Analog Value
AS+ or AT+
Figure 4.5-a Interface for Analog Differential Input
32
Page 38
Servo driver
Potentiometer
AS- or AT-
Upper computer
Servo driver
AS+ or AT+
AS- or AT
Figure 4.5-b Interface for Analog Single-ended Input
AS+ or AT+
Figure 4.5-c Input Interface for Analog Differential Potentiometer
33
Page 39
Upper c omputer receiving
AS+ or AT+
Servo driver
Potentiometer
AS- or AT-
Figure 4.5-d Input Interface for Analog Single-ended Potentiometer
●
The input voltage of the analog value should not exceed the range of -10V-+10V; otherwise the driver wil l be
damaged.
●
The analog value has a deviation indeed, because wires and the interface circuit, etc, weaken and are interfered.
It is suggested t hat a cable with a shielding layer be used for connection with its both ends grounded. Parameter
PA49 can be used to set the threshold voltage (unit: rpm).
●The ana log value has a deviation indeed, so it must be adjusted. Parameter PA45 can be used to make
compensate for the deviation value.
Principe of Encoder Interface
4.8.1 CN1 Output Interface for Encoder Signal (from the driver to the upper computer)
Servo driver
Figure 4.6 CN1 Output Interface for Encoder
34
Page 40
●
The signal of the encoder passes the differential driver AM26LS31 and is not an non-isolated output.
●
The upper computer can receive the signal via AM26LS32 or a high-speed photocoupler.
CN2 Input Interface for Encoder Signal (from the servo motor to the driver)
Servo driver
器 Servo m ot or e ncoder
Figure 4.7 CN2 Input Interface for Photoelectric Encoder
CN1 Output Interface for Z signal of the Encoder (from driver output to zeroing by
the upper computer)
Upp er computer
Servo driver
Figure 4.8 CN 1 Output Interface for Z Signal of Photoelectric Encoder
●
The Z signal is a non-isolated signal which is output by the open circuit of the collecting electrode. The Z
signal of the encoder has conduction but no cut-off.
●
The Z signal should be received via a high-speed photocoupler.
35
Page 41
Operation Panel
Chapter V Display and Operation
Enter
The operation panel is comprised of six LED digital tube displays
and four
keys and , one red lamp
are used to display all kinds of statuses of the system and to set
parameters.
Operations are layered operations as follows:
to the back,exit and cancel of a layer;
refers to the advance, entry and confirmation of the hierarchy
and
refers to increasing or decreasing a sequence number or a value.
When the red indicating lamp is on, it means that there is an alarm; and the alarm is displayed on the
digital tube.
When the green indicating lamp , it means the motor is in enable working state.
●
When the decimal points at the lower right corner of the digital tube, it means a parameter is being
modified.
, and one green lamp, which
re
fers
Figure 5.1 Operation Panel
●
When the red indicating lamp Alm is on and the alarm number ‘Err--xx' is flashing, there is a driver
alarm. Cut off the power supply and find out the cause of the alarm.
38
Page 42
S
tat
us monitoring mode
Par
ameter modificati
on mode
Components of Parameter Structure
DP--
JR--
AU--
Encoder zeroi
ng mode
OL--
The first layer is used for mode selection. There are totally seven modes. Press ← to return the main menu.
Use
Press
←
↑
and ↓ to select a mode. Press
to the fir st layer.
PA--
EE
--
SR--
Enter to enter the second layer of a selected mode.
------
------
------
------
Par
ameter mana
Speed tr
ial
run mode
ement mode
g
to go back
C
O--
------
------
------
------
JOG oper
Analog value auto-zeroing
Open-circuit oper
ati
on mode
ati
on mode
39
Page 43
Status Monitoring Mode (DP- -)
Motor speed
Current position lo
wer 5 digit
Current position higher 5 digit
Position command lower 5 digit
Position command higher 5 digit
Position deviation lower 5 digit
Position deviation higher 5 digit
Motor torque (%)
Motor current(A)
Z pulse count
Current control mode
Command frequency
Speed command
Torque command
Rotor absolute position
Input terminal status
Output terminal status
Encoder input signal
Operation status
Alarm code
Table 5.2 Table of Monitoring
1. The input pulse value is a pulse that is magnified by an input electronic gear.
2. The unit of the pulse value is the unit of the internal pulse of the servo, 10000 pulses per revolution.
3. Display of Operation Statuses
―CN-OFF‖ means that the heavy current for the servo is not switched on.
―CN-CH‖ means that the heavy current for the servo is switched on, but enabling is not switched on.
―CN-ON‖ means that the heavy c urrent for the ser vo and the enabling are switched on and that the servo is in
operation state.
4. The absolute position of the rotor in one revolution refers to the position of the rotor relative to the stator in one
revolution. One revolution is a cycle with a range of 0-9999. The electronic gear ratio is not used in calculations.
5. The display of the input terminal status is shown in the following figure:
RIL
INH
SC2
FIL
CLE
SC1
ZEROSPD
RSTP
FSTP
ALRS
SRV-ON
Figure 5.2 Display of Input Terminal Status
40
Page 44
INH (command pulse disabled)
SC2 (speed selection 2)
FIL (CCW torque limit)
RIL (CW toque limit)
CLE (deviation counter reset)
SC1 (speed selection 1)
ZEROSPD (zero position clamping)
RSTP (CW driver disabled)
FSTP (CW driver disabled)
ALRS (Alarm clearance)
SRV-ON (servo enable)
(When strokes lighten and there is signal input, the input terminal is ON; when it goes out, the input terminal is
disconnected to OFF.)
6. The display of the output terminal status is shown in the following figure:
COIN
Retained
SCMP
ALM
SR
DY
Figure 5.3 Display of Input Terminal Status
(When strokes lighten and there is signal input, the input terminal is ON; when it goes out, the input terminal is
disconnected to OFF.)
Retained
COIN (positioning done) SCMP(speed reached)
ALM(servo alarm)
SRDY(servo ready)
7. The display of the encoder status is shown in the following figure:
41
Page 45
Encoder’s V-phase
Encoder’s U-phase
Figure 5.4 Status Display of Encoder Feedback Signal
(When strokes lighten and there is signal input, the encoder is ON; when it goes out, the encoder is disconnected
to OFF.)
Encoder’s U-phase
Encoder’s V-phase
Encoder’s W- phase
Encoder’s Z-phase
Encoder’s B-phase
Encoder’s A-phase
Encoder’s W- phase
Encoder’s Z-phase
Encoder’s B-phase
Encoder’sA-phase
42
Page 46
Parameter Modification Mode (PA--)
PA--1
PA--4 --Control mode s
electi
on
P
ress
parameter number. Press Enter to e nter a nd modify a p arameter. The decimal points at the lower right corner of the
digital tube will lighten when a parameter is being modified; and they will go out when Enter is pressed again.
Press
to enter the parameter modification mode ― PA-- . Press ↑ and ↓ to increase or decrease a
Ente
←
to r eturn.
PA--0 --Par
amete
r password 385 -- User password
Motor type code
-
--Stands for 15015 type motor
51
0 --Pos
Table 5.3 Operation of Parameter Modification Mode
iti
on contro
l
mode
Parameter Management Mode (EE--)
Press
parameter. Finding a menu that should be stored or restored and pressing Enter for more than 3 seconds will
make ―Finish‖ display, which means that the operation is successful and will be effective after power cut
off. ―Error--‖ will appear in case of failure or incorrect password.
to enter the parameter management mode ― EE-- ‖ . Press ↑ and ↓ to increase or decrease a
n
te
r
E
EE
--SET -- Store par
EE--R
D
--
Rea
EE—B
A
--
E—R
S
-- Restore bac
EE
--DEF –Restore default Enter – Press down for more than 3 seconds
d par
Bac
amete
r Enter –Press down for more than 3 seconds
amete
r Enter –Press down for more than 3 seconds
kup par
amete
r Enter –Press down for more than 3 seconds
kup
Ente
r –Press down for more than 3 seconds
Table 5.4 Operation of Parameter Management Mode
1. EE—SET write in parameter. The password for Parameter PA—0 should be 315. EE—SET is mainly used to
store a parameter permanently.
2. EE—BD backup parameter means writing parameters with better effect in current servo state in the EEPROM
backup area and EE—RS is used in combination of EE—BD.
3. EE—BD restore backup means re storing the backu p parameters in the backup area from EEPROM into a
parameter table.
es
4. EE—BD r
when the new adaptive motor is debugged.
When restorin
type code corresponding to the motor, and then restore the default.
tore default is used to restore a default in case of parameter confusion or unclear reasons, etc.
g a default, find the corresponding motor model, set the password for PA—0 to 385 and PA--1 to the
JOG Operational Mode (Jr- -)
Press Enter to enter the jog operation mode ―Jr--‖. Press Enter to enter jog operation mode ―J--‖. The jog
speed
is set via Parameter PA21.
43
Page 47
Ente
S -200
Finish
r
J 200
Jog mode
Jr--- --
Table 5.5 Operation of JOG Operational Mode
–
Speed Trial Run Mode (Sr- -)
Press Enter to enter the speed trial run mode ―Sr--‖. Press
speed command and motor direction. Press ↑ and ↓ to change the magnitude and plus/minus of a value.
J
Sr--- --
Table 5.6 Operation of Speed Trial Run Mode
og mod
e
Enter to enter the jog operational mode ―S--‖,
Ente
r
–
Automatic Zeroing Mode of Analog Value (AU- -)
I.
Zeroing of Speed Analog Value
Press
to enter the zeroing mode of speed analog value ―Start‖. After that, ―Finish‖ will be displayed and the
zero dr
PA39) can
to enter the analog value zeroing mode ―AU--spd
Ente
r
ift value will be automatically stored to PA45 (or PA39). Thereafter the zero drift value stored in PA45 (or
be also modified manu
ally a
nd then stored manu
‖ and press Enter again for more than 3 seconds
all
y.
Ente
AU--spd –
● Parameter PA49 can be used to set the threshold voltage (unit: rpm).
II.
Zeroing of Torque Analog Value
Press Enter to enter the analog value zeroing mode ―AU--trq‖ and press Enter again for more than 3 seconds to enter
the zeroing status of speed
will be automatically stored to PA45 (or PA39). Thereafter the zero drift value stored in PA45 (or
PA39) can
be also modified manu
Zeroi
ng of Speed Analog Value
Table 5.7a Operation of Zeroing Mode of Speed Analog Value
analog value ―Start‖. After that, ―Finish‖ will be displayed and the zero drift value
ally a
nd then stored manu
Zeroi
AU--trq –
Table 5.7b Operation of Zeroing Mode of Torque Analog Value
ng of Torque Analog Value
all
y.
r
S
ta
r
t
–
Ente
r
–
Automatic Zeroing Mode of Encoder (CO- -)
I. Automatic Zeroing of Encoder
ss Enter to enter the zeroing mode of the encoder ―CO--‖. Press Enter again for more than 3 seconds and
Pre
the automatic zeroing of the encoder will start, and ―Finish‖ will be display when the automatic zeroing is
finished.
44
Page 48
Auto
C
O-- –
Table 5.8 Operation of Automatic Zeroing Mode of Encoder
● The automatic zeroing of the encoder is mainly used to check the angle of Z pulse after the encoder for the servo
driver is installed.
matic zeroi
ng of encoder
Ente
Finish
r
–
Open Loop Operation Mode
Open Loop Operation
I.
Press Enter to enter the open loop operation mode ―OL--‖. Press Enter again for more than 3 seconds and the
open loop operation mode starts up and the motor rotates. After that ―Finish‖ will be display.
OL-- –
Table 5.9 Operation of Open Loop Operation Mode
● The open loop operation is used to preliminarily determine whether the servo driver has obvious quality
problems such as abnormal assembly of the bearing and the rotor, etc.
Open loop o
per
ati
on
Ente
–
r
Finish
46
Page 49
List of Parameters [PA Mode]
r/min
-3000-3000
100
r/min
-3000-3000
300
r/min
-3000-3000
-100
Arrival speed r/min
0-3000
500
Torque command input gain of analog value
0.1V/100%
10-100
50
User torque overload alarm value
% 50-300
200
User torque overload Alarm detection time
mS
10-30000
0
Reversion of torque input dire ct ion of analog
value
0-1
0
% 0-300
300*
% -300-0
-300*
Chapter VI Parameters
Parameter
No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
Parameter Name
Parameter password
Motor model
Software version No.
Initial status display
Control mode selection
Speed proportional gain Hz 50-500 150
Speed integral time constant mS 1-1000 20
Torque filter
Speed detection filter
Position proportional gain
Position feed-forward gain
Cut-off frequency of position feed-forward filter Hz 1~1200 300
Count down numerator of position command
Count down denominator of position command
Input mode for position command pulse
Reversion of the direction of positi on command
pulse
Positioningcompletion range
Position overproof detection range x100 pulse 0-30000 400
Position overproof incorrect and ineffective
Smoothing filter for position command 0.1mS 0-30000
Disabled input of Driver ineffective
JOG operation speed r/min -3000-3000 120
Selection of internal and external speeds
Maximum speed limit r/min 0-4000 3600
Internal speed 1 r/min -3000-3000
Internal speed 2(motor zeroing current)
Internal speed 3
Internal speed 4
Control mode switching permissible
Unit Range of Parameter Default
*
0-9999 315
*
0-52 50
*
*
0-21
*
0-6
%
20-500 100
%
20-500 100
1/S 1-500 40
Pulse 0-30000 20
%
0-100
*
1-32767
*
1-32767
*
0-2
*
0-1
*
0-1
*
0~1
*
0-2
*
0-1
*
*
98
0
0
0
0
1
1
0
0
0
0
1
1
0
34
35
Internal CCW torque limit
Internal CW torque limit
47
Page 50
36
Command direction signal filter factor
* 0-3
0
External CCW and CW torque limit
% 0-300
100
* -2000-2000
0
Acceleration time constant
mS
1-10000
100
Deceleration time constant
mS
1-10000
100
Alarm 15 shielded
* 0-1
1
Analog speed command gain
(r/min) / V
10-3000
300
Reversion of Analog speed command direction
* 0-1
0
Zero drift compensation for Analog speed
command
* -5000-5000
0
Analog speed command filter
Hz
0-1000
300
Setting of the delayed conduction of the bandtype brake when the motor is enabled.
×10mS
0-200
80
Setting of enable time delay when the band-type
brake of the motor is closed.
×10mS
0-200
0
Analog value voltage thr eshold value speed
control
r/min
0-3000
0
Speed limited during torque control
r/min
0-5000
3600*
Dynamic electronic gear effective
0-1
0
Count down numerator of the command on the
second position
1-32767
1
Binary system
0000-1111
0000
Higher 4 digit input terminal forced ON input
Binary system
0000-1111
0000
Binary system
0000-1111
0000
Binary system
0000-1111
0000
Control word for output terminal reversion
Binary system
0000-1111
0000
Time setting of Demonstration Mode 2
0.1S
1-30000
600
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
Command pulse signal filter factor
Zero drift com pens a tion f or analog value torque
command
*
0-3
*
*
1
53
54
55
56
57
58
Lower 4 digit input terminal forced ON input
Lower 4 digit input terminal reversion setting
Higher 4 digit input terminal reversion setting
48
Page 51
Detailed Explanation of Parameters
Parameter
No.
0
1
2
3
4
Parameter
Name
Parameter
password
Type code
Software
version No.
Initial status
display
Control mode
selection
a.
The user password is 315.
b.
The password for type code is 385 and only used for modifying Parameter
PA1.
c.
The password for the motor manufacturer is 510 and parameters are
effective online (not recommended).
a.
The type code is used to match different models of servo motors. Set the
servo according to Table 2.2 and then restor e the factory value, which wi ll be
effective only after power down.
b. Modify this parameter. Parameter PA0 should be 385.
a.
Only software version No. is displayed and read only.
b.
Where the version No. is an odd number, the servo driver is all-function
type one; where the version No. is even number, the servo driver is a pulse
type one.
c.
The all-function type has a function of analog value control, but the pulse
type hasn’t.
The initial display status of the digital tube when the driver is switched on
0: Display motor speed
1: Display the lower 5 digit at the current position
2: Display the higher 5 digit at the current position
3: Display the lower 5 digit of position command (command pulse
accumulation);
4: Dis play th e higher 5 digi t of position command (command pulse
accumulation);
5: Display the lower 5 digit of position deviation;
6: Display the higher 5 digit of position deviation;
7: Display motor torque;
8: Display motor current;
9: Display Z pulse count;
10: Display control mode;
11: Display position command pulse frequency;
12: Display speed command;
13: Display torque command;
14: Display the absolute position of the rotor in one revolution;
15: Display input terminal status;
16: Display output terminal status;
17: Display encoder input signal;
18: Display operation status;
19: Display alarm code;
0: Position control mode ;
1: Speed control mode:
a. The internal and external speeds are selected via Parameter PA22;
Detailed Explanation of Functions Range of parameter
[Default]
0-9999
[ 315 ]
0-9999
[ 38 ]
80-9999
[ 98 ]
0-19
[ 0 ]
0-6
[ 0 ]
49
Page 52
b. Four types of internal speeds are selected via the combination of Pin 14
6: Torque control mode
SC1 and Pin 15 SC2 in the CN1 interface.
SC1 OFF, SC2 OFF: internal speed 1. The rotational speed is set via PA24.
SC1 ON, SC2 OFF: internal speed 2.The rotational speed is set via PA25.
SC1 OFF, SC2 ON: internal speed 3.The rotational speed is set via PA26.
SC1 ON, SC2 ON: internal speed 4.The rotational speed is set via PA27.
2: Control mode for trial run;
3: JOG control mode;
The rotational speed is set via Parameter PA21.
4: Encoder zeroing mode
Used to adjust the zero point of the coding mask before the delivery of the
motor.
5: Open loop operation mode:
Used to detect the motor and the encoder.
5
6
7
8
Speed
proportional
gain
Speed integral
time constant
Torque filter
Speed
detection filter
a.
Increase the proportional gain of rigid set speed loop regulator.
b.
The greater the set value is, the higher the gain is and the greater the rigidity
is. The value of the parameter is determi ned accor ding to the specifi c model of
the servo dr iver system and load condition. Gener ally, the great er the load
inertia is, the greater the set value is.
c.
Set a greater value as muc h as possible without oscillation produced by the
system.
a. Set the time constant for the integral of the speed loop regulator.
b.
Able to inhibit motor overshooting. The smalle r the set val ue is, th e faster
the integral speed is. A too small set value easily produces overshooting, while
a too great set value slows the response.
c.
The set value is determined according to the specific model of the servo
driver system and load condition. Generally, the greater the load inertia is, the
greater the set value is.
a.
Used to remove noises and set the characteristic of the torque command
filter.
b.
Used to inhibit the resonance to be produced by the torque.
c.
The greater the value is, the greater the cut-off frequency is and the smaller
the vibration and noise produced by the motor is. Where the load inertia is
very great, the set value can be incr eased appropriately. A too gre at value
can slow the response and could lead to oscillation.
d.
The smaller the value is, the smaller the cut-off frequency is and the faster
the response is. Where a greater torque is needed, the set value can be
decreased appropriately.
a. Used to remove noises and set the characteristic of the speed detection filter.
b. The gre ater th e valu e is, the greater th e cut -off frequency is and the noise
produced by the motor is. Where the load inertia is very great, the set value
can be changed appropriately. A too grea t va l ue ca n sl ow t he response and
could lead to oscillation. The smaller the value is, the greater the cut-off
50-500
[ 150 ]
1-1000
[ 20 ]
20-500
[ 100 ]
20-500
[ 100 ]
50
Page 53
10
11
12
13
frequency is and the faster the speed feedback response is. Where a faster
speed response is needed, the set value can be decreased appropriately.
a.
Position
9
proportional
gain
Position
feed-forward
gain
Cut-off
frequency of
position
feed-forward
filter
Count
down a. Wh ere the program of the system makes lead screw move 5 mm (5000
numerator of pulses), the motor needs to rotate one revolution.
position
command pulse
Count down
denominator
of
position
command
Used to set the proportional gain of the position loop regulator.
b. The greater the set value is, the greater the gain is, the greater the rigidity is,
and the smaller the hysteretic value of position under the same condition of
frequency command pulse. However, A too great set value may lead to
oscillation or overshooting.
c.
The value of the parameter is determined according to the specific model of
the servo driver system and load condition.
a.
Used to set the feed-forward gain of the position loop.
b. When the feed-for ward gain i s set to 100%, i t mean s that the hysteretic
value of position is always zero under the command pulse of any frequency.
c.
Increase of feed-forwa rd gain of the pos iti on loop is abl e to i mprove the
high speed response characteristic of the control system, but it makes the
position loop of the control system unstable and easily produce oscillation.
d.
The feed-forward of the position l oop gene rall y i s zero unless a ve ry high
response ch aracteristic is needed.
a.
Used to set the cut-off frequency of the low-pass filter of the position loop
feed-forward value.
b.
The function of this filter is to increase the stability of composite position
control.
PA12/PA13=Pulse numerator/Pulse denominator= Actual feedback/Command
=The number of wires for the motor encoder (2500 wires) x the number of
frequency doublings (4) [ 1 ]
=10000/5000=2/1
1-500
[ 40 ]
0-100
[ 0 ]
1-1200
[ 300 ]
1-32767
[1 ]
1-32767
14
b. Where t h e m otor is connected directly to the lead screw with a pitc h of
6mm:
PA12/PA13=10/leadscrew pitch(6)=5/3
Note: a NC machine can be set more visually by referring to b.
Range of gear ratio: 1/100≤G≤100
Input mode Three types of pulse input modes can be set:
for position 0: pulse + sign
0-2
[ 0 ]
51
Page 54
command
Mainly for PC no acceleration and deceleration，not with exponential form of
Disabled input
pulse
15
16
17
18
19
20
21
22
23
24
25
26
Reversion of
the direction
of position
command
pulse
Positioning
completion
range
Position
overproo
f
detection
Position
overproof
incorrect and
ineffective
Smoothing
filter
position
command
of Driver
ineffective
JOG operation
speed
Selection
internal
external
speeds
Maximum
speed limit
Internal speed
1/zeroing
current
Internal speed
2
Internal speed When PA4=1 and PA22=0:
1: CCW pulse/CW pulse;
2: Two-phase orthogonal pulse input.
See Figure 4.4-c Pulse Mode on Page 28.
0: Default direction.
1: Direction reversion.
a.
When the value in the position deviation counter is less than or equal to the
set value during position control, positioning completion is COIN ON;
otherwis e it is OFF.
b.
The positioning completion range is a sp e ed arrival signal in other control
modes.
When the count value of the position deviation counter is more than the set
valu e of th is pa rameter under the mode of position con t r ol , t he se rv o driver
alarms.
0: Detection is effective.
1: The shiel ding position i s overproof, Param eter 4 al a rms and Parameter
PA17 is ineffective.
acceleration and deceleration．This parameter can be used for smooth filtering
for
of command pulse and optimize acceleration and deceleration.
This filter loses no pulses, but the execution speed is possible to be delayed.
0: The disable inputs of CCW and CW are effective.
1: The disable inputs of CCW and CW are ineffective.
The setting of forward and reverse speeds when the JOG mode is set
0: This parameter is got from an internal speed.
of
and
1: This parameter is got from an external analog value (-10V-+10V).
2: This parameter is got from an external analog value (0-+10V; Pins 14 and
15 are used to control forward and reverse directions.
The setting of the maximum speed li mit of the servo motor is related to the
servo motor. The maximum speed of the motor should be set according to the
adaptive model of PA1.
When PA4=1 and P22 =0: When Pin CNISC1 is OFF and Pin SC2 is OFF, this
parameter is internal speed 1.
a. When PA4=1 and PA22=0
When Pin CNISC1 is ON and Pin SC2 is OFF, this parameter is internal speed
2.
b. When PA4 is equal to 4, set the percentage of the motor zeroing current.
0-1
[ 0 ]
0-3000
[ 20 ]
0-3000
[ 400 ]
0-1
[ 0 ]
0-3000
[ 0 ]
0-1
[ 1 ]
-3000-3000
[ 120 ]
0-2
[ 1 ]
0-5000
[ 3600 ]
-3000-3000
[ 0 ]
-3000-3000
[ 100 ]
-3000-3000
52
Page 55
27
Used to set the over load value of the user t orque. Th i s value is the
28
29
30
3
When Pin CNISC1 is OFF and Pin SC2 is ON, this parameter is internal speed
3.
Internal speed
4
Arrival speed
Torque
command
input gain of
analog value
User torque
overload
alarm value
When PA4=1 and PA22=0 :
When Pin CNISC1 is ON and Pin SC2 is ON, this parameter is internal speed
4.
In non-position mode:
When the motor speed is more than this set value, COIN is O; otherwise COIN
is OFF.
This parameter is onl y used for deter m i nation of the motor sp eed and h a s no
directivity.
a.
Used to set th e proportional relation betwee n t he input volt age of analog
value torque and the actual operation torque of the motor;
b. The unit of the set value is 0.1V/100%;
c.
The default value i s 50, which correspon ds to 5V/100%, namely inputting
5V voltage will produce 100% rated torque.
①
per centage of the rated torque. T he limited val ues of t he torque have no
directivity and both forward and reverse limited values are protected.
② When PA31>0, motor torq ue >PA30 and the durat ion >PA31, the driver
alarms wit h an Alar m No. Err -29 and st ops rotat ing. After th e alarm, the
driver mu
st be electrified again to clear the alarm.
[ 300 ]
-3000-3000
[ -100 ]
0-3000
[ 500 ]
10-100
[ 50 ]
0-300
[200 ]
31
32
33
34
35
User torque
overload
Alarm
detection time
Control mode
switching
permissible
Reversion of
torque input
direction of
analog value
Internal CCW
torque limit
Internal CW
torque limit
The unit of the user torque overload detection time is millisecond;
When this time is zero, the alarm function of the user torque overload is
ineffective.
0: Pin 11(A-CLA) of CN1 is only effective for alarm clearance.
1: When P aramet er PA=0, Pin 11 (A-CLA) of CN1 is only effective for
switching of position and speed (default position effective).
When Parameter PA 4=1, Pin 11 (A-CLA) of CN1 is only effective for
switching of speed and torque (default position effective).
When Parameter PA 4=6, Pin 11 (A-CLA) of CN1 is only effective for
switching of torque and position (default position effective).
Used for reversion of the torque input polarity of analog value.
0: When the tor que comma nd of t he analog value is positive, the torque
direction is CCW;
1: When the speed command of the analog value is positive, the torque
direction is CW;
Used to set th e percentage of the internal torque limi t of the motor CCW
direction.
Example: If this parameter is set to two times of the rated torque, the set value
is 200;
This set value is limited and effective all the time.
Used to s et the percentage of the in t ernal t orque li m it of the motor CW
direction.
0-30000
[0 ]
0-1
[ 0 ]
0-1
[ 0 ]
0-300
[ 250 ]
0- -300
[ -250 ]
53
Page 56
36
When PA4=6, Pin 14 or Pin 15 of CN1 is connected with 0V:
0-300
torque limit
37
38
39
40
41
42
43
44
Example: If this parameter is set to two times of the rated torque, the set value
is 200;
This set value is limited and effective all the time.
Command When PA4=0, this parameter is effective during position control.
pulse signal The greater the set value is, the strong the anti-interference to the command
filter factor pulse is; at the same time, the smaller received pulse frequency could make the
pulse unable to be received.
Make adjustment to the advance and lag of the time sequence of the pulse and
the direction signal.
Command When PA4=0, , this parameter is effective during position control.
direction Make adjustment to the advance and lag of the time sequence of the pulse and
signal filter the direction signal.
factor
External
CCW, CW torque perce n tage limit, positive and neg at iv e effect at the same
time .
PA38 is less than the set values PA34 and PA35.
Zero
compensation positive and negative offsets.
for
value torque
command
command gain Example: ±10V voltage corresponds to positive and negative 3000revolutions
drift The zero drift compensation value to the analog value torque input is namely
analog
Acceleration The set value means the acceleration time of the motor from 0-1000r/min.
time constant
Deceleration The set value means the deceleration time of the motor from 1000-0r/min.
time constant
Alarm 15 0: Alarm 15 takes effect. 1: Alarm 15 is shielded.
shielded Enhance the anti-interference of the UVW signal of the motor encoder.
Analog value Used to set the proportional relation between the speed input voltage of analog
Reversion of Used for reversion of the speed input of Analog value.
Analog value 0: When the speed command of the analog value is positive, the speed
command 1: When the speed command of the analog value is positive, the speed
direction direction is CW;
Linear acceleration and deceleration characteristics are only used for the speed
control mode.
If the upper computer has acceleration and deceleration characteristics, this
parameter should be set to zero.
Linear acceleration and deceleration characteristics are only used for the speed
control mode.
If the upper computer has acceleration and d eceleration characteristics, this
parameter should be set to zero.
speed value and the actual operation speed of the motor.
and can be set to 3000/10 =300 r/min/v; namely 1V corresponds to 300
revolutions.
speed direction is CCW;
0-3
[ 1 ]
0-3
[ 0 ]
[ 100 ]
-2000-2000
[ 0 ]
1-10000
[ 100 ]
1-10000
[ 100 ]
0-1
[ 1 ]
10-3000
[ 300 ]
0-1
[ 0 ]
54
Page 57
45
Setting of the
When the maxi mum value of this parameter is 500, the band-type brake is
0-500
delayed
conduction of
delayed for 5 seconds (default 0.8 s).
[ 80 ]
the band-type
This paramet er mea ns the ti me f rom enabling the motor to BRK+ and BRK-
brake
when
the mot or is
delayed conduction of the band-type b rake when the diver is normally
enabled.
Setting
of
When the maxi mum value of this parameter is 500, the band-type brake is
0-500
the
enable
time
delay
delayed for 5 seconds (default 0.8 s).
[ 0 ]
when
the
This parameter means the t ime from disconnection of BRK+ and BRK- to
band-type
brake of the
enabling delay when the diver is normally electrified. The band-type brake is
motor
is
[ 0001 ]
[ 0010 ]
[ 0100 ]
46
47
48
Zero
compensation positive and negative offsets.
for
value
command See Table 5.7a on Page 41.
drift The zero drift compensation value to the analog speed torque input is namely
Analog This parameter is automatic a lly modified and stored during the automatic
speed zeroing of the analog value.
Analog speed
command The greater the set value, the faster the response speed to the analog value of
This filter is a low-pass filter to the speed input of the analog value.
filter the speed input is and the greater noise is; the smaller the set value, the slower
the response s peed to the analog value of the speed input is and the smaller
noise is;
electrified. The band-type brake is not conducted during alarm.
-5000-5000
[ 0 ]
0-1000
[ 300 ]
49
50
51
52
53
closed.
Analog value
voltage
threshold
value speed
control
Speed limit
during torque
control
Dynamic
electronic gear
Count down When INH termi na l is OFF, the input electronic gear is No.12/No.13; when
numerator of INH terminal is ON, the input electronic gear is No.54/No.13.
the command
on the second
position
Lower 4 digit
input terminal
forced ON
input
not time delayed during alarm.
Used to set the threshold values of positive and negative going voltages of the
analog value during speed control.
This parameter is the maximum speed limit during torque control.
Note: Idle load easily leads to overspeed.
0: CN1 interface and the function (command pulse disabled) of input terminal
INH are effective.
1: CN1 in terface a nd the function (dynamic electronic gear ) of i nput terminal
INH are effective. When INH terminal is OFF, the input electronic gear
PA12/PA 13; when INH terminal is ON, the input electronic gear is
PA52/PA13.
ONs and OFFs of the following functions are performed using the changes of
Parameters 0 and 1 but without using an external circuit.
SON
：servo enable
A-CLR
:Alarm clearance；
FSTP:CCW driver disabled；
[ 0 ]
1-5000
[2500 ]
0-1
[ 0 ]
0-32767
[ 1 ]
0000-1111
[ 0000 ]
55
Page 58
RSTP:CW driver disabled
[ 1000 ]
SON: Servo enable:
A-CLR: Alarm clearance
FSTP: CCW driver disabled
RSTP: CW driver disabled
[ 0001 ]
[ 0010 ]
[ 0100 ]
[ 1000 ]
54
55
56
57
58
Higher 4 digit CLE/SC1/ZEROSPD:
terminal Deviation counter reset/speed selection 1/zero speed clamping: [ 0001 ]
forced ON INH/SC2: command pulse disabled/speed selection 2 [ 0010 ]
input FIL: CCW torque limit [ 0100 ]
RIL: CW torque limit [ 1000 ]
Lower 4 digit To realize the reversion of the functions using the changes of Parameters 0 and
input terminal
reversion SON: servo enable
Higher 4 digit To realize the reversion of the functions using the changes of Parameters 0 and
input terminal 1 (namel y t he reversi on of the or iginal external switch input circuit; normal
logic open changes to normal close and normal close changes to normal open).
reversion
terminal logic
reversion open changes to normal close and normal close changes to normal open).
Time setting Used to set the high-speed ageing time of the servo motor (unit: 0.1minute) in
of demonstration mode 2.
Demonstration
Mode 2
1 (n amely the reversi on of the or iginal external switch circuit input; normal
logic open changes to normal close and normal close changes to normal open).
[ 0001 ]
A-CLR: Alarm clearance
FSTP: CCW driver disabled
RSTP: CW driver disabled
CLE/SC1/ZEROSPD: deviation counter reset
Speed selection 1/zero speed clamping; [ 0001 ]
INH/SC2: command pulse disabled/speed selection 2; [ 0010 ]
FIL: CCW torque limit
RIL: CW torque limit
Output To realize the reversion of the functions using the changes of Parameters 0 and
1 (n amely the reversi on of the or iginal external switch input circuit; normal
SRDY: servo ready; [ 0001]
ALM: servo alarm; [ 0010 ]
COIN: positioning completed/speed reached; [ 0100]
BRK: motor band-type brake; [ 1000 ]
[ 0010 ]
[ 0100 ]
[ 1000 ]
[ 0100 ]
[ 1000 ]
0000-1111
[ 0000 ]
0000-1111
[ 0000 ]
0000-1111
[ 0000 ]
0000-1111
[ 0010 ]
1-30000
[ 600 ]
56
Page 59
Remarks
It is hereby declared that:
●
PA-59 can reach PA-299 at most in default in the parameter
structure
password
manufacturer
of
of
-1000 series of servo drivers. The internal super
MG
the manufacturer or the password of the cooperation
of
the servo motor should be input.
57
Page 60
List of Alarms
1
Overspeed
2
Main circuit overvoltage
3
Main circuit undervoltage
4
Positive overproof
5
Motor overheat
6
Motorstalling
7
Driver disablement abnormal
8
Position deviation counter overflow
Encoder failure
10
Software failure
12
Overcurrent
13
Overload
14
Brake failure
16
Motor thermal overload
17
Speed response failure
19
Hot reset
20
23
User torque overload alarm
30
Encoder Z-pulse loss
31
Encoder UVW signal broken
32
Encoder UVW signal interference
Chapter VII Failures and Diagnosis
Alarm No. Alarm Name
9
11
15
29
IPM module failure
Encoder count incorrect
EEPROM failure
Housing electric leakage failure
(Table 7.1)
Failure Diagnosis
The speed of the servo motor exceeds the set value.
The voltage of three-phase or two-phase power supply is too high or the brake
fails to work.
The voltage of three-phase or two-phase power supply is too low.
The value of the position deviation counter exceeds the set value and or the
voltage is too low.
The temperature of the motor is too high.
The motor is jammed and unable to rotate freely, or the load is too great.
CCW and CW has no input or Parameter Pa20 is not 1.
The absolute value of the value of the position deviation counter exceeds 230.
The signal of the encoder is incorrect.
The chip of the circuit board fails.
IPM intelligent module fails.
The current of the motor is too great.
The driver and the motor overloads (instantaneous overcurrent ) and are unable
to rotate freely.
The braking resistor or circuit fails.
Encoder count abnormal.
The electric thermal value of the motor exceeds the set value.
Speed error is too great for a long time.
The system is hotly reset.
EEPROM incorrect.
External short circuit or the motor leakage
The load of the motor exceeds the value and duration set by the user.
Encoder Z-pulse incorrect.
Encoder UVW signal is incorrect or not matched to the encoder.
All-high electrical level or all-low electrical level exists in UVW signal.
58
Page 61
Troubleshooting
Replace the driver.
Check whether internal enable
Check the wire of the motor.
●Encoder Position 0 deviation
Motor encoder zeroing
●
The parameters of the servo incorrect
Restore the parameters
During
the
●
Motor connector short circuited
Check that there is no water in the
●Command speed of too fast
★Reduce the command speed.
●Acceleration/decelerationunstable
Adjust the acceleration/deceleration
●Load too great
★Reduce the load.
2
Main circuit
Power on
●
Power supply voltage too high
★Reduce the voltage.
●
Power supply waveform abnormal
★Replace the power supply.
●
Servo dri ver failure
Replace the servo driver.
In operation
●Circuit board failure
Replace the servo driver.
●
Braking ci rcuit failure
★Check the braking resistor.
3
Main circuit
Being enabled
●
Main power supply voltage too low
★ Replace the power supply.
●Circuit board failure
★Replace the servo driver.
●Soft start circuit failure
★Replace the servo driver.
In operation
●
tran sformer capacity insufficient
★Increase the transformer capacity.
●Power supply wire loose
★ Tighten wiring terminals
●Circuit board failure
★Replace the servo driver.
4
Position
In operation
●
Command speed too faster
★Reduce the command speed.
●
Input voltage too low
★ Check R/S/T power supply.
●
Parameter PA17 too small.
★
Increase the
parameter
●Wire loose
★ Check and tighten the wire.
5
6
Motor overheat
Motor stalling
Power on
In operation
●
Motor damaged
★ Replace the motor.
●
Sensor wire broken
●Motor power too small
★Check the wire and replace the
★ Replace the current motor by a
In operation
●
Motor interface short circuited
Take waterproof an d dustproof
●
Servo parameters incorrect
Match a right motor model.
●transmission partially jammed
●Load too great
●Motor failure
(Table 7.2)
Alarm
No.
Alarm Name Operation
Status
1
Overspeed Power on ●Dri ver or motor failure
●Check parameters
Being enabled ●Short circuit between motor and
UVW
operation of the
motor
Cause Solution
★
★
★
★
★
★
motor connector.
★
constant.
overvoltage
undervoltage
overproof
★
★
appropriately.
sensor.
high-power motor.
★
measures.
★
★ Disconnect the mechanical part.
★ Reduce the load
★Replace the motor.
59
Page 62
7
PA20, CW and CWW wires
Check the load.
Reduce the speed of the upper
Connect the wire correctly.
The encoder is a fragile article and
Shorten the wire or replace the
Tighten the CN2 connector.
Replace the cable.
Update the software.
Find out the interference and replace
Check the wire and replace the
Check the wire and replac e the
Check the wire and prevent
Replace the motor.
Check the wire and replace the servo
Replace the current motor by a
Replace the servo driver.
Reduce the load.
Check Mechanical transmission
Check the cable.
Ensure that pow er supply for the
Replace the servo.
Check the wire of the braking
Prolong
the
Disable
abnormal
8
Position
9
10
11
12 Overcurrent Power on or in
13 Overload Power on
14 Brake failure Power on ●Circuit board failure
deviation
counter overflow
Encoder failure
Software failure
IPM
failure
module
Power on
In operation
Power on ●Encoder wiring incorrect
In operation
Power on
Power on ●Circuit board failure
In operation
operation
In operation
In operation
●
Check parameters and wires
●
Motor stalling
●
Command frequency abnormal
●Wiring incorrect
●Encoder damaged
●
Encoder 5V voltage low
●
CN2 connector contact poor
●Hidden trouble exists in cable faulty
welding.
●soft waredownl oad mismatching
●The chip of the circuit board failure
●
Short circuit between U, V and W of
the motor
●
Motor failure
●
Poor connection to power supply
●
Motor damaged
●Short circuit between U, V and W
●Overload
●
The motor is damaged and water has
entered the motor.
●Circuit board failure
●
Mechanical load too great
●Mechanical transmission not freely
●Short circuit between U, V and W
●The band-type brake fails to loosen.
●Braking resistor damaged
●Braking capacity insufficient
★
★
★
computer.
★Check the wire and connect the
shielding layer.
★
★
should be replaced.
★
driver.
★
★
★
★
the driver.
★Replace the servo driver.
★
motor.
★
motor.
★
interference.
★
★
driver.
★
high-power motor.
★Replace the motor.
★
★
★
parts.
★
★
band-type brake is stable.
★
★
resistor.
★
60
Page 63
acceleration/decelerationtime.
Reduce the mechanical inertia.
Check the wiring and replace the
5V voltage should be stable.
Adjust the number of wires
Restore the factory value.
Add lubricant and reduce load.
Reduce load; start/stop are smooth.
Adjust parameter
position
Adjust the acceleration/deceleration
Check power supply and wiring.
Check the wiring or replace the
Check Parameters PA30 and PA31.
Readapt the motor again.
Replace the encoder.
Check the weld line.
Shorten the wire and reduce
Well ground the shielding layer.
Check the weld line.
Shorten the wire and reduce
Check the encoder model.
Check the weld line.
Shorten the wire and reduce
Well ground the shielding layer.
★
★Replace the encoder.
★
encoder.
★
★
corresponding to the parameter.
★
★
★
★
feed-forward.
★
time.
★
★Restore the parameter and replace
the servo.
★
motor.
★
★
★ Disconnect the load and try again.
★
★
★
attenuation.
★
★Replace the encoder.
★
★
attenuation.
★Well ground the shielding layer.
★Replace the encoder.
★
★
★
attenuation.
★
15
Encoder
incorrect
t
16
Motor
therma
l
overload
17
Speed response
failure
19 Hot reset In operation
20 ROM alarm In operation
Electric leakage
23
failure
29 Torque
30
31
32
insufficient
Encoder Z-pulse
loss
Encoder UVW
signal incorrect
Encoder
signal
misplacement
In operation
coun
Power on
In operation
In operation
In operation ●Short circuit or motor leakage
In operation
In operation ●Z-pulse doesn’t exit.
In operation ●UVW pulse doesn’t exit.
UVW
In operation ●UVW pulse doesn’t exit.
angle
●Mechanical inertia too great
●
Encoder damaged
●Encoder wiring incorrect
●
Encoder power supply unstable
●The number of encoder wires
incorrect
●
Servo parameter incorrect
●Mechanical transmission not freely
●Overload time long
●
Long-time error too great
●Start/start time too short
●
Power suppl y unstable
●
Parameter storage alarm
●
Set t orque exceeded
●
Check the model selection of the
motor.
●
Mechanical overload
●Cable weld line incorrect
●5V Voltageunstable
●Poor shielding leads to interference.
●Cable weld line incorrect
●5V Voltageunstable
●Poor shielding leads to interference.
●Encode r model incorrect
●Wel d line misplacement
●5V Voltageunstable
●Poor shielding leads to interference.
● Where the Alm red lamp is on and the Alarm ―Err--xx‖ in the digital tube flashes, the alarm is a driver alarm.
Cut off the power in time and find out the cause of the alarm.
61
Page 64
Notices to Quick Debugging
Chapter VIII Debugging and Application
I.
Confirm that wiring is correct.
● R, S, T and U, V,W should not be connected reversely and loosely.
● Check whether the input voltage is three-phase 220V or single-phase 220V.
● Check that Pin 18 in CN1 interface is correctly connected with +24V and that Pins 36 and 9 in CN1
interface are correctly connected with 0V. Poles should not be connected reversely.
● Check that +5V in CN2 interface is correctly connected. Poles should not be connected reversely.
● Check whether the cable for the motor is short circuited or grounded.
● The wiring for the same motor should correspond to the same driver.
II.
etermine Energizing Sequence.
The heavy current and control electricity of
●
● If the brake of the band-type brake motor is not controlled by the servo, the brake should not be
electrified until the servo is enabled for more than 1 second. Only in this way can the posi
precision and safety of the equipment be guaranteed.
Due to integrated design of the heavy current and control of
●
power-down delay discharge, the interna l heavy current is imm ediately cut off after power supply is
cut off and the delay discharge of display and control circuits automatically cuts off after several
seconds.
For successful use of
Control circuit and
main circuit power supply
Servo
alarm output
Servo ready
Serv
for output (SRDY)
o
enable (SON)
Power
down
ALM
No
tready
Failure to
-1000 series of servos are electrified at the same time.
MG
-1000 series of servos and adoption of
MG
-1000 series of drivers, please carefully read the sequence diagram below:
MG
1s
10
enable
ms
10
Power on
No alarm
Ready
ms
enabled
tion
r current
Moto
r band-type brake
Moto
Not electrified (free state)
ut power (the brake tight)
witho
Figure 8.1 Sequence Diagram for Energizing and Alarm
1s
Power
on (motor locked)
with
power (the brake loose)
63
Page 65
–-
PA-10 –-
Position Control (Quick adjustment of parameters after power on)
Example: AMG-1000/3Adriver matches a 130ST-M15015 motor (position control).
1. Make ensure that the three-phase 220V voltage between R, S and T is correct after power on.
2. Do not connect the servo enable signal temporarily. Check whether there is any alarm and observe the
red lamp (ALM). If the red lamp is not on, the operation is normally and you can go to the next step.
3. Start the adaptation of parameters.
a.
Enter the parameter modification mode to change PA-0 into ―385‖ password and then
change Parameter PA-1 into ―51‖ corresponding to the motor type code (see Table 2.21 on
Page 10).
b.
Enter the parameter management mode ―EE--‖, transfer to ―DP-def‖ and then press down
Enter for three seconds. When ―Finish‖ appears, it means the default value has been restored
according to the current adapted motor and will be effective only after power down.
c.
After power on again, check several key parameters (See Table 8.1 below) of position control and
confirm that they are correct; the upper computer can s end out an enable signal (or internal enable)
and send out an pulse after the green lamp (RUN) is on. Observe the dynamic effect of the motor,
appropriately modify the gain and adjust the characteristic of the motor.
Control mode
PA--4 –-
PA-12 --
PA-13
PA-20
PA--9 –- Pos
Elect
ron
Elect
ronic gear denominator
Driver enable ineff
–-
Speed proportional gain
-
Speed integral time constant
-Torque filter
- Speed d
iti
ti
Pos
i
Table 8.1 Adjustment of Key Parameters of Position Control
ic
gear numerator
ective
on f
ilte
etecti
on proportional gain
o
n Feed-forward gain
r
Factory value =0
Factory value =1
Factory value =1
Factory value =1
Factory value =150
Factory value =20
Factory value =100
Factory value =100
Factory value =40
Factory value =0
Speed Control (Quick adjustment of parameters after power on)
Example: A MG-1000/3A driver matches a 130ST-M10015 motor (speed control)
1. Confirm that the three-phase 220V voltage between R, S and T is correct after power on.
2. Confirm that the wiring of the differential input of the speed analog value or the single-ended input is
64
Page 66
correct.
3. Do no
4. Start the adaptation of parameters.
t connect the servo enable signal temporarily. Check whether there is any alarm and observe the red lamp
(ALM). If the red lamp is not on, the operation is normally and you can go to the next step.
a.
Enter the parameter modification mode to change PA-0 into ― 385 ‖ password and then change
Parameter PA-1 into ―49‖ as the motor type code (see Table 2.2 on Page 8).
b.
Enter the parameter management mode ―EE--‖, transfer to ―DP-def‖ and then press down Enter
for three seconds. When ―Finish‖ appears, it means the default value has been restored according to
the current adapted motor and will be effective only after power down.
c.
After power on again, check several key parameters (See Table 8.2 below) of speed control and
confirm that they are correct; the upper computer can send out an enable signal (or internal enable), and
send out an analog signal after the green lamp (Run) is on and after automatic zeroing. Observe the
dynamic effect of the motor, appropriately modify the gain and adjust the zero drift value.
Control mode
isablement ineffective
Driver d
Internal speed command selection
Acceleration time constant
Deceleration time constant
Analog
speed command gain
Analog
speed zero drift compensation
Table 8.2 Adjustment of Key Parameters of Speed Control
Set to 1
Factory
Set as required
Set as required
Set as required
value=1
Set to 1
Set as required
Torque Control (Quick adjustment of parameters after power on)
Example: AMG-1000/3A driver matches a 110ST-M06030 motor (torque control).
1. Conf
irm that the three-phase 220V voltage between R, S and T is correct after power on.
2. Confirm that the wiring of the differential input of the torque analog value or the single-ended input is
correct.
3. Do not connect the servo enable signal temporarily. Check whether there is any alarm and observe the red
lamp (ALM). If the red lamp is not on, the operation is normally and you can go to the next step.
4. Start the adaptation of parameters.
a.
Enter the parameter modification mode to change PA-0 into ―385‖ password and then change Parameter
PA-1 into ―38‖ corresponding to the motor type code (see Table 2.2 on Page
8).
b.
Enter the parameter management mode ―EE--‖, transfer to ―DP-def‖ and then press down Enter
for three seconds. When ―Finish‖ appears, it means the default value has been restored according to
the current adapted motor and will be effective only after power down.
c.
After power on again, check several key parameters (See Table 8.2 below) of torque control
and confirm that they are correct; the upper computer can send out an enable signal (or internal enable),
and send out an analog value signal after the green lamp (RUN) is on and after automatic zeroing.
Observe the dynamic effect of the motor, appropriately modify the gain and adjust the zero drift value.
65
Page 67
Set to zero
--
Elect
ronic gear numerator
PA--4 --
—
--
Set to 6
Set as required
PA--4
PA--20--Driver disab
PA-40 -- A
PA-41 -- D
PA-43 -PA-45 --
Control mode
--
ccelerati
ecelerati
Analog speed co
Analog speed zero drift compens
Table 8.3 Adjustment of Key Parameters of Torque Control
lement ineffecti
on
time c
onstant Set as required
on
time c
onstant
mma
ve F
nd gain
act
ory value=1
Set as required
S
ati
on
et a
s required
Dynamic Electronic Application
● Mainly used for application of position control.
●Dynamic electronic application
Dynamic electronic application refer s to dynamically swi tching the electr onic gear proportion via the
make-and-break of the i
● It is mainly reflected on the limit of the maximum output frequency of the upper computer. When the
proportion value of the electronic gear is very s mall
not be reached. However, in order to reach the maximum speed, the proportion value of the electronic gear
of the upper computer is very great at this time. Low position resolution can affect transmission precision.
(May appear system two microns instructions, system to send a pulse). In order to improve speed and
transmission precision, multiple electronic gears with different gear ratios are added for switching so as to
achie ve better effect.
● Example: In the application of CNC machines, set the first electronic gear ratio ―1/1‖ ―PA12/PA13‖,
the sec ondelectronicgear ratio―10/1‖―PA52/PA13‖.
nput terminal during the operation of the servo driver.
, pulse resolution is high and the maximum speed can
……………….
G91 G01 X 10 F100 // The first electronic gear ratio is 1:1, it is 10 mm.
M 16 // PLC for Code M of the NC machine outputs a point to make INH have a signal.
G91 G01 X10 F100 // The second electronic gear ratio is 10:1, it is 100 mm.
M17 // PLC for Code M of the NC machine closes the INH signal.
M30 // Program ends.
Control mode
PA--20
PA-12
PA-13
PA-52
Driver disab
Elect
ron
--
Numerator of the second
Table 8.4 Adjustment of Parameters of Electronic Gear Ratios
lement ineffective
ic
gear denominator
elect
ron
F
i
c gea
act
ory
value =1
1
1
r r
ati
o
1
66
Page 68
Debugging of Typical Problems
I.
(Run) the enable green lamp fails to be on.
a.
Check whether the voltages of three phases R, S and T are normal.
b.
Check whether the +24V for Pin 18 of CN1 interface is correct.
c.
Check whether Pin 10 of CN1 interface is connected with 0V.
d.
If the above all are normal and the green lamp still fails to be on, try again by using the internal enable
PA53=0001.
II.
Alarms―Err—9,Err—15,Err—30,Err—31,Err—32
A photoelectric encoder is a very typical fragile, sensitive component, so it should be protected in every
aspect.
a.
The above alarms indicate that the encoder or the wiring of the encoder is abnormal.
b.
Check whether both ends of the shielding layer are well grounded.
c.
Check that whether a too long wire will lead to attenuation to 5V power supply of the encoder.
d.
The photoelectric encoder may be damaged due to interference. Check whether there is a strong
magnetic/heavy current circuit. If yes, isolate the circuit as much as possible.
‖
appears.
III.
The serv o m oto r jitters.
a.
Confirm whether the load and inertia of the servo motor is within the permissible range of the motor.
b.
Adjust Parameters PA-5, PA-6, PA-7, PA-8, PA-9, PA-10, and PA-11.
c.
Add or reduce parameters according to the jitter conditions when the moto r is running with high speed
and low speed.
IV. The servo motor gives out noise.
a.
Confirm whether the load and inertia of the servo motor is within the permissible range of the motor.
b.
Adjust Parameters PA-5, PA-6, PA-7, PA-8, PA-9, PA-10, and PA-11.
c. Add or reduce parameters according to the noise given out by the motor when the motor is running with
high spe ed and low speed and stops.
V. Setting of electro nic gear ratio
Take the NC machine as an example:
a.
The servo motor is directly connected with the lead screw (The lead screw rotates for one revolution
when the motor rotates one revolution).
●If the numerical control system programming is 10 mm, then sent out 10000 pulse
●The photoelectric encoder has 2500 wires.
● The pitch of the lead screw is 6mm.
67
Page 69
PA12 / PA13:
= ( co mmand value mm)*( the nu mb er of wires of t he encoder) *(4 quadruple
frequency)/ (pitch)*(the number of pulses)
= 10 *2 500 *4 / 6 *1 0000
= 5 / 3
viz. PA 12 = 5 , PA 13 = 3 .
b.
There is a reducer between the servo motor and the lead screw (The lead screw rotates for 2 revolutions
when the moto r for 5 revolutions).
●If the numerical control system programming is 10 mm, then sent out 10000 pulse
●The photoelectric encoder has 2500 wires.
●The pitch of the lead screw is 6mm.
PA12 / PA13:
= ( c o m m a n d v a l u e m m ) *( t h e n u m b e r o f w i r e s o f t h e e n c o d e r ) *(4 quadruple
frequency)*(the revolution number of the motor)/ (pitch)*(the number of pulses)* (the revolution
number of the lead screw)
= 10 *2 500 *4 *5 / 6 *1 0000 *2
= 2 5/ 6
Vi z. PA 12 = 25 , PA 13 =6 .
68
Page 70
Definition and Wiring of the Servo Motor Plug
V
Chapter IX Servo Motor
I.
Power Socket (with 4 prongs)
Winding lead U V
Socket No. 2 3 4 1
U, V and W are the lead ends of the winding coil of the servo motor. A round plug is dedic ated for the motor with
Seat 80.
II.
ocket for Feedback Elements
●Socket (with 15 prongs) for standard incremental encoder (F)
Signal +5V 0V A+ A- B+ B- Z+ Z- U+ U- V+ V- W+ W-
W
Socket
No.
A+, B+, Z+, A-, B-, Z-, U+, U-, V+, V-, W+, and W- signals are the output signals of incremental encoder.
● Socket (with 9 prongs) for wire saving incremental encoder (F1):
Signal +5
Socke
t
A+, B+, Z+, A-, B-, and Z- signals (composite signals) are the output signals of the wire saving incremental
encoder.
A round plug is dedicated for the motor with Seat 80.
● Socket (with 7 prongs) for Bus-type encoder (M):
Signal
2 3 4 7 5 8 6 9 10 13 11 14 12 15 1
0V A+ A- B+ B- Z+ Z-
2 3 4 7 5 8 6 9 1
No.
+5V 0V SD+ SD- E+ E-
69
Page 71
Socket No. 7 5 6 4 3 2 1
SD+ and SD- are data output signals; E+ and E- are battery leads.
●Socket (with 7 prongs) for rotatable transformer (R)
Signal R1 R2 S1 S3 S2 S4
Socket No. 2 3 4 5 6 7 1
R1-R2 are primary signals, S1-S3 and S2-S4 are secondary signals.
III.
Socket for Safe Brake (Band-type Brake):
VD
C(direct c
Power supply
Socket No. 1 2 3
Safe brake parameters allocated for Seat 110
Working pressure: 24VDC (-15%-+10%), working current: ≤0.6A, braking torque: ≥
8Nm Safe brake parameters allocated for Seat 130
Working pressure: 24VDC (-15%-+10%), working current: ≤0.6A, braking torque: ≥
12Nm Safe brake parameters allocated for Seat 150
Working pressure: 100VDC (-15%-+10%), working current: ≤0.4A, braking torque: ≥30Nm
w
it
hout requir
urrent power supply)
ement
s on polarity
acce
ss.
Description of Model Selection of Servo Motors
● Parameter characteristics
Seat (mm): 80, 110, 130, 150 Rated torque (Nm): 1.3-27
Rated speed (rpm): 1500,2000,2500,3000 Rated power (kW): 0.4-5.5
Standard matching feedback
incremental encoder (2500C/T)
Insulation level: B Protection level: closed self-cooling IP65
Number of pole-pairs: 4 Installment mode: flange plate
0
Ambient temperature: 0-55
Excitation mode: permanent magnet Working voltage of adaptive driver (VAC): 220
●Description of type codes of LB series servo motors:
110
ST
(1) (2) (3) (4) (5) (6) (7) (8) (9)
(1) Seat No.
(2) AC Permanent magnet synchronous servo motor
(3) Type of feedback element: photoelectric encoder
(4) Rated torque: three figures ×0.1Nm
(5) ated speed: two figures ×100rpm
(6) Working voltage of the driver (VAC): 220
C Ambient humidity: < 90% (without condensation)
– M 020 30
elements:
Safe brake: matching
L
F
B Z
70
Page 72
(7) Standard matching: F-incremental encoder (2500 C/T), F1- wire saving incremental encoder (2500C/T).
-4
2
-4
2
-4
2
(8) Medium inertia
(9) A safe brake has been installed.
Dimensions and Type Selection Parameters of Servo Motors
● Seat 80
Type 80ST-M01330LF1B 80ST-M02430LF1B 80ST-M03330LF1B
Power
Rated torque
Rated speed
Rated current
Rotor inertia
Maximum current
Maximum torque
Maximum radial and
axial forces
0.4 kW 0.75 kW 1.0 kW
1.3 Nm 2.4 Nm 3.3 Nm
3000 rpm 3000 rpm 3000 rpm
2.6 A 4.2 A 4.2 A
0.74×10
Kgm
1.2×10
Kgm
1.58×10
7.8 A 12.6 A 12.6 A
3.9 Nm 7.2 Nm 9.9 Nm
Fr≤200N
Fs≤50N
Kgm
71
Page 73
Seat 80:
110ST-M020
110ST-M04030
110ST-M05030
110ST-M06020
110ST-M06030
-3
-3
-3
-3
-3
Maximum
current
Maximum
torque
1
1
1
yp A B L L1 d b t
1 5 3
0S
1 5 3
0S
1 5 3
0S
●
Seat 11
Type
Power
Rated torque
Rated speed
Rated current
Rotor inertia
Φ
Φ
Φ
30LFB
15.
6
6 15.
15.
6
LFB
LFB
-0.013 -0.03
-0.013 -0.03
-0.013 -0.03
LFB
LFB
0.6 kW 1.2 kW 1.5 kW 1.2 kW 1.6 kW
2.0 Nm 4.0 Nm 5.0 Nm 6.0 Nm 6.0 Nm
3000 rpm 3000 rpm 3000 rpm 2000 rpm 3000 rpm
4.0 A 5.0 A 6.0 A 6.0 A 8.0 A
0.425×10
(0.489×10
Kgm2)
Kgm
2
-3
0.828×10
2
Kgm
(0.892×10
Kgm2)
-3
0.915×10
2
Kgm
(0.979×10
Kgm2)
-3
1.111×10
2
Kgm
(1.175×10
Kgm2)
-3
1.111×10
Kgm
(1.175×10
Kgm2)
12.0 A 15.0 A 18.0 A 18.0 A 24.0 A
6.0 Nm 12.0 Nm 15.0 Nm 18.0 Nm 18.0 Nm
-0.1
-0.1
-0.1
2
-3
Maximum
radial and axial
forces
Fr≤600N
Fs≤180N
72
Page 74
Seat 110:
Type
130ST-M04025LFB
130ST-M05020LFB
130ST-M05025LFB
130ST-M06025LFB
-3
2
-3
2
-3
2
-3
2
p
A
(m
A1
(m
B
(m
L
(m
L
1
(m
L
2
(m
10S
-
0
60
0
10S
0
0
0
10S
0
0
0
10S
-
7
9
4
1
10S
-
Key A Key B Key B
y
1 2 76 4 40 3
1 2 1 4 40 3
2 2 1 4 40 3
2
2
1
5
● Seat 130
Power
Rated torque
Rated speed
Rated current
Rotor inertia
1
3
d
b
t
4840 3
Φ1
Φ1
Φ1
Φ
9
15.
6
15.
6
15.
15.
6
0
0
5
0
-0.013
-0.013
-0.013
-0.03
-0.03
-0.03
-0.013 -0.03
1.0 kW 1.0 kW 1.3 kW 1.5 kW
4.0 Nm 5.0 Nm 5.0 Nm 6.0 Nm
2500 rpm 2000 rpm 2500 rpm 2500 rpm
4.0 A 5.0 A 5.0 A 6.0 A
1.101×10
Kgm
1.333×10
Kgm
1.333×10
Kgm
-0.1
-0.1
-0.1
-0.1
1.544×10
Kgm
73
Page 75
-3
-3
-3
-3
Maximum current
Maximum torque
(1.268×10
Kgm2) (1.50×10
Kgm2) (1.50×10
Kgm2) (1.711×10
12.0 A 15.0 A 15.0 A 18.0 A
12.0 Nm 15.0 Nm 15.0 Nm 18.0 Nm
Kgm2)
Maximum
and axial forces
l
Seat 130:
Fr≤900N
radia
Fs≤300N
Key A Key B Key
74
Page 76
-3
2
-3
2
-3
2
-3
2
Maximum
current
Maximum
torque
p
A
(m
A1
(m
B
(m
L
(m
L
1
(m
L
2
(m
20
5
T-
5
22
5
y
30
30
30
30
16
17
1
18
21
3
8 50 4
8950 4
9 50 4
d
b (mm) t (mm)
0
0
Φ
22
Φ
22
6
0
0
6
18.5
18.5
0
0
-0.013 -0.03 -0.1
-0.013 -0.03 -0.1
0
0
Φ
2
6
0
18.
0
-0.013 -0.03 -0.1
● Seat 130
Type 130ST-M07720LFB 130ST-M07725LFB 130ST-M07730LFB 130ST-M10015LFB
Power
Rated torque
Rated speed
Rated current
Rotor inertia
Maximum
radial and axial
forces
Key A Key B Key C
1.6 kW 2.0 kW 2.4 kW 1.5 kW
7.7 Nm 7.7 Nm 7.7 Nm 10Nm
2000 rpm 2500 rpm 3000 rpm 1500 rpm
6.0 A 7.5 9.0 6.0
2.017×10
(2.184×10
Kgm
-3
Kgm2)
2.017×10
(2.184×10
Kgm
-3
Kgm2)
2.017×10
(2.184×10
Kgm
-3
Kgm2)
2.595×10
(2.762×10
18.0 A 20.7 A 27.0 A 18.0 A
23.1Nm 23.1 Nm 23.1 Nm 30.0 Nm
Fr≤900N
Fs≤300N
Kgm
-3
Kgm2)
Seat 130:
75
Page 77
Rated
Maximum
current
Maximum
torque
y
p
A
(m
A 1 B
(m
L
(m
L
1
(m
L
2
(m
b
(mm)
30
d (mm)
t (mm)
●
Seat 130
30
19
23
11
5
7
2
30
T-
30
21 26 13 5 40 5
5040 5
0
Φ
22
Φ
2 06
6
0
0
18.5
18.
0
0
Type 130ST-M10025LFB 130ST-M15015LFB 130ST-M15025LFB
Power
Rated torque
Rated speed
current
Rotor inertia
2.6 Kw 2.3 Kw 3.9 Kw
10.0 Nm 15.0 Nm 15.0 Nm
2500 rpm 1500 rpm 2500 rpm
10.0 A 9.5 A 17.0 A
-3
2.595×10
(2.762×10
Kgm
-3
Kgm2)
2
(4.487×10
4.32×10
-3
-3
Kgm
2
Kgm2)
4.32×10
(4.487×10
-3
Kgm
-3
Kgm2)
30.0 A 28.5 A 51.0 A
30.0 Nm 45.0 Nm 45.0 Nm
-0.013 -0.03 -0.1
-0.013 -0.03 -0.1
2
Key A Key B Key C
76
Page 78
Seat 130:
A
A1
B
L
L1
L2
0.013
LFB
0.013
Type
-M10025
LFB
-M15025
(mm)
(mm)
(mm)
(mm)
(mm)
219 261 136 50 40
267 309 184 50 40
(mm)
5
5
LFB
●
Seat 150
Type 150ST-M15025LFB 150ST-M18020LFB
Power
Rated torque
Rated speed
Rated current
3.8 Kw 3.6 Kw
15.0 Nm 18.0 Nm
2500 rpm 2000 rpm
16.5 A 16.5 A
d (mm) b (mm) t (mm)
0
Φ22
Φ22
6
-
0
6
-
18.5
0
-0.03
18.5
0
-0.03
0
-0.1
0
-0.1
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-3
-3
2
-3
2
Rotor inertia
Maximum current
Maximum torque
●
Seat 150
2
Kgm
-3
Kgm2)
(6.93×10
6.15×10
(6.75×10
49.5 A 49.5 A
45.0 Nm 54.0 Nm
6.33×10
-3
-3
Type 150ST-M23020LFB 150ST-M27020LFB
Kgm
Kgm2)
2
Power
Rated torque
Rated speed
Rated current
Rotor inertia
Maximum current
Maximum torque
4.7 Kw 5.5 Kw
23.0 Nm 27.0 Nm
2000 rpm 2000 rpm
20.5 A 20.5 A
8.94×10
(9.54×10
Kgm
-3
Kgm2)
11.19×10
(11.79×10
61.5 A 61.5 A
69.0 Nm 81.0 Nm
Kgm
-3
Kgm2)
Key A Key B Key C
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Seat 150
60(Key B)
55(Key C)
0.1
60(Key B)
0.1
60(Key B)
55(Key C)
0.1
60(Key B)
0.1
Type
-M15025LFB
-M18020LFB
-M23020LFB
-M27020LFB
A
A1
(mm)
(mm)
231 293 72
250 312 72
280 342 72
306 368 72
L
(mm)
●Curve diagram of torque and speed:
LB and HB series
L1
(mm)
55(Key C)
55(Key C)
L2
(mm)
5
5
5
5
d (mm) b (mm) t (mm)
0
Φ28
Φ28
Φ28
Φ28
8
-0.01
0
8
-0.01
0
8
-0.01
0
8
-0.01
24
0
-0.03
24
0
-0.03
24
0
-0.03
24
0
-0.03
0
-
0
-
0
-
0
-
Mmax of LB and LBB series servo motor is equal to 3Mn; Mmax output status is t he short time work of the
servo motor. Please refer to the output capacity of the matching driver before use.
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Appendix 1
5
Hz
50-2000
36
filter factor of
signal
%
0-3
1
34040
Siemens
NC system matched for MG
-1000 Series Drivers
(To match Siemens 802S/801/802S)
1. Setting requirements f or driver parameters
Parameter No.
Note: ● When a Siemens NC system is matched for the driver, PA36 should be equal to 1 and PA37 to 0;
otherwise repeated position precision will be affected.
● Where reset deviations are not uniform, appropriately increase Parameter 5 of the driver.
● Pins 36 and 9 of the CN1 interface port must be connected with the shielding layer and metal casing of the
system; ot
2. Setting requirements for Siemens system parameters
Parameter Name Unit Parameter Range Default
Speed ratio gain
command pulse
herwise reset precision will be affected.
Parameter No. Parameter Name Required value
Search for Z-pulse speed 500-2000
150
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81
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