Beijing GH Operating manual

BEIJING CTB SERVO CO., LTD. Address: Wanggezhuang Industry Base, Shilipu Town, Miyun County,

Beijing Tel.: 010 -82755611 Fax: 010 -82755610 24-hour national free service Tel.: 400 -888-9055

Data No.: ZL-14-808-IBCN The data may subject to change without notice as improvement of

the product.

CTB TECHNOLOGY

Distributor

BEIJING CTB SERVO CO.,LTD.

Data No.: Z L-14-808-I B C N

GH DRIVER Operating manual

AC servo driver Model: BKSC-□ □ □ □ GHX Class 400V, 1.5 ~ 315KW (2.5 ~ 460KVA) Please send the manual to final user, and keep it properly.

CTB TECHNOLOGY

GH DRIVER CTB

Preface

Thank you for purchasing GH series servo driver produced by Beijing CTB Servo Co., Ltd. The GH series AC servo driver is a high-quality, multi-functional and low-noise AC servo driver that was researched, developed and manufactured by Beijing CTB Servo Co., Ltd. The driver is servo driver for AC induction motor (IM) and AC permanent magnet synchronous motor (PM). It can control the position, speed, acceleration and output torque of various AC servo motor appropriately. In command to achieve control functions of various machine tools, GH series AC servo driver is equipped with dual 32-bit CPU and abundant control function module. It can be conveniently connected with various domestic and foreign CNC systems through standard control interfaces to allow full play for function of CNC system. The characteristics of torque, acceleration and deceleration, precision and efficiency of machine tool which is equipped with GH series AC servo driver are remarkable, and accurate stop, C-axis, rigid tapping, electronic shift, multi-axis synchronization and other functions can be realized easily. As the first choice of driving product of various machine tool power shaft, GH series AC servo driver can be widely used for drive of product such as CNC milling machine, vertical machining center, horizontal machining center, CNC boring machine, CNC lathe, vertical lathe, heavy horizontal lathe and gantry machine tool. For proper application, please read the manual carefully before using the GH series AC servo driver. Abnormal operation, fault or reduction of service life, and even personal injury accident may be caused by inappropriate use. Therefore, the manual shall be read repeatedly before use, and operate in strict accordance with the instructions. The manual is attachment with the equipment. Please keep it properly after using for future repair and maintenance of the driver.

01

CTB GH DRIVER

Use the symbol where danger, even personal injury or death when wrong about the described content.

Use the symbol where danger, even mild or moderate personal injury and equipment damage when wrong about the described content.

Prohibited matters (matters that cannot do).

Certain matters do not belong to "danger", and "caution", but they are required to be abided by user. They are marked in the relevant sections.

Safety -related symbol description

The following symbols are used for safety-related content in the manual. Sentences marked by the safety symbols describe important content, and must be abided. If the requirements in the safety-related content are not abided, application of the product may lead to abnormal product operation, damage to the product, even danger and personal injury.

GH DRIVER CTB

Caution

● For risk of injury, please do not install damaged or part missing driver.

Caution

● For risk of fire, please install the equipment on nonflammable metal plate without combustible

materials around.

● Please be sure to tighten the mounting screws of the driver. Falling and damage of the driver or personal injury may be caused by mounting screws loosing.

●Please do not install the equipment in environment with flammable gas where an explosion is

caused easily.

Danger

● For risk of electric shock and fire, please make sure that the input power supply is in the OFF state before wiring.

●For risk of electric shock, the operation on main circuit terminal of the controller shall be conducted

after the power is cut off for five minutes, and the power charge indicator CHARGE in the controller completely extinguished.

●For risk of electric shock and fire, the wiring shall be carried by professional electrical engineering

personnel.

●For risk of electric shock and fire, the ground terminal must be grounded reliably. (earth resistance shall be lower than 4Ω)

● It's prohibited to directly connect terminals of P / PB and N, or connect the zero line or the earth

wire to the N terminal. Otherwise, the rectifier bridge will be shorted and the main loop will be burned.

●It's prohibited to connect the high-voltage line to control terminal of the driver. Otherwise, the control board will be burned.

●For risk of injury, please set emergency stop and locking circuit at the outside of the controller (user

is responsible for the wiring) .

● There is a risk of electric shock and short circuit.

Caution

●For risk of injury and fire, please ensure that the voltage of the main circuit AC input power and the

Safety precautions

◆ Unpacking inspection

◆ Installation

◆ Wiring

03

CTB GH DRIVER

rated voltage of the driver are consistent.

● Please do not conduct withstand voltage and insulation test to the controller arbitrarily. Otherwise, the semiconductor and other components in the controller may be damaged.

●For risk of fire, please connect braking resistor and braking unit according to the wiring diagram.

● Please do not connect the AC input power cord to the output U, V, W terminals. Otherwise,

damage to inside of the controller may be caused.

●For risk of fire and malfunction of the controller, please tighten the terminals of main loop and

control circuit with appropriate torque.

●Please do not connect the phase shifting electrolytic capacitor and LC / RC noise filter to the output

circuit. Otherwise, damage to inside of the controller may be caused.

●Please do not connect the electromagnetic switch and electromagnetic contactor to the output circuit to connect or disconnect the load. During loaded operation of the controller, the surge current will cause protection circuit action of the controller.

Danger

●For risk of electric shock and short circuit, please do not touch the terminals of the main circuit directly after power-on.

●Please confirm the input and output signals to guarantee safe operation. Malfunction of the system

will cause casualties and damage to the work piece and nearby equipment..

●For risk of injury, alarm reset only can be done after ensuring that the operating signal is cut off. Alarm reset with operating signal will lead to suddenly re-start.

●For risk of driver burning, the inside of long term stored driver shall be checked for water and condensation.

●For risk of electric shock and burning the equipment, it's prohibited to touch the terminals of the

driver with hand during operating.

Caution

●For risk of scalding, the running servo driver and motor may have a high temperature rise, please do not touch.

●For risk of scalding and electric shock as the braking resistor has a high temperature rise for

discharging, please do not touch.

●For risk of damage to the equipment and accident, please do not change the settings of the drive

arbitrarily.

Danger

◆ Trial run

◆ Maintenance and inspection

GH DRIVER CTB

●For risk of electric shock, please do not directly touch terminals of the controller. Some of them

have high voltage and very dangerous.

●For risk of electric shock, please do install the housing before power-on; and must disconnect the power firstly before removing the housing.

●For risk of electric shock and fire, please confirm that the power source is in the OFF state or not

before wiring.

● Inspection and maintenance only can be carried out after cut off the main circuit input power and confirm that the power charge indicator CHARGE completely extinguished. There is a risk of electric shock as residual power in electrolytic capacitor.

●Please make designated professional electrical engineering personnel to conduct inspection and maintenance. Before work, please take off metal object (watch, rings etc.), and use tools with insulation protection during operation. Otherwise, it may cause electric shock.

●For risk of explosion and fire, used battery, circuit printing plate must not be throw into fire. Otherwise, it may cause explosion.

Caution

●CMOS IC integrated circuit is installed on main control panel. Full attention shall be paid during

operating. The electrostatic induction due to direct touching of finger on the main control panel may cause damage to the main control panel.

●For risk of electric shock, please do not conduct wiring and removing terminal when the equipment

is energized.

●For risk of damage to the equipment, the appropriate parameter settings must be carried out before running after control panel replacing.

05

CTB GH DRIVER

Table of contents

Preface………………………………………………………...……………………………………1 Safety -related symbol description………………………..…………………………………..2 Safety precautions……………………………………………..…………………..……………..3

Chapter 1 - Installation…………………………………………..………………………….…1-1

Introduction to GH DRIVER…………………………………..…………………………………1-2 Unpacking inspection…………………………………………..………..………………………1-3 Standard specifications and performance parameters………………………….……………1-4 Driver nameplate description……………………………………………………………………1-5 External dimensions and installation dimensions……………………………………….……1-5 Confirmation and requirements of the installation space……………………………………1-8 Notes on motor and load…………………………………………………………………..……1-8 Notes on the driver………………………………………………………………………………1-9 Notes on scrapping………………………………………………………………………..……1-10

Chapter 2 – wiring……………………………………………………………………...……….2-1

Selection and connection of peripheral devices……………….……………………...………2-2 Wiring of the main circuit terminals……………………………………………………………2-3 Wiring of control circuit ……………..…………………………………………………………2-11 Connection of the encoder interface…………………………………………………………2-20 Connection of the serial communication port ………………………………………………2-21

Chapter 3 - Manipulator application…………………………………………..…………….3-1

Digital tube display 0.4 ~ 18.5kw driver:

Configuration and key functions of the manipulator…………………………………………3-2 Operative mode of the driver……………………………………………………………………3-3 Operative mode of the manipulator……………………………………………………………3-4

Use method of the manipulator………………………………..………………………………3-4 Modify the parameters with the manipulator…………………………………………………3-5 Monitor operating state with the manipulator………………….………………………………3-5 Digital tube display 22 ~ 315kw driver: Configuration and key functions of the manipulator…………………………………………3-6 Operative mode of the driver………………………………….……….………………………3-8 Operative mode of the manipulator…………………………………….………………………3-8

GH DRIVER CTB

Use method of the manipulator………………………………...……….………………………3-9 Modify the parameters with the manipulator…………………….…….………………………3-9 Monitor operating state with the manipulator……………………….………………………3-10 Liquid crystal display 0.4 ~ 18.5kw driver:

Configuration and key functions of the manipulator…………………………………………3-11 Operative mode of the driver……………………………………….….………………………3-12 Operative mode of the manipulator………………………………….………………………3-12 Use method of the manipulator……………………………….……….………………………3-13 Modify the parameters with the manipulator……………….……….………………………3-13

Monitor operating state with the manipulator…………………….…………………………3-14 Liquid crystal display 22 ~ 315kw driver:

Configuration and key functions of the manipulator…………………………………………3-15 Operative mode of the driver………………………………………….………………………3-17 Operative mode of the manipulator………………………………..….………………………3-17 Use method of the manipulator…………………………………….….………………………3-18 Modify the parameters with the manipulator……………………….………………………3-18 Monitor operating state with the manipulator………………………...………………………3-19

Chapter 4 - Test run…………………………………………………………………..………..4-1

Basic procedure of test run………………………………………..……………………………4-2 Confirmation of connection of the main circuit………………………………………………4-2 Control circuit wiring confirmation……………………………………………………………4-3

Initial power-on of the driver……………………………………….……………………………4-3 Motor and driver parameters confirmation……………………………………………………4-3 No-load test run……………………………………………………..……………………………4-4 Loaded test run……………………………………………………..……………………………4-4

Chapter 5 - Parameter list……………………………………………………………………5-1

Hierarchical structure diagram of display function of the manipulator .............................5-2

Monitor parameter Un........................................................................................................5-3

Application parameter An...................................................................................................5-9

Chapter 6 – Setting parameters by function………...………………..……………………6-1

Analog speed control……………………………………………..……………………………..6-2 Pulse speed control……………………………………………...………………………………6-4

07

CTB GH DRIVER

Analog rigid tapping…………………………………………….………………………………6-6 Pulse rigid tapping/pulse position …………………………….……………………….…….. 6-7 Orientation……………………………………………………………………….. ………………6-8

Swing……………………………………………………………….……….. …………………6-10 Operation panel operation ……………………………………………….. …………………6-12 modbus communication settlement …………………………………….. …………………6-12

Chapter 7 – PLC functions introduction…………………………………………………..7-1

Introduction to system software resourse ……………………………………………..……..7-2 PLC CAN communication …………………………….………………………………………..7-3 PLC modbus communication ………………….…………………………………………..…..7-5 Pmotion program software description …………….………………………………………..7-6 Speed control …………………………………….……………………………………..……..7-8 Positioning control …………………………….……………………………………………..7-11 Pulse position synchronization control…………….………………………………………..7-13 Position limit and restoration……………………….………………………………………..7-14

Chapter 8 – Troubleshooting………………………………………………………………..8-1

List of fault alarm and remedies ………………………………………………………………..8-2 Common fault analysis……………………………….………………………………………..8-4

Alarm reset method……………………………………….....………………………...………..8-7

Chapter 9 - Routine maintenance...................................................................................9-1

Prompt...............................................................................................................................9-2

Routine maintenance .......................................................................................................9-2

Regular maintenance.......................................................................................................9-3

Wearing parts of the driver .............................................................................................9-3

Driver storage..................................................................................................................9-4

Driver warranty.................................................................................................................9-4

GH DRIVER CTB

Installation

The chapter describes matters to be confirmed and installation requirements for the user after getting the GH DRIVER.

Introduction to GH DRIVER…………………………………….…..………………………….1-2 Unpacking inspection………………………………..…………………………………….……1-3 Standard specifications and performance parameters…..………………………………..…1-4 Driver nameplate description……………………….………..……………………………..…..1-5

External dimensions and installation dimensions.………..........................................……..1-5

Confirmation and requirements of the installation space.….………………………………...1-8 Notes on motor and load…………………………….……………………………………….….1-8 Notes on the driver…………………………….……………..……………...…………………..1-9 Notes on scrapping………………………….……………………………..…………………..1-10

CTB GH DRIVER

Code

Item

Description

Illustrated model meaning

1

Manufacturer code

BKSC: code for driver product of the manufacturer

Manufactured by BEIJING CTB SERVO CO., LTD.

2

Voltage level

2: level 200V 4: level 400V

level 400V

3

Power code

See power code list for detail

7.5kW

4

Product series

GS: GS series driver GH: GH series driver

GH series driver

5

Encoder model

None: incremental 10 driver 0:without encoder 1: incremental encoder 2: rotary transformer 3: Sin-Cos encoder 4: absolute value encoder 5: magnetic encoder

incremental encoder

6

Product model

None: standard type (CP1000A1/C1)

B: general type(CP1000B1/D1) T:special type (CP1000AT1/CT1)

general type(CP1000B1)

7

Production upgrading identification

None: conventional design P: new energy-saving design

new energy-saving design for main board of the driver

8

Non-standard identification

None: standard product F1: Non-standard requirements to

main board F2: Non-standard requirements to

driver F3: Non-standard requirements to

housing Other: special customer

Non-standard requirements to main board of driver

Introduction to GH DRIVER

GH DRIVER is a type of driver that specifically designed for machine tool. Precise control of position, speed, acceleration and output torque of AC induction servo motor and AC inverter motor is allowed through the driver. It can be used for control of motor of machining center, CNC milling machine, CNC drilling machine, CNC lathe, CNC grinder, and feed motor of large gantry equipment and vertical lathe. To achieve the best operation effect, please complete wiring with CNC system by the " CTB servo application manual ", and carry out installation and commissioning in accordance to the manual. Model description (taking 7.5kW as example)

Table 1-1 Detailed description of motor model designation

GH DRIVER CTB

Driver model

Rated

capacity(KVA)

Rated input

current (A)

Rated output

current (A)

Adapt motor

power (kW)

Built-in

brake unit

BKSC-41P5GHX

2.5 4 3

1.5

Yes

BKSC-42P2GHX

3 6 5

2.2

Yes

BKSC-43P7GHX

5.5 9 8

3.7

Yes

BKSC-45P5GHX

8.5

14.2

13

5.5

Yes

BKSC-47P5GHX

11

18

17

7.5

Yes

BKSC-4011GHX

17

26

25

11

Yes

BKSC-4015GHX

21

35

32

15

Yes

BKSC-4018GHX

24

38.5

37

18.5

Yes

BKSC-4022GHX

30

46.5

45

22

Yes

BKSC-4030GHX

40

62

60

30

Yes

BKSC-4037GHX

50

76

75

37

Yes

BKSC-4045GHX

60

92

90

45

Yes

BKSC-4055GHX

72

113

110

55

Yes

BKSC-4075GHX

100

157

152

75

Yes

BKSC-4090GHX

116

190

185

90

Yes

BKSC-4110GHX

138

236

230

110

Yes

BKSC-4132GHX

167

288

280

132

Yes

BKSC-4160GHX

200

345

336

160

Yes

BKSC-4200GHX

250

420

370

200

No

BKSC-4250GHX

300

530

460

250

No

BKSC-4315GHX

360

680

570

315

No

Confirm item

Confirm method

Confirm that the materials listed on the packing list are complete.

Check the materials in the packing against the packing list stuck to the external packing.

Are they in line with the ordered merchandise?

Please confirm the label at the side of the driver.

Is there any damage?

Check the overall appearance for damage during transportation.

● GH DRIVER series applies for 21 types with a motor capacity of 1.5kW to 315kW. Please see table 1-2 for detail

Table 1-2 GH DRIVER model (rated voltage: 400v)

Unpacking inspection

Please confirm the following items when you get the product. Please contact directly with the dealer or manufacturer that purchased from for any adverse situation. Please see Table 1-3 for detail.

Table 1-3 Confirm items

GH DRIVER CTB

Model BKSC-××××GHX

41P5

42P2

43P4

45P5

47P5

4011

4015

4018

4022

4030

4037

4045

4055

4075

4090

4110

4132

4160

4200

4250

4315

Adapt motor power kW

1.5

2.2

3.7

5.5

7.5

11

15

18.5

22

30

37

45

55

75

90

110

132

160

200

250

315

Output

Capacity KVA

2.5 3 5.5

8.5

11

17

21

24

30

40

50

60

72

100

116

138

167

200

250

300

360

Current A

3 5 8

13

17

25

32

37

45

60

75

90

110

152

185

230

280

336

370

460

570

Maximum output voltage V

3-phase 380/400/415/440V corresponding input voltage

Maximum output speed rpm

4-pole motor 15000rpm: 500Hz

Power

Rated voltage and frequency

3-phase 380/400/415/440V: 50/60Hz±5％

Allowed voltage pulsation

＋10％, －15％

Control characteristics

Control mode

Sine wave PWM modulation, entirely closed-loop vector control

Torque feather

200% rated torque output below the fundamental frequency. Accuracy: ±5％

Range of speed regulation

1: 15000

Speed control accuracy

±0.1%

Frequency set resolution

Digital quantity: : 0.01Hz; Analog: Unipolar, maximum output frequency is /4092; bipolar, maximum output frequency is / 2046

Position control accuracy

±1PULSE

Acceleration

0.05～3000Hz/s

Brake mode

dynamic braking. 125％ rated torque: built-in braking unit (external braking resistor)

Standard specifications and performance parameters

Please see Table 1-4 for standard specifications and performance parameters of 3-phase Class 400V driver

Table 1-4 Standard specifications and performance parameters of GH DRIVER

CTB GH DRIVER

Overload capacity

200% rated current 30s

Input and output interface

Digital quantity input

7-channel isolation photo-coupler input; input mode: PNP, NPN optional

Digital quantity output

2-channel isolation photo-coupler output; 24V, 10mA

Analog input

2-channel; －10V～+10V 1 channel, 0～10V 1-channel

Analog output

2-channel; －10V～+10V

Relay output

1 channel: a group of N.O/N.C contact: AC250V/DC30V, 1A

Fault output relay

1 channel: a group of N.O/N.C contact: AC250V/DC30V, 1A

Encoder input interface

two: maximum receive frequency is 300KHz: cable driven receive mode: RS422 standard

PULSE input interface

One: direction PULSE or orthotropic PULSE

Encoder output interface

One: maximum output frequency is 300KHz: cable driven output mode: RS422 standard

Bus interface

None

function

Speed control

Range: 0～15000rpm; turning: positive and negative; speed order: Analog, PULSE frequency

Accurate stop

Accuracy: ±1PULSE; position adjustment: set by user's parameter

Rigid tapping

May be connected to several domestic and foreign systems. Tapping error: ±2％

Other function

C-axis control, thread cutting, electronic gear, reaming, swing control

Protection

function

motor over-current

Greater than 200% rated current output

Motor overload

Specified time of exceeding overload alarm value. Alarm output: set by parameters

Overvoltage

The voltage of main circuit bus is higher than 800V. Alarm output

Low voltage

The voltage of main circuit bus is lower than 400V. Alarm output

Service

environment

Service site

Free of dust, corrosive gas and inflammable gas

Temperature

－10～45℃

Humidity

Lower than 95％RH (no condensation)

Vibration

vibration frequency≤20Hz: 9.8m/s2；20Hz≤vibration frequency≤50Hz: 2m/s

2

；

GS DRIVER CTB

Dimension

Model

A B W H D

Connecting

terminal screw

Installati

on screw

Weight (kg)

BKSC-41P5GHX

45. 5

276

91

290

200

Wire nail width

3mm

M6

3

BKSC-42P2GHX

BKSC-43P7GHX

Driver nameplate description

Nameplate which indicates model and rated values of the driver is affixed to the lower right of housing of the driver. The content of the nameplate is shown in Figure 1-1.

Figure 1-1 AC Servo driver nameplate Note: the two-dimension code includes manufacturing number of the driver; customer name of the driver (take BEIJING CTB SERVO CO., LTD. as an example); contract number; driver model; main board model; software number; non-standard (take standard as an example) and other description.

External dimensions and installation dimensions

1. 1.5-3.7kw driver Please see diagram 1-2 for external dimensions and installation dimensions

Figure 1-2

Table 1-5 Dimensions (mm) and weight (kg) of GH DRIVER (1.5-3.7kw) driver

CTB GH DRIVER

Dimension

Model

A B W H D

Connecting

terminal screw

Installation

screw

Weight

(kg)

BKSC-45P5GHX

80

276

132

290

200

Wire nail width

3mm

M6

5

BKSC-47P5GHX

BKSC-4011GHX

Dimension

Model

A B W H D

Connecting

terminal screw

Installation

screw

Weight

(kg)

BKSC-4015GHX

140

376

194

390

228

M6

14

BKSC-4018GHX

BKSC-4022GHX

236

376

282

390

228

M6

M8

20

BKSC-4030GHX

2. 5.5～11kw driver Please see diagram 1-3 for external dimensions and installation dimensions

Figure 1-3

Table 1-6 Dimensions (mm) and weight (kg) of GH DRIVER (5.5-11kw) driver

3. 15～45kw driver Please see diagram 1-4 for external dimensions and installation dimensions.

Figure 1-4

Table 1-7 Dimensions (mm) and weight (kg) of GH DRIVER (15-45kw) driver

GS DRIVER CTB

BKSC-4037GHX

300

376

380

390

269

M8

26

BKSC-4045GHX

Dimension Model

A B W H D

E

Connecting

terminal screw

Installati

on screw

Weight

(kg)

BKSC-4055GHX

392

376

472

390

269

196

M10

M8

33

BKSC-4075GHX

BKSC-4090GHX

360

690

464

720

320

180

M10

M16

90

BKSC-4110GHX

BKSC-4132GHX

BKSC-4160GHX

4. 55～160kw driver Please see diagram 1-5 for external dimensions and installation dimensions

Figure 1-5

Table 1-8 Dimensions (mm) and weight (kg) of GH DRIVER (55-160kw) driver

5.200 ~ 315kw driver Please see diagram 1-6 for external dimensions and installation dimensions

Figure 1-6

Table 1-9 Dimensions (mm) and weight (kg) of GH DRIVER (200-315kw) driver

CTB GH DRIVER

Dimension Model

A B W H D

Connecting

terminal screw

Installation

screw

Weight

(kg)

BKSC-4200GHX

- - 800

1800

450 - -

230

BKSC-4250GHX

BKSC-4315GHX

Confirmation and requirements of the installation space

Installation environment

The following items shall be noted when selecting the installation environment:

1. Ambient temperature: operate in -10℃ ~ 45℃; if the ambient temperature is higher than 45℃, the equipment shall be used with 30% derating for each 5℃ temperature rise. ★ Note: If the ambient temperature is higher than 45℃, the ventilation shall be strengthened, and use by

the specified derating.

2. The humidity of the installation site shall lower than 95%, and free of condensing;

3. Do not install the equipment in place with dust or metal powder;

4. The equipment shall be installed at place without corrosive, explosive gas;

5. The equipment shall be installed at place that meets the requirements of vibration. The vibration

frequency ≤ 20Hz: 9.8m/s2; 20Hz ≤ vibration frequency ≤ 50Hz: 2m/s

6. The equipment shall be installed at place away from direct sunlight.

2

;

Installation direction and space

●Installation spacing and distance requirements of single driver are shown in Figure 1-7.

● Generally, abreast installation mode is adopted when multiple drivers are installed in the control

cabinet, and air inlet, outlet and dedicated cooling fan shall be equipped; if up and down installation mode is adopted, stream guidance clapboard shall be added between drivers to guarantee good cooling effect as shown in Figure 1-8.

GS DRIVER CTB

Figure 1-7 Single controller installation

Figure 1-8 Multiple controllers installation

Notes on motor and load

Compared with frequency conversion operation

GH DRIVER is full closed-loop vector servo driver. It adjusts output voltage and current automatically according to the load change. It's more energy-efficient than inverter with higher speed control accuracy and wider speed regulation range. As the controlled motor and driver are closed loop, the control of position, speed and torque can be achieved conveniently.

Constant torque operation

When motor works in constant torque area, the output torque of the motor is required by the mechanical operation instead of the rated torque of the motor. However, the maximum continuous output torque of the motor must not exceed the rated torque.

High-speed operation in constant power area

For high-speed operation in constant power area, the increased vibration and noise shall be considered, and the service speed range of motor bearing and mechanical devices must be confirmed, and consulted in advance. It's strictly prohibited to make the machine operate above the rated speed.

Lubrication of the mechanical device

For reduction box and gear head motor and other mechanical device that requires lubrication, damage may be caused due to deterioration of lubricating effect in long-term low-speed operation. It must be consulted in advance.

Negative torque load

Negative torque load occurs frequently for load such as lifting. The driver will generate over-current and overvoltage alarm and trip. Equipping of brake components or mechanical safety devices shall be considered.

CTB GH DRIVER

Reciprocating load

Please pay attention to unstable phenomenon in output current when the driver is driving piston reciprocating load. The phenomenon is more prominent in long-term low-frequency operation. The capacity of driver shall be increased.

Mechanical resonance point of the load device

The driver may encounter the mechanical resonance point of the load device in certain output frequency range. It can be avoided by setting jump frequency.

Notes on the driver

Applications not in rated voltage

The servo driver shall not be used in voltage that not in the working voltage range. Please conduct voltage transformation with appropriate step-up or step-down unit as required.

Note on the drive 3 phase input into 2-phase input

The device shall not be changed into 2-phase input, otherwise, default phase protection will occur.

Capacitor or pressure-sensitive device to improve power factor

As shown in Figure 1-9, the output of the driver is PULSE wave, drive failure tripping or damage to the device will be caused due to capacitor or pressure-sensitive device for lightning to improve power factor installed at the output side. They must be removed.

Figure 1-9 Capacitor is prohibited at the output end of controller

Lightning attack protection

lightning over-current device is equipped in the driver for self-protection to induction stroke

Altitude and derating operation

For areas with altitude over 1000 m, derating operation is necessary due to deterioration of cooling effect of the drive caused by thin air. The relationship curve of rated current of driver and altitude is shown in Figure 1-10.

GS DRIVER CTB

Figure 1-10 Derating curve of rated current of driver and altitude

Notes on scrapping:

Explosion of electrolytic capacitor: the electrolytic capacitors on main circuit and printed panel may explode when incinerated. Plastic incineration waste gas: toxic gases will be generated in incineration of front panel and other plastic parts. Processing method: please process the waste as industrial waste.

★ Description: The contents of the manual are subject to change due to product upgrade or optimize. The new version shall prevail.

CTB GH DRIVER

Wiring

The chapter describes the wiring specifications of power supply terminals and control circuit terminals, and install wiring specifications of control board jumpers and expansion interface board.

Selection and connection of peripheral devices…………………………………..…………..2-2 Wiring of the main circuit terminals…..……………………………………………..…………2-3

Wiring of control circuit ……………………….………………………………………………..2-11 Connection of the encoder interface………….……………………..………………………..2-20 Connection of the serial communication port …….……………………………………..…..2-21

GS DRIVER CTB

Item

Usage

Selection note

Remarks

Air circuit breaker

Turn on or off driver power

Select by 150% of rated

current of the driver

Refer to Table 2 - 3

Electromagnetic

contactor

For automatic power on of

driver

Select by 150% of rated

current of the driver

Refer to Table 2 - 3

Input side reactor

Improve power factor of

power grid

Select by 100% of rated

current of the driver

Input noise filter

Suppress interference of

driver to power supply

Select by 150% of rated

current of the driver

Braking resistor

Consume regenerated

energy of the driver

Select by standard provided

by the factory

Refer to Table 2 - 2

Filtering magnet

ring

Suppress wireless

interference of the driver to

outside

Select by standard provided

by the factory

Refer to GH model

selection sample

Selection and connection of peripheral devices

Driver and peripheral devices connection diagram taking 7.5kw drives as an example in Figure 2-1.

Figure 2-1 driver and peripheral devices connection diagram

Parts selection description

CTB GH DRIVER

Wiring of the main circuit terminals

The structure of the main circuit

See Figure 2-2A, 2-2B, 2-2C and 2-2D for internal structure diagram of the main circuit.

Figure 2-2A 1.5～11kw main circuit composition Figure 2－2B 15～30kw main circuit composition

Figure 2－2C 37～75kw main circuit composition Figure 2－2D 90～160kw main circuit composition

Main circuit terminals composition

1.5～11kw main circuit terminals composition

1.5～30kw main circuit terminals composition

GS DRIVER CTB

Item

Function

Notes

R S T

3-phase AC supply input terminal.

380~440V, 50/60Hz

Need to install breaker for protection

P P1

DC bus positive pole

P and N are for input of external braking unit or

DC power input

P2

DC reactor wiring terminal

P1 and P2 are for external DC reactor

PB

Braking resistor wiring terminal

P, P2 and PB are for external braking resistor

N

DC bus negative pole

N and P are for external braking unit or DC

power input

U V W

Driver output terminal

Consistent with the phase sequence of the motor

during wiring

E

Earth terminal

C type grounding, the grounding resistance≤ 4Ω

37～75kw main circuit terminals composition

90～160kw main circuit terminals composition

Main circuit terminals and functional description

Wiring of input side of the main circuit

Please pay attention to the following items for wiring of input side of the main circuit. See2-3

CTB GH DRIVER

Figure 2-3 Standard wiring diagram for incoming line

Incoming line circuit breaker (MCCB)

The main circuit power input terminals (R, S, T) must be connected to 3-phase AC power through line protection circuit breaker (MCCB).

● The selection of MCCB must be in accordance with requirements in Table 2-3.

● The time characteristics of MCCB must take overload characteristics (rated output current 200%/min)

and time characteristics of the servo driver into account.

● Each AC servo driver shall be equipped with independent breaker; when multiple drivers share a circuit breaker, to cut off the power supply and prevent the failure expansion during driver failure, it's recommended to control the incoming line electromagnetic contactor with the fault output relay of the driver to ensure safety.

Installation of the residual current circuit breaker

The output of the servo driver is a high frequency PULSE wave so that there is high-frequency leakage current generated. Residual current circuit breaker can be used at the incoming line side of the driver to remove high-frequency leakage current, and only inspect channel current that dangerous to human body. Please select special residual current circuit breaker for servo (inverter) for wiring.

● When select special residual current circuit breaker, please select model for control of one driver with

an induction current over 30ma.

●When select normal residual current circuit breaker, please select model for control of one driver with

an induction current over 200ma, and a time over 0.1s.

●Installing isolation transformer between normal residual current circuit breaker and AC servo driver can effectively avoid malfunction of the breaker.

Incoming line electromagnetic contactor

Incoming line electromagnetic contactor may be used to cut off the power in sequential control. It cannot be used as start of AC servo driver. When cut off power of AC servo driver compulsorily with incoming line electromagnetic contactor, AC servo driver is in power-off alarm state, motor only can slide freely and stop.

● Frequent turning on/off incoming line magnetic contactor may cause heating, even burning of charging

GS DRIVER CTB

Driver model

41P5

42P2

43P7

45P5

47P5

4011

4015

4030

4037

4045

4055

4075

4090

4110

4132

4160

AC

reactor

Current

(A)

5 7 10

15

20

30

40

50

60

80

90

120

150

200

230

250

290

330

Model

ACL

0005

0007

0010

0015

0020

0030

0040

0080

0090

0120

0150

0200

0230

0250

0290

0490

DC

reactor

Current

(A)

Without connection to DC reactor

90

110

150

180

Built-in driver

Model

DCL

090

0110

0150

0180

resistor of the driver (driver interior).

● The time interval of turning on/off incoming line magnetic contactor shall be longer than 10 minutes.

AC reactor

Installing AC reactor at the incoming line side of the servo driver can effectively suppress the surge of power, avoid burning of rectification part of the driver, and also can improve the power factor of the power supply side. Please see Figure 2-3 for connection of AC reactor, see Table 2-1 for selection of AC reactor.

DC reactor

External DC reactor can be connected to GH AC servo driver of 37 to 75KW. It can effectively suppress the surge of power, avoid burning of rectification part of the driver, and also can improve the power factor of the power supply side. Please see Figure 2-4 for connection of DC reactor. If external DC reactor is not connected, P1, P2 or D C + terminals shall be shorted as shown in Figure 2-5.

Figure 2-4 DC reactor connection diagram Figure 2-5 Connection diagram without DC reactor

Precautions for wiring of DC reactor

1. Please do not connect DC reactor to any main circuit terminal except P1, P2, otherwise, it may cause internal short circuit of the driver, and burn the driver.

2. Please see Table 2-3 for specifications of DC driver connecting cable, the standard of the main circuit cable.

3. Please see Table 2-1 for selection standard of DC reactor.

4. With external DC reactor, the P2 terminal shall be multiplex terminal, and one end of braking resistor also shall be connected to the terminal.

Table 2-1 Selection of AC reactor, DC reactor and input filter

CTB GH DRIVER

Input

filter

Current

(A)

6 6 6

10

16

25

30

50

65

80

100

120

150

200

250

320

Model

EMI

06

010

016

025

030

050

065

080

0100

0120

0150

0200

0250

0320

Power side noise filter

In command to reduce high-frequency interference noise from power line coupling to the driver, and suppress the noise feedback to power from the driver, noise filter with appropriate model and specifications at the power input side of the driver. Set and connect the incoming line filter correctly as shown in Figure 2-6.

Figure 2-6 Correct installation of noise filter at the input side of the power supply

Please see Figure 2-7 for examples of incorrect settings and connection

Figure 2-7 Incorrect settings and connection of noise filter at the input side of the power supply

GS DRIVER CTB

The AC servo driver and motor must be well grounded, otherwise it may make the driver not functioning properly, even burn the driver.

Forbid

● It's strictly prohibited to connect the input power cord to the output terminal. Never connect the input power cord to the output terminal, otherwise, it will lead to damage to internal components of the controller.

● It's strictly prohibited to connect make the output terminal shorted and grounded. Never touch the output terminal directly, or make the output line touch the controller housing for risk of electric shock. In addition, never short the output line.

● It's strictly prohibited to use phase shift electrolytic capacitor, LC / RC noise filter. Never connect phase shift electrolytic capacitor, LC / RC noise filter in output circuit. Damage to internal components of the controller may be caused when use these components.

● It's strictly prohibited to connect or disconnect load with electromagnetic switch. Never connect electromagnetic switch, electromagnetic contactor to connect or disconnect the load in output circuit. During load operation, the protection circuit action of the controller will be acurated by the surge current. surge current will arose

● It's strictly prohibited to connect fan of motor to U / V / W output terminals of the driver. It may burn the fan, and short-circuit the driver.

The wiring of output side of main circuit

The output terminals of U, V, and W of the driver shall be connected to the connecting terminals of U, V, and W of three-phase AC motor by correct phase sequence; if the phase sequence is connected wrongly, the driver will raise the wrong phase sequence alarm with an alarm number of E.PV. To solve the problem, exchange phase sequence of any two phases. Please see Figure 2-8 for standard wiring of the output side.

Figure 2-8 Output side wiring

Wiring distance between the driver and motor

Generally, the wiring distance between the AC servo driver and motor shall be shorter than 50 m. For longer distance, please contact the manufacturer to select wire with smaller resistivity.

CTB GH DRIVER

Inductive interference countermeasures

Three methods of suppressing radio interference and inductive interference are provided in the information: filter magnetic ring, shielded cable and output filter.

Filter magnetic ring

Installing filter magnetic ring at the output side near to the driver can suppress common code interference at the output side effectively, as shown in Figure 2-9.

Figure 2-9 Filtering magnetic ring installation diagram

Output shielded cable

Use shielded cable for output line of the AC servo driver can effectively suppress radio interference and inductive interference. The ends of shielding layer of the shielded cable shall be grounded separately as shown in Figure 2-10.

Figure 2-10 Connecting method of shielded cable For applications of input and output filters in occasions with relatively large radio interference, output filter can be used to suppress interference. The input side and the drive generate radio interference so that the effect is best by using the input, output filter at the same time, as shown in Figure 2-11.

Figure 2-11 Suppress radio interference with output filter

GS DRIVER CTB

BKSC-XXXX GHX

41P5 42

P2 43P7 45P5 47P5 4011 4015 4018 4022 4030 4037 4045 4055 4075 4090 4110 4132 4160 4200

4250

4315

Braking resistor

ripple

Power

W

-

600 800 10 00 600 800 1000 1000 1500 2000 2000 2500 2500 2500 2500 2000 2000 2500

2500

Resist

ance

Ω

- - 50

40

32

50

40

32

20

20 Qty.

- - 1 1 1 2 2 2 2 2 2 2 2 3 3 3 4 4 6 6 8

aluminu

m

housing

Power

W

200

300 600 800 10 00 600 800 1000 1000

Same parameters for ripple resistor

Resist

ance

Ω

150

10

0

50

40

32

50

40

32

Qty.

1 1 1 1 1 2 2 2 2

Filtering

magnet

ring

inside diameter

φ(mm)

15

18

23

27

38

44

44 ― ―

―

Thickness

H(mm)

13

15

24

15

15 ― ―

―

Connection of the grounding wire

● The ground terminal is identified as E or , please do ground.

● Earth resistance: below 4Ω.

● Do not share grounding wire with welder and other power equipment.

● Please select wire diameter specification for grounding wire as specification in technical standards of

electrical equipment, and as short as possible.

● Please make grounding wire forming a loop where more than two drivers are used.

● Example: as shown in Figure 2-12

Figure 2-12 Connection of grounding wire

Connection of braking resistor

The P, PB terminals on main circuit block of AC servo driver are for connection with braking resistor. Please do not connect braking resistor to other terminals, otherwise, the braking resistor will heat up and burn out, or cause damage to the driver. Please see Table 2-2 for braking resistor selection.

Table 2-2 Specification of braking resistor

Note: above accessories data is standard data recommended by the manufacturer. For special applications, please contact your supplier.

● The connection of braking resistor shall be in strict accordance with Figure 2-13.

CTB GH DRIVER

Figure 2-13 Connection of braking resistor

Model BKSC

Power

(kW)

Breaker

(air switch) (A)

Main circuit cable (copper

conductor cable) (mm2)

Contactor

Voltage: 380V.

Current:(A)

41P5GHX

1.5

10

2.5

9

42P2GHX

2.2

10

2.5

9

43P7GHX

3.7

16 4 16

45P5GHX

5.5

32 4 18

47P5GHX

7.5

40 6 25

4011GHX

11

63 6 32

4015GHX

15

63

10

50

4018GHX

18.5

100

16

63

4022GHX

22

100

16

80

4030GHX

30

125

25

95

4037GHX

37

160

35

115

4045GHX

45

200

35

115

4055GHX

55

200

50

150

4075GHX

75

225

70

185

4090GHX

90

250

70

250

4110GHX

110

400

95

250

4132GHX

132

400

120

315

4160GHX

160

400

150

400

4200GHX

200

630

185

400

4250GHX

250

630

240

500

4315GHX

315

800

300

630

● The length of connecting wire between driver and braking resistor shall be less than 50 m.

● Please pay particular attention to: external braking unit may be connected to p (+) / DC +, N (-) / DC

side of the driver, but direct connecting with braking resistor is not allowed, otherwise, damage to driver or fire may be caused.

Selection of breaker, contactor and cable

Please see Table 2-3 for selection of breaker, contactor and input and output cable

Table 2-3 Specification of breaker, contactor and cable

GS DRIVER CTB

Signal

Signal name

Cable

Cable(mm2) specification

switching value

input /output

I1～I6 Q1～Q2 PV SC

common cable or

shielded cable

0.2～2

Relay output

M0A/M0B/M0C M1A/M1B/M1C

common cable or

shielded cable

0.2～2

Analog signal

FI FV FS FC FS FT

shielded cable

0.2～1

Encoder signal

PV1 G1 A+ A- B+ B- Z+ ZPV2 G2 OA+ OA- OB+ OB- OZ+ OZ-

Shielded twisted

twin cable

0.2～1

PULSE signal

SA+ SA- PB+ PB- DZ+ DZ-

Shielded twisted

twin cable

0.2～1

enable reset

signal

ST PV SC

common cable or

shielded cable

0.2～1

Control panel

model

switching

value

input

switching

value output

Analog

input

Analog

output

PULSE

input

Communication

interface

Encoder

input

Encoder

output

CP100A1/

CP100C1

7 4 2 2 ○

RS232

○

Main circuit wiring precautions

● Please do connect breaker or fuse between power supply and power input terminals (R, S, T) of the

driver.

● Please do connect to earth wire at E terminal of the driver. Copper core cable over 4mm

for earth wire with a grounding resistance lower than 4Ω.

● Please ensure the high reliability of wiring.

● Please check the following items after circuit wiring.

(1) Are all connections correct? (2) Is there connection missing? (3) Is there short circuit between terminals and connecting line or shorted to ground?

Control circuit wiring

Input and output signals of GH Series AC servo driver include: switching value input signal, switching value output signal, Analog input signal, PULSE input signal, encoder input / output signal. Specifications of input and output signal cable

2

shall be used

As the control signals are different, the requirements to cable for connector are strict. Specifications of cable for different signal connectors are listed in Table 2-4. User shall follow the standard for wiring.

Table 2-4 Specifications of input and output signal cable

GH DRIVER control panel specifications

GH Series driver provides six kinds of control board according to different power and function of GH Series driver. Please see Table 2-5 for interface characteristics and applicable model.

Table 2-5 GH DRIVER main board specifications

CTB GH DRIVER

CP100B1/

CP100D1

14 8 2 2 ○

RS232 RS485

CAN

TCP/IP

○

CP100AT1/

CP100CT1

8 4 3 - ○

RS232

○

Standard version control wiring diagram (taking 7.5kW GH X driver as an example)

GS DRIVER CTB

Port

Type

Name

Function

Signal standard

T0

Communication

communicate with computer

RS232

T1

Analog input

1

FS

10V power for speed setting is

provided inside common port

DC10V 50mA

6

FC

analog input /output common

terminal

0V

3

FV

-10V～+10V analog input, input impedance: 20KΩ

Analog signal

4

FI

Analog input impedance may be

selected for 0～10V , 4～20mA

impedance: 20K/500Ω

Analog output

2

AO

-10～10V output

5

FO

-10～10V output

T2

Programmable

optocoupler

output

1

Q1

speed reached

24V optocoupler

output 10mA

2

Q2

driver ready

Relay output

3/4/5

MOA/MOb/MO

c

output accurate stop end (in place)

output

Ac250V 1A

Dc30 1A

6/7/8

MIA/MIB/MIC

driver fault output

T3

Control signal

input

7

ST

control enabling and reset

PNP: 0V input

effective

NPN:24V input

effective

Input mode of

PNP or NPN

Shall be selected

by software

parameter setting

1

I1

Foreword/ operation enabling

2

I 2

reverse

3

I 3

accurate stop, close: start accurate

stop and maintain; open: cancel

accurate stop

4

I 4

rigid tapping signal, close : enter rigid

tapping state

5

I 5

multifunctional terminal

6

I 6

Swing

Control power

8

PV

DC24V power terminal, it’s 24V

output when JP1 is turned on, and

24V input when JP1 is shut down.

DC24V 100mA

9

SC

D 24V power 0V terminal /control

signal common port

T4

Encoder output

3/4

PV2/G2

Preset power, provided by digital

system, system without electrify

inspection may go without.

DC5V,200mA

5/15

OA + /OA－

encoder A phase output

line driver output

RS 422 standard

10/14

OB +/ OB-

encoder B phase output

9/13

OZ + /OZ－

encoder Z phase output

Encoder

2/1

SA + /SA－

encoder A phase/orthogonal PULSE

A phase input /single PULSE train

RS422 standard

Input and output signals description (GHX Series)

Table 2-6 Input and output signal function description

CTB GH DRIVER

PULSE input

input P

7/6

PB + /PB－

encoder B phase/orthogonal PULSE

B phase input /single PULSE

direction input D

12/11

DZ +/ DZ-

encoder Z phase

T5

Communication

encoder input

12/13

PV1/G1

encoder power supply provides

terminal /power common port

Dc5V 200mA

8/3

A +/ A－

A/A/SIN/DATA

INCRE/SIN-COS/Rotary/ABSOLUTE

Corresponding

encoder standard

9/4

B + /B－

B/B/COS/CLK

incre/SIN-COS/Rotary/ABSOLUTE

15/14

z +/ z－

Z/R/REF INCRE/SIN-COS/ROTARY

6/1

U+/U-

U/C increment/ sine and cosine

7/2

V+/V-

V/D increment/ sine and cosine

10/5

W+/W-

W increment

Thermal

protection input

11

T1

Motor thermal protection signal input

N.C./ N.O.

GS DRIVER CTB

General version control wiring diagram (taking 7.5kW GHXB driver as an example)

CTB GH DRIVER

Port

Type

Name

Function

Signal standard

T0

Communicatio

n

communicate with computer

RS232

T1

High-speed

bus interface

T2

Analog input

1

FS

10V power for speed setting is

provided inside common port

DC10V 50mA

4/7

FC

analog input /output common terminal

0V

2

FV

-10V～+10V analog input, input impedance: 20KΩ

Analog signal

3

FI

Analog input impedance may be

selected for 0～10V , 4～20mA

impedance: 20K/500Ω

Analog output

5/6

DA1/DA2

-10～10V output

Programmable

optocoupler

output

8/9/10/

11

Q3/Q4/Q5/Q6

Programmable output

24V optocoupler

output 10mA

Control power

12

SC

Control signal common terminal

DC24V 100mA

485

communication

interface

13/14

D+/D-

485 communication interface

RS485 standard

CAN

communication

interface

15/16

CANH/CANL

CAN communication interface

CAN

communication

standard

orthogonal/dire

ctional pulse

input interface

17/18

PA+/PA-

orthogonal/directional pulse input

interface

RS422 standard

19/20

DB+/DB-

orthogonal/directional pulse input

interface

T3

Control power

supply

1

PV

DC24V power supply terminal

DC 4V 100mA

2

SC

DC24V power supply 0V terminal

/control signal public terminal

NPN/PNP

select

3

DP

NPN/PNP select

DP connections to

PV is NPN, and

DP connecting to

SC is PNP

Control signal

input

4

ST

Control enabling and reset

PNP: 0V input

effective

NPN:24V input

effective

5

RET

Reset

6

I1

Multi-function terminal

7

I 2

Multi-function terminal

8

I 3

Multi-function terminal

9

I 4

Multi-function terminal

Input and output signals description (GHXB Series)

Table 2-7 Input and output signal function description

GS DRIVER CTB

10

I 5

Multi-function terminal

11

I 6

Multi-function terminal

12

I 7

Programmable input

13

I 8

Programmable input

14

I 9

Programmable input

15

I 10

Programmable input

16

I 11

Programmable input

17

I 12

Programmable input

Programmable

optocoupler

output

24

Q1

Speed reached

24V optocoupler

output 10mA

25

Q2

Driver is ready

Relay output

18/19/

20

M0A/M0B/M0

C

Output accurate stop ends (in place)

output

AC 250V 1A

DC30 1A

21/22/

23

M1A/M1B/M1

C

Driver fault output

T4

Encoder output

3/4

PV2/G2

Preset power, provided by digital

system, system without electrify

inspection may go without.

DC5V，200mA 5/15

OA + /OA－

encoder A phase output

line driver output

RS 422 standard

10/14

OB +/ OB-

encoder B phase output

9/13

OZ + /OZ－

encoder Z phase output

Encoder

PULSE input

2/1

SA + /SA－

encoder A phase/orthogonal PULSE

A phase input /single PULSE train

input P

RS422 standard

7/6

PB + /PB－

encoder B phase/orthogonal PULSE

B phase input /single PULSE direction

input D

12/11

DZ +/ DZ-

encoder Z phase

T5

Communicatio

n encoder

input

12/13

PV1/G1

encoder power supply provides

terminal /power common port

Dc5V 200mA

8/3

A +/ A－

A/A/SIN/DATA increment /sine and

cosine / resolver / absolute value

Corresponding

encoder standard

9/4

B+ /B－

B /B/COS/CLK increment /sine and

cosine / resolver / absolute value

15/14

z +/ z－

Z /R/REF increment /sine and cosine /

resolver

6/1

U+/U-

U/C increment/ sine and cosine

7/2

V+/V-

V/D increment/ sine and cosine

CTB GH DRIVER

10/5

W+/W-

W increment

Thermal

protection

input

11

T1

Motor thermal protection signal input

N.C./ N.O.

Special version control wiring diagram (taking 7.5kW GHXT driver as an example)

GS DRIVER CTB

Port

Type

Name

Function

Signal standard

T0

Communication

communicate with computer

RS232

T1

Analog input

1

FS

10V power for speed setting is

provided inside

DC10V 50mA

6

FC

analog input common terminal

0V

3

FV

-10V～+10V analog input, input impedance: 20KΩ

Analog signal

4

FI

Analog input impedance may be

selected for 0～10V , 4～20mA

impedance: 20K/500Ω

2

AO

-10V～+10V analog quantity output

5

FO

-10V～+10V analog quantity output

T2

Relay output

1

Q1

Speed reached

AC 250V 1A

DC30 1A

2

Q2

Driver ready

3/4/5

M0A/M0B/M0

C

Output accurate stop ends (in place)

output

6/7/8

M1A/M1B/M1

C

Driver fault output

T3

Analog input 16

FV

-10～10V analog quantity input

Analog signal 15

FC

Analog input common terminal

NPN/PNP

selection

9

DP

NPN/PNP selection

DP is NPN when

connected to PV.

DP is PNP when

connected to SC.

7

ST

Control enabling and reset

PNP: 0V input

effective

NPN:24V input

effective

8

RET

Reset

1

I1

Forward/operation enabling

2

I2

Reversal

3

I 3

Accurate stop, close: start accurate

stop and hold; switch off: cancel the

accurate stop

4 I 4

Rigid tapping signal, close; enter

rigid tapping state

5 I 5

Multi-function terminal

6 I 6

Swing

Input and output signals description (GHXT Series)

Table 2-8 Input and output signal function description

CTB GH DRIVER

Orthogonal/direct

ional pulse input

interface

11/10

PB + /PB－

Orthogonal/directional pulse input

interface

RS422 standard

12/13

DZ +/ DZ-

Orthogonal/directional pulse input

interface

Encoder output

22/23

OA + /OA－

encoder A phase output

line driver output

RS 422 standard

25/20

OB +/ OB-

encoder B phase output

24/26

OZ + /OZ－

encoder Z phase output

Relay output

21

Q1

Speed reached

AC 250V 1A

DC30 1A

14

Q2

Driver ready

18/17/

19

M0A/M1A/M1

C

Output accurate stop ends (in place)

output

T4

Encoder output

3/4

PV2/G2

Preset power, provided by digital

system, system without electrify

inspection may go without.

DC5V，200mA 5/15

OA + /OA－

encoder A phase output

line driver output

RS 422 standard

10/14

OB +/ OB-

encoder B phase output

9/13

OZ + /OZ－

encoder Z phase output

Encoder PULSE

input

2/1

SA + /SA－

encoder A phase/orthogonal PULSE

A phase input /single PULSE train

input P

RS422 standard

7/6

PB + /PB－

encoder B phase/orthogonal PULSE

B phase input /single PULSE

direction input D

12/11

DZ +/ DZ-

encoder Z phase

T5

Communication

encoder input

12/13

PV1/G1

encoder power supply provides

terminal /power common port

Dc5V 200mA

8/3

A +/ A－

A/A/SIN/DATA increment /sine and

cosine / resolver / absolute value

Corresponding

encoder standard

9/4

b + /b－

B /B/COS/CLK increment /sine and

cosine / resolver / absolute value

15/14

z +/ z－

Z /R/REF increment /sine and cosine

/ resolver

6/1

U+/U-

U/C increment/ sine and cosine

7/2

V+/V-

V/D increment/ sine and cosine

10/5

W+/W-

W increment

Thermal

protection input

11

T1

Motor thermal protection signal input

N.C./ N.O.

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Connector terminal arrangement

T3 26-pin high density plug T4 D-type 15-pin plug (pin) T5 D-type 15-pin plug (hole)

Control power supply wiring

In addition to analog control terminal, all of other control terminals of GH series AC servo driver are equipped with optocoupler isolation. Power of the optocoupler isolation may select from internal of the driver or external power provided by the user according to the actual requirements. To ensure better isolation effect, it is recommended to use external DC24V isolation power provided by user.

The wiring of relay output signal

GH AC servo driver provides two relay output points. Output standard: AC250V 1A DC30V 1A Accurate stop relay output schematic diagram Fault relay output schematic diagram

Transistor output wiring precautions

● The maximum oad capacity of output tape of transistor output QI/Q2 is 20 mA, and the output voltage

is DC24V.

● If the output terminal needs 0V, intermediate relay may be installed for switching as shown in Figure

2-14.

● If the output terminal drives inductive load (e.g., electromagnetic relay, intermediate relay), surge voltage absorbing circuit shall be added as shown in Figure 2-14. If follow current diode is installed in surge absorption circuit (for DC electromagnetic circuit), attention must be paid to polarity during installation.

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Signal

Function

Signal standard

FI

Unipolarity analog input terminal

A2-01=1

0～10V, input impedance: 20KΩ

FV

Bipolarity analog input terminal

A2-01＝0

-10V～+10V analog input, input impedance: 20KΩ

FS

inside provided speed setting power

DC10V，50mA,

Fc

analog common port

0V

E

Shielding layer connecting terminal

Figure 2-14 Transistor output circuit

Wiring of analog input signal

GH AC servo driver selects two analog input interfaces of FI and FV, as well as a group of power interface FS and FC for analog input. Please see Table 2-9 for signal function description.

Table 2-9 Analog interface signal description

Wiring requirements

● Connect to signal source or control signal with multi-core shielded cable or stranded shielded wire.

● The near-end of shielding layer of the case (end near the driver) shall be connected to the connector

housing.

● During wiring, the control cables shall be arranged more than 30cm away from the main circuit and

strong power line (including power line, motor line, relay, contactor connecting cable), and avoid parallel layout. Vertical wiring is recommended to prevent malfunction of the driver due to interference.

●Filter magnetic ring provided by the manufacturer shall be used for long distance wiring. It shall be installed at the side near the driver.

FI terminal wiring example

Use internal power for speed setting. The input signal is 0 ~ 10V/4-20mA as shown in Figure 2-15.

Figure 2-15 Conduct speed setting with internal power

FV terminal wiring example

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Forbid

● It's prohibited to connect the signal line and OV reversely. The signal line is likely to be burned, and

reverse operation may be caused for bipolar.

● It's prohibited to connect high-voltage to analog signal terminal. The driver may be burned.

Signal

Description

Signal standard

PV1

Encoder power supply DC5V

DC5V/200mA

G1

Encoder power ground 0V

A+

A phase PULSE same-phase input (+)

Line drive mode RS422 standard

A-

A phase PULSE reverse -phase input (-)

B+

B phase PULSE same-phase input (+)

B-

B phase PULSE reverse -phase input (-)

Z+

Z phase PULSE same-phase input (+)

Z-

Z phase PULSE reverse-phase input (-)

T1

Motor thermal protection input terminal

NC/NO

Signal

Description

Signal standard

PV2

Encoder power supply DC5V

Or external

sensor power

supply

DC5V/200mA

Note: the connection is not required

when used as speed/position feedback

of the CNC system

G2

Encoder power ground 0V

OA+

A phase PULSE same-phase input (+)

Line drive mode

RS422 standard

OA-

A phase PULSE reverse-phase input (-)

CNC system uses bipolar (-10V ~ +10 V) analog output. The speed is determined by the value of the analog, the direction of rotation is determined by polarity of the analog as shown in Figure 2-16.

Figure 2-16 Bipolar speed setting is conducted by CNC system

Connection of the encoder interface

A group of encoder input interface T5 and encoder input interface T4 are provided on main board of GH series AC servo driver. Please see Table 2-10 and Table 2-11 for interface definition.

Table 2-10 Encoder input interface T5

Table 2-11 Encoder output interface T4

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OB+

B phase PULSE same-phase input (+)

OB-

B phase PULSE reverse-phase input (-)

OZ+

Z phase PULSE same-phase input (+)

OZ-

Z phase PULSE reverse-phase input (-)

SA+

Pulse/encoder A-phase input (+)

Line drive mode

RS422 standard

SA-

Pulse/encoder A-phase input (-)

PB+

Pulse/encoder B-phase input (+)

PB-

Pulse/encoder B-phase input (-)

DZ+

Pulse/encoder Z-phase input (+)

DZ-

Pulse/encoder Z-phase input (-)

GS DRIVER CTB

Forbid

●It's prohibited to connect the DC5V power reversely. It's likely to burn the DC5V power or encoder of the driver.

●It's prohibited to reverse the A, B phase sequence. Otherwise, the motor will not function properly, or

even burn the motor or driver.

Name

Description

Name

Description

1

VCC

DC5V

4

NC

Used by manufacturer

2

GND

0V

5

TX

Send terminal

3

RX

Receive terminal

6

NC

Used by manufacturer

Caution

● Please select the standard cable provided by the manufacturer for communication.

Encoder wiring precautions

● The encoder cable must be shielded twisted pair cable.

● The shielding layer shall be connected to the connector housing.

Connection of serial communication port

GH DRIVER provides users with a R S232A serial communication interface T0 for connection with computer to realize transmission of program and parameters. The port is connected with computer through RS232-P1 cable. Please see Table 2-12 for definition of serial communication interface T0

Table 2-12 T0 interface definition

T0 interface diagram

General Purpose cable model: RS 232-p1

CTB GH DRIVER

Manipulator application

The chapter describes the functions and methods of application of the manipulator. Digital tube display

0.4 ~ 18.5kw driver: Configuration and key functions of the manipulator……………….3-2

Operative mode of the driver…………………………………………3-3 Operative mode of the manipulator………………………………….3-4

Use method of the manipulator………………………………………3-4 Modify the parameters with the manipulator………………………..3-5 Monitor operating state with the manipulator……………………….3-5 22 ~ 315kw driver:

Configuration and key functions of the manipulator………………..3-6 Operative mode of the driver…………………………………………3-8 Operative mode of the manipulator………………………………….3-8 Use method of the manipulator……………………………………...3-9 Modify the parameters with the manipulator……………………….3-9 Monitor operating state with the manipulator………………………3-10

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LCD display

0.4 ~ 18.5kw driver: Configuration and key functions of the manipulator……………….3-11 Operative mode of the driver…………………………………………3-12

Operative mode of the manipulator………………………………….3-12 Use method of the manipulator………………………………………3-13 Modify the parameters with the manipulator………………………..3-13 Monitor operating state with the manipulator……………………….3-14

22 ~ 315kw driver:

Configuration and key functions of the manipulator………………..3-15 Operative mode of the driver…………………………………………3-17 Operative mode of the manipulator………………………………….3-17 Use method of the manipulator……………………………………...3-18 Modify the parameters with the manipulator……………………….3-18 Monitor operating state with the manipulator………………………3-19

CTB GH DRIVER

Configuration and key functions of the 0.4 ~ 18.5kw driver digital tube manipulator

The chapter defines and describes terms and phrases for operation and state of 0.4 ~ 18.5kw driver manipulator, defines the operation methods of driver and manipulator. Please read carefully. It's very helpful for proper use of the 0.4 ~ 15kw driver.

Manipulator

The manipulator is one of the standard equipment of 0.4 ~ 18.5kw driver. User may carry out parameter setting, state monitoring, operation control and other operations to the driver through the manipulator. It's very important to be familiar with function and operation of the manipulator for proper application of 0.4 ~

18.5kw series driver. Please read the manual carefully before using.

Manipulator appearance diagram

Manipulator of 0.4 ~ 18.5kw driver is mainly composed of two parts of LED digital tube and keys. The appearance and functional zones are shown in Figure 3-1.

Figure 3-1 Manipulator diagram

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Key

Name

Function

Menu

Menu selection

switching key

switching key of each menu item;

Shift key

It's used to switch data bit of the parameter number when browse parameter items;

When modifying data in program state, it can be used to modify the modified bit of the modified data.

up key

Increase menu item, parameter item or modified parameter value progressively.

down key

Decrease menu item, parameter item or modified parameter value progressively.

Enter

Confirm / enter key

Press the key in program state to return to the previous menu.

Enter the next level menu;

Complete selection of the parameter group in1-level menu; Complete parameter value checking operation in 2-level menu; Complete modification and storage operation of the parameter

value in 3-level menu;

Manipulator key function description

Please see Table 3-1 for function description of the manipulator key

Table 3-1 Manipulator key function

The operating state of the driver

0.4 ~ 18.5kw driver has four operating states after power-on: standby, operating, programming and fault alarm. They are described as follows: Standby state

0.4 ~ 18.5kw driver is in standby state after power-on and before receiving any operating control order. The default standby state display function code of LED digital tube is . User may make LED circling switch display U1, U2, U3, A1, A2 and A3 parameter groups by press key. After press key, user may make LED circling switch display monitoring parameters defined in function parameter group by pressing , and key, and then press key to check /monitor its value. It will be limited by functional parameter A1.00 when user want to check / modify the content of parameter groups other than U1, U2, U3, A1, A2 and A3 during operation. All of the parameters may be checked when A1.00=1. Operating state When 0.4 ~ 18.5kw driver in standby and no-fault state, it will enter operating state after receiving operating order. User may make LED circling switch display U1, U2, U3, A1, A2 and A3 parameter groups by press key. After press key, user may make LED circling switch display monitoring parameters defined in function parameter groups by pressing , .and key, and then press key to check /monitor its value. Setting, modifying or editing state For 0.4 ~ 18.5kw driver, user may switch to the state in which function code parameters can be modified through , , , .and on the operator panel. The state is programming state.

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Function parameter value is displayed in programming state, and the bit to be modified is flashing. Fault alarm state In the state, 0.4 ~ 18.5kw driver fails and displays the fault code. LED displays fault code in fault state, and user may conduct fault reset operation by ,.

Operative mode of the manipulator

Standby state:

The state of the manipulator is shown in Figure 3-2 when the driver is in standby state. The LED digital tube default display . At this point, user may press to enter menu items, and check or modify parameters.

Figure 3-2 Standby state Figure 3-3 Operating state Figure 3-4 Fault alarm state

Operating state:

The driver enters operating state after receiving correct operation command in standby state. As shown in Figure 3-3, the LED digital tube default displays the set speed of the driver, e.g F. 500. In this state, user may press to enter menu items, and check or modify parameters.

Fault alarm state

When fault is detected as the driver is in operating, standby or programming state, the driver will stop and enter fault state immediately as shown in Figure 3-4. When a fault occurs, user may enable conduct drive reset through key. If the fault has disappeared, it returns to the standby state; if the fault still exists, the fault code will be displayed again.

Use method of the manipulator

The section mainly introduces use of the manipulator, and basic operations of functions.

Parameter setting operation process

Parameter setting method of manipulator of 0.4 ~ 18.5kw driver adopts three-level menu structure. Parameter value of menu items can be checked and modified conveniently. The three-level menu: menu item (1-level menu), parameter tem (2-level menu) and parameter setting (3-level menu). The operation process is shown in Figure 3-5.

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During operation in 3-level menu, user may return to 2-level menu by pressing or (see Figure 3-5 and Figure 3-6). The difference between the two operations: after press ENTER key, the set parameter value will be saved to the controller, and then return to 2-level menu; it will return to 2-level menu directly without saving the parameter value by pressing MENU. The detail operational procedures of 3-level menu are shown in Figure 3-6.

Modify the parameters with the manipulator

The flow chart of modify the parameters with the manipulator is shown in Figure 3-6.

★ Description:

Ten menu items are included in 1-level menu: U1menu, U2 menu, U3 menu, A1 menu, A2 menu, A3 menu, C1 menu, D1 menu, E1 menu, P1 menu, T1 menu and L1 menu. Please see parameter description for specific functions in 2-level menu.

Monitor operating state with the manipulator

Operation state, interface state and fault information of the driver can be monitored respectively through U1, U2 and U3 of the manipulator

Operation state monitoring

Operation state monitoring includes set speed F, output speed O, feedback speed b, output current A, output torque T and DC bus voltage U of the driver. Please see Figure 3-7 for monitoring method.

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Figure 3-7 Driver operation state monitoring flowchart

Interface state monitoring

Interface state includes driver’s encoder input interfaces U2-00, U2-01; switching value input terminals U2-02, U2-03; switching value output terminal U2-04, analog input interfaces U2-05, U2-06; output terminals U2-07, U2-08. The monitoring method is same with monitoring parameter, only needs to select corresponding parameter in U2. Please see U2 parameter monitoring table 2 for parameter number.

Fault information monitoring

The control panel will display the current fault message code when the driver is in fault state. The fault record of the driver can be checked through U3. The check operation is same with monitoring parameter, only needs to select corresponding parameter in U3. Please see fault state recording parameter table U3 for parameter number.

22～315k w driver: Configuration and key functions of the 22～315kw driver digital tube manipulator

The chapter defines and describes terms and phrases for operation and state of 22～315kw driver manipulator, defines the operation methods of the driver and manipulator. Please read carefully. It's very helpful for proper use of the 22～315kw driver.

Manipulator

The manipulator is one of the standard equipment of 22～315kw driver. User may carry out parameter setting, state monitoring, operation control and other operations to the driver through the manipulator. It's very important to be familiar with function and operation of the manipulator for proper application of 22～ 315kw series driver. Please read the manual carefully before using.

Manipulator appearance diagram

Manipulator of 22～315kw driver is mainly composed of three parts of LED digital tube, LED indicator and key. The appearance and functional zones are shown in Figure 3-8.

GS DRIVER CTB

Key

Name

Function

Menu select and

switch key

switching key of each menu item;

Confirm / enter

key

Press the key in program state to return to the previous menu. Enter the next level menu; Complete selection of the parameter group in 1-level menu;

Complete parameter value checking operation in 2-level menu; Complete modification and storage operation of the parameter value

in 3-level menu;

up key

Increase menu item, parameter item or modified parameter value progressively.

down key

Decrease menu item, parameter item or modified parameter value progressively.

Shift key

It's used to switch data bit of the parameter number when browse parameter items.

It may change the bit to be modified of the modified data when modify data in the program state.

run command

key

It's used to start the driver in driver control mode;

fault reset key

It's used to reset driver reset when the driver is in fault alarm state.

direction

It's used to select rotation direction of the driver in manipulator

Figure 3-8 Manipulator diagram

Manipulator key function description

Please see Table 3-2 for function description of the manipulator key

Table 3-2 Manipulator key function

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command switch

key

command control mode.

Manipulator LED indicator description

There are six LED indicators on the manipulator. They are on or off in various states. The detail description is as follows: Current display indicator A: It has two states of on and off which indicates that the data displayed in the current LED digital tube display zone is current parameter or not. On means current parameter is displayed in the LED digital tube display zone; off means that it's not current parameter displayed in the LED digital tube display zone. Torque display indicator T: It has two states of on and off which indicates that the data displayed in the current LED digital tube display zone is torque parameter or not. On means torque parameter is displayed in the LED digital tube display zone; off means that it's not torque parameter displayed in the LED digital tube display zone. Speed display indicator rpm: It has two states of on and off which indicates that the data displayed in the current LED digital tube display zone is speed parameter or not. On means speed parameter is displayed in the LED digital tube display zone; off means that it's not speed parameter displayed in the LED digital tube display zone. Indicator EXT Save; Run state indicator RUN: It has two states of on and off which indicates the run state of the system under various operating control orders. On means the driver is in operating state; off means the driver is shutdown. Operating direction indicator REV: It has two states of on and off which indicates the current operating direction of the driver. On means reverse operation of the driver; off means forward operation of the driver.

The operating state of the driver

22～315kw driver has four operating states after power-on: standby, operating, setting, modifying or editing and fault alarm. They are described as follows:

Standby state

22～315kw driver is in standby state after power-on and before receiving any operating control order. The Run state indicator (RUN) on operation panel is off, and the default tandby state display function

code of LED digital tube is . User may make LED circling switch display U1, U2, U3, A1,2 A2 and A3 parameter groups by press key.After pressing ENT to make LED circling switch display monitoring parameters defined in function parameter group, and then press ENT to check /monitor its value. It will be limited by selection functional parameter A1-00=1 when the user wants to check / modify the content of parameter groups other than U1, U2, U3, A1,2 A2 and A3 during operation. All of the parameters may be checked with A1-00=1. Operating state

GS DRIVER CTB

When 22～315kw driver in standby and no-fault state, it will enter operating state after receiving operating order.

In normal operating state, the Run state indicator (RUN) on operation panel is on. User may make LED circling switch display U1, U2, U3, A1,2 A2 and A3 parameter groups by press key. Press ∧,∨ and > after pressing ENT to make LED circling switch display monitoring parameters defined in function parameter groups, and then press ENT to check /monitor its value.

Setting, modifying and editing state

For 22～315kw driver, user may switch to the state in which function code parameters can be modified through MENU, ENT, ∧, ∨and > on the operator panel. The state is programming state. Function parameter value is displayed in programming state, and the bit to be modified is flashing.

Fault alarm state

In the state, 22～315kw driver fails and displays the fault code. LED displays fault code in fault state, and > may enable user conducting fault reset operation.

Operative mode of the manipulator

Standby state:

The state of the manipulator is shown in Figure 3-9 when the driver is in standby state. The LED digital tube default display . At this point, user may press to enter menu items, and check or modify parameters.

Figure 3-9 Standby state Figure 3-10 Operating state Figure 3-11 Fault alarm state

Operating state:

The driver enters operating state after receiving correct operation command in standby state. As shown in Figure 3-10, the LED digital tube default displays the set speed of the driver, e.g F. 500. In this state, user may press to enter menu items, and check or modify parameters.

Fault alarm state

When fault is detected as the driver is in operating, standby or programming state, the corresponding fault information will be displayed immediately as shown in Figure 3-11. When a fault occurs, the driver may enable driver reset through >. If the fault has disappeared, it returns

CTB GH DRIVER

to the standby state; if the fault still exists, the fault code will be displayed again.

Use method of the manipulator

The section mainly introduces use of the manipulator, and basic operations of functions.

Parameter setting operation process

Parameter setting method of manipulator of 22～315kw driver adopts three-level menu structure. Parameter value of menu items can be checked and modified conveniently.

The three-level menu: menu item (1-level menu), parameter tem (2-level menu) and parameter setting (3-level menu). The operation process is shown in Figure 3-12.

During operation in 3-level menu, user may return to 2-level menu by pressing or (see Figure 3-12 and Figure 3-13). The difference between the two operations: after press ENTER key, the set parameter value will be saved to the controller, and then return to 2-level menu; it will return to 2-level menu directly without saving the parameter value by pressing MENU. The detail operational procedures of 3-level menu are shown in Figure 3-13.

Modify the parameters with the manipulator

The flow chart of modify the parameters with the manipulator is shown in Figure 3-13.

Figure 3-13 3-level menu operation flow chart

GS DRIVER CTB

★ Description: 10 menu items are included in 1-level menu: U1menu, U2 menu, U3 menu, A1 menu, A2 menu, A3 menu, C1 menu, D1 menu, E1 menu, P1 menu, T1 menu and L1 menu. Please see parameter description for detailed function in 2-level menu.

Monitor operating state with the manipulator

Operation state, interface state and fault information of the driver can be monitored respectively through U1, U2 and U3 of the manipulator

Operation state monitoring

Operation state monitoring includes set speed F, output speed O, feedback speed b, output current A, output torque T and DC bus voltage U of the driver. Please see Figure 3-14 for monitoring method.

Figure 3-14 Driver operation state monitoring flowchart

Interface state monitoring

Interface state includes driver’s encoder input interfaces U2-00, U2-01; switching value input terminals U2-02, U2-03; switching value output terminal U2-04, analog input interfaces U2-05, U2-06; output terminals U2-07, U2-08. The monitoring method is the same as monitoring parameter, only needs to select corresponding parameter in U2. Please see U2 parameter monitoring table 2 for parameter number.

Fault information monitoring

The control panel will display the current fault message code when the driver is in fault state. The fault record of the driver can be checked through U3. The check operation is the same as monitoring parameter, only needs to select corresponding parameter in U3. Please see parameter table of parameter number.

Configuration and key functions of the 0.4～18.5kw driver LCD manipulator

The chapter defines and describes terms and phrases for operation and state of 0.4～18.5kw driver manipulator, defines the operation methods of the driver and manipulator. Please read carefully. It's very helpful for proper use of the 0.4～18.5kw driver.

CTB GH DRIVER

Key

Name

Function

Menu select and

switch key

switching key of each menu item;

Shift key

It's used to switch data bit of the parameter number when browse parameter items; The low order of the data may be displayed when displaying 32-bit data. When modifying data in program state, it can be used to modify the modified bit of the modified data.

up key

Increase menu item, parameter item or modified parameter value progressively.

down key

Decrease menu item, parameter item or modified parameter value progressively；shift among monitoring menu and menu item.

Manipulator

The manipulator is one of the standard equipment of 0.4～18.5kw driver. User may carry out parameter setting, state monitoring, operation control and other operations to the driver through the manipulator. It's very important to be familiar with function and operation of the manipulator for proper application of 0.4～

18.5kw series driver. Please read the manual carefully before using.

Manipulator appearance diagram

Manipulator of 0.4～18.5kw driver is mainly composed of two parts of LCD display zone and keys. The appearance and functional zones are shown in Figure 3-15.

Figure 3-15 PO-S6 Manipulator diagram

Manipulator key function description

Please see Table 3-3 for function description of the manipulator key

Table 3-3 Manipulator key function

GS DRIVER CTB

Confirm / enter

key

Press the key in menu state to enter parameter modifying interface; Complete modification and storage operation of the parameter value

in the parameter modifying interface.

The operating state of the driver

0.4～18.5kw driver has four operating states after power-on: standby, operating, programming and fault alarm. They are described as follows:

Standby state

0.4～18.5kw driver is in standby state after power-on and before receiving any operating control order. The default standby state display function code of LCD digital tube is . User may make LCD circling

switch display U1, U2. U3, A1, A2 and A3 monitoring function parameter groups by pressing MENU key. Press , and after pressing to make LCD circling switch display monitoring parameters defined in function parameter group, and may check/monitor the value. Then press to

modify its value. It will be limited by selection functional parameter A1-00 when user want to check / modify the content of parameter groups other than U1, U2. U3, A1, A2 and A3 during operation. All of the parameters may be checked with A1-00=1. Operating state When 0.4～18.5kw driver in standby and no-fault state, it will enter operating state after receiving

operating order. User may make LCD circling switch display U1, U2. U3, A1, A2 and A3 monitoring function parameter

groups by pressing MENU key. Press , and after pressing to make LCD circling switch display monitoring parameters defined in function parameter group, and may check/monitor the

value. Then press to modify its value. Setting, modifying and editing state For 0.4～18.5kw driver, user may switch to the state in which function code parameters can be modified

through MENU, , , and ENTER on the operator panel. The state is programming state. Function parameter value is displayed in programming state, and the bit to be modified is displayed in inverse color. Fault alarm state In the state, 0.4～18.5kw driver fails and displays the fault code.

LCD displays fault code in fault state, and may enable user conducting fault reset operation.

Operative mode of the manipulator Standby state:

The state of the manipulator is shown in Figure 3-16 when the driver is in standby state. The LCD digital tube default display . At this point, user may press to enter menu items, and check or modify parameters.

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Figure 3-16 Standby state Figure 3-17 Operating state Figure 3-18 Fault alarm state Operating state: The driver enters operating state after receiving correct operation command in standby state. As shown in Figure 3-17, the LCD digital tube default displays the set speed of the driver, e.g F. 500. In this state, user may press , , , and ENTER to enter menu items, and check or modify parameters. Fault alarm state When fault is detected as the driver is in operating, standby or programming state, the corresponding fault information will be displayed immediately as shown in Figure 3-18. When a fault occurs, the driver may enable driver reset through . If the fault has disappeared, it returns to the standby state; if the fault still exists, the fault code will be displayed again.

Use method of the manipulator

Parameter setting operation process Parameter setting method of manipulator adopts three-level menu structure. Parameter value of menu items can be checked and modified conveniently. The three-level menu: menu item (1-level menu), parameter tem (2-level menu) and parameter setting (3-level menu). The operation process is shown in Figure 3-19.

Figure 3-19 2-level menu operation flow chart During operation in 2-level menu, user may return to 2-level menu by pressing or . The difference between the two operations: after press ENTER key, the set parameter value will be saved to the controller, and then return to 2-level menu; it will return to 2-level menu directly without saving the parameter value by pressing MENU. The detail operational procedures of 2-level menu are shown in Figure 3-20.

Modify the parameters with the manipulator

The flow chart of modify the parameters with the manipulator is shown in Figure 3-20.

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Figure 3-20 2-level menu operation flow chart

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★ Description:

10 menu items are included in 1-level menu: U1 menu, U2 menu, U3 menu, A1 menu, A2 menu, A3 menu, C1 menu, D1 menu, E1 menu, P1 menu, T1 menu and L1 menu. Please see parameter description for detailed function in 2-level menu.

Monitor operating state with the manipulator

Operation state, interface state and fault information of the driver can be monitored respectively through U1, U2 and U3 of the manipulator

Operation state monitoring

Operation state monitoring includes set speed F, output speed O, feedback speed b, output current A, output torque T and DC bus voltage U of the driver. Please see Figure 3-21 for monitoring method.

Figure 3-21 Driver operation state monitoring flowchart

Interface state monitoring

Interface state includes driver’s encoder input interfaces U2-00, U2-01; switching value input terminals U2-02, U2-03; switching value output terminal U2-04, analog input interfaces U2-05, U2-06; output terminals U2-07, U2-08. The monitoring method is same with monitoring parameter, only needs to select corresponding parameter in U2. Please see U2 parameter monitoring table 2 for parameter number.

Fault information monitoring

The control panel will display the current fault message code when the driver is in fault state. The fault record of the driver can be checked through U3. The check operation is same with monitoring parameter, only needs to select corresponding parameter in U3. Please see fault state recording parameter table U3 for parameter number.

Configuration and key functions of the 22～315kw driver LCD manipulator

The chapter defines and describes terms and phrases for operation and state of 22～315kw driver manipulator, defines the operation methods of the driver and manipulator. Please read carefully. It's very helpful for proper use of the 22～315kw driver. Manipulator The manipulator is one of the standard equipment of 22～315kw driver. User may carry out parameter setting, state monitoring, operation control and other operations to the driver through the manipulator. It's very important to be familiar with function and operation of the manipulator for proper application of 22～ 315kw series driver. Please read the manual carefully before using.

Manipulator appearance diagram Manipulator of 22～315kw driver is mainly composed of three parts of LED indicator, LCD display zone and keys. The appearance and functional zones are shown in Figure 3-22.

GS DRIVER CTB

Key

Name

Function

Menu select and

switch key

Switching key of each menu item;

Right shift key

It's used to switch data bit of the parameter number when browse parameter items;

It's used to change the modified bit of the modified data when change parameter.

left shift key

It's used to change the modified bit of the modified data when change parameter.

up key

Increase menu item, parameter item or modified parameter value progressively.

down key

Decrease menu item, parameter item or modified parameter value progressively.

Confirm / enter

key

Press the key in menu state to enter parameter modifying interface; Complete modification and storage operation of the parameter value

in the parameter modifying interface.

STOP/RESE

T

Fault reset key

It's used for reset of driver fault when the driver is in fault alarm state.

Figure 3-22 PO-S8 Manipulator diagram

Manipulator key function description Please see Table 3-4 for function description of the manipulator key

Table 3-4 Manipulator key function

CTB GH DRIVER

FWD/REV

Direction

command switch

key

It's used to select the run operation of the driver when the driver is in command control mode; the key indicator automatically displays the run direction of the driver during terminal control.

Manipulator LED indicator description

There are six LED indicators on the manipulator. They are on or off in various states. The detail description is as follows: Current display indicator A: It has two states of on and off which indicates that the data displayed in the current LCD display zone is current parameter or not. On means current parameter is displayed in the LCD display zone; off means that it's not current parameter displayed in the LCD display zone. Torque display indicator T: It has two states of on and off which indicates that the data displayed in the current LCD display zone is torque parameter or not. On means torque parameter is displayed in the LCD display zone; off means that it's not torque parameter displayed in the LCD display zone. Speed display indicator rpm: It has two states of on and off which indicates that the data displayed in the current LCD display zone is speed parameter or not. On means speed parameter is displayed in the LCD display zone; off means that it's not speed parameter displayed in the LCD display zone. Indicator EXT Save; Run state indicator RUN: It has two states of on and off which indicates the run state of the system under various operating control orders. On means the driver is in operating state; off means the driver is shutdown. Operating direction indicator REV: It has two states of on and off which indicates the current operating direction of the driver. On means reverse operation of the driver; off means forward operation of the driver.

The operating state of the driver

22～315kw driver has four operating states after power-on: standby, operating, programming and fault alarm. They are described as follows:

Standby state

22～315kw driver is in standby state after power-on and before receiving any operating control order. The default standby state display function code of LCD is . User may make LCD circling switch display U1, U2，U3, A1, A2 and A3 monitoring function parameter groups by pressing MENU key. Press

∧, ∨, > and < after pressing to make LCD circling switch display monitoring parameters defined in function parameter group, and may check/monitor the value. Then press to modify its

value. It will be limited by selection functional parameter A1.00 when user want to check / modify the content of

GS DRIVER CTB

parameter groups other than U1, U2，U3, A1, A2 and A3 during operation. All of the parameters may be checked with A1-00=1.

Operating state

When 22～315kw driver in standby and no-fault state, it will enter operating state after receiving operating order. User may make LCD circling switch display U1, U2，U3, A1, A2 and A3 monitoring function parameter

groups by pressing MENU key. Press ∧, ∨, > and < after pressing to make LCD circling switch display monitoring parameters defined in function parameter group, and may check/monitor the value. Then press to modify its value.

Setting, modifying and editing state

For 22～315kw driver, user may switch to the state in which function code parameters can be modified through MENU, ENTER, ∧, ∨, > and < on the operator panel. The state is programming state. Function parameter value is displayed in programming state, and the bit to be modified is displayed in

inverse color.

Fault alarm state

In the state, 22～315kw driver fails and displays the fault code. LCD displays fault code in fault state, and > may enable user conducting fault reset operation.

Operative mode of the manipulator

Standby state: The state of the manipulator is shown in Figure 3-23 when the driver is in standby state. The LCD default displays . At this point, user may press to enter menu items, and check or modify parameters.

Operating state:

The driver enters operating state after receiving correct operation command in standby state. As shown in Figure 3-24, the LCD digital tube default displays the set speed of the driver, e.g F. 500. In this state, user may press MENU, ENTER, ∧, ∨, > and < to enter menu items, and check or modify

parameters.

CTB GH DRIVER

Fault alarm state

When fault is detected as the driver is in operating, standby or programming state, the corresponding fault information will be displayed immediately as shown in Figure 3-25. When a fault occurs, the driver may enable driver reset through disconnection. If the fault has disappeared, it returns to the standby state; if the fault still exists, the fault code will be displayed again.

Use method of the manipulator

Parameter setting operation process

Parameter setting method of manipulator adopts 2-level menu structure. Parameter value of menu items can be checked and modified conveniently. The 2-level menu: menu item (1-level menu), parameter and parameter setting value tem (2-level menu). The operation process is shown in Figure 3-26.

Figure 3-26 2-level menu operation flow chart During operation in 2-level menu, user may return to 2-level menu by pressing or . The

difference between the two operations: after press ENTER key, the set parameter value will be saved to the controller, and then return to 2-level menu; it will return to 2-level menu directly without saving the parameter value by pressing MENU. The detail operational procedures of 2-level menu are shown in Figure 3-27.

Modify the parameters with the manipulator

The flow chart of modify the parameters with the manipulator is shown in Figure 3-27.

Figure 3-27 2-level menu operation flow chart

GS DRIVER CTB

★ Description: 10 menu items are included in 1-level menu: U1 menu, U2 menu, U3 menu, A1 menu, A2 menu, A3 menu, C1 menu, D1 menu, E1 menu, P1 menu, T1 menu and L1 menu. Please see parameter description for detailed function in 2-level menu.

Monitor operating state with the manipulator

Operation state, interface state and fault information of the driver can be monitored respectively through U1, U2 and U3 of the manipulator

Operation state monitoring

Operation state monitoring includes set speed F, output speed O, feedback speed b, output current A, output torque T and DC bus voltage U of the driver. Please see Figure 3-21 for monitoring method.

Figure 3-28 Driver operation state monitoring flowchart

Interface state monitoring

Interface state includes driver’s encoder input interfaces U2-00, U2-01; switching value input terminals U2-02, U2-03; switching value output terminal U2-04, analog input interfaces U2-05, U2-06; output terminals U2-07, U2-08. The monitoring method is same with monitoring parameter, only needs to select corresponding parameter in U2. Please see U2 parameter monitoring table 2 for parameter number.

Fault information monitoring

The control panel will display the current fault message code when the driver is in fault state. The fault record of the driver can be checked through U3. The check operation is same with monitoring parameter, only needs to select corresponding parameter in U3. Please see fault state recording parameter table U3 for parameter number.

CTB GH DRIVER

Test run

The chapter describes methods and precautions for initial test run of the driver

Basic procedure of test run………………………………..4-2 Confirmation of connection of the main circuit………….4-2 Control circuit wiring confirmation………………………..4-3 Motor and driver parameters confirmation ………………4-3

Motor self-learning…… ……………………………………4-3 No-load test run…………………………………………….4-4 Loaded test run……………………………………………..4-4

GS DRIVER CTB

Basic procedure of test run

The initial power-on operation of the driver shall be carried out by the following procedures, otherwise, accident, damage to equipment or other hazards are likely to happen.

Confirmation of the connection of the main circuit

Please confirm the following contents in connection of the main circuit

1. Connect the connecting wire on driver R / S / T to 3-phase power frequency power supply. The voltage of the power supply shall meet the requirements of the drive.

CTB GH DRIVER

Caution

● The wire connection must be inspected carefully before initial power-on of the driver, otherwise, it's prone to accidents

Caution

If the following situations occur, please shut down immediately and inspect, or contact the manufacturer.

1. Major fluctuation of feedback speed, output current and output torque of the driver, or reach the limit.

2. The motor operation is abnormal with abnormal vibration and noise.

3. Mechanical equipment abnormalities

2. The driver is equipped with built-in braking unit. The braking resistor is connected to P / PB. Do not connect any connect wire to N terminal.

3. When the output terminal of the driver is connected to the motor, it shall be ensured that their phase sequences are same, otherwise, he motor cannot operate normally, and prone to burn the equipment. If shield cable is used for output cable, the shielding layer at the ends of the cable shall be connected respectively to ground terminal of the drive and motor.

4. When filtering magnet ring is installed on the output line, it shall be close to the driver side as possible. The shielding layer and ground line cannot pass through the magnet ting, and the magnet ting cannot be in contact with the U / V / W terminal.

5.The driver and motor must be well grounded.

6. Confirm all connecting wire are connected reliably.

Motor and driver parameters confirmation

The initial parameters of GH series AC servo driver shall be basically in conformity with the practical application. Most of the parameters do not need modification. For initial application, user shall modify or confirm part of the parameters as required.

Parameters need to be confirmed in test run

● Motor and driver parameters: D1, D1-00 ~ D1-05.

● Basic control parameters:A2, A2-00~ A2-35.

● Control relevant parameter:A3, A3-00~ A3-69.

Loaded test run

Attention shall be paid to the following contents during loaded test run of the driver:

1. Loading gradually from small to large. Please inspect or contact with the manufacturer for over loading.

2. Monitor feedback speed, output current and output torque of the driver constantly during loading; observe motor vibration and noise and temperature rise continuously. The equipment shall be shutdown timely for any abnormalities.

3. To avoid accident, the motor shall be stopped before adjusting motor parameters. The parameter regulating quantity shall not be too big.

4. Do not make overload test or destructive test to avoid burning of the driver and motor.

GS DRIVER CTB

Parameter list

The chapter describes all of parameters of the driver.

Monitor parameter U1.................................................................................5-2

Monitor parameter U2.................................................................................5-2

Monitor parameter U3.................................................................................5-3

Initialization parameter A1........................................................................5-3

Parameter defined by user A2...................................................................5-4

Parameter defined by user A3...................................................................5-4

User parameter C1.........................................................................5-4

Motor driving parameter D1........................................................................5-6

Encoder parameter E1........................................................................5-7

Protection parameter P1........................................................................5-8

Communication pameter T1.....................................................................5-9

Manufacturer parameter L1........................................................................5-9

CTB GH DRIVER

Function code:

Code of parameter group and parameter number;

Name:

Name of the parameter;

Description:

Detailed description about function and effective setting value of the parameter;

Setting range:

The range of effective setting value of parameter;

Unit:

Parameter setting unit;

Factory setting:

Original factory parameter setting;

Change:

Parameter changing properties (ie, allow changing or not and change condition) are as follows:

Function

code

PLC address

Name

Description

Unit

Parameter

scope

original

value

Property

U1-0

D6291+D6292

Speed

setting

Speed

setting

rpm

0 to 20000

0

On line

U1-1

D6293+D6294

Speed output

rpm

0 to 20000

0

Read only

U1-2

D6303+D6304

Speed

feedback

Speed

feedback

rpm

0 to 20000

0

Read only

U1-3

D6302

Current

A

0 to 2000

0

Read only

U1-4

D6301

Torque current

Torque

current

A

0 to 2000

0

Read only

U1-5

D6319

Bus

voltage

Bus

voltage

V

0 to 1000

0

Read only

U1-6

D6320

following

error

following

error

pulse

0 to 10000

0

Read only

Function

code

PLC

address

Name

Description

Unit

Parameter

scope

original

value

Property

U2-0

D6311

First coded disc

counting

First coded disc counting

accumulation

Pulse

0 to 65535

0

Read

only

U2-1

D6313

Second coded

disc counting

Second coded disc counting

accumulation

T2 pulse port pulse accumulation

counting

Pulse

0 to 32768

0

Read

only

U2-2

D6445

State of input

points I1-I6, ST,

RST

- - 0

Read

only

U2-3

D6446

State of input

points I7 to I12

U2-4

D6447

state of M0, M1,

Q0 to Q6

- - 0

Read

only

U2-5

D6448

FI after filtering

AD value of unipolar analog quantity of

the first circuit

-

0 to 4095

0

Read

only

U2-6

D6449

FV after filtering

AD value of bipolar analog quantity

-

0 to 4095

0

Read

Parameter list description

The contents of the parameter list are described as follows:

Monitoring parameter U1

Monitoring parameter U2

GS DRIVER CTB

only

U2-7

D6454

DA1

DA1 output digital quantity

-

0 to 4095

0

Read

only

U2-8

D6455

DA2

DA2 output digital quantity

-

0 to 4095

0

Read

only

U2-9

D6456

Temperature of

driver module

Temperature of driver module

-

0 to 100

0

Read

only

U2-10

D6457

Temperature of

CPU

Temperature of CPU

-

0 to 100

0

Read

only

U2-11

D6325

Pulse number of

the first coded

disc distance Z

Pulse number of single circle position

distance

Pulse

0 to 60000

0

Read

only

U2-12

D6315

Pulse 1 counting

Pulse

0 to 60000

0

Read

only

U2-13

D6317

Pulse 2 counting

Pulse

0 to 60000

0

Read

only

U2-14

D6332

Angle of the

second coded disc

distance Z

Pulse number of single circle position

distance Z

0.01

degre

e

0 to 36000

0

Read

only

U2-15

D6333-D5

334

Pulse of the first

coded disc

distance Z

Pulse 1 counting

Pulse

32bit

0

Read

only

U2-16

D6335-D5

336

Pulse of the

second coded disc

distance Z

Pulse 2 counting

Pulse

32bit

0

Read

only

U2-17

D6337

Temperature of

the motor

Display of temperature of the motor

℃

25-150

0

Read

only

Function

code

PLC

address

Name

Description

Unit

Parameter

scope

original

value

Property

U3-0

D6420

Current

fault code

See fault description for

detail

- - -

Read

only

U3-1

D6421

last 1st

fault code

- - -

Read

only

U3-2

D6422

last 2nd

fault code

- - -

Read

only

U3-3

D6423

last 3rd

fault code

- - -

Read

only

U3-4

D6424

last 4th

fault code

- - -

Read

only

U3-5

D6425

last 5th

fault code

- - -

Read

only

Function

code

PLC

address

Name

Description

Unit

Parameter

scope

original

value

Property

A1-00

D6000

Password protection

Start parameters

after group C when it

is set as 1

-

0-1

0

On line

A1-01

D6001

Base power

KW

0-1000

0

Read only

Monitoring parameter U3

Initialization parameter A1

CTB GH DRIVER

A1-02

D6002

Power code

Power code read

from base

- - 0

Read only

A1-03

-

Save

-

- - -

-

A1-04

A1-05

D6005

Clear user’s

parameters

for next

power-on

Restore default

setting of

parameters for next

power-on non-0

restore default

setting

-

0-10000

0

Power on

again

A1-06

D6006

Restore

default

setting of

parameters

for next

power-on

Restore default

setting of

parameters for next

power-on non-0

restore default

setting

-

0-10000

0

Power on

again

A1-07

D6007

PLC version

number

PLC version number

-

0-30000

0

Read only

A1-08

D6008

Control

program

version

number

Control program software version

number

-

0-30000

0

Read only

A1-09

D6009

Application

program

version

number

Application program

software version

number

-

0-30000

0

Read only

A1-10

-

Save

--

- - -

-

A1-11

A1-12

A1-13

D6013

Minimum

calibration

value limit

Calibration is invalid

when the analog

quantity calibration

speed is lower than

the value

-

0-10000

0

On line

A1-14

D6014

Calibration

error scope

Allowed error scope

percent of the

analog quantity

calibration

0-10

0

On line

A1-15

D6015

Auto/manual

0: automatic

calibration

1: manual calibration

-

0-1

0

On line

A1-16

D6016

Calibration

positive bias

Set manual

calibration positive

bias of analog

quantity

LSB

0-65520

0

On line

A1-17

D6017

Calibration

negtive bias

Set manual

calibration negtive

bias of analog

quantity

LSB

0-65520

0

On line

A1-18

D6018

FI analog

quantity

sampling

FV analog quantity input voltage value

monitoring

0.1V

0-10

0

Read only

GS DRIVER CTB

value

A1-19

D6019

FV analog

quantity

sampling

value

FV analog quantity input voltage value

monitoring

0.1V

-20

0

Read only

A1-20

D6020

FV

calibration

order

Set FV analog

quantity calibration

speed

rmp

0-65535

0

On line

A1-21

D6021

FI

calibration

order

Set FI analog

quantity calibration

speed

rmp

0-65535

0

On line

A1-22

D6022

FT

calibration

order

Set FT analog

quantity calibration

speed

rmp

0-65535

0

On line

A1-23

D6023

Analog quantity channel

selection

0: no selection

1: FV

2： FI

3：FV FI FT

-

0-3

0

On line

A1-24

D6024

Analog quantity

filtering

times

Set analog quantity

filtering times

Times

0-4000

2000

On line

A1-25

D6025

Analog zero

speed

deadzone

It is considered as 0

speed when the

analog quantity is

less than the value

LSB

0-65520

0

On line

A1-26

D6026

Analog

maximum

speed

The analog quantity

corresponding to the

maximum speed

rmp

0-30000

1000

On line

A1-27

-

Save

-

- - -

-

A1-28

A1-29

A1-30

D6030

Input

filtering time

Calculation method:

A1-30*0.5ms

0.5ms

0-30000

0

On line

A1-31

Save

-

- - -

-

A1-32

A1-33

D6033

The middle

value function of the analog

quantity

under initial

calibration is

started or

not ?

0: do not start

1: start

-

0-1

1

On line

A1-34

D6034

Time of

section A of

curve S

set time of section A

of curve S

ms

0-2000

10

On line

A1-35

D6035

Time of

section B of

set time of section B

of curve S

ms

0-2000

10

On line

CTB GH DRIVER

curve S

A1-36

D6036

Time of

section C of

curve S

set time of section C

of curve S

ms

0-2000

10

On line

A1-37

D6037

Time of

section D of

curve S

set time of section D

of curve S

ms

0-2000

10

On line

A1-38

D6038

PLC control

Q6 enabling

Q6 is controlled by

free programming of

PLC when this value

is 1, instead of z

output

-

0-1

0

On line

A1-39

D6039

Port com1

function

selection

0: PLC

communication

1: upper computer

communication

-

0-1

0

Non-enabling Function

code

PLC

address

Name

Description

Unit

Parameter

scope

original

value

Property

A2-01

D1201

Analog

quantity

polarity

selection

0：±10V

1：0-10V

-

0-1

0

Non-enabling

A2-02

-

Save

-

- - -

-

A2-03

D1203

Positioning

mode

0：motor encoder

positioning

1：spindle encoder

positioning

2：approach switch

positioning

-

0-2

-

Non-enabling

A2-04

-

Save

-

- - -

-

A2-11

A2-12

D1212

ST

function

selection

0：no function

1：communication

control enabling

-

0-1

0

Non-enabling

A2-13

D1213

Positioning

mode

0：positioning

according to current

speed direction 1： positioning

according to fixed

direction

-

0-1

0

Non-enabling

A2-14

D1214

Positioning

direction selection

0：positive positioning

1： negative

positioning

-

0-1

0

Non-enabling

A2-15

D1215

I1 function

selection

0：analog quantity

speed

1： pulse speed

0-1

-

Non-enabling

User self-defined parameter A2

GS DRIVER CTB

A2-16

-

Save

-

- - -

-

A2-17

D1217

Pulse port

selection

0：T4 input 5V

differential pulse

1：T2 input 5V

differential pulse

2： T3 input 24V pulse

-

0-2

-

Non-enabling

A2-18

D1218

Feedback

source at

pulse

position

0：motor encoder

1：spindle encoder

-

0-1

0

Non-enabling

A2-19

D1219

I4 function

selection

0：analog quantity rigid

tapping

1： pulse rigid tapping

-

0-1

-

Non-enabling

A2-20

-

Save

-

- - -

-

A2-99

Function

code

PLC

address

Name

Description

Unit

Parameter

scope

original

value

Property

A3-00

-

Save

-

- - -

-

A3-07

A3-08

D1308

Withdraw I0

port 0 speed

spindle locking

time

Set Withdraw I0

port 0 speed

spindle locking

time

ms

0-30000

300

Non-enabling

A3-09

D1309

Withdraw I0

port

deceleration

time

Set Withdraw I0

port deceleration

time

0.01s

0-30000

-

Non-enabling

A3-10

-

Save

-

- - -

-

A3-11

A3-12

D1312

Speed setting

during

MODBUS

communication

control

Set speed setting

during MODBUS

communication

control

rmp

±30000

0

Non-enabling

A3-13

-

Save

-

- - -

-

A3-18

A3-19

D1319

Corresponding

speed when

analog voltage

DA1 outputs

10V

Set corresponding

speed when

analog voltage

DA1 outputs 10V

rmp

±65535

-

Non-enabling

User self-defined parameter A3

CTB GH DRIVER

A3-20 - Save

-

- - -

-

A3-21

D1321

Corresponding

speed when

analog voltage

DA2 outputs

10V

Set corresponding

speed when

analog voltage

DA2 outputs 10V

0.1A

±65535

-

Non-enabling

A3-22 - Save

-

- - -

-

A3-23

D1323

Corresponding

maximum

speed of

speed control

of 10V

Input

corresponding speed when 10V analog voltage is

input

rmp

0-20000

-

Non-enabling

A3-24

D1324

speed control

acceleration

time

Set speed control

acceleration time

0.01s

0-20000

100

Non-enabling

A3-25

D1325

speed control

deceleration

time

Set speed control

deceleration time

0.01s

0-20000

100

Non-enabling

A3-26 - Save

-

- - -

-

A3-27

D1327

Speed control

scale gain

Set speed loop regulator scale

gain. The gain is

higher and the

rigidity is bigger

with greater value.

Set the value as high as possible

without vibration in

the system

-

0-30000

-

Non-enabling

A3-28

D1328

Speed control

integral time

Set speed ring PI regulator integral

time. The rigidity is

higher with lower

value

-

Non-enabling

A3-29 - save

-

- - -

-

A3-30

D1330

Rigid tapping/ pulse position

maximum

speed time

Set the maximum

speed of motor

during Rigid

tapping/ pulse

position control

rmp

0-20000

1500

Non-enabling

A3-31

D1331

Rigid tapping/ pulse position

acceleration

time

Set Rigid tapping/

pulse position

acceleration time

0.01s

0-20000

100

Non-enabling

A3-32

D1332

Rigid tapping/ pulse position

deceleration

time

Set Rigid tapping/

pulse position

deceleration time

0.01s

0-20000

100

Non-enabling

A3-33

D1333

Position loop

feed-forward at

Rigid tapping/

The position ring

response is faster

when the value is

-

0-100

-

Non-enabling

GS DRIVER CTB

pulse position

greater

A3-34

D1334

Position loop scale gain at

Rigid tapping/ pulse position

The position ring

rigidity is higher

when the value is

greater

-

0-30000

-

Non-enabling

A3-35

D1335

speed loop

scale gain at

Rigid tapping/ pulse position

Set speed loop

scale gain at

Rigid tapping/

pulse position. The

gain is higher and

the rigidity is bigger

with greater value.

Set the value as high as possible

without vibration in

the system

-

0-30000

-

Non-enabling

A3-36

D1336

speed loop

integral time at

Rigid tapping/ pulse position

Set speed loop integral time at

Rigid tapping/

pulse position. The

rigidity is higher

with lower value

-

0-30000

-

Non-enabling

A3-37 - save

-

- - -

-

A3-38

D1338

First

positioning

bais

Set First

positioning bais

Pulse

0-65535

0

Non-enabling

A3-39 - save

-

- - -

-

A3-40

D1340

Positioning

speed

Look for encoder phase Z pulse or

speed of the

approach switch

rmp

0-20000

100

Non-enabling

A3-41

D1341

Positioning position ring acceleration

tmie

Set Positioning

position ring

acceleration tmie

0.01s

0-20000

100

Non-enabling

A3-42

D1342

Positioning acceleration

tmie

Set Positioning

acceleration tmie

0.01s

0-20000

100

Non-enabling

A3-43

D1343

Positioning deceleration

tmie

Set Positioning

deceleration tmie

0.01s

0-20000

100

Non-enabling

A3-44

D1344

Positioning position ring

scale gain

Set positioning

position ring scale

gain. the response

to the position

order gain is faster

and the rigidity is

higher with higher

set value. A too

high value may

cause position

overshoot when

-

0-30000

-

Non-enabling

CTB GH DRIVER

start stops. The

effect is slower and

the error increases

with lower value.

A3-45

D1345

Positioning

speed ring

scale gain

Set positioning

speed ring PI

regulator scale

gain. the gain is

greater and the

rigidity is higher

with higher set

value

-

0-30000

-

Non-enabling

A3-46

D1346

Positioning

speed ring

integeral time

Set positioning

speed ring PI

regulator integral

time. the

integrating speed

is greater and the

rigidity is higher with smaller set

value

-

0-30000

-

Non-enabling

A3-47

D1347

Second

positioning

bias

Set second

positioning bias

Pulse

0-65535

1000

Non-enabling

A3-48

-

save

-

- - -

-

A3-62

A3-63

D1363

Inching

forward speed

Set Inching forward

speed

Rmp

0-20000

200

Non-enabling

A3-64

D1364

Inching

reverse speed

Set Inching reverse

speed

Rmp

0-20000

200

Non-enabling

A3-65

D1365

Inching

acceleration

time

Set Inching

acceleration time

0.01s

0-20000

100

Non-enabling

A3-66

D1366

Inching

deceleration

time

Set Inching

deceleration time

0.01s

0-20000

100

Non-enabling

A3-67

-

Save

-

- - -

-

A3-99

Function

code

PLC

address

Name

Description

Unit

Paramete

r scope

original

value

Property

C1-00

D6040

speed

reverse order

0: do not reverse

1: reverse

-

0～1

0

on line

C1-01

D6041

speed ring

acceleration

speed ring

acceleration

0.01s/Krp m

0～20000

100

on line

C1-02

D6042

speed ring

0.01s/Krp

0～20000

100

on line

User parameters C1

GS DRIVER CTB

deceleration

m

C1-03

D6043

position

operation

feedback

source

0: first code wheel

(T5)

1: second code

wheel (T4)

2: first pulse port

(T2)

3: second pulse

port (T3-24V)

-

0～3

0

non-enab

ling

C1-04

D6044

position

operation

order source

0: invalid

1: first code wheel

(T5)

2: second code

wheel (T4)

3: first pulse port

(T2)

4: second pulse

port (T3-24V)

5: interior order

-

0～5

0

non-enab

ling

C1-05

D6045

pulse speed

order source

2:T4 3:T2 4:T3

other :invalid

-

0-5

0

non-enab

ling

C1-06

D6046

positioning

speed

positioning

execute process

maximum limit

speed

rpm

0～30000

100

on line

C1-07

D6047

T-type

positioning

acceleration

0.01s/Krp m

0～30000

100

on line

C1-08

D6048

positioning

direction

0: forward 1:

reverse

-

0～1

0

on line

C1-09

D6049

first

positioning

gain

first gain during

positioning, the

gain is greater

-

0～30000

2

on line

C1-10

D6050

second

positioning

gain

second gain

during

positioning , the

gain is smaller

-

0～30000

1

on line

C1-11

D6051

positioning

gain switch

speed

threshold

positioning first

gain and second

gain switch

threshold , when

the residue

distance is smaller

than the value,

switch to second

gain , otherwise,

use first gain

-

0～30000

100

on line

C1-12

D6052

positioning

minimum

speed

positioning crawlin

end minimum

speed

rpm

0～30000

1

on line

CTB GH DRIVER

C1-13

D6053

third section

positioning

distance

threshold

third section

positioning

distance

threshold , when

the residue

distance is smaller

than the

parameter,

conduct third

section positioning

operation

0.01R

0-30000

0.01

on line

C1-14

D6054

positioning

reach scope

When positioning

residue distance

is smaller than the

value, it is

determined that

the positioning is

reached, and

output positioning

reach signal

pulse

0～30000

2

on line

C1-15 - save

-

- - -

-

C1-16

D6056

precise

positioning

scope

When positioning

residue distance

is smaller than the

value, it is

determined that

the precise

positioning is

reached, and

output precise

positioning reach

signal

pulse

0～30000

1

on line

C1-17

D6057

swing forward

scope

swing forward

position

pulse

0～30000

100

on line

C1-18

D6058

swing reverse

scope

swing reverse

position

pulse

0～30000

100

on line

C1-19

D6059

swing speed

upper limit

maximum speed

during swing

rpm

0～6000

50

on line

C1-20

D6060

swing

acceleration

during swing

s/krpm

0～30000

1

on line

C1-21

D6061

swing

deceleration

during swing

s/krpm

0～30000

1

on line

C1-22

D6062

swing current

A

0～30000

0.5

on line

C1-23

D6063

phase to z

phase

positioning

zero point

source

0: select

according to

position order

source

1: exterior I/O is

taken as z phase

signal

-

0, 1

0

non-enab

ling

C1-24

D6064

z phase

positioning

positive and

negative

Solve inconsistent

issue of z phase

large pulse width

positive and

-

0-65535

0

enabling

GS DRIVER CTB

compensation

negative

positioning

position

C1-25

D6065

positioning

maximum

deceleration

Take the

deceleration as

lower limit of

deceleration after

entering

positioning

module

-

0-20000

0.5

enabling

C1-26 - save

-

- - -

-

～

C1-28

C1-29

D6069

order mode

select

0: terminal

operation mode

1: panel operation

mode

2: mechatrolink

bus order control

3: ethercat bus

-

0～3

0

non-enab

ling

C1-30

D6070

control mode

0: speed control

1: position control

2: torque control

-

0～2

0

on line

C1-31

D6071

current ring

KP

current ring

scale parameter

(KP)

-

0～30000

100

on line

C1-32

D6072

current ring

TI

current ring

integral time

constant (TI)

-

0～30000

8

on line

C1-33

D6073

speed ring KP

speed ring scale

parameter (KP)

-

0～30000

140

on line

C1-34

D6074

speed ring TI

speed ring integral

time constant (TI)

-

0～30000

15

on line

C1-35

D6075

speed ring

second set

parameter

valid

threshold

second set PI

parameter valid

speed threshold ,

when the given

speed is smaller

than the maximum

speed times the

value percent, use

second set

parameter

-

0～1000

0

on line

C1-36

D6076

speed ring

second KP

second speed

gain (KP2)

-

0～30000

140

on line

C1-37

D6077

speed ring

second TI

second speed

integral time

constant (TI2)

-

0～30000

15

on line

C1-38

D6078

position ring

KP

second speed

gain (KP2)

-

0～30000

300

on line

C1-39

D6079

position ring

-

0～100

100

on line

CTB GH DRIVER

feedforward

speed

feedforward (kW)

C1-40

D6080

d shaft

current ring

KP

current ring scale

parameter (Kp)

-

0-30000

100

on line

C1-41

D6081

d shaft

current ring

TI

current ring

integral time

constant (Ti)

-

0-30000

800

on line

C1-42

D6082

voltage ring

KP

voltage ring scale

parameter (Kp)

-

0-30000

400

on line

C1-43

D6083

voltage ring

TI

voltage ring

integral time

constant (Ti)

-

0-30000

40

on line

Function

code

PLC

address

Name

Description

Unit

Paramet er scope

original

value

Property

Recommend

motor

D1-00

D6090

rated current

motor rated

current

A

0～

60000

1100

non-enabli

ng

synchronous / asynchronous

D1-01

D6091

rated speed

motor rated

speed

rpm

0～

30000

1500

non-enabli

ng

synchronous / asynchronous

D1-02

D6092

rated voltage

motor rated

voltage

V

0～3000

380

non-enabli

ng

synchronous / asynchronous

D1-03

D6093

rated power

motor rated

power

KW

0～

30000

55

non-enabli

ng

synchronous / asynchronous

D1-04

D6094

power factor

motor power

factor angle

-

0～100

83

non-enabli

ng

asynchronous

D1-05

D6095

rated

frequency

motor rated

frequency

HZ

0～

30000

50

non-enabli

ng

asynchronous

D1-06

D6096

stator

resistance

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-07

D6097

Sigma

inductor

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-08

D6098

rotor

resistance

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-09

D6099

number of

pole-pairs

motor

number of

pole-pairs

pairs

0～

30000

2

non-enabli

ng

synchronous

/asynchronous

D1-10

D6100

magnetic

head

inductor

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

Motor driving parameter D1

GS DRIVER CTB

D1-11

D6101

motor protect

mode

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-12

D6102

motor protect

rated current

motor protect

point current

A

0～

60000

1100

non-enabli

ng

synchronous

/asynchronous

D1-13

D6103

magnetizatio

n current

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-14

D6104

rated torque

motor rated

torque

nm

0～

30000

35

non-enabli

ng

synchronous

/asynchronous

D1-15

D6105

FU

maximum

torque

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-16

D6106

maximum

torque

angular

speed

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-17

D6107

maximum

torque speed

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-18

D6108

weak field

area speed

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-19

D6109

magnetic flux

adaptation

factor

the

parameter is

save parameter , shall not be

used

-

0-30000

0

non-operati

onal

asynchronous

D1-20

D6110

weak field

area current

curve

Qd current

maximum

scale

-

0～

30000

10

non-enabli

ng

asynchronous

D1-21

D6111

rotating-spee

d difference compensatio n multiplying

power

coefficient

rotating-spee

d difference compensatio n multiplying

power coefficient, multiply by

256

-

0～

30000

224

non-enabli

ng

asynchronous

D1-22

D6112

rotor time

constant

rotor time

constant

-

0～

30000

50

non-enabli

ng

asynchronous

D1-23

D6113

rotating-spee

d difference

maximum

compensatio

n

rotating-spee

d difference

compensatio

n upper limit

-

0～

30000

65

non-enabli

ng

asynchronous

CTB GH DRIVER

D1-24

D6114

synchronous

motor

counter

potential per

1000 turns

synchronous

motor no-load counter

potential per

1000 turns

V

0～

30000

110

non-enabli

ng

synchronous

D1-25

D6115

Allowed

output

maximum

speed

Allowed

output

maximum

speed

rpm

0～

30000

6000

non-enabli

ng

synchronous

/asynchronous

D1-26

D6116

Allowed

output

maximum

current

Allowed

output

maximum

torque

current

A

0～

60000

1100

on line

synchronous

/asynchronous

D1-27

D6117

Constant

power zone

maximum

speed

Interface

speed

between

Constant

power zone

and falling

power zone

rpm

0～

30000

3000

non-enabli

ng

asynchronous

D1-28

D6118

pre-excitatio

n time

motor

pre-excitatio

n time

ms

0～

30000

300

non-enabli

ng

asynchronous

D1-29

D6119

minimum

excitation

current

excitation

current

lower limt

0.01A

0～

30000

100

non-enabli

ng

D1-30

D6120

motor type

select

0:

synchronous

motor

1:

asynchronou

smotor

-

0, 1

1

non-enabli

ng

synchronous

/asynchronous

D1-31

D6121

brake torque

limit

brake torque

current

limit

-

0-60000

100

non-enabli

ng

synchronous

/asynchronous

D1-32

D6122

PMflux-weak

ening curve

Suitable for k

curve slope

during

flux-weakeni

ng of

embeddedpe

rmanent ma

gnet

motor

flux-weakeni

ng

-

0-10000

100

non-enabli

ng

synchronous

D1-33

D6123

PM

flux-weakeni

ng direction

Suitable

fordirection

control

during

flux-weakeni

ng of

embeddedpe

rmanent ma

gnet

motor

-

0-1

0

non-enabli

ng

synchronous

D1-34

-

save

- - - - -

-

～

D1-37

D1-38

D6128

brake torque

limit enabling

0: do not use

brake torque

single

parameter

-

0-1

0

non-enabli

ng

synchronous

/asynchronous

GS DRIVER CTB

1: use smart

torque single

parameter

D1-39

D6129

carrier wave

cycle

0: 8k 1: 4k 2: 2k

-

0～2

0

power on

again

synchronous

/asynchronous

Function

code

PLC

address

Name

Description

Unit

Parameter

scope

Original

value

Property

E1-00

D6130

Motor encoder

type (T5)

0: TTL

1: resolver

2: Tamagawa multiple

turns encoder

3: bissprotocol

4: only increment

encoderof ABZ is used for

synchronous motor

-

0～4

0

Power on

again

E1-01

D6131

Motor

optoelectronic

code wheel

line number

(T5)

Motor TTL encoder line

number

Pulse

0～10000

2500

Power on

again

E1-02

D6132

Encoder

counting

direction (T5)

0: anticlockwise adding

counting

1: anticlockwise minus

counting

-

0～1

0

On line

E1-03

D6133

Encoder

reduction ratio

numerator

(T5)

一 code wheel reduction

ratio numerator

-

0～30000

1

Non-enabling

E1-04

D6134

Encoder

reduction ratio

denominator

(T5)

一 code wheel reduction

ratio denominator

-

0～30000

1

Non-enabling

E1-05

D6135

Speed

feedback

filtering times

(T5)

Speed feedback filtering

times

-

0～256

60

Non-enabling

E1-06

D6136

Encoder angle

forward offset

value (T5)

Angle forward offset

Pulse

0～30000

0

Non-enabling

E1-07

D6137

Encoder angle

reverse offset

value (T5)

Angle reverse offset

Pulse

0～30000

0

Non-enabling

E1-08

D6138

Motor

absolute value

encoder

single round

bits / resolver

single round

bits (T5)

Motor absolute value

encoder /resolver single

round bits

-

0～32

17

Power on

again

E1-09

D6139

Motor

absolute value

encoder

multiple turns

bits (T5)

Multiple turns absolute

value encoder multiple

turns bits

-

0～32

16

Power on

again

E1-10

D6140

Resolver

/absolute

value

encoder initial

angle record lower 16 bits

(T5)

Motor resolver initial

phase angle lower 16 bits

-

0～65535

0

Read only

Encoder parameter E1

CTB GH DRIVER

E1-11

D6141

Resolver

/absolute

value

encoder initial

angle record

higher 16

bits (T5)

Motor resolver initial

phase angle higher 16

bits

-

0～65535

0

Read only

E1-12

D6142

Driver

encoder

self-learning

order (T5)

If the Feed shaft has

absolute value encoder ,

self-learning initial angle

function , modify it to

123, and may start

self-learning

-

0～200

0

Non-enabling

E1-13

D6143

Encoder

self-learning

time

Set self-learning time , the

learing effect is better for

longer learing time, and

minimum time is 1s

S

0-20

5

Non-enabling

E1-14

D6144

Encoder

power on

automatic

learning

Suitable for E1-00=4

situation set as 1: valid

0: invalid

-

0-1

0

Power on

again

E1-15

D6145

Second code

wheel types

(T4)

0: invalid

1: orthogonal

2: PULSE+DIR

3: CW+CCW

-

0～3

0

Power on

again

E1-16

D6146

Second encoder line number (T4)

External tow code wheel

line number

Pulse

0～30000

1024

Power on

again

E1-17

D6147

Second

encoder

counting

direction (T4)

0: anticlockwise adding

counting

1: anticlockwise minus

counting

-

0～1

0

On line

E1-18

D6148

Second

encoder

reduction ratio

numerator

(T4)

Second code wheel

reduction ratio numerator

-

1～30000

1

Non-enabling

E1-19

D6149

Second

encoder

reduction ratio

denominator

(T4)

Second code wheel

reduction ratio

denominator

-

1～30000

1

Non-enabling

E1-20

D6150

Second

encoder

filtering time

(T4)

Second code wheel

speed feedback filtering

times

Ms

0～10000

1

Non-enabling

E1-21

D6151

Pulse input

port 1type

(T2)

0: invalid

1: orthogonal

2: PULSE+DIR

3: CW+CCW

-

0～3

0

Power on

again

E1-22

D6152

Pulse 1line

number (T2)

For calculating input

speed

Pulse

0～30000

1024

Power on

again

E1-23

D6153

Pulse

1encoder

counting

direction (T2)

0: anticlockwise adding

counting

1: anticlockwise minus

counting

-

0～1

0

On line

E1-24

D6154

Pulse 1

electronic gear ratio

numerator

(T2)

First pulse port reduction

ratio numerator

-

1～30000

1

Non-enabling

E1-25

D6155

Pulse 1

electronic gear ratio

denominator

(T2)

First pulse port reduction

ratio denominator

-

1～30000

1

Non-enabling

E1-26

D6156

Pulse 1 speed

feedback

filtering time

First pulse port speed

feedback filtering times

Ms

0～10000

1

Non-enabling

GS DRIVER CTB

(T2)

E1-27

D6157

Pulse input

port 2type

(T3-24V)

0: iomode

1: orthogonal

2: PULSE+DIR

3: CW+CCW

-

0～3

0

Power on

again

E1-28

D6158

Pulse 2 encoder line

number

(T3-24V)

For calculating input

speed

Pulse

0～30000

1024

Power on

again

E1-29

D6159

Pulse 2

encoder counting direction (T3-24V)

0: anticlockwise adding

counting

1: anticlockwise minus

counting

-

0～1

0

On line

E1-30

D6160

Pulse 2 electronic gear ratio

numerator

(T3-24V)

Second pulse port

reduction ratio numerator

-

1～30000

1

Non-enabling

E1-31

D6161

Pulse 2 electronic gear ratio

denominator

(T3-24V)

Second pulse port

reduction ratio

denominator

-

1～30000

1

Non-enabling

E1-32

D6162

Pulse 2 speed

feedback

filtering time

(T3-24V)

Second pulse port speed

feedback filtering times

Ms

0～10000

1

Non-enabling

E1-33

D6163

1 code wheel

absolute value

encoder pulse

output bits

Output bits =17 - E1.32

-

0～9

2

On line

E1-34

D6164

1 code wheel

passing Z

times lower 16

bits (T5)

Record 1 code wheel

passing z times , add 1 to

the value each time the 1

code wheel passing,

counting lower 16 bits

-

0～65535

0

Read only

E1-35

D6165

1 code wheel

passing

Ztimes higher

16 bits (T5)

Record 1 code wheel

passing z times , add 1 to

the value each time the 1

code wheel passing,

counting higher 16 bits

-

0～65535

0

Read only

E1-36

D6166

2 code wheel

passing Z

times lower 16

bits (T4)

Record 2 code wheel

passing z times , add 1 to

the value each time the 2

code wheel passing,

counting lower 16 bits

-

0～65535

0

Read only

E1-37

D6167

2 code wheel

passing Z

times higher

16 bits （T4）

Record 2 code wheel

passing z times , add 1 to

the value each time the 2

code wheel

passing,higher 16 bits

-

0～65535

0

Read only

E1-38

D6168

Interior

synchronous

order

reduction ratio

numerator

Interior synchronous order

reduction ratio numerator

-

1～30000

1

Non-enabling

E1-39

D6169

Interior

synchronous

order

reduction ratio

denominator

Interior synchronous order

reduction ratio

denominator

-

1～30000

1

Non-enabling

E1-40

D6170

2 code wheel

speed

reduction ratio

numerator

2 code wheel speed

reduction ratio numerator

-

1-30000

1

Non-enabling

E1-41

D6171

2 code wheel

2 code wheel speed

-

1-30000

1

Non-enabling

CTB GH DRIVER

speed

reduction ratio

denominator

reduction ratio

denominator

E1-42

D6172

3 code wheel

speed

reduction ratio

numerator

3 code wheel speed

reduction ratio numerator

-

1-30000

1

Non-enabling

E1-43

D6173

3 code wheel

speed

reduction ratio

denominator

3 code wheel speed

reduction ratio

denominator

-

1-30000

1

Non-enabling

E1-44

D6174

4 code wheel

speed

reduction ratio

numerator

4 code wheel speed

reduction ratio numerator

-

1-30000

1

Non-enabling

E1-45

D6175

4 code wheel

speed

reduction ratio

denominator

4 code wheel speed

reduction ratio

denominator

-

1-30000

1

Non-enabling

E1-46

D6176

Absolute

value

underclocking

use

Absolute value encoder

underclocking use

fractional frequency

parameter , set as

fractional frequency

number

-

0-32

0

Power on

again

GS DRIVER CTB

Function

code

PLC

address

Name

Description

Unit

Parameter

scope

original

value

Property

P1-00

D6180

single shaft

fault shielding

0: invalid

1: shielding

-

0, 1

0

non-enabling

P1-01

D6181

bus voltage overvoltage

alarm point

When bus voltage

exceeds the value , alarm

overvoltage OV1

V

0～1000

800

non-enabling

P1-02

D6182

bus voltage

undervoltage

alarm point

When bus voltage is lower

than the value , alarm

undervoltage UV1

V

0～1000

400

non-enabling

P1-03

D6183

encoder alarm

shielding

0: start

1: shielding EL EB EC

-

0, 1

0

non-enabling

P1-04

D6184

PUalarm

shielding

0: start

1: shielding PU

-

0, 1

0

non-enabling

P1-05

D6185

motor

overheating

alarm

0: normally closed

1: normally open

2: Do not alarm OH3

-

0～2

0

non-enabling

P1-06

D6186

motor speed

alarm point

speed protect alarm upper

limit

rpm

0～30000

2000

non-enabling

P1-07

D6187

overspeed

alarm shielding

0: start

1: shielding OS

-

0, 1

0

non-enabling

P1-08

D6188

speed error

oversize alarm

shielding

0: start

1: shielding SE

-

0, 1

0

non-enabling

P1-09

D6189

follow-up error

overproof

alarm shielding

0: start

1: shielding OP

-

0, 1

0

non-enabling

P1-10

D6190

position

follow-up error

overproof threshold

position pulse counter

overproof

pulse

0～30000

24

non-enabling

P1-11

D6191

overload alarm

time setting

When overload signal

lasting time is longer than

the value,alarm OL2

s

0～10000

30

on line

P1-12

D6192

speed error

alarm

threshold

When speed error is

over the value, alarm SE

rpm

0～30000

20

on line

P1-13

D6193

resolver fault

determining

filtering time

When resolver fault signal

is kept over the time,

alarm EL

ms

0-20000

5

on line

P1-14 - save

-

- - -

-

P1-15

D6195

Big and small

CPU heartbeat

detection start

0: shielding

1: start

-

0-1

0

on line

P1-16

D6196

encoder

communication

calibration

error counting

encoder communication

calibration error counting

display

- - 0

read only

P1-17

D6197

resolver fault

error counting

resolver fault error

counting display

- - 0

read only

Protection parameter P1

CTB GH DRIVER

Function

code

PLC

address

Name

Description

Unit

Parameter

scope

original

value

Property

T1-00

D6210

modbus

communication

station No.

modbus station No.

setting

-

0～255

1

power on

again

T1-01

D6211

modbus Baud rate

communication

For example

38400-->38.4

-

0～65535

0

power on

again

T1-02

D6212

modbus odd-even

check

0: none check 1: even check

2: odd check

-

0～2

0

power on

again

T1-03

D6213

modbus high-low

bytes select

0: lower at front

1: higher at front

-

0, 1

0

power on

again

T1-04

D6214

485 terminal

resistance select

0: none

1: select

-

0, 1

0

power on

again

T1-05 - save

-

- - -

-

T1-06

D6216

ETHERCAT protocol

select

0: Feiyang

1: ZTE

-

0-1

0

power on

again

T1-07 - save

-

- - -

-

T1-08

D6218

ECAT bus brake turn

off delay

brake turn off delay

ms

0-1 0 on line

T1-09

D6219

ECATbus external

sudden stop enabling

0: turn off 1: turn on

-

0-2 0 on line

T1-10 - save

-

- - -

-

～

T1-19

T1-20

D6230

Mechatrolinkstation

No.set

Mechatrolinkstation

No.set

-

0～255

1

power on

again

T1-21

D6231

Mechatrolink protocol

select

0: old protocol

1: new protocol

-

0-1 0 on line

T1-22

D6232

Mechatrolink latch

real-time

0: real-time

1:non- real-time

updating

-

0-1 0 on line

T1-23

D6233

Mechatrolink

feedback source

0: T5 1: T4

-

0-1 0 on line

T1-24

-

save

-

- - -

-

～

T1-49

T1-50

D6260

CAN station No.set

CANstation No.set

-

0～255

1

power on

again

T1-51

D6261

CAN terminal

resistance select

CAN terminal

resistance select

-

0, 1 0 on line

T1-52

D6262

CAN slave station

number select

slave station number

select , for example, 5

indicates 5 slave

stations, 0 indicates 0

slave stations

-

0～9

1

on line

T1-53

D6263

CAN communication

task cycle set

When the value is 0,

adjust cycle operation

by the default 2ms.

And set time resolution

as 0.1ms, I.e. it is 1ms

when set as 10 and the

minimum set is 0.5ms.

0.1ms

0-30000

0

non-enabling

Communication parameter T1

GS DRIVER CTB

Function

code

PLC

address Name

Description

Unit

Paramete

r scope

original

value

Property

L1-00

D6430

base power

modification

password

base EE modify power

number permission

password , password is

6533, it may only be modified

by professional

-

0～60000

0

non-enabling

L1-01

D6431

base power

number

base EE read power number , the value is

generally read only ,

however, it may be modified

when L1-00 equals to

6533, and saved to EE

-

0～255

0

power on

again

L1-02

D6432

enabling valid

When the value is 1, it may

be enabled , otherwise, it

may not be enabled

-

0, 1 1 on line

L1-03

D6433

I11 I12 function

select

0: common I/O

1: 24V pulse port

-

0, 1

0

power on

again

L1-04

D6434

interior position

order

interior position order

pulse

0～65535

L1-05

D6435

driver current

sampling

coefficient

current sampling

coefficient, key parameter

during current ring current

calculation , for example , for 15A Hall module, the value is 150, for 50A Hall module, it is

500, the parameter read

EE through main CPU, and

then transfer the

corresponding Hall value to

assign

-

0～50000

0

read only

L1-06

D6436

driver alarm code

alarm code , refer to alarm

table

-

0～255

0

read only

L1-07

D6437

driver d shaft

current feedback

D shaft current feedback

A

0～1000

0

read only

L1-08

D6438

driver U phase

current sampling

value

U phase current sampling

AD value

-

0～4095

0

read only

L1-09

D6439

driver V phase

current sampling

value

V phase current sampling

ADvalue

-

0～4095

0

read only

L1-10

D6440

driver temperature

curve

0: by power code 1: 0No.temperature curve 2: 1No.temperature curve 3: 2No.temperature curve

-

0-3

0

power on

again

L1-11

D6441

driver voltage

grade

380v, 220v are optional

V

0-2000

380

on line

L1-12

D6442

small CPU 下

program order

When the value is set as

200, etner the small CPU

download program

-

0～200

0

power on

again

L1-13

D6443

smart card use

select

0: do not use

1: use

-

0, 1

0

non-enabling

L1-14

D6444

small CPU fault

code

0: none alarm

Refer to alarm table for

others

-

0～30000

0

read only

L1-15

D6445

input point state L

input point state lower 8 bits

-

0～30000

0

read only

L1-16

D6446

input point state H

input point state higher 8 bits

-

0～30000

0

read only

L1-17

D6447

output point state

-

0～30000

0

read only

L1-18

D6448

Data after FI

digital quantity af 0-10V

-

0～4095

0

read only

Manufacturer parameter L1

CTB GH DRIVER

calibration

analog quantity calibration

L1-19

D6449

Data after FV

calibration

digital quantity after

ambipolar V analog quantity

calibration

-

0～4095

0

read only

L1-20

D6450

multiple turns

absolute value

encoder multiple

turns counting

clearing

multiple turns encoder turn

number clearing order , when

the value is 1, clear the turn

number, the parameter

clears automatically after

clearing

-

0, 1

0

只写

L1-21

D6295

qshaft current

order

qshaft current order ,

resolution 0.01A

A

0～30000

0

on line

L1-22

D6452

current filtering

times

set current filtering times

-

0-200

0

on line

L1-23

D6453

increment position

order

During manual adjustment ,

increment position order

pulse

0～30000

0

on line

L1-24

D6454

DA1

DA1output digital quantity

-

0～4095

0

read only

L1-25

D6455

DA2

DA2output digital quantity

-

0～4095

0

read only

L1-26

D6456

driver module

temperature

driver module temperature

℃

0～100

0

read only

L1-27

D6457

CPU temperature

℃

0～100

0

read only

L1-28

D6458

multiple turns

absolute value

encoder reset

value lower 16 bits

absolute value save the

reset value during encoder

reset and use for next

powering on , lower 16 bits

-

0～65535

0

read only

L1-29

D6459

multiple turns

absolute value

encoder reset

value higher 16

bits

absolute value save the

reset value during encoder

reset and use for next

powering on ,higher 16 bits

-

0～65535

0

read only

L1-30

D6460

PLC scan cycle

PLC operation cycle

us

0～65535

0

read only

L1-31

D6461

A2, A3properties

0: writing and reading of

A2, A3 are positivery

constant values

1: writing and reading of

A2, A3 are addresses of the

correspongding parameter

-

0, 1 0 on line

L1-32

D6462

use time limit

enabling

0: turn off the function

1: start function

-

0, 1 0 on line

L1-33

D6463

use time limit

h

0～

30000

0

on line

L1-34

D6464

ETHECATsudden

stop deceleration

Deceleration when sudden

stop is pressed in EHTECAT

mode

s/krpm

0～

60000

1

on line

L1-35

D6465

PLC minimum

execute cycle

record minimum execute

cycle during PLC during

operation

us - 0

read only

L1-36

D6466

PLC maximum

execute cycle

record maximum execute

cycle during PLC operation

us - 0

read only

L1-37

D6467

IO interruption

edge configuration

Configuration by bit : 0: fall

1: rise bit0 : I2 bit1 : I3 bit2 : I4 bit3 : I5

- - 0

on line

L1-38

D6468

IO

INTERRUPTION

enabling

start by bit , 0: none 1:

enabling bit0 : I2 bit1 : I3 bit2 : I4 bit3 : I5

- - 0

on line

GS DRIVER CTB

Set parameter by function

The chapter helps user for parameter setting and debugging by function of use

Analog speed control………………………………………………………..6-2 Pulse speed control…………………………………………………………6-4 Analog rigid tapping………………………………………………………6-6 Pulse rigid tapping/pulse position ………………………………………….. 6-7 Accurate stop ……………………………………………….. ………………6-8 Swing…………………………………………………….. …………………6-10 Multi-function terminal…………………………………… …………………6-11 Operation panel operation ……………………………… …………………6-12 Modbus communication settlement …………………… …………………6-12

CTB GH DRIVER

Analog value

Port

Signal

Function

position control parameter

needs to be modified

±10V analog

voltage

T2 FV

±10V analog voltage input

A2-01=0 A2-15=0

FC

Analog voltage input common

terminal

T3 ST

Servo enabling

I1

Operation enabling (forward

or reverse is determined by

polarity of the analog voltage)

0~10V analog

voltage

T2

FI

0~10V analog voltage input

A2-01=0 A2-15=0

FC

Analog voltage input common

terminal

T3

ST

Servo enabling

I1

Forward

I2

Reverse

Function

parameter

Item

Description

Set

range

Unit

Factory

setting

A3-23

maximum output

speed during speed

control

input corresponding speed for 10V

analog voltage

0～

16000

rpm

－

A3-24

Acceleration time

during speed control

set motor acceleration time during

speed control

0～300

0.01s - A3-25

Deceleration time

during speed control

set motor deceleration time during

speed control

0～300

0.01s

-

A3-27

speed ring ratio

proportional gain

during speed control

set speed ring ratio PI regulator

proportional gain, the value is

higher, the gain is higher and the

rigidity is greater. Set the parameter as high adapt possible without vibration generated by the

system.

0～

30000

－

A3-28

Speed integral gain

during speed control

set speed ring ratio PI regulator

integral gain, the value is higher,

the integral speed is higher and

the rigidity is greater.

0～

30000

－

6.1 Analog speed control

6.1.1 Terminal definition and function parameters

6.1.2 Relevant parameters of analog speed control