user's manual ac servo drivernssystem.co.kr/e_pdf/tangoae2010.pdf · 2010. 12. 1. · user's manual...
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User's Manual AC SERVO DRIVER
TANGO-A Series
NS SYSTEM Co., Ltd.
NS SYSTEM 5B/L 7LOT #617-6, Namchon-dong, Namdong-gu, Incheon, Korea Homepage : www.nssystem.co.kr
TEL: 82-32-812-7493~6 FAX: 82-32-812-7497
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CONTENTS
NS SYSTEM CO., LTD.
CHAPTER 1 FUNCTION AND SPECIFICATION
1.1 FEATURES ................................................................................................1-1
1.2 CONTROL MODE .......................................................................................1-1 1.2.1 POSITION CONTROL MODE .....................................................................................................1-1
1.2.2 SPEED CONTROL MODE .........................................................................................................1-2
1.2.3 TORQUE CONTROL MODE ......................................................................................................1-2
1.3 SPECIFICATION .........................................................................................1-3
1.4 MODEL CODE DEFINITION .........................................................................1-5 1.4.1 NAME PLATE .........................................................................................................................1-5
1.4.2 MODEL CODE ........................................................................................................................1-5
1.5 COMBINATION WITH SERVO MOTOR ...........................................................1-6
1.6 DIMENSIONS.............................................................................................1-7 1.6.1 DIMENSIONS OF BOOK TYPE1 .................................................................................................1-7
1.6.2 DIMENSIONS OF BOOK TYPE2 .................................................................................................1-7
1.7 INSTALLATION ..........................................................................................1-8 1.7.1 CHECK ITEMS WHEN PRODUCTDELIVERED ..............................................................................1-8
1.7.2 INSTALLATION OF SERVO DRIVER ............................................................................................1-8
1.7.3 INSTALLATION OF SERVO MOTOR ...........................................................................................1-9
1.7.4 ENVIRONMENTAL CONDITIONS ................................................................................................1-9
1.7.5 ALLOWABLE WEIGHT OF MOTOR SHAFT ..................................................................................1-9
CHAPTER 2 WIRING
2.1 AUXILIARY EQUIPMENTS AND WIRE ............................................................2-1
2.2 PARTS IDENTIFICATION .............................................................................2-2
2.3 CONNECTION DIAGRAM .............................................................................2-3
2.4 ENCODER (CN3) .......................................................................................2-4
2.5 SIGNALS (CN1) .........................................................................................2-5
CHAPTER 3 TUNING
3.1 FUNDAMENTALS OF MACHINE RIDIGITY ......................................................3-1
3.2 GAIN ADJSUMENT (TUNING) .......................................................................3-2
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CONTENTS
NS SYSTEM CO., LTD.
CHAPTER 4 POSITION CONTROL MODE
4.1 FUNDAMENTALS OF POSITION CONTROL ....................................................4-1
4.2 CONNECTION ...........................................................................................4-2 4.2.1 CONNECTION FOR POSITION CONTROL (CN1) ...........................................................................4-2
4.2.2 SIGNAL LAYOUT AND ASSIGNMENT ...........................................................................................4-3
4.2.3 PP/NP COMMAND PULSE .........................................................................................................4-4
4.2.4 INPUT SIGNALS .......................................................................................................................4-5
4.2.5 OUTPUT SIGNALS ....................................................................................................................4-6
CHAPTER 5 SPEED CONTROL MODE
5.1 FUNDAMENTALS OF SPEED CONTROL ........................................................5-1
5.2 CONNECTION ...........................................................................................5-3
CHAPTER 6 TORQUE CONTROL MODE
6.1 FUNDAMENTALS OF TORQUE CONTROL ......................................................6-1
6.2 CONNECTION ...........................................................................................6-2
CHAPTER 7 COMBINATION CONTROL MODE
7.1 CONNECTION ...........................................................................................7-1
CHAPTER 8 PARAMETER
8.1 PARAMETER LIST ......................................................................................8-1
8.2 PARAMETER DISCRIPTION ........................................................................8-10
CHAPTER 9 CHECK ...........................................................................................9-1
8.1 LIST .........................................................................................................9-1
8.2 DISCRIPTION ............................................................................................9-2
CHAPTER 10 DISPLAY .......................................................................................10-1
8.1 LIST .......................................................................................................10-1
8.2 DISCRIPTION ..........................................................................................10-2
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CONTENTS
NS SYSTEM CO., LTD.
CHAPTER 11 ALARM .........................................................................................11-1
8.1 LIST .......................................................................................................11-1
8.2 DISCRIPTION ..........................................................................................11-2
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CONTENTS
NS SYSTEM CO., LTD.
Safety Instructions (After being familiar with this user's manual, use the TANGO Series Servo Drive.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and motor until you have read
through this User's Manual and appended documents carefully.
After reading all, keep the manual well in order that the user of product can easily access it.
In this User's Manual, the safety instruction levels are classified into "DANGER" and "CAUTION".
DANGER : Indicates that incorrect handling may cause
hazardous conditions to make the death or severe injury
CAUTION : Indicates that incorrect handling may cause
hazardous conditions to make the medium and slight injury to
personnel or may cause physical damage.
☞ Note that the "CAUTION" level may lead to a serious result according to conditions.
Please follow the instructions of both levels because they are important to personnel
safety. Be sure to keep it.
DANGER ☞ To prevent electric shock, note the following:
▶ Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the
voltage is safe with voltage tester. Otherwise, you may get an electric shock.
▶ Connect the servo amplifier and motor to ground(class 3). There might be the electric shock or fire.
▶ Operate the switchs with dry hand to prevent from an electric shock.
▶ The cables should not be damaged, stressed loaded or pinched. Otherwise, you may get an electric
shock.
▶ The wiring should be done by the professional electrician. There might be the electric shock or fire.
DANGER ☞ To prevent fire, note the following:
▶ Do not install the servo amplifier, motor and regenerative brake resistor on or near combustibles.
Otherwise, a fire may cause.
▶ When the servo amplifier has becomes faulty, switch off the main power side.
Continuous flow of a large current may cause a fire.
▶ When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake resistor fault or the like may overheat the regenerative brake resistor, cause a fire.
▶ When installing the servo amplifier in enclosed space, install the cooling fan to make the ambient
temperature around the servo amplifier less than 55℃.
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CONTENTS
NS SYSTEM CO., LTD.
CAUTION ☞ To prevent injury, note the following:
▶ Care must be taken during the transportation. Falling to the foot may cause the injury.
▶ Only the voltage specified in the User's Manual should be applied to each terminal.
Otherwise, a burst, damage, etc. may occur.
▶ Connect the terminals correctly to prevent a burst, damage, etc.
▶ During power-on or some time after power-off, do not touch the servo amplifier fins, regenerative
brake resistor, servo motor. Their temperatures may be high and you may get burnt.
CAUTION ☞ Transportation
▶ Do not carry the motor by the cables, shaft or encoder.
▶ Do not hold the cover to transport the servo amplifier. The servo amplifier may drop.
▶ Transport the products correctly according to their weights.
▶ Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
CAUTION ☞ Installation and Storage
▶ Install the servo amplifier in a load-bearing place in accordance with the User's Manual.
▶ The servo amplifier and motor must be installed in the specified direction.
▶ Leave specified clearance between the servo amplifier and control enclosure walls or other equipment.
▶ Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier.
▶ Securely attach the servo motor to the machine. if attach insecurely, the servo motor may come off
during operation.
▶ For safety of personnel, always cover rotating and moving parts.
▶ Never hit the servo motor or shaft, especially when coupling the servo motor to the machine.
The encoder may become faulty.
▶ The servo motor with reduction gear must be installed in the specified direction to prevent from oil
leakage.
▶ Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break
▶ Use the servo motor and amplifier under the following environmental conditions.
Environment Servo Amplifier Servo Motor
Ambient
Temperature
operate 0℃ ∼ +55℃(non-freezing) 0℃ ∼ +40℃((non-freezing)
storage -20℃ ∼ +65℃((non-freezing) -15℃ ∼ +70℃((non-freezing)
Ambient
Humidity
operate 80%RH or less (non-condensing) 80%RH or less (non-condensing)
storage 90%RH or less (non-condensing) 90%RH or less (non-condensing)
Ambience Indoor(no direct sunlight)
free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
Vibration 0.6G or less 2.5G or less
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CONTENTS
NS SYSTEM CO., LTD.
CAUTION ☞ Wiring
▶ Wire the equipment correctly. Otherwise, the servo motor and amplifier may be damaged.
▶ Connect the output terminals(U, V, W, FG) correctly. Otherwise, the servo and amplifier may be
damaged.
▶ Do not install a power capacitor, surge absorber or radio noise filter between the servo motor
and servo amplifier.
▶ The surge absorbing diode installed on the DC output signal relay must be wired in the specified
direction. Otherwise, the servo amplifier output damaged by over-current permanently.
▶ Do not connect AC power directly to the servo motor.
If then, the servo motor damaged by over-current permanently.
CAUTION ☞ Test run and Usage
▶ Before operation, check the parameter setting. Improper settings cause some machines to perform
unexpected operation.
▶ The parameter settings must not be changed excessively. Operation will be unstable.
▶ Provide an external emergency stop circuit to ensure that operation can be stopped and power
switched off immediately.
▶ Do not modify the equipment.
▶ Use the servo motor with the specified amplifier.
▶ Do not change the wiring or do not remove the connector during being energized.
▶ The electromagnetic brake on the servo motor is designed to hold the shaft and should not to be used
for ordinary braking.
▶ When power is restored after an instantaneous power failure, keep away from the machine because
the machine may be restarted suddenly.
▶ Use a noise filter to minimize the influence of electromagnetic interference.
▶ Before resetting an alarm, make sure that the run signal is off to prevent an accident running.
A sudden restart is made if an alarm is reset with the run signal on.
▶ When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
CAUTION ☞ Maintenance and Inspection
▶ With age, the electrolytic capacitor will deteriorate. To prevent a second accident due to fault, it is
recommended to replace the electrolytic capacitor every 5 years when used in general environment.
▶ After cutting off the main power and enough time passed, check and maintain. Due to the residual
voltage at capacitor, it is very dangerous.
▶ Since the servo amplifier is designed with the electronic circuit, foreign material or dust cause the
malfunction, periodic (1 year) cleansing and tightening of screw is required.
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CONTENTS
NS SYSTEM CO., LTD.
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 1
1.1 Features The NS SYSTEM "TANGO" series general purpose AC servo motor drive is the full-digital AC servo for
high speed and accuracy by use of 32bit intelligent DSP. It has position control, speed control and torque control modes. It is applicable to wide range of FA fields, not only precision positioning of machine tools and general automatic industrial machines but also line speed control and tension control and torque control. Also auto tuning function makes the first learner operate easily.
Serial communication function(RS-232C, RS-422, USB) allows a PC or similar device to be for parameter setting, remote control, test operation and system monitoring, etc.
"TANGO" series is the best servo drive to realize the fantastic function and cost-effective performance.
■ FEATURES OF PRODUCT
- Up to 500kpps high-speed pulse train with 6 types of form
- Electronic Gear Ratio function for the position control regardless of encoder pluse
- Feed-forward function for speed-up of positioning time
- 3 types of acceleration/deceleration shape (sine-wave, linear, exponential)
- Torque limit function for over-current protect
- Zero clamp function for servo locking at low speed
- Serial communication function for networking
1.2 Control Mode
1.2.1 POSITION CONTROL MODE
An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and
performs precision positioning(20000 pulse/rev.). It has a Electronic Gear Ratio that is the function to set
the motor movement amount per command pulse input arbitrarily. Accordingly, the position control
regardless of encoder pluse is possible by desired number of pulses of the host controller.
There are the acceleration/deceleration time changing function in response to command pulse input.
So, it prevents from mechanical shock due to sudden acceleration or deceleration. A torque limit is
imposed on the servo amplifier to protect the power module from over-current due to overload.
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 2
1.2.2 SPEED CONTROL MODE
An external analog speed command(0~±10V), external multi-step speed command and parameter-
driven internal speed command is used to control the speed and direction of a servo motor
accurately(1:2000). There are the acceleration/deceleration time changing function in response to speed
command input. So, it prevents from mechanical shock due to sudden acceleration or deceleration. A
torque limit is imposed on the servo amplifier to protect the power module from over-current due to
overload. There are also the Zero Clamp function at a stop time and the offset adjustment function in
response to external analog speed command.
1.2.3 TORQUE CONTROL MODE
An external analog torque command(0~±10V) and parameter-driven internal torque command is used to
control the torque output direction of a servo motor. There are the acceleration/deceleration time changing
function in response to torque command input. So, it prevents from mechanical shock due to sudden
acceleration or deceleration. To protect over-speed under slight load, the speed limit function is useful for
application to tension control.
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 3
1.3 SPECIFICATION
MODEL TANGO-A08 TANGO-A10 TANGO-A15
Power Supply
Voltage/Frequency 3-Phase AC 220 [V] +10~-15%, 50/60[Hz]±5%
Capacity[kVA] 1.6 2.0 3.0
Applicable motor
Flux shape 3-phase sine-wave AC servo motor
Rated Output 800[W] 1.0[KW] 1.5[KW]
Max. Current [rms A] 14.8 18.4 21.2
Encoder 15wire/9wire incremental Encoder(1000~9999 CT), 17bit ABS. Encoder
Max. speed[rpm] 5000
Suructure Book Type2
Cooling mathod Natural air cooling
Weight 1.5Kg
MODEL TANGO-AA5 TANGO-A01 TANGO-A02 TANGO-A04
Power Supply
Voltage/Frequency 3-Phase AC 220 [V] +10~-15%, 50/60[Hz]±5%
Capacity[kVA] 0.1 0.2 0.4 0.8
Applicable motor
Flux shape 3-phase sine-wave AC servo motor
Rated Output 50[W] 100[W] 200[W] 400[W]
Max. Current [rms A] 4.6 6.1 6.1 9.4
Encoder 15wire/9wire incremental Encoder(1000~9999 CT), 17bit ABS. Encoder
Max. speed[rpm] 5000
Suructure Book Type1
Cooling mathod Natural air cooling
Weight 0.9Kg
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 4
Control Mathod 3-phase sine-wave PWM control
Control Type position, speed, torque, combination(speed/position, speed/torque, position/torque)
Position control
Frequency bandwidth Max. 500 [kpps]
Input pulse type Dir+Pulse, CW Pulse+CCW Pulse, 2-phase Pulse(Aphase+Bphase) Input pulse isolation Opto-coupler isolation (DC 5[V])
Acc./Dec. type Linear, S-Curve
Speed control
Speed control range External command : (1 : 2048), Internal command : (1 : 5000)
Frequency bandwidth 400[Hz] or higher
Speed command External command : DC ±10[V], Internal command : multi-step 4 point
Offset adjustment Yes
Zero Lock/clamp Yes
Acc./Dec. type Linear, S-Curve
Torque control
Torque command External command : DC ±10[V], Internal command : 300%
Speed limit Yes
Protective function Over-voltage, Over-current, Under-voltage, Regenerative over-voltage,
A/D error. Encoder fault, Over-load, Over-speed, Excessive error, Excessive electronic range, Memory error
Monitoring output 2 Port
speed command, current speed, torque command, current torque, pulse command, error pulse
Regenerative brake
Register External (Option)
Dynamic brake Internal
Electronic brake Output for electronic brake(1 Port)
Communication RS232C, RS422(Option), USB(Option)
Encoder Div. output ratio 1/1 ~ 1/16384
Environment
Ambient temperature 0 ~ 55℃
Ambient humidity 90%RH or less (non-condensing)
Insulation res. DC 500[V], 10[MΩ] or more
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 5
1.4 MODEL CODE DEFINITION 1.4.1 NAME PLATE
Model name Capacity Input power Serial number
1.4.2 MODEL CODE
TANGO - □ □□ Series Capacity Name Amplifier type
Model Driver type
A General purpose
B Built in 1 axis controller C Low cost
D Order made
E Multi-axis
symbol Capacity
A5 50[W]
01 100[W]
02 200[W]
04 400[W]
08 800[W]
10 1[KW]
15 1.5[KW]
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 6
1.5 COMBINATION WITH SERVO MOTOR
The following table lists combinations of servo amplifier and servo motor. The same combinations apply to the models with electromagnetic brakes, the models with reduction gears. Contact us when using a non-standard servo motor.
Servo Driver
Servo Motor KANZ KANQ KAND KANS KANH KANF KAFX KAFN
TANGO-AA5 KANZ-A5B
TANGO-A01 KANZ-01B KANQ-01B
TANGO-A02 KANZ-02B KANQ-02B
TANGO-A04 KANZ-04B KANQ-04B
KANF04
KAFN03
TANGO-A08
KANZ-06B KANZ-08B
KANH05 KANF08 KAFX05 KAFX09 KAFN06
TANGO-A10 KANZ-10B
KAND10
KANH10
KAFN09
TANGO-A15
KAND15
KANH15 KANF15 KAFX13 KAFN12
TANGO-A24
KAND20
KANH20 KANF25 KAFX20 KAFN20
TANGO-A30
KAND25
KAFX30S KAFN30
TANGO-A35
KAND30 KAND45S
KANH30 KANH40S KANF35S KAFX30
TANGO-A40
KAND45 KANS40 KANH40 KANF35 KAFX45
TANGO-A50
KAND50 KANS45 KANS50S KANH50 KANF45 TANGO-
A75 KANS50
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NS SYSTEM CO., LTD. 1 - 7
1.6 DIMENSIONS 1.6.1 BOOK TYPE1 ( TANGO-A01/A02/A04/A06 )
1.6.2 BOOK TYPE2 ( TANGO-A08/A12/A18 )
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Chapter 1 FUNCTION AND SPECIFICATIONS
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1.7 INSTALLATION 1.7.1 CHECK ITEMS WHEN PRODUCT DELIVERED
Check the following items first when the product is delivered. 1. Check whether the product conforms to the ordered specifications. 2. Check whether the product is not damaged. 3. Check whether the coupling part is loosened. 4. Check whether the motor shaft is smooth and no stalled feeling when turned by hand. 5. Check whether the combinations of servo amplifier and servo motor is matched. ☞ If any trouble, immediately contact the distributor you bought or us.
1.7.2 INSTALLATION OF SERVO DRIVER
Servo amplifier is designed for vertical installation type. For natural cooling, the vertical installation direction should be observed as the following figure.
Driver Mounted wall
Ventilation
If the ambient temperature excess the allowable temperature range(55℃), the cooling fan should be installed in the control box. Since the ambient temperature has the close relationship with the lifetime, keep it at the lower temperature as possible. Install the servo amplifier under the following clearance conditions.
A
B C
D When installing the servo amplifier in a control box, prevent drill chips and wire fragments from the servo amplifier. When installing the control box in a place where there are toxic pas, dirt and dust, provide positive pressure in the control box by forcing in clean air to prevent such materials from entering the control box. The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection.
A B C D 50mm이상 30mm이상 10mm 이상 50mm 이상
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 9
1.7.3 INSTALLATION OF SERVO MOTOR
The servo motor is available for both vertical and horizontal installation. But since the bad environment of the installation condition affects the lifetime of motor and the unexpected accident, it should be installed according to the following descriptions. ☞ Since the rust-preventative is coated on the shaft and flange surface for rust-proof during the preservation, be sure to clean the rust-preventative before installation. ☞ The servo motor is subject to be used in indoor environment. If there are much water and oil drops around, the cover should be attached. ☞ When connecting with load, the shaft of motor should be aligned exactly with that of the counter load. Otherwise, it cause the vibration, acoustic noise and damages. The concentricity and pap should be less than 3/100mm. ☞ The excessive external shock may break the motor bearing and encoder. If the reducer, pulley and coupling are used, do not apply the excessive shock(50G and above) to the motor shaft. 1.7.4 ENVIRONMENTAL CONDITIONS
Environment Servo Amplifier Servo Motor
Ambient Temperature
operate 0℃ ∼ +55℃(non-freezing) 0℃ ∼ +40℃((non-freezing)
storage -20℃ ∼ +65℃((non-freezing) -15℃ ∼ +70℃((non-freezing)
Ambient Humidity
operate 80%RH or less (non-condensing) 80%RH or less (non-condensing)
storage 90%RH or less (non-condensing) 90%RH or less (non-condensing)
Ambience Indoor(no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
Vibration 0.6G or less 2.5G or less
1.7.5 ALLOWABLE WEIGHT OF MOTOR SHAFT
Radial weight Trust weight
N kgf N kgf
196 20 49 5
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Chapter 1 FUNCTION AND SPECIFICATIONS
NS SYSTEM CO., LTD. 1 - 10
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Chapter 2 WIRING
NS SYSTEM CO., LTD. 2 - 1
2.1 AUXILIARY EQUIPMENTS AND WIRE
■ Power supply : 3-phase AC 200V ~ 230V
■ No-fuse breaker(NFB)
■ Noise filter
■ Magnetic contactor
Magnetic contactor may be installed when needed. The capacity of that is same as NFB ■ Regenerative brake resister
■ Motor power
■ Grounding: Class D grounding is recommended(100 ohm or less). Be sure to perform one point grounding(do not make the loop).
Amplifier Wire[㎟] Amplifier Wire[㎟] Amplifier Wire[㎟] TANGO-A01 2(AWG14) TANGO-A12 2(AWG14) TANGO-A40 5.5(AWG10) TANGO-A02 2(AWG14) TANGO-A18 3.5(AWG12) TANGO-A50 5.5(AWG10) TANGO-A04 2(AWG14) TANGO-A24 3.5(AWG12) TANGO-A75 8(AWG8) TANGO-A06 2(AWG14) TANGO-A30 5.5(AWG10)
TANGO-A08 2(AWG14) TANGO-A35 5.5(AWG10)
Amplifier NFB Amplifier NFB Amplifier NFB TANGO-A01 250V/5A TANGO-A12 250V/20A TANGO-A40 250V/50A TANGO-A02 250V/5A TANGO-A18 250V/30A TANGO-A50 250V/60A TANGO-A04 250V/10A TANGO-A24 250V/30A TANGO-A75 250V/75A TANGO-A06 250V/15A TANGO-A30 250V/40A
TANGO-A08 250V/15A TANGO-A35 250V/40A
Amplifier Rating Amplifier Rating Amplifier Rating TANGO-A01 250V/5A TANGO-A12 250V/20A TANGO-A40 250V/50A TANGO-A02 250V/5A TANGO-A18 250V/30A TANGO-A50 250V/60A TANGO-A04 250V/10A TANGO-A24 250V/30A TANGO-A75 250V/75A TANGO-A06 250V/15A TANGO-A30 250V/40A
TANGO-A08 250V/15A TANGO-A35 250V/40A
Amplifier Wire[㎟] TANGO-A35 or less 2(AWG14)
TANGO-A40/A50/A75 3.5(AWG12)
Amplifier Wire[㎟] Amplifier Wire[㎟] Amplifier Wire[㎟] TANGO-A01 1.25(AWG16) TANGO-A12 2(AWG14) TANGO-A40 5.5(AWG10) TANGO-A02 1.25(AWG16) TANGO-A18 3.5(AWG12) TANGO-A50 5.5(AWG10) TANGO-A04 1.25(AWG16) TANGO-A24 3.5(AWG12) TANGO-A75 8(AWG8) TANGO-A06 1.25(AWG16) TANGO-A30 5.5(AWG10)
TANGO-A08 2(AWG14) TANGO-A35 5.5(AWG10)
Amplifier Wire[㎟] TANGO-A35 or less 2(AWG14)
TANGO-A40/A50/A75 3.5(AWG12)
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Chapter 2 WIRING
NS SYSTEM CO., LTD. 2 - 2
2.2 PARTS IDENTIFICATION (BOOK1/BOOK2)
CN2 : serial communication connector
Function key unit 7-segment display
CN1 : I/O connector
CN3 : motor encoder connector
CN4 : R, S, T, E - AC input power P, B - regenerative brake U, V, W, FG - motor power
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Chapter 2 WIRING
NS SYSTEM CO., LTD. 2 - 3
2.3 CONNECTION DIAGRAM
T
SERVO1
SERVO MOTORENC
U
V
W
FG
CN3
FG
CN2
S
1
MONITOROUTPUT(CN6)
E
2
ABS. ENCODERPOWER(CN7 :OPTION)
B
3
INPUTPOWERAC220V50/60Hz3PHASE
INTERFACE (CN1)
P
4
BRAKE REGISTER(OPTION)
U
6
MAINPOWER(CN4)
5
USB PORT
INTERFACE
COM.PORT
8
(CN5 : OPTION)
+15V
7
10
PC or HOSTCONTROLLERWITH ANALOGPOWER TRQMON
9
R
BATTERY forABS.ENCODER
PC or HOSTCONTROLLER
SPDMON SE
RV
O D
RIV
ER
-15V
V
0V
ENCODER
BAT+
W
BAT-
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2.4 Encoder (CN3)
Pin No. Symbol Name
6 A A phase input
11 /A /A phase input
1 B B phase input
7 /B /B phase input
12 Z Z phase input
2 /Z /Z phase input
8 U U phase input
13 /U /U phase input
3 V V phase input
9 /V /V phase input
14 W W phase input
4 /W /W phase input
10 VCC 5V power
15 0V/BAT- 0V / BATTERY -
5 BAT+ BATTERY +
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2.5 Signals (CN1)
Pin No. Symbol Name
19 SPDCOM Analog Speed Command
1 TRQCOM Analog Torque Command
10 AGND Gnd for Anolog Interface
20 +PP Pulse Forward +
2 -PP Pulse Forward -
12 +NP Pulse Reverse +
21 -NP Pulse Reverse -
16 AO Encoder A Phase Output
25 /AO Encoder /A Phase Output
7 BO Encoder B Phase Output
17 /BO Encoder /B Phase Output
26 ZO Encoder Z Phase Output
8 /ZO Encoder /Z Phase Output
18 DGND Gnd for Digital Interface
3 24V 24V for Interface
5 OUT0 ALARM
24 OUT1 BRAKE
15 OUT2 READY/NEAR
6 OUT GND OUT COMMON
Pin No. Symbol CONTROL MODE
POSITION
CONTORL
SPEED
CONTROL
TORQUE
CONTROL
COMBINATION
CONTROL
13 IN0 SVON ← ← ←
22 IN1 ARST ← ← ←
14 IN2 CCWL CCWL/DSPD1 CCWL/DTRQ1 ←
4 IN3 CWL CWL/DSPD2 CWL/DTRQ2 ←
11 IN4 STOP ← ← ←
23 IN5 DIR/PCON/GAIN ← ← ←
9 IN6 TRQL TRQL SPDL MODE
-
Chapter 2 WIRING
NS SYSTEM CO., LTD. 2 - 6
Pin No. Symbol POSITION CONTORL
13 IN0 SVON Servo On
22 IN1 ARST Alarm Reset
14 IN2 CCWL CCW Limit (See PB10)
4 IN3 CWL CW Limit (See PB10)
11 IN4 STOP Stop
23 IN5 DIR/PCON/GAIN (See PA15)
9 IN6 TRQL Torque Limit
Pin No. Symbol SPEED CONTORL
13 IN0 SVON Servo On
22 IN1 ARST Alarm Reset
14 IN2 CCWL/DSPD1 CCW Limit (See PB10)
4 IN3 CWL/DSPD2 CW Limit (See PB10)
11 IN4 STOP Stop
23 IN5 DIR/PCON/GAIN (See PA15)
9 IN6 TRQL Torque Limit
Pin No. Symbol TORQUE CONTORL
13 IN0 SVON Servo On
22 IN1 ARST Alarm Reset
14 IN2 CCWL/DTRQ1 CCW Limit (See PB10)
4 IN3 CWL/DTRQ2 CW Limit (See PB10)
11 IN4 STOP Stop
23 IN5 DIR/PCON/GAIN (See PA15)
9 IN6 SPDL Speed Limit
Pin No. Symbol COMBINATION CONTORL
13 IN0 SVON Servo On
22 IN1 ARST Alarm Reset
14 IN2 CCWL CCW Limit (See PB10)
4 IN3 CWL CW Limit (See PB10)
11 IN4 STOP Stop
23 IN5 DIR/PCON/GAIN (See PA15)
9 IN6 MODE Mode Select
-
Chapter 3 Tuning
NS SYSTEM CO., LTD. 3 - 1
3.1 Fundamentals of Machine Ridigity Machine rigidity is defined as the solidity to resist deformation by external force.
When external force is applied to machine, machine reaction is delayed until deformation is finished. Therefore, high
rigidity machine can react faster than low rigidity machine. The rigidity of the mechanical system can be expressed by
the natural frequency. The high rigidity means that machine has the high natural frequency and high controllability.
From the viewpoint of servo control, the position control frequency (position loop gain) must not exceed the natural
frequency of the mechanical system because machine cannot react to the control action. The higher rigidity can get a
higher position loop gain. Therefore, it is necessary that you must know the rigidity of object machine to be controlled.
For example, if the mechanical system is an articulated robot with harmonic gear reducer, the rigidity is very low
because the natural frequency of harmonic gear reducer is 10~20Hz. In this case, the position loop gain can be set to
10~20Hz. If the mechanical system is a chip mounting machine, IC bonding machine, or high-precision machining
tool, the natural frequency of the system is 70Hz or higher. Therefore, the position loop gain can be set to 70Hz or
higher. Therefore, when high responsiveness is required, it is not only important to ensure the responsiveness of the
servo system (control gain, motor, and encoder), but it is also necessary to ensure that the mechanical system have
high rigidity. The rigidity level according to machine characteristics is shown as following table.
Rigidity
Level
Natural
Frequency Machine Type and Connection Mechanism
Highest 70~160Hz
Light-weight indexer driven by timing belt.
Light-weight linear motion table directly driven by short-length ball screw.
Examples: LED bonding machine, chip inspection machine, PCB inspection machine
High 50~70Hz
Light or middle-weight linear motion table directly driven by short-length ball screw.
Machines driven by ball screws through the ultra high precision gear reducer.
Middle-weight indexer driven by timing belt.
Examples: chip mounting machine, bonding machine, high-precision machine tool,
high-precision indexer.
Middle 30~50Hz
Middle or heavy-weight linear motion table directly driven by long-length ball screw.
Machines driven by ball screws through the general precision gear reducer.
Middle-weight linear motion table driven by timing belt.
Short conveyor belt driven by timing belt.
Examples: general machine tool, transverse robot, short conveyor.
Low 10~20Hz
Heavy-weight linear motion table driven by timing belt.
Long conveyor belt driven by chains.
Articulated robot with harmonic gear reducer.
General machine with large-backlash gear reducer.
Examples: long conveyor, articulated robot.
-
Chapter 3 Tuning
NS SYSTEM CO., LTD. 3 - 2
3.2 Gain Adjustment(Tuning) • Excellent Gain Adjustment (gain adjustment for high gain and high positioning time).
Level Adjustment
1
• Set the proper system response level (machine rigidity level) to the parameter PA02.
Refer to the chapter of “Understanding of machine rigidity”.
• If you cannot decide proper system response level, set to the level “4”.
The level “4” is average value which can be applied to the general machine.
• When the response level is selected, the servo gains (position p-gain1/2, speed p-gain1/2, speed integral
time constant1/2 and high gain vibration suppression filter time constant1/2) are saved to memory
automatically.
• The servo gains against selected response level have a large safety margin by considering a variety of
machines. Therefore, servo gains may be adjusted more higher for fast response speed when needed.
2
• Try to do twice the one-time autotuning in check mode CH06.
• Estimated inertia moment ratio must be saved at both inertia moment ratio1 (PA03) and inertia moment
ratio2 (PA20) by setting PD19 to “0”.
3 • Increase simultaneously both the speed loop gain 1 (PA05) and the position loop gain 1 (PA04) as same
value until when vibration begins in the mechanical system.
4
• When a ballscrew or the like is used, high frequency vibration may occur as the gain is increased.
The high frequency vibration generates oscillation noise in a high-pitched tone due to shaft torsional
resonance. If machine vibration is derived from high gain (not from machine itself), set the high vibration
suppression filter function (PA24/25/26).
• When a timing belt driven indexer or the like is used, if vibration is not satisfied when stopping, set the
stopping vibration suppression function (PA27/28/29).
5
• If vibration is not still satisfied even when high vibration suppression filter function or stopping vibration
suppression function is used, decrease simultaneously both the speed loop gain 1 (PA05) and the position
loop gain 1 (PA04) as same value until when vibration is satisfied.
6 Set the gain1/2 switching function (PA16/17/18) for ultra fast response speed when running.
7
• Increase simultaneously both the speed loop gain 2 (PA21) and the position loop gain 2 (PA22) as same
value until when response speed is satisfied while running.
• If vibration begins in the mechanical system, decrease simultaneously both the speed loop gain 2 (PA21)
and the position loop gain 2 (PA22) as same value until when vibration is satisfied while running.
8 • When servo is operated at low speed as like jog motion, if vibration occurs, adjust properly gain1/2 change
point (PA17/18) according to that speed.
9 • If the setting of gains are satisfied but some shock is happened on starting and stopping, This shock can be
removed with remaining performance by the proper setting of smoothing parameters (PA06/07).
-
Chapter 3 Tuning
NS SYSTEM CO., LTD. 3 - 3
• Simple Gain Adjustment (gain adjustment for quick test).
Level Adjustment
1
• Set the proper system response level (machine rigidity level) to the parameter PA02.
Refer to the chapter of “Understanding of machine rigidity”.
• If you cannot decide proper system response level, set to the level “4”.
The level “4” is average value which can be applied to the general machine.
• When the response level is selected, the servo gains (position p-gain1/2, speed p-gain1/2, speed integral
time constant1/2 and high gain vibration suppression filter time constant1/2) are saved to memory
automatically.
• The servo gains against selected response level have a large safety margin by considering a variety of
machines. Therefore, servo gains may be adjusted more higher for fast response speed when needed.
2
• Try to do twice the one-time autotuning in check mode CH06.
• Estimated inertia moment ratio is saved at both inertia moment ratio1 (PA03) and inertia moment ratio2
(PA20) or only inertia moment ratio1 (PA03) according to the saving condition.
3 • Increase the system response level (PA02) until when vibration begins in the mechanical system.
• Decrease the system response level (PA02) until when vibration stops in the mechanical system.
4 • If vibration is not satisfied when stopping, Increase the integral time constant1 (PA06)
• Manual Gain Adjustment (gain adjustment for autotuning-disable machine).
Level Adjustment
1
• Set the proper system response level (machine rigidity level) to the parameter PA02.
Refer to the chapter of “Understanding of machine rigidity”.
• If you cannot decide proper system response level, set to the level “4”.
The level “4” is average value which can be applied to the general machine.
2 • Set the proper value of inertia moment ratio to the parameter PA03.
3 • Set the position loop gain (PA04) to a comparatively low value. Then increase the speed loop gain (PA05) to
within a range where there is no noise or vibration.
4 • Decrease the speed loop gain (PA05) a little from the value set in step 3. Then increase the position loop
gain (PA04) to within a range where there is no overshooting or vibration.
5 • Set the speed loop integral time constant (PA06) while observing the positioning settling time and the
vibration of the mechanical system. If the constant is too large, the positioning settling time will be too long.
6 • Finally, progressively make fine adjustments to parameters such as the position loop gain, speed loop gain,
and integral time constant until when find the optimal points.
-
Chapter 3 Tuning
NS SYSTEM CO., LTD. 3 - 4
-
Chapter 4 Position Control Mode
NS SYSTEM CO., LTD. 4 - 1
4.1 Fundamentals of Position Control
Position control loop generates speed command in order to quickly reach to the target position by position command.
But, quick response is disturbed due to time delay from machine rigidity. As result of time delay, servo cannot obtain
the optimum performance. To recover the time delay, position control loop try to make the position error to zero as fast
as possible. Block diagram of position control is as following figure.
+-
Positioncontrol(P gain)
Positioncommand
Positionfeedback
Speedreference
(command) Rigidity delay
Positionoutput
Positionerror Speed
controlCurrentcontrol
Inner loop
Compensate position delay
(Position Control Block Diagram)
The position loop gain has two limitation conditions as followings.
• Limitation condition by machine system.
Position loop gain cannot be set higher than natural frequency of the mechanical system. If position loop gain exceeds
the natural frequency of the mechanical system, mechanical vibration occurs. Position loop gain can be increased only
to the point where vibration begins in the mechanical system. For higher gain, mechanical system must be made more
rigid to increase its natural frequency. The higher rigidity allows the higher position loop gain.
Refer to the chapter of “Understanding of machine rigidity”
• Limitation condition by control rule.
Keep in mind that inner loop must have higher response speed than outer loop for stability of multi-loop feedback
control system. Position loop gain must not exceed the speed loop gain. If the position loop gain is higher than the
speed loop gain, speed reference output from the position loop cannot follow the position loop response due to the
slower speed loop response. As a result, the speed reference output from the position loop will oscillate as shown in
the following figure. If this happens, reduce the position loop gain or increase the speed loop gain.
Speed reference output when normal
Speed reference output when abnormal
Time
Therefore, to increase the position loop gain, you must first increase the speed loop gain. If only the position loop gain
is increased, oscillation will result in the speed reference output and positioning time will increase, not decrease.
-
Chapter 4 Position Control Mode
NS SYSTEM CO., LTD. 4 - 2
4.2 CONNECTION 4.2.1 CONNECTION FOR POSITION CONTROL (CN1)
22
1
AO
15
DIR/PCON/GAIN
ALARM RESET INPUT
14
19
/AO
6
TRQL
CCW LIMIT INPUT
24V
BO
20
ALARM+
4
3
SVON
/BO
12
BRAKE+
CW LIMIT INPUT
ALMRST
ZO
2
READY+
11
CCWL
/ZO
21
OUT GND
STOP INPUT
DGND
16
VD
C 24V
23
A-PHASEOUTPUT 25
+PP
13
DIR/PCON/GAIN INPUT
B-PHASEOUTPUT 17
-PP
9
Z-PHASEOUTPUT
7
+NP
TORQUE LIMIT INPUT
SE
RV
O D
RIV
ER
8
-NP
ALARM OUTPUT
TRQCOM
26
2.4K
5
SPDCOM
DIGITAL GROUND
150
BRAKE OUTPUT
AGND
18
150
24
CWL
SERVO ON INPUT
Analog toDigitalConverter
10
COMMANDPULSEINPUT
READY OUTPUT
STOP
-
Chapter 4 Position Control Mode
NS SYSTEM CO., LTD. 4 - 3
4.2.2 SIGNAL LAYOUT AND ASSIGNMENT
Pin No. Symbol Name
19 SPDCOM Analog Speed Command
1 TRQCOM Analog Torque Command
10 AGND Gnd for Anolog Interface
20 +PP Pulse Forward +
2 -PP Pulse Forward -
12 +NP Pulse Reverse +
21 -NP Pulse Reverse -
16 AO Encoder A Phase Output
25 /AO Encoder /A Phase Output
7 BO Encoder B Phase Output
17 /BO Encoder /B Phase Output
26 ZO Encoder Z Phase Output
8 /ZO Encoder /Z Phase Output
18 DGND Gnd for Digital Interface
3 24V 24V for Interface
5 OUT0 ALARM
24 OUT1 BRAKE
15 OUT2 READY/NEAR
6 OUT GND OUT COMMON
Pin No. Symbol POSITION CONTORL
13 IN0 SVON Servo On
22 IN1 ARST Alarm Reset
14 IN2 CCWL CCW Limit (See PB10)
4 IN3 CWL CW Limit (See PB10)
11 IN4 STOP Stop
23 IN5 DIR/PCON/GAIN (See PA15)
9 IN6 TRQL Torque Limit
-
Chapter 4 Position Control Mode
NS SYSTEM CO., LTD. 4 - 4
4.2.3 PP/NP COMMAND PULSE The input pulse train format can be chosen with parameter P-25. The input pulse train can be multiplied by
the electronic gear ratio(parameter P-12,13,14,15). Accordingly, the machine can be moved at any
multiplication factor to input pulse. The direction of rotation can be changed by parameter P-35
without hard-wired replacement. Recommended driving current is 10~15 mA.
[ LINE DRIVER TYPE ]
Make the left side connection.
The line driver signal input is the best solution of noise reduction.
Use a twisted-pair shield cable to minimize the influence of
electromagnetic interference.
The maximum frequency of line driver signal input is up to 500Khz.
The problem of position shift may arise from high speed pulse input higher than the maximum frequency.
[ OPEN COLLECTOR TYPE ]
Make the left side connection.
If the interface power is 5V then there is no need to insert a external
resistor(Rext). Be sure to insert a external resistor(Rext) in case of 12V
or 24V. Use a twisted-pair shield cable to minimize the influence of
electromagnetic interference. The maximum frequency of open collector
signal input is uo to 200Khz. Never use the TTL output for driving
circuit. The driving capacity of TTL is insufficient to drive photo-
coupler. Use the amplifier circuit.
※ Formula : VDC/(Rext+330)=0.01~0.015
Rext value 5V 12V 24V etc.
short 470 0.5W 1.8K 1W formula
-
Chapter 4 Position Control Mode
NS SYSTEM CO., LTD. 4 - 5
4.2.4 INPUT SIGNALS
The power supply for input interface is 24Vdc±10%, 200mA or more.
The symbol of the ground for 24Vdc is 24VGND hereafter.
All input interface signals are isolated by photo-coupler.
The function and application of input interface signals are described as the following table.
Name Symbol Pin No. Function and Application
Servo On
(IN0) SVON 13
Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free.
Reset (IN1) ALMRST 22
Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset.
CCW Limit
(IN2) CCWL 14 To start operation, short CWLMT and CCWLMT-24VGND.
Open them to bring the motor to a emergency stop and bring the amplifier to
a alarm status CW Limit
(IN3) CWL 4
STOP
(IN4) STOP 11
STOP INPUT
ZERO LOCK FUNCTION (See PB24)
DIR/PCON/GAIN (IN5) DIR/PCON/GAIN 23
DIRECTION INPUT
P/PI CONTOL INPUT
GAIN 1/2 SELECT INPUT
(See PA15) TORQUE Limit
(IN6) TRQL 9 TORQUE LIMIT INPUT
-
Chapter 4 Position Control Mode
NS SYSTEM CO., LTD. 4 - 6
4.2.5 OUTPUT SIGNALS
All output interface signals are isolated by photo-coupler.
Each output port has the capacity of 100Vdc, 120mA.
The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction. Otherwise,
the servo amplifier output damaged by over-current permanently.
The function and application of output interface signals are described as the following table.
Name Symbol Pin No. Function and Application
Alarm ALARM+ (OUT0) 5
Alarm signal output terminal. ALM output is normally contacted with OUTCOM. ALM-OUTCOM are disconnected when an alarm occurs. When an alarm occurs, the alarm message is display at segment display unit.
Brake BRAKE+
(OUT1) 24
Brake signal output terminal.
BRK-OUTCOM are disconnected at servo off or alarm.
Use a servo motor with electromagnetic brake which is designed to prevent from a load
drop on a vertical shaft or which ensure double safety at an emergency stop.
In parameter PC01, set a time delay between electromagnetic brake signal output on and
servo on.
In parameter PC02, set a safety speed of electromagnetic brake action.
When the servo motor is stopped freely at a running, the timing of electromagnetic brake
signal off is delayed until the speed reaches safety level.
In parameter PC03, set a time of electromagnetic brake action when servo-off.
OUT2 OUT2+ 15 INPOSITION signal output terminal.
(See PC05)
OUT GND OUT
GND 6 OUTPUT SIGNALS COMMON GROUND
-
Chapter 5 Speed Control Mode
NS SYSTEM CO., LTD. 5 - 1
5.1 Fundamentals of Speed Control Speed control loop generates current command in order to quickly reach to the target speed by speed command.
But, quick response is disturbed due to time delay from load inertia moment. As result of time delay, servo cannot
obtain the optimum performance. To recover the time delay, speed control loop try to make the speed error to zero as
fast as possible. Block diagram of speed control is as following figure.
+-
Speedcontrol
Speedcommand
Speedfeedback
Currentreference
(command) Speedoutput
Speederror Current
control
Inner current loop
Compensate speed delay
(Speed Control Block Diagram)
Currentlimit
Torqueconstant
(Kt)
1Jm
If inner current loop is perfect, that can be considered as “1” in the block diagram.
And, if load inertia moment is accurately compensated in speed control, speed control block diagram is simplified as
following figure.
+-
Speedcommand
Speedfeedback
Speedoutput
KtJm
Jc*KpsKt
1
Speedcontrol
Currentcontrol
Kps: speed p-gainJc=Jm
Jm: load inertia moment
machine
+-
Speedcommand
Speedfeedback
SpeedoutputKps
speed outputKps
(1+Kps)=x speed command
(Simplified Speed Control Block Diagram)
Kt=torque constant
The servo will be most stable and responsive when speed loop gain is set as high as possible within the vibration-free
range. If speed loop gain (Kps) is enough high, speed output is almost same as speed command.
But, small amount of speed error cannot be eliminated even though high gain. That error is called steady-state error.
For example, if speed loop gain (Kps) is set to 100Hz, steady-state error becomes 1%. It is not negligible value.
To eliminate the steady-state error, increasing of speed loop gain (Kps) is limited due to system stability.
Therefore, steady-state error is removed through the integration control of speed error. The integral control is defined
as integral time constant. The PI (proportional and integral) control block diagram of speed loop is as following figure.
+-
Speedcommand
Speedfeedback
KtJm
Jc*KpsKt
1
Currentcontrol machine
Jc*KpsKt
1Ti*S
x
P-control
I-control
Speed control
++
Kps: speed p-gain
Jc=Jm
Jm: load inertia momentKt=torque constant
Ti=integral time constant
Speedoutput
(Speed PI-Control Block Diagram)
-
Chapter 5 Speed Control Mode
NS SYSTEM CO., LTD. 5 - 2
The speed loop gain and integral time constant have limitation conditions as followings.
• Limitation condition of speed loop gain.
Keep in mind that inner loop must have higher response speed than outer loop for stability of multi-loop feedback
control system. Therefore, the speed loop gain must be higher than the position loop gain. If the speed loop gain is
too low, it will delay the outer position loop and cause overshooting and vibration of the speed reference. If this
happens, reduce the position loop gain or increase the speed loop gain. In general, it is easy way that speed loop gain
is set to the same value as position loop gain.
• Limitation condition of integral time constant.
Integral element causes a delay in the servo system, so, set this value within the range where no problem occurs.
If you set smaller value, you can obtain a shorter positioning time, but too small value may cause overshooting or
vibration. If you set too large value, the speed loop cannot respond to very small command and cannot eliminate
steady-state error. For the stability, consider the relationship between speed loop gain and integral time constant as indicated in the following guideline expressions.
* Guideline for good performance: Speed integral time constant [0.1msec] = (8000~6000) ÷ Speed loop gain[Hz]
* Guideline for min. limitation: Speed integral time constant [0.1msec] ≥ (3200~4700) ÷ Speed loop gain[Hz]
If the load inertia moment is large, make sure that the integral time constant is large enough, because, servo cannot
perfectly eliminate the time delay from load inertia moment due to current limit function. Speed loop response time is
limited because that maximum allowable acceleration speed is limited by current limit function as following expression.
* Maximum allowable acceleration speed = Load inertia moment ÷ Torque.
Therefore, if you want the faster response time, make the load inertia moment to be small, or, use the low inertia
moment motor, or, use the speed reducer as like timing pulley and belt.
When speed reducer is installed, the amount of load inertia moment is reduced as following expression.
* Reduced load inertia moment = Load inertia moment ÷ (reduction ratio)².
Also, if the mechanical system is likely to vibrate, make sure that the integral time constant is large enough.
-
Chapter 5 Speed Control Mode
NS SYSTEM CO., LTD. 5 - 3
5.2 Connection (CN1)
SPDCOM
10
23
STOP
18
/BO
ZO
ANALOG GROUND
DIR/PCON/GAIN INPUT
+NP
21
AGND
ALARM+
BRAKE OUTPUT
14
DIR/PCON/GAIN
6
B-PHASEOUTPUT
24
+PP
CCW LIMIT INPUT
-10V to+10V
26
TRQCOM
7
/ZO
4
3
11
150
2
/AO
CW LIMIT INPUT
STOP INPUT
DGND
8
2.4K
13
TORQUE COMMAND INPUT
SER
VO D
RIV
ER
19
READY+
SERVO ON INPUT
1
24V
SPEED COMMAND INPUT
A-PHASEOUTPUT
16
CWL/DSPD2
17
-PP
22
BO
ALARM OUTPUT
TRQL
ALARM RESET INPUT
Z-PHASEOUTPUT
5
15020
SVON
READY OUTPUT
BRAKE+
25
ALMRST
15
VD
C 24V
9
CCWL/DSPD1
12
-NP
OUT GND
TORQUE LIMIT INPUT
Analog toDigitalConverter
DIGITAL GROUND
AO
-
Chapter 5 Speed Control Mode
NS SYSTEM CO., LTD. 5 - 4
INPUT SIGNALS FOR CONTROL
The power supply for input interface is 24Vdc±10%, 200mA or more.
The symbol of the ground for 24Vdc is 24VGND hereafter.
All input interface signals are isolated by photo-coupler.
The function and application of input interface signals are described as the following table.
Name Symbol Pin No. Function and Application
Servo On
(IN0) SVON 13
Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free.
Reset (IN1) ALMRST 22
Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset.
CCW Limit
(IN2) CCWL 14
To start operation, short CWLMT and CCWLMT-24VGND. Open them to bring the motor to a emergency stop and bring the amplifier to
a alarm status
DIGITAL SPEED INPUT
DIGITAL TORQUE INPUT
(See PB10)
CW Limit
(IN3) CWL 4
STOP
(IN4) STOP 11
STOP INPUT
ZERO LOCK FUNCTION (See PB24)
DIR/PCON/GAIN (IN5) DIR/PCON/GAIN 23
DIRECTION INPUT
P/PI CONTOL INPUT
GAIN 1/2 SELECT INPUT
(See PA15) TORQUE Limit
(IN6) TRQL 9 TORQUE LIMIT INPUT
-
Chapter 6 Torque Control Mode
NS SYSTEM CO., LTD. 6 - 1
6.1 Fundamentals of Torque Control Current control loop generates voltage command in order to quickly reach to the target current by current command.
But, quick response is disturbed due to time delay from motor coil. As result of time delay, servo cannot obtain the
optimum performance. To recover the time delay, current control loop try to make the current error to zero as fast as
possible. If current flows into motor coil, torque is generated proportionally to product of current and torque const (Kt)
by Fleming’s left hand rule. Finally, motor runs at certain speed according to the machine conditions (inertia moment,
friction, etc). Block diagram of current control is as following figure
+-
Currentcommand
Currentfeedback
1Jm
MachineCurrent PI
control
Kpi: current loop gain Jm: load inertia momentKt=torque constant
Speedoutput
(Current PI-Control Block Diagram)
Kpi(R+Ls)
Voltage command 1
R+Ls
Current limiter
Motorcoil Motor
current Torque constant
(Kt)
Motortorque
Compensate current delay
The servo driver is designed to ensure that the current loop has good response performance against applied motor.
The user needs only to adjust the position loop and speed loop gain.
-
Chapter 6 Torque Control Mode
NS SYSTEM CO., LTD. 6 - 2
6.2 Connection (CN1)
21
14
/AO
BRAKE+
10
11
CCW LIMIT INPUT
TRQCOM
150
ALARM OUTPUT
STOP INPUT
READY OUTPUT
ALMRST
SPDL
5
BRAKE OUTPUT
15
AGND
Z-PHASEOUTPUT
READY+
24
6
ALARM+
SPDCOM
STOP
26
DIGITAL GROUND
24V
17
CWL/DTRQ2
VD
C 24V
23
18
/BO
8
A-PHASEOUTPUT
SVON
DIR/PCON/GAIN INPUT
22
Analog toDigitalConverter
20
2.4K
BO
TORQUE COMMAND INPUT
ALARM RESET INPUT
-10V to+10V
2
+PP
SE
RV
O D
RIV
ER
1
16
25
AO
DGND
19
12
CCWL/DTRQ1
-NP
SPEED COMMAND INPUT
4
B-PHASEOUTPUT
150
13
3
CW LIMIT INPUT
DIR/PCON/GAIN
+NP
SERVO ON INPUT
9
/ZO
ZO
7
SPEED LIMIT INPUT
OUT GND
-PP
ANALOG GROUND
-
Chapter 6 Torque Control Mode
NS SYSTEM CO., LTD. 6 - 3
INPUT SIGNALS FOR CONTROL
The power supply for input interface is 24Vdc±10%, 200mA or more.
The symbol of the ground for 24Vdc is 24VGND hereafter.
All input interface signals are isolated by photo-coupler.
The function and application of input interface signals are described as the following table.
Name Symbol Pin No. Function and Application
Servo On
(IN0) SVON 13
Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free.
Reset (IN1) ALMRST 22
Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset.
CCW Limit
(IN2) CCWL 14
To start operation, short CWLMT and CCWLMT-24VGND. Open them to bring the motor to a emergency stop and bring the amplifier to
a alarm status
DIGITAL TORQUE INPUT (See PB10) CW Limit
(IN3) CWL 4
STOP
(IN4) STOP 11
STOP INPUT
ZERO LOCK FUNCTION (See PB24)
DIR/PCON/GAIN (IN5) DIR/PCON/GAIN 23
DIRECTION INPUT
P/PI CONTOL INPUT
GAIN 1/2 SELECT INPUT
(See PA15) SPEED Limit
(IN6) SPDL 9 SPEED LIMIT INPUT
-
Chapter 6 Torque Control Mode
NS SYSTEM CO., LTD. 6 - 4
-
Chapter 7 Combination Control Mode
NS SYSTEM CO., LTD. 7 - 1
7.1 Connection (CN1)
12
ANALOG GROUND
OUT GND
SPEED COMMAND INPUT
-PP
4
10
/AO
13
BRAKE+
CW LIMIT INPUT
ALARM OUTPUT
TRQCOM
SERVO ON INPUT
150
9
5
ALMRST
7
MODEMODE INPUT
READY+
AGND
21
Z-PHASEOUTPUT
14
STOP
ALARM+
11
SPDCOM
CCW LIMIT INPUT
COMMANDPULSEINPUT
24V
STOP INPUT
CWL
READY OUTPUT
VD
C 24V
/BO
BRAKE OUTPUT
A-PHASEOUTPUT
15
SVON
Analog toDigitalConverter
24
2.4K
6
BO
17
-10V to+10V
26
+PP
DIGITAL GROUND
SE
RV
O D
RIV
ER
8
AO
18 DGND
20
23
CCWL
22
-NP
DIR/PCON/GAIN INPUT
B-PHASEOUTPUT
ALARM RESET INPUT
150
2
TORQUE COMMAND INPUT
DIR/PCON/GAIN
16
+NP
25
1
3
/ZO
19
ZO
-
Chapter 7 Combination Control Mode
NS SYSTEM CO., LTD. 7 - 2
INPUT SIGNALS FOR CONTROL
The power supply for input interface is 24Vdc±10%, 200mA or more.
The symbol of the ground for 24Vdc is 24VGND hereafter.
All input interface signals are isolated by photo-coupler.
The function and application of input interface signals are described as the following table.
Name Symbol Pin No. Function and Application
Servo On
(IN0) SVON 13
Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free.
Reset (IN1) ALMRST 22
Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset.
CCW Limit
(IN2) CCWL 14
To start operation, short CWLMT and CCWLMT-24VGND. Open them to bring the motor to a emergency stop and bring the amplifier to
a alarm status
DIGITAL SPEED INPUT
DIGITAL TORQUE INPUT
(See PB10)
CW Limit
(IN3) CWL 4
STOP
(IN4) STOP 11
STOP INPUT
ZERO LOCK FUNCTION (See PB24)
DIR/PCON/GAIN (IN5) DIR/PCON/GAIN 23
DIRECTION INPUT
P/PI CONTOL INPUT
GAIN 1/2 SELECT INPUT
(See PA15) MODE
(IN6) MODE 9 CONTROL MODE SELECT INPUT
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 1
8.1 Parameter List
Par. No. Name Symbol Range Init. Unit Va l i d a t i on Mode
PA00 Control Mode CMODE Min 0
2 - R S A P S T
Max 5 √ √ √ √
PA01 Autotuning Mode AMODE Min 0
0 - R S A P S T
Max 2 √ √ √ √
PA02 System
Response Level SYS
Min 0 10 -
R S A P S T
Max 39 √ √ √ √
PA03 Load inertia moment
ratio 1 IMR1
Min 1.00 1.00
0.01 times
R S A P S T
Max 99.99 √ √ √ √
PA04 Position P-Gain 1
PPG1 Min 5
60 Hz R S A P S T
Max 2000 √ √ √
PA05 Speed
P-Gain 1 SPG1
Min 5 60 Hz
R S A P S T
Max 2000 √ √ √
PA06 Speed Integral
Time Constant 1 SITC1
Min 2.0 13.3
0.1 msec
R S A P S T
Max 999.9 √ √ √
PA07 Feed Forward
Gain FFG
Min 0 0 %
R S A P S T
Max 100 √ √
PA08 Feed Forward
Filter Time Constant FFTC
Min 0.00 0.00
0.01 msec
R S A P S T
Max 99.99 √ √
PA09 Speed Bias SBIAS Min 0
0 rpm R S A P S T
Max 400 √ √
PA10 Speed Bias Width SBIASW Min 1
10 pulse R S A P S T
Max 9999 √ √
PA11 Automatic
PI/P Switching APIP
Min 0 0 -
R S A P S T
Max 3 √ √ √
PA12 PI/P
Torque Mode PIPT
Min 20 200 %
R S A P S T
Max 250 √ √ √
PA13 PI/P
Speed Mode PIPS
Min 5 100 rpm
R S A P S T
Max 5000 √ √ √
PA14 PI/P
Pulse Error Mode PIPP
Min 5 100 pulse
R S A P S T
Max 9999 √ √
PA15 IN5
Manual Function IN5MF
Min 0 0 -
R S A P S T
Max 2 √ √ √ √
PA16 Automatic
Gain1/2 Switching AGA12
Min 0 0 -
R S A P S T
Max 2 √ √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 2
Par. No. Name Symbol Range Init. Unit Va l i d a t i on Mode
PA17 Gain1/2
Speed Mode GA12S
Min 5 30 rpm
R S A P S T
Max 5000 √ √ √
PA18 Gain1/2
Pulse Error Mode GA12P
Min 5 20 pulse
R S A P S T
Max 9999 √ √ √
PA19 Gain1/2
Filter Time Constant GA12TC
Min 0.00 0.00
0.01 msec
R S A P S T
Max 10.00 √ √ √
PA20 Load inertia moment
ratio 2 IMR2
Min 1.00 1.00
0.01 times
R S A P S T
Max 99.99 √ √ √
PA21 Position P-Gain 2
PPG2 Min 5
60 Hz R S A P S T
Max 2000 √ √ √
PA22 Speed
P-Gain 2 SPG2
Min 5 60 Hz
R S A P S T
Max 2000 √ √ √
PA23 Speed Integral
Time Constant 2 SITC2
Min 2.0 13.3
0.1 msec
R S A P S T
Max 999.9 √ √ √
PA24 High Vibration
Suppression Filter HVF
Min 0 0 -
R S A P S T
Max 2 √ √ √
PA25 High Vibration
Suppression Filter Time Constant 1
HVFTC1 Min 0.00
0.50 0.01 msec
R S A P S T
Max 5.00 √ √ √
PA26 High Vibration
Suppression Filter Time Constant 2
HVFTC2 Min 0.00
0.50 0.01 msec
R S A P S T
Max 5.00
√ √ √
PA27 Stopping Vibration Suppression Range
SVSR Min 0
0 pulse R S A P S T
Max 4 √ √
PA28 Stopping Vibration Suppression Gain
SVSG Min 20
50 % R S A P S T
Max 80 √ √
PA29 Stopping Vibration Suppression Time
SVST Min 1
500 msec R S A P S T
Max 3000 √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 3
Par. No. Name Symbol Range Init. Unit Validation Mode
PB00 Position Command
Pulse Form PCPF
Min 0 0 -
R S A P S T
Max 5 √ √
PB01 Electronic Gear
Numerator(1000’s) EGNL
Min 0 1000 -
R S A P S T
Max 9999 √ √
PB02 Electronic Gear
Numerator(10000’s) EGNH
Min 0 0 -
R S A P S T
Max 3 √ √
PB03 Electronic Gear
Denominator(1000’s) EGDL
Min 0 1000 -
R S A P S T
Max 9999 √ √
PB04 Electronic Gear
Denominator(10000,s) EGDH
Min 0 0 -
R S A P S T
Max 3 √ √
PB05 Position Command
Direction PCD
Min 0 0 -
R S A P S T
Max 1 √ √
PB06 Position Command
Acc./Dec. Time PCAT
Min 0 0 msec
R S A P S T
Max 400 √ √
PB07 Position Command Acc./Dec. Shape
PCAS Min 0
0 - R S A P S T
Max 1 √ √
PB08 Reserved
PB09 Reserved
PB10 Speed Command
Type SCT
Min 0 0 -
R S A P S T Max 1 √ √
PB11 Analog Speed
Range ASR
Min 1 2000 rpm
R S A P S T Max 6000 √ √
PB12 Analog Speed
Filter Time Constant ASFTC
Min 0.00 0.50
0.01msec
R S A P S T Max 99.99 √ √
PB13 Analog Speed
Offset ASOF
Min -999 0 mV
R S A P S T Max +999 √ √
PB14 Analog Speed Zero Clamp
ASZC Min 0
0 - R S A P S T
Max 1 √ √
PB15 Analog Speed
Zero Clamp Range ASZCR
Min 1 100 mV
R S A P S T Max 999 √ √
PB16 Digital Speed Command 0
DSC0 Min -6000
200 rpm R S A P S T
Max +6000 √ √
PB17 Digital Speed Command 1
DSC1 Min -6000
500 rpm R S A P S T
Max +6000 √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 4
Par. No. Name Symbol Range Init. Unit Validation Mode
PB18 Digital Speed Command 2
DSC2 Min -6000
800 rpm R S A P S T
Max +6000 √ √
PB19 Digital Speed Command 3
DSC3 Min -6000
1000 rpm R S A P S T
Max +6000 √ √
PB20 Speed Command
Direction SCD
Min 0 0 -
R S A P S T
Max 1 √ √
PB21 Speed Command Acceleration Time
SCAT Min 0
0 msec R S A P S T
Max 9999 √ √
PB22 Speed Command Deceleration Time
SCDT Min 0
0 msec R S A P S T
Max 9999 √ √
PB23 Speed Command Acc./Dec. Type
SCADT Min 0
0 - R S A P S T
Max 1 √ √
PB24 Zero Lock Function
ZLF Min 0
0 - R S A P S T
Max 1 √ √
PB25 Zero Lock
Speed ZLS
Min 1 30 rpm
R S A P S T
Max 300 √ √
PB26 Torque Bias TBIAS Min -50
0 % R S A P S T
Max +50 √ √ √
PB27 Torque Command
Type TCT
Min 0 0 -
R S A P S T Max 1 √ √
PB28 Analog Torque
Range ATR
Min 1 100 %
R S A P S T Max 100 √ √
PB29 Analog Torque
Filter Time Constant ATFTC
Min 0.00 0.50
0.01 msec
R S A P S T Max 99.99 √ √
PB30 Analog Torque
Offset ATOF
Min -999 0 mV
R S A P S T Max +999 √ √
PB31 Analog Torque
Zero Clamp ATZC
Min 0 0 -
R S A P S T Max 1 √ √
PB32 Analog Torque
Zero Clamp Range ATZCR
Min 1 100 mV
R S A P S T Max 999 √ √
PB33 Digital Torque Command 0
DTC0
Min -6000
10 % R S A P S T
Max +6000 √ √
PB34 Digital Torque Command 1
DTC1
Min -6000
20 % R S A P S T
Max +6000 √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 5
Par. No. Name Symbol Range Init. Unit Validation Mode
PB35 Digital Torque Command 2
DTC2 Min -6000
30 % R S A P S T
Max +6000 √ √
PB36 Digital Torque Command 3
DTC3 Min -6000
40 % R S A P S T
Max +6000 √ √
PB37 Torque Command
Direction TCD
Min 0 0 -
R S A P S T
Max 1 √ √
PB38 Reserved
PB39 Reserved
Par. No. Name Symbol Range Init. Unit Validation Mode
PC00 Excessive
Position Error EPE
Min 1 900
100 pulse
R S A P S T
Max 9999 √ √
PC01 Servo Off Delay
to Brake Operation SOD
Min 1 10 msec
R S A P S T
Max 500 √ √ √ √
PC02 Brake Operation
Speed BOS
Min 5 50 rpm
R S A P S T
Max 500 √ √ √ √
PC03 Brake Operation
Time BOT
Min 1 100 msec
R S A P S T
Max 1000 √ √ √ √
PC04 Multi-Function
Output MFO
Min 0 0 -
R S A P S T
Max 1 √ √ √ √
PC05 In-Position Output
Range IPO
Min 10 40 pulse
R S A P S T
Max 9999 √ √
PC06 Speed Output
Type SOT
Min 0 0 -
R S A P S T
Max 1 √ √ √
PC07 Speed Arrival Output
Range SAO
Min 5 100 rpm
R S A P S T
Max 6000 √ √ √
PC08 In-Speed Output
Range ISO
Min 5 30 rpm
R S A P S T
Max 100 √ √ √
PC09 Encoder Output
Numerator(1000’s) EONL
Min 0 1 -
R S A P S T
Max 9999 √ √ √ √ √
PC10 Encoder Output
Numerator(10000’s) EONH
Min 0 0 -
R S A P S T
Max 1 √ √ √ √ √
PC11 Encoder Output
Denominator(1000’s) EODL
Min 0 1 -
R S A P S T
Max 9999 √ √ √ √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 6
Par. No. Name Symbol Range Init. Unit Validation Mode
PC12 Encoder Output
Denominator(10000,s) EODH
Min 0 0 -
R S A P S T
Max 1 √ √ √ √ √
PC13 Encoder Output
Direction EOD
Min 0 0 -
R S A P S T
Max 1 √ √ √ √
PC14 Encoder Output Z-phase Type
EOZT Min 0
0 - R S A P S T
Max 1 √ √ √ √ √
PC15 Recovery from
Low Voltage Alarm RLVA
Min 0 1 -
R S A P S T
Max 1 √ √ √ √
PC16 Regenerative Brake
Operation Time RBOT
Min 50 200 msec
R S A P S T
Max 500 √ √ √ √
PC17 Output 0~2
Logic OLG02
Min 000 001 -
R S A P S T
Max 111 √ √ √ √
PC18 Input 0~3
Logic ILG03
Min 0000 0000 -
R S A P S T
Max 1111 √ √ √ √
PC19 Input 4~6
Logic ILG46
Min 000 000 -
R S A P S T
Max 111 √ √ √ √
PC20 Stroke Limit
Function SLF
Min 0 0 -
R S A P S T
Max 2 √ √ √ √
PC21 Analog Monitor1
Output Type MOT1
Min 0 0 -
R S A P S T
Max 5 √ √ √ √
PC22 Analog Monitor1 Output Polarity
MOP1 Min 0
0 - R S A P S T
Max 1 √ √ √ √
PC23 Analog Monitor1 Output Scaling
MOS1 Min 0.1
1.0 0.1
times R S A P S T
Max 50.0 √ √ √ √
PC24 Analog Monitor1 Output Offset
MOO1 Min -999
0 mV R S A P S T
Max +999 √ √ √ √
PC25 Analog Monitor2
Output Type MOT2
Min 0 1 -
R S A P S T
Max 5 √ √ √ √
PC26 Analog Monitor2 Output Polarity
MOP2
Min 0 0 -
R S A P S T
Max 1 √ √ √ √
PC27 Analog Monitor2 Output Scaling
MOS2 Min 0.1
1.0 0.1
times R S A P S T
Max 50.0 √ √ √ √
PC28 Analog Monitor2 Output Offset
MOO2
Min -999 0 mV
R S A P S T
Max +999 √ √ √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 7
Par. No. Name Symbol Range Init. Unit Validation Mode
PC29 Reserved
Par. No. Name Symbol Range Init. Unit Validation Mode
PD00 Test Speed 0 TSP0 Min +6000
+100 rpm R S A P S T
Max -6000 √ √
PD01 Test Speed 1 TSP1 Min +6000
-100 rpm R S A P S T
Max -6000 √ √
PD02 Test Speed 2 TSP2 Min +6000
+1000 rpm R S A P S T
Max -6000 √ √
PD03 Test Speed 3 TSP3 Min +6000
-1000 rpm R S A P S T
Max -6000 √ √
PD04 Test Time 0 TST0 Min 1
10 sec R S A P S T
Max 300 √ √
PD05 Test Time 1 TST1 Min 1
10 sec R S A P S T
Max 300 √ √
PD06 Test Time 2 TST2 Min 1
10 sec R S A P S T
Max 300 √ √
PD07 Test Time 3 TST3 Min 1
10 sec R S A P S T
Max 300 √ √
PD08 Z-Phase Search
Speed ZSS
Min 5 10 rpm
R S A P S T
Max 300 √ √ √ √
PD09 Positioning Test Speed
PTS Min 1
500 rpm R S A P S T
Max 6000 √ √
PD10 Positioning
Test Distance PTD
Min 0.01 10.00
0.01 turns
R S A P S T
Max 99.99 √ √
PD11 Positioning Test Repeat
PTR Min 1
1 - R S A P S T
Max 9999 √ √
PD12 Positioning Test Interval
PTI Min 1
1000 msec R S A P S T
Max 9999 √ √
PD13 One-time Autotuning
Mode OTAM
Min 0 0 -
R S A P S T
Max 1 √ √ √
PD14 One-time Autotuning
Friction Torque OTAI
Min 0.0 3.0 0.1%
R S A P S T
Max 30.0 √ √ √
PD15 One-time Autotuning Inertia Moment Ratio
OTAF Min 1.00
2.00 0.01 times
R S A P S T
Max 50.00 √ √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 8
Par. No. Name Symbol Range Init. Unit Validation Mode
PD16 One-time Autotuning
Speed OTAS
Min 500 1000 rpm
R S A P S T
Max 2000 √ √ √
PD17 One-time Autotuning
Distance OTAD
Min 0.10 2.00
0.01 turns
R S A P S T
Max 20.00 √ √ √
PD18 One-time Autotuning
Repeat OTAR
Min 1 10 _
R S A P S T
Max 100 √ √ √
PD19 One-time Autotuning
Result Save OTAS
Min 0 0 -
R S A P S T
Max 1 √ √ √
PD20 Reserved
PD21 Serial Communication
Remote Control SCRC
Min 0 0 -
R S A P S T
Max 1 √ √ √ √
PD22 Serial Communication
Type SCT
Min 0 2 -
R S A P S T
Max 2 √ √ √ √
PD23 Serial Communication
Driver Address SCDA
Min 0 0 -
R S A P S T
Max 255 √ √ √ √
PD24 Serial Communication
Speed SCS
Min 0 3 -
R S A P S T
Max 6 √ √ √ √
PD25 Serial Communication
Reply Delay Time SCRDT
Min 0 10 μsec
R S A P S T
Max 6000 √ √ √ √
PD26 Serial Communication
Protocol SCP
Min 0 0 -
R S A P S T
Max 1 √ √ √ √
PD27 Overload Protection
Function OLD
Min 0 0 rpm
R S A P S T
Max 1 √ √ √ √
PD28 Manual
Overload Torque MOTQ
Min 10 100 %
R S A P S T
Max 250 √ √ √ √
PD29 Manual
Overload Time MOTM
Min 100 3000 msec
R S A P S T
Max 9999 √ √ √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 9
Par. No. Name Symbol Range Init. Unit Validation Mode
PE00 PE Menu
Lock PEML
Min 0 1 -
R S A P S T
Max 1 √ √ √ √
PE01 Motor ID. MID Min 0
- - R S A P S T
Max 399 √ √ √ √ √
PE02 Motor
Inertia Moment Unit MIMU
Min 0 - -
R S A P S T
Max 2 √ √ √ √
PE03 Motor
Inertia Moment MIM
Min 1
-
0.001/
0.01/0.1
gf·cm·s²
R S A P S T
Max 9999 √ √ √ √
PE04 Motor
Torque Constant MTC
Min 1 -
0.01
Kgf·cm/
Arms
R S A P S T
Max 3000 √ √ √ √
PE05 Motor
Phase Inductance Unit MPIU
Min 0 - -
R S A P S T
Max 1 √ √ √ √
PE06 Motor
Phase Inductance MPI
Min 1 -
0.001/0
.01 mH
R S A P S T
Max 9999 √ √ √ √
PE07 Motor
Phase Resistance MPR
Min 0.001 - 0.001Ω
R S A P S T
Max 9.999 √ √ √ √
PE08 Motor
Rated Current MRC
Min 0.01 -
0.01 Arms
R S A P S T
Max 99.99 √ √ √ √
PE09 Motor
Maximum Speed MMS
Min 1 - rpm
R S A P S T
Max 9999 √ √ √ √
PE10 Motor
Rated Speed MRS
Min 1 - rpm
R S A P S T
Max 9999 √ √ √ √
PE11 Motor
Pole Number MPN
Min 2 - pole
R S A P S T
Max 98 √ √ √ √
PE12 Built-in Overload Protection Level
BOPL Min 10
100 % R S A P S T
Max 100 √ √ √ √ √
PE13 CCW
Torque Limit CCWTL
Min 1 300 %
R S A P S T
Max 300 √ √ √ √
PE14 CW
Torque Limit CWTL
Min 1 300 %
R S A P S T
Max 300 √ √ √ √
PE15 Encoder
Type
ETYPE Min 0
0 - R S A P S T
Max 4 √ √ √ √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 10
Par. No. Name Symbol Range Init. Unit Validation Mode
PE16 Encoder
Pulse per Revolution EPPR
Min 1000 2500 pulse
R S A P S T
Max 9999 √ √ √ √ √
PE17 9-Wire Encoder
UVW Read Delay Time EUVW
Min 10 70 msec
R S A P S T
Max 500 √ √ √ √ √
PE18 9-Wire Encoder
ABZ Read Delay Time EABZ
Min 10 70 msec
R S A P S T
Max 500 √ √ √ √ √
PE19 Z-Phase
Shift Angle EZSA
Min 0 0 °
R S A P S T
Max 359 √ √ √ √ √
-
Chapter 8 PARAMETER
NS SYSTEM CO., LTD. 8 - 11
8.2 Parameter Discription
Par. No. Name Symbol Range Init. Unit Validation Mode
PA00 Control Mode CMODE Min 0
2 - R S A P S T
Max 5 √ √ √ √ Set the servo control mode.
Control mode 0~2 are fixed control mode and IN6 is used for torque limit input.
Control mode 3~5 are combinational control mode and IN6 is used for changeover input.
The zero speed lock function at speed control is invalid in control mode 3 and 4.
Value Control Mode
Control Mode Changeover by IN6
Off On
0 Fixed Control
Mode
Torque X X
1 Speed X X
2 Position X X
3 Combinational
Control Mode
Position/Speed Position Speed
4 Torque/Speed Torque Speed
5 Torque/Position Torque Position
Par. No. Name Symbol Range Init. Unit Validation Mode
PA01 Autotuning Mode AMODE Min 0
0 - R S A P S T
Max 2 √ √ √ √ Set the autotuning mode.
Value Description
0
Servo is controlled by pre-defined load inertia moment ratio.
Manual
Autotuning
Manual autotuning is used when the user wants to manually adjust load inertia
moment ratio 1 or 2 while confirming the response of the servo or machine.
One-Time
Autotuning
One-Time autotuning can be used to eliminate the need to manually adjust load
inertia moment ratio 1 or 2. The load inertia moment ratio is automatically estimated
by check mode 6.
1
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