user's manual ac servo drivernssystem.co.kr/e_pdf/tangoae2010.pdf · 2010. 12. 1. · user's manual...

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

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

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

CONTENTS

NS SYSTEM CO., LTD.

CHAPTER 11 ALARM .........................................................................................11-1

8.1 LIST .......................................................................................................11-1

8.2 DISCRIPTION ..........................................................................................11-2

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℃.

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

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.

CONTENTS

NS SYSTEM CO., LTD.

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.



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.



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



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



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]



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



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



1.6 DIMENSIONS 1.6.1 BOOK TYPE1 ( TANGO-A01/A02/A04/A06 )

1.6.2 BOOK TYPE2 ( TANGO-A08/A12/A18 )



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



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

Chapter 2 WIRING


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)

Chapter 2 WIRING


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

Chapter 2 WIRING


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-

Chapter 2 WIRING


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 +

Chapter 2 WIRING


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


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



14 IN2 CCWL/DSPD1 CCW Limit (See PB10)

4 IN3 CWL/DSPD2 CW Limit (See PB10)

11 IN4 STOP Stop



Pin No. Symbol TORQUE CONTORL



14 IN2 CCWL/DTRQ1 CCW Limit (See PB10)

4 IN3 CWL/DTRQ2 CW Limit (See PB10)

11 IN4 STOP Stop


9 IN6 SPDL Speed Limit

Pin No. Symbol COMBINATION CONTORL





11 IN4 STOP Stop


9 IN6 MODE Mode Select

Chapter 3 Tuning


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


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


• Simple Gain Adjustment (gain adjustment for quick test).

Level Adjustment

1





• 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





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


Chapter 4 Position Control Mode


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.



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



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





11 IN4 STOP Stop





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



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



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.


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


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)



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.



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


DIGITAL GROUND

AO



INPUT SIGNALS FOR CONTROL






Servo On

(IN0) SVON 13




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



DIRECTION INPUT

P/PI CONTOL INPUT


(See PA15) TORQUE Limit

(IN6) TRQL 9 TORQUE LIMIT INPUT

Chapter 6 Torque Control Mode


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.




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


20

2.4K

BO


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









Servo On

(IN0) SVON 13




CCW Limit

(IN2) CCWL 14


a alarm status

DIGITAL TORQUE INPUT (See PB10) CW Limit

(IN3) CWL 4

STOP

(IN4) STOP 11

STOP INPUT



DIRECTION INPUT

P/PI CONTOL INPUT


(See PA15) SPEED Limit

(IN6) SPDL 9 SPEED LIMIT INPUT

Chapter 7 Combination Control Mode



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


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


DIR/PCON/GAIN

16

+NP

25

1

3

/ZO

19

ZO

Chapter 7 Combination Control Mode








Servo On

(IN0) SVON 13




CCW Limit

(IN2) CCWL 14


a alarm status

DIGITAL SPEED INPUT

DIGITAL TORQUE INPUT

(See PB10)

CW Limit

(IN3) CWL 4

STOP

(IN4) STOP 11

STOP INPUT



DIRECTION INPUT

P/PI CONTOL INPUT


(See PA15) MODE

(IN6) MODE 9 CONTROL MODE SELECT INPUT

Chapter 8 PARAMETER


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


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


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 √ √


Numerator(10000’s) EGNH

Min 0 0 -

R S A P S T

Max 3 √ √


Denominator(1000’s) EGDL

Min 0 1000 -

R S A P S T

Max 9999 √ √


Denominator(10000,s) EGDH

Min 0 0 -

R S A P S T

Max 3 √ √


Direction PCD

Min 0 0 -

R S A P S T

Max 1 √ √


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 √ √


DSC1 Min -6000

500 rpm R S A P S T

Max +6000 √ √

Chapter 8 PARAMETER




DSC2 Min -6000

800 rpm R S A P S T

Max +6000 √ √


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 -


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 -


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 √ √


DTC1

Min -6000

20 % R S A P S T

Max +6000 √ √

Chapter 8 PARAMETER




DTC2 Min -6000

30 % R S A P S T

Max +6000 √ √


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


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



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



PC29 Reserved


PD00 Test Speed 0 TSP0 Min +6000

+100 rpm R S A P S T

Max -6000 √ √


-100 rpm R S A P S T

Max -6000 √ √


+1000 rpm R S A P S T

Max -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 √ √


10 sec R S A P S T

Max 300 √ √


10 sec R S A P S T

Max 300 √ √


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 √ √ √


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




Speed OTAS

Min 500 1000 rpm

R S A P S T

Max 2000 √ √ √


Distance OTAD

Min 0.10 2.00

0.01 turns

R S A P S T

Max 20.00 √ √ √


Repeat OTAR

Min 1 10 _

R S A P S T

Max 100 √ √ √


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 √ √ √ √


Type SCT

Min 0 2 -

R S A P S T

Max 2 √ √ √ √


Driver Address SCDA

Min 0 0 -

R S A P S T

Max 255 √ √ √ √


Speed SCS

Min 0 3 -

R S A P S T

Max 6 √ √ √ √


Reply Delay Time SCRDT

Min 0 10 μsec

R S A P S T

Max 6000 √ √ √ √


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



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



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


8.2 Parameter Discription


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


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

user's manual ac servo drivernssystem.co.kr/e_pdf/tangoae2010.pdf · 2010. 12. 1. · user's manual...

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