SD Series Driver Users Manual

Contents 1. Introduction _________________________________________________________2 1.1. 1.2. 1.3. 1.4. 1.5. 2. Unpacking ______________________________________________________2 Relocation ______________________________________________________2 Safety Precautions _______________________________________________3 Installation______________________________________________________3 Dimensions _____________________________________________________5

System Wiring ______________________________________________________ 11 2.1. 2.2. 2.3. 2.4. 2.5. 2.6. Unit Overview __________________________________________________ 11 CN1 Connector _________________________________________________12

2.2.1.

CN1 and CN2 circuit ______________________________________15

CN2 encoder connector __________________________________________16 Position mode __________________________________________________17 Speed mode ____________________________________________________18 Torque mode ___________________________________________________19

2.7. Power and motor connection diagram ______________________________20 2.7.1. SD15SD20SD30SD50SD75____________________________20 2.7.2. SD30A ____________________________________________________21 2.8. RS232 _________________________________________________________22 2.8.1. PC Communication port setting _________________________________22 2.8.2. Read data from driver _________________________________________22 2.8.3. Write data to driver___________________________________________23 2.8.4. Memory map _______________________________________________26 3. Panel operation _____________________________________________________27 3.1. Mode selection ________________________________________________27

3.2. Auxiliary functions ______________________________________________28 3.2.1. Historical alarm code _________________________________________28 3.2.2. Clear the historical alarm codes _________________________________29 3.2.3. Jog________________________________________________________29 3.2.4. Firmware version ____________________________________________30 3.2.5. Reset Warm start ___________________________________________30 3.2.6. Input ports status_____________________________________________31

3.2.7. 3.2.8. 3.2.9. 3.2.10. 3.2.11. 3.3. 3.4. 4.

Output ports status ___________________________________________32 Scaling the positive speed input _________________________________32 Scaling the negative speed input ________________________________33 Reload the default values ______________________________________34 Lock & Unlock ______________________________________________35

User Parameters ________________________________________________36 Monitor mode __________________________________________________43

Alarm code _________________________________________________________45

1. Introduction
Thank you for choosing SD series AC servo Drivers. SD series Drivers use the digital servo technology to provide high-precision and versatile functions for driving servo motors. Many safety related features have been built in the Driver design. However, erroneous operation may result in unpredictable accident and cause damage to the Driver or severe personal injury. It is highly recommended that the user is familiar with this manual and performs all setup and operations with caution. This manual provides the information you need to install and configure SD series Driver. This manual is intended for use by vendors who are responsible for installing and setting up SD series Driver; consequently, it assumes a basic working knowledge of AC servo Motors. In this manual, the installation related information such as Dimensions and Specifications are described in Chapter 1. Wiring information is shown in Chapter 2. Procedures for Panel Operation are described in Chapter 3. Finally, the Alarm Codes are given in Chapter 4.

1.1. Unpacking
After receiving the shipment from your supplier, please verify the following: 1. The motor (s) and driver(s) are the same as ordered. 2. The capacity of the driver matches with the motor to be driven. (Please see the Driver Specification for correct driver.) 3. No damage to the packaging material occurred during transportation.

1.2. Relocation
Please use the original packaging for driver relocation and handle with care.

1.3. Safety Precautions

1. Many high volume capacitors are used in the Driver circuit; these capacitors remain charged even if the unit power is been shut off. If it is necessary to touch the terminal or open the driver chassis, please wait at least 10 minutes before continuing. 2. While power on the Driver and/or motor, stand clear from the unit to prevent personal injury caused from erroneous operation. 3. Disconnect the power if the Driver/Motor unit is not used for a prolonged period. 4. To prevent electric leakage, connect the motor ground to the FG terminal of the Driver and connect this FG to Class 3 grounding. The machine, which the Driver and motor are installed must be single-point grounded.

1.4. Installation
1. Location (1) If installed in a confined chassis, please provide necessary ventilation system to maintain the environmental temperature of the Driver below 55. (2) Use rubber pad or shock absorber to insulate vibration if there is vibrating equipment nearby. (3) The Driver shall not be installed in an environment where corrosive gases, excess dust, or metal power is present. Insulation from water, water mist, or cutting fluid is required. (4) If there is a big magnet switch or welding equipment, which may generate electronic noise, near the Driver installation, then a line filter is required. Recommend filter: For single-phase power source: DELTA 06DPCW5 (5) If a line filter is not allowed for the reason of excess leakage current, then a insulating transformer is required at the input of the Driver. 2. Orientation The Driver must be installed vertically. 3. Mounting Screw Use four (4) M5 screws to mount the Driver securely. 4.Spacing
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Maintain at lease 2 cm spacing around the Driver unit. 5. Foreign objects During and after installation, any foreign object such as cutting chips, small screw, or washer which may fall into the opening of the Driver unit must be prevented.

1.5. Dimensions

Model TSDA15: (with heat sink)

Model TSDA20: (with heat sink)

Model TSDA30:

Model SD50SD75:

Specification General Specification:

Driver Model No. Maximum Peak Current (A) Maximum Rated Current(A) Model No. Encoder Temperatur e Humidity Vibration Manual Operation Error Message Over-Travel inhibit Analog Monitoring Output Encoder Output Encoder dividing Ratio Display D/I D/O Communication Environ ment Description SD30
17.0A 5.7A

SD15
8.4A 2.8A

SD20
11.4A 3.8A

SD50
28.2A 9.4A

SD75
42.3A 14.1A

AC180V~240V Single-Phase 50 / 60 Hz

AC180V~240V Three-Phase 50 / 60 Hz

Incremental type Operation: 0 ~ 50C Storage: -20 ~ 80C Operation/Storage: < 85% RH < 0.5G May be defined by Users Parameter 10 error messages are stored. Positive or Negative Over-Travel inhibit (If over-travel is occurred, the servo power may be disabled or put on hold.) Speed and Torque (-10V ~ 10V) A, B, C Phase line driver output 1/N: N=1 ~ 16

5-digit LED display, 4 button Servo ON, Reset, Reverse Inhibit, Control Mode, External Torque Limit Emergency Stop, Pulse Input Inhibit, etc. Servo Ready, Error, In Position, Zero Speed, Encoder Output RS-232C for Users Parameter setting and status monitoring

Control Mode Control Mode Input type Max. Input Freq. Electronic Gear Ratio Input Ripple Filtering In position range Input Preset Position Linear Acceleration/ Deceleration Zero Speed determination Specified speed reached Servo Lock Internal Torque Input Input Ripple Filtering Speed External Limit Internal Position / Speed / Torque A-B phase, Up-Down pulse, or direction pulse 500kpps 1/127A/B127 (A&B:1 ~ 10000) Time Constant = 0 ~ 10000ms 0 ~ 32767 Pulses 0 ~ 10V (Looking at the motor shaft, +V = CCW) Three preset speeds available through defining Users Parameter Enable/Disable: may be defined by Users Parameter When enabled, the time constant may be defined by Users Parameter between 10ms ~ 10000ms 0 ~ 255rpm Specified by Users Parameter, 0 ~ Rated Speed Enable/Disable: may be defined by Users Parameter 0 ~ 300% rated torque 0 ~ 10V (Positive voltage for positive torque) Time Constant: 0 ~ 10000ms 0 ~ 10V (Rated Speed) 0 ~ Rated Speed

Torque

Speed

10

2.2. CN1 Connector

Pin no 1 2 3 4 Name Servo on Alarm reset P/PI switch CCW inhibit Symbol Mode SON ALRS PCNT FSTP A Function

5 CW inhibit RSTP 6 External torque limit 7 8 TLMT

SON connects to DG means servo on or servo system ready, open circuit means servo off. If ALRS is short to DG, then the alarm signal is cleared. A However, the alarm persists if the reason, which caused the alarm, is not resolved. Connect to DG will switch the control mode from PS proportional + integration mode to pure proportional mode Connect to a CW over-travel sensor/switch/detector. (Normally closed contact) A Connect to a CW over-travel sensor/switch/detector. (Normally closed contact) PS P S A Connect this signal to DG will limit the torque output in the range of NIC to PIC. Clear error counter Lock the last position if speed command is lower than 23 RPM. (Do not use.) Servo off if EMC connect to DG Open

Clear error CLR counter Servo lock LOK

Reserved Emergency 9 EMC stop Electronic gear ratio 10 Internal speed 1 11 12 Internal speed 2 SPD1 EGR

SPD2

Control MDC mode 13 Command INH pulse inhibit Internal speed inverse 14 Pulse + PP

Select Pn21 as the numerator of the gear ratio P Connect to Select Pn44 as the numerator of the gear GND ratio SPD1 SPD2 Speed mode Torque mode 0 0 SIN(pin26) PIC(pin27) 1 0 Internal speed 1 Speed limit 1 ST 0 1 Internal speed 2 Speed limit 2 1 1 Internal speed 3 Speed limit 3 Effective only in PN 12-4 is 1 Please refer to PN10-1 A P S Ignore the input command pulses. Set internal speed to be inversed 5V Input pulse. PN10-2 value Pin 14,15
12

Pin 16,17

Pin Name Symbol Mode no 15 Pulse /PN (The type is 16 Direction DP set by + PN10-2) 17 Direction - /DN 18 19 Servo ready Alarm Zero speed 20 Brake BI REDY ALM ZS

Function 0,4 1,5 2,6 Positive Negative Pulse Direction

In position 21 Speed reached Torque reached alarm bit 0 alarm bit 1 alarm bit 2 alarm bit 3

INP INS INT

22 23 24 25

Phase Phase B A Power source is in normal condition and no alarm, REDY A connects to DG. ALM connects to DG normally; it is open when any A abnormal condition is detected. ZSP out, ZSP connects to DG if PN11-4 is 0 and the motor A speed lower than the speed set in PN7. This signal is used as a control signal for external brake if PN11-4 is 1. BI connects to DG to release the brake at servo A on, and open at servo off. The timing can be adjusted by the value set in PN32. When the pulses difference between the command pulses P and the feedback pulses is less than the value set in the PN20. The INP signal turns ON (INP connects to DG). When the motor speed exceed the RPM value set in PN8, S the INS signal turns ON (INS connects to DG). When the motor torque exceed the RPM value set in PN8, T the INS signal turns ON (INT connects to DG). Binary representation of the alarm codes. The alarm code output from these ports is the same as the code shown on PS the 7-segment display.

Speed 26 /torque command

SIN

27

28 30 31 29 32 33 34

PIC Speed limit CCW torque limit CW torque NIC limit Speed TG monitor Torque CUR monitor Analog AG ground +15 Voltage out -15

A +10V to 10V speed-command input or torque-command input. PN3 is used to scale the input value. If the rated speed is 3000RPM and PN3 is 8 that means a 8 V speed ST command is interpreted as a 3000 rpm speed command. PN10-3 is used to change the direction, please refer to PN10-3for details. T External speed limit input, 10V gives a speed limit the same as rated speed PS 0~10V External torque limit. 10V-voltage input gives a 3 times rated torque limit in positive direction. PS 0~-10V External torque limit,-10V-voltage input gives a 3 time rated torque limit in negative direction. +10V represent +4500rpm, offset can be adjusted from PS PN34. +10V represent +3.5 times of rated torque output. The PS offset can be adjusted from PN35. PS Analog ground S +15V DC 10mA MAX. power source for SIN, PIC, NIC test
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Pin Name Symbol Mode Function no 35 Encoder PA Encoder input pulses after frequency division (PN0) is phase A output by line driver. /PA 36 output When PN10-3 is 1, the motor rotation direction is CCW, PS phase A lead by 90 degree. 37 Encoder PB phase B /PB 38 output Transfer the Z phase of the encoder input signal. 39 Encoder PZ phase Z /PZ 40 output 41 Pulse + PPR P 24V pulse input pin Direction DPR P 24V direction input pin 42 + Zo PS An open collector output for encoder phase Z Encoder 43 phase Z output Encoder EG PS Encoder ground 44 ground 24V 24V A Connect to external 24V for I/O 45 No used SD30 offer internal 24V in SD30 (Do not use in SD30) 46 47 Digital DG PS Ground for digital input and output ports. 48 ground 49 50 Shielding FG PS Connect to the shielding of the cable P means for position mode, S means for speed mode, T means for torque mode, A means for all modes in mode column.

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2.2.1.

CN1 and CN2 circuit

18(REDY/TO) 19(ALM)

45(+24V) 1(SON) 2(ALRS)

20(ZS/BI) 3(PCNT) 21(INP/INS) 4(FSTP) 22(ALM0) 5(RSTP) 23(ALM1) 6(TLMT) 24(ALM2) 7(CLR/LOK) 9(EMC) 43(ZO) 10(SPD1) 11(SPD2) 12(MDC) 13(INH) 41(PPR) 14(PP) 15(/PN) 42(DPR) 16(DP) 17(/DN) + ANALOG 27(PIC) 28(NIC) 29(AG) 32(AG) + + CIRCUIT 470 +15V 470 -15V + 30(TG) 3K 300 PULSE INPUT DIGITAL I/O 25(ALM3)

46(DG) 47(DG) 48(DG) 49(DG)

39(PZ) 40(/PZ) 35(PA) 36(/PA) 37(PB) 38(/PB) BEAD

3K 300

44(EG) ENCODER

26(SIN)

31(CUR) 33(+15) 34(-15) 50(FG)

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2.3. CN2 encoder connector

Pin no Name Symbol 1,2 3,4 5V 0V Function

5 A 6 /A 7 B 8 /B 9 Z 10 /Z 11 U 12 /U 13 V 14 /V 15 W 16 /W 17~19 Reserved 20 Shielding

+5V If the wire length for the encoder is longer than 20m, please use double wire to minimize voltage drop. 0V If the wire is longer than 30m, please consult with your supplier for recommended wire gage. A Encoder phase A /A Encoder phase /A B Encoder phase B /B Encoder phase /B Z Encoder phase Z /Z Encoder phase /Z U Encoder phase U /U Encoder phase /U V Encoder phase V /V Encoder phase /V W Encoder phase W /W Encoder phase /W Not used. FG Connect to the shielding of cable.

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2.4. Position mode

DRIVER P PC U V W FG CN2
RED WHITE BLACK GREEN

REGENERATIVE RESISTOR

R S T SD15,20 ABOVE SD30 SINGLE PHASE 220V THREE PHASE 220V

MOTOR

ENCODER CN1 45 1 2 3 4 5 6 7 9 12 13 46 47 27 29 28 14 15 16 17 50 33 34 RS232 RS232C PC SPEED MONITOR ANALOG GROUND TORQUE MONITOR A A B ENCODER B Z Z ENCODER GROUND

POWER +24V IN SERVO ON ALARM RESET P/PI SWITCHING CCW INHIBIT CW INHIBIT EXYERNAL TORQUE LIMIT CLEAR ERROR COUNTER EMERGENCY STOP CONTROL MODE SWITCHING COMMAND PULSE INHIBIT DIGITAL GROUND CCW TORQUE LIMIT ANALOG GROUND CW TORQUE LIMIT COMMAND PULSE

24V SON ALRS PCNT FSTP RSTP TLMT CLR EMG MDC INH DG PIC AG NIC PP PN DP DN FG

CN1 30 TG 32 AG 31 CUR 35 36 37 38 39 40 44 PA PA PB PB PZ PZ EG

50 FG 18 19 20 21 22 23 24 25 43 48 REDY ALM ZS/BI INP A0 A1 A2 A3 Z0 DG SERVO READY ALARM BRAKE IN POSITION ALARM CODE ENCODER Z PHASE DIGITAL GROUND

+15V POWER OUT -15V POWER OUT

+15V -15V

17

2.5. Speed mode

DRIVER P PC R S T SD15,20 SINGLE PHASE 220V ABOVE SD30 THREE PHASE 220V U V W FG CN2 ENCODER RS232 RS232C PC SPEED MONITOR ANALOG GROUND TORQUE MONITOR A A B B ENCODER Z Z ENCODER GROUND
RED WHITE BLACK GREEN

REGENERATIVE RESISTOR

MOTOR

POWER +24V IN SERVO ON ALARM RESET P/PI SWITCHING CCW INHIBIT CW INHIBIT EXYERNAL TORQUE LIMIT SERVO LOCK EMERGENCY STOP INTERNAL SPEED 1 INTERNAL SPEED 2 COMMAND PULSE INHIBIT DIGITAL GROUND
SPEED COMMAND

24V SON ALRS PCNT FSTP RSTP TLMT LOK EMG SPD1 SPD2 MDC DG SIN AG PIC AG NIC AG FG

CN1 45 1 2 3 4 5 6 7 9 10 11 12 46 47 26 29 27 32 28 32 50 33 34

CN1 30 TG 32 AG 31 CUR 35 36 37 38 39 40 44 PA PA PB PB PZ PZ EG

50 FG 18 19 20 21 22 23 24 25 43 48 REDY ALM ZS/BI INS A0 A1 A2 A3 Z0 DG SERVO READY ALARM ZERO SPEED/BRAKE SPEED REACHED

CCW TORQUE LIMIT CW TORQUE LIMIT

ALARM CODE ENCODER Z PHASE DIGITAL GROUND

+15V POWER OUT -15V POWER OUT

+15V -15V

18

2.6. Torque mode

DRIVER P PC U V W FG CN2 ENCODER RS232 RS232C PC SPEED MONITOR ANALOG GROUND TORQUEMONITOR A A B ENCODER B Z Z ENCODER GROUND
RED WHITE BLACK GREEN

REGENERATIVE RESISTOR

R S T SD15,20 SINGLE PHASE 220V ABOVE SD30 THREE PHASE 220V

MOTOR

POWER +24V IN SERVO ON ALARM RESET CCW INHIBIT CW INHIBIT EMERGENCY STOP INTERNAL SPEED 1 INTERNAL SPEED 2 DIGITAL GROUND
TORQUE COMMAND

24V SON ALRS FSTP RSTP EMG SPD1 SPD2 DG SIN AG PIC AG FG

CN1 45 1 2 4 5 9 10 11 46 47 26 29 27 32 50 33 34

CN1 30 TG 32 AG 31 CUR 35 36 37 38 39 40 44 PA PA PB PB PZ PZ EG

50 FG 18 19 20 21 22 23 24 25 43 48 REDY ALM ZS/BI INT A0 A1 A2 A3 Z0 DG SERVO READY ALARM ZERO SPEED/BRAKE TORQUR REACHED ALARM CODE
ENCODER Z PHASE DIGITAL GROUND

SPEED LIMIT

+15V POWER OUT -15V POWER OUT

+15V -15V

19

2.7. Power and motor connection diagram

2.7.1. SD15SD20SD30SD50SD75

NFB FILTER SD15,20 SINGLE PHASE 220V ABOVE SD30 THREE PHASE 220V

R S T

TB

CN2 REGENERATIVE RESISTOR P PC RED R U WHITE ENCODER TB V BLACK W GREEN FG MOTOR FG

20

2.7.2. SD30A

POWER OFF POWER ON MC

MC

NFB FILTER
SD15,20 SINGLE PHASE 220V ABOVE SD30 THREE PHASE 220V

MC MC MC

r s R S T

TB1

CN2 REGENERATIVE RESISTOR P PC R P1 RED ENCODER TB2 U WHITE V BLACK W GREEN MOTOR FG

Recommended line filter:

15, 20A: DELTA 06DPCW5 30A: DELTA 08TDS4W4 50A: DELTA 16TDS4W4 75A: DELTA 24TDS4W4

Regenerative Resister:
When the inertia presented on the motor is heavy, a regenerative resister is required. The value of the resister may be obtained by dividing the wattage of the motor from 2500. For example, a 50 resister may be used for a 50W motor. If error02 (Chapter4) persists, then adjusting the regeneration duty cycle (Pn040, Section 3.3) is also required. Select suitable wattage for the resistor, forced cooling (by fan) may be required for proper heat dissipation.

21

2.8. RS232
DB-9 Driver 1 2 3 4 5 6 7 8 9 PC Com Port 1 2 3 4 5 6 7 8 9 DB-9

MALE

FEMALE

Please use the cable described above to connect the servo-driver to a PC for retrieving the system data and setting up the operation parameter.

2.8.1. PC Communication port setting

Baud rate: 9600 bps Parity: None Data bit: 8 Stop bit: 1 Flow Control: None

2.8.2. Read data from driver

To read a SINGLE-WORD from driver SyntaxR5XxSs The read command must be started with R5 and the command Where: string length must be 6. R5: This is a single-word read command. Xx = the address of the data to be read. Ss = Check Sum = R+5+X+x

Example Read the data stored in 30H. Check Sum = 52H + 35H + 33H + 30H = EAH R 5 3 0
22

Thus, the reading command is R530EAR(52H)5(35H)3(33H)0(30H) E(45H)A(41H). Drives response: %XxYySs Where: %: This is a response. Xx = High word of data Yy = Low word of data Ss = Check Sum = %+X+x+Y+y If the data stored in the address 30H is 0008H, then Check Sum = 25H + 30H + 30H + 30H + 38H = EDH % 0 0 0 8 Thus, the reivers response is %0008ED%(25H)0(30H)0(30H)0(30H) 8(38H)E(45H)D(44H). If there is a Check Sum error in the read command, then the driver returns ! (21H) To read a DOUBLE-WORD from driver SyntaxL5NnSs The read command must be started with L5 and the Where: command string length must be 6. L5: This is a double-word read command. Nn = the address of the data to be read. Ss = Check Sum = L+5+N+n

Drivers response: %XxYyAaBbSs Where: %: This is a response. XxYy = data stored in Nn+1 AaBb = data stored in Nn Ss=%+X+x+Y+y+A+a+B+b If there is a Check Sum error in the read command, then the driver returns ! (21H)

2.8.3. Write data to driver

To write a SINGLE-WORD to driver SyntaxW5XxYyZzSs The write command must be started with W5 and the command string length must be 8. Where: W5: This is a single-word write command. Xx = the address of the data to be written. Yy = The high word of the data
23

Zz = The low word of the data Ss = W+5+X+x+Y+y+Z+z Example: Write 8 to address 30H. Check Sum=57H+35H+33H+30H+30H+30H+30H+38H=1B7H W 5 3 0 0 0 0 8 Thus, the write command is W5300008B7: W(57H)5(35H)3(33H) 0(30H)0(30H)0(30H)0(30H)8(38H)B(42H)7(37H) Please note that only the last two digits of the Check Sum are used. Drivers response: %(25H) If there is a Check Sum error in the read command, then the driver returns ! (21H) For Monitor Mode Address 128(80H) ~ 157(9DH), the data sent to the driver is the number of times, which the driver will respond with the content stored in the specified address. For example: Sending a string of W5800008BC will cause the driver to respond with the content stored in address 80H for eight times. The format of the response string is the same as R5 read command. This function can be used to monitor a certain data such as speed or torque continuously. Writing a zero to one of these addresses will clear the content store at that address. To write a DOUBLE-WORD to driver SyntaxM5NnXxYyAaBbSs The write command must be started with M5 Where: and the command string length must be 14. M5: This is a double-word write command. Nn = the address of the data to be written. Xx = The high word of the data to stored in Nn+1 Yy = The Low word of the data to stored in Nn+1 Aa = The high word of the data to stored in Nn Bb = The Low word of the data to stored in Nn Ss = M+5+N+n+X+x+Y+y+A+a+B+b

Drivers response: %(25H) If there is a Check Sum error in the read command, then the driver returns ! (21H) For Monitor Mode Address 128(80H) ~ 157(9DH), the data sent to the driver is the number of times, which the driver will respond with the content stored in the specified address. For example: Sending a string of M58000080008Ss will cause the driver to respond with the content stored in address 81H and 80H for eight
24

times. The format of the response string is the same as L5 read command. This function can be used to monitor a double-word data such as accumulated pulses continuously. Writing a zero to one of these addresses will clear the content store at that address.

25

2.8.4. Memory map

Address 0~9 10 11 12~63 64~79 80~93 94 95~127 128~147 148~157 158~191 192(C0H) Descriptions Historical Alarm Codes (NO.0~NO.9) Address of the last Alarm (0~9) User Parameter Check Sum (NO.0~NO.51, XOR) User Parameter (NO.0~NO.51), Read/Write, unsigned. Reserved for USER as the motor model Motor Parameter Backup copy of Addr11 Default values for User Parameters (NO.32~NO.0) Monitor Mode (NO.0~NO.19), Read only, signed. Monitor Mode Data Area. See Section 2.8.3 for detailed information. Reserved 1. Address 11 is the check sum of Address 12~63. Any value change in Address 12~63 will cause Address 11 to be changed accordingly. 2. Writing a 0 to this address (192) will disable the updating function of the Address 11. Writing a 1 to this address (192) will enable the updating function. The system default is enable. 3. During the disable state, writing any value to Address 11 will cause the Check Sum to be regenerated. 4. If there are many User Parameters need to be changed, disabling the Check-Sum updating function is highly recommended to prevent excessive writing of EEPROM. After changing all the User Parameters, a write operation to Address 11 may then be executed. Clear historical Alarm codes, the contents in Address 0~10are cleared. Writing a 1 to this address will initialize the driver with the setting stored in the address 12 ~63; the block, where a user is not allow to change, is excluded. Firmware version, the format is similar to that of Fn003. For the numbering of year, 0 ~ 9 stands for Year2000~2009; A ~Z stands for Year 2010 ~ 2035, respectively. RESET Input Status, the description of each bit is shown in Section 3.2.6. Output Status, the description of each bit is shown in Section 3.2.7. Current Alarm code, 0 means no alarm.

193(C1H) 194(C2H) 195(C3H) 196(C4H) 197(C5H) 198(C6H) 199(C7H)

26

3. Panel operation
Name MODE DATA Function Mode selection, press this key for more than 1 second to confirm the flashing function Increase the flashing digit by 1 Decease the flashing digit by 1 press and simultaneously to clear the alarm Shift the cursor (the flashing digit) left by 1 position. Press this key for more than 1 second to select or store the data into the EEPROM (PN)

3.1. Mode selection

There are 3 modes to select from: Auxiliary function, Parameter setting, and Monitoring. Press the MODE key repeatedly to cause the displays to scroll in the following sequence: Power on

Display the RPM equivalent to dn000.

AUX Function mode

Parameter setting mode

Monitoring mode

27

3.2. Auxiliary functions

Press the MODE key repeatedly until the following pattern is displayed.

3.2.1. Historical alarm code

The last 10 alarm codes are stored in the EEPROM. Use the following procedures to retrieve the stored alarm codes. 1. Select the auxiliary function mode.

2. Press the DATA key for more than 1 second.

3. Press the key or the key to scroll up and down among the previous alarm codes. The leftmost number is the alarm sequence, where 9 means the oldest. 4. Press the DATA key for more than 1 second to return to the auxiliary function mode.

28

3.2.2. Clear the historical alarm codes

1.Press the key or the key to select function 1.

2. Press the DATA key for more than 1 second until the following message appears.

3. Press the MODE key to clear the memory. Flash for 1 second. 4. Press the DATA key more than 1 second to return to the auxiliary function mode.

3.2.3. Jog
Jog uses the speed specified in the PN29 and the acceleration time specified in the PN28. 1. Press the key or the key to select the jog function Fn002.

2. Press the DATA key for more than 1 second.

3. Press the key or the key to jog in positive or negative direction. Jog in positive direction. Jog in negative direction. Hold.

29

4. Press the DATA key for more than 1 second to return to the auxiliary function mode and close the jog function.

3.2.4. Firmware version

1. Press the key or the key to select the function 3.

2. Press the DATA key for more than 1 second to display the firmware release date represents the date: 26 JAN 2000 Counting from left to right, the first and second digit represents YEAR. The third digit represents the month. 123456789AbC represent JAN to DEC respectively. The figures are shown as following:

The fourth and fifth digit represents the Date. 4. Press the DATA key for more than 1 second to return to the auxiliary function mode.

3.2.5. Reset Warm start

1. Press the key or the key to select the function 4.

2. Press the DATA key for more than 1 second, and the following pattern is displayed.

3.Press the MODE key to confirm the resetPress the DATA key for more than 1 second to abort the reset.
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3.2.6. Input ports status

PIN number 1 2 3 4 5 6 7 8 9 10 11 12 13 Bit number 9 10 2 3 4 5 1 11 8 6 7 0 12 definition Servo on Alarm reset P/PI switching CCW inhibit CW inhibit External torque limit Clear error counter Reserve Emergence stop Internal speed 1 Internal speed 2 Control mode Pulse command inhibit

1. Press the key or the key to select the function 5.

2. Press the DATA key for more than 1 second, The displays will show the pin number in left 3 characters and show the status in rightmost digit. If the status digit is 1, which means the pin is connected to DG or 0V or close. If the status digit is 0, which means the pin is connected to 24V or open.

3. Press the key or the key to scroll up and down to view all the input ports. 4. Press the DATA key for more than 1 second to return to the auxiliary function mode.

31

3.2.7. Output ports status

PIN number 18 19 20 21 22 23 24 25 Bit number 3 0 1 2 4 5 6 7 definition Ready Alarm Zero speed In Position Alarm code bit0 Alarm code bit1 Alarm code bit2 Alarm code bit3

1. Press the key or the key to select the function 6.

2. Press the DATA key for more than 1 second, then the display will show the pin number in the left 3 characters and show the status in rightmost digit. If the status digit is 1, which means the pin is connected to DG or 0V or close. If the status digit is 0, which means the pin connect to 24V or open.

3. Press the key or the key to scroll up and down to view all output ports. 4. Press the DATA key for more than 1 second to return to the auxiliary function mode.

3.2.8. Scaling the positive speed input

This is a special function for final calibration. Please dont perform this action without a precision Voltage generator. Procedure of this function: Fn010 Fn007 Fn008. 1. Press the key or the key to select the function 7.

2. Press DATA for more than 1 second. The driver will ask you to present a 2-Volt signal in the speed reference input pin.

32

3. Press MODE key to indicate that a 2-volt signal is connected. While scaling, is flashing.

This function is locked to prevent unintentionally activation. If this function was activated before unlocking, a If this function is done successfully, a second before the confirmation. After confirmation, message is displayed. message flashes for 1 is displayed

and indicating that the result has been written into the EEPROM. 4.Press the DATA key for more than 1 second to return to the auxiliary function mode.

Unless a donE is displayed, the result is stored in the memory temporary to wait for negative data.

3.2.9. Scaling the negative speed input

This is a special function for final calibration. Please dont perform this action without a precision Voltage generator. Procedure of this function: Fn010 Fn008 Fn007. 1. Press the key or the key to select the function 8.

2. Press DATA for more than 1 second. The driver will ask you to prepare a -2-Volt signal in the speed reference input pin.

3. Press MODE key to indicate that a -2-volt signal is connected. While scaling, is flashing.

This function is locked to prevent unintentionally activation. If this function was activated before unlocking, a message is displayed.

33

If this function is done successfully, second before the confirmation. After confirmation,

message flashes for 1 is displayed

and indicating that the result has been written into the EEPROM. 4. Press the DATA key for more than 1 second to return to the auxiliary function mode.

Unless a donE is displayed, the result is stored in the memory temporary to wait for positive data.

3.2.10. Reload the default values

Function: reload the default values for Pn0 ~ Pn32 Procedure of this function: Fn010 Fn009. 1. Press the key or the key to select the function 9.

2.Press the DATA key for more than 1 second to request for a parameter initialization function.

3.Press the MODE key to confirm the request. flashes while reloading. flashes for 1 second. This function is locked to prevent unintentionally activation. If this function was activated before unlocking, a message is displayed.

4.Press the DATA key for more than 1 second to return to the auxiliary function mode.

34

3.2.11. Lock & Unlock

Functions 7, 8 and 9 are locked normally to prevent unintentionally activation. The following procedures can be used to unlock these functions. 1. Press the key or the key to select the function 10.

2.Press the DATA key for more than 1 second to request the unlock function.

3. Press the MODE key to confirm the request flashes while unlocking.

Flash for 1 second. Press the MODE key again will lock the function again. 4.Press the DATA key for more than 1 second to return to the auxiliary function mode.

After unlocking, the function 9 or the function 7 and 8 can only executed 1 once. Function 7,8, and 9 will be locked after execution.

35

3.3.
1.

User Parameters
Press the MODE key repeatedly until PN000 is displayed.

Press the key or the key to get the desired parameter number. 2. Press the DATA key for more than 1 second to retrieve the content of the listed parameter number.

If there is a leading H, then it is a hexadecimal number. 3. To edit the number, press the DATA key to shift the flashing digit left. Press the key or the key to increase or decrease the flashing digit. 4. Press the DATA key for more than 1 second to store the new data into the EEPPROM. The number entered will flash for 1 second while recording.

5.

Press the DATA key for more than 1 second to return to the parameter setting mode.

36

User Parameter Table

No. 0 1 2 3 4 5 6 7 Definition PG dividing ratio Speed loop gain Speed loop integration time Speed scale. The motor speed at SIN pin = 10V . Speed reference offset Positive torque limit Negative torque limit Zero speed detection. Under this speed, pin20 will be connected to DG. Also refer to Parameter 11-4, 12-2. Reach the specified speed. If the current speed is greater than the specified speed, pin21 will be connected to DG. Percentage of increased Speed Loop integration gain in low speed Hxxxn, n mode Pin 12 Pin12 short open 0 speed speed 1 position position 2 torque torque 3 speed position 4 position torque 5 torque speed Hxxnx, Negative logic: n=0 sign + pulse, n=1 CW + CCW, n=2/3 AB phase pulse input. Positive logic: n=4 sign + pulse, n=5 CW + CCW, n=6/7 AB phase pulse input. Hxnxx, n=0, CCW for positive command, n=1, CW for positive command. Hnxxx, n=0, set automatic current feedback offset. n=1 set current feedback offset to 0 . Hxxxn,n=0, dynamic brake on while servo off. n=1, dynamic brake off while servo off. Dynamic brake always on while power off. Hxxnx, n=0,. normal mode. Unit Default Mod e 1~16 1 A 5~500 40 A 1~1000 msec 100 A 10~ rpm 3000 S 30000 S 1000 0.01V 0 0~300 % 300 A 0~300 % 300 A 0~255 rpm 20 S Range effect PC r/w address reset 12 enter 13 enter 14 reset 15 reset reset reset enter 16 17 18 19

0~rated rpm speed % 0~5

Rated speed

enter 20

9 101

A 1 A

reset reset

21 22-1

102

0~2

reset

22-2

103 104 111 11-

0,1 0,1 0,1

0 0 0

A A A

reset reset reset

22-3 22-4 23-1

0,1
37

reset

23-2

No.

Definition

Range

Unit Default Mod effect PC r/w e address 3 A reset 23-3

2 n=1,.eliminate low voltage alarm 0~3 11- Hxnxx, External inhibit signal 3 from input ports to enable or disable. n=0 disables ,n=1, enables positive inhibit signal. n=2 enable negative inhibit signal. n=3 inhibits both signals. Please refer to parameter 12-3 for more information. 11- Hnxxx, n=0 output signal zsp/bi 0~1 4 means zero speed. n=1, output signal ZSP/BI is used to control an external brake. 0,1,3 12- Hxxxn, acceleration and 1 deceleration time for speed mode. n=0: time =0; n=1: linear acceleration. Acceleration and deceleration time is set in the parameter number 28. n=3: deceleration time is set in the parameter number 27 Acceleration time is set in the parameter number 28. 12- Hxxnx,n=0, speed command is not 0,1 2 influenced by ZSP ouput. n=1 speed command is clamped to 0 while ZSP signal is on. 12- Hxnxx,n=0 servo keeps on while 0,1 3 external inhibit activated. n=1 servo off while external inhibit is activated. Please also refer to parameter number 11-3. 0,1 12- Hnxxx, n=0 internal speeds not 4 effective, n=1 internal speeds effective. One of the 3 internal speeds is select from input port. Speeds are defined in parameter 29~31. 0~7 13- Hxxxn, digital filter for position 1 command, n=0: do not apply filter and can accept 500kpps max. n=7: apply 7 layer filters and could accept 200kpps max. 13- Hxxnx,n=0: normal condition. 0,1 2 n=1,power on and servo on automatically. Delay can be set in
38

reset

23-4

reset

24-1

reset

24-2

reset

24-3

reset

24-4

reset

25-1

reset

25-2

No.

Definition parameter number 32. Pn32=-2000,it means that power on and then servo on after 2 seconds. Hxnxx, contact definition for emergency stop (CN1 pin 9) and command pulse inhibit (CN1 pin 13). NO: normally open, NC: normally close. n ES INH 0 NO NO 1 NC NO 2 NO NC 3 NC NC Hnxxx, n=0: normal CN1 pin 18 is a READY pin. n=1: CN1 pin 18 indicates that the torque output reaches the percentage set in Pn33. Torque command smoothing time Torque command gain, e.g. 300 means 300% rated torque output when torque command is 10 Volts. 100 means 100% rated torque output when torque command is 10V. Torque command offset, e.g. if offset is 100(1V), a 2.5V command from input port only executed as a 1.5V command. Speed limit 1. Activated while the pin 10 of the CN1 short, and the pin 11 of the CN1 open. Speed limit 2: activated while the pin 10 of the CN1 open, and the pin 11 of the CN1 short.

Range

Unit Default Mod effect PC r/w e address

133

reset

25-3

134

0,1

reset

25-4

14 15

0~10000 ms 30~3000 %

0 300

T T

reset reset

26 27

16

-1000 0.01V 0 ~+1000 0~rated rpm speed 0~rated Rpm speed 0 0

reset

28

17 18

T T

enter 29 enter 30

19

Speed limit 3, activated whiles the pin 10 and the pin 11 of the CN1 are both short. 20 In position, sets range of positioning completion signal output (INP). 21 Numerator of electronic gear ratio: indicates the number of encoder pulses per reference unit. The input pulses will multiply this number to

0~ rated rpm speed 0 32767 1 10000

T P P

enter 31 reset reset 32 33

pulse 4 1

39

No.

Definition

Range

Unit Default Mod effect PC r/w e address

form an actual calculation number. 1/127<(21)/(22)<127. If a second electronic gear ratio is required, use pin 10 to switch gear ratio to pn44. 22 Denominator of electronic gear ratio: indicates the number of encoder pulses per reference unit. The input pulses will divide this number to form an actual calculation number. If encoder pulse=2000ppr and (21)/(22)=1, motor be 8000 pulses per revolution. 23 Position gain 24 Position smoothing time

1 10000

reset

34

10~500 1/sec 30 0~10000 msec 10 kpulse 50 % 0 msec 100

P P P P S

25 Error counter length 1~500 26 Feed forward gain 0~100 10~ 27 Deceleration time: The time consumed from rated speed to stop. 10000 Parameter number 12-1 is used to disable or enable this function. 28 Acceleration time and deceleration 10~ time: The time consumed from still 10000 to rated speed or from rated speed to still. Parameter number 12-1 is used to disable or enable this function. 29 Internal speed 1. Activated while rated the pin10 of the CN1 short, and the speed pin11 of the CN1 open. 30 Internal speed 2: activated while rated the pin 10 of the CN1 open, and speed the pin 11 of the CN1 short. 31 Internal speed 3: activated while rated both the pin10 and the pin 11 of the speed CN1 are short. 32 Brake timing: Waiting time or 2000 delay time around servo on and servo off. Brake will be released before servo on, and hold after servo off if this constant is negative, servo on command will be postponed. Brake will be released after servo on, and hold before servo off if this constant is
40

enter Servo on reset reset Servo on

35 36 37 38 39

msec 100

Servo 40 on

rpm rpm rpm

300 0 0

S S S A

enter 41 enter 42 enter 43 reset 44

msec 0

No.

Definition positive, servo off command is postponed. Torque reached, please refer to Pn13-4 Speed monitor offset Torque monitor offset Speed command These values are set and offset Speed command calibrated in the factory. Please scale Speed command use the default value if these offset (4 times values are not in precision) Speed command the range. scale (4 times precision) Regeneration duty cycle, default value is 4. It means that if the voltage exceed 360V, there is 0.04-second regeneration in every 10 second. Internal regeneration resistor: 15A driver 200,10W 20A driver 50,10W 30A driver 108,10W 50A driver 50,10W 75A driver 25,10W If there is error 2 exists, connect an external resistor, and observe the DN8, if the value of DN8 remains divergent, then this value need to be increased. The maximum value here is resistance of the resistor () times power dissipation (W) /134 Warning: avoid to burnout the driver, please watch out the temperature raise of the heat sink. External and internal resistors are in parallel, the minimum resistor: 50A, 33. Others,25. Current loop smoothing time Torque command value for cancelling I control in velocity loop. The value=200 means I control will be cancelled if torque

Range

Unit Default Mod effect PC r/w e address

33 34 35 36 37 38 39 40

0~100 -10~+10 -10~+10 -199 ~ 199 10000 ~ 20000 -199 ~ 199

100

T A A ST

enter 45 enter 46 enter 37 reset 48 reset reset reset reset 49 50 51 52

0.02V 0 0.02V 0 0.02V (0)

1/163 (17203) ST 84 5mV (0) S

10000 ~ 1/163 (17203) S 20000 84 0~250 0.1% 4 A

41 42

0~10 0~300

100s 10 % 200

PS A

reset reset

53 54

41

No.

Definition command exceed 200%. Current loop Integral gain The second numerator of electronic gear ratio: indicates the number of encoder pulses per reference unit. The input pulses will multiply this number to form an actual calculation number. 1/127<(44)/(22)<127. Encoder pulse Shift: the angle of encoder index and current in U-phase Encoder power on delay Encoder brand/type 0:SUMTAK 1:NEMICON 2:TAMAGAWA A,B phase sequence on rotating CCW 0: A lead B 1: B lead A Motor type Power 0: 100~120V, 100:200~220V Current loop proportional gain Reserved Rated speed Maximum speed pole Reserved Inductance

Range

Unit Default Mod effect PC r/w e address reset reset 55 56

43 44

1 10000

45 46 47 48

ppr 0 0~20000 s

A A

PC PC

57 58 59 60

49

0,1

61

50 69 70 71 72 73 74 75 76

100 80~200 Rpm Rpm pole 0.01 mH 0.1A g* cm^2 0.01 Nm/A

A A A A A A A A A A A A

PC PC PC PC PC PC PC PC PC PC PC PC

62 81 82 83 84 85 86 87 88 89 90 91 92

77 Rated current 78 Inertia 79 Voltage constant 80 Torque constant

Remarks: 1. Reset means the number is effective after reset from panel, CN1 or power off -on. 2. Enter means effective after value set. 3. PC means the value must be transfer in from the RS232 communication port. 4. Mode: A: effective for all control mode. P: effective in position mode only;
42

S: effective in speed mode only; T: effective in torque mode only. 5. Default value of Pn0~Pn32 can be reload by function 9. Pn 33~ Pn 43 can be set from panel or from communication port. Over Pn50 can only be set from the RS232 communication port.

3.4. Monitor mode

1. Press the MODE key repeatedly until the monitor mode is reached.

2.

Press the key or the key to get the desired parameter number.

3. Press the DATA key for more than 1 second to display the content of the DN. 4. Press the DATA key again for more than 1 second to return to the monitor mode.

The monitor mode information list:

DN number mode 0 1 2 3 4 PST PST PST PST P definition Revolutions (rpm), e.g. 120 means current motor revolution is 120 rpm, this value is the average rpm in 0.1 second. Torque: the value is the percentage of the rated torque 129 of the motor. E.g. value 120 means that the current torque output is 120% of the rated torque of the motor. Actual load: the value is the average torque output 130 percentage in 26 seconds. Maximum load: the value is the maximum value 131 appeared in DN2 132 Error: the difference between command pulses and encoder feedback pulses. The command pulses are input pulse number multiply electronic gear ratio. The display value is clamped between 9999 ~ 9999. PIC: torque limit for positive direction in percent. 133 NIC: torque limit for negative direction in percent. 134 PIC: speed limit rpm. A value of 4 indicates 4 rpm. A 135 value of 3000 indicates 3000 rpm. Regeneration rate, 100 represents 1 %. 136
43

PC r/w address 128

5 6 7 8

S S T PST

DN number mode 9 10 PST PST

definition

Maximum regeneration rate, 100 represents 1 %. Maximum torque, the maximum torque output since power on. 11 PST Driver capacity: 150 means 15A, 200 means 20A, 300 139 means 30A. 12 PST Speed command, 4 means 1 rpm, 12000 means 3000 140 rpm. 13 ST Voltage detected in AD0, 975 means 10V, 97 means 1V. 141 14 S Voltage detected in AD1, 975 means 2.5V. 142 15 PST Motor type, please refer to table at the end of this 143 section. 16 PST Servo status. 0 means servo on, 1 means servo off. 144 17 PST Current control mode: 0 means speed mode, 1 means 145 position mode, 2 means torque mode. 18 ST Input Voltage, 1000=10V, 100=1V. 146 147 19 PST Overload counter, the counter is incremented if a transient overload is detected; when this counter reaches 1250, Overload warning is issued. 20 P Lower word of accumulated pulses count, 32 bits in total, higher word is not displayed. 21 P Lower word of feedback pulses count, 32 bits in total, higher word is not displayed. 23 T PIC voltage value, 1000=10V, 100=1V 30 P Error: the difference between command pulses and 148, encoder feedback pulses. The command pulses are input 149 pulse number multiply electronic gear ratio. 31 P Accumulated input pulses. 150, 151 32 P Accumulated encoder feedback pulses. 152, 153 X PST RPM: 4 means 1RPM. E.g. 480 means current motor 154 speed is 120 rpm, this is a sampled value in 1 of 50 samples taken in 10 milliseconds. 155 X PST Torque: output percentage of the rated torque. 120 means the torque output now is 120% of the rated torque. This is a sampled value in 1 of 50 samples taken in 10 milliseconds. DN number Xthese values can only be read/written via the RS232 communication port.

PC r/w address 137 138

44

4. Alarm code
A message such as will stay until any key is pressed. Error To remove code 1 reset 2 reset Definition Low voltage (DC voltage below 250V, or AC voltage below 180V, see note 1, 2). Over voltage (DC voltage over 390V, note 1,2), most of the case is happened on a large inertia. Please watch DN9 while running. If this value becomes bigger and never return to 0, please add an external resistor for regeneration. Please refer to PN40. The alarm also happens on high AC line voltage. Over load, a 200% rated load can last for about 10 seconds, a 300% load can last for about 4 seconds. IPM error, due to high temperature, short-circuit, over current or low control voltage in IPM, the device which provides power to the motor. Encoder error, the signal from encoder is erroneous, please check connection or encoder. CPU error, watch dog time out. The CPU already lost control. To prevent H/W damage, CPU reset is automatically issued. Parameter error the electronic gear rate is not in the range (0.02~50). Parameter checksum error. The data stored in EEPROM may be corrupted. Emergency stop. 1.Over current (300% rated current), please check the motor connection. Or, 2.Specify a longer acceleration/deceleration time. Error-counter overflow: (the difference of command pulses and feedback pulses is larger than the range of error-counter, which
45

indicating that an error has occurred. The message

3 4 5 6 7 8 9 10 11

reset Power off reset reset reset reset reset reset reset

Error To remove code 12 13 14 15 16 18 reset reset reset reset reset reset

Definition is defined in PN25. Over speed, the speed exceeds the value defined in the PN46. Peak input pulse exceeds 600kpps. Pin 3 and pin 4 of CN1 open simultaneously. Normally all these 2 pins must be connected to DG. Please check 24V power(CN1 pin45), if all inputs are inactive. Due to the setting in PN 12-3, one of the 2 over travel switches (pin3 and pin4) is activated and cause servo off. An abnormal value was read from the current sensors during power on. Voltage be too high as power on. 1.DC voltage over 360V, or AC voltage over 255V. 2.The voltage monitor device does not work

Note 1: Due to the accuracy of the resistor, the voltage detected has a maximum error of 2.02%. Note 2: If the rated voltage of the motor is 100 V, the voltage level to alarm will be half of the value listed (DC112V for low voltage, DC250V for over voltage). Note 3: There are 3 methods to reset the driver. Power cycle (Power off then on), Fn004, and send an input signal from pin2 of CN1. However, the cause of alarm must be resolved first.

46