1. DESIGNATIONANDPRECAUTIONS · 3. If servo alarm is generated, photocoupler OFF 4. Make sequence to assure that the main circuit power should be cut off by a servo alarm signal

1. DESIGNATION AND PRECAUTIONS

1.1. DESIGNATION

Designations of AC servo motor and driver are as follows.

Reference for a system design and A/S.

ENCODER CONNECTOR MOTOR CONNECTOR NAMEPLATE OUTPUT SHAFT FLANGE FRAME① ② ③ ④ ⑤ ⑥

ENCODER FRAME SUPPORT TERMINAL BLOCK⑦ ⑧ ⑨ ꊉꊒ CONTROLLER CONNECTOR ꊉꊓ ENCODER CONNECTORꊉꊔ OP PANEL CONNECTOR ꊉꊕ BODY LED DISPLAY ꊉꊖ OP PANEL ꊉꊗ OP PANEL DISPLAY ꊉꊘ SETTING SWITCHES

1.2. PRECAUTIONS FOR MOUNTING MOTOR

WarningꏗThis product is a precision instrument, which equipped encoder made of glass on the back of

motor. Especially avoid using excessive force to motor shaft which may damage the motor.

When the speed command voltage is positive, the motor rotate as follows. (CCW viewed from the

motor shaft)

DAEWOO AC SERVO MOTOR Brake Type

P / C Series STRAIGHT KEY Type

REVISION NO.

ENCODER 2000PPR

Type Z5 01 02 03 05 07 08 10 15

Watt 50 100 200 300 500 750 750 1.0k 1.5k

DAEWOO AC SERVO DRIVER REVISION NO.

P/ C Series ENCODER 2000PPR

S : Speed ControlP : Position ControlType Z5 01 02 03 05 07 08 10 15

Watt 50 100 200 300 500 750 750 1.0k 1.5k

2. SPECIFICATIONS FOR AC SERVO MOTOR AND DRIVER

2.1. STANDARD SPECIFICATIONS FOR SERVO MOTOR

2.2. TYPE DESIGNATION FOR SERVO DRIVER

AC Servo Motor◆

AC Servo Driver◆

ITEM DS-C SERIES DS-P

MODEL NAME Z5CA 01CA 02CA 03CA 05CA 07CA 08CA 10CA 15CA

RATED OUTPUT (watt) 50 100 200 300 500 750 750 1.0k 1.5k

RATED TORQUE (kgcm) 1.62 3.25 6.50 9.74 16.2 24.4 36.6 48.7 73.1

INSTANTANEOUS PEAK

TORQUE (kgcm)4.86 9.75 19.5 29.4 48.6 73.1 109.8 146.1 219.3

RATED ROTATION

SPEED (rpm)3000 3000 2000 2000

MAXIMUM ROTATION SPEED

(rpm)4500 3000 2000 3000

ROTOR INERTIA (kgm2) 0.076 0.125 0.507 0.826 2.72 3.72 4.10 16.26 22.49

POWER RATE (w/s) 3.30 8.09 8.01 11.0 9.30 15.3 25.4 14.0 22.8

RESOLUTION DETECTOR (PPR) Optical Encoder : 2000PPR

INSULATION CLASS B Class F Class

WITHSTAND VOLTAGE AC 1500V, One minute

INSULATION RESISTANCE DC 500V 10M or moreΩ

2.3. STANDARD SPECIFICATIONS FOR SERVO DRIVER

ITEM DASD-C Series

MODEL NAME Z5SPC 01SPC 02SPC 03SPC 05SPC 07SPC 08SPC 10SPC 15SPC

Combina-tionSpec

MOTOR

Capacity(watt) 50 100 200 300 500 750 750 1.0k 1.5k

Rate/Max Speed 3000/4500 3000 2000 2000/3000

Inertia(g cm s2)‧ ‧ 0.078 0.128 0.517 0.843 2.775 3.80 4.20 16.6 22.95

Rated Current (Arms) 0.75 1.23 2.42 3.44 5.06 5.5 5.5 8.6 11.0

Max Current (Arms) 2.25 3.69 7.26 10.32 15.18 16.5 16.5 25.8 33.0

BasicSpec.

Main Input Voltage 1 AC200 220V +10 -15%, 50/60 HzΦ ～～ 3 200 220VΦ ～

Control Function Position control, Speed control, Torque control Mode

Control Method Sinusoidal PWM Control

Control Method Incremental Encoder 2000 PPR

Load Inertia Not more than 10 times the motor rotor inertia 5 times

Mounting RACK MOUNT Type

Frame Size (mm) 75(W) x 200(H) x 185(D) 85(W) x 200(H) x 185(D) 115(W) x 200(H)x 185(D)

Torque Control Spec. DC 0 ±9V (Torque:0 ±300%) Command～～

SpeedControlSpec.

Speed Control Range 1 : 3000

F r e q u e n c yCharacteristics (AM=EL)

100 Hz

SpeedRegulation

Load 0 100% : ±0.03% or less (at Rated Speed), ±0.015% or less (at Rated Speed/3000))～

Voltage 0 ±10% : ±0.1% or less (at Rated Speed), ±0.05% or less (at Rated Speed/3000))～

Temperature 25 ±25 C : ±0.5% or less (at Rated Speed), ±0.2% or less (at Rated˚Speed/3000))

Speed Reference Voltage ±2 ±10V DC(forward run at plus reference) at Rated Speed～

PositionControlSpec.

CommandPulse

Input Type Sign/pulse , CAW/AW, A/B(2-Phase)

Pulse Type +5V level(open collector, line driver)

Max InputFrequency 400 Kbps

Position Feedback Pulse 9999

Electronic Gear 1/9999 9999～

Input/Output

Sequence InputSERVO ON, PROHIBIT OF POSITIVE/NEGATIVE ROTATION, ALARM RESET,COUNTER CLEAR, PROPORTIONAL CONTROL MODE SELECTION, INTERNAL SPEEDSELECTION(3-TYPE)

Sequence OutputSERVO READY, SERVO ALARM, SPEED DETECTION, SPEED/TORQUE LIMIT STATE, UNSPEED /INPOSITION

InternalFunction

ProtectionOVER CURRENT, OVER VOLTAGE, UNDER VOLTAGE, OVER SPEED,OVER HEAT, OVER LOAD, PG ERROR, REGENERATION ERROR, DEVIATION OVERFLOW

Parameter Setting,Status Display 7 SEG LED x 6 or PUSH BUTTON SWITCH x 4 (OPTION)

Monitor Speed : 2V/1000RPM, Torque : 3V/100%

Other FunctionTEST DRIVE, JOG DRIVE, DI/DO STATUS DISPLAY, DO TEST, PARAMETER RESET, ROTORPOSITION DISPLAY, VCMD/TCMD OFFSET AUTOSET, S-CURVE ACCELERATION/DECELERATION,FEEDFORWARD

3. EXTERNAL CONNECTION DIAGRAM

3.1. EXTERNAL CONNECTION DIAGRAM FOR POSITION CONTROL

MC1

MC1

MC1

SERVO DRIVER

+24V

24GND

FG

+15V

-15V

(26LS31)

21

24

20

23

3

4

5

1

22

27

26

25

6

7

8

9

10

28

29

30

31

36

35

34

33

32

19

M

SHIELD

U

V

W

FG

5

6

7

89

1014

15

16

17

18

191

11

2

12

3

13

CN2

A

B

Z

U

V

W

+5V

FG 20

PG

A

BC

DE

F

K

L

M

N

P

R

H

G

J

SVON

PDRV

ALMRST

P-OT

N-OT

CLR

CMS

STOP

SVRDY

COM2

VPF

COM2

TGON

COM1

ALM

COM1

PLA

PLA

PLB

PLB

PLZ

PLZ

+15V

-15V

AGND

VMO

SHIELD

SERVO ALARM

OFFON

MC1

RY1

MC1

AC200~ 220V

50/60Hz

SERVOMOTOR

POWER POWER

PULSE REFERENCE INPUT

+5V

0V

R

S

T

r

t

**

CN1

MCCB

RY1DC24V

13

14

11

12

PPA

PPA

PPB

PPB

DGND

2PCZ

Note :

1. Relay contact

NORMALLY OPENNORMALLY CLOSED

2. Turn on inposition, current limit, rotation detection, servo ready photocoupler ON3. If servo alarm is generated, photocoupler OFF4. Make sequence to assure that the main circuit power should be cut off by a servo alarm signal.5. Twisted pair shielded cable

**. For Power 3 phase 220V(R,S,T)

OPEN COLLECTORZ PHASE OUTPUT

LINE DRIVEROUTPUT

SERVO ON

PROPORTIONAL GAIN

ALARM RESET

FORWARD RUNNING PROHIBIT

REVERSE RUNNING PROHIBIT

DEVIATION COUNTER CLEAR

CONTROL MODE SELET

STOP

SERVO READY

ROTATION DETECTION

INPOSITION

ENCODER OUTPUTSIGNAL

MONITOR OUTPUT

NO

ISE

FIL

TE

R1 or 3

3.2. EXTERNAL CONNECTION DIAGRAM FOR SPEED/TORQUE CONTROL

MC1

MC1

MC1

SERVO DRIVER

+24V

24GND

FG

+15V

-15V

LINE DRIVEROUTPUT

(26LS31)

21

24

20

23

3

4

5

1

22

27

26

25

6

7

8

9

10

28

29

30

31

36

35

34

33

32

19

M

SHIELD

U

V

W

FG

5

6

7

89

1014

15

16

17

18

191

11

2

12

3

13

CN2

A

B

Z

U

V

W

+5V

FG 20

PG

A

BC

DE

F

K

L

M

N

P

R

H

G

J

SVON

PDRV

ALMRST

P-OT

N-OT

VS1

VS2

STOP

SVRDY

COM2

VPF

COM2

TGON

COM1

ALM

COM1

PLA

PLA

PLB

PLB

PLZ

PLZ

+15V

-15V

AGND

VMO

SHIELD

SERVO ON

PROPORTIONAL GAIN

ALARM RESET

FORWARD RUNNING PROHIBIT

REVERSE RUNNING PROHIBIT

INTERNAL SPEED COMMANDSELECT 1

INTERNAL SPEED COMMANDSELECT 2

STOP

SERVO READY

INSPEED

ROTATION DETECTION

SERVO ALARM

ENCODER OUTPUTSIGNAL

MONITOR OUTPUT

OFF ON

MC1

RY1

MC1

1 or 3

AC200~ 220V

50/60Hz

SERVOMOTOR

POWER POWER

Note :

1. Relay contact

NORMALLY OPENNORMALLY CLOSED

2. Turn on inposition, current limit, rotation detection, servo ready photocoupler ON3. If servo alarm is generated, photocoupler OFF4. Make sequence to assure that the main circuit power should be cut off by a servo alarm signal.5. Twisted pair shielded cable

R

S

T

r

t

**

CN1

**. For Power 3 phase 220V(R,S,T)

MCCB

RY1DC24V

DGND

2PCZOPEN COLLECTORZ PHASE OUTPUT

17

18

15

16

VELCMD

VELCMD

TORCMD

TORCMD

SPEED REFERENCE INPUT

(DC + 10V)TORQUE REFERENCE INPUT

(DC + 10V)

NO

ISE

FIL

TE

R

4. I/O SIGNAL

4.1. LAYOUT OF CONNECTOR TERMINAL

4.1.1. Layout of Connector CN1

SPEC : 10236-52A2 (Driver Side), 10136-3000VE (Combined Side) , 3M Products

19 21 23 25 27 29 31 33 35

FG SVON N-OT VPF SVRDY PLB PLZ VMO -15V

20 22 24 26 28 30 32 34 36

ALMRST P-OT PDRV COM2 PLB PLZ DGND AGND +15V

1 3 5 7 9 11 13 15 17

24GNDVS1(CLR)

STOP COM1 PLA PPB PPA TORCMD VELCMD

2 4 6 8 10 12 14 16 18

PCZVS2

(CMS)

TGON ALM PLA PPB PPA TORCMD VELCMD

4.1.2. Layout of Connector CN2

SPEC : 10220-52A2 (Driver side), 10120-3000VE (Combined side) , 3M Products

11 13 15 17 19

DGND DGND PU PV PW

12 14 16 18 20

DGND PU PV PW FG

1 3 5 7 9

+5VE +5VE PA PB PZ

2 4 6 8 10

+5VE - PA PB PZ

4.2. INPUT/OUTPUT SIGNALS FOR CONNECTOR CN1

PIN No. Signal Name Description I/O ControlMode

1 24GND Ground ofSignal

P,S,T

3

4

/( )

/()

Meanings of signal to the control mode are as follows.ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠏꠏꠏꠈposit- Position Speed Speed Torque Torqueꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐion Speed Torque Positionꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏ

VS1/(CLR/) CLR/ CLR/ VS1/ - VS1/ CLR/ꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏVS2/(CMS/) - CMS/ VS2/ CMS/ VS2/ CMS/ꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐ ꠐꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠏꠏꠏꠎ- Internal speed command selection;When using as internal speed command selectionRotate at the speed set in the parameter No 20,21,22 according tothe combination.ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠈ

VS1/ VS2/ Parameter No.ꠐ ꠐ ꠐ ꠐ ꠐꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ- OFF OFF external speed commandꠐ ꠐ ꠐ ꠐ ꠐꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ

speed select 1 ON OFF 20 (internal speed command 1)ꠐ ꠐ ꠐ ꠐ ꠐꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏspeed select 2 ON ON 21 (internal speed command 2)ꠐ ꠐ ꠐ ꠐ ꠐꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏspeed select 3 OFF ON 22 (internal speed command 3)ꠐ ꠐ ꠐ ꠐ ꠐꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠎ

- Deviation counter clear; Turn on this signal under the position control, the value ofaccumulated deviation counter is cleared.

- Control mode selection; The Control mode in the running status is switched over.

I P,S,T

5 Closed inter-G24, in the S/W, the command is changed into "zero" byforce. Open inter-G24,Runs to the setting command. I P,S,T

67 Turns on when the motor speed exceeds setting value parameter No.18. O P,S,T

87 Turns off when servo error is detected. (normal status: turns on) O P,S,T

9,1028,2930,31

These are A, B and Z pulses of the encoder by line driver (26LS31).It must received by line receiver(26LS32). O P,S,T

2 Z pulses of the encoder by open collector(74LS07).Max operating voltage : DC30V, Max input current : DC20mA O P,S,T

13141112

Positioning Pulse Input : Maximum input frequency is 400kHz- PULSE/SIGN (PULSE/DIR)TYPEPPA,PPA/ : COMMAND PULSEPPB,PPB/ : RUNNING DIRECTION(‘H’: CCW, ‘L’: CW)

- FORWARD/REVERSE (CCW/CW) TYPEPPA,PPA/ : FORWARD (CCW) PULSEPPB,PPB/ : REVERSE (CW) PULSE

- 2PHASE PULSE TYPEB-PHASE Lead : CCW, A-PHASE Lead : CW

I P

* I : Input, O : Output, P : Position Control, S : Speed Control, T : Torque Control

PIN No. Signal Name Description I/OControl

Mode

15

16

Torque Command Input(0 ±10Vdc): the motor generates the rated～

torque when the voltage in the Parameter No.29 is given.I T

17

18

Speed Command Input(0 ±10Vdc): The motor runs to Rated Speed～

when the voltage in the Parameter No.28 is given.

Under the torque control, it is used to external speed limit command.

I S,T

19 FG FRAME GROUND (Connect for Shield cable) P,S,T

20

Alarm Reset:

When it turns on over 50msec it resets servo alarm in alarm

state.(except for over current error detection)

I P,S,T

21This signal makes the driver ready to receive the speed command input.

Dynamic brake is cleared.I P,S,T

22

23

P-OT

N-OT

Motor runs only to CCW if the P-OT turns on and only to CW if the

N-OT turns on. In case of linear motion system, etc.,connect limit

switch

signal lines to these pins according to the running direction.

These signals are "closed" in running. When limit switches are

tripped,

they become "open".

I P,S,T

24

Proportional drive Command to prevent drifting when the motor is left

motionless without command input, while the main circuit is kept

energized.

I P,S,T

25

26

At position control mode, turns on when the position reaches the

inposition range set by parameter No.13.

At speed control mode, turns on when the motor speed reaches the

Inspeed range set by parameter No.19.

O P,S,T

27

26

Turns on when main power supply is on and no servo alarm is detected.

The driver is ready to run.O P,S,T

32 DGND Signal ground of open collector. P,S,T

33 VMOSpeed Monitoring (±6V / Rated speed),Refer the Parameter No.30.

Current Monitoring (±3V / Rated torque),Refer the Parameter No.31.O P,S,T

34 AGND Signal ground of Speed/Torque monitoring P,S,T

35

36

-15V

+15VPower supply for Speed command(Max current : 20mA) P,S,T

4.3. INPUT/OUTPUT TYPE

DI - 1 DI - 2① ②

4.4K

TLP521 or EQ.

SWTR

+24V

5mA

24GND

AC SERVO DRIVER

150 ohm

TR

26LS31

or

+5V

PPA(PPB)

PPA/(PPB/)

AC SERVO DRIVER

DO - 1 DO - 2③ ④

R

COM1 or COM2

LOAD

+24V

50mA max

AC SERVO DRIVER

26LS31

AC SERVO DRIVER

26LS32

It must be configured a surge absorber in

induction load and a current limit resister

in lamp load(Max current 50mA)* Line Driver Encoder Pulse Output

NOTE

5. ALARM DETECTION FUNCTIONS AND CONTENTS

Body

LED

OP Panel

LED DisplayALARM DETECTION FUNCTION Contents

1 ALP-UU UNDER VOLTAGE DC Link voltage is below 250[v]

2 ALP-dg WATCHDOG ALARM WATCHDOG ALARM

3 ALP-OU OVER VOLTAGE DC Link voltage exceed 400[v] or more

4 ALP-oC DC LINK OVER CURRENT Over current status of DC Link

5 ALP-FL FEEDBACK LOSS Encoder pulse error or encoder connection error

6 ALP-AS ARMSHORT TR lag is short

7 ALP-OS OVER SPEED Motor speed exceed the rotational limit

8 ALP-OL OVER LOAD

Motor exceed the pre-assigned time continuously

over Load Limitation

( 298% - 3sec, 274% - 6sec, 244% - 12sec, 219%

- 24sec, 199% - 48sec, 174% - 96sec, 159% -

192sec, 149% - 384sec, 139% - 768sec, 129% -

1536sec)

9 ALP-SE SOFTWARE ERROR CPU Error

A ALP-PE PARAMETER DATA ERRORAn error such as damage data occurs when

reading the data from EEPROM

b ALP-rP RESIDUAL PULSE ERRORResidual pulse exceed the allowance value set

on Parameter No.14

C ALP-FqPULSE INPUT

FREQUENCY ALARM

Input pulse frequency exceed 400 KPPS or

more

d ALP-OC OVER CURRENT Over current status

ALP-no ALARM NOT OCCURRED No error

Body LED Display ControlPower

MainPower

ServoON

6. DISPLAY/SETTING SWITCHES (OPTION)

6.1. FUNCTION

The 6 digits 7segment display in front of the driver indicates parameter setting, diagnosis, and▶

alarm, and address and data can be selected by 4 display mode.

MODE SET

PRO-MOTIOM

DAEWOO

OPERATOR

DAOP - 01S

( OP Panel Display )

When power off, pre-set DATA is stored in a Driver.▶

* Turning power is off under the alarm, it is stored, and If power is on, it is can be

certified.

6.2. STATUS SETTING SWITCHES AND DISPLAY FLOWCHART

6.2.1. Outline

After turning on the main power,7-segment LED is displayed in status mode, Changing▶

mode can be selected by MODE button.

Initializing after

Main Power On

Status mode display

MODE

Diagnosis mode display

MODE

Alarm mode display

MODE

Parameter setting

MODE

After turning the control power,① P r o - C - is displayed in status mode.

After turning on the main power,② P r o. 0 7 5 (capacity display) and

U - - C O N (control mode) is displayed, initial values set in parameter

No.32.(example: r 0 0 0 0 )is displayed.

Increment/Decrement of ADDRESS and DATA can be selected by③ UP DOWN button,

Storage of DATA can be selected by SET button.

6.2.2. Display Flowchart

Initializing after

turn on power DOWN UP

Status display Accumulatedcommand pulses

Accumulatedelectronic gearcommand pulses

Accumulatedfeedback pulses

Residualpulses

Max load ratioCommand pulsesfrequency

MODE

Effective loadratio

Torque commandvoltage

Speed commandvoltage

Running speed

Diagnosisdisplay

Sequence DI-DO status S/W version Rotor position

Parameter reset DO TEST

TCMD OFFSET VCMD OFFSET JOG DRIVE TEST DRIVE

Alarm DisplayALARM HISTORY

DISPLAY MODE

1trace back

2

trace back

3

trace back

4

trace back

9

trace back

8

trace back

7

trace back

6

trace back

5

trace back

Parametersetting NO. 00 NO. 01 NO. 02 NO. 03

NO. 20

NO. 35 NO. 34 NO. 33 NO. 32

6.3. STATUS DISPLAY CONTENTS

6.4. Status Display Description

6.4.1. Description

(1) Command pulse accumulation [symbol P, -600000 pulse 600000 pulse]～

- Display counter of the position command input pulse.

- As this is a value before pulse multiplying factor is set(EGN/EGD, parameter No.03,04)

it can not be coincide with feedback pulse accumulation.

- If the set button pressed, Reset in “0”.

- Accumulated values of the reverse pulses light up all dot mark.

P 6. 0. 0. 0. 0. P 0 P 6 0 0 0 0

CW CCW

NAME SYMBOL DISPLAY RANGE CONTENTS

COMMAND PULSE

ACCUMULATIONP

-600000 600000～

[PULSE]

Display input pulse counting before electronic

gear input.

ELECTRONIC GEAR

COMMAND PULSE

ACCUMULATION

C-600000 600000～

[PULSE]

600000 or more, resume from "0"

Reset "0" by pressing SET key.

FEEDBACK PULSE

ACCUMULATIONb

-600000 600000～

[PULSE]

Display amount of rotary the count 4 times as

large as value of encoder pulse.

600000 or more, resume from "0"

Reset "0" by pressing SET key.

RESIDUAL PULSE E-600000 600000～

[PULSE]

Display residual pulse of position deviation

counter.

COMMAND PULSE FREQUENCY F-400.0 400.0～

[KPPS]

Display position command input pulse frequency

before electronic gear input

MOTOR RUNNING SPEED r -4500 4500 [RPM]～ Display running speed

SPEED COMMAND VOLTAGE U-10.00 10.00～

[VOLT]

Display analog external speed command or speed

limit command

TORQUE COMMAND VOLTAGE t-10.00 10.00～

[VOLT]Display analog torque command

EFFECTIVE LOAD FACTOR L-300.0 300.0～

[%]

Continuous effective load torque is displayed " % "

(rated torque/100%)

MAX LOAD FACTOR H-300.0 300.0～

[%]

Max load torque under acceleration/deceleration is

displayed " % " (rated torque/100%)

Reset "0" by pressing SET key

(2) Electronic gear command pulse accumulation[symbol C, -600000 pulse 600000 pulse]～

- Display count amount of the position command input pulse after electronic gear is adapted.

- If the set button pressed, Reset in “0”.

- Accumulated values of the reverse pulses light up all dot mark.

C 6. 0. 0. 0. 0. C 0 C 6 0 0 0 0

CW CCW

(3) Feedback Pulse accumulation [symbol b, -600000 Pulse 600000 Pulse]～

- After servo ready, Display count amount of the moving of the motor. If count excess

600000, Resume from " 0 ".

- If the set button pressed, Reset in “ 0 ”.

- Accumulated values of the reverse pulses light up the dot mark.

b. 6. 0. 0. 0. 0. b 0 b 6 0 0 0 0

CW CCW

(4) Residual pulse [symbol E, -600000 pulse 600000 pulse]～

- Display residual pulse of the position deviation counter.

- Reverse pulses light up the dot mark.

E 6. 0. 0. 0. 0. E 0 E 6 0 0 0 0

CW CCW

(5) Command pulse frequency [symbol F, -400Kpps 400Kpps]～

- Display frequency of the position command input pulse[min units: 100 pps ( 0.1 Kpps )]

- This is a value before select electronic gear (pulse multiplying factor)[CW pulse:(-)]

F - 2 0 0. F .1 F 2 0 0.

CW 200Kpps CCW 100pps CCW 200Kpps

(6) Rotation speed of the motor [symbol r, -3000 rpm 3000 rpm]～

- Display rotation speed of the motor( CW : (-), CCW : (+) )

r - 3 0 0 0 r 0 r 3 0 0 0

CW CCW

(7) Speed command voltage [symbol U, 0 ±10V]～

- Display external speed command voltage or speed limit command voltage.

U - 1 0. 0 0 U 0 U 1 0. 0 0

CW CCW

(8) Torque command voltage [symbol t, 0 ±10V]～

- Display torque command voltage.

t - 1 0. 0 0 t 0 t 1 0. 0 0

CW CCW

(9) Effective load factor [symbol L, -300 300%]～

- Display continuous effective load torque.

- Display 100 percent at a rated torque.

L 1 0 0

(10) Max load factor [symbol H, -300 300%]～

- Display peak torque under Acceleration/Deceleration,

it is able to alter to the largest value.

- Display 100 percent at a rated torque.

- If the set button pressed, Reset in “ 0 ”.

H 1 0 0

6.5. ALARM HISTORY DISPLAY DESCRIPTION

NAME DISPLAY CONTENTS

Alarm History

A L 0 - U U

A L 1 - U U

․․․

A L 9 - U U

- Display alarm history to 9-rotates recently.

- Reset alarm history by pressing SET key.

6.6. DIAGNOSIS DISPLAY DESCRIPTION

Diagnosis Status of the External Sequence▶

6.6.1. Servo on, off Status Display

r d - o F F ; Display under system initialization at servo on (before/after)

r d - o n - ; After initialization completion, display at operating on

6.6.2. Digital Input/Output Signal

; Display On/Off status of external input signal from the 7-segment.

; Display On/Off status of external output signal from the 7-segment.

STOP ALMRST

VS2 SVON

VS1 P-OT

PDRV N-OT

NC TGON

NC ALM

NC VPF

NC SVRDY

< External Input Signal > < External Output Signal>

6.6.3. Software Version Display

S O F t. 0 1 ; Display for maker management, and S/W version.

6.6.4. Rotor Position Display

r o t o r -

- Display UVW signal of the encoder and one times of the A,B phase in a circulation in order of

the pulse, electrical angles, mechanical angles from the Z phase pulse.

(1) One times pulse of encoder

; 0 1999 PULSE～

(2) Electrical angle

; 0° 1079°(POLEPAIR=6)～

; 0° 1439°(POLEPAIR=8)～

(3) Mechanical angle

; 0° 359°～

( Note )

r o t o r - SET ꏮSET One times pulse of encoderꏮSET Electrical angle of encoderꏮSET Mechanical angle of encoderꏮ

r o t o r -

6.6.5. Digital Output Signal Test

d o - t S t

- Check wiring and sequence during output to the external terminal each digital output signal,

forcedly.

( Note )

d o - t S t SETꏮTGON OFF TGON ON

DOWNꏮ t n - o F F UPꏮ t n - o n - SETꏮVPF OFF VPF ON

DOWNꏮ P F - o F F UPꏮ P F - o n - SETꏮSVRDY OFF SVRDY ON

DOWNꏮ S r - o F F UPꏮ S r - o n - SETꏮd o - t S t

6.6.6. Test Drive

t S t. r u n ;

- Test S-curve and linear Acceleration/Deceleration drive at ±2000 RPM (1 test)

( Note )

t S t. r u n SETꏮr u n - - - ; SERVO ONUPꏮr u n - P - ; 0 rpm -> 2000 rpm -> 0 rpmDOWNꏮr u n - n - ; 0 rpm -> -2000 rpm -> 0 rpm

r u n - - -

SETꏮt S t. r u n ; SERVO OFF

6.6.7. Jog Drive

J O g. r u n

- Run Jog drive by internal speed(IVC1) command.

( Note )

J O g. r u n SETꏮJ r 0 0 0 0 ; SERVO ON

UPꏮJ r 0 1 0 0 ; +100 RPM

DOWNꏮJ r 0. 1. 0. 0. ; -100 RPM

J r 0 0 0 0

SETꏮJ O g. r u n ; SERVO OFF

6.6.8. Voltage Command Offset

U - o F S t

- Adjust offset of the analog speed command voltage automatically.

6.6.9. Torque Command Offset

t - o F S t

- Adjust offset of the analog torque command voltage automatically.

6.6.10. Parameter Initialization

P A r A - -

- After reset parameter in setting value, save initialization parameter in EEPROM

6.7. USER PARAMETER MODE

6.7.1. Parameter Setting

Turn on Control Power

Turning on the control power, P r o - C - is displayed.

Turn on Main Power

Turning on the Main power, After Capacity display (example:

P r o. 0 7 5 ) and Control display mode (example:

U - - C O N )is selected Status display mode (example:

r 0 0 0 0 ) is displayed.

By pressing UP , Display contents can be changed from Left

to Right. By pressing DOWN , Display contents can be changed

from Right to Left.(at Display flowchart)

For change initial display contents into desired status, it must

be changed parameter No.32.(Status Display Mode)

Select Parameter Mode

0. 0. 0 0 0 2 (Parameter composed ADDRESS and DATA)

can be display by pressing MODE

DATA of Parameter (Parameter contents)

ADDRESS of Parameter (Parameter No.)

Select ADDRESS Selects Parameter No. by pressing UP DOWN

UP : Accelerate Parameter No.

DOWN : Decelerate Parameter No.

After select desired ADDRESS No,

As soon as SET button is selected, it's dot mark light up.

Rewrite DATA At ADDRESS No's dot mark light up Input desired DATA

by pressing UP : Accelerate DATA. DOWN : Decelerate DATA.

After select desired DATA, when SET is pressed, it's dot

mark flickers, then DATA setting is completed

Completion

6.7.2. List of Setting Parameter

Standard Specification Parameter set by user to match the mechanical system ; as follows.

No. NAME SYMBOL FUNCTIONDATA LIMIT

(DEFAULT)CLASS NOTE[UNIT]

00 MOTOR POWER CAPACITY MPC Choose the rated Motor Capacity0 3～

(0)A,B

1:100W,2:200W,3:300W,

4:500W,5:750W,6:750W,

7:1KW,8:1.5KW,9:2.0KW

01 SERVO CONTROL TYPE CTYSelect Position, Speed, Torque

Control mode

0 5～

(2)A,B

0:P, 1:P/S, 2:S,

3:S/T 4:T, 5:T/P

02 PULSE TYPE PTY Set one of 3-pulse Command0 2～

(1)A,B

0:PULSE/SIGN,

1:F/R, 2:A/B

03 ELECTRONIC GEAR NUMERATOR EGNCommand pulse electronic gear

numerator

1 9999～

(1)A,B No limit Range

(Recommend Range :

1/50<EGN/EGD<32)04 ELECTRONIC GEAR DENOMINATOR EGDCommand pulse electronic gear

denominator

1 9999～

(1)A,B

05 MOTOR ROTATION DIRECTION MRDSelect running direction under (+)

command voltage

0 1～

(0)A,B

0:(+)=CCW, (-)= CW

1:(+)= CW, (-)=CCW

06POSITION LOOP

P GAINPKP

Set Proportional gain of the

position control loop

0 2048～

(256)B,C

07VELOCITY LOOP

P GAINVKP

Set Proportional gain of the speed

control loop

0 2048～

(250)B,C

08VELOCITY LOOP

I GAINVKI

Set Integral gain of the speed

control loop

0 2048～

(300)B,C

09 VELOCITY COMMAND OFFSET VCO Set Speed Command Offset-800 800～

(0)B,C VCO×10/8092 [V]

10 TORQUE COMMAND OFFSET TCO Set Torque command Offset-200 200～

(0)B,C TCO×10/2048 [V]

11VELOCITY or TORQUE MONITOR

OFFSETVTO Set Speed or TORQUE monitor Offset

-12 12～

(0)B,C VTO×10/128 [V]

12VELOCITY or TORQUE MONITOR

SETTINGVTM Set Speed or TORQUE monitor Setting

0 1～

(0)B,C

0:VELOCITY MONITOR

1:TORQUE MONITOR

13 INPOSITION INPSet In-position Range under Position

Control

1 9999～

(100)B [PULSE]

14 RESIDUAL PULSE ALLOWANCE RPASet Residual Pulse Allowance under

Position Control

1 6000～

(6000)B RPA×100 [PULSE]

15 VELOCITY LIMIT VLS Set Velocity Limit1 4500～

(4500)B [RPM]

16 FEEDFORWARD CONTROL GAIN FFGSet Feed-forward Control gain under

Position Control

0 100～

(0)B [%]

17 FEEDFORWARD TIME CONSTANT FTCSet 1st low pass filter time constant

of feed-forward command

0 500～

(0)B FTC×2.4 [mSEC]

18 VELOCITY ON DETECTION VOD Set Velocity ON of TGON Pin0 3000～

(50)B [RPM]

19 ZERO CLAMP ZCS Set Zero Clamp Setting0 3000～

(0)B [mV]

20 INTERNAL VELOCITY COMMAND 1 IVC1Internal Velocity or Speed limit

Command 1

-3000 3000～

(100)B [RPM]


Command 2

-3000 3000～

(1000)B [RPM]


Command 3

-3000 3000～

(1500)B [RPM]

23 POSITIVE TORQUE LIMIT TLP Set Torque Limit Positive0 300～

(300)B [%] (Rated=100%)

24 NEGATIVE TORQUE LIMIT TLN Set Torque Limit Negative0 300～

(300)B [%] (Rated=100%)

25 ACCELERATION TIME CONSTANT ATCSet Acceleration Time Constant from

Stop to Max Speed

0 6000～

(5)B ATC×10 [mSEC]

26 ACCELERATION TIME CONSTANT DTCSet Deceleration Time Constant from

Max Speed to Stop

0 6000～

(5)B DTC×10 [mSEC]

No. NAME SYMBOL FUNCTIONDATA LIMIT

(DEFAULT)CLASS NOTE[UNIT]

27 S CURVE TIME CONSTANT STCSet S-curve Speed Acceleration /

Deceleration Time Constant

0 1000～

(0)B [mSEC]

28 VOLTAGE AT RATE SPEED VRSSet Speed command voltage under

Rated 1500 RPM Rotation

1000 5000～

(3000)B VRS×2 [mVOLT]

29 VOLTAGE AT RATE TORQUE VRTSet Torque command voltage under

Rated Torque running

500 5000～

(1500)B VRT×2 [mVOLT]

30 MONITOR AT RATE VELOCITY MRV

Set Velocity output voltage under

Rated 1500 RPM Rotation1000 5000～

(3000)B MRS×2 [mVOLT]

31 MONITOR AT RATE TORQUE MRTSet Torque monitor output voltage

under Rated Torque running

500 5000～

(1500)B MRT×2 [mVOLT]

32 INITIAL STATUS DISPLAY ISD Set Initial Status Display Item0 9～

(5)B

0 : Command Pulse

accumulation

1 : Electronic Pulse

accumulation

2 : Feedback Pulse

accumulation

3 : Residual Pulse

4 : Command Pulse

Frequency

5 : Rotation speed

6 : Speed command

Voltage

7 : Torque command

Voltage

8 : Effective load factor

9 : Max load factor

33 CURRENT LOOP P GAIN IKPSet Proportional gain of current

control loop

0 2048～

(900)D at the factory

34 CURRENT LOOP I GAIN IKISet Integral gain of current

control loop

0 2048～


35ENCODER PULSE PER ONE

ROTATIONEPN Encoder pulse per one rotation

1500 6000～


36 MOTOR POLES MPP Motor Poles Numbers0 1～

(0)D

at the factory

0:6 Poles, 1:8 Poles

37Motor manufacturea factory

MOTSelect motor manufacture afactory

0 ~ 1(0) D 0:Doosan motor

1:Tamagawa motor

38 ENCODER CABLENUMBER ECN Select Encoder Cable Number 0 ~ 1(0) D 0:15 wire

1:9 wire

39 Encoder Output Divide DEO Select Encoder Output Divide0 ~ 7(0)

D

0:1 Divide, 1:1/2 Divide2:1/4 Divide. 3:1/8 Divide4:1/16 Divide, 5:1/32 Divide6:1/64 Divide, 7:1/128 Divide

40 P_OT, N_OT FUNCTION IOS Select P_OT, N_OT fUNCTION0 ~ 2(0)

D

0:Forward/Reverse running

prohibit

1:Forward/Reverse running

command

2:Don't care

41 Servo alarm signal ALBSelect output of servo alarm

signal0 ~ 1(0)

D0:Closed

1:Open

Note. Adjusted parameter operated as follows.☞

A Adjusted parameter is only valid when power is off on→

B You can adjust the parameters under the servo is off.

C You can adjust the parameters under the servo is on.

D You can never adjust the parameters for Maker management.

6.8. DESCRIPTION SET FUNCTION

6.8.1. Base Setting

(1) Motor Power Capacity (MPC )

; initial value 0. 0. x x 0 0

Parameter Watt Parameter Watt

0 0 50 0 5 750(Rated Speed 3000RPM)

0 1 100 0 6 750(Rated Speed 2000RPM)

0 2 200 0 7 1.0 KW

0 3 300 0 8 1.5 KW

0 4 500 0 9 2.0 KW

(2) Servo loop control type ( CTY )

; Initial value 0. 1. x x 0 2 (Speed mode)

(3) Motor Running Direction(MRD)

; Initial value 0. 5. x x x 0 ( CCW )

This is a motor Running Direction of the speed command and pulse command.

Control

ModeFunction Input Type

Between -

Open Closet

0 0 Position control pulse train

0 1Position/Speed

Switchoverpulse train/Voltage

Position

Control

Speed

Control

0 2 Speed control Analog, 3 Mode Speed

0 3 Speed/ torque Switchover Analog.Voltage/AnalogSpeed

Control

Torque

Control

0 4 Torque control Analog

0 5Torque/Position

SwitchoverAnalog/pulse train

Torque

Control

Position

Control

( Note )

In case of the mode Switchover combination such a Position/Speed,

Speed/Torque, Torque/Position of the servo loop control

type(6-combination). After parameter is set, control mode is Switchover

as a Close/Open between

external terminal CMS/ and G24.

DIRECTION SPEED COMMAND POWER

CCW

MRD = 0

External Analog at Speed Command

(CN1 pin 17,18 )External + DC

Internal Speed Command IVC1, IVC2, IVC3

(Parameter no.20~ 22)Internal +

CW

MRD = 1

External Analog at Speed Command

(CN1 pin 17,18 )External - DC

Internal Speed Command IVC1, IVC2, IVC3

(Parameter no.20~ 22)Internal +

Pulse

CommandCCW CW

Pulse Commandmode (PTY)

MRD = 0

Sign

Pulse

ꠈ ꠈ ꠈA ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ

"L"ꠏꠈB ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ

ꠈ ꠈ ꠈA ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏB "H"ꠏꠎ

PTY = 00

Absolute

Value

Pulse


ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏA "H"ꠏꠎꠈ ꠈ ꠈB ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ

PTY = 01

2 Phase

Pulse

ꠏꠏꠏꠈ ꠏꠏꠏA ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎꠏꠏꠏꠈ ꠏꠏꠏꠈB ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏ

ꠏꠏꠏꠈ ꠏꠏꠏꠈA ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠈ ꠏꠏꠏB ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎ

PTY = 02

MRD = 1

Sign

Pulse


ꠈ ꠈ ꠈA ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ

"L"ꠏꠈB ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ

PTY = 00

Absolute

Value

Pulse

ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏA "H"ꠏꠎꠈ ꠈ ꠈB ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ


PTY = 01

2 Phase

Pulse

ꠏꠏꠏꠈ ꠏꠏꠏꠈA ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠈ ꠏꠏꠏB ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎ

ꠏꠏꠏꠈ ꠏꠏꠏA ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎꠏꠏꠏꠈ ꠏꠏꠏꠈB ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏ

PTY = 02

The Motor rotate as follows. (CCW viewed from the motor shaft)※

< Encoder wave forms at motor forward running (CCW) >

90°ꠐ ꠐ→ ←ꠊꠏꠏꠏꠏꠊ ꠏꠏ

ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓA Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠏ ꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚA Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓB Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠏ ꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚB Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓZ Phase ꠛ ꠛꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠏZ Phase ꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠛ ꠛꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ

6.8.2. Offset Setting

- Set analog command offset adjustment of the external speed and torque.

- When offset generate and the motor rotates abnormally in spite of the speed command "0",

Set this value and press [set] Switch to stop the motor.

(1) Speed Command Offset ( VCO )

; Initial value 0. 9. 0 0 0 [x1.22 mV]

- Range : -800 800～

- Unit : Setting Value ×10/8192 [V]

(2) Torque Command Offset ( TCO )

; Initial value 1. 0. 0 0 0 [x4.88 mV]

- Range : -200 200～


(3) Speed or Torque Monitor Offset ( VTO )

; Initial value 1. 1. x x 0 0

- Range = -12 12～


Set offset adjustment of the speed analogue monitor or torque analog monitor (CN1 pin33, VMO)

In case the offset adjustment is required, Connect Oscilloscope or DC voltage meter to VMO

terminal in the servo OFF, and adjust monitor output to required level with setting this value.

(4) Speed or Torque Monitor Select ( VTM )

; Initial value 1. 2. x x x 0

- Range = 0 1～

Set parameter “0” is speed monitor, and parameter “1” is torque monitor.

In case the offset adjustment is required, Connect Oscilloscope or DC voltage meter to VMO

terminal in the servo OFF, and adjust monitor output to required level with setting this value.

Reference Voltage (V)

Tuning Offset

Offset

Speed/Torque Command

Reference Voltage (V)

6.8.3. Gain Setting

(1) Proportional Gain of the Speed Loop ( VKP )

; Initial value 0. 7. 0 1 0 0

- Range = 0 2048～

This is the parameter which determines response of speed control loop.

External characteristics determines stiffness. If it increases, the response is going better.

Therefore, The larger the setting, the faster is the response, but the larger are the vibration

and the hunting.

Set it as large as you can under the stable state.

The load inertia converted to the motor shaft equal to motor inertia(GDL2=GDM2)[unit:Hz]

(2) Integral Gain of Speed Loop ( VKI )


- Range = 0 2048～

This is the parameter which reduces steady state error in order to improve the response.

If it increase, the response is going better. however, if it set too large, the system may be

unstable.

The load inertia converted to the motor shaft equals to motor inertia(GDL2=GDM2)

(3) Proportional Gain of the Position Loop ( PKP )


- Range = 0 2048～

This is the parameter which determines response of position control loop.

If it increases, mechanical response is going better. However, mechanical impact on the system

may occur when the motor start or stops.

If decreases, mechanical response is going worse and position error increases by remaining

pulse.

(4) Feed-forward Control Gain ( FFG )

; Initial value 1. 6. 0 0 0 0 [%]

- Range : 0 100 [%]～

(5) Current loop proportional gain ( IKP )


User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

(6) Current loop integral gain ( IKI )


User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

6.8.4. Position Mode Setting

(1) Pulse Command Mode ( PTY )

; Initial value 0. 2. x x 0 0 (pulse / sign)

This is a signal type( /terminal and /terminal)of the pulse command.

If the driver runs under position control type, select a type of the 3 signal.

(2) In-position Range ( INP )

; Initial value 1. 3. 0 1 0 0 [Pulse]

- Range : 1 9999 [PULSE]～

Set Inposition range under position control.

[Pulse] = motor encoder ×4 times

When residual pulse reaches the range set, output the VPF(CN1 pin 25,26,Inposition)

Example)

2000 Pulse, 2Phase Encoder

- 2000 X 4 = 8000Pulse/rev

- 360°/ (4 X 2000) = 0.045°/ Pulse

Set the 5 Pulse (0.225°), and if it will complete the in-position range in case of

a residual pulse of the deviation counter is less ±6 pulse.

Turn on the external output terminal VPF, COM2 (In-position)

(3) Position deviation allowance ( RPA )

; Initial value 1. 4. 6 0 0 0 [x100 Pulse]

- Range : 1 60000～

- Unit : Setting Value ×100 [pulse]

Set position deviation allowance under position control. [Pulse] = Encoder ×4 times

Example)

When position deviation allowance is set 1000 Pulse.

If residual pulse of the deviation counter is ±1000 pulse, or more, produces

position deviation excess error.

Pulse type

Terminal signalForward direction(CCW ) Reverse direction (CW)

0 0 :

Pulse / Sign

ꠈ ꠈ ꠈ ꠈ ꠈ ꠈ ꠈA ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ

"L"ꠏꠈB ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ

ꠈ ꠈ ꠈ ꠈ ꠈ ꠈ ꠈA ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏB "H"ꠏꠎ

0 1 :

CCW / CW

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ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏA "H"ꠏꠎꠈ ꠈ ꠈ ꠈ ꠈ ꠈ ꠈB ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠏꠎꠌꠏ

0 2 :

2 Phase Pulse

ꠏꠏꠏꠏꠏꠈ ꠏꠏꠏꠏꠏꠈA ꠏꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠈ ꠏꠏꠏꠏꠏꠈ ꠏꠏB ꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠎ

ꠏꠏꠏꠏꠏꠈ ꠏꠏꠏꠏꠏꠈ ꠏꠏA ꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎꠏꠏꠏꠏꠏꠈ ꠏꠏꠏꠏꠏꠈB ꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏ

(4) Position filter time constant ( FTC )

; Initial value 1. 7. 0 0 0 0 [msec]

- Range : 0 500～

- Unit : Setting Value ×2.4 [msec]

Set lst low pass filter time constant of feedforward command.

1. Command rotation speed

2. External position command input

(pulse train frequency)

3. lst delay position command

throughthe filter

* FTC = Position filter time constant

6.8.5. Speed Mode Setting

(1) Speed Command voltage under rated speed rotation ( VRS )

; Initial value 2. 8. 3 0 0 0 [ ×2mV]

- Range : 1000 9999～

- Unit : Setting Value ×2 [mV]

Set command voltage under rated speed rotation

(2) Speed Monitor output voltage under rated speed rotation ( MRS )


- Range : 1000 5000～

- Unit : Setting ×2 [mV]

Set monitor output voltage under rated speed rotation.

(3) Speed Monitor output voltage under rated speed rotation ( MRT )


- Range : 1000 5000～

- Unit : Setting Value ×2 [mV]

Set monitor output voltage under rated speed rotation.

2

3

1

FTC FTCSEC

(4) Set output speed of the TGON ( VOD )

; Initial value 1. 8. 0 0 5 0 [rpm]

- Range ; 0 3000 [rpm]～

Turn on the TGON(6,7) signal of the CN1 when the motor rotation speed exceed setting values.

Hysteresis characteristics (hysteresis band : 40rpm)

(5) Internal speed command 1 ( IVC1 )






- Range : 0 3000rpm～

Set internal speed command or speed limit command.

Turn on internal speed command under speed control, and internal speed limit command under

torque control. Speed limit command turn on the absolute value.

After select one of the 3 type (parameter settings, Closed/open between pin 3(vs1) of the CN1 and

pin 4(vs2), Internal speed command and analog command from external terminals), it is switchover.

of the CN! of the CN!

Selected internal command or Speed

limit command

CLOSED OPEN Internal speed command IVC1

CLOSED CLOSED Internal speed command IVC2

OPEN CLOSED Internal speed command IVC3

OPEN OPEN External speed command VELCMD

Example) Switchover VS1, VS2 : as follows.

rpm rpm

sec sec

1

2

ATC DTC

sec

4500

rpm

(8) Set Inspeed range ( VAS )

; Initial value 1. 9. 0 0 1 5 [%]

- Range ; 1 100 [%]～

- Valid under speed control.

Turn on the VPF(pin25) and COM2₩(pin26)signals of the CN1 when the motor rotation Speed

reaches setting value of the command speed.

(9) Acceleration time constant ( ATC )

; Initial value 2. 5. 0 0. 5 0 [x10 msec]

(10) Deceleration time constant ( DTC )

; Initial value 2. 6. 0 0. 5 0 [x10 msec]

- Range : 0.000 60.000～

- Unit : Setting Value x 10 [msec]

If Speed is Accelerated/Decelerated linearly, Set Accelerated/Decelerated time to arrive

Max Speed under speed command.(external command, internal 3 speed)

(This is able to use at the speed limit command under torque control).

Setting time constant is time reaching from 0 rpm to 4500 rpm.▶

Max rotation speed①

Acceleration/Deceleration time is②

shorten under low speed command

ATC = Acceleration speed time constant

DTC = Deceleration speed time constant

Example) Acceleration time = 3sec ( ATC=300 ), Speed command = n (rpm)

4500 rpm

n rpm

rpm

sec

3sec

If speed Acceleration time constant is too large under pulse train position control,

control is unstable.

(11) S-curve characteristics speed ( STC )

; Initial value 2. 7. 0. 0 0 0 ( No S-curve characteristics )

- Range : 0.000 1.000 - Unit : [msec]～

It may be add a circled curve to a time constant of the speed Acceleration/Deceleration,

therefore, it can be obtain Acceleration/Deceleration characteristics os of the S-curve.

When the S-curve Acceleration/Deceleration characteristics will be required.

At first, Set a time constant of the speed Acceleration/Deceleration, and then determine

a polarization of the linear part.

Set Acceleration/Deceleration time constant of the S-curve characteristics add the circled curve.

If STC is increase, curve dimension is small, and Acceleration/Deceleration is soft, however, the

response is late.

When this characteristic is used under position pulse train control, if STC is larger, control may

be unstable.

STC msecSTC msec

sec

(12) Maximum Speed Setting (VLS )

; Initial value 1. 5. 4 5 0 0 ( 4500 RPM )

- Range : 0 4500～

- Unit : [RPM]

6.8.6. Torque Mode Setting

(1) Torque Command voltage under rated torque running ( VRT )

; Initial value 2. 9. 1 5 0 0 [×2mV]

- Range : 500 5000～ - Unit : Setting Value ×2 [mV]

Set command voltage under rated torque running.

(2) Torque Monitor output voltage under rated torque running ( MRT )


- Range : 500 5000～ - Unit : Setting Value ×2 [mV]

Set monitor output voltage under rated torque running.

(3) Positive Torque limit value ( TLP )

; Initial value 2. 3. x 3 0 0 [%]

(4) Negative Torque limit value ( TLN )

; Initial value 2. 4. x 3 0 0 [%]

- Range : 0 300 [%]～

0 % Torque "0" , 300 % Rated "300"→ →

Example) In case of parameter No.23 = 0 %,

parameter No.24 = 200 %

Positive Torque : 0 , Negative Torque : rated 200% or less

6.8.7. The other Setting

(1) Command pulse Electronic Gear Numerator ( EGN )


- Range = 1 9999～

(2) Command pulse Electronic Gear Denominator ( EGD )


- Range = 1 9999～

Set a Electronic Gear Numerator/Denominator.￭

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Command Pulse Input ꠐ ꠈꠈꠐ ꠏꠎꠌꠎꠌꠏꠏꠏꠏꠏꠏꠈx 4 ←ꠌꠏꠏꠏꠏꠏꠏꠏꠏ ꠐ ꠏꠏꠏꠏꠏꠏꠌꠏꠏꠏꠏꠏꠎEncoder Feedback Pulse

L(mm) : Moving per one rotating , l(mm) : Moving per a pulse△ △￭

(2000ppr encoder)

L = 5mm, l = 0.001mm△ △

N(rpm) = motor speed, command frequency = f* (Pulse/sec)￭Standard Encoder : 2000(PPR)

Pulse/Sign or CCW / CW◆

2 Phase pulse◆

EGN ( EGD ) Range : 1 9999 ( 1 9999 )～～￭

(3) Status Display Initial Mode ( ISD )

; Initial value 3. 2. x x 0 5

After turning on the power, Select a initial status display.

00 Command pulse accumulation 05 Running speed(Rotary speed)

01Electronic gear pulse

accumulation06 Analog speed command voltage

02 Feedback pulse accumulation 07 Torque command voltage

03 Residual pulse 08 Effective load factor

04 Command pulse frequency 09 Max load factor

(4) Encoder pulse per one rotation ( EPN )


User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)※

(5) Motor Poles ( MPP )


- 0 : 6 poles (3-poles pair)

- 1 : 8 poles (4-poles pair)

User is not to alternate a parameter No.36 (Adjustment at the factory)※

7. DIMENSIONS OF THE SERVO MOTORS AND DRIVERS

7.1. DIMENSIONS OF THE SERVO MOTORS

DS-C01CA-1■

DS-C02CA-1■

DS-C03CA-1■

DS-C05CA-1■

DS-C07CA-1■

DS-C08CA-1■

DS-P10CA-1■

DS-P15CA-1■

DS-P20CA-1■

MODEL L LM LR KL LA LB LC LE LZ S QK W T

DS-C01CA-1 165 85 30 67 80 50 65 2.5 5 8 12.5 3 3

DS-C02CA-1 174 93 30 86 90 70 82 3 6 14 13.5 5 5

DS-C03CA-1 198 117 30 86 90 70 82 3 6 14 13.5 5 5

DS-C05CA-1 222 124 40 100 130 110 120 3 9 16 24.5 5 5

DS-C07CA-1 245 147 40 100 130 110 120 3 9 16 24.5 5 5

DS-C08CA-1 280 182 40 100 130 110 120 3 9 16 24.5 5 5

DS-P10CA-1 228 121 55 110.6 145 110 130 6 9 24 31.5 7 7

DS-P15CA-1 253 146 55 110.6 145 110 130 6 9 24 31.5 7 7

DS-P20CA-1 278 171 55 110.6 145 110 130 6 9 24 31.5 7 7

7.2. DIMENSIONS OF THE SERVO DRIVERS

7.3. CONNECTOR SPECIFICATIONS

Motor receptacle■

Driver receptacle■

WINDING TERMINALMS CONNECTOR

(14S-2P, 18-10P, 20-4P)ENCODER CABLE MS CONNECTOR

(20-29P)

POWER LINECONNECTOR DIAGRAM

ENCODER CONNECTIONDIAGRAM

TERMINAL A CHANNEL A GREEN A CHANNEL ACHANNEL A WHITE\GREEN B CHANNEL ACHANNEL B GRAYCHANNEL B WHITE\GRAYCHANNEL Z YELLOWCHANNEL Z WHITE\YELLOW

0V BLACK, WHITE\BLACK+5V DC RED, WHITE\RED

C CHANNEL BD CHANNEL BE CHANNEL ZF CHANNEL Z

FRAME GROUND

G 0V

J FRAME GROUNDH +5V DC

CHANNEL U BROWN K CHANNEL UCHANNEL U WHITE\BROWN L CHANNEL UCHANNEL V BLUECHANNEL V WHITE\BLUECHANNEL W ORANGECHANNEL W WHITE\ORANGE

M CHANNEL VN CHANNEL VP CHANNEL WR CHANNEL W

FRAME GROUND D FRAME GROUND

TERMINAL B

TERMINAL C

A

BC

D

G

A B

C

D

E

FH

J

K

L

MN

P

RS

T

A PHASE U

B PHASE V

C PHASE W

WINDING TERMINALMS CONNECTOR

(14S-2S, 18-10S, 20-4S)ENCODER CABLE MS CONNECTOR

(20-29S)

POWER LINECONNECTOR DIAGRAM

ENCODER CONNECTIONDIAGRAM

CHANNEL A GREEN A CHANNEL ACHANNEL A WHITE\GREEN B CHANNEL ACHANNEL B GRAYCHANNEL B WHITE\GRAYCHANNEL Z YELLOWCHANNEL Z WHITE\YELLOW

0V BLACK, WHITE\BLACK+5V DC RED, WHITE\RED

C CHANNEL BD CHANNEL BE CHANNEL ZF CHANNEL Z

FRAME GROUND

G 0V

J FRAME GROUNDH +5V DC

CHANNEL U BROWN K CHANNEL UCHANNEL U WHITE\BROWN L CHANNEL UCHANNEL V BLUECHANNEL V WHITE\BLUECHANNEL W ORANGECHANNEL W WHITE\ORANGE

M CHANNEL VN CHANNEL VP CHANNEL WR CHANNEL W

A

B C

D

G

AB

C

D

E

F H

J

K

L

MN

P

R S

T

TERMINAL A

FRAME GROUND D FRAME GROUND

TERMINAL B

TERMINAL C

A PHASE U

B PHASE V

C PHASE W

7.4. TORQUE-SPEED CHARACTERISTICS

1.5(0.15)

0 1000 2000 3000 4000 5000

3(0.3)

4.5(0.45)

6(0.6)

Torq

ue[kgcm

(Nm

)]

Speed [rpm]

5(0.5)

0 1000 2000 3000 4000 5000

10(1.0)

15(1.5)

20(2.0)

DS-CZ5CA

DS-C02CA

15(1.5)

0 1000 2000 3000 4000 5000

30(3.0)

45(4.5)

60(6.0)

3(0.3)

0 1000 2000 3000 4000 5000

6(0.6)

9(0.9)

12(1.2)

DS-C05CA

DS-C01CA

30(3.0)

0 500 1000 1500 2000 2500

60(6.0)

90(9.0)

120(12.0)

20(2.0)

0 1000 2000 3000

40(4.0)

60(6.0)

80(8.0)

DS-C08CA

DS-C07CA

10(1.0)

0 1000 2000 3000 4000 5000

20(2.0)

30(3.0)

40(4.0)

DS-C03CA

50(5)

0 1000 2000 3000

100(10)

150(15)

200(20)

DS-C10CA

60(6)

0 1000 2000 3000

120(12)

180(18)

240(24)

DS-C15CA

A : Continuous Duty Zone

Torq

ue[kgcm

(Nm

)]

Torq

ue[kgcm

(Nm

)]Torq

ue[kgcm

(Nm

)]Torq

ue[kgcm

(Nm

)]Torq

ue[kgcm

(Nm

)]

Torq

ue[kgcm

(Nm

)]Torq

ue[kgcm

(Nm

)]Torq

ue[kgcm

(Nm

)]

Speed [rpm]

Speed [rpm]

Speed [rpm]

Speed [rpm]

Speed [rpm]

Speed [rpm]

Speed [rpm]

Speed [rpm]

A

B

A

A

A

A

A

A

A

A

B

B

B

B

B

B

B

B

B : Intermitent Duty Zone

8. PRECAUTIONS FOR APPLICATION

8.1. MINUS LOAD

When the motor is run by load, it means that the servo system is continuously running on

regenerative brake.

Example) Driving a motor to lower objects(with no counterweight)

Since servo driver has the regenerative brake capability for short time corresponding to the motors

stopping time, do not use minus load running on regenerative brake continuously.

8.2. LOAD INERTIA(Load )

The allowable load inertia converted to the motor shaft must be within five times as large as the

inertia of AC servo motor. If the allowable inertia is exceeded, regeneration alarm may be given

from the driver during deceleration.

If this occurs, take the following action;

- Reduce the current limit.

- Slow down the deceleration time.

- Decrease the maximum speed.

8.3. HIGH VOLTAGE LINE

If the supply voltage is three phase 400/440V, the voltage must be dropped to single-phase

200/220V by using a power transformer.

When selecting transformer, you refer to the power capacity per a driver.

8.4. NOISE TREATMENT

The wiring or grounding method of servo driver have to be minimized effect of switching noise or

external noise occurred power TR

Grounding Method▷

Since the servo driver supply the power for the motor through switching operation of the power TR,

Cf current flows through the floating capacity of the motor.

To prevent this effect, motor frame terminal should be connected to FG terminal of the driver, and

FG terminal of the driver should be directly grounded.

Noise Filter▷

To prevent noise from the power line, noise filter is connected. So observing the precautions,

carefully connect them as follows.

(a) Separate the input and output line and don't bundle or run them in the same duct.

(b) Don't bundle the ground line with the filter output line or other signal lines, or run them

in the same duct.

(c) Connect the ground line single to the ground panel.

(d) If the unit contains the filter, connect the filter ground and the equipment ground to the

base of the control unit.

8.5. PRECAUTION BEFORE OPERATION

(a) Internal voltage source of the driver is a high voltage(DC 250 340V).Don't touch it for～

your safety.

(b) Take notice that the charged voltage in the driver stay about 5-minutes even if the main

power is off.

(c) Avoid location where corrosive, inflammable or explosive fluid and gas.

(d) Environmental conditions are as follows.

- Motor : Ambient temperature 0 40 , Humidity 20 80～ ℃ ～％

- Driver : Ambient temperature 0 55 , Humidity below 90～ ℃ ％

8.6. INSTALLATION

Servo Motor▷

AC servo motor can be installed either vertically or horizontally.

(a). Before mounting : Wash out anticorrosive paint on shaft extension and flange surface with

thinner before connection the motor to the driven machine.

(b). Location and environmental conditions

- Free from corrosive and/or explosive gases or liquids.

- Well-ventilated place.

- Accessible for inspection maintenance and cleaning.

- Ambient Temperature : 0 40 C～ ˚

- Storage Temperature : -20 80 C～ ˚

- Humidity : 20 80% RH～

(c). Load Coupling

True alignment of the motor and driven machine is essential to prevent vibration, reduced

bearing and coupling life, or shaft and bearing failures.

Measure the gap between the straight edge and coupling halves at four equidistant point①

of the coupling. The each reading should not exceed 0.03mm.

Align the shafts.(motor and load shaft)②

(d). Allowable bearing load

Avoid both excessive thrust and radial loads to the motor shaft when mounting the gear,

coupling and pulley. Avoid excessive force on the bearing(10 G Max)

Servo Driver▷

(a) When installed in a panel : The panel temperature take a panel size, Refrigeration(cooling),

and wiring into consideration to keep at 5 or below as around temperature according to℃

heater value of equipped instrument and Box Size.

(b) When installed near a heat source : Keep the temperature around driver at 55 or below.℃

(c) If subjected to vibration : Mount the unit on shock absorbing material.

(d) If corrosive gases are present for a long time : Avoid locations where corrosive gases

exist as it may cause the contact errors on the relay, and circuit braker used in the

command and main circuits.

(e) Select a location with minimum exposure to hot air, high humidity excessive dust or

metallic particles.

8.7. WIRING

A servo driver is a high performance device for speed and position control. The following

precautions should be taken for transferring the signal level of several milli-volts or less.

(a) For signal lines and encoder feedback lines, use multi-core shielded twisted-pair cables.

Cable length should not be exceeded by 3m(20m for encoder feedback lines).

The wiring connect in the most shortly length, and spare length use in a cutting.

(b) For ground line, cables should be as heavy as possible to provide the class 3(ground

resistance 100 or less). Make sure to ground at one point.Ω

(c) To prevent malfunction due to noise, take the following precautions.

- Place the noise filter, driver and Input/Output reference as near as possible to each other.

- Make sure to mount a surge absorbing circuit into the relay, electromagnetic contactor and

the solenoid coils.

- Power(AC input, motor input line)and signal lines, holding the distance to 30cm or more ;

don't put them in the same duct or in a bundle.

- When the same power is used for the driver, as far an electric welder or electrical discharge

machine, or when a high frequency noise source is present in the vicinity, use noise filters

in the power and input circuits.

- A servo driver using switching Amp is to be occurred noise in signal lines ; Analog input

wiring have not to be opened in the terminal.

- The signal lines use cables whose core is extremely fine( 0.2 0.3 mm2 ). Avoid using～

excessive force which may damage these cables.

8.8. CHECK ITEMS BEFORE TEST RUN

Before test run, check the following to correct any deficiency.

(a) Bolts and nuts are not loose.

(b) Wiring and grounding leads are firmly connected.

(c) The terminals and the connector leads are firmly connected.

(d) Main and control power supplied to the driver are AC 200 to AC 220V.

(e) The power supply is cut off by the servo alarm.

(f) The speed command is 0V. The pulse command is 0 pps.

Documents

1. DESIGNATIONANDPRECAUTIONS · 3. If servo alarm is generated, photocoupler OFF 4. Make sequence to assure that the main circuit power should be cut off by a servo alarm signal