dasd-rh 시리즈 매뉴얼(eng)

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DOOSAN AC SERVO MOTOR/DRIVER

DASD - RH Series

Model : 1.0/2.0/3.5 KW

Maintenance manual

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1. For the prevention of electric shock

2. For the fire prevention

3. For the injury prevention

Please make a wire work and inspection more than 5 minute later after power is

off, and do the next work after checking the voltage by a tester because it may

cause the electric shock.

Please make sure to ground the servo driver and servo motor.

Please make the wire work and inspection by an authorized expert.

Please make the wire work after setting up the servo driver and servo motor.

Please do not touch the switch by wet hand to prevent the electric shock.

Please do not damage and stress the cable.

Please do not put the heavy goods on the cable because it may cause the electric

shock.

Please install the servo driver and servo motor to the noninflammble materials. If

you install it to the inflammble materials directly or near the inflammble materials,

it may cause the fire.

In case the servo driver is broken, please turn off the power from the part of

electric shock on the servo driver. If the high electric current is flowed

continuously, it may cause the fire.

Please permit the correct voltage in the maintenance manual to each terminal only to

prevent the breakage, damage and rupture.

Please do not make a mistake when terminal connection. it may cause the breakage and

damage.

Please make sure the right pole( + , - ) to prevent the breakage and damage.

Please do not touch the heat sink of servo driver and servo motor when power is on

or a few moment after power is off because it is heated. Do not touch the parts

(cable, etc), it may cause the damage and burn.

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Caution for safety operation ≫

Caution before installation

Please keep the installation direction.

Please do not throw down it and make an impact.

Please do not install it at the place of water, corrosive gas, inflammble gas

and materials.

Caution for the wire work

Please use only AC 200 ~220V for the input power supply of servo driver.

Please connect the ground to the ground terminal.

Please do not connect the main power supply to servo motor directly.

Please do not connect the main power supply to output terminal U, V, W of servo

driver directly.

Please use only the compression terminal with insulated tube when wiring the

power terminal of servo driver.

Please wire the cable for power(U, V, W) and encoder cables of servo motor

separately.

Caution for operation

Please check and adjust each manu before operation.

Please do not touch the shaft of motor rotation when operating motor.

Please do not touch the heat sink when operating motor.

Please connect or disconnect the connecter of CN1,CN2 when power is off,

General caution

The contents of this manual may be changed according to the product modification

and the standard change.

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Caution when the first installation

Please make sure the power voltage (AC200~220V) and the wire before power is on.

Please apply the first power when the servo is turned off.

First of all, please check the name of motor and the number of encoder pulse

before power is on.

And then, set up the operation mode of servo driver by connecting with the upper

numerical controller like the menu.

Please wire CN1 connector of servo driver according to each operation mode as

referring to the system structure.

Caution when the maintenance and inspection

Please turn off l1,l2 of the control power and L1,L2,L3 of the main power, and

check the state of power off after enough time passes. After that, please do the

maintenance and inspection.

It is dangerous because the charged voltage in inner electrolytic condenser is

remained.

Please do not touch the terminal when power is on because high voltage flows.

It may cause the electric shock.

Please do not repair, inspect, replace the components except for authorized

expert and engineer.

Please do not alter the products.

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< CONTENTS >

IMPORTANT

1. Specifications of TURRET Servo Motor and Driver

1.1 Specifications of TURRET Servo Motor

1.2 Specifications of TURRET Servo Driver

1.3 Torque-Speed Characteristics of Servo Motor

2. Explanation of Driver Structure and connection diagram

2.1 Explanation of CN1 Connector

2.2 Flow chart of CN1 connector terminal


2.4 Structure of driver Input/Output circuit

2.5 Connection diagram

3. Operation

3.1 Automatic operation

3.2 Method of machine reset

4. Explanation of each mode display

4.1 Status mode

4.2 Diagnosis mode

4.3 Parameter setting mode

4.4 Parameter list

4.5 Detailed explanation of parameter setting mode for user

4.6 Alarm record mode

5. Maintenance and inspection

5.1 Maintenance and inspection

5.2 Trouble diagnosis and countermeasure

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IMPORTANT

. Definition of Symbols for Warning

. Warning

1) Do not use in areas near corrosive, inflammable or explosive gas.

2) Take appropriate measures of protection while the servo motor is in operation.

3) While installing and wiring, turn the power switch off, in order to prevent electric

shock.

4) Ground the PE terminal block of the front panel terminal block L1(R), L2(S), L3(T) to

one-point with the class 3 (below 100 ) ground circuit, in order to prevent electric

shock or other malfunctions. For PE terminal block, use wire 30mm

2thicker than the

electric wire of the terminal L1, L2, L3.

5) Connect the PE terminal block of the servo motor to the PE terminal block U, V, W of

the servo driver in order to prevent electric shock. To connect the wire, use wire

30mm

2thicker than the power line of U, V, W.

6) Take precautions while mounting, dismantling, uninstalling and transferring the servo

motor.

7) Cover the terminal block while using the servo driver in order to prevent electric

shock.

8) Use SELV for maintenance brake power switch, input and output power switch and input

and output signal in order to prevent electric shock.

9) Do not dismantle the servo driver for another 5 minutes after the main power is turned

off-charged voltage may still remain inside the driver.

10) This product uses batteries. Take the following precautions while using the battery.

If used inappropriately, explosion or fire may occur. The contents of the battery are

harmful to the eye.

Do not heat above 100 and do not open when there is fire.℃

Do not take it apart. (The contents are harmful to the eye)

Do not recharge it.

11) During emergency shut down, stop the servo motor before shutting down the servo driver

(terminal L1, L2, L3).

1)

Warning : This symbol means of not handled properly, there is

possible danger such as electric shock.

2)

Caution : This symbol means if not handled properly, there is possible

danger of acquiring mild to severe injuries or machine damages.

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. Caution

1) To avoid burns, do not touch the heat protecting board or the regenerative resistor

of the servo motor and driver while the servo motor is in operation or right after

the power switch is turned off. Take appropriate measures of protection.

2) Avoid the following to prevent damages to the servo motor and servo driver.

Do not connect the power directly to the U, V, W terminal block of the servo motor.

The servo motor will be damaged.

Avoid external impact such as hammering to the servo motor. The encoder inside the

servo motor will be damaged.

Do not connect the power to the U, V, W terminal block of the servo driver.

While doing the resisting pressure test or insulation voltage test, disconnect the

terminal of the servo driver terminal block or all the connectors and avoid the test

voltage from affecting the servo driver. Also avoid the test voltage from affecting the

encoder connector terminal of the servo motor.

Do not install the servo motor and the servo driver differently than it should.

Prevent water or oil from directly touching the servo motor. Use in areas free of

water or oil to prevent it from touching the main wire of the servo motor.

Do not use the servo motor and driver differently other than stated in this manual.

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1. Specifications

1.1 Specifications of Turret Servo Motor

Items Model

DS-RH10ZA-1 DS-RH20ZA-1 DS-RH35ZA-1

Rated output(KWatt) 1.0 2.0 3.5

Rated Torque

kgf cm 48.7 97.4 170.5

N m 4.7 9.5 16.6

Instant

maximum Torque

kgf cm 146.1 365.4 511.4

N m 14.2 37.3 49.8

Rated speed(RPM) 2000 2000 2000

Maximum speed(RPM) 3000 3000 3000

Rotor inertia

gf cm sㆍ

27.33 14.05 35.50

GD²4

(kg m²×10

−4)

7.48 14.31 34.79

Insulation grade F Class F Class F Class

Detector Multi-turn Absolute Encoder

(17bits/1rotation)

Protection, cooling method Totally closed, self cooled

Ambient temperature 0 ~ 40°

Ambient humidity 20 ~ 80

Mounting structure Flange type

Insulation resistance DC 500V 50 MΩ

Insulation voltage AC 1500V one minute

Vibration grade V15

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1.2 Specifications of TURRET Servo Driver

1.3 Torque-Speed Characteristics of Servo Motor

Items Model DASD-RH10SPZA DASD-RH20SPZA DASD-RH35SPZB

Rated current[Arms] 6.5 12.3 19.8

Main input voltage Triple phase AC 200 ~ 220V, +10/-15 , 50/60Hz

Control method IPM full wave rectified, sine wave PWM control

Control mode Position, Speed, Torque control

Control signal input Servo ON, Start, Stop, Jog, Sensor

Position input 7bit pulse reference input

Control signal output Alarm, Ready, Inposition, Unclamp

Position output 7bit present position output

Protection

over voltage, under voltage, over current,

over speed, over load, encoder error

Mounting Rack Mount Type

Dimension[mm] (W x H x D) 115 x 230 x 203 140 x 250 x 250

DS-RH10ZA-1

DS-RH20ZA-1

DS-RH35ZA-1

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2. Explanation of Driver Structure and connection diagram

2.1 Explanation of CN1 Connector

2.1.1 CN1 Connector Explanation of DASD-RH10SPZA, DASD-RH20SPZA

Signal PIN No. Description I/O

/SENSOR 21 This signal judges an Unclamp or Clamp. Input

/SVON 22

This signal makes the motor ready to start operation. When this

signal is off, the motor remains free .

Input

/JOG+(CCW)

/JOG-(CW)

20

23

According to the fixed value of parameter 3, there are 2 types

of modes.

- fixed direction signal (fix value of parameter 3 to 0 )

When the position is moving, the direction of the rotation

can be fixed to one direction.

CCW signal is OFF : Direction of the rotation is automatically

set by short distance.

CCW signal is ON : Direction of the rotation is fixed counter-

clock wise.

CW signal is ON : Direction of the rotation is fixed clock

wise.

CCW, CW is ON : Can not be defined.

- JOG Operation signal (fix value of parameter 3 to 1 )

Used for manual jog operation signal.

JOG+ signal is ON : When the signal is on, the motor rotates

counter-clock wise and when it is off, the motor stops at the

nearest POST.

JOG- signal is ON : When the signal is on, the motor rotates

clock wise, and when it is off, the motor stops at the nearest

POST.

Rotation speed and Accel/Decel time is the same as when it is

operated automatically, but ignore it during running by

automatic operation.

Input

/STOP 4

When the signal is ON, the motor stops. When the motor starts

according to input, and runs the rest of the distance.

Input

/SPARE 3 This is spare signal. Input

COM1 5

COMMON terminal of sequence input signals (When DC 24V is input,

the signal turns ON)

Input

/START 8

When this signal is ON while SVON signal is ON, it moves toward

the POST of position data input (POSI0~POSI6) of the motor.

Maintain the time it is ON at minimum 50msec.

Input

/POSI0, /POSI1,

/POSI2, /POSI3,

/POSI4, /POSI5,

/POSI6

24, 25,

26, 27,

28, 6,

7

Input POST to 7bit binary code to set the position data input

signal.

Input data more than 10msec before the START signal is ON.

(minimum input data is '1'.)

Input

COM2 9 COMMON terminal(+24V) of START, POSI0~POSI6 signals. Input

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ALM 30

Alarm signal is on, output is 'OFF' and when it is normal, the

output is 'ON'.

Output

SVRDY 10

The servo is ready. When the SVON is ON, the driver turns on

after the normal condition. When the SVON is OFF, the driver

turns off.

Output

UN-SOL 29

This signal is running the contact point of Unclamp solenoid.

(This signal is Unclamp after it is ON)

Output

COM3 11 COMMON terminal of sequence output signals(ALM, SVRDY, SPARE). Output

BRAKE+

BRAKE-

12

13

In case there is an inner brake in the motor, this signal

controls the power ON/OFF for the brake.

(The current flow capacity is within 30mA due to the output of

photo coupler contact point, thus a different relay contact point

must be used from the actual brake ON/OFF. the circuit so that

when output contact point is ON, the brake is free, when output

contact point is OFF, design the circuit diagram to control the

brake).

when SVON is ON and this turns on after fixed time of parameter

14 and then SVRDY is ON after fixed time of parameter 13.

When SVON is OFF and this turns off after fixed time of parameter

14.

Output

VPF 16

Position completion signal output.

After the motor moved, if the pulse error is within the fixed

value of parameter 18, the signal turns ON.

Output

POSO0, POSO1,

POSO2, POSO3,

POSO4, POSO5

POSO6

31, 32,

33, 34,

35, 36,

14

As position data output signal, the POST number is sent out in

7bit binary code.

While the motor is rotating, the signal will not be on. It will

be on before the VPF turns on.

When SVON is OFF, it will output data of the nearest POST number.

Output

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2.1.2 CN1 Connector explanation of DASD-RH35SPZB


/SENSOR 6 This signal judges an Unclamp or Clamp. Input

/SVON 7

This signal makes the motor ready to start operation. When this

signal is off, the motor remains free.

Input

/JOG+(CCW)

/JOG-(CW)

8

22

According to the fixed value of parameter 3, there are 2 types

of modes.

- fixed direction signal (fix value of parameter 3 to 0 )

When the position is moving, the direction of the rotation

can be fixed to one direction.

CCW signal is OFF : Direction of the rotation is automatically

set by short distance.

CCW signal is ON : Direction of the rotation is fixed counter-

clock wise.

CW signal is ON : Direction of the rotation is fixed clock

wise.

CCW, CW is ON : Can not be defined.

- JOG Operation signal (fix value of parameter 3 to 1 )

Used for manual jog operation signal.

JOG+ signal is ON : When the signal is on, the motor rotates

counter-clock wise and when it is off, the motor stops at the

nearest POST.

JOG- signal is ON : When the signal is on, the motor rotates

clock wise, and when it is off, the motor stops at the nearest

POST.

Rotation speed and Accel/Decel time is the same as when it is

operated automatically, but ignore it during running by

automatic operation.

Input

/STOP 23

When the signal is ON, the motor stops. When the motor starts

according to input, and runs the rest of the distance.

Input

/SPARE 24 This is spare signal. Input

COM1 40

COMMON terminal of sequence input signals (When DC 24V is input,

the signal turns ON)

Input

/START 43

When this signal is ON while SVON signal is ON, it moves toward

the POST of position data input (POSI0~POSI6) of the motor.

Maintain the time it is ON at minimum 50msec.

Input

/POSI0,

/POSI1,

/POSI2,

/POSI3,

/POSI4,

/POSI5,

/POSI6

10, 11,

12, 26,

27, 28,

42

Input POST to 7bit binary code to set the position data input

signal.

Input data 10msec before the START signal is ON.

(minimum input data is '1'.)

Input

COM2 44 COMMON terminal(+24V) of START, POSI0~POSI6 signals. Input

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ALM 4

Alarm signal is on, output is 'OFF' and when it is normal, the

output is 'ON'.

Output

SVRDY 35

The servo is ready. When the SVON is ON, the driver turns on

after the normal condition. When the SVON is OFF, the driver

turns off.

Output

UN-SOL 3

This signal is running the contact point of Unclamp solenoid.

(This signal is Unclamp after it is ON)

Output

COM3 36 COMMON terminal of sequence output signals(ALM,SVRDY,SPARE). Output

BRAKE+

BRAKE-

19

20

In case there is an inner brake in the motor, this signal

controls the power ON/OFF for the brake.

(The current flow capacity is within 30mA due to the output of

photo coupler contact point, thus a different relay contact point

must be used from the actual brake ON/OFF. the circuit so that

when output contact point is ON, the brake is free, when output

contact point is OFF, design the circuit diagram to control the

brake).

when SVON is ON and this turns on after fixed time of parameter

14 and then SVRDY is ON after fixed time of parameter 13.

When SVON is OFF and this turns off after fixed time of parameter

14.

Output

VPF 47

Position completion signal output.

After the motor moved, if the pulse error is within the fixed

value of parameter 18, the signal turns ON.

Output

POSO0, POSO1,

POSO2, POSO3,

POSO4, POSO5

POSO6

14, 15,

16, 30,

31, 32,

46

As position data output signal, the POST number is sent out in

7bit binary code.

While the motor is rotating, the signal will not be on. It will

be on before the VPF turns on.

When SVON is OFF, it will output data of the nearest POST number.

Output

BAT+

BAT-

49

50

Battery(3.6V) voltage power (+),

Battery(3.6V) voltage power (-).

GND 1 GROUND

SHIELD 18 Frame ground (it is connected with Shield of cable.)

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2.2.1 Flow chart of CN1 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA

Spec. : 10236-52A2JL (Housing), 10136-3000VE (Plug) , Manufacturer : 3M

19 21 23 25 27 29 31 33 35

2 4 6 8 10 12 14 16 18

2.2.2 Flow chart of CN1 connector terminal of DASD-RH35SPZB

Spec. : MR-50RMA (Housing), MR-50LF (Plug) , Manufacturer : HONDA

18 SHIELD

17

16 POSO2

15 POSO1

14 POSO0

13

12 POSI2/

11 POSI1/

10 POSI0/

9

8 JOG+/

7 SVON/

6 SENSOR/

5

4 ALM

3 UN-SOL

2

1 GND

32 POSO5

31 POSO4

30 POSO3

29

28 POSI5/

27 POSI4/

26 POSI3/

25

24 SPARE/

23 STOP/

22 JOG-/

21

20 BRAKE-

19 BRAKE+

50 BAT-

49 BAT+

48 COM4

47 VPF

46 POSO6

45

44 COM2

43 START/

42 POSI6/

41

40 COM1

39

38

37

36 COM3

35 SVRDY

34

33

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2.3.1 Flow chart of CN2 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA

규격 : 10220-52A2JL (Housing), 10120-3000VE (Plug), Manufacturer : 3M

2.3.2 Flow chart of CN2 connector terminal of DASD-RH35SPZB

Spec. : MR-20RMA (Housing), MR-20LF (Plug) , Manufacturer : HONDA

7

6

5

4

3 +5V

2 +5V

1 +5V

13 GND

12 GND

11 GND

10

9

8

20 SHIELD

19 BAT-

18 BAT+

17

16

15 PRX/

14 PRX

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2.4 Structure of driver Input/Ouput circuit

Input

The signals of SENSOR, SVON, JOG+, JOG-, STOP, SPARE, START, POSI0~POSI6 can be used the

following method.

(The current is limited to 5mA due to inner resistance.)

4.4K

TLP620 or EQ.

SW

TR

5mA

AC SERVO DRIVE

+24V

COM1

COM2

Output

The signals of SVRDY, ALM, VPF, POSO0~POS06 are photo coupler output, thus the current is

limited to 50mA.

R

COM3 or COM4

L

O

A

D

+24V

50mA max

AC SERVO DRIVE

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2.5 Connection diagram

2.5.1 Connection diagram of DASD-RH10SPZA and DASD-RH20SPZA

M

B

PG

COM1

SPARE

5

STOP

JOG -

JOG +

SVON

sensor

COM3

SVRDY

ALM

BRAKE +

BRAKE -

COM2

START

POSI6

POSI5

POSI4

POSI3

POSI2

POSI1

POSI0

COM4

VPF

POSO5

POSO4

POSO3

POSO2

POSO1

POSO0

GND

FG

L1 (R)

L2 (S)

L3 (T)

U

V

W

PE

A

B

C

D

E

F

K

L

M

N

P

R

H

G

J

F

I

B

D

E

G

HDC24V RY2

SHIELD

3

4

23

20

22

21

11

10

30

29

5

13

9

8

7

6

28

27

26

25

24

15

16

14

36

35

34

33

32

31

17

1

2

19

6

7

8

9

10

16

15

14

17

18

19

1

11

2

12

3

13

20

RX

RX

+5V

GND

VBAT-

VBAT+

RY1

RY2

RY1MC1

MC1

M C 1

M C 1

M C 1

NOISE

FILTER

M C C B

AC SERVO MOTOR

TURRETSERVO DRIVE

NC

SEQUENCE OUTPUT

POSITION INPUT

POSITION OUTPUT

SHIELD

CN1

CN2

TB1

CN3OPERATOR

12

POWEROFF

POWERON

3 Phase AC 220V

SEQUENCE INPUT

DC24V

DC24V

DC24V

DC24V

DC24V

NOTE

1.

; Twisted Pair Shielded Cable

2. Use for Built-In Brake Type Motor

*1

*1

*2

*2

Battery

3 Phase AC 220V

RY3

POSO6

UNSOL

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2.5.2 Connection diagram of DASD-RH35SPZB

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3. Operation

3.1 Automatic operation

If the drive operates normally after 500msec) after the POWER is ON , the absolute

encoder will detect the initial position and output the position data according to the

initial position. After that output the inposition signal VPF).

When SVON signal is ON and, SVRDY will turn ON after inner GATE is ON.

When START signal is ON, the servo will move according to the position data.

Maintain ON status of START signal to about 50msec~100msec)

When the operation is started and UNCLAMP SENSOR will turn on after UNCLAMP SOLENOID is ON.

After UNCLAMP SENSOR is ON, this signal waits for the fixed time of parameter 31.

When movement is started, VPF inposition signal) will turn OFF .

After position movement is completed, UNCLAMP SOLENOID signal is OFF and UNCLAMP SENSOR

input will turn off. After UNCLAMP SENSOR is OFF, this signal waits for the fixed time of

parameter 32. The current position data will be output and then the inposition signal VPF)

will be ON .

From the upper controller, if VPF signal is ON , please turn OFF the SVON signal.

Move to the next position after SVRDY signal is OFF)

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3.2 Method of machine reset

When assembling the first motor, please set the zero-point of absolute encoder to the

status of original machine.

The Setting method is as follows.

(The below steps should be done when the external servo signal is OFF.)

Turn 'ON' the power to the machine power supply.

Clamp the Turret.

Fix the POST number of the current position to parameter 8 .

Press the MODE key and change the operating display to parameter setting mode.

MODE

parameter setting mode

Press UP key and change the number of the first two segments to 08.

Press SET key and the dot under the first two segments will be blinking.

SET

Press UP or DOWN key to adjust the data of last 4 segments on the POST number of the

current position.

(example :If the current position number is 10, 10 is set as the initial POST)

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Press SET key and the dot under first two segments will disappear.

The data will be stored and the dot will appear after a while.

The display will turn back to the former status. (After turn off the power and then turn on

it again, the stored data will be displayed)

⇨ ⇨

Set the zero-point at zero-point setting mode in diagnosis mode.

Press the MODE key and change the operating mode to the diagnosis mode of servo ON/OFF.

MODE

Diagnosis display

Press the DOWN key and change the display to zero-point setting mode.

Press SET key for 5 seconds and the display will set the parameter related to the

zero-point automatically and turn back to the zero-point setting mode.

SET

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SET

press for 5 secs.

Turn OFF the power and then ON again. The zero-point setting is completed.

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4. Explanation of each mode display

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4.1

Status mode

The function of status mode can check the status of the driver during the operation.

Command pulse accumulation

The command pulse accumulation will accumulate the pulse capacity counted by the inner

position control device to move the target position after the START signal is on and

it will be displayed and divided into lower and upper word(16bit).

When SVON signal is off, it will resume to '0'.

: Lower word display range of command pulse accumulation value

[00000 ~ 65535]

: Upper word display range of command pulse accumulation value

[00000 ~ 65535]

Current position

The absolute current position within one turret rotation will be displayed by pulse counts.

It will be displayed and divided into lower and upper word(16bit).

Display range [00000 ~ pulse per turret rotation]

: Lower word of current position

: Upper word of current position

Remaining pulse

It will display the Error capacity between position command and position feedback as

accumulating the pulse unit. If the pulse exceeds over the set value of the parameter 19,

the overload alarm of position deviation will appear.

If the value is minus pulse, the dot under the segment will light up and when SVON signal

turns OFF, it will resume to '0'.

: Display range of remaining pulse accumulation value

[6.0.0.0.0.0. ~ 600000]

: minus display (-100)

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Current POST number

This displays the post number of current position. The value will be renewed only when

the motor stops or when SVON signal is OFF.

: Display range of current POST number [1 ~ max POST no.]

Motor rotation speed

The rotation speed of the motor is displayed by RPM unit. The changes of fast speed cannot

be seen due to inner filtering process. (To view the speed changes, use the monitor output)

In case of counterclockwise rotation (clock wise in side of motor), '-' will be displayed.

: Display range of motor rotation speed [-3000 ~ 3000]

: minus display (-1000rpm)

Absolute value of encoder rotation count

Displays the rotation count of the absolute value of encoder built in the motor.

(a count per motor rotation) When the count exceeds 8191, it will resume to '0'.

: Display range of absolute value of encoder rotation speed count

[0 ~ 8191]

Absolute value of encoder one rotation

Displays the pulse count per rotation of the absolute value of encoder built in the motor.

(2048 count per rotation) When the count exceeds 2047, it will resume to '0'.

: Display range of absolute value of encoder pulse count per rotation

[0 ~ 2047]

Effective load factor

It is displayed the percent( ) unit counted the effective value of current load.

(100 is standardization). If the value is the minus, a '-' will be displayed and

it will resume to '0' when the SVON signal is OFF.

: Display range of effective load factor [-300.0 ~ 300.0]

: minus display (-100 )

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Maximum load factor

It is displayed the percent( ) unit counted the maximum value of current load.

While the SVON signal is ON, it is always renewed the maximum value and can be resumed to

'0' as pressing the operator SET key. If the value is the minus, a '-' will be displayed

and it will resume to '0' when the SVON signal is OFF.

: Display range of maximum load factor [-300.0 ~ 300.0]

: minus display (-250 )

4.2 Diagnosis mode

This is very convenient mode to verify the external sequence status and the system

condition.

It will display on the OP panel LED display of driver. The contents and it's use is as

follows.

Servo ready status

: SVON signal is OFF and then displays the free status of motor.

: SVON signal is ON and displays the available running status.

Sequence I/O signal

Display ON/OFF status of external input signal in 7 segments.

< external input signal >

SEQUENCEINPUT

SENSOR

SVON

JOG +

JOG -STOP

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Display ON/OFF status of external output signal in 7 segments.

< external output signal >

The I/O display of 7 segment LED display panel will be displayed when the LED is on and

this will verify ON and OFF. (If it is ON, the LED will be on, if it is OFF, the LED

will be off.)

Position data I/O signal

Display the ON/OFF status of position data input signal in 7 segments.

< PLC input signal >

POSITION

INPUT

START

POSI6

POSI5

POSI4

POSI0

POSI1

POSI2

POSI3

SEQUENCEOUTPUT

BAT_L

ALM

BRAKE

SVRDY

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Display the ON/OFF status of the position data output signal in 7 segments.

< PLC output signal >

The I/O display of 7 segment LED display panel will be displayed when the LED is on and

this will verify ON and OFF. (If it is ON, the LED will be on, if it is OFF, the LED

will be off.)

Passive Unclamp output

It outputs Unclamp signal by the hand.

; set the output data by the SET key.

UCON signal OFF UCON signal ON

; Resume to initial display mode

VPF

SOL-OUT

POSO5

POSO0

POSO1

POSO2

POSO3POSO4

POSITIONOUPUT

SET

SET

SET

SET

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Jog operation

The driver operates jog operation by itself regardless of external signals.

When setting the zero-point, use this to move the right position of fixed POST.

The driver will rotate according to the fixed speed of parameter 27 while pressing the UP

or DOWN key.

If press the SET key and the SVON signal will turn ON automatically, and it will change to

Jog operation mode.

; Jog operation mode

CCW rotation CW rotation

; Resumes to initial display mode

Parameter initialization

Saves in Memory as resetting the parameters by fixing value when outgoing.

The stored value when sending out will be reset if pressing the SET key, but The parameters

related to the zero-point setting will remain the value as it is.

Press SET key and it will carry out the Parameter initialization.

SET

SET

SET

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Initialization of position compensation value

Saves in Memory as initializing the position compensation value per POST to '0'.

Press the SET key and it will start the initialization.

Press the SET key and it will initialize the position compensation value.

4.3 Parameter setting mode

The parameter must be set according to the system composition and operation contents

before the motor operation. the setting method is as follows.

Set the operator display to parameter setting mode by pressing the MODE key.

Parameter setting mode

Set the first two segments for intended setting number by pressing the UP key.

(example : set 08)

The dot will appear under the first two segments when Press the SET key.

Set the latter 4 segments for intended setting number by pressing the UP or DOWN key.

(example : in case of fixing the data to 10)

SET

SET

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When Press the SET key in current status, the dots under first two segments from

parameter 00 to 09 will appear, and the data will be saved. After a while, the dot

will appear and it will resume to the initial value before the set up.

When press the SET key, the dot under the first two segments from parameter 10 to 33

will appear, and it will display the set value.

When the zero-point setting, parameters from 34 to 45 is set automatically.

The parameter is for maker management. Please do not change it.

(If you change this parameter, Driver will not operate properly)

SET

SET

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4.4 Parameter list

Note. Adjusted parameter operated as follows.

N0. Abbr. Name Range Default Unit Division

00 MPC

motor power capacity

0 0 A, B

01 MRD

motor running direction

0 ~ 1 1 A, B

02 -

reserve parameter

0 0 A, B

03 JFS

fixed direction, jog function selection

0 ~ 1 0 A, B

04 -

reserve parameter

0 0 A, B

05 MPN

maximum POST number

2 ~ 127 12 POST A, B

06 GR1

gear ratio - motor side

1 ~ 9999 33

Rev

A, B

07 GR2

gear ratio - machine side

1 ~ 9999 12 POST A, B

08 HSP

POST number of home

1 ~ 127 1 A, B

09

reserve parameter

0 0 A, B

10 PKP

position loop proportional gain

0 ~ 2048 256 B, C

11 VKP

speed loop proportional gain

0 ~ 2048 250 B, C

12 VKI

speed loop integral gain

0 ~ 2048 1 B, C

13 SROT

servo ready on delay time

0 ~ 40 0 50 msec B, C

14 BFT

brake off control delay time

0 ~ 40 0 50 msec B, C

15 BOT

brake on delay time

0 ~ 40 0 50 msec B, C

16 VTO

monitor offset voltage

-12 ~ 12 0 10/128 V B, C

17 VTM

monitor selection

0 ~ 3 0 B, C

18 INP

positioning complete range

1 ~ 9999 100 PULSE B

19 RPA

remaining pulse allowance

1 ~ 6000 6000 100 PULSE B

20 FFG

position loop feed-forward gain

0 ~ 100 0 B

21 FTC

feed-forward filter time constant

0 ~ 100 0 4 msec B

22 TLP1

positive torque limit 1

0 ~ 300 250 B

23 TLN1

negative torque limit 1

0 ~ 300 250 B

24 TLP2

positive torque limit 2

0 ~ 300 50 B

25 TLN2

negative torque limit 2

0 ~ 300 50 B

26 VLS

speed limit

0 ~ 3000 1850 rpm B

27 JSP

jog speed at set home

1 ~ 1000 100 rpm B

28 VEL

operation speed

10 ~ 3000 1800 rpm B

29 ATC

acceleration time

0 ~ 500 50 msec B

30 DTC

deceleration time

0 ~ 500 80 msec B

31 UDT

speed monitor output voltage

0 ~ 1000 100 msec B

32 CDT

torque monitor output voltage

0 ~ 1000 100 msec B

33 ISD

initial status display

0 ~ 10 6 B

34 AOL

encoder coordinates compensation lower)

D

35 AOM

encoder coordinates compensation upper)

D

36 HOL

set value of machine zero-point lower)

D

37 HOM

set value of machine zero-point upper)

D

38 IKP

current loop proportional gain

D

39 IKI

current loop integral gain

D

40 EPN

encoder pulse per one rotation

D

41 FPL

feedback pulse lower)

D

42 FPM

feedback pulse upper)

D

43 ACR

acceleration rate of remaining value

D

44 REM

accel rate compensation of remaining value

D

45 -

reserve parameter

D

Section Contents

A

Power is OFF after parameter setting, and the setting value will be valid if it is put into again.

B

Available to set on SVON is OFF. After the setting, it will be vaild right away.

C

Valid to set on SVON status, but temporary save. It has to be reset on SVON is OFF.

D

When machine zero-point setting, User can not set it as automatic setting or for a maker management.

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4.5 Detailed explanation of parameter setting mode for user

[1] No.0 : Motor power capacity

This is the parameter that enables to select the applied motor capacity.

The capacity is selected according to each ROM now.

0 : 1.0KW / 2.0KW / 3.5 KW

[2] No.1 : Motor rotation direction

This sets the motor rotation direction. Please set it according to the structure of

the equipment.

0 : In case that The motor rotation direction accords with the rotation direction of

equipment.

1 : In case that The motor rotation direction discords with the rotation direction of

equipment.

[3] No.2 : Spare parameter

[4] No.3 : Direction fixing and selection of JOG function

Defines the function of JOG+(no.20) and JOG-(no.23) signal of CN1 connector.

0 : Defines the signal of direction fixing.

This is applicable if the parameter 1 is set to '0'.

If the parameter is set to '1', it rotates to the opposite.

1 : Defines JOG operation signal

JOG+ JOG- Rotation direction

OFF OFF Rotates to distinguish the shortest distance.

OFF ON The motor always rotates to clock wise.

ON OFF The motor always rotates to counter-clock wise.

ON ON The motor always rotates to counter-clock wise.

JOG+ JOG- Contents

OFF OFF Only operates by position data input.

OFF ON Do Step JOG operation toward decreasing of POST number

ON OFF Do Step JOG operation toward increasing of POST number

ON ON Can not be defined.

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This is applicable if the parameter 1 is set to '0'.

If the parameter is set to '1', it rotates to the opposite.

Position data input is ignored if JOG+ and JOG- signal is ON.

For more detailed explanation, refer to 'JOG operation' section.


[6] No.5 : Maximum POST number

This sets the maximum POST number. The position data input exceeding the set data

is ignored.

Setting range : 2 ~ 127, Outgoing value : 12

[7] No.6 : Gear ratio of motor side

This sets the rotation count when it moves as the POST number set at parameter 7.


[8] No.7 : Gear ratio of machine side

This sets the POST number when the motor rotates as the set value at parameter 6.


[9] No.8 : Origin POST number

Inputs the POST number that sets as the origin when setting the machine origin(zero-point).



[11] No.10 : Position loop proportionality gain

The position loop proportionality gain is the parameter that determines the response of

position control loop. If the value increases, the mechanical response gets better.

Example)

1. The machine is 10 POST turret. When the motor makes 30.75 rotations and in case the

deceleration ratio is fixed so that the turret is made 1 rotation, Turret 1 rotation

fits the 10 POST movement, thus the value will be set as follows.

[5] Maximum POST data : 10

[6] Gear ratio of motor side : 3075

[7] Gear ratio of machine side : 1000

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However, the added impact for machine increases when the motor starts or stops.

If the value decreases, the mechanical response will be late, and the position

error may increase due to the remaining pulse. This is also related to the speed

loop proportionality gain.


[12] No.11 : Speed loop proportionality gain

The speed loop proportionality gain is the parameter that determines the response of

speed control loop. On the external characteristics, it determines the degree of rigidity.

If the value of the proportionality gain increases, the rigidity becomes strong.

Thus, it is good as large as possible, but if it is larger than any degree, it may cause

the oscillation and hunting. Accordingly, the value will be set as large as possible under

stable condition.


[13] No.12 : Speed loop integral gain

The speed loop integral gain is the compensatory factor that reduces the normal state

error, and increases the rigidity. If the value of integral gain is increased, the rigidity

will get larger, but if it is increased too much, it may cause the oscillation, and the

system may become unstable.


[14] No.13 : Brake off delay time

In case of the brake motor, this is the delay time until SVRDY signal is ON after the brake

signal is ON. Please set the value higher than the time releasing the actual brake.

The unit is 50msec.

Setting range : 0 ~ 40 [x 50msec], Outgoing value : 0

[15] No.14 : Brake off control delay time

In case the brake motor, this is the delay time until BRAKE signal is ON after SVON signal

is input. After this delay, the brake signal turns OFF.


[16] No.15 : Brake ON delay time

In case the brake motor, this is the delay time until the gate of the power device is OFF

after the brake signal turns OFF and the SVON signal turns OFF.

(Of course SVRDY signal is off as the same time)

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Please set the value higher than the time operating the actual brake.

Setting range : 0 ~ 40 [x 50msec], Outcome value : 0



[19] No.18 : Positioning decision completion range

When position control, it is set the positioning decision completion range.

If the error between the target position and the current position is within the set range,

the VPF terminal (Number 16 of CN1 connector) will turn ON.

Setting range : 1 ~ 9999 [pulse], Outgoing value : 100

[20] No.19 : Remaining pulse allowance

When position control, The difference of position command and position feedback per each

position control loop is accumulated. lf this difference value exceeds the set value, the

overload alarm of position deviation will appear.

Setting range : 1 ~ 6000 [x 100 pulse], Outgoing value : 6000

[21] No.20 : Position loop feed-forward gain

This can be enable to have a response characteristic that shortens the position determine

time by using the feed-forward control. However, if the value is set too high, it may cause

the oscillation in the machine.

Setting range : 1 ~ 100 [ ], Outgoing value : 0

[22] No.21 : Feed-forward filter time constant

This sets the time constant when the first delay filter is put in the feed-forward position

command.


[23] No.22 : Positive torque limit 1

This limits the torque output of positive (+) polarity in the areas except the positioning

decision completion range. If the value is set at 0 , the positive torque will not occur.

If the value is set too low, the hunting may occur when the motor starts or stops.


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[24] No.23 : Negative torque limit 1

This limits the torque output of negative (-) polarity in the areas except the positioning

decision completion range. If the value is set at 0 , the negative torque will not occur.

If the value is set too low, the hunting may occur when the motor starts or stops.


[25] No.24 : Positive torque limit 2

This limits the torque output of the positive (+) polarity in the areas within the

positioning decision completion range. After the position decision completes, if the low

value is set on the use to provide the invariable load constantly under SVON signal of

driver is ON, it can be avoided from the overstrain of the equipment or motor.


[26] No.25 : Negative torque limit 2

This limits the torque output of the negative (-) polarity in the areas within the

positioning decision completion range. After the position decision completes, if the low

value is set on the use to provide the invariable load constantly under SVON signal of

driver is ON, it can be avoided from the overstrain of the equipment or motor.


[27] No.26 : Speed limit

This limits the maximum operation speed.

Even when overshooting and such cases occur during the accelerating, the speed is limited

within the set value. Please set the value more than at least 50rpm as compared with

parameter 28 (operating speed).

Setting range : 0 ~ 3000 [rpm] Outgoing value : 1850

[28] No.27 : Origin (Home) set jog speed

This sets the speed of internal jog operation in order to move equipments of turret,

magazine and so on to the right position of when the origin (zero-point) set.

This is discussed separately from the step jog speed.

Setting range : 1 ~ 1000 [rpm], Outgoing value : 100

[29] No.28 : Operation speed

This is the motor speed when automatic operation or when step jog operation.

Setting range : 10 ~ 3000 [rpm], Outgoing value : 1800

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[30] No.29 : Acceleration time

This sets the time that takes from zero movement (motor stops) to the fixed speed at

parameter 28. If the value is set too low, the speed overshooting may occur when

accelerating.

Setting range : 0 ~ 500 [msec], Outgoing value : 50

[31] No.30 : Deceleration time

This sets the time that takes from the fixed speed at parameter 28 to zero movement

(motor stops). If the value is set too low, the position decision time may be delayed

due to the hunting when the motor stops.


[32] No.31 : UNCLAMP delay time

Operate UNCLAMP for the transfer when inputs the start signal after SVON is ON and after

NCLAMP SENSOR signal is ON, this is the delay time before the actual transfer.


[33] No.32 : CLAMP delay time

Operate CLAMP after the transfer and after turning off UNCLAMP SENSOR, this is the delay

time before the completion signal is output.

Setting range : 0 ~ 1000 [4msec], Outgoing value : 0

[34] No.33 : Initial status display selection

Please select the initial status display after the main power switch ON.

Outgoing value : 06 (Motor rotation speed)

[35] No.34 ~ No.45 : Automatic setting and parameter managed for the maker management

(manufacturer)

When setting the machine origin(zero-point), the parameter will be set automatically or

Set

value

Initial display content

Set

value

Initial display content

00 Accumulated value of command pulse (lower word) 06 Motor rotation speed

01 Accumulated value of command pulse (upper word) 07 Absolute encoder rotation

02 Current position (lower word) 08 Absolute encoder-one rotation

03 Current position (upper word) 09 Effective load ratio

04 Accumulated value of remaining pulse 10 Maximum load ratio

05 Current POST number

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it is for manufacturer's management use. Please do not set it according to then user's

purpose. It may not be operated normally if setting for user's purpose only.

4.6 Alarm record mode

It stores the recent alarm records till 9 rotations.

Press UP or DOWN key for checking the previous alarm records.

All records of alarm will be cleared by pressing SET key at this mode.

: alarm record mode

: 1 time alarm display

(ex. in case of overload of 1 time alarm)

: 2 times alarm display

: 9 times alarm display

5. Maintenance and inspection

5.1 Maintenance & Inspection

This chapter explains the servo motor, the maintenance and inspect method of driver,

the trouble shooting and countermeasure.

5.1.1 Notice

When checking motor voltage : The wave of pulse shape is displayed as the voltage

applied from the servo driver to the motor controls PWM. Please use the exact voltmeter

for correct measurement because measured value may occur big differences according to

the types of meter.

When checking motor current : Please use to connect the ammeter to the motor directly

because the pulse wave is smoothed as sine wave by the motor reactance.

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The other devices : please use not to contact the ground when using oscilloscope,

digital volt meter. Please use the input current less than 1 mA as well.

5.1.2 Checkpoint

Inspection of servo motor

(note1) check between one of the servo motor power line U,V,W and FG

Inspection of servo driver

Please refer to the below inspection of servo driver. Daily inspection is not necessary,

but check it over 1/year.

Inspection item Inspection period Inspection and handling Remark

Vibration, noise Every month Sense of touch, hearing

Not bigger than normal

condition

External

appearance

According to

demage or

contamination

Cleanup with cloth or air -

Insulating

resistance

measurement

Minimum 1/year

Disconnect with driver,

measure it by 500V mega.

if over 10M , this is a

normal.(note1)

If under 10M , call to our

service depart.

Change oil seal Minimu 1/5000hr

Detach from the machine, and

replace it.

In case the motor with oil

seal

General

inspection

Minium 1/20000hr or

1/5year

Call to service dept in

company

Do not dismantle and clean

servo motor.

Check part Check time Inspection method Handling when trouble

Clean main board and

circuit board

Minimum 1/year Remove dust, oil and etc Clean it with air or cloth

Loose screw Minimum 1/year

Tighten connection terminal,

connector screw

Tighten

Trouble of part

defects on main

board and circuit

board

Minimum 1/year

Check changed color, damage and

disconnection by overheat

call to company

When you check, it is remained the charged voltage in inner smoothing

condense, so do the inspection after power off and wait about 5 minute

because it may be dangerous.

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5.1.3 Period of part replace

The parts age because of mechanical friction or as time passes, therefore it is necessary

to check the regular inspection and replacement not only preventing the falling-off in

quality and trouble but also keeping the prevention conservation.

Smoothing condenser : the characteristics age due to the affects of ripple current.

Sometimes the life time of condenser is affected by the surrounding temperature and use

condition, but in case of continual operation under the condition of normal environment,

10 years are standard. The inspection period is minimum 1 per year (less than 1 per year

when left short life time) because the condenser aging is fast in a limited period

sometimes.

Check point as external appearance

1. Case condition : the side and bottom of case are expanded

2. Top plate condition : prominent expansion, extreme crack, break

3. Condition of explosion sides : sides expansion, already operation.

4. Life time is the time that periodically the standard capacity of condenser is under 85

about the appearance, external crack, break, changed color, leak.

Relay kind : Contact faultiness may occur due to the contact abrasion by the switching

current, so the standard life time is 100,000 times( accumulated switching number) because

the relay is affected by the power capacity .

Motor bearing : replaces it on the basis of the standard replace time is 2~30,000 hrs

under rated speed, and load. The motor bearing is affected by the operating conditions,

so replace the motor bearing when abnormal noise or vibration is occurred.

Battery : replaces it 1 per 5 years under rated speed and load.

[standard replacement period of parts]

Part name Standard replacement period Replacement method

Smoothing condenser 10 year Replacement decide after check)

Relay kind

Switching ON/OFF) No is

100,000

Decide after check

Fuse 10 year Replacement

Electrolytic condenser 10 year Decide after check

Cooling fan 5 year Replacement over 3 KW )

Motor bearing - Decide after change

Motor oil seal 5,000 hrs Replacement

Battery 5 year Replacement

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5.2 Trouble diagnosis and countermeasure

Alarm signal example) ALP-UU is displayed on the window of loader display when trouble

occurs during the operation. In this case, please take the following steps.

If the trouble is not remedied by these steps, please call to service dept.

5.2.1 Servo motor

[Trouble reason , check method, handling]

Phenomenon Reason Check method Handling

Not

operated

Parameter setting

error

Check parameter like motor, capacity,

encoder pulse value, control mode

Parameter reset

(refer to chapter 4)

Over load Check rotation condition Re-adjust machine

Motor defective Check motor red terminal by tester

Replace motor in case of

normal voltage

Screw loosened Check connect part by drive Re-tighten loosed screw

External wrong wirng,

disconnected cable

Check motor & encoder wiring Re-wire, and change cable.

Encoder defective Check output wave Change encoder.

unstable

motor

rotation

defective connection

Check connection of motor

lead terminal

Repair defective part.

Low input voltage Check driver input voltage Change power supply.

Over load Check machine condition.

Remove residue from rotator,

and lubricating oil supply.

Motor

overheat

Ambient temp is high

Check motor ambient temp of setting

point (should be lower than40 )

Change heat sink structure.

Motor surface

contamination

Check adhesion of residue on

motor surface.

Clean motor surface.

Over load

Check load rate of driver.

Check ac/deceleration cycle.

Decrease load, increase

ac/deceration time.

Magnet magnetism

decrease

Check electromotive voltage and

wave type of voltage.

Replace motor.

Abnormal

noise

Coupling defective

Check screw tightness of the coupling

& concentricity of joints.

Re-adjust coupling.

Bearing defective Check vibration and abnormal noise Call to company.

Parameter setting

error (motor/encoder

pulse value, gain)

Check parameter related to gain.

Refer to parameter setting

method of chapter4.

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5.2.2 Servo drive

When the alarm occurs, error signal out contact(ALARM) is turned off, and motor is stopped

automatically.

[Alarm cord and inspection]

Main

LED

OP panel

LED display

Alarm type Corrective method

Lack voltage : occurs when voltage of inner

DC link is under standard value.

- check the input power is low.

- check the short of motor power cable .

Over voltage : occurs when voltage of inner

DC link is over standard value.

- check the input power is high.

- check the operation frequency is over

the standard value.

- check regenerative resistor is damaged

Main circuit error : occurs in case of error

of inner IPM device.

- check the temp of heat sink is over 100

degrees.

- check the operation frequency is over

the standard value.

Encoder I/F module error : occurs when

assembly of inner encoder I/F module is not

correct.

- check the assembly of encoder I/F module

is correct.

Encoder signal error : A,B,Z signal error

among signal of encoder

- check the encoder cable is pulled out or

signal line is disconnected.

Over speed : occurs when the motor speed

exceeds the maximum rotation count.

- check the encoder cable is pulled out or

wrong assembly.

Over load : occurs when the over load

status continues over the standard time.

- check the motor power cable is

disconnected.

- check if the parameter is set correctly.

CPU error : occurs when the CPU malfunctions

or inner board is defective

- check the parameter set is correct.

Parameter error : occurs when the save value

of parameter is not within the setting

range.

- check the parameter set is correct.

Excessive position deviation : occurs a case

that the remaining pulse exceeds the fixed

value of parameter 19 when positioning

control.

- check the value of parameter 18 is set

too low.

Unclamp solenoid error: occurs when no

operation of clamp solenoid.

- check Unclamp and clamp.

Encoder battery error : occurs when the

backup battery of inner encoder

is discharged or pulled out.

- change the battery.

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NO. Inspection item Inspection result Handling

1 Check the power voltage

Under AC 150V Re-check the power

Normal AC 220V

Do investigation and handling of

investigation article 2

2

Occurs alarm intermittently

when accelerating

Occurs alarm

when accelerating

Re-check power capacity.

Occurs alarm

unconditionally

Change the driver unit or PAB


1

Secure regular power

capacity

Power capacity lack Power capacity increase.

No problem.


investigation article 2.

2

Check the voltage is over

170V by tester

when decelerating motor.

Under 170V . Power capacity increase.

Over 170V .



3

Check the voltage of line

R-S, S-T, T-R by tester

Voltage difference between

lines is over 10V.

Balance improvement on the power

No problem.



4

Check the wiring, setting

circumstance

1) Is the ground right?

2) Is a machine that makes

a noise beside the unit?

1) Ground instability Right set of ground.

2) Easy to occur the alarm

when some special machine is

operate.

Counter-plan execution for the

machine that makes a noise

No problem. Change the driver unit or PAB

5.2.3 detailed explaination of alarm code

(1) ALP - UU : low voltage alarm

(2) ALP - OU : over voltage

; DC bus voltage exceeds over 400V.

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1 Inspect the occur area.

Occurs Servo is OFF. Replace the driver unit or PAB.

Occurs after servo ON .



2

Check the setting value of

oparameter NO.23, NO.24.

No set of normal value Decrease load capacity.

Set of normal value.



3

Check the amount of load

when transferring

Load capacity is over 100 . Decrease load capacity.

Load capacity is under 100 .



4

Check wiring between drive

unit and motor U, V, M.

1)Check the looseness of

screw in terminal

2)Check the shorted wire

3)Check the grounded phase,

and open 2 side of cable

when checking 2),3).

1) loosened. Tighten it correctly.

2) cut Change the cable.

3) grounded. Change the cable.

No problem. Do investigation and handling of


5

Check the motor insulation.

Measure the line and

earth of motor by Mega

Resistance value is under 1MΩ Replace the motor.

Resistance value is over 1M .



6 Check the power voltage.

Sometimes voltage is under 170V

when ac/decelerating.

Re-check the power voltage.

Always over 171V .



7


circumstance

1)Is the ground right?

2) Is a machine that

makes a noise beside the

unit?

1) Ground instability correct ground set.


when some special machine

is operate.



No problem. Change the driver unit or PAB.

(3) ALP - OH : power module trouble

; In case the trouble occurs in power module used for driver unit .

1) operated the over current protect.

2) downed the base power voltage.

3) overheated.

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NO. Inspection item Result Handling

1

Shake it by hand and check the

detector connector(CN2) is

connected or disconnected.

Loosened. Set it correctly.

Normal.



2

Power off, and check the detector

cable connection.

Connection faultiness Change the detector cable.

Normal connection. Change the motor.


1

Shake it by hand and check

the cnnector(CN2) of speed

detector is connected or

disconnected.

Loosened.

Set it correctly.

Change the detector cable.

Normal.

Do investigation and handling

of investigation article 2.

2


circumstance


2) Is a machine that makes a

noise beside the unit?

3) Is the shield of speed/

positioning detector

cable correctly?

1) Ground instability Correct ground set.



operate.



3) Shield is not set correctly Correct Shield set.

No problem. Change the driver unit or PAB.

(4) ALP - CA : encoder signal trouble

(5) ALP - OS : over speed

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1


parameter NO.23, NO.24.

No set of normal value Decrease load capacity.

Set of normal value.



2

Check wiring between drive unit

and motor U, V, M.

1)Check the looseness of screw

in terminal

2)Check the shorted wire

3)Check the grounded phase, and

open 2 side of cable when

checking 2),3).

1) Loosened. Tighten it correctly.

2) cut Change the cable.

3) grounded. Change the cable.

No problem.



3

Shake it by hand and check the

cnnector(CN2) of speed detector

is connected or disconnected.

Loosened.

Set it correctly.

Normal.



4

Power off, and check the detector

cable connection by tester.

Connection faultiness or

disconnection


Connect it correctly

Normal.



5 Check the motor load capacity.

Load capacity exceeds motor's

rating.

Make load capacity within

motor's rating.

No problem



6 check the rotation of motor.

Motor is closed. Re-chech the machine.

No problem.

Change the driver unit or

PAB.

(6) ALP - OL : over load

; due to the current flowed to the motor is the value exceeded the overload detection

level, a case that time continues over the overload detection time

[Overload characteristic curve of servo motor]

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1 Inspect the re-occur.

Always occurs when power on. Change the driver unit or PAB.

Occurs sometimes.



2


circumstance






when some special machine

is operate.





1 Inspect the re-occur.

Always occurs when power on. Change the driver unit or PAB.

Occurs sometimes.



2

check the wiring, setting

circumstance







operate.




(7) ALP - SE : CPU trouble

(8) ALP - PE : parameter trouble

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1

Check wiring between driver

unit and motor U, V, M.

Abnormal connection. Correct line wiring.

Normal connection.



2


parameter(NO.18)

Normal value is not set. Correct set

Abnormal value is set.



3

Check load capacity when

transferring.

Load capacity is over 100 . Decrease the load capacity.

Load capacity is under 99 .



4

Shake it by hand and check

the cnnector(CN2) of speed

detector is connected or

disconnected.

Disconnected. Correct set

Connected.



5

Power off, and check the speed

detector cable connection by

tester.

Connection faultiness or

disconnection


Make the correct connection.

Normal connection. Change the driver unit.


1

Inspect the occurrence

area.

Always occurs

when transferring.

Check the clamp sensor.

check the solenoid.

Occurs sometimes.



2


parameter(NO.31,NO.32)

Normal value is set



Normal value is not set.

Adjust the value of parameter

(NO.31, NO.32).

3

Check the wiring

of solenoid and sensor.

Shorted or grounded. Change the cable.

No problem.

Change the driver unit or PAB.

change the sensor.


(9) ALP - rP : speed gap exaggeration

; in case the speed order and current speed gab exceeds the setting value at parameter

(NO.18)

(10) ALP - UC : solenoid trouble

(11) ALP - En : battery trouble

dasd-rh 시리즈 매뉴얼(eng)

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