User's Manual AC SERVO DRIVER

Transcription

1 User's Manual AC SERVO DRIVER TANGO-A Series NS SYSTEM Co., Ltd. NS SYSTEM 5B/L 7LOT #617-6, Namchon-dong, Namdong-gu, Incheon, Korea Homepage : TEL: ~6 FAX:

2 CONTENTS CHAPTER 1 FUNCTION AND SPECIFICATION 1.1 FEATURES CONTROL MODE POSITION CONTROL MODE SPEED CONTROL MODE TORQUE CONTROL MODE SPECIFICATION MODEL CODE DEFINITION NAME PLATE MODEL CODE COMBINATION WITH SERVO MOTOR DIMENSIONS DIMENSIONS OF BOOK TYPE DIMENSIONS OF BOOK TYPE INSTALLATION CHECK ITEMS WHEN PRODUCTDELIVERED INSTALLATION OF SERVO DRIVER INSTALLATION OF SERVO MOTOR ENVIRONMENTAL CONDITIONS ALLOWABLE WEIGHT OF MOTOR SHAFT CHAPTER 2 WIRING 2.1 AUXILIARY EQUIPMENTS AND WIRE PARTS IDENTIFICATION CONNECTION DIAGRAM ENCODER (CN3) SIGNALS (CN1) CHAPTER 3 TUNING 3.1 FUNDAMENTALS OF MACHINE RIDIGITY GAIN ADJSUMENT (TUNING) NS SYSTEM CO., LTD.

3 CONTENTS CHAPTER 4 POSITION CONTROL MODE 4.1 FUNDAMENTALS OF POSITION CONTROL CONNECTION CONNECTION FOR POSITION CONTROL (CN1) SIGNAL LAYOUT AND ASSIGNMENT PP/NP COMMAND PULSE INPUT SIGNALS OUTPUT SIGNALS CHAPTER 5 SPEED CONTROL MODE 5.1 FUNDAMENTALS OF SPEED CONTROL CONNECTION CHAPTER 6 TORQUE CONTROL MODE 6.1 FUNDAMENTALS OF TORQUE CONTROL CONNECTION CHAPTER 7 COMBINATION CONTROL MODE 7.1 CONNECTION CHAPTER 8 PARAMETER 8.1 PARAMETER LIST PARAMETER DISCRIPTION CHAPTER 9 CHECK LIST DISCRIPTION CHAPTER 10 DISPLAY LIST DISCRIPTION NS SYSTEM CO., LTD.

4 CONTENTS CHAPTER 11 ALARM LIST DISCRIPTION NS SYSTEM CO., LTD.

5 CONTENTS Safety Instructions (After being familiar with this user's manual, use the TANGO Series Servo Drive.) Do not attempt to install, operate, maintain or inspect the servo amplifier and motor until you have read through this User's Manual and appended documents carefully. After reading all, keep the manual well in order that the user of product can easily access it. In this User's Manual, the safety instruction levels are classified into "DANGER" and "CAUTION". DANGER : Indicates that incorrect handling may cause hazardous conditions to make the death or severe injury CAUTION : Indicates that incorrect handling may cause hazardous conditions to make the medium and slight injury to personnel or may cause physical damage. Note that the "CAUTION" level may lead to a serious result according to conditions. Please follow the instructions of both levels because they are important to personnel safety. Be sure to keep it. DANGER To prevent electric shock, note the following: Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and motor to ground(class 3). There might be the electric shock or fire. Operate the switchs with dry hand to prevent from an electric shock. The cables should not be damaged, stressed loaded or pinched. Otherwise, you may get an electric shock. The wiring should be done by the professional electrician. There might be the electric shock or fire. DANGER To prevent fire, note the following: Do not install the servo amplifier, motor and regenerative brake resistor on or near combustibles. Otherwise, a fire may cause. When the servo amplifier has becomes faulty, switch off the main power side. Continuous flow of a large current may cause a fire. When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative brake resistor fault or the like may overheat the regenerative brake resistor, cause a fire. When installing the servo amplifier in enclosed space, install the cooling fan to make the ambient temperature around the servo amplifier less than 55. NS SYSTEM CO., LTD.

6 CONTENTS CAUTION To prevent injury, note the following: Care must be taken during the transportation. Falling to the foot may cause the injury. Only the voltage specified in the User's Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. During power-on or some time after power-off, do not touch the servo amplifier fins, regenerative brake resistor, servo motor. Their temperatures may be high and you may get burnt. CAUTION Transportation Do not carry the motor by the cables, shaft or encoder. Do not hold the cover to transport the servo amplifier. The servo amplifier may drop. Transport the products correctly according to their weights. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. CAUTION Installation and Storage Install the servo amplifier in a load-bearing place in accordance with the User's Manual. The servo amplifier and motor must be installed in the specified direction. Leave specified clearance between the servo amplifier and control enclosure walls or other equipment. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier. Securely attach the servo motor to the machine. if attach insecurely, the servo motor may come off during operation. For safety of personnel, always cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. The servo motor with reduction gear must be installed in the specified direction to prevent from oil leakage. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break Use the servo motor and amplifier under the following environmental conditions. Environment Servo Amplifier Servo Motor Ambient operate (non-freezing) ((non-freezing) Temperature storage ((non-freezing) ((non-freezing) Ambient Humidity operate 80%RH or less (non-condensing) 80%RH or less (non-condensing) storage 90%RH or less (non-condensing) 90%RH or less (non-condensing) Ambience Indoor(no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 0.6G or less 2.5G or less NS SYSTEM CO., LTD.

7 CONTENTS CAUTION Wiring Wire the equipment correctly. Otherwise, the servo motor and amplifier may be damaged. Connect the output terminals(u, V, W, FG) correctly. Otherwise, the servo and amplifier may be damaged. Do not install a power capacitor, surge absorber or radio noise filter between the servo motor and servo amplifier. The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction. Otherwise, the servo amplifier output damaged by over-current permanently. Do not connect AC power directly to the servo motor. If then, the servo motor damaged by over-current permanently. CAUTION Test run and Usage Before operation, check the parameter setting. Improper settings cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be unstable. Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not modify the equipment. Use the servo motor with the specified amplifier. Do not change the wiring or do not remove the connector during being energized. The electromagnetic brake on the servo motor is designed to hold the shaft and should not to be used for ordinary braking. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly. Use a noise filter to minimize the influence of electromagnetic interference. Before resetting an alarm, make sure that the run signal is off to prevent an accident running. A sudden restart is made if an alarm is reset with the run signal on. When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. CAUTION Maintenance and Inspection With age, the electrolytic capacitor will deteriorate. To prevent a second accident due to fault, it is recommended to replace the electrolytic capacitor every 5 years when used in general environment. After cutting off the main power and enough time passed, check and maintain. Due to the residual voltage at capacitor, it is very dangerous. Since the servo amplifier is designed with the electronic circuit, foreign material or dust cause the malfunction, periodic (1 year) cleansing and tightening of screw is required. NS SYSTEM CO., LTD.

8 CONTENTS NS SYSTEM CO., LTD.

9 Chapter 1 FUNCTION AND SPECIFICATIONS 1.1 Features The NS SYSTEM "TANGO" series general purpose AC servo motor drive is the full-digital AC servo for high speed and accuracy by use of 32bit intelligent DSP. It has position control, speed control and torque control modes. It is applicable to wide range of FA fields, not only precision positioning of machine tools and general automatic industrial machines but also line speed control and tension control and torque control. Also auto tuning function makes the first learner operate easily. Serial communication function(rs-232c, RS-422, USB) allows a PC or similar device to be for parameter setting, remote control, test operation and system monitoring, etc. "TANGO" series is the best servo drive to realize the fantastic function and cost-effective performance. FEATURES OF PRODUCT - Up to 500kpps high-speed pulse train with 6 types of form - Electronic Gear Ratio function for the position control regardless of encoder pluse - Feed-forward function for speed-up of positioning time - 3 types of acceleration/deceleration shape (sine-wave, linear, exponential) - Torque limit function for over-current protect - Zero clamp function for servo locking at low speed - Serial communication function for networking 1.2 Control Mode POSITION CONTROL MODE An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and performs precision positioning(20000 pulse/rev.). It has a Electronic Gear Ratio that is the function to set the motor movement amount per command pulse input arbitrarily. Accordingly, the position control regardless of encoder pluse is possible by desired number of pulses of the host controller. There are the acceleration/deceleration time changing function in response to command pulse input. So, it prevents from mechanical shock due to sudden acceleration or deceleration. A torque limit is imposed on the servo amplifier to protect the power module from over-current due to overload. NS SYSTEM CO., LTD. 1-1

10 Chapter 1 FUNCTION AND SPECIFICATIONS SPEED CONTROL MODE An external analog speed command(0~±10v), external multi-step speed command and parameterdriven internal speed command is used to control the speed and direction of a servo motor accurately(1:2000). There are the acceleration/deceleration time changing function in response to speed command input. So, it prevents from mechanical shock due to sudden acceleration or deceleration. A torque limit is imposed on the servo amplifier to protect the power module from over-current due to overload. There are also the Zero Clamp function at a stop time and the offset adjustment function in response to external analog speed command TORQUE CONTROL MODE An external analog torque command(0~±10v) and parameter-driven internal torque command is used to control the torque output direction of a servo motor. There are the acceleration/deceleration time changing function in response to torque command input. So, it prevents from mechanical shock due to sudden acceleration or deceleration. To protect over-speed under slight load, the speed limit function is useful for application to tension control. NS SYSTEM CO., LTD. 1-2

11 Chapter 1 FUNCTION AND SPECIFICATIONS 1.3 SPECIFICATION MODEL TANGO-AA5 TANGO-A01 TANGO-A02 TANGO-A04 Power Supply Voltage/Frequency 3-Phase AC 220 [V] +10~-15%, 50/60[Hz]±5% Capacity[kVA] Flux shape 3-phase sine-wave AC servo motor Rated Output 50[W] 100[W] 200[W] 400[W] Applicable motor Max. Current [rms A] Encoder wire/9wire incremental Encoder(1000~9999 CT), 17bit ABS. Encoder Max. speed[rpm] 5000 Suructure Cooling mathod Weight Book Type1 Natural air cooling 0.9Kg MODEL TANGO-A08 TANGO-A10 TANGO-A15 Power Supply Voltage/Frequency 3-Phase AC 220 [V] +10~-15%, 50/60[Hz]±5% Capacity[kVA] Flux shape 3-phase sine-wave AC servo motor Rated Output 800[W] 1.0[KW] 1.5[KW] Applicable motor Max. Current [rms A] Encoder wire/9wire incremental Encoder(1000~9999 CT), 17bit ABS. Encoder Max. speed[rpm] 5000 Suructure Cooling mathod Weight Book Type2 Natural air cooling 1.5Kg NS SYSTEM CO., LTD. 1-3

12 Chapter 1 FUNCTION AND SPECIFICATIONS Position control Speed control Control Mathod Control Type Frequency bandwidth Input pulse type Input pulse isolation Acc./Dec. type Speed control range Frequency bandwidth Speed command Offset adjustment Zero Lock/clamp Acc./Dec. type 3-phase sine-wave PWM control position, speed, torque, combination(speed/position, speed/torque, position/torque) Max. 500 [kpps] Dir+Pulse, CW Pulse+CCW Pulse, 2-phase Pulse(Aphase+Bphase) Opto-coupler isolation (DC 5[V]) Linear, S-Curve External command : (1 : 2048), Internal command : (1 : 5000) 400[Hz] or higher External command : DC ±10[V], Internal command : multi-step 4 point Yes Yes Linear, S-Curve Torque control Regenerative brake Torque command External command : DC ±10[V], Internal command : 300% Speed limit Protective function Monitoring output Register Dynamic brake Electronic brake Yes Over-voltage, Over-current, Under-voltage, Regenerative over-voltage, A/D error. Encoder fault, Over-load, Over-speed, Excessive error, Excessive electronic range, Memory error 2 Port speed command, current speed, torque command, current torque, pulse command, error pulse External (Option) Internal Output for electronic brake(1 Port) Communication RS232C, RS422(Option), USB(Option) Encoder Div. output ratio 1/1 ~ 1/16384 Environment Ambient temperature Ambient humidity Insulation res. 0 ~ 55 90%RH or less (non-condensing) DC 500[V], 10[MΩ] or more NS SYSTEM CO., LTD. 1-4

13 Chapter 1 FUNCTION AND SPECIFICATIONS 1.4 MODEL CODE DEFINITION NAME PLATE Model name Capacity Input power Serial number MODEL CODE TANGO - Series Name Amplifier type Capacity Model A B C D E Driver type General purpose Built in 1 axis controller Low cost Order made Multi-axis symbol Capacity A5 50[W] [W] [W] [W] [W] 10 1[KW] [KW] NS SYSTEM CO., LTD. 1-5

14 Chapter 1 FUNCTION AND SPECIFICATIONS 1.5 COMBINATION WITH SERVO MOTOR The following table lists combinations of servo amplifier and servo motor. The same combinations apply to the models with electromagnetic brakes, the models with reduction gears. Contact us when using a non-standard servo motor. Servo Driver TANGO- AA5 TANGO- A01 TANGO- A02 TANGO- A04 TANGO- A08 TANGO- A10 TANGO- A15 TANGO- A24 TANGO- A30 TANGO- A35 TANGO- A40 TANGO- A50 TANGO- A75 Servo Motor KANZ KANQ KAND KANS KANH KANF KAFX KAFN KANZ-A5B KANZ-01B KANQ-01B KANZ-02B KANQ-02B KANZ-04B KANQ-04B KANF04 KAFN03 KANZ-06B KANZ-08B KANH05 KANF08 KAFX05 KAFX09 KAFN06 KANZ-10B KAND10 KANH10 KAFN09 KAND15 KANH15 KANF15 KAFX13 KAFN12 KAND20 KANH20 KANF25 KAFX20 KAFN20 KAND25 KAFX30S KAFN30 KAND30 KAND45S KANH30 KANH40S KANF35S KAFX30 KAND45 KANS40 KANH40 KANF35 KAFX45 KAND50 KANS45 KANS50S KANS50 KANH50 KANF45 NS SYSTEM CO., LTD. 1-6

15 Chapter 1 FUNCTION AND SPECIFICATIONS 1.6 DIMENSIONS BOOK TYPE1 ( TANGO-A01/A02/A04/A06 ) BOOK TYPE2 ( TANGO-A08/A12/A18 ) NS SYSTEM CO., LTD. 1-7

16 Chapter 1 FUNCTION AND SPECIFICATIONS 1.7 INSTALLATION CHECK ITEMS WHEN PRODUCT DELIVERED Check the following items first when the product is delivered. 1. Check whether the product conforms to the ordered specifications. 2. Check whether the product is not damaged. 3. Check whether the coupling part is loosened. 4. Check whether the motor shaft is smooth and no stalled feeling when turned by hand. 5. Check whether the combinations of servo amplifier and servo motor is matched. If any trouble, immediately contact the distributor you bought or us INSTALLATION OF SERVO DRIVER Servo amplifier is designed for vertical installation type. For natural cooling, the vertical installation direction should be observed as the following figure. Driver Mounted wall Ventilation If the ambient temperature excess the allowable temperature range(55 ), the cooling fan should be installed in the control box. Since the ambient temperature has the close relationship with the lifetime, keep it at the lower temperature as possible. Install the servo amplifier under the following clearance conditions. A A B C D 50mm 이상 30mm 이상 10mm 이상 50mm 이상 B C D When installing the servo amplifier in a control box, prevent drill chips and wire fragments from the servo amplifier. When installing the control box in a place where there are toxic pas, dirt and dust, provide positive pressure in the control box by forcing in clean air to prevent such materials from entering the control box. The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. NS SYSTEM CO., LTD. 1-8

17 Chapter 1 FUNCTION AND SPECIFICATIONS INSTALLATION OF SERVO MOTOR The servo motor is available for both vertical and horizontal installation. But since the bad environment of the installation condition affects the lifetime of motor and the unexpected accident, it should be installed according to the following descriptions. Since the rust-preventative is coated on the shaft and flange surface for rust-proof during the preservation, be sure to clean the rust-preventative before installation. The servo motor is subject to be used in indoor environment. If there are much water and oil drops around, the cover should be attached. When connecting with load, the shaft of motor should be aligned exactly with that of the counter load. Otherwise, it cause the vibration, acoustic noise and damages. The concentricity and pap should be less than 3/100mm. The excessive external shock may break the motor bearing and encoder. If the reducer, pulley and coupling are used, do not apply the excessive shock(50g and above) to the motor shaft ENVIRONMENTAL CONDITIONS Environment Servo Amplifier Servo Motor Ambient Temperature operate (non-freezing) ((non-freezing) storage ((non-freezing) ((non-freezing) Ambient Humidity operate 80%RH or less (non-condensing) 80%RH or less (non-condensing) storage 90%RH or less (non-condensing) 90%RH or less (non-condensing) Ambience Altitude Indoor(no direct sunlight) free from corrosive gas, flammable gas, oil mist, dust and dirt Max. 1000m above sea level Vibration 0.6G or less 2.5G or less ALLOWABLE WEIGHT OF MOTOR SHAFT Radial weight Trust weight N kgf N kgf NS SYSTEM CO., LTD. 1-9

18 Chapter 1 FUNCTION AND SPECIFICATIONS NS SYSTEM CO., LTD. 1-10

19 Chapter 2 WIRING 2.1 AUXILIARY EQUIPMENTS AND WIRE Power supply : 3-phase AC 200V ~ 230V Amplifier Wire[ mm2 ] Amplifier Wire[ mm2 ] Amplifier Wire[ mm2 ] TANGO-A01 2(AWG14) TANGO-A12 2(AWG14) TANGO-A40 5.5(AWG10) TANGO-A02 2(AWG14) TANGO-A18 3.5(AWG12) TANGO-A50 5.5(AWG10) TANGO-A04 2(AWG14) TANGO-A24 3.5(AWG12) TANGO-A75 TANGO-A06 2(AWG14) TANGO-A30 5.5(AWG10) TANGO-A08 2(AWG14) TANGO-A35 5.5(AWG10) 8(AWG8) No-fuse breaker(nfb) Amplifier NFB Amplifier NFB Amplifier NFB TANGO-A01 250V/5A TANGO-A12 250V/20A TANGO-A40 250V/50A TANGO-A02 250V/5A TANGO-A18 250V/30A TANGO-A50 250V/60A TANGO-A04 250V/10A TANGO-A24 250V/30A TANGO-A75 250V/75A TANGO-A06 250V/15A TANGO-A30 250V/40A TANGO-A08 250V/15A TANGO-A35 250V/40A Noise filter Amplifier Rating Amplifier Rating Amplifier Rating TANGO-A01 250V/5A TANGO-A12 250V/20A TANGO-A40 250V/50A TANGO-A02 250V/5A TANGO-A18 250V/30A TANGO-A50 250V/60A TANGO-A04 250V/10A TANGO-A24 250V/30A TANGO-A75 250V/75A TANGO-A06 250V/15A TANGO-A30 250V/40A TANGO-A08 250V/15A TANGO-A35 250V/40A Magnetic contactor Magnetic contactor may be installed when needed. The capacity of that is same as NFB Regenerative brake resister Amplifier Wire[ mm2 ] TANGO-A35 or less 2(AWG14) TANGO-A40/A50/A75 3.5(AWG12) Motor power Amplifier Wire[ mm2 ] Amplifier Wire[ mm2 ] Amplifier Wire[ mm2 ] TANGO-A (AWG16) TANGO-A12 2(AWG14) TANGO-A40 5.5(AWG10) TANGO-A (AWG16) TANGO-A18 3.5(AWG12) TANGO-A50 5.5(AWG10) TANGO-A (AWG16) TANGO-A24 3.5(AWG12) TANGO-A75 8(AWG8) TANGO-A (AWG16) TANGO-A30 5.5(AWG10) TANGO-A08 2(AWG14) TANGO-A35 5.5(AWG10) Grounding: Class D grounding is recommended(100 ohm or less). Be sure to perform one point grounding(do not make the loop). Amplifier Wire[ mm2 ] TANGO-A35 or less 2(AWG14) TANGO-A40/A50/A75 3.5(AWG12) NS SYSTEM CO., LTD. 2-1

20 Chapter 2 WIRING 2.2 PARTS IDENTIFICATION (BOOK1/BOOK2) Function key unit 7-segment display CN4 : R, S, T, E - AC input power P, B - regenerative brake U, V, W, FG - motor power CN3 : motor encoder connector CN2 : serial communication connector CN1 : I/O connector NS SYSTEM CO., LTD. 2-2

21 Chapter 2 WIRING 2.3 CONNECTION DIAGRAM INPUT POWER AC220V 50/60Hz 3PHASE R S T E MAIN POWER(CN4) BRAKE REGISTER (OPTION) 5 6 P B SERVO1 SERVO MOTOR U V W FG ENC U V W PC or HOST CONTROLLER PC or HOST CONTROLLER WITH ANALOG POWER 10 FG ENCODER INTERFACE COM.PORT USB PORT SPDMON TRQMON CN3 INTERFACE (CN1) CN2 (CN5 : OPTION) MONITOR OUTPUT(CN6) SERVO DRIVER +15V 0V -15V BATTERY for ABS. ENCODER BAT+ BAT- ABS. ENCODER POWER(CN7 : OPTION) NS SYSTEM CO., LTD. 2-3

22 Chapter 2 WIRING 2.4 Encoder (CN3) Pin No. Symbol Name 6 A A phase input 11 /A /A phase input 1 B B phase input 7 /B /B phase input 12 Z Z phase input 2 /Z /Z phase input 8 U U phase input 13 /U /U phase input 3 V V phase input 9 /V /V phase input 14 W W phase input 4 /W /W phase input 10 VCC 5V power 15 0V/BAT- 0V / BATTERY - 5 BAT+ BATTERY + NS SYSTEM CO., LTD. 2-4

23 Chapter 2 WIRING 2.5 Signals (CN1) Pin No. Symbol Name 19 SPDCOM Analog Speed Command 1 TRQCOM Analog Torque Command 10 AGND Gnd for Anolog Interface 20 +PP Pulse Forward + 2 -PP Pulse Forward NP Pulse Reverse NP Pulse Reverse - 16 AO Encoder A Phase Output 25 /AO Encoder /A Phase Output 7 BO Encoder B Phase Output 17 /BO Encoder /B Phase Output 26 ZO Encoder Z Phase Output 8 /ZO Encoder /Z Phase Output 18 DGND Gnd for Digital Interface 3 24V 24V for Interface 5 OUT0 ALARM 24 OUT1 BRAKE 15 OUT2 READY/NEAR 6 OUT GND OUT COMMON Pin No. Symbol CONTROL MODE POSITION CONTORL SPEED CONTROL TORQUE CONTROL COMBINATION CONTROL 13 IN0 SVON 22 IN1 ARST 14 IN2 CCWL CCWL/DSPD1 CCWL/DTRQ1 4 IN3 CWL CWL/DSPD2 CWL/DTRQ2 11 IN4 STOP 23 IN5 DIR/PCON/GAIN 9 IN6 TRQL TRQL SPDL MODE NS SYSTEM CO., LTD. 2-5

24 Chapter 2 WIRING Pin No. Symbol POSITION CONTORL 13 IN0 SVON Servo On 22 IN1 ARST Alarm Reset 14 IN2 CCWL CCW Limit (See PB10) 4 IN3 CWL CW Limit (See PB10) 11 IN4 STOP Stop 23 IN5 DIR/PCON/GAIN (See PA15) 9 IN6 TRQL Torque Limit Pin No. Symbol SPEED CONTORL 13 IN0 SVON Servo On 22 IN1 ARST Alarm Reset 14 IN2 CCWL/DSPD1 CCW Limit (See PB10) 4 IN3 CWL/DSPD2 CW Limit (See PB10) 11 IN4 STOP Stop 23 IN5 DIR/PCON/GAIN (See PA15) 9 IN6 TRQL Torque Limit Pin No. Symbol TORQUE CONTORL 13 IN0 SVON Servo On 22 IN1 ARST Alarm Reset 14 IN2 CCWL/DTRQ1 CCW Limit (See PB10) 4 IN3 CWL/DTRQ2 CW Limit (See PB10) 11 IN4 STOP Stop 23 IN5 DIR/PCON/GAIN (See PA15) 9 IN6 SPDL Speed Limit Pin No. Symbol COMBINATION CONTORL 13 IN0 SVON Servo On 22 IN1 ARST Alarm Reset 14 IN2 CCWL CCW Limit (See PB10) 4 IN3 CWL CW Limit (See PB10) 11 IN4 STOP Stop 23 IN5 DIR/PCON/GAIN (See PA15) 9 IN6 MODE Mode Select NS SYSTEM CO., LTD. 2-6

25 Chapter 3 Tuning 3.1 Fundamentals of Machine Ridigity Machine rigidity is defined as the solidity to resist deformation by external force. When external force is applied to machine, machine reaction is delayed until deformation is finished. Therefore, high rigidity machine can react faster than low rigidity machine. The rigidity of the mechanical system can be expressed by the natural frequency. The high rigidity means that machine has the high natural frequency and high controllability. From the viewpoint of servo control, the position control frequency (position loop gain) must not exceed the natural frequency of the mechanical system because machine cannot react to the control action. The higher rigidity can get a higher position loop gain. Therefore, it is necessary that you must know the rigidity of object machine to be controlled. For example, if the mechanical system is an articulated robot with harmonic gear reducer, the rigidity is very low because the natural frequency of harmonic gear reducer is 10~20Hz. In this case, the position loop gain can be set to 10~20Hz. If the mechanical system is a chip mounting machine, IC bonding machine, or high-precision machining tool, the natural frequency of the system is 70Hz or higher. Therefore, the position loop gain can be set to 70Hz or higher. Therefore, when high responsiveness is required, it is not only important to ensure the responsiveness of the servo system (control gain, motor, and encoder), but it is also necessary to ensure that the mechanical system have high rigidity. The rigidity level according to machine characteristics is shown as following table. Rigidity Level Highest High Middle Low Natural Frequency 70~160Hz 50~70Hz 30~50Hz 10~20Hz Machine Type and Connection Mechanism Light-weight indexer driven by timing belt. Light-weight linear motion table directly driven by short-length ball screw. Examples: LED bonding machine, chip inspection machine, PCB inspection machine Light or middle-weight linear motion table directly driven by short-length ball screw. Machines driven by ball screws through the ultra high precision gear reducer. Middle-weight indexer driven by timing belt. Examples: chip mounting machine, bonding machine, high-precision machine tool, high-precision indexer. Middle or heavy-weight linear motion table directly driven by long-length ball screw. Machines driven by ball screws through the general precision gear reducer. Middle-weight linear motion table driven by timing belt. Short conveyor belt driven by timing belt. Examples: general machine tool, transverse robot, short conveyor. Heavy-weight linear motion table driven by timing belt. Long conveyor belt driven by chains. Articulated robot with harmonic gear reducer. General machine with large-backlash gear reducer. Examples: long conveyor, articulated robot. NS SYSTEM CO., LTD. 3-1

26 Chapter 3 Tuning 3.2 Gain Adjustment(Tuning) Excellent Gain Adjustment (gain adjustment for high gain and high positioning time). Level Adjustment Set the proper system response level (machine rigidity level) to the parameter PA02. Refer to the chapter of Understanding of machine rigidity. If you cannot decide proper system response level, set to the level 4. The level 4 is average value which can be applied to the general machine. 1 When the response level is selected, the servo gains (position p-gain1/2, speed p-gain1/2, speed integral time constant1/2 and high gain vibration suppression filter time constant1/2) are saved to memory automatically. The servo gains against selected response level have a large safety margin by considering a variety of machines. Therefore, servo gains may be adjusted more higher for fast response speed when needed. Try to do twice the one-time autotuning in check mode CH06. 2 Estimated inertia moment ratio must be saved at both inertia moment ratio1 (PA03) and inertia moment ratio2 (PA20) by setting PD19 to 0. 3 Increase simultaneously both the speed loop gain 1 (PA05) and the position loop gain 1 (PA04) as same value until when vibration begins in the mechanical system. When a ballscrew or the like is used, high frequency vibration may occur as the gain is increased. The high frequency vibration generates oscillation noise in a high-pitched tone due to shaft torsional 4 resonance. If machine vibration is derived from high gain (not from machine itself), set the high vibration suppression filter function (PA24/25/26). When a timing belt driven indexer or the like is used, if vibration is not satisfied when stopping, set the stopping vibration suppression function (PA27/28/29). If vibration is not still satisfied even when high vibration suppression filter function or stopping vibration 5 suppression function is used, decrease simultaneously both the speed loop gain 1 (PA05) and the position loop gain 1 (PA04) as same value until when vibration is satisfied. 6 Set the gain1/2 switching function (PA16/17/18) for ultra fast response speed when running. Increase simultaneously both the speed loop gain 2 (PA21) and the position loop gain 2 (PA22) as same 7 value until when response speed is satisfied while running. If vibration begins in the mechanical system, decrease simultaneously both the speed loop gain 2 (PA21) and the position loop gain 2 (PA22) as same value until when vibration is satisfied while running. 8 9 When servo is operated at low speed as like jog motion, if vibration occurs, adjust properly gain1/2 change point (PA17/18) according to that speed. If the setting of gains are satisfied but some shock is happened on starting and stopping, This shock can be removed with remaining performance by the proper setting of smoothing parameters (PA06/07). NS SYSTEM CO., LTD. 3-2

27 Chapter 3 Tuning Simple Gain Adjustment (gain adjustment for quick test). Level Adjustment Set the proper system response level (machine rigidity level) to the parameter PA02. Refer to the chapter of Understanding of machine rigidity. If you cannot decide proper system response level, set to the level 4. The level 4 is average value which can be applied to the general machine. 1 When the response level is selected, the servo gains (position p-gain1/2, speed p-gain1/2, speed integral time constant1/2 and high gain vibration suppression filter time constant1/2) are saved to memory automatically. The servo gains against selected response level have a large safety margin by considering a variety of machines. Therefore, servo gains may be adjusted more higher for fast response speed when needed. Try to do twice the one-time autotuning in check mode CH06. 2 Estimated inertia moment ratio is saved at both inertia moment ratio1 (PA03) and inertia moment ratio2 (PA20) or only inertia moment ratio1 (PA03) according to the saving condition. 3 Increase the system response level (PA02) until when vibration begins in the mechanical system. Decrease the system response level (PA02) until when vibration stops in the mechanical system. 4 If vibration is not satisfied when stopping, Increase the integral time constant1 (PA06) Manual Gain Adjustment (gain adjustment for autotuning-disable machine). Level Adjustment Set the proper system response level (machine rigidity level) to the parameter PA02. 1 Refer to the chapter of Understanding of machine rigidity. If you cannot decide proper system response level, set to the level 4. The level 4 is average value which can be applied to the general machine. 2 Set the proper value of inertia moment ratio to the parameter PA Set the position loop gain (PA04) to a comparatively low value. Then increase the speed loop gain (PA05) to within a range where there is no noise or vibration. Decrease the speed loop gain (PA05) a little from the value set in step 3. Then increase the position loop gain (PA04) to within a range where there is no overshooting or vibration. Set the speed loop integral time constant (PA06) while observing the positioning settling time and the vibration of the mechanical system. If the constant is too large, the positioning settling time will be too long. Finally, progressively make fine adjustments to parameters such as the position loop gain, speed loop gain, and integral time constant until when find the optimal points. NS SYSTEM CO., LTD. 3-3

28 Chapter 3 Tuning NS SYSTEM CO., LTD. 3-4

29 Chapter 4 Position Control Mode 4.1 Fundamentals of Position Control Position control loop generates speed command in order to quickly reach to the target position by position command. But, quick response is disturbed due to time delay from machine rigidity. As result of time delay, servo cannot obtain the optimum performance. To recover the time delay, position control loop try to make the position error to zero as fast as possible. Block diagram of position control is as following figure. Position command Position Position error + control - (P gain) Speed reference (command) Speed control Inner loop Current control Rigidity delay Position output Position feedback Compensate position delay (Position Control Block Diagram) The position loop gain has two limitation conditions as followings. Limitation condition by machine system. Position loop gain cannot be set higher than natural frequency of the mechanical system. If position loop gain exceeds the natural frequency of the mechanical system, mechanical vibration occurs. Position loop gain can be increased only to the point where vibration begins in the mechanical system. For higher gain, mechanical system must be made more rigid to increase its natural frequency. The higher rigidity allows the higher position loop gain. Refer to the chapter of Understanding of machine rigidity Limitation condition by control rule. Keep in mind that inner loop must have higher response speed than outer loop for stability of multi-loop feedback control system. Position loop gain must not exceed the speed loop gain. If the position loop gain is higher than the speed loop gain, speed reference output from the position loop cannot follow the position loop response due to the slower speed loop response. As a result, the speed reference output from the position loop will oscillate as shown in the following figure. If this happens, reduce the position loop gain or increase the speed loop gain. Speed reference output when normal Speed reference output when abnormal Time Therefore, to increase the position loop gain, you must first increase the speed loop gain. If only the position loop gain is increased, oscillation will result in the speed reference output and positioning time will increase, not decrease. NS SYSTEM CO., LTD. 4-1

30 Chapter 4 Position Control Mode 4.2 CONNECTION CONNECTION FOR POSITION CONTROL (CN1) SPDCOM TRQCOM AGND Analog to Digital Converter 20 +PP 150 COMMAND PULSE INPUT PP +NP NP 3 24V 2.4K SERVO ON INPUT 13 SVON VDC 24V ALARM RESET INPUT CCW LIMIT INPUT CW LIMIT INPUT STOP INPUT DIR/PCON/GAIN INPUT TORQUE LIMIT INPUT ALARM OUTPUT BRAKE OUTPUT READY OUTPUT ALMRST CCWL CWL STOP DIR/PCON/GAIN TRQL ALARM+ BRAKE+ READY+ SERVO DRIVER 6 OUT GND A-PHASE OUTPUT 25 B-PHASE OUTPUT AO /AO BO /BO Z-PHASE OUTPUT 26 8 ZO /ZO DIGITAL GROUND 18 DGND NS SYSTEM CO., LTD. 4-2

31 Chapter 4 Position Control Mode SIGNAL LAYOUT AND ASSIGNMENT Pin No. Symbol Name 19 SPDCOM Analog Speed Command 1 TRQCOM Analog Torque Command 10 AGND Gnd for Anolog Interface 20 +PP Pulse Forward + 2 -PP Pulse Forward NP Pulse Reverse NP Pulse Reverse - 16 AO Encoder A Phase Output 25 /AO Encoder /A Phase Output 7 BO Encoder B Phase Output 17 /BO Encoder /B Phase Output 26 ZO Encoder Z Phase Output 8 /ZO Encoder /Z Phase Output 18 DGND Gnd for Digital Interface 3 24V 24V for Interface 5 OUT0 ALARM 24 OUT1 BRAKE 15 OUT2 READY/NEAR 6 OUT GND OUT COMMON Pin No. Symbol POSITION CONTORL 13 IN0 SVON Servo On 22 IN1 ARST Alarm Reset 14 IN2 CCWL CCW Limit (See PB10) 4 IN3 CWL CW Limit (See PB10) 11 IN4 STOP Stop 23 IN5 DIR/PCON/GAIN (See PA15) 9 IN6 TRQL Torque Limit NS SYSTEM CO., LTD. 4-3

32 Chapter 4 Position Control Mode PP/NP COMMAND PULSE The input pulse train format can be chosen with parameter P-25. The input pulse train can be multiplied by the electronic gear ratio(parameter P-12,13,14,15). Accordingly, the machine can be moved at any multiplication factor to input pulse. The direction of rotation can be changed by parameter P-35 without hard-wired replacement. Recommended driving current is 10~15 ma. [ LINE DRIVER TYPE ] Make the left side connection. The line driver signal input is the best solution of noise reduction. Use a twisted-pair shield cable to minimize the influence of electromagnetic interference. The maximum frequency of line driver signal input is up to 500Khz. The problem of position shift may arise from high speed pulse input higher than the maximum frequency. Rext value 5V 12V 24V etc. short W 1.8K 1W formula Formula : VDC/(Rext+330)=0.01~0.015 [ OPEN COLLECTOR TYPE ] Make the left side connection. If the interface power is 5V then there is no need to insert a external resistor(rext). Be sure to insert a external resistor(rext) in case of 12V or 24V. Use a twisted-pair shield cable to minimize the influence of electromagnetic interference. The maximum frequency of open collector signal input is uo to 200Khz. Never use the TTL output for driving circuit. The driving capacity of TTL is insufficient to drive photocoupler. Use the amplifier circuit. NS SYSTEM CO., LTD. 4-4

33 Chapter 4 Position Control Mode INPUT SIGNALS The power supply for input interface is 24Vdc±10%, 200mA or more. The symbol of the ground for 24Vdc is 24VGND hereafter. All input interface signals are isolated by photo-coupler. The function and application of input interface signals are described as the following table. Name Symbol Pin No. Function and Application Servo On (IN0) Reset (IN1) CCW Limit (IN2) CW Limit (IN3) SVON 13 Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free. Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a ALMRST 22 one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset. CCWL 14 To start operation, short CWLMT and CCWLMT-24VGND. Open them to bring the motor to a emergency stop and bring the amplifier to CWL 4 a alarm status STOP (IN4) STOP 11 DIR/PCON/GAIN DIR/PCON/GAIN 23 (IN5) TORQUE Limit (IN6) STOP INPUT ZERO LOCK FUNCTION (See PB24) DIRECTION INPUT P/PI CONTOL INPUT GAIN 1/2 SELECT INPUT (See PA15) TRQL 9 TORQUE LIMIT INPUT NS SYSTEM CO., LTD. 4-5

34 Chapter 4 Position Control Mode OUTPUT SIGNALS All output interface signals are isolated by photo-coupler. Each output port has the capacity of 100Vdc, 120mA. The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction. Otherwise, the servo amplifier output damaged by over-current permanently. The function and application of output interface signals are described as the following table. Name Symbol Pin No. Function and Application Alarm signal output terminal. Alarm ALARM+ (OUT0) 5 ALM output is normally contacted with OUTCOM. ALM-OUTCOM are disconnected when an alarm occurs. When an alarm occurs, the alarm message is display at segment display unit. Brake signal output terminal. BRK-OUTCOM are disconnected at servo off or alarm. Use a servo motor with electromagnetic brake which is designed to prevent from a load drop on a vertical shaft or which ensure double safety at an emergency stop. Brake BRAKE+ (OUT1) 24 In parameter PC01, set a time delay between electromagnetic brake signal output on and servo on. In parameter PC02, set a safety speed of electromagnetic brake action. When the servo motor is stopped freely at a running, the timing of electromagnetic brake signal off is delayed until the speed reaches safety level. In parameter PC03, set a time of electromagnetic brake action when servo-off. OUT2 OUT2+ 15 INPOSITION signal output terminal. (See PC05) OUT GND OUT GND 6 OUTPUT SIGNALS COMMON GROUND NS SYSTEM CO., LTD. 4-6

35 Chapter 5 Speed Control Mode 5.1 Fundamentals of Speed Control Speed control loop generates current command in order to quickly reach to the target speed by speed command. But, quick response is disturbed due to time delay from load inertia moment. As result of time delay, servo cannot obtain the optimum performance. To recover the time delay, speed control loop try to make the speed error to zero as fast as possible. Block diagram of speed control is as following figure. Speed command Speed error Speed + - control Current reference (command) Inner current loop Current control Current limit Torque constant (Kt) 1 Jm Speed output Speed feedback Compensate speed delay (Speed Control Block Diagram) If inner current loop is perfect, that can be considered as 1 in the block diagram. And, if load inertia moment is accurately compensated in speed control, speed control block diagram is simplified as following figure. Speed command + - Speed control Jc*Kps Kt Current control 1 machine Kt Jm Speed output Speed command + - Kps Speed output Speed feedback Kps: speed p-gain Jc=Jm Jm: load inertia moment Kt=torque constant Speed feedback speed output (Simplified Speed Control Block Diagram) Kps = x speed command (1+Kps) The servo will be most stable and responsive when speed loop gain is set as high as possible within the vibration-free range. If speed loop gain (Kps) is enough high, speed output is almost same as speed command. But, small amount of speed error cannot be eliminated even though high gain. That error is called steady-state error. For example, if speed loop gain (Kps) is set to 100Hz, steady-state error becomes 1%. It is not negligible value. To eliminate the steady-state error, increasing of speed loop gain (Kps) is limited due to system stability. Therefore, steady-state error is removed through the integration control of speed error. The integral control is defined as integral time constant. The PI (proportional and integral) control block diagram of speed loop is as following figure. Speed command + - Speed control P-control Jc*Kps Kt + + Current control 1 machine Kt Jm Speed output Speed feedback I-control Jm: load inertia moment Jc*Kps 1 Kt=torque constant x Kt Ti*S Kps: speed p-gain Ti=integral time constant Jc=Jm (Speed PI-Control Block Diagram) NS SYSTEM CO., LTD. 5-1

36 Chapter 5 Speed Control Mode The speed loop gain and integral time constant have limitation conditions as followings. Limitation condition of speed loop gain. Keep in mind that inner loop must have higher response speed than outer loop for stability of multi-loop feedback control system. Therefore, the speed loop gain must be higher than the position loop gain. If the speed loop gain is too low, it will delay the outer position loop and cause overshooting and vibration of the speed reference. If this happens, reduce the position loop gain or increase the speed loop gain. In general, it is easy way that speed loop gain is set to the same value as position loop gain. Limitation condition of integral time constant. Integral element causes a delay in the servo system, so, set this value within the range where no problem occurs. If you set smaller value, you can obtain a shorter positioning time, but too small value may cause overshooting or vibration. If you set too large value, the speed loop cannot respond to very small command and cannot eliminate steady-state error. For the stability, consider the relationship between speed loop gain and integral time constant as indicated in the following guideline expressions. * Guideline for good performance: Speed integral time constant [0.1msec] = (8000~6000) Speed loop gain[hz] * Guideline for min. limitation: Speed integral time constant [0.1msec] (3200~4700) Speed loop gain[hz] If the load inertia moment is large, make sure that the integral time constant is large enough, because, servo cannot perfectly eliminate the time delay from load inertia moment due to current limit function. Speed loop response time is limited because that maximum allowable acceleration speed is limited by current limit function as following expression. * Maximum allowable acceleration speed = Load inertia moment Torque. Therefore, if you want the faster response time, make the load inertia moment to be small, or, use the low inertia moment motor, or, use the speed reducer as like timing pulley and belt. When speed reducer is installed, the amount of load inertia moment is reduced as following expression. * Reduced load inertia moment = Load inertia moment (reduction ratio)². Also, if the mechanical system is likely to vibrate, make sure that the integral time constant is large enough. NS SYSTEM CO., LTD. 5-2

37 Chapter 5 Speed Control Mode 5.2 Connection (CN1) -10V to +10V SPEED COMMAND INPUT TORQUE COMMAND INPUT 19 1 SPDCOM TRQCOM Analog to Digital Converter ANALOG GROUND 10 AGND PP -PP +NP -NP V 2.4K SERVO ON INPUT 13 SVON VDC 24V ALARM RESET INPUT CCW LIMIT INPUT CW LIMIT INPUT STOP INPUT DIR/PCON/GAIN INPUT TORQUE LIMIT INPUT ALARM OUTPUT BRAKE OUTPUT READY OUTPUT ALMRST CCWL/DSPD1 CWL/DSPD2 STOP DIR/PCON/GAIN TRQL ALARM+ BRAKE+ READY+ SERVO DRIVER 6 OUT GND A-PHASE OUTPUT AO /AO B-PHASE OUTPUT 7 17 BO /BO Z-PHASE OUTPUT 26 8 ZO /ZO DIGITAL GROUND 18 DGND NS SYSTEM CO., LTD. 5-3

38 Chapter 5 Speed Control Mode INPUT SIGNALS FOR CONTROL The power supply for input interface is 24Vdc±10%, 200mA or more. The symbol of the ground for 24Vdc is 24VGND hereafter. All input interface signals are isolated by photo-coupler. The function and application of input interface signals are described as the following table. Name Symbol Pin No. Function and Application Servo On (IN0) Reset (IN1) CCW Limit (IN2) CW Limit (IN3) SVON 13 ALMRST 22 CCWL 14 CWL 4 Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free. Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset. To start operation, short CWLMT and CCWLMT-24VGND. Open them to bring the motor to a emergency stop and bring the amplifier to a alarm status DIGITAL SPEED INPUT DIGITAL TORQUE INPUT (See PB10) STOP (IN4) STOP 11 DIR/PCON/GAIN DIR/PCON/GAIN 23 (IN5) TORQUE Limit (IN6) STOP INPUT ZERO LOCK FUNCTION (See PB24) DIRECTION INPUT P/PI CONTOL INPUT GAIN 1/2 SELECT INPUT (See PA15) TRQL 9 TORQUE LIMIT INPUT NS SYSTEM CO., LTD. 5-4

39 Chapter 6 Torque Control Mode 6.1 Fundamentals of Torque Control Current control loop generates voltage command in order to quickly reach to the target current by current command. But, quick response is disturbed due to time delay from motor coil. As result of time delay, servo cannot obtain the optimum performance. To recover the time delay, current control loop try to make the current error to zero as fast as possible. If current flows into motor coil, torque is generated proportionally to product of current and torque const (Kt) by Fleming s left hand rule. Finally, motor runs at certain speed according to the machine conditions (inertia moment, friction, etc). Block diagram of current control is as following figure Current command + - Current PI control Kpi(R+Ls) Motor Voltage coil command 1 R+Ls Current limiter Motor current Torque constant (Kt) Motor torque Machine 1 Jm Speed output Current feedback Compensate current delay Kpi: current loop gain Kt=torque constant Jm: load inertia moment (Current PI-Control Block Diagram) The servo driver is designed to ensure that the current loop has good response performance against applied motor. The user needs only to adjust the position loop and speed loop gain. NS SYSTEM CO., LTD. 6-1

40 Chapter 6 Torque Control Mode 6.2 Connection (CN1) -10V to +10V SPEED COMMAND INPUT TORQUE COMMAND INPUT 19 1 SPDCOM TRQCOM Analog to Digital Converter ANALOG GROUND 10 AGND PP -PP NP NP 3 24V 2.4K SERVO ON INPUT 13 SVON VDC 24V ALARM RESET INPUT CCW LIMIT INPUT CW LIMIT INPUT STOP INPUT DIR/PCON/GAIN INPUT SPEED LIMIT INPUT ALARM OUTPUT BRAKE OUTPUT READY OUTPUT ALMRST CCWL/DTRQ1 CWL/DTRQ2 STOP DIR/PCON/GAIN SPDL ALARM+ BRAKE+ READY+ SERVO DRIVER 6 OUT GND A-PHASE OUTPUT AO /AO B-PHASE OUTPUT 7 17 BO /BO Z-PHASE OUTPUT 26 8 ZO /ZO DIGITAL GROUND 18 DGND NS SYSTEM CO., LTD. 6-2

41 Chapter 6 Torque Control Mode INPUT SIGNALS FOR CONTROL The power supply for input interface is 24Vdc±10%, 200mA or more. The symbol of the ground for 24Vdc is 24VGND hereafter. All input interface signals are isolated by photo-coupler. The function and application of input interface signals are described as the following table. Name Symbol Pin No. Function and Application Servo On (IN0) Reset (IN1) CCW Limit (IN2) CW Limit (IN3) SVON 13 ALMRST 22 CCWL 14 CWL 4 Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free. Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset. To start operation, short CWLMT and CCWLMT-24VGND. Open them to bring the motor to a emergency stop and bring the amplifier to a alarm status DIGITAL TORQUE INPUT (See PB10) STOP (IN4) STOP 11 DIR/PCON/GAIN DIR/PCON/GAIN 23 (IN5) SPEED Limit (IN6) STOP INPUT ZERO LOCK FUNCTION (See PB24) DIRECTION INPUT P/PI CONTOL INPUT GAIN 1/2 SELECT INPUT (See PA15) SPDL 9 SPEED LIMIT INPUT NS SYSTEM CO., LTD. 6-3

42 Chapter 6 Torque Control Mode NS SYSTEM CO., LTD. 6-4

43 Chapter 7 Combination Control Mode 7.1 Connection (CN1) -10V to +10V SPEED COMMAND INPUT TORQUE COMMAND INPUT 19 1 SPDCOM TRQCOM Analog to Digital Converter ANALOG GROUND 10 AGND 20 +PP 150 COMMAND PULSE INPUT PP +NP NP 3 24V 2.4K SERVO ON INPUT 13 SVON VDC 24V ALARM RESET INPUT CCW LIMIT INPUT CW LIMIT INPUT STOP INPUT DIR/PCON/GAIN INPUT MODE INPUT ALARM OUTPUT BRAKE OUTPUT READY OUTPUT ALMRST CCWL CWL STOP DIR/PCON/GAIN MODE ALARM+ BRAKE+ READY+ SERVO DRIVER 6 OUT GND A-PHASE OUTPUT AO /AO B-PHASE OUTPUT 7 17 BO /BO Z-PHASE OUTPUT 26 8 ZO /ZO DIGITAL GROUND 18 DGND NS SYSTEM CO., LTD. 7-1

44 Chapter 7 Combination Control Mode INPUT SIGNALS FOR CONTROL The power supply for input interface is 24Vdc±10%, 200mA or more. The symbol of the ground for 24Vdc is 24VGND hereafter. All input interface signals are isolated by photo-coupler. The function and application of input interface signals are described as the following table. Name Symbol Pin No. Function and Application Servo On (IN0) Reset (IN1) CCW Limit (IN2) CW Limit (IN3) SVON 13 ALMRST 22 CCWL 14 CWL 4 Short SVON-24VGND to switch the base citcuit on, making the servo amplifier ready to operate. Open them to shut off the base circuit, making the servo motor free. Short ALMRST-24VGND for longer than 50msec to reset alarm. The pulse width of ALMRST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", ALMRST input makes the servo amplifier to do reset. To start operation, short CWLMT and CCWLMT-24VGND. Open them to bring the motor to a emergency stop and bring the amplifier to a alarm status DIGITAL SPEED INPUT DIGITAL TORQUE INPUT (See PB10) STOP (IN4) STOP 11 DIR/PCON/GAIN DIR/PCON/GAIN 23 (IN5) MODE (IN6) STOP INPUT ZERO LOCK FUNCTION (See PB24) DIRECTION INPUT P/PI CONTOL INPUT GAIN 1/2 SELECT INPUT (See PA15) MODE 9 CONTROL MODE SELECT INPUT NS SYSTEM CO., LTD. 7-2

45 Chapter 8 PARAMETER 8.1 Parameter List Par. No. Name Symbol Range Init. Unit Validation Mode PA00 Control Mode CMODE PA01 Autotuning Mode AMODE PA02 PA03 PA04 PA05 PA06 PA07 PA08 System SYS Response Level Load inertia moment IMR1 ratio 1 Position PPG1 P-Gain 1 Speed SPG1 P-Gain 1 Speed Integral SITC1 Time Constant 1 Feed Forward FFG Gain Feed Forward FFTC Filter Time Constant PA09 Speed Bias SBIAS PA10 Speed Bias Width SBIASW PA11 PA12 PA13 PA14 PA15 PA16 Automatic APIP PI/P Switching PI/P PIPT Torque Mode PI/P PIPS Speed Mode PI/P PIPP Pulse Error Mode IN5 IN5MF Manual Function Automatic AGA12 Gain1/2 Switching 2 - Max Max Max 39 Min Max times Min 5 60 Hz Max 2000 Min 5 60 Hz Max 2000 Min Max msec 0 % Max Max msec 0 rpm Max 400 Min 1 10 pulse Max Max 3 Min % Max 250 Min rpm Max 5000 Min pulse Max Max Max 2 NS SYSTEM CO., LTD. 8-1

46 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA17 Gain1/2 Speed Mode GA12S Min 5 30 rpm Max 5000 PA18 Gain1/2 Pulse Error Mode GA12P Min 5 20 pulse Max 9999 PA19 Gain1/2 Filter Time Constant GA12TC Max msec PA20 Load inertia moment ratio 2 IMR2 Min Max times PA21 Position P-Gain 2 PPG2 Min 5 60 Hz Max 2000 PA22 Speed P-Gain 2 SPG2 Min 5 60 Hz Max 2000 PA23 Speed Integral Time Constant 2 SITC2 Min Max msec PA24 High Vibration Suppression Filter HVF 0 - Max 2 PA25 High Vibration Suppression Filter Time Constant 1 HVFTC1.00 Max msec PA26 High Vibration Suppression Filter Time Constant 2 HVFTC2.00 Max msec PA27 Stopping Vibration Suppression Range SVSR 0 pulse Max 4 PA28 Stopping Vibration Suppression Gain SVSG Min % Max 80 PA29 Stopping Vibration Suppression Time SVST Min msec Max 3000 NS SYSTEM CO., LTD. 8-2

47 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PB00 Position Command Pulse Form PCPF 0 - Max 5 PB01 Electronic Gear Numerator(1000 s) EGNL Max 9999 PB02 Electronic Gear Numerator(10000 s) EGNH 0 - Max 3 PB03 Electronic Gear Denominator(1000 s) EGDL Max 9999 PB04 Electronic Gear Denominator(10000,s) EGDH 0 - Max 3 PB05 Position Command Direction PCD 0 - Max 1 PB06 Position Command Acc./Dec. Time PCAT 0 msec Max 400 PB07 Position Command Acc./Dec. Shape PCAS 0 - Max 1 PB08 Reserved PB09 Reserved PB10 Speed Command Type SCT 0 - Max 1 PB11 Analog Speed Range ASR Min rpm Max 6000 PB12 Analog Speed Filter Time Constant ASFTC m 0.50 Max sec PB13 Analog Speed Offset ASOF Min mv Max +999 PB14 Analog Speed Zero Clamp ASZC 0 - Max 1 PB15 Analog Speed Zero Clamp Range ASZCR Min mv Max 999 PB16 Digital Speed Command 0 DSC0 Min rpm Max PB17 Digital Speed Command 1 DSC1 Min rpm Max NS SYSTEM CO., LTD. 8-3

48 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PB18 PB19 PB20 PB21 PB22 PB23 PB24 PB25 Digital Speed DSC2 Command 2 Digital Speed DSC3 Command 3 Speed Command SCD Direction Speed Command SCAT Acceleration Time Speed Command SCDT Deceleration Time Speed Command SCADT Acc./Dec. Type Zero Lock ZLF Function Zero Lock ZLS Speed PB26 Torque Bias TBIAS PB27 PB28 PB29 PB30 PB31 PB32 PB33 Torque Command TCT Type Analog Torque ATR Range Analog Torque ATFTC Filter Time Constant Analog Torque ATOF Offset Analog Torque ATZC Zero Clamp Analog Torque ATZCR Zero Clamp Range Digital Torque Command 0 DTC0 Min rpm Max Min rpm Max Max 1 0 msec Max msec Max Max Max 1 Min 1 30 rpm Max 300 Min % Max Max 1 Min % Max Max msec Min mv Max Max 1 Min mv Max 999 Min % Max Digital Torque Min PB34 Command 1 DTC1 Max % NS SYSTEM CO., LTD. 8-4

49 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PB35 Digital Torque Command 2 DTC2 Min % Max PB36 Digital Torque Command 3 DTC3 Min % Max PB37 Torque Command Direction TCD 0 - Max 1 PB38 Reserved PB39 Reserved Par. No. Name Symbol Range Init. Unit Validation Mode PC00 Excessive Position Error EPE Min Max 9999 pulse PC01 Servo Off Delay to Brake Operation SOD Min 1 10 msec Max 500 PC02 Brake Operation Speed BOS Min 5 50 rpm Max 500 PC03 Brake Operation Time BOT Min msec Max 1000 PC04 Multi-Function Output MFO 0 - Max 1 PC05 In-Position Output Range IPO Min pulse Max 9999 PC06 Speed Output Type SOT 0 - Max 1 PC07 Speed Arrival Output Range SAO Min rpm Max 6000 PC08 In-Speed Output Range ISO Min 5 30 rpm Max 100 PC09 Encoder Output Numerator(1000 s) EONL 1 - Max 9999 PC10 Encoder Output Numerator(10000 s) EONH 0 - Max 1 PC11 Encoder Output Denominator(1000 s) EODL 1 - Max 9999 NS SYSTEM CO., LTD. 8-5

50 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PC12 Encoder Output Denominator(10000,s) EODH 0 - Max 1 PC13 Encoder Output Direction EOD 0 - Max 1 PC14 Encoder Output Z-phase Type EOZT 0 - Max 1 PC15 Recovery from Low Voltage Alarm RLVA 1 - Max 1 PC16 Regenerative Brake Operation Time RBOT Min msec Max 500 PC17 Output 0~2 Logic OLG Max 111 PC18 Input 0~3 Logic ILG Max 1111 PC19 Input 4~6 Logic ILG Max 111 PC20 Stroke Limit Function SLF 0 - Max 2 PC21 Analog Monitor1 Output Type MOT1 0 - Max 5 PC22 Analog Monitor1 Output Polarity MOP1 0 - Max 1 PC23 Analog Monitor1 Output Scaling MOS Max 50.0 times PC24 Analog Monitor1 Output Offset MOO1 Min mv Max +999 PC25 Analog Monitor2 Output Type MOT2 1 - Max 5 Analog Monitor2 PC26 Output Polarity MOP2 Max PC27 Analog Monitor2 Output Scaling MOS Max 50.0 times Analog Monitor2 Min -999 PC28 Output Offset MOO2 Max mv NS SYSTEM CO., LTD. 8-6

51 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PC29 Reserved Par. No. Name Symbol Range Init. Unit Validation Mode PD00 Test Speed 0 TSP0 PD01 Test Speed 1 TSP1 PD02 Test Speed 2 TSP2 PD03 Test Speed 3 TSP3 PD04 Test Time 0 TST0 PD05 Test Time 1 TST1 PD06 Test Time 2 TST2 PD07 Test Time 3 TST3 PD08 PD09 PD10 PD11 PD12 PD13 PD14 PD15 Z-Phase Search ZSS Speed Positioning PTS Test Speed Positioning PTD Test Distance Positioning PTR Test Repeat Positioning PTI Test Interval One-time Autotuning OTAM Mode One-time Autotuning OTAI Friction Torque One-time Autotuning OTAF Inertia Moment Ratio Min rpm Max Min rpm Max Min rpm Max Min rpm Max Min 1 10 sec Max 300 Min 1 10 sec Max 300 Min 1 10 sec Max 300 Min 1 10 sec Max 300 Min 5 10 rpm Max 300 Min rpm Max Max turns Min Max 9999 Min msec Max Max % Max 30.0 Min Max times NS SYSTEM CO., LTD. 8-7

52 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PD16 One-time Autotuning Speed OTAS Min rpm Max 2000 PD17 One-time Autotuning Distance OTAD Max turns PD18 One-time Autotuning Repeat OTAR Min 1 10 _ Max 100 PD19 One-time Autotuning Result Save OTAS 0 - Max 1 PD20 Reserved PD21 Serial Communication Remote Control SCRC 0 - Max 1 PD22 Serial Communication Type SCT 2 - Max 2 PD23 Serial Communication Driver Address SCDA 0 - Max 255 PD24 Serial Communication Speed SCS 3 - Max 6 PD25 Serial Communication Reply Delay Time SCRDT 10 μsec Max 6000 PD26 Serial Communication Protocol SCP 0 - Max 1 PD27 Overload Protection Function OLD 0 rpm Max 1 PD28 Manual Overload Torque MOTQ Min % Max 250 PD29 Manual Overload Time MOTM Min msec Max 9999 NS SYSTEM CO., LTD. 8-8

53 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PE Menu PE00 Lock PEML PE01 Motor ID. MID PE02 PE03 PE04 PE05 PE06 PE07 PE08 PE09 PE10 PE11 PE12 PE13 PE14 PE15 Motor MIMU Inertia Moment Unit Motor MIM Inertia Moment Motor MTC Torque Constant Motor MPIU Phase Inductance Unit Motor MPI Phase Inductance Motor MPR Phase Resistance Motor MRC Rated Current Motor MMS Maximum Speed Motor MRS Rated Speed Motor MPN Pole Number Built-in Overload BOPL Protection Level CCW CCWTL Torque Limit CW CWTL Torque Limit Encoder Type ETYPE 1 - Max Max Max 2 Min / 0.01/0.1 - Max 9999 gf cm s² Min Kgf cm/ Max 3000 Arms - - Max 1 Min /0 - Max mh ω Max Max Arms Min 1 - rpm Max 9999 Min 1 - rpm Max 9999 Min 2 - pole Max 98 Min % Max 100 Min % Max 300 Min % Max Max 4 NS SYSTEM CO., LTD. 8-9

54 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PE16 Encoder Pulse per Revolution EPPR Min pulse Max 9999 PE17 9-Wire Encoder UVW Read Delay Time EUVW Min msec Max 500 PE18 9-Wire Encoder ABZ Read Delay Time EABZ Min msec Max 500 PE19 Z-Phase Shift Angle EZSA 0 Max 359 NS SYSTEM CO., LTD. 8-10

55 Chapter 8 PARAMETER 8.2 Parameter Discription Par. No. Name Symbol Range Init. Unit Validation Mode PA00 Control Mode CMODE 2 - Max 5 Set the servo control mode. Control mode 0~2 are fixed control mode and IN6 is used for torque limit input. Control mode 3~5 are combinational control mode and IN6 is used for changeover input. The zero speed lock function at speed control is invalid in control mode 3 and 4. Value Control Mode Control Mode Changeover by IN6 Off On 0 Torque X X Fixed Control 1 Speed X X Mode 2 Position X X 3 Position/Speed Position Speed Combinational 4 Torque/Speed Torque Speed Control Mode 5 Torque/Position Torque Position Par. No. Name Symbol Range Init. Unit Validation Mode PA01 Autotuning Mode AMODE 0 - Max 2 Set the autotuning mode. Value Description Servo is controlled by pre-defined load inertia moment ratio Manual Autotuning One-Time Autotuning Real-Time Autotuning Advanced Real-Time Autotuning Manual autotuning is used when the user wants to manually adjust load inertia moment ratio 1 or 2 while confirming the response of the servo or machine. One-Time autotuning can be used to eliminate the need to manually adjust load inertia moment ratio 1 or 2. The load inertia moment ratio is automatically estimated by check mode 6. Real-time autotuning always estimates load inertia moment ratio 1 during operation of the servo and sets the optimal servo gains. Advanced real-time autotuning always estimates load inertia moment ratio 1 and vibration during operation of the servo and sets the optimal servo gains suitable for the machine characteristics. NS SYSTEM CO., LTD. 8-11

56 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA02 System Response Level SYS 10 - Max 39 Set the response level (machine rigidity level) of the whole servo system. When the response level is selected, the servo gains (position p-gain1/2, speed p-gain1/2, speed integral time constant1/2 and high gain vibration suppression filter time constant1/2) are saved to memory automatically as the below table. As the response level setting is increased, the tracking and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range. If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz, the high gain vibration suppression filter or machine resonance suppression filter may be used to suppress machine resonance. Suppressing machine resonance may allow response level setting to increase. (Position gain: PPG, Speed gain: SPG, Speed integral time constant: SITC, Vibration suppression filter time constant: LPF) Res. PPG SPG SITC LPF Response Machine characteristic (resonant frequency) Level Hz Hz 0.1msec 0.01msec time,msec and Rigidity level Position Speed Low Middle High Highest Special Special Special Special Special (Example) Articulated robot with harmonic gear reducer Rigidity level 0~2 Arm robot, Conveyor Rigidity level 2~4 General Machine Rigidity level 4 ~ 6 Inserter, Mounter, Bonder Rigidity level 7 ~ 10 NS SYSTEM CO., LTD. 8-12

57 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA03 Load inertia moment ratio 1 IMR1 Min times Max Set the ratio of load inertia moment to servo motor inertia moment. The factory setting is 1.00[times] at no-load condition for stand-alone servomotor. The internal servo control gains (position p-gain, speed p-gain and speed integral time constant) are set automatically according to the ratio of load inertia moment. The ratio of load inertia moment is calculated by following table. PA01 Description Manual autotuning is used when the value of the load inertia moment ratio is already Manual Autotuning known or the user wants to manually adjust load inertia moment ratio 1 or 2 while confirming the response of the servo or machine. 0 Servo is controlled by fixed load inertia moment ratio 1 or 2. One-Time autotuning can be used to eliminate the need to manually adjust load One-Time Autotuning inertia moment ratio 1 or 2. The load inertia moment ratio is automatically estimated by check mode Real-Time Autotuning Advanced Real-Time Autotuning Servo is controlled by fixed load inertia moment ratio 1 or 2. Real-time autotuning always estimates the most recent load inertia moment ratio 1 during accelerated/decelerated operation of the servo and sets the optimal servo gains according to the estimated load inertia moment ratio1. The estimated value is saved in the memory of servo every 60 minutes. The value that was saved will be used to start real-time autotuning at power-on. Advanced real-time autotuning always estimates the most recent load inertia moment ratio 1 during accelerated/decelerated operation of the servo and vibration frequency of the machine. It sets the optimal servo gains suitable for the machine characteristics according to the estimated load inertia moment ratio 1 and vibration frequency. The estimated value is saved in the memory of servo every 60 minutes. The value that was saved will be used to start advanced real-time autotuning at power-on. The acceleration/deceleration speed is longer than 400rpm/sec. Non-effective conditions of estimating load inertia moment ratio The acceleration/deceleration torque is less than 10% of the rated torque. The rotational speed is less than 100rpm or speed reference is a stepwise. The movement range is too narrow, e.g., only a few rotations Load rigidity is low and mechanical vibration occurs easily, such as a belt-driven mechanism, or a viscous friction is high. The ratio of load inertia moment to servo motor is more than 100 times. When P control operation (proportional control) is used. NS SYSTEM CO., LTD. 8-13

58 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA04 Position P-Gain 1 PPG1 Min 5 60 Hz Max 2000 Set the proportional gain 1 (position loop gain) of position control loop. When the system response level (PA02) is selected, the position p-gain1/2 are saved to memory automatically as the dedicated value according to system response level (See table of PA02). This parameter determines the response level of the position control loop. Increasing position loop gain improves track ability (responsiveness) to a position command and the positioning time decreases, but a too high value will make overshooting liable to occur at the time of settling. The position loop gain cannot be set higher than resonant frequency of the mechanical system (See table of PA02). The mechanical system must be made more rigid to increase its resonant frequency. The higher rigidity allows the higher position loop gain. Generally speaking, the responsiveness of the position loop cannot be higher than that of the speed loop. Therefore, to increase the position loop gain, you must first increase the speed loop gain. If only the position loop gain is increased, oscillation will result in the speed reference and positioning time will increase, not decrease. Position loop gain can be increased only to the point where oscillation begins in the mechanical system. If the position loop response is faster than the speed loop response, speed reference output from the position loop cannot follow the position loop response due to the slower speed loop response. Therefore, the speed reference will oscillate as shown in the following graph. If this happens, reduce the position loop gain or increase the speed loop gain. Speed reference output when normal Speed reference output when abnormal Time The position loop gain must not exceed the natural frequency of the mechanical system. For example, if the mechanical system is an articulated robot, the rigidity of that is very low because the mechanism incorporates a harmonic gear reducer and the natural frequency of the mechanical system is 10 to 20Hz. In this case, the position loop gain can be set to 10 to 20Hz. If the mechanical system is a chip mounting machine, IC bonding machine, or high-precision machining tool, the natural frequency of the system is 70Hz or more. Therefore, the position loop gain can be set to 70Hz or higher. If the position loop gain can not be set high, an excessive position error alarm may occur during high speed operation. In this case, increase the reference value in the following parameter (PC00) to suppress detection of the excessive position error alarm. The position error pulse value is determined by the following expression. Position error pulse = (Encoder pulse 4) (Rotation speed[rpm] 60) (Position loop gain) The reference value (PC00) of excessive position error alarm must satisfy the following condition. PC00 ((Encoder pulse 4) (Rotation speed[rpm] 60) (Position loop gain)) 2 NS SYSTEM CO., LTD. 8-14

59 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA05 Speed P-Gain 1 SPG1 Min 5 60 Hz Max 2000 Set the proportional gain 1 (speed loop gain) of speed control loop. When the system response level (PA02) is selected, the speed p-gain1/2 are saved to memory automatically as the dedicated value according to system response level (See table of PA02). This parameter determines the responsiveness of the speed loop. The value of speed loop gain is the same as the set value of position loop gain (PA04) if the ratio of load inertia moment (PA03) has been set correctly. The servo will be most stable and responsive when speed loop gain is set as high as possible within the vibration-free range. If the speed loop s responsiveness is too low, it will delay the outer position loop and cause overshooting and vibration of the speed reference. If the ratio of load inertia moment (PA03) has been set correctly, the actual speed loop gain is directly proportional to the ratio of load inertia moment (PA03) so, the ratio of load inertia moment must be set correctly by appropriate autotuning method. * Manual gain adjustment * If the user want to manually adjust actual speed loop gain with default load inertia moment ratio (=1.00), consider the relationship between speed loop gain and load inertia moment ratio as indicated in the following expression. Speed loop gain[hz] = (Speed p-gain according to system response level) (Expected load inertia moment ratio) Manual gain adjustment is done as following sequence. 1. Set the position loop gain to a comparatively low value. Then increase the speed loop gain set in PA05 to within a range where there is no noise or oscillation. 2. Decrease the speed loop gain a little from the value set in step 1. Then increase the position loop gain to within a range where there is no overshooting or oscillation. 3. Set the speed loop integral time constant in PA06 while observing the positioning settling time and the vibration of the mechanical system. If the constant is too large, the positioning settling time will be too long. 4. When a ballscrew or the like is used, high frequency vibration may occur as the gain is increased. The high frequency vibration generates oscillation noise in a high-pitched tone due to shaft torsional resonance. At this case, set the high vibration filter in PA24/25/26 (See PA24). 5. Finally, progressively make fine adjustments to parameters such as the position loop gain, speed loop gain, and integral time constant to find the optimal points. NS SYSTEM CO., LTD. 8-15

60 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA06 Speed Integral Time Constant 1 SITC1 Min msec Max Set the time constant of the speed integral compensation. When the system response level (PA02) is selected, the speed integral time constant 1/2 are saved to memory automatically as the dedicated value according to system response level (See table of PA02). The speed loop has an integral element so that the speed loop can respond to very small command and eliminates stationary deviation against a command. But, this integral element causes a delay in the servo system, so, set this value within the range where no problem occurs. If you set smaller value, you can obtain a shorter positioning time, but too small value may cause overshooting or vibration. If you set too large value, the speed loop can not respond to very small command and can not eliminates stationary deviation against a command. The speed integral time constant is inversely proportional to the speed loop gain. If the user want to manually adjust speed integral time constant, consider the relationship between speed loop gain and speed integral time constant as indicated in the following guideline expressions. Guideline for good performance: Speed integral time constant[0.1msec] = (8000~6000) Speed loop gain[hz] Guideline for min. limitation: Speed integral time constant[0.1msec] (3200~4700) Speed loop gain[hz] The speed loop gain and position loop gain set by autotuning provide sufficient speed/position control performance. Even if overshooting during acceleration or undershooting during deceleration occurs, they can be suppressed by setting the PI/P switching function (See PA11). PI control means proportional/integral control and P control means proportional control. In short, switching from PI control to P control reduces effective servo gain, making the servo more stable. The switch function automatically switches the speed control mode from PI control mode to P control mode based on a comparison between the servo s internal value and a user-set detection level. The PI/P switching function is useful for very high-speed positioning when it is necessary to use the servo near the limits of its capabilities. The speed response waveform is as following table when PI/P switching function is used. Long positioning time Increased gain makes overshoot PI/P switching function NS SYSTEM CO., LTD. 8-16

61 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA07 Feed Forward Gain FFG 0 % Max 100 PA08 Feed Forward Filter Time Constant FFTC msec Max Set the feed forward compensation gain and filter. When the setting of PA07 is 0, feed forward function is invalid. Feed forward control can increase the effective servo gain and improve the responsiveness of the system. But, this function is not effective if the position loop gain is set to an enough high value. To shorten positioning time, the feed forward compensator adds the speed reference (position control output) to inclinatory term from differential value of position command as following block diagram. Feedforward Compensation Acceleration PA08 PA07 Position command + Speed Check Filter Gain Position Loop Gain + + Speed command - Position feedback The comparatively low position loop gain with appropriate feed forward gain makes positioning time much faster as following figures. If the feed forward gain is too high, overshoot can be occurred or system can be unstable. So the value must be increased from small value to big value step by step to find optimal value. For ordinary machines, the setting of feed forward gain is 80% or less. Sudden change of position command can make unstable condition of system. At this case, setting the feed forward filter reduces vibration against rapid change. When the setting is 100%, the position error pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1sec or more as the acceleration/deceleration time up to the rated speed. NS SYSTEM CO., LTD. 8-17

62 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA09 Speed Bias SBIAS PA10 Speed Bias Width SBIASW 0 rpm Max 400 Min 1 10 pulse Max 9999 Set the speed bias and its applicable width to the position error pulses. When the setting of PA09 is 0, speed bias function is invalid. To shorten positioning time, the speed bias compensator adds the speed reference (position control output) to speed bias (PA09) term when the position error pulses exceeds the width set in PA10. The unit of speed bias (PA09) is rpm and the bias addition width is expressed in position error pulse units Speed bias function is another feed forward technique to shorten positioning time. If the speed bias is too high and width is too narrow, overshoot can be occurred or system can be unstable. So the value must be increased from small value to big value step by step to find optimal value. The functional block diagram is as following figure. NS SYSTEM CO., LTD. 8-18

63 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA11 Automatic PI/P Switching APIP 0 - Max 3 PA12 PI/P Torque Mode PIPT Min % Max 250 PA13 PI/P Speed Mode PIPS Min rpm Max 5000 PA14 PI/P Pulse Error Mode PIPP Min pulse Max 9999 Set the automatic PI/P switching mode conditions. When the setting of PA11 is 0 or manual PI mode is valid (See PA15), automatic PI/P switching function is invalid. The switch function automatically switches the speed control mode from PI control mode to P control mode based on a comparison between the servo s internal value and a user-set detection level. PI control means proportional/integral control and P control means proportional control. In short, switching from PI control to P control reduces effective servo gain, making the servo more stable. The speed loop gain and position loop gain set by autotuning provide sufficient speed/position control performance. Even if overshooting during acceleration or undershooting during deceleration occurs, then positioning time is longer. To shorten positioning time, they can be suppressed by setting the PI/P switching function. The PI/P switching function is useful for very high-speed positioning when it is necessary to use the servo near the limits of its capabilities. The speed response waveform is as following table when PI/P switching function is used. Long positioning time Increased gain makes overshoot PI/P switching function The Automatic P/PI Switching Conditions are as following table. PA11=1 PA11=2 PA11=3 PI/P Switching by Torque PI/P Switching by Speed PI/P Switching by Pulse error If Torque PA12, P mode If Speed PA13, P mode If Pulse error PA14, P mode NS SYSTEM CO., LTD. 8-19

64 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA15 IN5 Manual Function IN5MF 0 - Max 2 Set the manual function of input5 (IN5). Vlue IN5 Description Manual Revolution Direction Switching Mode: Revolution direction is decided by IN5. You can effectively use the manual revolution direction switching function by IN5, when the servo has a one 0 side command. Off On Revolution Direction is same as command direction. Revolution Direction is opposite as command direction. Manual PI/P Switching Mode: PI/P switching is decided by IN5. When the setting of PA15 is 1, only manual PI/P switching mode is valid, automatic PI/P switching mode 1 (PA11) is invalid. Off On Speed loop is controlled by PI mode. Speed loop is controlled by P mode. Manual Gain1/2 Switching Mode: Gain1/2 switching is decided by IN5. When the setting of PA15 is 2, only manual Gain1/2 switching mode is valid, automatic Gain1/2 switching mode (PA16) is invalid. For details, refer to PA16. This function is useful when you want to change the gains using an external signal to ensure stability of the servo system since the load inertia moment ratio varies greatly during operation. For example as shown in below figure, robot moves an object to other position with load and return to the original position without load after laying an object down. If you operate different load condition with the same gain or load inertia moment ratio, the responsiveness in one side is degraded. In this case, you can effectively use manual gain1/2 switching function by IN5. 2 Load is heavy Use gain1 and load inertia moment ratio 1 Load is light Use gain2 and load inertia moment ratio 2 Off Position and speed loop is controlled by gain1 and load inertia moment ratio 1. On Position and speed loop is controlled by gain2 and load inertia moment ratio 2. NS SYSTEM CO., LTD. 8-20

65 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA16 Automatic Gain1/2 Switching AGA Max 2 PA17 Gain1/2 Speed Mode GA12S Min 5 30 rpm Max 5000 PA18 Gain1/2 Pulse Error Mode GA12P Min 5 20 pulse Max 9999 PA19 Gain1/2 Filter Time Constant GA12TC msec Max PA20 Load inertia moment ratio 2 IMR2 Min times Max PA21 Position P-Gain 2 PPG2 Min 5 60 Hz Max 2000 PA22 Speed P-Gain 2 SPG2 Min 5 60 Hz Max 2000 PA23 Speed Integral Time Constant 2 SITC2 Min msec Max Set the automatic gain1/2 switching mode conditions. When the setting of PA16 is 0 or manual gain1/2 switching mode is valid (See PA15), automatic gain1/2 switching function is invalid. Gain switching function automatically switches the actual gain from gain1 (PA03/04/05/06) to gain2 (PA20/21/22/23) based on a comparison between the servo s internal value and a user-set detection level (PA17/18). If the load inertia moment ratio does not change (it is general case), set PA20 to the same value as PA03. This automatic gain1/2 switching function is used when: You want to increase the gains during servo lock but decrease the gains to reduce vibration during rotation. You want to increase the gains to shorten positioning time during settling. The too large difference of between gain1 and gain 2 makes some vibration when switching from gain1 to gain2. At this time, vibration can be suppressed by setting the appropriate filter time constant (PA19). PA16=1 PA16=2 Filter time constant (PA19) Gain1/2 Switching by Speed Gain1/2 Switching by Pulse error When filter is not applied (PA19=0), If Speed PA17, Gain2 If Pulse error PA18, Gain2 Gain1/2 is changed immediately. When filter is applied, Gain1/2 is changed smoothly. NS SYSTEM CO., LTD. 8-21

66 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA24 High Vibration Suppression Filter HVF 0 - Max 2 High Vibration.00 PA25 Suppression Filter Time Constant 1 HVFTC1 Max msec High Vibration.00 PA26 Suppression Filter Time Constant 2 HVFTC2 Max msec Set the high vibration suppression filter conditions. When the setting of PA24 is 0, high vibration suppression filter is invalid. When the setting of PA24 is 1, filter time constant is automatically estimated according to the operated gain condition. When the setting of PA24 is 2, filter time constant is manually adjusted by PA25 or PA26 based on gain 1/2 switching condition. If servo is operated in a gain 1 condition, filter time constant is dedicated by PA25. If servo is operated in a gain 2 condition, filter time constant is dedicated by PA26. When a ballscrew or the like is used, high frequency vibration may occur as the gain is increased. The high frequency vibration generates oscillation noise in a high-pitched tone due to shaft torsional resonance. If machine vibration is derived from high gain (not from machine itself), adding a low pass filter to speed control output (torque reference) can suppress vibration. The low pass filter is expressed by filter time constant. If the value of filter time constant is too small, vibration can not be sufficiently suppressed or not affected by low pass filter. If the value of filter time constant is too big, system can be unstable or response time is longer. So the value must be increased from small value to big value step by step to find optimal value. As a guideline, optimal and limit value is expressed as following equations. Guideline for optimal value: Filter time constant [0.01msec] = ( 3000 ~ 4000 ) Speed loop gain [Hz]. Guideline for max. limitation: Filter time constant [0.01msec] 5000 Speed loop gain[hz]. PA24 Description 0 High vibration suppression filter is invalid. This is factory-set value. 1 2 Automatic High Vibration Filter Mode Manual High Vibration If high frequency vibration occurs as the response level (PA02) of the servo system is increased, this mode supplies an easy way to remove vibration. Filter time constant is automatically estimated according to the operated gain conditions. If vibration can not be sufficiently suppressed by automatic high vibration filter mode, use manual high vibration filter mode. Filter time constant is manually adjusted by PA25 or PA26 based on gain 1/2 switching condition. Filter Mode Gain 1 mode Gain 2 mode PA25 is used as filter time constant at gain1 condition. PA26 is used as filter time constant at gain2 condition. NS SYSTEM CO., LTD. 8-22

67 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PA27 Stopping Vibration Suppression Range SVSR 0 pulse Max 4 PA28 Stopping Vibration Suppression Gain SVSG Min % Max 80 PA29 Stopping Vibration Suppression Time SVST Min msec Max 3000 Set the stopping vibration suppression function. When the setting of PA27 is 0, stopping vibration suppression function is invalid. When the servo gain has been increased, there may be vibration on stopping (e.g., limit cycle) even though there is no vibration during operation. The stopping vibration suppression function lowers the internal servo gain only when stopping. After the time specified for the stopping vibration suppression time (PA29) has elapsed from the time when position command becomes zero, the internal servo gain is reduced at the rate specified by following expression. Reduced gain = (gain1 PA28 100) + ((gain1-(gain1 PA28 100)) error pulse) PA27. Gain changeover timing is affected by filter time constant (PA19). PA27 Description 0 Stopping vibration suppression function is invalid. This is factory-set value. Reduced gain according to error pulse Timing chart for stopping vibration suppression After the time specified for the stopping vibration 1 suppression time (PA29) has elapsed from the time when position command becomes zero, reduced gain is applied as left shown tables. If the setting value of elapsed time (PA29) is shorter 2 than deceleration time, settling time can be longer by due to reduced gain. So, you must carefully consider the deceleration time of position command. If servo starts to move again, original gain1 is applied 3 immediately. 4 NS SYSTEM CO., LTD. 8-23

68 Chapter 8 PARAMETER Par. No. Name Symbol Range Init. Unit Validation Mode PB00 Position Command Pulse Form PCPF 0 - Max 5 Select the input form of the pulse train input signal. Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Up-arrow ( ) or down-arrow ( ) in the table indicates the timing of importing a pulse train. A/B phase pulse trains are imported after they have been multiplied by 4. Value Logic Form CCW(Forward) Pulse Train CW(Reverse) Pulse Train 0 2-Pulse Type CCW Pulse Train CW Pulse Train 1 Negative Logic 1-Pulse Type Pulse Train Direction 2 A/B Phase Type A Phase Pulse B Phase Pulse 3 2-Pulse Type CCW Pulse Train CW Pulse Train 4 Positive Logic 1-Pulse Type Pulse Train Direction 5 A/B Phase Type A Phase Pulse B Phase Pulse Pulse Train Interface Line Driver I/F max. 500kpps at 50% duty. We recommend this signal input. 26LS31 or Equivalent. Open Collector I/F with 5V max. 200kpps at 50% duty. External resistor is not needed. Open Collector I/F with high voltage max. 200kpps at 50% duty. External resistor is needed (10mA). 12V 1kΩ/0.5W 24V 2kΩ/0.5W NS SYSTEM CO., LTD. 8-24