AC SERVO DRIVER
GENERAL TYPE DRIVER AC SERVO DRIVER SERVO MOTOR DRIVE TECHNOGY FULLY DIGITIZED VERSATILE CONTROL SUPERIOR PERFORMANCE CURVE FEATURES 1. Fully digitized data setting. 2. Fast control circuit sampling and high stability. POWERFUL FUNCTIONS 1. Four control modes including position, speed, torque and commnication provide fast positioning. 2. Electronic gear ratio. 3. Output circle dividing ratio. 4. Communication interface. (RS232C, RS485) 5. Built-in auxiliay power source ±15V, ±24V. COMPACT CONSTRUCTION, LIGHT WEIGHT, HIGH SPEED, WIRING SAVING 1. Light weight, small space occpation. 2. Motor speed reaches 3000rpm. 3. Saving Wiring on motor. (Only 8 Wires for A, B, Z phase) APPLICATIONS The ED series digital AC servo driver is suitable for a wide range of machines, such as CNC multi-axis carving machine, constant length and constant position feeding, food packaging, robot, semi-conductor and injection molding, etc. and automated equipment. Output power from 60W to 1.5Kw. Built-in RS232C and RS485 communication interface, combined with AC servo motor for high efficiency drive. The product is upgraded to 1.08 edition, featuring extremely smooth performance curves. 1
Position Control Speed Control Torque Control ED SERIES SPECIFICATION DRIVER SERIES Control method Sine wave PWM control ED SERlES ED2004 ED2010 ED2030 ED2006 ED2015 ED2040 ED2007 ED2022 ED2056 ED2075 Input power : Main power Sing. phase AC100V~115V±10% 50/60Hz Sing. /3 phase AC200V~230V±10% 50/60Hz Input power: Control power Sing. phase AC100V~230V±10% 50/60Hz Control method (changeable) Position, speed and torque control Command input method CW/CCW, CLK+DIR, (AB phase) Max. pulse frequency 500K pps FF gain 0~100% Electronic gear ratio 1/50 A/B 50 (A=1~50000, B=1~50000) Position smoothness constant 0~10 sec. Positioning finish check 0~50000 Pulse Ext. speed command input 0~±10V (pos. volt) CCW rotation. 0~±10V (comp.-10.0v~+10.0v) Int. speed command 0~± rated speed (3 int. speeds) Speed ratio 1:5000 Speed variation (Rated speed) load 0~100%, Variation -0.03%. Volt±10%, variation -0.2%, temperature 25±25 C, variation -0.5% Acc/dec. limit Acc/dec. time constant:1~9999ms, Speed filter time constant: 1~9999ms Zero speed check 0~3000 rpm Speed reach check 0~3000 rpm P/PI change Speed circuit ratio/ratio-integration, Control change (Ext. input control) Torque limit (Ext. input) 0~ ±10V/Max. torque Torque limit (Int. setting) 0~Max. torque Conmand input 0~±10V(pos. volt->ccw torque), 0~±9.999V (comp-9.999v~+9.999v) Time constant 0~9999ms Speed limit (Ext. input) 0~±10V/3000rpm Speed limit (Int. setting) 0~3000 rpm Signl function RS232C, RS485 JOG function Manual selection (Running speed according to internal speed command) Alarm memory function Automatically memorizes alarm message according to alarm order (10 sets) Brake interlock function Brake controls output automatically according to servo ON/OFF condition Dynamic brake functin Internal parameter setting Abnormal drive prohibited function Dynamic brake, servo stop, CCW/CW drive prohibited. Emergency stop function Dynamic brake/ servo stop Generative energy absorption function Built-in continuous generative absorption 5w System protection function Over-current, over-voltage, overload, over-speed, encoder error, memory error and CPU error. Analog monitoring output Speed display output. Torque current display output Encoder output signal A, A, B, B, Z, Z encoder output signal Encoder frequency output 1/N (N=1~63) Encoder frequency output Input signal Servo ON, alarm clear, encoder reset, CCW/CW drive prohibition, command pulse prohibition, error clear/ servo lock, control change, P/PI change, external torque limit, internal speed selection and emergency stop. Output signal Built-in auxiliary power Servo ready, alarm, alarm code, in restricting, in operating, in prohibiting, serro stop, positioning finish/ speed reach, Zero speed detecting/brake ±15V (test power source) 2
ED SERIES FUNCTIONS LIST FUNCTIONS MODES OPER. RANGE INITIAL VAL UNIT Data display selection P,S,T Speed/torque/load Speed Alarm display P,S,T Alarm/history/release I/O display P,S,T I/O terminal Control mode P,S,T Torque/speed/position Position Brake detecting time P,S,T -2,000~+2,000 100 msec CCW/CW change setting P,S,T CCW / CW CCW Encoder signal output P,S,T 1/1~1/63 1/1 Analog display output selection P,S,T Torque/speed/voltage/pulse Speed Dynamic brake P,S,T Effective/ineffective Effective Zero speed output/brake output change P,S,T Zero speed output/dynamic brake stop Zero speed Drive prohibited time P,S,T Zero speed stop/dynamic brake stop Zero speed stop Reached check speed S,T 0~3,000 1,000 rpm CCW internal torque limit value P,S 0~+300 300 % CW internal torque limit value P,S -300~0-300 % Generative resistor protection P,S,T 0.0~100.0 0.8 % Manual run P,S,T Effective/ineffective Ineffective Position Comm. input pulse P CW/CCW P/P (2 Phase) CW/CCW Electronic gear numerator P 1~50,000 1 Electronic gear denominator P 1~50,000 1 Positioning finished range P 0~50,000 100 Pluse CCW max. saved pulses P 1~+500,000 500,000 Pluse CW max. saved pulses P -500,000~1-500,000 Pluse Position ratio gain P 1~500 20 Position smoothness time constant P 0~9,999 1 msec Internal speed command 1 S -3,000~+3,000 0 rpm Internal speed command 2 S -3,000~+3,000 0 rpm Internal speed command 3 S -3,000~+3,000 0 rpm Speed command filter time constant S 0~9,999 Linear acc/dec time constant S 0~9,999 Speed ratio GAIN P,S 1~1,000 100 Speed integration time constant P,S 1~1,000 20 External command input range S 100~3,000 3,000 External command input offset S -10.0~+10.0 0.0 v Torque command filter time constant T 0~9,999 0 msec External torque command input range T 30~3,000 300 % / v Exteranl torque command offset T -10.00~10.00 0.0 V Internal speed limit 1 P,S,T 0~3,000 0 rpm Internal speed limit 2 P,S,T 0~3,000 0 rpm Internal speed limit 3 P,S,T 0~3,000 0 rpm RAM EEPROM P,S,T Effective/ineffective Ineffective DISK EEPROM P,S,T Effective/ineffective Ineffective EEPROM DISK READ P,S,T Effective/ineffective Ineffective 3
LEGEND AND APPLICATION OPERATION 1. Operation condition includes various settings, such as function, parameter and monitoring. 2. MODE: For mode change data input or function executing. 3. UP: For adding 1 to value displayed on LED. 4. DOWN: For deducting 1 to value displayed on LED. 5. DATA: For chang address and data. Also allows for number movement. DISPLAY Four digits display 7-step LED displays servo condition or alarm number. LARM AND STOP MPTLY WILL. BREAK MC ORDER RS232 CONNECTOR For online with personal computer or teaching box. AC220/230 SING / TWO PHASE 50/60HZ AC110/115 50/60HZ TB1 RS485 CONNECTOR For connecting with control box. COMMCET GENERATWE RESTISTANCE RED SERVO MOTOR ENCODER WHITE BLACK INCREMENT ENCODER TERMINAL CHANNEL CONNECTOR (TB1) 1. R.S.T : Power input terminals on main circuit. 2. U.V.W : Connecting terminals to servo motor. 3. FG : Third grounding terminal. CN1 CONTROL CONNECTOR (CN1) Allows for Connecting with PLC or controller. 4
POSITION CONTRAL MODE - CN1 CN1 SERVO ON ALARM CLEAR P/P1 CHANGE CW DRIVE PROHIBITED CCW DRIVE PROHIBITED EXTERNAL TORQUE LIMIT ERROR CLEAR ABS ERROR ENCODER EMERGENCY STOP CONTROL METHOD CHANGEABLE COMMAND PULSE PROHIBITED COMMAND PULSE P INPUT COMMAND PULSE D INPUT CCW TORQUE LIMIT COMMAND ANALOG CW TORQUE LIMIT COMMAND SON 1 ALRS 2 PCNT 3 FSTP 4 RSTP 5 TLMT 6 CLR 7 ECLR 8 EMG 9 MDC 12 INH 13 46 47 PP 14 PN 15 DP 16 DN 17 FG 50 PIC 27 AG 29 NIC 28 35 PA 36 /PA 37 PB 38 /PB 39 PZ 40 /PZ 44 EG 41 SD 42 /SD 43 Z0 50 FG 18 REDY 19 ALM 20 ZS/BI 21 INP/INS 22 LM/A0 23 PC/A1 24 ST/A2 25 GC/A3 48 49 A /A B /B Z /Z SD /SD PROPORTION PUTPUT DIFFERENTIAL ORIGIN SIGNAL OUTPUT OPEN C SERVO READY OUTPUT ALARM BRAKE INTERLOCK POSITIONING FINISH TORQUE IN RESTRICTING ALARM P OPERATING /ALARM1 PROHIBITED /ALARM 2 GATE OFF/ALARM 3 ENCODER SIGNAL OUTPUT PROPORTION PUTPUT DIFFERENTIAL ABS POSTION OUTPUT SPEED DISPLAY OUTPUT ANALOG TORQUE DISPLAY OUTPUT TG 30 AG 32 CUR 31 +15V POWER OUTPUT -15V POWER OUTPUT +24V POWER OUTPUT +15V 33-15V 34 +24V 45 5
SPEED CONTRAL MODE - CN1 CN1 SERVO ON ALARM CLEAR P/P1 CHANGE CW DRIVE PROHIBITED CCW DRIVE PROHIBITED EXTERNAL TORQUE LIMIT ERROR CLEAR ABS ERROR ENCODER EMERGENCY STOP CONTROL METHOD CHANGEABLE COMMAND PULSE PROHIBITED SPEED COMMAND INPUT CCW TORQUE LIMIT COMMAND CW TORQUE LIMIT COMMAND SPEED DISPLAY OUTPUT ANALOG TORQUE DISPLAY OUTPUT SON 1 ALRS 2 PCNT 3 FSTP 4 RSTP 5 TLMT 6 CLR 7 ECLR 8 EMG 9 SPD1 10 SPD2 11 MDC 12 46 47 SIN 26 AG 29 PIC 27 AG 32 NIC 28 AG 32 FG 50 TG 30 AG 29 CUR 31 35 PA 36 /PA 37 PB 38 /PB 39 PZ 40 /PZ 44 EG 41 SD 42 /SD 43 Z0 50 FG 18 REDY 19 ALM 20 ZS/BI 21 INP/INS 22 LM/A0 23 PC/A1 24 ST/A2 25 GC/A3 48 49 A /A B /B Z /Z SD /SD PROPORTION PUTPUT DIFFERENTIAL ORIGIN SIGNAL OUTPUT OPEN C SERVO READY OUTPUT ALARM BRAKE INTERLOCK POSITIONING FINISH TORQUE IN RESTRICTING ALARM P OPERATING /ALARM1 PROHIBITED /ALARM 2 GATE OFF/ALARM 3 ENCODER SIGNAL OUTPUT PROPORTION PUTPUT DIFFERENTIAL ABS POSTION OUTPUT +15V POWER OUTPUT -15V POWER OUTPUT +24V POWER OUTPUT +15V 33-15V 34 +24V 45 6
TORQUE CONTRAL MODE - CN1 CN1 SERVO ON ALARM CLEAR P/P1 CHANGE CW DRIVE PROHIBITED CCW DRIVE PROHIBITED EXTERNAL TORQUE LIMIT ERROR CLEAR ABS ERROR ENCODER EMERGENCY STOP CONTROL METHOD CHANGEABLE COMMAND PULSE PROHIBITED TORQUE COMMAND INPUT CCW SPEED LIMIT COMMAND CW SPEED LIMIT COMMAND SPEED DISPLAY OUTPUT ANALOG TORQUE DISPLAY OUTPUT SON 1 ALRS 2 FSTP 4 RSTP 5 ECLR 8 EMG 9 SPD1 10 SPD2 11 MDC 12 46 47 SIN 26 AG 29 PIC 27 AG 32 NIC 28 AG 32 FG 50 TG 30 AG 29 CUR 31 35 PA 36 /PA 37 PB 38 /PB 39 PZ 40 /PZ 44 EG 41 SD 42 /SD 43 Z0 50 FG 18 REDY 19 ALM 20 ZS/BI 21 INP/INS 22 LM/A0 23 PC/A1 24 ST/A2 25 GC/A3 48 49 A /A B /B Z /Z SD /SD PROPORTION PUTPUT DIFFERENTIAL ORIGIN SIGNAL OUTPUT OPEN C SERVO READY OUTPUT ALARM BRAKE INTERLOCK POSITIONING FINISH TORQUE IN RESTRICTING ALARM P OPERATING /ALARM1 PROHIBITED /ALARM 2 GATE OFF/ALARM 3 ENCODER SIGNAL OUTPUT PROPORTION PUTPUT DIFFERENTIAL ABS POSTION OUTPUT +15V POWER OUTPUT -15V POWER OUTPUT +24V POWER OUTPUT +15V 33-15V 34 +24V 45 7
Parameter account Appellation Control mode Speed ratio gain ccw/cw change setting Function Control type 0:Speed control 1:Position control 2:Torque control Ratio gain of speed control. Feasible ratio gain depends on motor type and loading inertia. Therefore, if no vibration happen, larger gain value can be set. Set value is in opposition to single motor s percentage of feasible value. When set speed (inside and outside) and torque command (positive or negative), set value is decided by motor CCW rotation. 0:speed and torque command are all positive. 1:positive speed command and negative torque command. 2:negative speed command and positive torque command. 3:speed and torque command are all negative. Appellation Speed integration time constant Int. speed limit 1 Int. speed limit 2 Int. speed limit 3 Int. speed command 1 Int. speed command 2 Int. speed command 3 Function Set speed control integration constant. Feasible integration constant depends on motor type and loading inertia. Therefore, if no vibration happen, larger time constant can be set. Set value is set by msec unit. Set speed limit value. Set value is motor revolutions. Please choose SPD1 or SPD2 in CN1 when set limit 1 2 or 3. Set speed control command. CCW represents positive rotation, however rotation direction can be changed in system constant positive/negative rotation set. Please choose SPD1 or SPD2 in CN1 when set limit 1 2 or 3. 8
Break communication Output Alarm Appellation Alarm Action Matter 0 Normal 1 Main circuit power phase loss Action start when below standard voltage 2 Regeneration error S_ON represents over resistance or abnormal loop. S_OFF represents over voltage. 3 Over load Action start when over loading happen. 4 IMP error Abnormal condition happen in power transform module. 5 Encoder error (ABZ) Action start when abnormal encode happen. 6 Temperature error (Over heat) System temperature is higher than set value. 7 Keep 8 Memory error Abnormal memory action in CPU. 9 Emergency stop Action starts when emergency signal input. 10 Keep 11 Position aberration overmuch Action starts when position aberration is over than set value. 12 Over-speed Action starts when rotation speed is over than set value. 13 CPU error Action starts when abnormal CPU action happen. 14 Driver stop error Action starts when CCW/CW signal input at the same time. 15 Keep Manufacturer by. 9