ATO AC Servo Driver Manual Pdf
Connection and Debugging Manualfor All-digital AC Servo Driver
Table of ContentsImportant Safety Information . IChapter I Installation . 1Outline Dimensions of the Servo Driver . 1Installation Dimensions for the Servo Driver . 3Installation Site . 4Direction and Space of Installation . 6Chapter II Overview of Functions . 7Basic Functions of MG -1000 Series of Servos . 7Type Selection of the Servo Driver . 8Chapter III Wiring . 11Noti ces. 11Wiring Requirements . 11Wiring Methods . 11Typical Wiring . 13Position Control (pulse type) . 13Speed Control (analog value) . 14Torque Control (analog value). 15Wiring Diagram for Wire Saving Motor Encoder . 16Wiring Diagram for the Band-type Brake of the Servo Motor . 16Chapter IV Interfaces . 18Definitions of Servo Control Power Supply and Heavy Current Terminal . 18Definitions of CN1 Interface and Control Signal Input/output . 19Definitions of CN2 interface and Encoder Input Signal . 27Principle of the Input Interface for Switching Value . 29Principle of the Output Interface for Switching Value. . 30Principle of the Input Interface for Pulse Value . 32Input Mode of Pulse. 32Principe of the input interface of Analog Value . 32Principe of Encoder Interface . 34CN1 Output Interface for Encoder Signal (from the driver to the upper computer).34CN2 Input Interface for Encoder Signal (from the servo motor to the driver) . 35CN1 Output Interface for Z signal of the Encoder (from driver output to zeroing by the upper computer) .35Chapter V Display and Operation . 38Operation Panel . 38Components of Parameter Structure . 39Status Monitoring Mode (DP - -) . 40Parameter Modification Mode (PA--) . 43Parameter Management Mode (EE--) . 43JOG Operational Mode (Jr- -) . 43Speed Trial Run Mode (Sr- -) .44Automatic Zeroing Mode of Analog Value (AU- -) . 44Automatic Zeroing Mode of Encoder (CO- -) . 44Open Loop Operation Mode (OL- -). 46
Chapter VI Parameters . 47List of Parameters [PA Mode] . 47Detailed Explanation of Parameters . 48Chapter VII Failures and Diagnosis. 58List of Alarms . 58Troubleshooting . 58Chapter VIII Debugging and Application . 63Notices to Quick Debugging . 63Position Control (Quick adjustment of parameters after power on) . 64Speed Control (Quick adjustment of parameters after power on) . 64Torque Control (Quick adjustment of parameters after power on) . 65Dynamic Electronic Application.66Debugging of Typical Problems . 67
Important Safety InformationI. Personnel Safety This product is a high-voltage heavy current product. Make sure that personal are within thesafety area of moving mechanisms. Improper operation may cause accidents such as electric arc burn or electric shock, etc. It is not allowed to operate, wire and electrify the product without following this manual.II. ite Safety This product is a high-voltage heavy current product. It is not allowed to electrify and use theproduct where there are combustible or corrosive gases; otherwise fire and explosion may be caused. It is not allowed to electrify and use the product where combustible or corrosive articles drop;otherwise fire and explosion may be caused. It is not allowed to use the product in the places with high humidity, moisture and metal powder;otherwise dangerous accidents such as electric shock, etc. may be caused.III. roduct and Equipment Safety This product is a high-voltage heavy current product. Incorrect connection may lead to damage to theproduct. PE terminal must be connected to a ground wire and make sure that the ground wire is reliablygrounded. AC 220V power supply is suitable for this product. Do not connect an AC380V one to the servodriver. The U, V and W of the product should be connected with the motor. They are outputs. Do not connectthem with input power supply. Do not connect the three-phase outputs U, V and W of the product in an incorrect sequence; becauseincorrect connection may lead to motor racing, damage to equipment, and overcurrent damage to theproduct. Tighten all terminals. The materials of all matching wires should be strictly selected accordingto power. Power distribution and touching of the terminals are not allowed when the driver is electrified. Do not touch the terminals within five (5) minutes after power down. It is not allowed to touch the motor and cables when the motor is in operation in order to avoidaccidental injuries such as scalding and wrench, etc.I
RemarksIt is hereby declared that : 2A/3A/5A/ shown in the manual or nameplate are the abbreviations for 20A/30A/50A.II
Chapter I Installation1.1 Outline Dimensions of the Servo DriverFigure 1.1 Outline Dimensional Drawingsfor the Servo Driver of 30A/30A1
1.11 Outline Dimensions of the Servo DriverFigure 1.2 Outline Dimensional Drawingsfor the Servo Driver of 50A/75A2
1.2 Installation Dimensions for the Servo DriverFigure 1.11 Installation Dimensionsfor the Servo Driver of 30A/30A3
1.21 Installation Dimensions for the Servo DriverFigure 1.21 Installation Dimensionsfor the Servo Driver of 50A/75A4
Installation SiteI. To make sure that the servo driver works normally, it is necessary to ensure that the temperaturearound the driver is below 50 C and that the relative humidity is below 90%. The long-term safeworking temperature should be below 40 C.II. The servo driver is subject to failures when used in a severe environment with corrosive gases,high humidity, metal powder, water or processing liquids. Therefore, the working environmentshould be fully taken into consideration during the use and installation.III. The vibration acceleration of the equipment which is directly or indirectly connected with theservo driver should be below 0.5G (4.9m/S2) or less in order to ensure long-term stable operationof the servo driver.IV. The servo driver could be disturbed when it is disturbing other facilities at the same time, soattention must be paid to the wiring of heavy current and weak current during the installation of aelectric cabinet or complete equipment. The servo driver is unable to work normally and alsoprobably led to produce malfunction due to strong external disturbing signals or the serious effecton the power cord of the servo driver and control signal. At the same time control equipment suchas a upper computer, etc. also cannot work stably under the disturbance of the servo driver due topoor wiring. Pay attention to install a sound magnetic ring, a wave filter and an isolationtransformer, etc. at the source of the disturbance and in the places which are disturbed. Pay specialattention that the wire of control signal is subject to disturbance; therefore reasonable wiring andshielding measures should be taken.5
Direction and Space of InstallationI. Pay attention to the direction of installation (See Figure 1.3).II. Pay attention to the spacing of installation (See Figure 1.3).III. Four (4) M5 bolts can fix the servo driver with a spring washer added.IV. The servo must be installed in a relatively closed space, with ventilation maintained in theelectric cabinet and a filter screen installed at the vent to prevent the entry of dust. Clear the filterscreen periodically to prevent air flow from being blocked.Servo DiverServo DiverUpwardventilationServo DiverUpwardventilationFigure 1.3 Direction of Installation6
Chapter II Overview of FunctionsBasic Funct ions of MG -1000 Series of ServosMG -1000 (20A/30A/50A/75A)TypeControl power supply and mainSingle phase or three phase AC 220Vcircuit power supplyVoltage fluctuation:-15- 10%, 50/60HzTemperatureWorking temperature: 0-550CStorage temperature: -400C-800CEnvironmentHumidityAir indexNo more than 90%( without condensation)No dust (conductive media such as metal powder, etc.) in theelectriccabinetControl mode1. Position control2. Speed control3. Torque control4. JOG operation5. Four Internal speed control7. Internal torque control6. Internal position control8. Position & speed control9. Speed & torque control1. Servo enable2. Reset3. Position deviation reset4. Pulse, CCW, and CW disabled.5. Position switchingExternal I/O6. Speed selection7. Zero speed clamping8. The second reset9. Extended functions (options) such as orientation and permissible stop,etc.Encoder feedback10000p/r(standard); frequency division permissible (options)Communication mode1.RS232(closed)2.RS485 (closed)Load inertia5 times smaller than that of the motorMonitoring functionSpeed, current position, command pulse accumulation, position deviation,motor current, operation status, input and output terminals, and Z pulsesignal, etc.Protection functionOvervoltage, overcurrent, overspeed, and incorrect feedback, etc.Alarm functionAlarms (LED flashing; red lamp on) are often given off when the servooperates abnormally.Gain adjustmentGain adjustment can be carried out to match motor performance when themotor operates or stops.Adaptive motorSee Tables 2.21, 2.22 and 2.23.7
Type Selection of the Servo DriverMG-1000(1) (2)B(3)30(4)L(5)(1) Series: Dealour’s common types of servo drivers are adaptable to multiplespecifications of servo motors and industries with rich forms of database.(2) Feedback elements: 1000 2500C/T incremental type and wiring saving typeencoders, S sine and cosine (217bi/218bit(131072/262144)), M multi-loop bus type(217/216bit(131072/65536)), and B single-loop bus type (220bit(1048576))(3) Control mode: B position control, C all-function position/speed/torque control,and T special type PLC function with a touch screen(4) IPM module specification: 15A and 20A are called 2A for short; 30A, 3A; and50A, 5A and 75A.(5) Main circuit voltage: L single phase or three phase 220V; H three phase 380V;default 220V when this voltage is omitted.Type Code Applicable AApplicable 31.51.62.02.41.52.62.32.4Rated Current(A)2.64.24.24566845667.596109.510Rated Toque(Nm)1.32.43.3245664567.77.77.710101512Table 2.21 MG -1000/30A8
Type CodeApplicable licable LBF7.532Rated 3548Table 2.22 MG -1000/50A9
Type CodeApplicable licable LBF7.532Rated 3548Table 2.23 MG-1000/75A10
Chapter III WiringNotices The servo driver is a high voltage e heavy current product. Improper connection may causedamage to personnel and equipment. PE terminal must be connected to a ground wire and make sure that the ground wire is reliablygrounded. AC 220V power supply is suitable for this product. Do not connect an AC380V one to the servodriver. The U, V and W of the product should be connected with the motor. They are outputs. Do notconnect them with input power supply. Do not connect the three-phase outputs U, V and W of the product in an incorrect sequence;because incorrect connection may lead to motor racing, damage to equipment, and overcurrentburnout to the product. Tighten all terminals. The materials of all matching wires should be strictly selected accordingto power. Power distribution and touching of the terminals are not allowed when the driver is electrified. Do not touch the terminals within five (5) minutes after power down. It is not allowed to touch the motor and cables when the motor is in operation in order to avoidaccidental injuries such as scalding and wrench, etc.Wiring Requirements A three-phase isolation transformer is preferred for power supply. The required diameters of R, S, T and U, V, W, PE wires should be equal to and more than1.5mm2. All power terminals should be cold-pressed ones, firm and reliable. CN1 and CN2 are high-density signal plugs that need cables with a shielding layer. The wires for connecting PE terminals should be yellow-green ones with a diameter equal toand more than 2.5mm2.Wiring Methods A three-phase isolation transformer is preferred for power supply.11
The required diameters of R, S, T and U, V, W, PE wires should be equal to and more than1.5mm2. All power terminals should be cold-pressed ones, firm and reliable. CN1 and CN2 are high-density signal plugs, with both ends of the shielding layer grounded andconnected with the housing. The wires for connecting PE terminals should be put through with the equipment housing groundwire and connected to the earth.12
Typical WiringPosition Control (pulse type)Figure 3.1 Wiring of Position Control13
Speed Control (analog value)Servo motorCircuit breakerSingle ph ase or three phase AC 220VExternal connect ion to braking resistorsServo motor socketDC12V-24VServo enableAlarm resetCCW driver disabledCW driver disabledZero speed clamping/speed selection 1Speed selec tion 2Servo readyServo alarmThe second resetBand -type brake tightnessSpeed analog command (-10V- 10V)Feedback to control unitSignal groun
servo driver should be below 0.5G (4.9m/S2) or less in order to ensure long-term stable operation of the servo driver. IV. The servo driver could be disturbed when it is disturbing other facilities at the same time, so attention must be paid to the wiring of heavy current and weak current during the installation of a
Oct 06, 2010 · Servo - Preferably Spektrum . Choose correct servo horn adapter using servo horn chart and press onto servo. 3. After servo is centered, install servo horn on servo using the screw provided with your servo so that in the centered position the servo
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Servo Driver HAT Servo Driver HAT User Manual OVERVIEW This Servo Driver board is an PWM/servo expansion board for Raspberry Pi. Use PCA9685 chip, expands up to 16 channels and support 12-bits resolution for each channel. Using I2C interface. This board also integrates 5V regulator, up to 3A output
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servo motor is under the conditions of thermal convection and thermal radiation. heat generating equipment near servo driver: Check whether the servo driver and servo motor have any damage and scratches in appearance, If any damage is found during transport, please do not wiring electrify.
This Operation Manual provides the information of EPS series servo motor drivers and DN series servo motor, including: z. Servo motor drivers and servo motor installation and inspection . z. Servo motor drivers' components instructions . z. Trial Run steps . z. Servo motor drivers' control function introduction and adjustment method . z .
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