User's Manual AC SERVO DRIVER

Transcription

1 User's Manual AC SERVO DRIVER TANGO-A Series NS SYSTEM Co., Ltd. NS SYSTEM SinYong B/D 4F #942-6 Ingye-Dong, Paldal-Gu, Suwon-City, Kyungki-Do, Korea Homepage : TEL: ~6 FAX:

2 CONTENTS Safety Instructions 1 CHAPTER 1. FUNCTIONS AND SPECIFICATIONS FEATURES AND THE PRODUCT CONTROL MODE STANDARD SPECIFICATIONS MODEL CODE DEFINITION NAME PLATE MODEL CODE COMBINATION WITH SERVO MOTOR DIMENSIONS OF SERVO AMPLIFIER DIMENSIONS OF BOOK TYPE1 ( TANGO-A01/A02/A04/A06 ) DIMENSIONS OF BOOK TYPE2 ( TANGO-A08/A12/A18 ) DIMENSIONS OF BASE MOUNT TYPE1 ( TANGO-A24/A30/A35 ) DIMENSIONS OF BASE MOUNT TYPE2 ( TANGO-A40/A50/A75 ) 11 CHAPTER 2. INSTALLATION CHECK ITEMS WHEN PRODUCT DELIVERED INSTALLATION DIRECTION AND CLEARANCES INSTALLATION OF SERVO AMPLIFIER INSTALLATION OF SERVO MOTOR ENVIRONMENTAL CONDITIONS ALLOWABLE WEIGHT OF MOTOR SHAFT AUXILIARY EQUIPMENTS AND WIRES 14 CHAPTER 3. SIGNALS AND WIRING PARTS IDENTIFICATION PARTS IDENTIFICATION OF BOOK TYPE1 / TYPE PARTS IDENTIFICATION OF BASE MOUNT TYPE1 / TYPE CONNECTION DIAGRAM OF SERVO AMPLIFIER CONNECTION DIAGRAM OF BOOK TYPE1 / TYPE CONNECTION DIAGRAM OF BASE MOUNT TYPE1 / TYPE I/O SIGNALS OF CN SIGNAL LAYOUTS AND ASSIGNMENT FORWARD/REVERSE COMMAND PULSE INPUT SIGNALS FOR CONTROL OUTPUT SIGNALS FOR CONTROL ENCODER PULSE OUTPUT ANALOG IN/OUT SIGNAL MOTOR ENCODER SIGNALS OF CN SIGNALS AND WIRING OF CN4, CN5 (POWER, MOTOR, REGENERATIVE BRAKE) 23

3 CHAPTER 4. PARAMETER MODE PARAMETER INPUT KEYS PARAMETER DISPLAY AND SETTING DETAILS OF PARAMETERS PARAMETER GROUP 1 (PAR1) PARAMETER GROUP 2 (PAR2) PARAMETER GROUP 3 (PAR3) 37 CHAPTER 5. DISPLAY MODE DISPLAY MODE SETTING DETAILS OF DISPLAY MODE 38 CHAPTER 6. CHECK MODE CHECK MODE SETTING DETAILS OF CHECK MODE 40 CHAPTER 7. ALARM MODE ALARM MODE SETTING ALARM LISTS AND DETAILS 45 CHAPTER 8. OPERATION OF POSITION CONTROL STANDARD CONNECTION DIAGRAM OF POSITION CONTROL FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF POSITION CONTROL 47 CHAPTER 9. OPERATION OF SPEED CONTROL STANDARD CONNECTION DIAGRAM OF SPEED CONTROL FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF SPEED CONTROL 50 CHAPTER 10. OPERATION OF TORQUE CONTROL STANDARD CONNECTION DIAGRAM OF TORQUE CONTROL FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF TORQUE CONTROL 53 CHAPTER 11. OPERATION OF INTERNAL SPEED CONTROL STANDARD CONNECTION DIAGRAM OF INTERNAL SPEED CONTROL FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF INTERNAL SPEED CONTROL 55 CHAPTER 12. AUTO TUNING SEMI-AUTO TUNING FULL-AUTO TUNING 57 CHAPTER 13. SIGNAL TIMING POWER ON SEQUENCE SERVO ON / OFF SEQUENCE BRAKE ON / OFF SEQUENCE 58

4 CHAPTER 14. OPTIONS ENCODER AND MOTOR CABLE OPTIONAL REGENERATIVE BRAKE RESISTOR 59 CHAPTER 15. MAINTENANCE AND INSPECTION INSPECTION LIFE 60 CHAPTER 16. SUMMARY OF LISTS PARAMETER LISTS ALARM LISTS DISPLAY MODE LISTS CHECK MODE LISTS COMBINATION OF AMPLIFIERS AND MOTORS PARAMETER INITIAL VALUE AT FACTORY SETTING 63 CHAPTER 17. COMMUNICATION FUNCTIONS COMMUNICATION CONNECTOR (CN2) COMMUNICATION SPECIFICATIONS RS-232C RS PROTOCOL DOWN LOAD UP LOAD COMMUNICATION CODES 68 APPENDIX 70 APPENDIX A. SERVO MOTOR CONFIGURATIONS 71 APPENDIX B. SERVO MOTOR CLASSIFICATION 72 APPENDIX C. SERVO MOTOR SPECIFICATIONS AND CHARACTERISTICS 73 APPENDIX C-1. KANZ/Q SERIES SERVO MOTOR SPECIFICATIONS 73 APPENDIX C-2. KAND/S SERIES SERVO MOTOR SPECIFICATIONS 74 APPENDIX C-3. KANH/F SERIES SERVO MOTOR SPECIFICATIONS 75 APPENDIX C-4. KAFX/N SERIES SERVO MOTOR SPECIFICATIONS 76 APPENDIX D. SERVO MOTOR DIMENSIONS 77 APPENDIX E. ELECTROMAGNETIC BRAKE SPECIFICATIONS 80 APPENDIX F. SHAFT END SPECIFICATIONS 81 APPENDIX G. CONNECTOR PIN ARRANGEMENT 82

5 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). Theremightbetheelectricshockorfire. Operate the switches 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.

6 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. Donotholdthecovertotransporttheservo 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 theservoamplifier. 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 tothemachine. 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 Temperature Ambient Humidity operate (non-freezing) ((non-freezing) storage ((non-freezing) ((non-freezing) 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

7 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.

8 CHAPTER 1. FUNCTIONS AND SPECIFICATIONS 1-1. FEATURES AND THE PRODUCT 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) 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 -3typesofacceleration/deceleration shape ( sine-wave, linear, exponential) - 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(10000 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 ofthehostcontroller. Therearetheacceleration/deceleration time changing function in response tocommandpulseinput. 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. 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.

9 1-3. STANDARD SPECIFICATIONS [ SMALL SIZED STANDARD SERVO AMPLIFIER SPECIFICATIONS ] Item Model TANGO A01 TANGO A02 TANGO A04 TANGO A06 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 30 / 50 / 100[W] 200[W] 300 / 400 / 450[W] 500 / 600[W] Applicable Max. current [rms A] motor Encoder Standard : incremental encoder (2500/5000CT), Line driver output Max. speed [rpm] 2000 / 2500 / 3000 / 4500 / 5000 Control method 3-phase sine-wave PWM control Speed control Position control control Speed control range External command: (1 : 2000), Internal command: (1 : 5000) Frequency bandwidth 300[Hz] Speed command Offset adjustment Zero clamp Acc./dec. time Max. input frequency Input pulse type Input pulse isolation command Speed limit Protective functions Monitoring output Regenerative brake Etc. function Option Ambient temperature Environment Ambient humidity Insulation res. Structure Cooling method Weight External command: DC ±10[V], Internal command: 1~±5000 rpm External multi-step command: 4 point 0~100 [rpm] 0~200 [rpm] Linear, Sine-wave, Exponential (0~1[sec], 0.01[sec] unit) Max. 500 [kpps] 1 pulse (Dir. + Pulse), 2 pulse (Fwd. Pulse + Rvd. Pulse), 2-PhasePulse(Aphase+Bphase) Opto-coupler isolation (DC 5[V]) External command: DC ±10[V] Internal command : 1~100% 10~5000[rpm] Over-current, over-voltage, under-voltage, regenerative over-voltage, encoder fault, over-load, over-speed, excessive error, excessive electronic gear range, A/D error, memory error Alarm history : 8 point Speed or torque (0~5V) Operating time selection of Regenerative brake resistor : 4 point Built-in type (Option), external type (Option) Serial communication : RS-232C, RS422(Option) Encoder output division ratio : 1, 2, 4, 8 Dynamic brake : built-in 2-phase dynamic brake Transistor output for electromagnetic brake Motor power cable, encoder cable, regenerative brake resistor 0~55 80%RH or less (non-condensing) DC 500[V], 10[M Ω] or more Book Type1 Natural air cooling 0.9Kg

10 [ MIDDLE SIZED STANDARD SERVO AMPLIFIER SPECIFICATIONS ] Item Model TANGO A08 TANGO A12 TANGO A18 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 750 / 850[W] 0.9 / 1.0/ 1.2 / 1.3[KW] 1.5 / 1.8 / 2.0[KW] Applicable Max. current [rms A] motor Encoder Standard : incremental encoder (2500/5000CT), Line driver output Speed control Position control control Max. speed [rpm] 2000/2500/3000/ / 2500 / / 2500 / 3000 Control method 3-phase sine-wave PWM control Speed control range External command: (1 : 2000), Internal command: (1 : 3000) Frequency bandwidth 300[Hz] Speed command Offset adjustment Zero clamp Acc./dec. time Max. input frequency Input pulse type Input pulse isolation External command: DC ±10[V], Internal command: 1~±5000 rpm External multi-step command: 4 point 0~100 [rpm] 0~200 [rpm] Linear, Sine-wave, Exponential (0~1[sec], 0.01[sec] unit) Max. 500 [kpps] 1 pulse (Dir. + Pulse), 2 pulse (Fwd. Pulse + Rvd. Pulse), 2-PhasePulse(Aphase+Bphase) Opto-coupler isolation (DC 5[V]) command External command: DC ±10[V] Internal command : 1~100% Speed limit 10~4500[rpm] 10~3000[rpm] 10~3000[rpm] Protective functions Monitoring output Regenerative brake Etc. function Option Ambient temperature Environment Ambient humidity Insulation res. Structure Cooling method Weight Over-current, over-voltage, under-voltage, regenerative over-voltage, encoder fault, over-load, over-speed, excessive error, excessive electronic gear range, A/D error, memory error Alarm history : 8 point Speed or torque (0~5V) Operating time selection of Regenerative brake resistor : 4 point Built-in type (Option), external type (Option) Serial communication : RS-232C, RS422(Option) Encoder output division ratio : 1, 2, 4, 8 Dynamic brake : built-in 2-phase dynamic brake Transistor output for electromagnetic brake Motor power cable, encoder cable, regenerative brake resistor 0~55 80%RH or less (non-condensing) DC 500[V], 10[M Ω] or more Book Type2 Natural air cooling 1.5Kg

11 [ LOWER LARGE SIZED STANDARD SERVO AMPLIFIER SPECIFICATIONS ] Item Model TANGO A24 TANGO A30 TANGO A35 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 1.8 / 2.0 / 2.5[KW] 2.9 / 3.0[KW] 3.5[KW] Applicable Max. current [rms A] motor Encoder Standard : incremental encoder (2500/5000CT), Line driver output Max. speed [rpm] 2000 / 2500 / / 2500 / / 2500 / 3000 Control method 3-phase sine-wave PWM control Speed control range External command: (1 : 2000), Internal command: (1 : 3000) Frequency bandwidth 300[Hz] Speed Speed command External command: DC ±10[V], Internal command: 1~±5000 rpm External multi-step command: 4 point control Offset adjustment 0~100 [rpm] Zero clamp 0~200 [rpm] Acc./dec. time Linear, Sine-wave, Exponential (0~1[sec], 0.01[sec] unit) Max. input frequency Max. 500 [kpps] Position 1 pulse (Dir. + Pulse), 2 pulse (Fwd. Pulse + Rvd. Pulse), Input pulse type control 2-PhasePulse(Aphase+Bphase) Input pulse isolation Opto-coupler isolation (DC 5[V]) External command: DC ±10[V] command control Internal command : 1~100% Speed limit 10~3000[rpm] 10~3000[rpm] 10~3000[rpm] Protective functions Monitoring output Regenerative brake Environment Etc. function Option Structure Ambient temperature Ambient humidity Insulation res. Over-current, over-voltage, under-voltage, regenerative over-voltage, encoder fault, over-load, over-speed, excessive error, excessive electronic gear range, A/D error, memory error Alarm history : 8 point Speed or torque (0~5V) Operating time selection of Regenerative brake resistor : 4 point Built-in type (Option), external type (Option) Serial communication : RS-232C, RS422(Option) Encoder output division ratio : 1, 2, 4, 8 Transistor output for electromagnetic brake Motor power cable, encoder cable, regenerative brake resistor 0~55 80%RH or less (non-condensing) DC 500[V], 10[M Ω] or more Base Mount Type1 Cooling method Weight Forced air cooling 5.3Kg

12 [ LARGE SIZED STANDARD SERVO AMPLIFIER SPECIFICATIONS ] Item Model TANGO A40 TANGO A50 TANGO A75 TANGO AH1 Power supply Applicable motor Speed control Position control control 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 4.0[KW] 4.4/4.5/5.0[KW] 6.0/6.5/7.5[KW] 11.0[KW] Max. current [rms A] Encoder Standard : incremental encoder (2500/5000CT), Line driver output Max. speed [rpm] 2000 / 2500 / 3000 Control method 3-phase sine-wave PWM control Speed control range External command: (1 : 2000), Internal command: (1 : 3000) Frequency bandwidth 300[Hz] Speed command Offset adjustment Zero clamp Acc./dec. time Max. input frequency Input pulse type Input pulse isolation External command: DC ±10[V], Internal command: 1~±5000 rpm External multi-step command: 4 point 0~100 [rpm] 0~200 [rpm] Linear, Sine-wave, Exponential (0~1[sec], 0.01[sec] unit) Max. 500 [kpps] 1 pulse (Dir. + Pulse), 2 pulse (Fwd. Pulse + Rvd. Pulse), 2-PhasePulse(Aphase+Bphase) Opto-coupler isolation (DC 5[V]) External command: DC ±10[V] command Internal command : 1~100% Speed limit 10~3000[rpm] 10~3000[rpm] 10~3000[rpm] 10~3000[rpm] Protective functions Monitoring output Regenerative brake Environment Etc. function Option Structure Cooling method Weight Over-current, over-voltage, under-voltage, regenerative over-voltage, encoder fault, over-load, over-speed, excessive error, excessive electronic gear range, A/D error, memory error Alarm history : 8 point Speed or torque (0~5V) Operating time selection of Regenerative brake resistor : 4 point Built-in type (Option), external type (Option) Serial communication : RS-232C, RS422(Option) Encoder output division ratio : 1, 2, 4, 8 Transistor output for electromagnetic brake Motor power cable, encoder cable, regenerative brake resistor Ambient temperature 0~55 Ambient humidity 80%RH or less (non-condensing) Insulation res. DC 500[V], 10[M Ω] or more Base Mount Type2 Forced air cooling 7.2Kg

13 1-4. MODEL CODE DEFINITION NAME PLATE Model name Capacity Input power Serial number MODEL CODE TANGO - Series name Amplifier type model type A General-purpose B 1 axis controller C Low cost D Order made E Multi-axis F~Z Special-purpose Capacity symbol output symbol output symbol output symbol output kw kw kw kw kw kw kw H1 11kw kw kw kw kw kw kw 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 Amplifier Servo Motor KANZ KANQ KAND KANS KANH KANF KAFX KAFN TANGO-A01 KANZ-A5B KANZ-01B KANQ-01B TANGO-A02 KANZ-02B KANQ-02B TANGO-A04 KANZ-04B KANQ-04B KANF04 KAFN03 TANGO-A06 KANZ-06B KAFX05 TANGO-A08 KANZ-08B KANH05 KANF08 KAFX09 KAFN06 TANGO-A12 KANZ-10B KAND10 KANH10 KAFN09 TANGO-A18 KAND15 KANH15 KANF15 KAFX13 KAFN12 TANGO-A24 KAND20 KANH20 KANF25 KAFX20 KAFN20 TANGO-A30 KAND25 KAFX30S KAFN30 TANGO-A35 KAND30 KAND45S KANH30 KANH40S KANF35S KAFX30 TANGO-A40 KAND45 KANS40 KANH40 KANF35 KAFX45 TANGO-A50 TANGO-A75 TANGO-AH1 KAND50 KANS45 KANS50S KANS50 KANH50 KANF45 KANF110

14 1-6. DIMENSIONS OF SERVO AMPLIFIER DIMENSIONS OF BOOK TYPE1 ( TANGO-A01/A02/A04/A06 ) DIMENSIONS OF BOOK TYPE2 ( TANGO-A08/A12/A18 )

15 DIMENSIONS OF BASE MOUNT TYPE1 ( TANGO-A24/A30/A35 ) DIMENSIONS OF BASE MOUNT TYPE2 ( TANGO-A40/A50/A75 )

16 CHAPTER 2. INSTALLATION 2-1. 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 DIRECTION AND CLEARANCES INSTALLATION OF SERVO AMPLIFIER Servo amplifier is designed for vertical installation type. For natural cooling, the vertical installation direction should be observed as the following figure. Amplifier 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. B A C A B C D 30mm 10mm or more or more 50mm or more 50mm or more 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 gas, 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.

17 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,besuretocleantherust-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 gap 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 Ambient Humidity operate (non-freezing) ((non-freezing) storage ((non-freezing) ((non-freezing) 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 ALLOWABLE WEIGHT OF MOTOR SHAFT Radial weight Trust weight N kgf N kgf

18 AUXILIARY EQUIPMENTS AND WIRES 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 8(AWG8) TANGO-A06 2(AWG14) TANGO-A30 5.5(AWG10) TANGO-AH1 13(AWG6) TANGO-A08 2(AWG14) TANGO-A35 5.5(AWG10) 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/75A TANGO-A04 250V/10A TANGO-A24 250V/30A TANGO-A75 250V/100A TANGO-A06 250V/15A TANGO-A30 250V/40A TANGO-AH1 250V/150A 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/75A TANGO-A04 250V/10A TANGO-A24 250V/30A TANGO-A75 250V/100A TANGO-A06 250V/15A TANGO-A30 250V/40A TANGO-AH1 250V/150A 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 resistor Amplifier Wire[ mm2] TANGO-A35 or less 2(AWG14) TANGO-A40/A50/A75/AH1 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-AH1 13(AWG6) 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/AH1 3.5(AWG12)

19 CHAPTER 3. SIGNALS AND WIRING 3-1. PARTS IDENTIFICATION PARTS IDENTIFICATION OF BOOK TYPE1 / TYPE2 BOOK TYPE1 : TANGO-A01/A02/A04/A06 BOOK TYPE2 : TANGO-A08/A12/A18 Function key unit 7-segment display CN3 : motor encoder connector CN4 : R, S, T, E - AC input power P, B - regenerative brake U, V, W, FG - motor power CN2 : serial communication connector CN1 : I/O connector PARTS IDENTIFICATION OF BASE MOUNT TYPE1 / TYPE2 BASE MOUNT TYPE1 : TANGO-A24/A30/A35 BASE MOUNT TYPE2 : TANGO-A40/A50/A75 # Upper side of case Function key unit 7-segment display CN5 : P, B - regenerative brake CN1 : I/O connector CN4 : R, S, T, E - AC input power U, V, W, FG - motor power CN2 : serial communication connector CN3 : motor encoder connector

20 3-2. CONNECTION DIAGRAM OF SERVO AMPLIFIER CONNECTION DIAGRAM OF BOOK TYPE1 / TYPE2

21 CONNECTION DIAGRAM OF BASE MOUNT TYPE1 / TYPE2

22 3-3. I/O SIGNALS OF CN SIGNAL LAYOUTS AND ASSIGNMENT [CN1 Signal Layouts] Pin No. Symbol 1 MON 2 -CWP Signal Name Analog Monitor Output -Forward Pulse Input Pin No. Symbol 14 CCWLMT 15 INP External 24V Input 16 PHA 4 CWLMT Forward Limit Input 17 /PHB Signal Name Reverse Limit Input Inposition Signal Output Encoder A Phase Output Encoder /B Phase Output 5 ALM Alarm Output 18 LG Logic Ground 6 OUTCOM Output Common 19 AGND Analog Ground 7 PHB 8 /PHZ Encoder B Phase Output Encoder /Z Phase Output 20 +CWP 21 -CCWP +Forward Pulse Input -Reverse Pulse Input 9 SD Shield 22 RST Reset Input 10 VCMD Speed Command Input 23 PCON Proportional Control 11 /OPZ Encoder Z Phase Opencollector Output 24 BRK Brake Control Output 12 +CCWP +Reverse Pulse Encoder /A Phase 25 /PHA Input Output 13 SVON Servo On Input 26 PHZ Encoder Z Phase Output FORWARD/REVERSE 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. [LINEDRIVERTYPE] [ OPEN COLLECTOR TYPE ] Rext value 5V 12V 24V etc. short W 1.8K 1W formula Maketheleftsideconnection. 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. Maketheleftsideconnection. 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 photo-coupler. Use the amplifier circuit. Formula : VDC/(Rext+330)=0.01~0.015

23 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. Servo On SVON 13 Reset RST 22 CW Limit CWLMT 4 ( P: position S: speed T: torque ) Function and Application I/O 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. The function of "Auto Servo On (P-29=1)" makes the servo amplifier to operate normally without external SVON input. Short RST-24VGND for longer than 50msec to reset alarm. The pulse width of RST is between 50msec and 200msec and it be a one-shot signal. When the servo amplifier is in the state of "servo on", RST input makes the servo amplifier to do reset. 1. Position/speed/torque control mode The limit function is enabled by parameter(p-23=1). 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(e-07). 2. Internal speed control mode In this mode, CWLMT and CCWLMT are used for multi-step speed selection signal inputs regardless of parameter P-23. The combinations of 2 inputs choose one of the 4 speeds. Control mode P S T I I I CCW Limit CCWLM T 14 CCWLMT CWLMT speed selection OFF OFF multi-step speed 1 (P-19) OFF ON multi-step speed 2 (P-20) ON OFF multi-step speed 3 (P-21) ON ON multi-step speed 4 (P-22) 1. Position/speed control mode Proportion control PCON 23 Short PCON-24VGND to change the speed amplifier from PI-control to P-control. Set 1 in P-33 to keep P-control regardless of PCON input. If the servo motor at a stop is rotated even one pulse due to an external factor, it generates torque to compensate for a position mismatch. When the shaft is mechanically locked at a stop after inposition, turn on PCON simultaneously with inposition to suppress the unnecessary torque which attempts to compensate for position mismatch. I 2. Internal speed control mode In multi-step speed control mode(p-31=0), the direction of rotation is decided by PCON input(off=cw, on=ccw).

24 OUTPUT SIGNALS FOR CONTROL 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 is damaged by over-current permanently. The function and application of output interface signals are described as the following table. ( P: position S: speed T: torque ) Name Symbol Pin No. Function and Application I/O Control mode P S T Alarm ALM 5 Alarm signal output terminal. 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. O 1. Position control mode Inposition signal output terminal. INP-OUTCOM are disconnected always when servo off. INP-OUTCOM are connected when droop pulse value is less than the inposition range set in parameter P-17. Inposition INP Speed/torque control mode O Speed reached signal output terminal. INP-OUTCOM are disconnected always when servo off. In case of P-16=0, INP-OUTCOM are connected when the servo motor speed is more than the speed range set in parameter P-17 In case of P-16=1,They are connected when the servo motor speed is less than the speed range set in parameter P-17. Brake BRK 24 Brake signal output terminal. When using the electromagnetic brake signal, set 1 in parameter P-42. 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. In parameter P-43, set a time delay between electromagnetic brake signal output on and servo on. In parameter P-44, 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. O Output common OUTCOM 6 Common terminal for output signals.

25 ENCODER PULSE OUTPUT Each terminals are the A, B, Z phase differential line driver output. Especially, only the Z phase has the open collector output The A, B phase encoder pulse outputs are divided by the pulse divider inside the servo amplifier. The division ratio is set in parameter P-27. [ Division ratio setting ] Name Aphase output Bphase output Z phase output Z phase open collector output Logic ground /2 (TANGO-A series is not applicable) 3 1/4 (TANGO-A series is not applicable) 4 1/8 (TANGO-A series is not applicable) ( P: position S: speed T: torque ) Symbol Pin Control mode Function and Application I/O No. P S T APH 16 A phase differential line driver output. /APH 25 /A phase differential line driver output. O A phase encoder pulses are output across APH-/APH in differential line driver system. BPH 7 B phase differential line driver output. /BPH 17 /B phase differential line driver output. O B phase encoder pulses are output across BPH-/BPH in differential line driver system. ZPH 26 Z phase differential line driver output. /ZPH 8 /Z phase differential line driver output. O Z phase encoder pulses are output across ZPH-/ZPH in differential line driver system. Z phase open collector output. /OPZ 11 The same signal as in ZPH differential line driver is output O in Z phase open collector. Z phase encoder pulses are output across /ZPH-LG in open collector system. LG 18 Logic ground for differential line driver and open collector. ( Timing chart of encoder pulse output ) The A phase is 90 lead during forward(cw) rotation. The Z phase is output every one revolution. The Z phase in open collector is output same as the ZPH in differential line driver.

26 ANALOG IN/OUT SIGNAL Name Pin Symbol No. Function and Application 1. Speed control mode External analog speed command input terminal. By applying ±10V across VCMD-AGND, set the servo motor speed. Apply 10V to give the speed command set in parameter P-34. Speed command = ±(analog input voltage X P-34) / 10V Apply the positive voltage command for the forward(cw) revolution. It can change the direction of servo motor revolution by parameter P-35 as following table, instead of analog polarity change. 0 same polarity 1 opposite polarity I/O Control mode P S T Analog command VCMD 10 The offset speed can is set in parameter P-36 for precision speed adjustment. 2. control mode O External analog torque command input terminal. External analog torque command is available when parameter P-40 is set "0". By applying ±10V across VCMD-AGND, set the servo motor torque. Apply 10V to give the torque command set in parameter P-38. command = ±(analog input voltage X P-38) / 10V Apply the positive voltage command for the forward(cw) torque. It can change the direction of servo motor torque by parameter P-39 as following table, instead of analog polarity change. 0 same polarity 1 opposite polarity Analog monitor MON 1 Analog monitor output terminal. The analog monitor is output across MON-AGND in term of voltage. The analog monitor is used for the panel meter with 5V full scale. This output is unavailable for speed feedback due to bad precision. The analog monitor output has the full scale of 5V regardless of the speed or torque polarity. By the parameter P-18, the kind of analog monitor output is chosen as following table. Output in term of voltage in proportion to the speed. 0 5V at max. speed in parameter P-34. Output in term of voltage in proportion to the torque. 1 5V at 3 times of the rated torque. O Analog ground AGND 19 Analog ground for analog command and monitor.

27 3-4. MOTOR ENCODER SIGNALS OF CN3 Pin No. Symbol Name 1 B B phase input 2 /Z /Z phase input 3 V V phase input 4 /W /W phase input 5 FG Shield 6 A A phase input 7 /B /B phase input 8 U U phase input 9 /V /V phase input 10 VCC 5V power 11 /A /A phase input 12 Z Z phase input 13 /U /U phase input 14 W W phase input 15 GND 5V ground 3-5. SIGNALS AND WIRING OF CN4, CN5 (POWER, MOTOR, REGENERATIVE BRAKE) < BOOK TYPE > < BASE MOUNT TYPE > Power wire (R, S, T) : 3-phase AC 200V ~ 230V 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-AH1 13(AWG6) TANGO-A08 2(AWG14) TANGO-A35 5.5(AWG10) Motor wire (U, V, W, E) 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-AH1 13(AWG6) TANGO-A08 2(AWG14) TANGO-A35 5.5(AWG10) CN4 CN4 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/AH1 3.5(AWG12) Optional regenerative brake resistor BOOK TYPE 1/2 : CN4(P,B) BASE MOUNT TYPE 1/2 : CN5(P,B) Refer to the chapter 13-2 for detailed explanations.

28 CHAPTER 4. PARAMETER MODE 4-1. PARAMETER INPUT KEYS The parameters are set and changed by built-in function key unit(4 keys and 7-segment LED display). Each key has it's function as the following table. MODE key UP key DOWN key SET key mode type selection, return or escape mode type up, parameter no. up, data up mode type down, parameter no. down, data digit selection mode selection, data saving 4-2. PARAMETER DISPLAY AND SETTING The parameters are classified into the group1(par1) and group2(par2) and group3(par3) according to their frequency of use and safety aspects. The PAR1 has the items which is set frequently at the adjustment by operator. The PAR2 has the items which is set mainly at the 1st machine setting by operator. The PAR3 has the items which is set at the factory setting by manufacturer and can't be changed. Never adjust or change the parameter values extremely as it will make operation unstable. For the trouble shooting and maintenance, the setting value of parameters are in need of document recording. The P-00 and P-24 can be changed only when servo off. Operation Push the MODE key to change from status display to mode select level. 1. The pre-saved mode is displayed at LED. The each modes are scrolled sequentially by UP/DOWN key. 2.SelectthePAR1orPAR2modebySETkey. 3. The start no. of the selected group is displayed. The each parameter no. is scrolled sequentially by UP/DOWN key. (PAR1: 00~23, PAR2: 23~47) Stop the display at the parameter no. to be changed. 4. The pre-saved setting values are displayed by SET key. The dots are displayed at the each LED. 5. Select the figure of LED sequentially by DOWN key. The value of selected figure is blinking. 6. Push the UP key, the value of selected figure is increased 1 by 1 as the ring counter. If the value changed, the dots are disappeared. Repeat the operation of 5 and 6. For the cancellation of the changing value, push the MODEkeythenreturntothelevel3. 7. Push the SET key to save the setting values. If the setting values are out of ranges, they are saved with limited value (max. or min. value). 8. Push the MODE key and return to the level 3. The parameter no. is auto-increased 1 by 1.

29 4-3. DETAILS OF PARAMETERS PARAMETER GROUP 1 (PAR1) P-00 CONTROL MODE SELECTION Initial value: 0 Setting range: 0~3 Used to choose the control mode. It can be set only when servo off. Value Control mode 0 Position control mode 1 Speed control mode 2 control mode 3 Internal speed control mode [ Position control mode ] Entry of a pulse train from the positioning device rotates the servo motor. The position control mode has the inner loop of speed control and torque control. The forward rotation pulse train is input across (+CWP)-(-CWP). The reverse rotation pulse train is inputed across (+CCWP)-(-CCWP). The input pulse form can be chosen with parameter P-25. The factory setting of the parameter P-25 is the negative logic and 2-pulse type (P-25=0). The output pulse forms of positioning device must be same as that of servo amplifier. Refer to P-25 for detailed specifications of the pulse train input. 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. The acceleration and deceleration function for the external pulse train input can be performed in the servo amplifier. The acceleration and deceleration time is set in parameter P-24. The position P-gain, speed P-gain and speed I-gain must be fitted properly for optimal position control. If it is hard to set the gains manually, use the function of auto tuning. The auto tuning function get the optimal gains (position P-gain, speed P-gain and speed I-gain) automatically. The feed forward function shorten the settling time of position control with minimum overshoot. The feed forward gain is set in parameter P-30. The inposition output is useful for the check of positioning end. INP-OUTCOM are connected when droop pulse value is less than the inposition range set in parameter P-17. 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. The function of "Auto Servo On (P-29=1)" makes the servo amplifier to operate normally without external SVON input. [ Speed control mode ] The servo motor is run at the speed set in the applied voltage of analog speed command. The speed control mode has the inner loop of torque control. Never apply more than ±10V across VCMD-AGND. The maximum speed command equivalent to 10V is set in parameter P-34. Apply the positive voltage command for the forward(cw) revolution. It can change the direction of servo motor revolution by parameter P-35 instead of analog polarity change. The offset speed can is set in parameter P-36 for precision speed adjustment. The zero speed voltage is 0V. However, the analog input does not become 0V completely to remain a little offset. At the time, the servo motor rotates a little. In order to stop the servo motor completely, use the zero speed clamping function set in parameter P-37. The acceleration and deceleration function for the external speed command can be performed in the servo amplifier. The acceleration and deceleration time is set in parameter P-24. The speed P-gain and speed I-gain must be fitted properly for optimal speed control. If it is hard to set the gains manually, use the function of auto tuning. The auto tuning function get the optimal gains (speed P-gain and speed I-gain) automatically. The INP output is useful for the check of speed arrival.

30 In case of P-16=0, INP-OUTCOM are connected when the servo motor speed is more than the speed range set in parameter P-17. In case of P-16=1,They are connected when the servo motor speed is less than the speed range set in parameter P-17. 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. The function of "Auto Servo On (P-29=1)" makes the servo amplifier to operate normally without external SVON input. [ control mode ] Theservomotorisrunatthetorquesetintheappliedvoltageofanalogtorque command. The torque control mode has only it's own control loop. Therefore, the servo motorspeeddepend on the load torque. Attention that the servo motor may run at over speed when the torque command is too higher than the load torque. External analog torque command is available when parameter P-40 is set "0". Never apply more than ±10V across VCMD-AGND. The maximum torque command equivalent to 10V is set in parameter P-38. Apply the positive voltage command for the forward(cw) torque. It can change the direction of servo motor torque by parameter P-39 instead of analog polarity change. The acceleration and deceleration function for the external torque command can be performed in the servo amplifier. The acceleration and deceleration time is set in parameter P-24. The INP output is useful for the check of speed arrival. In case of P-16=0, INP-OUTCOM are connected when the servo motor speed is more than the speed range set in parameter P-17. In case of P-16=1,They are connected when the servo motor speed is less than the speed range set in parameter P-17. 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. The function of "Auto Servo On (P-29=1)" makes the servo amplifier to operate normally without external SVON input. [ Internal speed control mode ] In this mode, there are 2 types of the speed control without external analog speed command. The parameter P-31 select one of them. The one is a multi-step speed command control (P-31=0) and the other is a internal speed command control (P-31=1). 1. Multi-step speed command control (P-31=0) This mode is used for simple multi-step speed control with PLC or switch. In this mode, CWLMT and CCWLMT are used for multi-step speed selection signal inputs regardless of parameter P-23. The combinations of 2 inputs choose one of the 4 speeds. CCWLMT CWLMT speed selection PCON SVON OFF OFF multi-step speed 1 (P-19) OFF ON multi-step speed 2 (P-20) OFF=CW ON=START ON OFF multi-step speed 3 (P-21) ON ON multi-step speed 4 (P-22) ON=CCW OFF=STOP The acceleration and deceleration time is set in parameter P-24. The INP output is used for speed arrival function same as the speed control mode. The function of "Auto Servo On (P-29=1)" makes the servo amplifier to operate normally without external SVON input. The limit function is ignored regardless of parameter P Internal speed command control (P-31=1) This mode is used for the simplest speed control with only one speed setting value. The servo motor is run at the speed set in parameter P-32. The direction of revolution is set in parameter P-35. The acceleration and deceleration time is set in parameter P-24. The INP output is used for speed arrival function same as the speed control mode. The function of "Auto Servo On (P-29=1)" makes the servo amplifier to operate normally without external SVON input. The limit function is ignored regardless of parameter P-23.

31 P-01 GAIN SELECTION Initial value: 0 Setting range: 0~1 Used to select the type of gain. Please set 0 for the precision optimal gain setting. Value Selection 0 Manual input gain (P-02,03,04) 1 Auto tuning gain (P-06,07,08) P-02 POSITION P(Proportional) GAIN Initial value: refer to lists Setting range: 1~9999 Used to set the P-gain for position loop. It is applicable when parameter P-01 is set 0. It determines the response of position control. If the value is bigger, the response is getting better to reduce the position determination time. However, the high limit value depends upon the machine resonant frequency. If the value is too big to make the vibration, there is a noise in the mechanical part and big overshoot. The value is in inverse proportion to the load inertia. For detailed explanation, refer to the chapter 8-2. P-03 SPEED P(Proportional) GAIN Initial value: refer to lists Setting range: 1~9999 Used to set the P-gain for speed loop. It is applicable when parameter P-01 is set0. It determines the response of speed control. If the value is bigger, the response is getting faster to reduce the rising time. If the value is too big to make the hunting, the servo motor may be unstable. The value is in direct proportion to the load inertia. Sometimes, the operation of repeated abrupt acceleration and deceleration requires only the P-gain. It performs a good transient response. For detailed explanation, refer to the chapter 8-2, 9-2. P-04 SPEED I(Integral) GAIN Initial value: refer to lists Setting range: 1~9999 Used to set the I-gain for speed loop. It is applicable when parameter P-01 is set0. The bigger the value the better the steady state response, and as the result the speed loop error is reduced at the steady state. If the value is too big to make the hunting, the servo motor may be unstable. So, it shall be used in the proper range. Especially in case of ultra low speed, the intermittent revolution phenomena disappear due to I-gain of the speed loop. The I-gain function is disabled by parameter(p-23=1) or PCON terminal. Short PCON-24VGND to change the speed amplifier from PI-control to P-control. Set 1 in P-33 to keep P-control regardless of PCON input. If the servo motor at a stop is rotated even one pulse due to an external factor, it generates torque to compensate for a position mismatch. When the shaft is mechanically locked at a stop after inposition, turn on PCON simultaneously with inposition to suppress the unnecessary torque which attempts to compensate for position mismatch. P-05 RESERVED P-06 AUTO TUNING POSITION P GAIN Initial value: refer to lists Setting range: 1~9999 Used to set the auto tuning P-gain for position loop It is applicable when parameter P-01 is set 1. This value is saved automatically after completion of the auto tuning action. It can be changed manually for fine tuning. For detailed explanation, refer to the parameter P-02. P-07 AUTO TUNING SPEED P GAIN Initial value: refer to lists Setting range: 1~9999 Used to set the auto tuning P-gain for speed loop It is applicable when parameter P-01 is set 1. This value is saved automatically after completion of the auto tuning action. It can be changed manually for fine tuning. For detailed explanation, refer to the parameter P-03.

32 P-08 AUTO TUNING SPEED I GAIN Initial value: refer to lists Setting range: 1~9999 Used to set the auto tuning I-gain for speed loop It is applicable when parameter P-01 is set 1. This value is saved automatically after completion of the auto tuning action. It can be changed manually for fine tuning. For detailed explanation, refer to the parameter P-04. P-09 AUTO TUNING SPEED Initial value: 500 Setting range: 200~2000 Used to set the speed of full-auto tuning action. The unit is rpm. For the accurate estimation of load inertia, the auto tuning speed is at least more than 300 rpm. For detailed explanation, refer to the chapter 16. P-10 AUTO TUNING INERTIA RATIO Initial value: 100 Setting range: 100~ Semi-auto tuning mode : This value is the calculated load inertia percent value proportional to the servo motor inertia. It is used for the reference of auto tuning gain estimation 2. Full-auto tuningmode : This value is saved automatically after completion of a full-auto tuning. The result of a auto tuning action is the estimated load inertia percent value proportional to the servo motor inertia. P-11 OVER LOAD TIME Initial value: 10 Setting range: 1~30 Used to set the allowable time of over load. The unit is 0.1sec. The over load check function is valid in position and speed control. For a interval of setting value, if the required torque is higher than the torque limit value set in parameter P-28 then the alarm E-02 has occurred. When this alarm has occurred, check the machine and parameters carefully and restart. If everything is good, it is recommended toreplacebythehighercapacityservo motor. Notice that the servo amplifier may be damaged permanently due to the setting value more than factory setting value.

33 P-12 ELECTRONIC GEAR DENOMINATOR1(1000'S) Initial value: 1 Setting rang: 1~9999 P-13 ELECTRONIC GEAR NUMERATOR1(1000'S) Initial value: 1 Setting rang: 1~9999 P-14 ELECTRONIC GEAR DENOMINATOR2(10000'S) Initial value: 0 Setting rang: 0~2 P-15 ELECTRONIC GEAR NUMERATOR2(10000'S) Initial value: 0 Setting rang: 0~2 The electronic gear function is valid in position control mode. 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 setting range of the denominator and numerator is 1 to Because the parameter input unit has the 4-digit LED, the 1000's are set in the denominator1 and numerator1, the 10000's are set in the denominator2 and numerator2. P-12(lower digit denominator) : 1~9999 (lower than 10000's unit). P-14(higher digit denominator) : 0~2 (10000's unit). P-13(lower digit numerator) : 1~9999 (lower than 10000's unit). P-15(higher digit numerator) : 0~2 (10000's unit). (settingvalue:1/30~30) P-14 Setting range : 0~2 MS 1 digit of denominator P-12 Setting range:1~9999 LS 4 digit of denominator P-15 Setting range : 0~2 MS 1 digit of numerator P-13 Setting range:1~9999 LS 4 digit of numerator Note 1: The allowable range of [denominator/numerator] is [1/30] to [30]. ThealarmE-06hasoccurred,whensettingvalueisovertheallowablerange. Note 2: The standard TANGO series has the or pulse per 1 revolution. P-16 INPOSITION OUTPUT TYPE Initial value: 0 Setting range: 0~1 Select the type of inposition output function. 1. Position control mode INP output is used for inposition signal regardless of setting value. INP-OUTCOM are disconnected always when servo off. INP-OUTCOM are connected when droop pulse value is less than the inposition range set in parameter P Speed/torque control mode INP output is used for 2 types of the speed reached signal according to the setting value. INP-OUTCOM are disconnected always when servo off. 0 1 Output on when the servo motor speed is more than thespeedrangesetinparameterp-17 Output on when the servo motor speed is less than the speed range set in parameter P-17 P-17 SPEED ARRIVAL REFERENCE Initial value: 100 Setting range: 1~5000 Set the reference speed for speed arrival checking in P-16. The unit is rpm.

34 P-18 ANALOG MONITOR TYPE Initial value: 0 Setting range: 0~1 Select the type of analog monitor output function. The analog monitor is output across MON-AGND in term of voltage. This output is unavailable for speed feedback due to bad precision. The analog monitor output has the full scale of single polarity 5V regardless of the speed or torque polarity. It is used for the panel meter with 5V full scale. By the parameter P-18, the kind of analog monitor output is chosen as following table. 0 1 Output in term of voltage in proportion to the speed. 5V at max. speed in parameter P-34. Output in term of voltage in proportion to the torque. 5V at 3 times of the rated torque. P-19 MULTI-STEP SPEED 1 Initial value: 100 Setting range: 1~5000 P-20 MULTI-STEP SPEED 2 Initial value: 500 Setting range: 1~5000 P-21 MULTI-STEP SPEED 3 Initial value: 1000 Setting range: 1~5000 P-22 MULTI-STEP SPEED 4 Initial value: 1500 Setting range: 1~5000 The multi-step speed control mode is subset of the internal control mode. This function is valid when both the internal speed control mode(p-00=3) and the multi-step function(p-31=0) are selected simultaneously. The unit is rpm. This mode is used for simple multi-step speed control with PLC or switch. In this mode, CWLMT and CCWLMT are used for multi-step speed selection signal inputs regardless of parameter P-23. The combinations of 2 inputs choose one of the 4 speeds. CCWLMT CWLMT speed selection OFF OFF multi-step speed 1 (P-19) OFF ON multi-step speed 2 (P-20) ON OFF multi-step speed 3 (P-21) ON ON multi-step speed 4 (P-22) P-23 LIMIT FUNCTION USE Initial value: 0 Setting range: 0~1 The limit function is enabled by set 1. In case of the limit function enabled, to start operation, short CWLMT and CCWLMT-24VGND. Openthemtobringthemotortoaemergencystopandbringtheamplifiertoaalarm status(e-07). In the internal speed control mode, the limit function is disabled regardless of setting value and limit inputs are used for multi-step speed selection signal inputs.

35 PARAMETER GROUP 2 (PAR2) P-24 ACCELERATION/DECELERATION TIME Initial value: 0 Setting range: 0~2100 Used to set the acceleration and deceleration time in all control mode. The unit is 0.01sec. Theaccelerationtimeissameasthedecelerationtime. Themaximumsettingvalueis1.5sec. If the setting value is out of the allowable range,the acc./dec.function becomes invalid. The sine-wave type is the most smoothing method due to the no-break point. So, It is the most effective method. Settingvalueaccordingtotheacc./dec.type Linear ACC./DEC ~ 0150 Sine-wave ACC./DEC ~ 1150 Exponential ACC./DEC ~ 2150 In the position control mode, the pulse train input is smoothened in the servo amplifier. In the speed control mode, the external speed command is smoothened in the servo amplifier. In the speed control mode, the external torque command is smoothened in the servo amplifier. In the internal speed control mode, the internal speed command or multi-step speed command are smoothened in the servo amplifier. The linear type is the most general method but some overshoot takes place at the break point. The sine-wave type is the most smoothing method due to the no-break point. It is the most effective method. The exponential type is the fastest method due to the fast rising and falling time. but large overshoot takes place at the break point.

36 P-25 PULSE TRAIN INPUT TYPE Initial value: 0 Setting range: 0~5 The pulse train may be input in any of three different forms, for which positive or negative logic can be chosen. This parameter is valid in position control mode. 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. Pulse train forms : 2-pulse ( forward pulse train + reverse pulse train ) 1-pulse ( pulse train + direction ) Encoder ( A phase + B phase ) Logic Pulse train form Forward rotation Reverse rotation 2-Pulse Fwd./Rvd. pulse train Signal input CWP CCWP Setting value 3 Positive logic 1-Pulse pulse train+sign CWP CCWP 4 Encoder pulse Aphase Bphase CWP CCWP 5 2-Pulse Fwd./Rvd. pulse train 1-Pulse pulse train+sign CWP CCWP 0 Negative logic Encoder pulse Aphase Bphase CWP CCWP CWP CCWP 1 2 Note: 1. Recommended driving current is 10~15 ma. Never use the TTL output for driving circuit. The driving capacity of TTL is insufficient to drive photo-coupler. Use the amplifier circuit. 2. 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. 3. If the interface power is 5V then there is no need to insert a external resistor. But be sure to insert a external resistor in case of 12V or 24V. 4. The maximum frequency is 500Khz in line driver and 200Khz in open collector. 5. The position shift may arise from high speed pulse input higher than the max. frequency. P-26 OVER DEVIATION PULSE Initial value: 3000 Setting range: 200~9999 Used to set the allowable maximum pulses of deviation counter. The unit is 10 pulse. The over deviation check function is valid in position control. The deviation counter is the error pulse counter(command pulse-feedback pulse). If the value of deviation counter is higher than the setting value in this parameter then the alarm E-05 has occurred. The causes of over deviation alarm are mainly as follows. 1. Acceleration/deceleration time is too small. 2. Position control p-gain value is too small. 3. limit value is too small 4. Machine lock

37 P-27 ENCODER OUTPUT DIVISION RATIO Initial value: 1 Setting range: 1~4 Used to set the encoder output division ratio. [Division ratio setting ] Value Division ratio /2 (TANGO-A series is not applicable) 3 1/4 (TANGO-A series is not applicable) 4 1/8 (TANGO-A series is not applicable) P-28 MAXIMUM TORQUE LIMIT Initial value: 300 Setting range: 10~300 Settodefinethemaximumtorque.Theunitis%oftheratedtorque. The torque limit function is valid in the position, speed and internal speed control mode. The factory setting value(300% of rated torque) is applicable for the most operation. In case of the heavy inertia or the easy fragile machine, the setting value may be reduced at the recommended torque value. But, the too small setting value makes the over load or over deviation alarm. P-29 AUTO SERVO ON Initial value: 0 Setting range: 0~1 Used to set the "auto servo on" function. The "auto servo on" function makes the servo amplifier to operate normally without external SVON input. It is valid for all control mode. ShortRST-24VGNDtoswitchtheservoamplifier off, making the servo motor free. Open them to return the servo amplifier on, making the servo amplifier ready tooperate. This function is useful for the positioning device without servo on output. P-30 FEED FORWARD GAIN Initial value: 0 Setting range: 0~1000 Used to set the feed forward gain for position loop. It is valid for the position control mode. The feed forward function shorten the settling time of position control with minimum overshoot. Note that sudden acceleration/deceleration increase overshoot As a guideline, acceleration/deceleration time up to the rated speed is 1sec. or more at the 100 P-31 INTERNAL SPEED TYPE Initial value: 0 Setting range: 0~1 This parameter decides the internal speed control type. It is valid in the internal speed control mode. One is the multi-step speed control mode, the other is internal speed command control mode. 0 1 Multi-step speed control mode This mode is used for simple multi-step speed control with PLC or switch. The servo motor is run at the speed set in parameter P-19,20,21,22. The direction of rotation is decided by PCON input(off=cw, on=ccw). Internal speed command control mode This mode is used for the simplest speed control with only one speed setting value. The servo motor is run at the speed set in parameter P-32. The direction of rotation is decided by P-35(0=CW, 1=CCW). P-32 INTERNAL SPEED Initial value: 1 Setting range: 1~5000 Set the reference speed for the internal speed command mode( P-31=1). The unit is rpm. The direction of rotation is decided by P-35(0=CW, 1=CCW).

38 P-33 SPEED I GAIN INHIBITION Initial value: 0 Setting range: 0~1 Set 1 in this parameter to keep P-control regardless of PCON input. This function is valid in the position, speed and internal speed control mode. If the servo motor at a stop is rotated even one pulse due to an external factor, it generates torque to compensate for a position mismatch. When the shaft is mechanically locked at a stop after positioning end, the setting value "1" suppress the unnecessary torque which attempts to compensate for position mismatch. 0 Invalid(PI control) 1 Valid(P control) P-34 MAXIMUM SPEED Initial value: 1000~5000 Setting range: 100~5000 Used to set the allowable maximum speed. In the position and torque control mode, the setting value means the maximum speedlimit. In the speed control mode, the setting value means the reference speed command matched at 10V which is applied externally. Speed command = ±(analog input voltage X setting value) / 10V The factory setting value is applicable for the most operation. For a 1 second, if the running speed is higher than the setting value then the alarm E-03 has occurred. When this alarm has occurred, check the machine and parameters carefully and restart. Notice that the servo motor may be damaged permanently due to the setting value more than factory setting value. P-35 COMMAND DIRECTION Initial value: 0 Setting range: 0~1 Used to set the direction of servo motor revolution. It is invalid in the torque control mode. Position control mode : change easily the direction of rotation without hard-wired replacement of pulse train input. Speed control mode : change easily the direction of rotation without analog polarity change of command input. 0 Same direction 1 Opposite direction Internal speed command control mode : It is applicable when parameter P-31 is set 1. 0 Forward rotation 1 Reverse rotation P-36 SPEED COMMAND OFFSET Initial value: 0 Setting range: 0~199 Used to set the offset speed in the speed control mode. The unit is rpm. The setting value is added to the speed command input for precision speed adjustment. 0~99 +Offset(0~99) 100~199 -Offset(0~99) P-37 ZERO SPEED CLAMPING Initial value: 0 Setting range: 0~200 Used to set the zero speed clamping function. The unit is rpm. It is valid in the speed and internal speed command control mode. The analog input does not become 0V completely to remain a little offset. At the time, the servo motor rotates a little. In order to stop the servo motor completely, use the zero speed clamping function. 0 Invalid (not used) More than 1 Valid (the setting value is the reference speed of clamping function.)

39 P-38 MAXIMUM TORQUE COMMAND Initial value: 0 Setting range: 0~100 Set to define the maximum torque command correspond to 10V which is applied externally. The unit is % of the rated torque. It is valid when both the torque control mode(p-00=2) and the external analog torque command(p-40=0) are selected simultaneously. command = ±(analog input voltage X setting value) / 10V P-39 TORQUE COMMAND DIRECTION Initial value: 0 Setting range: 0~1 Used to set the direction of servo motor torque. It is invalid in the torque control mode. External analog torque command(p-40=0): Change easily the direction of torque without analog polarity change of command input. 0 Same direction 1 Opposite direction Internal torque command(p-40=1~100) : Set the direction of torque in the internal torque command mode. 0 Forward rotation 1 Reverse rotation P-40 TORQUE COMMAND TYPE Initial value: 0 Setting range: 0~100 This parameter decides the torque command type. It is valid in the torque control mode. 0 More than 1 External analog torque command mode The maximum torque command equivalent to 10V is set in parameter P-38. Apply the positive voltage command for the forward(cw) torque. It can change the direction of servo motor torque by parameter P-39 instead of analog polarity change. Setting value is used for the internal torque command P-41 REGENERATION BRAKE TIME Initial value: 0 Setting range: 0~3 Set the allowable maximum time of regenerative brake action. The brake resistor is optional. If the regeneration brake action is longer than the setting value, then the alarm E-16 has occurred. When this alarm has occurred, it may soften the acc./dec. time or install the additional regenerative brake resistor. [ Regenerative brake time ] sec sec sec sec. The regeneration conditions are appeared in the following cases. 1. The load moves vertically. 2. The deceleration time is too short with an excessive speed. 3. The load inertia is too big compared with the motor inertia. The converter voltage of servo amplifier is increased in case of regeneration in which the energy is transferred reverse to the servo amplifier from the motor. The regeneration energy is discharged quickly through the regenerative brake resistor for the safety of power semiconductor device, when the converter voltage is higher than the reference voltage of regeneration brake. Note: 1. Do not install the regenerative brake resistor on or near combustibles. Otherwise, a fire may cause. 2. If the input power supply is higher than the normal voltage, then the alarm may occur frequently. Install the step down transformer.

40 P-42 BRAKE OUTPUT USE Initial value: 0 Setting range: 0~1 Used to set the electromagnetic brake signal output(brk) function. BRK-OUTCOM are connected at servo on. 0 Invalid (not used) 1 Valid (used) When 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, the brake output is on at servo on state. This function is affected by the parameter P-43,P-44. P-43 BRAKE ON DELAY TIME Initial value: 50 Setting range: 10~500 Set a time delay between electromagnetic brake signal output on and servo on. The unit is msec. The mechanical movement is occurred due to free-run when the setting value is too higher than the optimal value. But, be sure that the motor shaft is damaged due to locking when the setting value is too lower than the optimal value. P-44 BRAKE OFF SPEED Initial value: 100 Setting range: 1~300 Set a safety speed of electromagnetic brake action. The unit is rpm. The timing of electromagnetic brake signal off is delayed until the speed reaches the setting value, when the servo motor is stopped freely at a running. Be sure that the motor shaft is damaged due to the high speed when the setting value is too higher than the optimal value. P-45 TEST RUN SPEED Initial value: 500 Setting range: 1~5000 Used to check the servo amplifier's function at factory setting. The unit is rpm. This parameter is used for NS SYSTEM. P-46 BAUD RATE Initial value: 3 Setting range: 0~9 Used to set the serial communication speed. [ Baud Rate ] Setting value Speed BPS BPS BPS BPS BPS P-47 DEVICE ID Initial value: 0 Setting range: 0~255 Used to set the device identity number for the serial communication. Thesettingvalueshouldbe"0"whentheserialcommunicationisnotused. The servo amplifier responds to the request of host when ID. number is matched. 0 Not used 1 ~ 255 ID. Number

41 PARAMETER GROUP 3 (PAR3) The parameter group 3 has the items for factory setting. The user can not set or change the parameter group 3 P-48 CURRENT P(Proportional) GAIN Initial value: Setting range: 1~1000 Used to set the P-gain for current loop. P-49 CURRENT I(Integral) GAIN Initial value: Setting range: 1~1000 Used to set the I-gain for current loop. P-50 MAXIMUM CURRENT Initial value: Setting range: 1~9999 Used to set the maximum current. P-51 RATED CURRENT Initial value: Setting range: 1~9999 Used to set the rated current. P-52 MOTOR RESISTOR/PHASE Initial value: Setting range: 1~9999 Used to set the resistance per phase. P-53 MOTOR INDUCTANCE/PHASE Initial value: Setting range: 1~9999 Used to set the inductance per phase. P-54 MOTOR TORQUE CONSTANT Initial value: Setting range: 1~9999 Used to set the torque constant. P-55 MOTOR INERTIA Initial value: Setting range: 1~9999 Used to set the motor inertia. P-56 MOTOR BACK EMF Initial value: Setting range: 1~9999 Used to set the motor back-emf. P-57 Reserved Initial value: Setting range: 1~9999 P-58 LOCK TIME Initial value: Setting range: 1~300 Used for factory setting. P-59 LOCK TORQUE Initial value: Setting range: 1~100 Used for factory setting.

42 CHAPTER 5. DISPLAY MODE The display mode are set and changed by built-in function key unit(4 keys and 7-segment LED display).eachkeyhasit'sfunctionasthefollowingtable. MODE key UPkey DOWN key SET key mode type selection, return or escape modetypeup,displayno.up mode type down, display no. down display mode select 5-1. DISPLAY MODE SETTING Operation Push the MODE key to change from status display to mode select level. 1. The pre-saved mode is displayed at LED. Each modes are scrolled sequentially by the UP/DOWN key. 2. Select the "dsp" mode by SET key. 3. The pre-saved display mode no. are displayed by the SET key. The dots are displayed at the each LED. 4. Each display mode no. is scrolled sequentially by the UP/DOWN key. (d-00~07) If the display mode no. is changed, the dots are disappeared. Stop at the display mode no. to be changed. 5. Push the SET key to select and save the display mode no. The dots are reappeared to note the right saving. 6. Push the MODE key and return to the status display level 5-2. DETAILS OF DISPLAY MODE The display mode is composed of the 8 items(d-00~d-07). The selected display mode is save at the non-volatile memory and keeps the display mode regardless of power off. d-00 MOTOR SPEED Display the average speed for 0.2sec. The unit is rpm. The dot means the reverse(ccw) revolution. If the dot is not displayed, it means the forward(cw) revolution. This display mode is used for checking of the servo motor speed.

43 d-01 DEVIATION COUNTER / SPEED AND TORQUE COMMAND Position control mode : Speed control mode : control mode : Display the deviation counter value(command pulse-feedback pulse). It is used for checking of the positioning accuracy. Display the speed command value in rpm. It is used for checking of the speed command value. Display the torque command in % value correspond to rated torque. It is used for checking of the torque command value. d-02 COMMAND PULSE Display the accumulated command pulse counter. It is used for checking of the command pulse. Theforwardcommandpulseisaddedandthereversecommandpulseissubtracted. The dot means the reverse(ccw) command pulse. If the dot is not displayed, it means the forward(cw) command pulse. The range in which displayed normally is -9999~ Ifthecountervalueisoverthenormalrangethensometimes,thedisplaycharacter is abnormal. But internal command pulse counter operates normally. d-03 ENCODER FEEDBACK PULSE Display the accumulated encoder feedback pulse counter. It is used for checking of the encoder feedback pulse. The reverse feedback pulse is added and the forward feedback pulse is subtracted. The dot means the forward(cw) feedback pulse. If the dot is not displayed, it means the reverse(ccw) feedback pulse. The range in which displayed normally is -9999~ Ifthecountervalueisoverthenormalrangethensometimes,thedisplaycharacter is abnormal. But internal feedback pulse counter operates normally. d-04 AVERAGE LOAD for 15sec. Displaytheaverageloadfor15sec.Theunitis%valuecorrespondtotherated torque. The value of 100 means the 100% of rated torque. It is used for checking the reasonable choice of servo motor capacity. If the average load for 15sec is more than 70%, use the servo motor that provides large output. d-05 INSTANTANEOUS LOAD for 0.2sec. Display the instantaneous load for 0.2sec. The unit is % value correspond to the rated torque. The value of 100 means the 100% of rated torque. It is used for checking the peak torque on acceleration/deceleration action or instantaneous over load. d-06 REGENERATIVE BRAKE OPERATION TIME Display the operating time of regenerative brake. The operating time is displayed by % value correspond to the setting value in parameter P-41. The value of 100 means the 100% of operation time. It is used for checking the reasonable choice of regenerative brake resistor capacity. If the value is more than 50%, use the regenerative brake resistor that provides large output. d-07 BOARD VERSION Display the version of S/W or H/W. It is used for the factory setting and maintenance.

44 CHAPTER 6. CHECK MODE The check mode are set and changed by built-in function key unit(4 keys and 7-segment LED display).eachkeyhasit'sfunctionasthefollowingtable.thismodeisused for H/W checking. MODE key UPkey DOWN key SET key mode type selection, return or escape modetypeup,checkno.up mode type down, check no. down check mode select 6-1. CHECK MODE SETTING Operation Push the MODE key to change from status display to mode select level. 1. The pre-saved mode is displayed at LED. Each modes are scrolled sequentially by the UP/DOWN key. 2.Selectthe"CHEC"modebySETkey. 3. C-00 are displayed. 4. Each check mode no. is scrolled sequentially by the UP/DOWN key. (C-00~17) Stop at the check mode no. to be checked. 5. Push the SET key to select the check mode no. The contents of selected check mode are displayed. Performs the check mode. Push the MODE key and return to the status display level. 6. Push the MODE key and return to the level DETAILS OF CHECK MODE The check mode is composed of the 18 items(c-00 ~ C-17). It performs the various kinds of check function such as H/W check, in/out check, test run and parameter initialization. C-00 SINE-WAVE CHECK Check the sine-wave for motor control. Usage : used to check the servo amplifier at factory setting. C-01 SPEED FEEDBACK CHECK Check the speed feedback and encoder A/B phase for motor control. The dot means the reverse(ccw) rotation. If the dot is not displayed, it means the forward(cw) rotation. Usage : used to check the encoder A/B phase wiring mistake.

45 C-02 ENCODER UVW SIGNAL CHECK Check the encoder U/V/W phase for motor control. When the servo motor shaft is rotated slowly toward clock-wise direction by hand, U/V/W phase signal is displayed sequentially as follows > > > > > > > repeat Usage : used to check the encoder U/V/W phase wiring mistake. C-03 ANALOG INPUT CHECK Check the analog input port. The dot means the negative voltage. +10V V 0-10V Usage : used to check the analog command input. C-04 INVERTER H/W CHECK Check the inverter(dc-link) H/W. Display the peak value of AC voltage input. The peak value is Usage : used to check the AC voltage input and inverter H/W. times as nominal voltage. C-05 U PHASE CURRENT SENSOR OFFSET ChecktheoffsetvalueofUphasecurrentsensor. It is a substandard device which is more than 60(300mV). Usage : used to check the current sensor and relative H/W. C-06 V PHASE CURRENT SENSOR OFFSET Check the offset value of V phase current sensor. It is a substandard device which is more than 60(300mV). Usage : used to check the current sensor and relative H/W. C-07 U PHASE CURRENT SENSOR Check the characteristic of U phase current sensor. Usage : used to check the servo amplifier at factory setting. C-08 V PHASE CURRENT SENSOR Check the characteristic of V phase current sensor. Usage : used to check the servo amplifier at factory setting. C-09 DEVIATION COUNTER CHECK Check the deviation counter. Usage : used to check the servo amplifier at factory setting.

46 C-10 USER INPUT CHECK Usage : used to check the user input ports and wiring mistake. Input selection : Select the input no.(00~07) by UP/DOWN key. Selected input no. is displayed. Status display : The status of selected input is displayed. (H:ON, L:OFF) 00 SVON (servo on) 04 PCON (proportional control) 01 RST (reset) 05 Reserved 02 CWLMT (forward limit) 06 Reserved 03 CCWLMT (reverse limit) 07 Reserved C-11 SYSTEM INPUT CHECK Usage : used to check the system input ports in servo amplifier. Input selection : Select the input no.(00~07) by UP/DOWN key. Selected input no. is displayed. Status display : The status of selected input is displayed. (H:ON, L:OFF) 00 Encoder W phase 04 Power off (normal=l) 01 Encoder V phase 05 Encoder open (normal=h) 02 Encoder U phase 06 Current limit (normal=l) 03 Over current (normal=l) 07 Encoder Z phase (normal=l) C-12 SYSTEM OUTPUT CHECK Usage : used to check the system output ports in servo amplifier. Never use the output no. 05, 06. Output selection : Select the output no.(00~07) by UP/DOWN key. Selected output no. is displayed. Output on/off : The selected output is toggled(on/off). (H:ON, L:OFF) 00 ALM (alarm ouput) 04 BASE CUT (base off) 01 INP (inposition output) 05 REG. OUT (regenerative brake) 02 Reserved 06 Reserved 03 BRK (brake output) 07 Reserved

47 C-13 TEST RUN Used to check the jog running at factory setting. The test run speed value is set in parameter P-45. The forward(cw) rotation running is started by UP key and reverse(ccw) rotation running is started by DOWN key. The servo motor is stopped by the SET key. Usage : used to check the servo amplifier at factory setting and 1st installation. C-14 PARAMETER INITIALIZATION Used to initialize the parameter with factory setting value. On the 'cccc' status, the parameter initialization is started. The '----' status is displayed at the end of initialization. PushtheMODEkeytoreturntothemaincheckmode Usage : used to check the servo amplifier at factory setting. C-15 RESERVED C-16 RESERVED C-17 RESERVED

48 CHAPTER 7. ALARM MODE The alarm mode is used for checking the history of alarm. It is operated by built-in function key unit(4 keys and 7-segment LED display). Each key has it's function as the following table. MODE key UP key DOWN key SET key mode type selection, return or escape mode type up, alarm no. up mode type down, alarm no. down alarm mode select 7-1. ALARM MODE SETTING Operation Push the MODE key to change from status display to mode select level. 1. The pre-saved mode is displayed at LED. Each modes are scrolled sequentially by the UP/DOWN key. 2. Select the "Err" mode by SET key. 3. E000 are displayed. 4. Each alarm mode no. is scrolled sequentially by the UP/DOWN key. (E000~E700) E 0 00 Savedalarmno.(refertothelists) Alarm history no. (0 ~ 7) (The lower no. means the more recent) 5. Push the SET key to clear all the alarm history. 6. Push the MODE key and return to the status display level. CAUTION When any alarm has occurred, eliminate it's cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, the servo motor and amplifier may be damaged. - Alarm output when alarm status. ALM-OUTCOM are disconnected(off) when an alarm occurs. The servo motor is stopped freely at a running. - Reset operation when alarm status. Short RST-24VGND for longer than 50msec to reset alarm. Pushing the UP/DOWN key simultaneously makes the servo amplifier to do reset. - Brake output when alarm status. When use a brake output(p-42=1),the brake signal is off after the speed reaches the setting value in parameter P-44.

49 7-2. ALARM LISTS AND DETAILS Alarm Name and Definition Cause Action E-01 E-02 E-03 E-04 E-05 Encoder alarm Over load alarm Load exceeded over load protection level of servo amplifier. Load ratio 300%: more than P-11 Load ratio 100%: more than 15sec. Over speed alarm Speedexceededthe max. speed (P-34) for more than 1sec. Memory alarm EEPROM fault Over deviation alarm Droop pulse value of the deviation counter exceeded the setting value (P-26) 1. Encoder cable faulty. (breakage or short) Encoder connector disconnected. Repair or change the cable. Connect correctly. 2. Servo motor encoder faulty Change the servo motor. 3. Faulty parts in the servo amplifier. Change the servo amplifier. 1. Machine struck something. 2. Servo amplifier is used in excess of it's continuous output current. Review operation pattern. Install limit switch. Reduce load. Use the servo motor that provides larger output. 3. UVW miswire Connect correctly. 1. Input command pulse exceeded the permissible speed frequency. Set command pulse correctly. 2. Electronic gear ratio too high. Set correctly. 3. command too high Set torque command correctly. 4. Encoder faulty Change the servo motor. Faulty parts in the servo amplifier. 1.Acc./dec.timeistoosmall Change the servo amplifier. Increasetheacc./dec.time. 2. limit value(p-28) is too small Increase the torque limit value. Increase set value and adjust 3. Position P-gain(P-02) value is too small. to ensure proper operation. Reduce load. 4. Inertia is too high Use the servo motor that provides larger output. 5. Machine struck something. Review operation pattern. E-06 Electric gear ratio alarm Setting value is over the allowable range. E-07 Limit alarm E-08 Command pulse alarm 6. Encoder faulty Change the servo motor. Setting value is over the allowable range ([1/30] to [30]). Set correctly. Review operation pattern. 1. Limit switch is active when P-23=1 Check the wiring. 2. Limit switch logic is inverse Change the limit switch. 1. Command pulse frequency too high. Change the command pulse frequency to a proper value. 2. Nose entered the command pulse Take action against noise.

50 Alarm Name and Definition Cause Action E-11 Over voltage alarm Converter bus (DC-LINK) voltage exceeded (400V/450V) 1. Acc./dec. time is too small when regenerative brake resistor is not installed. 2. Acc./dec. time is too small when regenerative brake resistor is installed. 3. Wire breakage of built-in or optional regenerative brake resistor. Increase the acc./dec. time. Increase the acc./dec. time. Add regenerative brake option or increase capacity. Change regenerative brake resistor. 4. Power supply voltage is high Review the power supply. E-12 E-13 Over current alarm Current is higher than the permissible current of servo amplifier. Under voltage alarm Converter bus (DC-LINK) voltage dropped. (200V or less) 1. Short occurred in servo amplifier output phases U, V and W. Correct the wiring. 2. Encoder faulty(u, V, W). Connect correctly. 3. Ground fault occurred in servo amplifier output phases U, V and W. Correct the wiring. 4. Power switching device faulty. Change the servo amplifier. 1. Power supply voltage is low (160Vac or less) Review the power supply. 2. Shortage of power supply capacity Review the power supply. 3. Power failed instantaneously. Review the power supply. 4. Faulty parts in the servo amplifier. Change the servo amplifier. E-14 Uphasecurrent sensor alarm U phase hall current sensor faulty. Change the servo amplifier. E-15 Vphasecurrent sensor alarm V phase hall current sensor faulty. Change the servo amplifier. E-16 Regenerative brake alarm Operation time of regenerative brake exceeded the setting value (P-41). 1. Acc./dec. time is too small when regenerative brake resistor is not installed. 2. Acc./dec. time is too small when regenerative brake resistor is installed. 3. Wire breakage of built-in or optional regenerative brake resistor. Increase the acc./dec. time. Increase the acc./dec. time. Add regenerative brake option or increase capacity. Change regenerative brake resistor. 4. Faulty parts in the servo amplifier. Change the servo amplifier. 5. Power supply voltage is high Review the power supply. E-17 Reserved E-18 Reserved E-19 Reserved

51 CHAPTER 8. OPERATION OF POSITION CONTROL 8-1. STANDARD CONNECTION DIAGRAM OF POSITION CONTROL ( BOOK TYPE 1/2 ) ( BASE MOUNT TYPE 1/2 ) 8-2. FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF POSITION CONTROL 1. Entry of a pulse train from the positioning device rotates the servo motor. The position control mode has the inner loop of speed control and torque control. The pulse train is input across (+CWP)-(-CWP) and (+CCWP)-(-CCWP). 2. The input pulse form can be chosen with parameter P-25. The factory setting of the parameter P-25 is the negative logic and 2-pulse type (P-25=0). Theoutputpulseformofpositioningdevicemustbesameasthatofservoamplifier. Refer to P-25 for detailed specifications of the pulse train input.

52 3. The direction of rotation according to input pulse train is set by parameter P-35. When the direction of rotation is reverse to the command pulse, the direction of rotation can be changed by parameter P-35 without hard-wired replacement. 4. Set the electronic gear ratio(parameter P-12,13,14,15), if need be. 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. Refer to P-12,13,14,15 for detailed description. 5. The acceleration and deceleration time is set in parameter P-24, if need be. In case of the positioning device without acc./dec. function, the pulse train input can be smoothened in the servo amplifier. The sine-wave type is the most smoothing method due to the no-break point. 6. Set the gain (position P-gain, speed P-gain, speed I-gain). The position P-gain, speed P-gain and speed I-gain is set to satisfy no-load condition at factory setting. Therefore, when the motor is installed to the machine, the gain must be adjusted to satisfy the load inertia condition. The auto tuning function get the optimal gains (position P-gain, speed P-gain, speed I-gain) automatically. When the machine rigidity is low (timing belt or disc without reduction gear), set smaller value than the normal condition. (Adjustment of position P-gain) The position P-gain determines the responsibility of position control. If the value is bigger, the response is getting better to reduce the position determination time. However, the high limit value depends upon the response of the machine(inherent frequency) and rigidity. If the value is too big to make the vibration, there is a acoustic noise in the mechanical part. Because the position P-gain is inverse proportional to the load inertia, the gain must be adjusted to satisfy following formula according to the load inertia. The load inertia is total value including the motor inertia. Load inertia ratio=(load inertia+motor inertia)/motor inertia Position P-gain Factory setting value / Load inertia ratio (Adjustment of speed P-gain) The speed P-gain determines the transient responsibility of speed control. Because the speed P-gain is directly proportional to the load inertia, the gain must be adjusted to satisfy following formula according to the load inertia. The load inertia is total value including the motor inertia. Speed P-gain Factory setting value X Load inertia ratio (Adjustment of speed I-gain) The speed I-gain determines the steady state responsibility of speed control. The bigger the value the better the steady state error. If the value is too big, the transient overshoot or undershoot is getting bigger, and so it shall be used in the proper range. Because the speed I-gain is directly proportional to the load friction and is slightly proportional to load inertia, the gain must be adjusted some highly to the satisfaction of good tuning with consideration of load friction and inertia. Especially in case of ultra low speed, the intermittent revolution phenomena disappear due to I-gain of the speed loop. Speed I-gain = Factory setting value X Load constant Load constant (above 1) is the coefficient of load friction and inertia.

53 7. Set the feed forward function in parameter P-24, if need be. If the value is bigger, the response of the position loop is faster. But it is too big, there occurs the vibration of system. 8. Set the "Auto Servo On (P-29=1)" function, if need be. This function is useful for the positioning device without servo on output. The "auto servo on" function makes the servo amplifier to operate normally without external SVON input. Short RST-24VGND to switch the servo amplifier off, making the servo motor free. Open them to return the servo amplifier on, making the servo amplifier ready to operate. 9. Inposition signal is output from INP output terminal. The inposition output is useful for the check of positioning end. INP-OUTCOM are connected when droop pulse value is less than the inposition range set in parameter P-17. INP-OUTCOM are disconnected always when servo off. 10. Over deviation alarm. The deviation counter is the error pulse counter(command pulse-feedback pulse). If droop pulse value of the deviation counter exceeded the setting value then the alarm E-05 has occurred. The causes of over deviation alarm are mainly as follows. 1. Acceleration/deceleration time is too small. 2. Position control P-gain value is too small. 3. limit value is too small 4. Machine lock 11. Inhibition of speed I-gain control. Short PCON-24VGND to change the speed amplifier from PI-control to P-control. Set 1 in parameter P-33 to keep P-control regardless of PCON input. If the servo motor at a stop is rotated even one pulse due to an external factor, it generates torque to compensate for a position mismatch. When the shaft is mechanically locked at a stop after positioning end, this function suppress the unnecessary torque which attempts to compensate for position mismatch. 12. Encoder pulse output The encoder pulse output are used for full closed positioning unit. Set the division ratio for A and B phase in parameter P-27. Value Division ratio /2 (TANGO-A series is not applicable) 3 1/4 (TANGO-A series is not applicable) 4 1/8 (TANGO-A series is not applicable) A phase leads B phase by 90deg at forward(cw) revolution. Z phase is output every 1 revolution without division. Open collector output of Z phase is same timing as /ZPH of line driver output.

54 CHAPTER 9. OPERATION OF SPEED CONTROL 9-1. STANDARD CONNECTION DIAGRAM OF SPEED CONTROL ( BOOK TYPE 1/2 ) ( BASE MOUNT TYPE 1/2 ) 9-2. FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF SPEED CONTROL 1. Entry of a external analog command from the speed control device rotates the servo motor. Thespeedcontrolmodehastheinnerloopoftorquecontrol. By applying the external analog voltage across VCMD-AGND, set the servo motor speed. Apply ±10V to give the maximum speed command set in parameter P-34. Never exceed ±10V for safety of H/W. Use the precision power supply or precision reference voltage circuit for the accurate speed control.

55 2. Set the maximum speed range in parameter P-34. The setting value means the reference speed command matched at 10V which is applied externally. The factory setting value is applicable for the most operation. Speed command = ±(analog input voltage X setting value) / 10V +: forward revoluton, -: reverse revolution 3. Set the direction of revolution in parameter P-35, if need be. The direction of revolution according to analog input voltage is set by parameter P-35. You can change easily the direction of revolution without analog polarity change of command input. 0 Same direction 1 Opposite direction 4. Set the offset speed in parameter P-36, if need be. The setting value is added to the speed command input for precision speed adjustment. Speedcommand =inputspeedvalue±offset 0~99 +Offset(0~99) 100~199 -Offset(0~99) 5. The acceleration and deceleration time is set in parameter P-24, if need be. In case of the speed command device without acc./dec. function, the analog input can be smoothened in the servo amplifier. The sine-wave type is the most smoothing method due to the no-break point. 6. Set the gain (speed P-gain, speed I-gain). The speed P-gain and speed I-gain is set to satisfy no-load condition at factory setting. Therefore, when the motor is installed to the machine, the gain must be adjusted to satisfy the load inertia condition. The auto tuning function get the optimal gains (speed P-gain, speed I-gain) automatically. When the machine rigidity is low (timing belt or disc without reduction gear), set smaller value than the normal condition. (Adjustment of speed P-gain) The speed P-gain determines the transient responsibility of speed control. Because the speed P-gain is directly proportional to the load inertia, the gain must be adjusted to satisfy following formula according to the load inertia. The load inertia is total value including the motor inertia. Speed P-gain Factory setting value X Load inertia ratio Load inertia ratio=(load inertia+motor inertia)/motor inertia (Adjustment of speed I-gain) The speed I-gain determines the steady state responsibility of speed control. The bigger the value the better the steady state error. If the value is too big, the transient overshoot or undershoot is getting bigger, and so it shall be used in the proper range. Because the speed I-gain is directly proportional to the load friction and is slightly proportional to load inertia, the gain must be adjusted some highly to the satisfaction of good tuning with consideration of load friction and inertia. Especially in case of ultra low speed, the intermittent revolution phenomena disappear due to I-gain of the speed loop. Speed I-gain = Factory setting value X Load constant Load constant (above 1) is the coefficient of load friction and inertia.

56 7. Set the zero speed clamping function in parameter P-37, if need be. The analog input does not become 0V completely to remain a little offset. At the time, the servo motor rotates a little. In order to stop the servo motor completely, use the zero speed clamping function. 0 Invalid (not used) More than 1 Valid (the setting value is the reference speed of clamping function.) 8. Set the "Auto Servo On (P-29=1)" function, if need be. This function is useful for the speed command device without servo on output. The "auto servo on" function makes the servo amplifier to operate normally without external SVON input. Short RST-24VGND to switch the servo amplifier off, making the servo motor free. Open them to return the servo amplifier on, making the servo amplifier ready to operate. 9. Speed arrival signal is output from INP output terminal. INP output is used for 2 types of the speed reached signal according to the setting value in parameter P-16 and P-17. INP-OUTCOM are disconnected always when servo off. 0 1 Output on when the servo motor speed is more than thespeedrangesetinparameterp-17 Output on when the servo motor speed is less than the speed range set in parameter P Inhibition of speed I-gain control. Short PCON-24VGND to change the speed amplifier from PI-control to P-control. Set 1 in parameter P-33 to keep P-control regardless of PCON input. Sometimes, the operation of repeated abrupt acceleration and deceleration requires only the P-gain. It performs a fast and good transient response with low steady state speed error. 11. Encoder pulse output Refer to chapter

57 CHAPTER 10. OPERATION OF TORQUE CONTROL STANDARD CONNECTION DIAGRAM OF TORQUE CONTROL ( BOOK TYPE 1/2 ) ( BASE MOUNT TYPE 1/2 ) FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF TORQUE CONTROL 1. Entry of a external analog command from the torque control device generates a servo motor torque regardless of the motor speed. Therefore, the servo motor speed depend on the load torque. Attention that the servo motor may run at over speed when the torque command is too higher than the load torque. The torque control mode has only it's own loop of current control. By applying the external analog voltage across VCMD-AGND or the internal setting value, set the servo motor torque. Apply ±10V to give the maximum torque command set in parameter P-34. Never exceed ±10V for safety of H/W. Use the precision power supply or precision reference voltage circuit for the accurate torque control.

58 2. Select the torque command type. The parameter P-40 decides the torque command type as follows. 0 More than 1 External analog torque command mode is available The maximum torque command equivalent to 10V is set in parameter P-38. Setting value is used for the internal torque command Theunitis%oftheratedtorque 3. Set the maximum torque range in parameter P-38 when parameter P-40 is set "0" The setting value means the reference torque command matched at 10V which is applied externally. Never apply more than ±10V across VCMD-AGND. command = ±(analog input voltage X setting value) / 10V +: forward torque, -: reverse torque 4. Set the direction of torque in parameter P-39. External analog torque command(p-40=0): Change easily the direction of torque without analog polarity change of command input. 0 Same direction 1 Opposite direction Internal torque command(p-40=1~100): Set the direction of torque in the internal torque command mode. 0 Forward rotation 1 Reverse rotation 5. The acceleration and deceleration time is set in parameter P-24, if need be. In case of the torque command device without acc./dec. function, the analog input can be smoothened in the servo amplifier. The sine-wave type is the most smoothing method due to the no-break point. 6. Set the "Auto Servo On (P-29=1)" function, if need be. This function is useful for the torque command device without servo on output. The "auto servo on" function makes the servo amplifier to operate normally without external SVON input. Short RST-24VGND to switch the servo amplifier off, making the servo motor free. Open them to return the servo amplifier on, making the servo amplifier ready to operate. 7. Speed arrival signal is output from INP output terminal. INP output is used for 2 types of the speed reached signal according to the setting value in parameter P-16 and P-17. INP-OUTCOM are disconnected always when servo off. 0 1 Output on when the servo motor speed is more than thespeedrangesetinparameterp-17 Output on when the servo motor speed is less than thespeedrangesetinparameterp Encoder pulse output Refer to chapter

59 CHAPTER 11. OPERATION OF INTERNAL SPEED CONTROL STANDARD CONNECTION DIAGRAM OF INTERNAL SPEED CONTROL ( BOOK TYPE 1/2 ) ( BASE MOUNT TYPE 1/2 ) FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF INTERNAL SPEED CONTROL 1. Entry of a external switch inputs or internal setting value in parameter rotates the servo motor. The internal speed control mode has the inner loop of torque control. This mode is used for the simplest speed control with only one speed setting value or the multi-step speed control with switch inputs.

60 2. Select the internal speed control type. The parameter P-31 decides the internal speed command type as follows. 0 1 Multi-step speed control mode This mode is used for simple multi-step speed control with PLC or switch. The servo motor is run at the speed set in parameter P-19,20,21,22. The direction of rotation is decided by PCON input(off=cw, on=ccw). Internal speed command control mode This mode is used for the simplest speed control with only one speed setting value. The servo motor is run at the speed set in parameter P-32. The direction of rotation is decided by P-35(0=CW, 1=CCW). 3. Set the internal speed command value. (Multi-step speed control mode, P-31=0 ) CWLMT and CCWLMT are used for multi-step speed selection signal inputs regardless of limit function(parameter P-23). The direction of rotation is decided by PCON input(off=cw, on=ccw). The combinations of 2 inputs choose one of the 4 speeds. CCWLMT CWLMT speed selection OFF OFF multi-step speed 1 (P-19) OFF ON multi-step speed 2 (P-20) ON OFF multi-step speed 3 (P-21) ON ON multi-step speed 4 (P-22) (Internal speed control mode, P-31=1 ) The servo motor is run at the speed set in parameter P-32. The direction of rotation is decided by P-35(0=CW, 1=CCW). 5. The acceleration and deceleration time is set in parameter P-24, if need be. the step speed value can be smoothened in the servo amplifier. The sine-wave type is the most smoothing method due to the no-break point. 6. Set the "Auto Servo On (P-29=1)" function, if need be. This function is useful for the speed command device without servo on output. The "auto servo on" function makes the servo amplifier to operate normally without external SVON input. Short RST-24VGND to switch the servo amplifier off, making the servo motor free. Open them to return the servo amplifier on, making the servo amplifier ready to operate. 7. Speed arrival signal is output from INP output terminal. INP output is used for 2 types of the speed reached signal according to the setting value in parameter P-16 and P-17. INP-OUTCOM are disconnected always when servo off. 0 1 Output on when the servo motor speed is more than thespeedrangesetinparameterp-17 Output on when the servo motor speed is less than the speed range set in parameter P Encoder pulse output Refer to chapter

61 CHAPTER 12. AUTO TUNING SEMI-AUTO TUNING Operation Set the parameter P-10 (auto tuning inertia ratio) Push the MODE key to change from status display to mode select level. 1. The pre-saved mode is displayed at LED. Each modes are scrolled sequentially by the UP/DOWN key. 2. Select the "AUtO" mode by SET key. 3. Push the DOWN key to start the tuning function. The semi-auto tuning function is performed. 4. Theautotuninggains(P-6, P-7, P-8) are saved automatically. The servo amplifier is reset as like power-on state FULL-AUTO TUNING Operation SettheparameterP-9(autotuningspeed) Push the MODE key to change from status display to mode select level. 1. The pre-saved mode is displayed at LED. Each modes are scrolled sequentially by the UP/DOWN key. 2. Select the "AUtO" mode by SET key. 3. Push the UP key to start the tuning function. 4. The full-auto tuning function is performed. 5. The auto tuning gains (P-6, P-7, P-8) are saved automatically. The servo amplifier is reset as like power-on state.

62 CHAPTER 13. SIGNAL TIMING POWER ON SEQUENCE The servo amplifier can accept the servo-on signal about 1sec. after the main circuit power supply is switched on. Also, the external reset input makes the same effect as power-on sequence. The minimum pulse width of reset input is 50msec and the maximum of that is 0.2sec. When the reset input is switched on, the base drive circuit will switch off immediately SERVO ON / OFF SEQUENCE (In case of non-brake) The brake is not used when P-42=0. The base drive circuit will switch on/off after the servo-on signal is switched on/off for longer than 20msec BRAKE ON / OFF SEQUENCE The brake is used when P-42=1. Set a time delay between electromagnetic brake signal output on and servo on inparameterp-43. The unit is msec. The mechanical movement is occurred due to free-run when the setting value is too higher than the optimal value. But, be sure that the motor shaft is damaged due to locking when the setting value is too lower than the optimal value. Set a safety speed of electromagnetic brake action in parameter P-44. The unit is rpm. The timing of electromagnetic brake signal off is delayed until the speed reaches the setting value, when the servo motor is stopped freely at a running. Be sure that the motor shaft is damaged due to the high speed when the setting value is too higher than the optimal value.

63 CHAPTER 14. OPTIONS ENCODER AND MOTOR CABLE (ENCODER CABLE) Applicable motor KANZ KANQ Model name NSAE-3M NSAE-5M NSAE-10M Length 3m 5m 10m Applicable motor KAND/S/H/F KAFX/N Model name NSME-3M NSME-5M NSME-10M Length 3m 5m 10m (MOTOR CABLE) Applicable motor KANZ KANQ Applicable motor KAND/S/H/F KAFX/N Applicable motor KAND/S/H/F KAFX/N Model name NSAP-3M NSAP-5M NSAP-10M Model name NSMP-3M NSMP-5M NSMP-10M Model name NSMPR-3M NSMPR-5M NSMPR-10M Length 3m 5m 10m Length 3m 5m 10m Length 3m 5m 10m OPTIONAL REGENERATIVE BRAKE RESISTOR Model BOOK TYPE 1 BOOK TYPE 2 BASE MOUNT TYPE 1/2 Capacity 100~600W 800W~2.0KW 2.4KW~7.5KW Built-in type No used 50Ω 50W 50Ω 100W External type 50Ω 50W 50Ω 100W 25Ω 150W Part No. RB-50W RB-100W RB-150W

64 CHAPTER 15. MAINTENANCE AND INSPECTION CAUTION Maintenance and Inspection After cutting off the main power and enough time passed, check and maintain. Due to the residual voltage at capacitor, it is very dangerous. Do not test the servo amplifier with a megger(measure insulation resistance), or it may becomes faulty. Do not disassemble and/or repair the equipment on customer side INSPECTION It is recommended to make the following checks periodically. 1. Check for loose terminal block screw. Retighten any loose screws. 2. Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating condition. 3. Check the servo motor bearings, brake section, etc. for unusual noise. 4. Check the servo motor shaft and coupling for misalignment. Inspection Period Action Vibration, Unusual noise Every day Comparing with the normal Foreign material adhesion At occurrence Clean by vacuum cleaner Insulation resistance Every 1 year DC 500[V], 10[M Ω] and more Oil seal Every 5000 hours Oil seal replacement Overall check Every 2000 hours or 5 years Contact to our office or sales representative LIFE The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not reached the end of its life, which depends on the operating method and environmental conditions. With age, the smoothing 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. For parts replacement, please contact your sales representative. Part Name Smoothing capacitor Relay Servo amplifier Cooling fan Cable Bearing Servo motor Encoder Oil seal Life Guideline 5 years 3 years 2 years 2 years ~ hours ~ hours 5000 hours

65 CHAPTER 16. SUMMARY OF LISTS PARAMETER LISTS ( P: position S: speed T: torque I: internal speed ) Group No. Name Range Control mode Min Max P S T I 00 Control mode selection Gain selection Position P(proportional) gain Speed P(proportional) gain Speed I(integral) gain Reserved Auto tuning position P(proportional) gain Auto tuning speed P(proportional) gain Auto tuning speed I(integral) gain Auto tuning speed Auto tuning inertia ratio PAR1 11 Over load time Electronic gear denominator1 (1000's) Electronic gear numerator1 (1000's) Electronic gear denominator2 (10000's) Electronic gear numerator2 (10000's) Inposition output type Speed arrival reference Analog monitor type Multi-step speed Multi-step speed Multi-step speed Multi-step speed Limitfunctionuse Acceleration/deceleration time Pulse train input type Over deviation pulse Encoder output division ratio Maximum torque limit Auto servo on Feed forward gain Internal speed type Internal speed Speed I gain inhibition Maximum speed PAR2 35 Command direction Speed command offset Zero speed clamping Maximum torque command command direction command type Regeneration brake time Brake output use Brake on delay time Brake off speed Test run speed Baud rate Device ID 0 255

66 16-2. ALARM LISTS No. Name Description E-01 Encoder Encoder cable faulty, Servo motor encoder faulty. E-02 Over load Load exceeded over load protection level of servo amplifier. E-03 Over speed Speed exceeded the max. speed (P-34) for more than 1sec. E-04 Memory Faulty EEPROM in the servo amplifier. E-05 Over deviation Droop pulse value of the deviation counter exceeded the setting value. E-06 Electric gear ratio Setting value is over the allowable range ([1/30] to [30]). E-07 Limit Limit switch is active when P-23=1. E-08 Command pulse Command pulse frequency too high. E-09 Reserved E-10 Reserved E-11 Over voltage Converter bus(dc-link) voltage exceeded. (400V/450V) E-12 Over current Current is higher than the permissible current of servo amplifier. E-13 Under voltage Converter bus(dc-link) voltage dropped. (200V or less) E-14 U phase sensor U phase hall current sensor faulty. E-15 V phase sensor V phase hall current sensor faulty. E-16 Regenerative brake Operation time of regenerative brake exceeded the setting value (P-41). E-17 Reserved E-18 Reserved E-19 Reserved DISPLAY MODE LISTS No. Name Description d-00 Motor speed Display the average speed for 0.2sec. The unit is rpm. d-01 Position: deviation counter value(command pulse-feedback pulse). Deviation counter/ Speed: speed command value in rpm. Command value : torque command in % value correspond to rated torque. d-02 Command pulse Display the accumulated command pulse counter. d-03 Encoder feedback Display the accumulated encoder feedback pulse counter. d-04 Average load(15sec) Display the average load for 15sec. The unit is % value of rated torque. d-05 Instantaneous load The instantaneous load for 0.2sec. The unit is % value of rated torque. d-06 Reg. brake time The operating time of regenerative brake. By % value of parameter P-41. d-07 Board version Display the version of S/W or H/W CHECK MODE LISTS No. Name Description C-00 Sine-wave Check the servo amplifier at factory setting. C-01 Speed feedback Used to check the encoder A/B phase wiring mistake. C-02 Encoder UVW signal Used to check the encoder U/V/W phase wiring mistake. C-03 Analog input Used to check the analog input port. C-04 Inverter H/W Used to check the AC voltage input and inverter H/W. C-05 U phase offset Check the servo amplifier at factory setting. C-06 V phase offset Check the servo amplifier at factory setting. C-07 U phase current Check the servo amplifier at factory setting. C-08 V phase current Check the servo amplifier at factory setting. C-09 Deviation counter Check the servo amplifier at factory setting. C-10 User input Used to check the user input ports and wiring mistake. C-11 System input Used to check the system input ports in servo amplifier. C-12 System output Used to check the system output ports in servo amplifier. C-13 Test run Check the servo amplifier at factory setting. C-14 Parameter initialization Check the servo amplifier at factory setting. C-15 Reserved C-16 Reserved

67 16-5. COMBINATION OF AMPLIFIERS AND MOTORS Servo Amplifier Servo Motor KANZ KANQ KAND KANS KANH KANF KAFX KAFN TANGO-A01 KANZ-A5B/01B KANQ-01B TANGO-A02 KANZ-02B KANQ-02B TANGO-A04 KANZ-04B KANQ-04B KANF04 KAFN03 TANGO-A06 KANZ-06B KAFX05 TANGO-A08 KANZ-08B KANH05 KANF08 KAFX09 KAFN06 TANGO-A12 KANZ-10B KAND10 KANH10 KAFN09 TANGO-A18 KAND15 KANH15/20S KANF15 KAFX13 KAFN12 TANGO-A24 KAND20 KANH20 KANF25 KAFX20 KAFN20 TANGO-A30 KAND25 KAFX30S KAFN30 TANGO-A35 KAND30/45S KANH30/40S KANF35S KAFX30 TANGO-A40 KAND45 KANS40 KANH40 KANF35 KAFX45 TANGO-A50 KAND50 KANS45/50S KANH50 KANF45 TANGO-A75 KANS50 TANGO-AH1 KANF PARAMETER INITIAL VALUE AT FACTORY SETTING NO ZA5B Z01B Z02B Z04B Z06B Z08B Z10B Q01B Q02B Q04B D10 D15 D20 D25 D30 D45 D50 S40 S45 S

68 NO H05 H10 H15 H20 H30 H40 H50 F04 F08 F15 F25 F35 F45 X05 X09 X13 X20 X30 X45 N03 N06 N09 N12 N20 N

69 CHAPTER 17. COMMUNICATION FUNCTIONS Servo Amplifier has the RS-232C serial communication functions. Thesefunctionscanbeusedtoperformservooperation,parameterchanging, monitor function, etc. Servo Amplifier has the optional RS-422 serial communication functions. The parameter P-46 set the serial communication speed as follows. [Parameter P-46 ] [ Baud Rate ] BPS BPS BPS BPS BPS The parameter P-47 set the device identity number for the serial communication. Thesettingvalueshouldbe"0"whentheserialcommunicationisnotused Servo amplifier responds to the request of host when ID. number is matched. [Parameter P-47 ] 0 Not used 1 ~ 255 ID. Number COMMUNICATION CONNECTOR (CN2) ( RS-232C 1:1) ( RS-232C 1:N) ( RS-422 ) Pin No. Symbol Signal Name 2 TXD Transmitter 3 RXD Receiver 5 GND 9 FG Logic Ground Frame Ground Pin No. Symbol Signal Name 2 TXD Transmitter 3 RXD Receiver 5 GND Logic Ground 9 FG Frame Ground 1 TXD-IN Extension transmitter 6 RXD-IN Extension receiver Pin No. Symbol Signal Name 1 RDP Receiver Plus 6 RDN Receiver Minus 2 SDP Transmitter Plus 3 SDN Transmitter Minus 5 GND Logic Ground 7 RT Terminal Resistor 9 FG Frame Ground COMMUNICATION SPECIFICATIONS Servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station. Items Baudrate Frame Description 1200/2400/4800/9600/19200 [bps] asynchronous system Start bit : 1bit Data bit : 8bit Stop bit : 1bit Parity bit : Not used Transfer protocol NS SYSTEM Hexadecimal Code, half-duplex communication system

70 17-3. RS-232C Basically, a single axis of servo amplifier (1:1 communication) is operated. Multiple axes of servo amplifier (1:N communication) can be operated by RS-232C extension pins. Cable length is 10m max. in environment of little noise. Cable length is 5m max. in environment of 4800bps or more. Use a twisted-pair shield cable to minimize the influence of electromagnetic interference. (1:1 Communication) (1:N Communication) RS-422 Basically, multiple axes of servo amplifier (1:N communication) can be operated. Up to 32 devices can be connected to a single bus. Up to 255 devices can be connected to a extended single bus by bus repeater. Cable length is 30m max. in environment of little noise. Use a twisted-pair shield cable to minimize the influence of electromagnetic interference. When master station is personal computer, RS-232C/RS-422 converter is needed. The converter must be an isolated type to minimize the influence of electromagnetic interference. Terminal resistor (RT: 120 Ω, 0.5W) should be connected across RDP-RDN of converter. Atthelastservoamplifier,theterminalRTshouldbeconnectedtoRDNfortermination. The terminal RT has a internal terminal resistor (RT: 120 Ω, 0.5W).

71 17-5. PROTOCOL DOWN LOAD The transmission of data from master station to slave station is call a "Down Load" The transfer protocol is as follows HEADER / LENGTH / ID NO. / COMMAND / DATA 0 /.../ DATA n / CHECKSUM Items Description HEADER SOH(start of head). Hexadecimal 75H LENGTH Number of total bytes which are transmitted. Length range : sum of total bytes from ID NO. to DATA n. ID NO. Device identity number of slave station (servo amplifier). COMMAND Command to be performed by slave station (servo amplifier). DATA 0 ~ Data followed by the command. DATA n The data length depends on the command. Thechecksumissentasahexadecimalcoderepresentingthelowerone CHECKSUM byte of the logical sum of hexadecimal values from ID NO. to DATA n. Checksum range : from ID NO. to DATA n UP LOAD The transmission of data from slave station to master station is call a "Up Load" The transfer protocol is as follows HEADER / LENGTH / COMMAND / DATA 0 /.../ DATA n / CHECKSUM Items HEADER LENGTH COMMAND DATA 0 ~ DATA n CHECKSUM Description SOH(start of head). Hexadecimal 75H Number of total bytes which are transmitted. Length range : sum of total bytes from COMMAND to DATA n. Return the same command received from master station. Reply data. The data length depends on the command. The checksum is sent as a hexadecimal code representing the lower one byte of the logical sum of hexadecimal values from COMMAND to DATA n. Checksum range : from COMMAND to DATA n.

72 17-6. COMMUNICATION CODES Hex. Code Description SVON Servo on 01H Data Not used Reply & Action Normal case : Reply ACK(40H) -> Make servo on SVOFF Servo off 02H Data Not used Reply & Action Normal case : Reply ACK(40H) -> Make servo off PAUSE Stop the servo running 03H Data Not used Reply & Action Normal case : Reply ACK(40H) -> Make servo locking RESTART Restart from the stop 04H Data Not used Reply & Action Normal case : Reply ACK(40H) -> Make servo restart ACK Acknowledgement on reception 40H Data Not used Reply & Action Non-executable command NCK No-Acknowledgement on reception 41H Data Not used Reply & Action Non-executable command RESET System reset 42H Data Not used Reply & Action Normal case : Reply ACK(40H) -> Make servo reset SPDRUN Constant speed running Speed (Signed 2-Byte), Unit: rpm 0 : make servo locking Data + : The servo motor is run at CW with the speed set in data 50H - : The servo motor is run at CCW with the speed set in data 1. Servo on & normal case : Reply ACK(40H) -> Make servo Constant Reply & Action speed running 2. Servo off or abnormal case : Reply NCK(41H) POSRUN Positioning Speed(Signed 2-Byte) + Position(Non-signed 2-Byte) Unit: speed(rpm), position(pulse) +speed : The servo motor is positioning by the number of pulses and Data at CW with the speed set in data. 51H -speed : The servo motor is positioning by the number of pulses and at CCW with the speed set in data. 1. Servo on & normal case : Reply & Action Reply ACK(40H) -> Make servo positioning 2. Servo off or abnormal case : Reply NCK(41H) STATUS Up-load status Data Not used Normal case : Reply ACK(40H) -> Up-loading servo status data [Status Data] 80H Servo off 1(Data0) + 1(Data1) Servo locking 2(Data0) + 0(Data1) Reply & Action Servo running 2(Data0) + 1(Data1) Servo error 3(Data0) + error no.(data1) CW limit 4(Data0) + 0(Data1) CCW limit 4(Data0) + 1(Data1)

73 Hex. Code Description PARUP Up-load parameters Data Not used 1. Servo off & normal case : 82H Reply ACK(40H) -> Up-loading parameters Reply & Action Parameters range: P-00 ~ P Servo on or abnormal case: Reply NCK(41H) PARDOWN Down-load parameters DATA Not used 1. Servo off & normal case : 83H Reply ACK(40H) -> Down-loading parameters Reply & Action Parameters range: P-00 ~ P Servo on or abnormal case : Reply NCK(41H) SPEEDUP Up-load the speed of servo motor Data Not used 84H Normal case : Reply ACK(40H) -> Up-loading servo speed Reply & Action Speed data : Signed 2-Byte, Unit: rpm POSUP Up-load the current position of servo motor Data Not used 85H Normal case : Reply ACK(40H) -> Up-loading position pulses Reply & Action Position data : Signed 4-Byte, Unit: pulse ILOADUP Up-load the instantaneous load of servo motor Data Not used 86H Normal case : Reply ACK(40H) -> Up-loading instantaneous load Reply & Action Instantaneous load data : Non-signed 2-Byte, Unit: % ALOADUP Up-load the average load of servo motor Data Not used 87H Normal case : Reply ACK(40H) -> Up-loading average load Reply & Action Average load data : Non-signed 2-Byte, Unit: % CMDUP Up-load the last command received from master station 88H Data Not used Reply & Action Normal case : Reply ACK(40H) -> Up-loading last command ESC Escape from limit state 89H Data Not used Reply & Action Normal case : Reply ACK(40H) -> Make servo escape from limit 8AH 8BH CANCEL Cancel the servo running (constant speed running or positioning) Data Not used Reply & Action Normal case : Reply ACK(40H) -> Make servo stop ACCSET Data Reply & Action Set the acc./dec. time Acc./dec. time (Non-signed 2-Byte), Unit: 0.01 sec Linear ACC./DEC ~ 0150 Sine-wave ACC./DEC ~ 1150 Exponential ACC./DEC ~ Servo off & normal case : Reply ACK(40H) -> Set the internal acc./dec. time Note : Wait for 50msec or more after receiving ACK reply. 2. Servo on or abnormal case : Reply NCK(41H)

74 APPENDIX

75 APPENDIX A. Servo motor configurations Model configurations KAND-25 B E 1 B 2 Servo motor K:KSeries A:ACServo Series NZ NQ ND NS NH NF FX FN Output A3 : 30W : 04 : 400W : 25 : 2.5KW : 50 : 5.0kW Voltage A : AC 100/110W B : AC 200/220V C : AC 100/110V, 200/220V Axial end spec. 1:Round(Standard) 2:Keyway 3:D-cut 4:Taper Option N : Without option B:Brake S : Oil seal T:B+Soption Special sequence 1,2,3... Encoder 2500 P/R P/R Inc. See encoder specifications below. Encoder Specifications Symbol Spec. KANZ/Q KAND KANS KANH KANF KAFX KAFN A B C D 2000 P/R Inc.(9wires) 2000 P/R Inc.(15wires) 2048 P/R Inc.(9wires) 2048 P/R Inc.(15wires) E 2500 P/R Inc.(9wires) Standard F 2500 P/R Inc.(15wires) Standard Standard Standard Standard G 17bit Abs. Standard Standard Standard Standard Standard I H 11bit Abs P/R Abs. K 5000 P/R Inc.(15wires) Standard Standard L 6000 P/R Inc.(15wires) Standard Standard 1. Regarding standards for specially developed products, please inquire about items individually.

76 APPENDIX B. Servo motor classification Motor series Rated output Rated/ Maximum speed Shape Protection degree Features Applications KANZ 30W ~400W 3000/5000 r/min 750W 3000/4500 r/min Cylinder IP65 Ultra low inertia Belt drives, Robots, SMD chip mounters, Inserters, XY tables KANQ 100W ~400W 3000/5000 r/min Pan cake IP65 Low inertia Robots, XY tables, SMD chip mounters, Sewing machines, Food processing machines KAND 1kW ~5kW 2000/3000 r/min Cylinder IP55 Middle inertia Conveyor machines, Robots, XY tables KANS 4kW ~5kW 3000/4500 r/min Cylinder IP55 Low inertia High frequency positioning equipments KANH 500W ~5kW 2000/3000 r/min Cylinder IP55 Ultra high inertia Machine tools, Winding machines, Press feeders, Woodworking machines KANF 400W ~11.0kW 2000/3000 r/min Pan cake IP55 Middle inertia Robots, Food processing machines Machine tools, Transfer KAFX 450W ~4.4kW 1500/2500 r/min Cylinder IP55 High inertia machines, Woodworking machines, Spring forming machines KAFN 300W ~3kW 1000/2000 r/min Cylinder IP55 High inertia Machine tools, Transfer machines, Woodworking machines