Professional Documents
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User Manual
Ver8.34
D A C H EN G
Chapter 1 Introduction 1.1 Name plate 1.2 Naming rules 1.3 Standard Specification Chapter 2 System Installation 2.1 Connecting and Installation 2.2 Confirmation Items 2.3 Attention for Using
Dacheng Electric
Contents
Cautions
2.4 Installation Method Chapter 3 System Wiring 3.1Standard Wiring 3.2 Wiring Specification 3.3 Wiring method 3.4 Considerations 3.5 Terminals 3.5.1 DCSF-C Terminals 3.5.2 Encoder Signal Input Terminal CN1(15 cores) 3.5.3 AI/ AO Terminal CN2(44cores) 3.5.4 Telecommunication Terminal CN3(9 cores) 3.6Input/ Output Interface Type 3.6.1 DI Interface 3.6.2 AI Interface 3.6.3 Encoder Signal Output 3.6.4Encoder Z Signal Collector Unconnected Output Interface Chapter 4 Keyboard Operation Parameter and Display 4.1 Panel Instruction 4.2 Menu Operation Instruction 4.3 Specific Operation Instruction 4.4 Control Parameter 4.5 Alarm Parameter Chapter 5 Standard Control Wiring 5.1 Speed Control 5.1.1 Internal Speed ControlPr90=0 5.1.2 External Analogue Speed ControlPr90=2 External Analogue Torque ControlPr90=3 5.1.3 Preinstall Curve Speed ControlPr90=4 2
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5.1.4 Computer Speed ControlPr90=8 5.1.5 Location ControlPr90=6 5.1.6 Location Curve Control(Pr90=5 5.1.7 Pressure Closed Loop ControlPr90=9 Applicable for Injection Machine 5.1.8 Braking Resistor Configuration Table 5.1.9Injection Machine Servo Configuration Table
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Dacheng Electric
Thank you very much for choosing our DCSF-C series servo motors. Please read the instruments carefully before your operation of our products. please contact us, if you have any question or suggestion. Tel:0575-82165222 Fax:0575-82168183
Servo Production Section of Zhejiang Dacheng Electric http://www.zjdacheng.cn Please pay special attention to these warning signs while reading this manual: Warning: wrong operation may cause disastrous results----death or serious injury
Careful: wrong operation may make the operators hurt or get the equipment damaged
Safety Rules The design and manufacturing of our products are not to use in the machinery or systems that threaten peoples safety. when choosing our products for your machines or systems, you must take safety measures into consideration during designing and manufacturing, to avoid accidents caused by improper operations.
Transportation The products must be stored and transported according to the given terms. the products cant be piled in excess to prevent fall. 5
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the products should be packed perfect during transshipment. While moving the machines, you mustnt drag the power cord, motor shafts or the encoders. Both servo motors and servo drivers cant burden the external forces or bumps.
Installation Servo drivers and motors The machines cant be fit on or near inflammables to prevent fires. Vibration should be avoided, and shock is forbidden. Installation is prohibited, when theres any damage or loss of parts. Servo drivers The machine must be installed in the control cabinet with enough safety production level. Enough space must be kept between other equipments. Good radiation condition must be available. Prevent dust, caustic gas, electric conduction objects, liquid or flammable
explosive materials getting in.
Servo motor The installment must be firm to prevent loose caused by vibration. liquid invasion must be prevented, which may cause damage to machines and encoders. Any knock to the motors or motor shafts is forbidden to avoid damage to encoders. The motor shafts cant bear the load pasts the limits. Connection The personnel taking part in the connection or inspection must be well qualified. Connection and inspection cant be done until 5 minutes later. The servo drivers and motors must be well earthed. There is probable bombs or operation accidents if the voltage or power polarity is wrong. Earthing can be done after the installment. Ensure the power cord insulative; avoid pressing the power cord to avoid electric shock. Connection must be right and firm, otherwise, running errors may occur or equipments may be damaged because of poor contact. Dont apply the reverse polarity to UVW terminators or connect alternating current. Servo motors and drivers should be connected directly, and electric 6
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capacity, the inductance or the filter cant be put in. Prevent the electric conduction fastener and the electricity end from entering into the machine. The electric wire and the heat non-resistant body cannot draw close to radiator of the servo driver and the servo machinery. The freewheel diodes cant be applied reversed, which are joined up in parallel to DC relays to output signals. Debugging and running Before energizing, make sure servo drivers and motors are properly installed, well fixed, and the voltage and connection are right. While debugging, the machine should firstly have no-loading running to make sure the parameters right, then take load debugging to avoid the damage to machinery and equipments caused by wrong operation.
Application A emergency circuit should be plugged in, so that the equipment can stop and the power supply be off immediately Before resetting an alarm, you must make sure the running signal is off other wise the machine will restart suddenly. The servo drivers must be used together with the specified and assorted motors. Dont turn on and off the power supply frequently, which may damage the system. The servo drivers and motors may feel hot after continuous running. Dont touch the drivers, radiators or machines Dont adapt servo systems. Fault handling even if the servo drivers are off power, the high pressure will still last for a period of time. So please dont take the power cord apart in five minutes or touch the terminal plate. people taking part in disassembly and repair should have relevant knowledge and operation capacity. After alarming, faults must be cleared. And reset the alarm before reset the machine. while the power is on after momentary interruption, keep away from the machine, because it may start abruptly.(The design of the machine should make sure that no danger be caused when restarting.) System matching
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The rated torque of the servo motors must be higher than effective continuous load torque. The ratio of load inertia and the motor inertia should be smaller than the recommended value. The servo driver and motor should be a match.
Chapter 1
1.1 Name plate
Brief Introduction
DCSF-C150S220V40
Servo Driver Series C D UY Series Power Grade 100W-15kW Voltage Grade 220V/380V Version V1.0-V8.0 DCSF-C: Universal Servo Driver DCSF-D: High Performance Servo Driver DCSF-U: Dedicated Servo Driver (made to order by customers) DCSF-Y: Servo Driver for Hydraulic Pressure Only
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Location ControlSpeed ControlTorque ControlJOG Running Internal forward rotation servo enabledbackward rotation servo enabled forward rotation driven prohibited backward rotation driven prohibited Speed option 1 Speed option 2 Speed option 3 Torque/speed limited option
Control Output
Location control
0.036
Pulse + symbol
orthogonal pulsepositive logic pulse + symbol forward pulse/backward pulse two phase A/B
orthogonal pulsenegative logic Programmable Speed Control Feedback impulse Torque limit Speed control Speed scope 010VDC(max value match max torque) 1:5000 2500 line/revolution, 10000 impulse/revolution 8 bit field internal programmable speed control
D A C H EN G
Speed response frequency Speed fluctuation rate Torque rate Torque control Analog Input Speed limit 500Hz
Dacheng Electric
010VDC(max value matching rated torque) 010VDC(source impedance less than 10k) 010VDCmax value matching rated speed Running speed, current location, command pulse accumulation , location deviation, motor torque, motor current, bus voltage, running status, input/ output terminal signal and so on
Surveillance function
Protecting function
Over speed main power source over-voltage or under-voltage, over-load, over-current, encoder anomaly, main circuit overheat, location out-of- tolerance and so on
is 5 times
more than rotor inertia, you should connect external braking resister. Environmental condition Temperature Humidity Air pressure Vibration Cooling mode At running05 At store-2075
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and operate after confirming safety. The interval between other equipments should be over 10mm for abstraction of heat. Special warning for wiring the three-phase power cord from motor to driver cant be connected wrong, (blue, white, red -----U V W) the encoder wire from the motor to encoder must get connected before energization. It is forbidden to connect after energization. The controller should match the motor. Dont change the motor or driver. 2.2 Confirmation items After the arrival, please open the package and check the following contents. confirmation item Make sure the model is what you have ordered Check if the product is damaged or not Check if the shaft of the motor is free to rotate Check if the screws get off or loose confirmation method Confirm by name plate and model Look at the appearance to check if theres something broken Rotate with hand. Pivoted means normal. But, braking servo motor cant do this. Take a look
If you find anything unusual, please contact our distributors or offices at once. 2.3 Attention for using Installation environment 1 Protecting Servo controllers must be installed in well-protected cabinets and they should be kept away from corrosive matters, flammable gases, conductive materials, metal powder, oil and liquids. 2 Temperature\ humidity Ambient temperature should be no higher than 50 and long-term continuous working temperature should be below 40 C and good ventilation should be provided for abstraction of heat. 3 Vibration and shock Drivers should be installed to avoid vibration, shock absorption measures to be taken. Environment condition 1 Usage temperature and humidity 0--55free from freezing 2 Storage temperature -20--85 3 Altitude below 90%FSfree from condensation below 90%FSfree from condensation
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Lower than 5000m
Dacheng Electric
Cautions
1 The storage and installation of this product must satisfy environmental requirements. And original package is necessary. 2 The stacking of our products is limited. its improper to stack too
many together to prevent pressure damage or fall.
4 Its forbidden to drag all the cords from servo controllers and encoders 5 After cutting off the power supply, theres high voltage in most big capacitances. Reconnect the power five minutes later. Dont get the power on and off frequently in a short time. Fig. 2.1 Servo driver installation Diagram
2.4 installation method 1 Installation direction The normal installation direction of the servo driver is upright vertical. 2 Installation and fix Tighten the four M6 fixed screws in the rear part of the servo driver while installing. Installation spacing Look at Diagram 2.1 for reference of the space between the drivers and other equipments. 3 Radiation The servo drives take use of natural cooling. The cooling fans should
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be installed in the cabinets to ensure adequate ventilation conditions. Installation cabinet environment During installation of electrical control cabinet, prevent dust or iron filings entering into the servo drivers and causing short circuit.
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firm connection. 3.3 Wiring Method
Dacheng Electric
1 We suggest you use insulating cold pressure terminals and make sure 2 We suggest you use three phase isolation transformer for power supply. 1 For the input and output signal wire and encoder wire, please use the shielded one. The length should be: input wire: within 5m; encoder signal wire: within 15m. Condition permitting, the shorter the wire is, the better. 2 One end of the grounding wire should be earthed. And the diameter of the wire must be no less than 1mm. 3 In the environment with serious disturbance, noise filter is suggested to be installed. While installing, pay attention to the following items Try to install the noise filter, the servo driver and the supervisory controller as close as possible. You must fit in the coils of the relay, electromagnetic contactor and brake the surge suppressors. Dont make the main circuit and the signal wires go through the same pipeline, nor tie them together. 4 When there are intensive interference sources used nearby(such as welding machines, high-power machine tools and so on), use isolation transformers with input power source. 5 Please fit a no-fuse breaker to cut off the external power supply when theres a trouble in running. 3.4 Cautions 1match the wiring of UVW with terminal A,B,C respectively. You can not make the motor run backward by changing the wiring of three phase terminals. 2Because of a lot of electrolyte and capacitance in the servo drivers, there is still high voltage in the internal circuit even if the power is off. So please electrify servo drivers five minutes later. Please cut off the power supply if you dont use the machine for a long time. Definition of rotating direction: Facing the machine shaft, rotating shaft rotating in an anticlockwise direction is called Forward Rotation; on the other hand, it is Backward Rotation. 3.5 Terminal 3.5.1 DCSF-C terminal Terminal mark R S T P+ Signal name Main circuit power Rectify anode output Function
50Hz
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BP U V W PG Control terminal Output machine power Output machine power Output machine power Grounding
Dacheng Electric
U phase V phase W phase Grounding
Wrong wiring of UVW will make the motor unable to run properly. So please be sure to wire correctly. Special Attention needed: PB,P are terminals of external braking resistors. Generally, theres no need to connect external braking resistors when PB, P terminals are impending. When theres too much regenerative energy during slowing down, which cant be absorbed completely, AL-05 will be overloaded and give an alarm. Increase deceleration time. If there is still alarm, attach braking resistors to PB and P Terminals, who range from 100 to 200, and the power is from 100 to 500 W. the smaller the resistance value is, the larger the current is , the power of the braking resistor needed is larger. However, too small resistance value can cause damage to the driver. So make trials from big resistance value to smaller ones, until it doesnt alarm. The connection of external braking resistor must be done 10min after drivers power outage and the internal high voltage has gone. Because PB and P are connected with internal high voltage circuit, so please dont touch the Terminal PB and Terminal P in case of electric shock. And avoid collision between Terminal PB, Terminal P and other terminals to prevent damage to drivers because of short circuit. 3.5.2 Encoder Signal Input Terminal CN1(15 cores) Terminal No. 1 2 3 4 5 6 7 8 9 10 11 Symbol A+ AB+ BZ+ ZU+ UV+ VW+ Signal Name Encoder A+ Input Encoder A- Input Encoder B+ Input Encoder B- Input Encoder Z+ Input Encoder Z- Input Encoder U+ Input Encoder U- Input Encoder V+ Input Encoder V- Input Encoder W+ Input Function Connect with Photoelectric Encoder A+ Connect with Photoelectric Encoder AConnect with Photoelectric Encoder B+ Connect with Photoelectric Encoder BConnect with Photoelectric Encoder Z+ Connect with Photoelectric Encoder ZConnect with Photoelectric Encoder U+ Connect with Photoelectric Encoder UConnect with Photoelectric Encoder V+ Connect with Photoelectric Encoder VConnect with Photoelectric Encoder W+
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12 14 15 W+5V GND +15V Encoder W- Input 5V power supply GND+15V
Dacheng Electric
Connect with Photoelectric Encoder WSupply photoelectric encoder of servo motor with +5V power source The motor adopts rotating transformer
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28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 1 2 3 4 5 6 7 8 9 Reserve -10V Reserve B+ BPLUS+ PLUSPDIR+ PDIRPCLR+ PCLRReserve Reserve Reserve Reserve Reserve Reserve Reserve TXD RXD Reserve GND Reserve Reserve Reserve Reserve Ground wire Send Accept Encoder splitting B+ output Encoder splitting B- output Position Pulse Input A+ Position Pulse Input APosition Pulse Input B+ Position Pulse Input BPosition Clear Input CLR+ Position Clear Input CLR-
Dacheng Electric
100mA
3.6 3.6.1
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Fig.3.6.1.1 DI Interface
DO Interface
1 OUT1OUT2OUT3OUT4 Max. load current: 100mAMax. working voltage: 32V 2Customers can provide the external power source. Pay special attention to the power polarity while wiring. Wrong polarity connection can cause damage to drivers. 3In case of lagging load such as relays, connect antiparallel freewheel diodes at the two ends. Attention: inverse wiring can cause damage to the drivers. 4Output transistors are Darlington ones. While conducting, the pressure drop between the collector and the emitter is around 1v, which cant satisfy the
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circuit.
Dacheng Electric
3.6.2 AI Interface
Fig3.6.2Analog difference-mode input 1 Analog ground wire connecting with the negative input end at the controller side. 2 The input voltage should be within the range of -10V-+10V otherwise, the driver may be damaged. 3 Shielded wire for connecting id preferred. Try to make the wire as short as possible to decrease the noise disturbance3.6.3 Encoder signal output Encoder signal is put out by way of differentially driven. The Ground wire of the controller and driver must be grounded safely3 When using rotating transformers, the signal has turned into the one that is compatible for rotating encoder. 4While rotating transformer is used, the 15 foot of the plug is not the ground wire, but the +15V signal.
th
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3.6.4 Z signal of encoder through open collector output Fig3.6.4 Z signal of encoder through open collector output The signal of Z phase in encoder through open collector output when Z signal appears, start output, or otherwise it will be cut off. While the pulse of the encoders signal of Z phase is very narrow, high-speed Opt coupler is advised.(such as453,pc9000,4504) 3.6.5 input interface of pulse 1In order to transmit data correctly, the difference drive method is adopted. 2Under the difference drive method, adopting AM26C31,75176 or RS422 similar line drivers 3Adopting the single-ended drive, the supply of external power are provided by users, do not apply the reverse polarity to the actuator unit.
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Fig. 3.6.5 input interface of pulse PUL+/PUL-DIR+/DIR- The power supply is ok when input TTL differential method The power supply is ok when input the differential method is TTL When input the single-ended drive, we have to connect 24v to the other end of resistance in switching tube, and link GND to the outflow end of current if using internal 24V; while using external power, dont connect the internal 24v to the external power,, and voltage drop of users switching tube is lower than 1V , increasing external resistance value appropriately if it is higher than this value .The choice of external resistance value R=(12~24V)/(10~20ma),the resistance power is 1W.For single-ended method, it must be done to connect GND to reference ground of Console, either internal or external power supply. There are six kinds of pulse input, as shown in the list below: Pulse type Pulse group mark Forward pulse group Reverse pulse group A phase pulse group B phase pulse group Pulse group mark Forward pulse group Reverse pulse group A phase pulse group B phase pulse group instruction Mark PUL DIR PUL DIR PUL DIR PUL DIR PUL DIR PUL DIR Negative logic(two phase instruction pulse)*4 Reverse logic(forward pulse/ reverse pulse)*2 negative logic(PUL mark +DIR pulse)*2 Positive logic(two phase instruction pulse)*4 Positive logic(forward pulse/ reverse pulse)*2 Positive logic( PUL mark +DIR pulse)*2 Description
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MENU
Dacheng Electric
OK
Key Name
MENU
Introductions MENUFor choose the mode of the first floor or from another layer return to the first layer multiply key: represent add serial number or numerical increment
Reduced key: represent reduce serial number or numerical decrease Start button: starting motor OK Enter key: for fixing next layer or setting parameter values
4.2 Operating instructions of menu Enter or quit menu or back to the previous menu by pushing MENU button The first level: five kinds of mode DSP---display mode PRG---parameter setting mode JOG---running mode AUT---zeroing mode EEP---parameter Management Mode The second level 1DSP Show Selection 1SPd Display Speed r/min 2Cod Display Encode (Pulse Count) 3dCU Bus Voltage V 4I-b b Phase current 5CoJ Pole Position 6I-q q Shaft Current 7I-d d Shaft Current 8I-A A Phase Current 9CdH Feedback pulse high 5 bytes 10CdL Feedback pulse low 5 bytes 11PdH Control pulse high 5 bytes 12PdL 13Cnt 14Ad1 15Ad2 16Iod Control pulse low 5 bytes position curve segment analog signal 1(analog collecting digital value) analog signal 2(analog collecting digital value) terminator input state
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Show 1 for the high level signal, No show for the low level signal 2PRG parameter setting selectionPr01-Pr198 3JOG trial operation pushing OK buttonthen stop working buttonthe motor sets uppushing
4AUT(the second level) zeroing: pushing button automatic measuring angles of magnetic pole pushing OK zero
button
OK pushing buttonThe motor stop adjusting zero angles of Current Sensor automatically pushing OK buttonautomatic output testing
5EEP backup and restore:SA StoringLF adjust default valuebF backupHF restoreEr software versionsee8.08 Parameter management method EEP-SA write parameter EEP-BF parameter backup EEP-HF restore parameter zone Write the parameters of list to EEPROM backup zone Read the data of EEPROM backup zone in the details Write the parameters of list in EEPROM parameter
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EEP-LF restore default values EEP-Er the date of software version 4.3 operating instructions in the first menu, pushing Finished by pushing OK
Dacheng Electric
parameter table
Read the default values of parameter in the parameter table Show the production software version
b button \
to the previous pageThen pushing pushing write Button to choose ERPpushing OK button then button to
OK
the parameters of list in EEPROM parameter zone, in order to save the parameter in after power failure. the digitals have changed more rapidly if clicking button again and again when modification. It helps to modify big numbers quickly. 4.4 control parameters(it is useful if tick*) Serial number Pr-01 Pr-02 Pr-03 Pr-04 Pr-05 Pr-06 Pr-07 Pr-08 Pr-09 Pr-10 Pr-11 name Test running speed Maximum speed limits encoder electrical angle U phase current zero U phase current zero analog signal 1 gain analog signal 1 zero analog signal 2 gain analog zero signal 2 r/min r/min 1000 0 100 200 unit r/min r/min 0.144angl e default value 200 1500 1200 0 0 1000 0 0-5000 0-2500 5000 5000 1-5000 5000 0-5000 5000 5000 5000 * * range notes unchanging * *
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Pr-12 Pr-13 Pr-14 Pr-15 Pr-16 Pr-17 Pr-18 Pr-19 Pr-20 Pr-21 Pr-22 Pr-23 Pr-24 Internal speed 3 Internal speed 4 analog signal filtering analog signal filtering internal speed 5 Internal speed 6 Internal speed 7 Internal speed 8 speed loop Kp speed loop ki speed loop kc speed loop kd maximum limit of positive current in speed loop maximum limit of negative current in speed loop Response frequency of speed loop acceleration time deceleration time minimum limit of analog speed ms ms r/min 1 2 r/min r/min 0.1ms 0.1ms r/min r/min r/min r/min 0.001 0.0001 0.001 0.001 300 400 1 1 500 600 700 800 500 10 200 0 500
Dacheng Electric
5000 5000 1-50 1-50 5000 5000 5000 5000 0-5000 0-5000 0-5000 0-1000 0-5000 -500 -5000-0 10 100 100 0 100 * * * * * *
Pr-25
current loop kp current loop ki current loop kc current loop kd maximum limit of current loop and positive current maximum limit of current loop and negative current maximum limit of current loop and positive weak magnet
Pr-35
Pr-36
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Pr-37 maximum limit of current loop and positive weak magnet Encoder frequency output hz -900
Dacheng Electric
-5000-0
Pr-38 Pr-39
1 0
1-4096
carrier frequency0-10khz 1-8khz 2-6khz 3-4khz rated current (current protection) the auto-zero motor choice
0-3
Pr-40
ampere
5 1-20 0 0:below 1kw 1:above 1kw -5000-+50 00 -5000-+50 00 0-1000 1 200 100 0 * *
Pr-41
maximum speed for position control the rate of location curve change return time of location curve change default display of nixie tube maximum speed limit of torque direct-current and bus voltage gain direct-current and bus voltage zero retain the goal of speed curved section 1 add-subtract time of speed curved section 1 the goal of speed curved section 2 add-subtract time of speed curved section 2 the goal of speed 10ms 10ms 0.1s
200 200 10
100 100
0-5000
Pr-52 Pr-53
0-5000
* *
Pr-54
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curved section 3 Pr-55 add-subtract time of speed curved section 3 the goal of speed curved section 4 add-subtract time of speed curved section 4 the goal of speed curved section 5 add-subtract time of speed curved section 5 holding time of speed curved section 1 holding time of speed curved section 2 holding time of speed curved section 3 holding time of speed curved section 4 holding time of speed curved section 5 retain Position kp Position kc electronic numerator electronic denominator gear gear 50 10 1 1 10ms 10ms 10ms 100
Dacheng Electric
0-30000 400 100 0-30000 500 100 0-30000 * * *
Pr-56 Pr-57
0-5000
Pr-58 Pr-59
0-5000
Pr-60
10ms
100 0-30000 *
Pr-61
10ms
100 0-30000 *
Pr-62
10ms
100 0-30000 *
Pr-63
10ms
100 0-30000 *
Pr-64
10ms
100 0-30000 *
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Pr-74 Input pulse type 1 orthogonal AB pulse (positive) 2positive pulse+ direction (positive) 3positive pulse + reverse pulse (positive) 4 orthogonal AB pulse (negative) 5 Pulse + direction (negative) 6 positive pulse + reverse pulse (negative) type of the Encoder output pulse 0orthogonal pulse dividing frequency 1:pulse + direction channels 2:synchronization between positive and reverse pulse 3:Synchronous of orthogonal pulse retain Selection of Control Mode 0internal speed control 2 modulating control 3 torque control 4preset the speed control of velocity curve 5 position curve control 6 position control 7 he position controlled by computer 8 speed controlled by computer 0 0 1
Dacheng Electric
1-6
Pr-75
0-3
Pr-76~ 89 Pr-90
0-8
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Pr-91 On Mode 1 Not Displayed 0 Display the display of manually zero1 current0angle 0 The maximal efficiency control 1the maximum power control 0pc not on-line 1pcon-line 0light change 8rotary change retain the cycles of the position curve 0 The cycles deviation of the position curve 0 the speed of position curved section 0 retain the cycles of the position curved section 1 The deviation position section 1 cycles of the curved 0 0 Pr-92 0 0
Dacheng Electric
Pr-93
* above5.5kw
* *
Pr-102
Pr-103 Pr-104
* *
Pr-105
Pr-106
the speed of the position curved section 1 retain the cycles of the position curved section 2 The deviation position section 2 cycles of the curved
Pr-107 Pr-108
* *
Pr-109
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Pr-110 the speed of the position curved section 2 retain the cycles of the position curved section 3 The deviation position section 3 cycles of the curved Pr-111 Pr-112
Dacheng Electric
*
* *
Pr-113
Pr-114
the speed of the position curved section 3 retain the cycles of the position curved section 4 The deviation position section 4 cycles of the curved
Pr-115 Pr-116
* *
Pr-117
Pr-118
the speed of the position curved section 4 retain the cycles of the position curved section 5 The deviation position section 5 cycles of the curved
Pr-119 Pr-120
* *
Pr-121
Pr-122
the speed of the position curved section 5 retain the cycles of the position curved section 6 The deviation position section 6 cycles of the curved
Pr-123 Pr-124
* *
Pr-125
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Pr-126 the speed of the position curved section 6 retain the cycles of the position curved section 7 The deviation position section 7 cycles of the curved Pr-127 Pr-128
Dacheng Electric
*
Pr-129
Pr-130
the speed of the position curved section 7 retain the cycles of the position curved section 8 The deviation position section 8 cycles of the curved
Pr-131 Pr-132
Pr-133
Pr-134
the speed of the position curved section 8 retain the cycles of the position curved section 9 The deviation position section 9 cycles of the curved
Pr-135 Pr-136
Pr-137
Pr-138
the speed of the position curved section 9 retain the cycles of the position curved section 10 The cycles deviation of the position curved section 10
Pr-139 Pr-140
Pr-141
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D A C H EN G
Pr-142 the speed of the position curved section 10 retain the cycles of the position curved section 11 The cycles deviation of the position curved section 11 the speed of the position curved section 11 retain the cycles of the position curved section 12 The cycles deviation of the position curved section 12 the speed of the position curved section 12 retain the cycles of the position curved section 13 The cycles deviation of the position curved section 13 the speed of the position curved section 13 retain the cycles of the position curved section 14 The cycles deviation of the position curved section 14 Pr-143 Pr-144
Dacheng Electric
*
Pr-145
Pr-146
Pr-147 Pr-148
Pr-149
Pr-150
Pr-151 Pr-152
Pr-153
Pr-154
Pr-155 Pr-156
Pr-157
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Pr-158 the speed of the position curved section 14 retain the cycles of the position curved section 15 The cycles deviation of the position curved section 15 the speed of the position curved section 15 retain the cycles of the position curved section 16 The cycles deviation of the position curved section 16 the speed of the position curved section 16 retain the cycles of the position curved section 17 The cycles deviation of the position curved section 17 the speed of the position curved section 17 retain the cycles of the position curved section 18 The cycles deviation of the position curved section 18 Pr-159 Pr-160
Dacheng Electric
*
Pr-161
Pr-162
Pr-163 Pr-164
Pr-165
Pr-166
Pr-167 Pr-168
Pr-169
Pr-170
Pr-171 Pr-172
Pr-173
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Pr-174 the speed of the position curved section 18 retain the cycles of the position curved section 19 The cycles deviation of the position curved section 19 the speed of the position curved section 19 retain retain Pr-175 Pr-176
Dacheng Electric
*
Pr-177
Pr-178
4.5Alarm parameters name AL-01 AL-02 AL-03 AL-04 AL-05 AL-06 AL-07 AL-08 AL-09 AL-10 AL-11~12 Module protection Over speed Protection wiring error of encoder the wiring error of motors overvoltage protection over-current protection zero-coding error zero error for the electrical wiring renewable electrical braking no signal of encode reserve description
PID adjust introductions: 1 Speed Kpthe greater the value, the higher the gain, the greater the rigidity. the determination Of parameter calculating according to specific type and load of the servo drivers. Under normal circumstances, the greater the load of inertia, the greater the value. There are no shocks in the system, the larger setting as much as possible. 2Speed Kithe greater the value, the faster the rate, the greater the rigidity. the determination Of parameter calculating according to specific type and load of the servo drivers. Under normal circumstances, the greater the load of inertia, the smaller the value. There are no shocks in this system ,the larger setting as much as possible. 3Location Kpthe greater the value, the higher the gain, the greater the rigidity.
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Under the same frequency instruction pulse,the smaller the position lag. There are no shocks in this system, the larger set as much as possible. 4Current Kpthe greater the value, the higher the gain, the smaller the current tracking error. However, the higher the gain, will have noise or vibration. This parameter has something to do with servo driver and mnotors, having nothing to do with loading.There are no shocks in this system, the larger setting as much as possible. 5Current Kithe greater the value, the faster the rate, the smaller the current tracking error. However, the higher the gain, will cause the noise or vibration. This parameter has something to do with servo driver and mnotors, having nothing to do with loading. Under normal circumstances, the smaller the electromagnetic motor constant, the smaller the integration time constant. There are no shocks in this system, the larger setting as much as possible. 6Feed forward set Methods: The speed can be fed through the open-loop control of the servo system to accelerate the speed of response, when speeding up the feed forward gain to reduce the accumulation of position loop error, thus speeding up the error rate of compensation .In theory analysis, the current speed gain increases, the smaller the total error value of location loop, that is, the smaller the integral role. But too much feed forward gain easily lead to oscillations and location overshoot, In addition, the actual system in the ideal differential link doesnt exist, so the link can not gain too much, at the same time, in order to ensure accuracy of the positioning servo system, integral control is essential points
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D A C H EN G
5.1 Speed control 5.1.1 Internal speed controlPr90=0
Dacheng Electric
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S1 0 0 0 0 1 1 1 1 S2 0 0 1 1 0 0 1 1 S3 0 1 0 1 0 1 0 1
Dacheng Electric
description choose internal speed 1 Pr10 choose internal speed 2 Pr11 choose internal speed 3 Pr12 choose internal speed 4 Pr13 choose internal speed 5 Pr16 choose internal speed 6 Pr17 choose internal speed 7 Pr18 choose internal speed 8 Pr19
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Dacheng Electric
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5.1.3 Preset rate-controlling curve Pr90=4
Dacheng Electric
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5.1.4 controlling of computer ratePr90=8
Dacheng Electric
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bytes +0xAA
Dacheng Electric
5.1.5Position control(Pr90=6)
the choice of the input modePr74 pulse + mark positive pulse +reverse pulse two-phase A/B orthogonal pulse
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Dacheng Electric
(positive logic) pulse + mark positive pulse /reverse Pulse two-phase A / B orthogonal pulse (negative logic) 5.1.6 the control of position curvePr90=5(to realize the synchronization of XY axis in CNC machine tools if use two servos)
Note: the location controlled by the parameters Pr-100 ~ 180,If use two servos can be realized the synchronization of XY axis in CNC machine tools while simultaneously
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Dacheng Electric
reach the location of mutual connection and synchronization signal. 5.1.7 Pressure Closed Loop ControlPr90=9 Applicable for Injection Machine
Note: This function controlled by the parameters Pr80, Pr81, Pr82, Pr83, Pr84 ,Pr85, Pr86.
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5.1.8 Braking Resistor Configuration Table Motor kW 1.5 2.2 3.7 5.5 7.5 11 15 18.5 Power
Renewable Power(W) Resistor
Dacheng Electric
Renewable Resistor Maximum() 400 250 150 100 75 50 40 32 Renewable Resistor Minimum () 130 130 78 39 39 26 26 20
Note: This table is just for the reference, details are determined on the value of load inertia matched by motor. 5.1.9Injection Machine Servo Configuration Table The
of
Maximum Injection System Pressure MPa 16 16 16 16 16 16 16 16 16 Matching Oil Pump Matching Motor Matching Driver Matching transducer
DCSF-U1100S 380V8.34 DCSF-U1500S 380V8.34 DCSF-U1500S 380V8.34 DCSF-U1800S 380V8.34 DCSF-U2200S 380V8.34 DCSF-U3000S 380V8.34 DCSF-U3700S 380V8.34 DCSF-U4500S 380V8.34 DCSF-U5500S 380V8.34
QT52-63F-A
QT52-63F-A
QT52-63F-A
QT62-125F-A
QT62-125F-A
QT62-125F-A
Note: This table is just for the reference, details are determined on the value of oil pump output matched by motor.
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Dacheng Electric
to choose the communication interface and baud rate. Entering the following interface by click "OK "button:
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