dasd-rh 시리즈 매뉴얼(eng)
TRANSCRIPT
-
8/20/2019 DASD-RH (ENG)
1/49
=================================================
DOOSAN AC SERVO MOTOR/DRIVER
DASD - RH Series
Model : 1.0/2.0/3.5 KW
Maintenance manual
-
8/20/2019 DASD-RH (ENG)
2/49
1. For the prevention of electric shock
2. For the fire prevention
3. For the injury prevention
Please make a wire work and inspection more than 5 minute later after power is
off, and do the next work after checking the voltage by a tester because it may
cause the electric shock.
Please make sure to ground the servo driver and servo motor.
Please make the wire work and inspection by an authorized expert.
Please make the wire work after setting up the servo driver and servo motor.
Please do not touch the switch by wet hand to prevent the electric shock.
Please do not damage and stress the cable.
Please do not put the heavy goods on the cable because it may cause the electric
shock.
Please install the servo driver and servo motor to the noninflammble materials. If
you install it to the inflammble materials directly or near the inflammble materials,
it may cause the fire.
In case the servo driver is broken, please turn off the power from the part of
electric shock on the servo driver. If the high electric current is flowed
continuously, it may cause the fire.
Please permit the correct voltage in the maintenance manual to each terminal only to
prevent the breakage, damage and rupture.
Please do not make a mistake when terminal connection. it may cause the breakage and
damage.
Please make sure the right pole( + , - ) to prevent the breakage and damage.
Please do not touch the heat sink of servo driver and servo motor when power is on
or a few moment after power is off because it is heated. Do not touch the parts
(cable, etc), it may cause the damage and burn.
-
8/20/2019 DASD-RH (ENG)
3/49
Caution for safety operation ≫
Caution before installation
Please keep the installation direction.
Please do not throw down it and make an impact.
Please do not install it at the place of water, corrosive gas, inflammble gas
and materials.
Caution for the wire work
Please use only AC 200 ~220V for the input power supply of servo driver.
Please connect the ground to the ground terminal.
Please do not connect the main power supply to servo motor directly.
Please do not connect the main power supply to output terminal U, V, W of servo
driver directly.
Please use only the compression terminal with insulated tube when wiring the
power terminal of servo driver.
Please wire the cable for power(U, V, W) and encoder cables of servo motor
separately.
Caution for operation
Please check and adjust each manu before operation.
Please do not touch the shaft of motor rotation when operating motor.
Please do not touch the heat sink when operating motor.
Please connect or disconnect the connecter of CN1,CN2 when power is off,
General caution
The contents of this manual may be changed according to the product modification
and the standard change.
-
8/20/2019 DASD-RH (ENG)
4/49
Caution when the first installation
Please make sure the power voltage (AC200~220V) and the wire before power is on.
Please apply the first power when the servo is turned off.
First of all, please check the name of motor and the number of encoder pulse
before power is on.
And then, set up the operation mode of servo driver by connecting with the upper
numerical controller like the menu.
Please wire CN1 connector of servo driver according to each operation mode as
referring to the system structure.
Caution when the maintenance and inspection
Please turn off l1,l2 of the control power and L1,L2,L3 of the main power, and
check the state of power off after enough time passes. After that, please do the
maintenance and inspection.
It is dangerous because the charged voltage in inner electrolytic condenser is
remained.
Please do not touch the terminal when power is on because high voltage flows.
It may cause the electric shock.
Please do not repair, inspect, replace the components except for authorized
expert and engineer.
Please do not alter the products.
-
8/20/2019 DASD-RH (ENG)
5/49
< CONTENTS >
IMPORTANT
1. Specifications of TURRET Servo Motor and Driver
1.1 Specifications of TURRET Servo Motor
1.2 Specifications of TURRET Servo Driver
1.3 Torque-Speed Characteristics of Servo Motor
2. Explanation of Driver Structure and connection diagram
2.1 Explanation of CN1 Connector
2.2 Flow chart of CN1 connector terminal
2.3 Flow chart of CN2 connector terminal
2.4 Structure of driver Input/Output circuit
2.5 Connection diagram
3. Operation
3.1 Automatic operation
3.2 Method of machine reset
4. Explanation of each mode display
4.1 Status mode
4.2 Diagnosis mode
4.3 Parameter setting mode
4.4 Parameter list
4.5 Detailed explanation of parameter setting mode for user
4.6 Alarm record mode
5. Maintenance and inspection
5.1 Maintenance and inspection
5.2 Trouble diagnosis and countermeasure
-
8/20/2019 DASD-RH (ENG)
6/49
IMPORTANT
. Definition of Symbols for Warning
. Warning
1) Do not use in areas near corrosive, inflammable or explosive gas.
2) Take appropriate measures of protection while the servo motor is in operation.
3) While installing and wiring, turn the power switch off, in order to prevent electric
shock.
4) Ground the PE terminal block of the front panel terminal block L1(R), L2(S), L3(T) to
one-point with the class 3 (below 100 ) ground circuit, in order to prevent electric
shock or other malfunctions. For PE terminal block, use wire 30mm
2thicker than the
electric wire of the terminal L1, L2, L3.
5) Connect the PE terminal block of the servo motor to the PE terminal block U, V, W of
the servo driver in order to prevent electric shock. To connect the wire, use wire
30mm
2thicker than the power line of U, V, W.
6) Take precautions while mounting, dismantling, uninstalling and transferring the servo
motor.
7) Cover the terminal block while using the servo driver in order to prevent electric
shock.
8) Use SELV for maintenance brake power switch, input and output power switch and input
and output signal in order to prevent electric shock.
9) Do not dismantle the servo driver for another 5 minutes after the main power is turned
off-charged voltage may still remain inside the driver.
10) This product uses batteries. Take the following precautions while using the battery.
If used inappropriately, explosion or fire may occur. The contents of the battery are
harmful to the eye.
Do not heat above 100 and do not open when there is fire.℃
Do not take it apart. (The contents are harmful to the eye)
Do not recharge it.
11) During emergency shut down, stop the servo motor before shutting down the servo driver
(terminal L1, L2, L3).
1)
Warning : This symbol means of not handled properly, there is
possible danger such as electric shock.
2)
Caution : This symbol means if not handled properly, there is possible
danger of acquiring mild to severe injuries or machine damages.
-
8/20/2019 DASD-RH (ENG)
7/49
. Caution
1) To avoid burns, do not touch the heat protecting board or the regenerative resistor
of the servo motor and driver while the servo motor is in operation or right after
the power switch is turned off. Take appropriate measures of protection.
2) Avoid the following to prevent damages to the servo motor and servo driver.
Do not connect the power directly to the U, V, W terminal block of the servo motor.
The servo motor will be damaged.
Avoid external impact such as hammering to the servo motor. The encoder inside the
servo motor will be damaged.
Do not connect the power to the U, V, W terminal block of the servo driver.
While doing the resisting pressure test or insulation voltage test, disconnect the
terminal of the servo driver terminal block or all the connectors and avoid the test
voltage from affecting the servo driver. Also avoid the test voltage from affecting the
encoder connector terminal of the servo motor.
Do not install the servo motor and the servo driver differently than it should.
Prevent water or oil from directly touching the servo motor. Use in areas free of
water or oil to prevent it from touching the main wire of the servo motor.
Do not use the servo motor and driver differently other than stated in this manual.
-
8/20/2019 DASD-RH (ENG)
8/49
1. Specifications
1.1 Specifications of Turret Servo Motor
Items Model
DS-RH10ZA-1 DS-RH20ZA-1 DS-RH35ZA-1
Rated output(KWatt) 1.0 2.0 3.5
Rated Torque
kgf cm 48.7 97.4 170.5
N m 4.7 9.5 16.6
Instant
maximum Torque
kgf cm 146.1 365.4 511.4
N m 14.2 37.3 49.8
Rated speed(RPM) 2000 2000 2000
Maximum speed(RPM) 3000 3000 3000
Rotor inertia
gf cm sㆍ
27.33 14.05 35.50
GD²4
(kg m²×10
−4)
7.48 14.31 34.79
Insulation grade F Class F Class F Class
Detector Multi-turn Absolute Encoder
(17bits/1rotation)
Protection, cooling method Totally closed, self cooled
Ambient temperature 0 ~ 40°
Ambient humidity 20 ~ 80
Mounting structure Flange type
Insulation resistance DC 500V 50 MΩ
Insulation voltage AC 1500V one minute
Vibration grade V15
-
8/20/2019 DASD-RH (ENG)
9/49
1.2 Specifications of TURRET Servo Driver
1.3 Torque-Speed Characteristics of Servo Motor
Items Model DASD-RH10SPZA DASD-RH20SPZA DASD-RH35SPZB
Rated current[Arms] 6.5 12.3 19.8
Main input voltage Triple phase AC 200 ~ 220V, +10/-15 , 50/60Hz
Control method IPM full wave rectified, sine wave PWM control
Control mode Position, Speed, Torque control
Control signal input Servo ON, Start, Stop, Jog, Sensor
Position input 7bit pulse reference input
Control signal output Alarm, Ready, Inposition, Unclamp
Position output 7bit present position output
Protection
over voltage, under voltage, over current,
over speed, over load, encoder error
Mounting Rack Mount Type
Dimension[mm] (W x H x D) 115 x 230 x 203 140 x 250 x 250
DS-RH10ZA-1
DS-RH20ZA-1
DS-RH35ZA-1
-
8/20/2019 DASD-RH (ENG)
10/49
2. Explanation of Driver Structure and connection diagram
2.1 Explanation of CN1 Connector
2.1.1 CN1 Connector Explanation of DASD-RH10SPZA, DASD-RH20SPZA
Signal PIN No. Description I/O
/SENSOR 21 This signal judges an Unclamp or Clamp. Input
/SVON 22
This signal makes the motor ready to start operation. When this
signal is off, the motor remains free .
Input
/JOG+(CCW)
/JOG-(CW)
20
23
According to the fixed value of parameter 3, there are 2 types
of modes.
- fixed direction signal (fix value of parameter 3 to 0 )
When the position is moving, the direction of the rotation
can be fixed to one direction.
CCW signal is OFF : Direction of the rotation is automatically
set by short distance.
CCW signal is ON : Direction of the rotation is fixed counter-
clock wise.
CW signal is ON : Direction of the rotation is fixed clock
wise.
CCW, CW is ON : Can not be defined.
- JOG Operation signal (fix value of parameter 3 to 1 )
Used for manual jog operation signal.
JOG+ signal is ON : When the signal is on, the motor rotates
counter-clock wise and when it is off, the motor stops at the
nearest POST.
JOG- signal is ON : When the signal is on, the motor rotates
clock wise, and when it is off, the motor stops at the nearest
POST.
Rotation speed and Accel/Decel time is the same as when it is
operated automatically, but ignore it during running by
automatic operation.
Input
/STOP 4
When the signal is ON, the motor stops. When the motor starts
according to input, and runs the rest of the distance.
Input
/SPARE 3 This is spare signal. Input
COM1 5
COMMON terminal of sequence input signals (When DC 24V is input,
the signal turns ON)
Input
/START 8
When this signal is ON while SVON signal is ON, it moves toward
the POST of position data input (POSI0~POSI6) of the motor.
Maintain the time it is ON at minimum 50msec.
Input
/POSI0, /POSI1,
/POSI2, /POSI3,
/POSI4, /POSI5,
/POSI6
24, 25,
26, 27,
28, 6,
7
Input POST to 7bit binary code to set the position data input
signal.
Input data more than 10msec before the START signal is ON.
(minimum input data is '1'.)
Input
COM2 9 COMMON terminal(+24V) of START, POSI0~POSI6 signals. Input
-
8/20/2019 DASD-RH (ENG)
11/49
Signal PIN No. Description I/O
ALM 30
Alarm signal is on, output is 'OFF' and when it is normal, the
output is 'ON'.
Output
SVRDY 10
The servo is ready. When the SVON is ON, the driver turns on
after the normal condition. When the SVON is OFF, the driver
turns off.
Output
UN-SOL 29
This signal is running the contact point of Unclamp solenoid.
(This signal is Unclamp after it is ON)
Output
COM3 11 COMMON terminal of sequence output signals(ALM, SVRDY, SPARE). Output
BRAKE+
BRAKE-
12
13
In case there is an inner brake in the motor, this signal
controls the power ON/OFF for the brake.
(The current flow capacity is within 30mA due to the output of
photo coupler contact point, thus a different relay contact point
must be used from the actual brake ON/OFF. the circuit so that
when output contact point is ON, the brake is free, when output
contact point is OFF, design the circuit diagram to control the
brake).
when SVON is ON and this turns on after fixed time of parameter
14 and then SVRDY is ON after fixed time of parameter 13.
When SVON is OFF and this turns off after fixed time of parameter
14.
Output
VPF 16
Position completion signal output.
After the motor moved, if the pulse error is within the fixed
value of parameter 18, the signal turns ON.
Output
POSO0, POSO1,
POSO2, POSO3,
POSO4, POSO5
POSO6
31, 32,
33, 34,
35, 36,
14
As position data output signal, the POST number is sent out in
7bit binary code.
While the motor is rotating, the signal will not be on. It will
be on before the VPF turns on.
When SVON is OFF, it will output data of the nearest POST number.
Output
-
8/20/2019 DASD-RH (ENG)
12/49
2.1.2 CN1 Connector explanation of DASD-RH35SPZB
Signal PIN No. Description I/O
/SENSOR 6 This signal judges an Unclamp or Clamp. Input
/SVON 7
This signal makes the motor ready to start operation. When this
signal is off, the motor remains free.
Input
/JOG+(CCW)
/JOG-(CW)
8
22
According to the fixed value of parameter 3, there are 2 types
of modes.
- fixed direction signal (fix value of parameter 3 to 0 )
When the position is moving, the direction of the rotation
can be fixed to one direction.
CCW signal is OFF : Direction of the rotation is automatically
set by short distance.
CCW signal is ON : Direction of the rotation is fixed counter-
clock wise.
CW signal is ON : Direction of the rotation is fixed clock
wise.
CCW, CW is ON : Can not be defined.
- JOG Operation signal (fix value of parameter 3 to 1 )
Used for manual jog operation signal.
JOG+ signal is ON : When the signal is on, the motor rotates
counter-clock wise and when it is off, the motor stops at the
nearest POST.
JOG- signal is ON : When the signal is on, the motor rotates
clock wise, and when it is off, the motor stops at the nearest
POST.
Rotation speed and Accel/Decel time is the same as when it is
operated automatically, but ignore it during running by
automatic operation.
Input
/STOP 23
When the signal is ON, the motor stops. When the motor starts
according to input, and runs the rest of the distance.
Input
/SPARE 24 This is spare signal. Input
COM1 40
COMMON terminal of sequence input signals (When DC 24V is input,
the signal turns ON)
Input
/START 43
When this signal is ON while SVON signal is ON, it moves toward
the POST of position data input (POSI0~POSI6) of the motor.
Maintain the time it is ON at minimum 50msec.
Input
/POSI0,
/POSI1,
/POSI2,
/POSI3,
/POSI4,
/POSI5,
/POSI6
10, 11,
12, 26,
27, 28,
42
Input POST to 7bit binary code to set the position data input
signal.
Input data 10msec before the START signal is ON.
(minimum input data is '1'.)
Input
COM2 44 COMMON terminal(+24V) of START, POSI0~POSI6 signals. Input
-
8/20/2019 DASD-RH (ENG)
13/49
Signal PIN No. Description I/O
ALM 4
Alarm signal is on, output is 'OFF' and when it is normal, the
output is 'ON'.
Output
SVRDY 35
The servo is ready. When the SVON is ON, the driver turns on
after the normal condition. When the SVON is OFF, the driver
turns off.
Output
UN-SOL 3
This signal is running the contact point of Unclamp solenoid.
(This signal is Unclamp after it is ON)
Output
COM3 36 COMMON terminal of sequence output signals(ALM,SVRDY,SPARE). Output
BRAKE+
BRAKE-
19
20
In case there is an inner brake in the motor, this signal
controls the power ON/OFF for the brake.
(The current flow capacity is within 30mA due to the output of
photo coupler contact point, thus a different relay contact point
must be used from the actual brake ON/OFF. the circuit so that
when output contact point is ON, the brake is free, when output
contact point is OFF, design the circuit diagram to control the
brake).
when SVON is ON and this turns on after fixed time of parameter
14 and then SVRDY is ON after fixed time of parameter 13.
When SVON is OFF and this turns off after fixed time of parameter
14.
Output
VPF 47
Position completion signal output.
After the motor moved, if the pulse error is within the fixed
value of parameter 18, the signal turns ON.
Output
POSO0, POSO1,
POSO2, POSO3,
POSO4, POSO5
POSO6
14, 15,
16, 30,
31, 32,
46
As position data output signal, the POST number is sent out in
7bit binary code.
While the motor is rotating, the signal will not be on. It will
be on before the VPF turns on.
When SVON is OFF, it will output data of the nearest POST number.
Output
BAT+
BAT-
49
50
Battery(3.6V) voltage power (+),
Battery(3.6V) voltage power (-).
GND 1 GROUND
SHIELD 18 Frame ground (it is connected with Shield of cable.)
-
8/20/2019 DASD-RH (ENG)
14/49
2.2 Flow chart of CN1 connector terminal
2.2.1 Flow chart of CN1 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA
Spec. : 10236-52A2JL (Housing), 10136-3000VE (Plug) , Manufacturer : 3M
19 21 23 25 27 29 31 33 35
2 4 6 8 10 12 14 16 18
2.2.2 Flow chart of CN1 connector terminal of DASD-RH35SPZB
Spec. : MR-50RMA (Housing), MR-50LF (Plug) , Manufacturer : HONDA
18 SHIELD
17
16 POSO2
15 POSO1
14 POSO0
13
12 POSI2/
11 POSI1/
10 POSI0/
9
8 JOG+/
7 SVON/
6 SENSOR/
5
4 ALM
3 UN-SOL
2
1 GND
32 POSO5
31 POSO4
30 POSO3
29
28 POSI5/
27 POSI4/
26 POSI3/
25
24 SPARE/
23 STOP/
22 JOG-/
21
20 BRAKE-
19 BRAKE+
50 BAT-
49 BAT+
48 COM4
47 VPF
46 POSO6
45
44 COM2
43 START/
42 POSI6/
41
40 COM1
39
38
37
36 COM3
35 SVRDY
34
33
-
8/20/2019 DASD-RH (ENG)
15/49
2.3 Flow chart of CN2 connector terminal
2.3.1 Flow chart of CN2 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA
규격 : 10220-52A2JL (Housing), 10120-3000VE (Plug), Manufacturer : 3M
2.3.2 Flow chart of CN2 connector terminal of DASD-RH35SPZB
Spec. : MR-20RMA (Housing), MR-20LF (Plug) , Manufacturer : HONDA
7
6
5
4
3 +5V
2 +5V
1 +5V
13 GND
12 GND
11 GND
10
9
8
20 SHIELD
19 BAT-
18 BAT+
17
16
15 PRX/
14 PRX
-
8/20/2019 DASD-RH (ENG)
16/49
2.4 Structure of driver Input/Ouput circuit
Input
The signals of SENSOR, SVON, JOG+, JOG-, STOP, SPARE, START, POSI0~POSI6 can be used the
following method.
(The current is limited to 5mA due to inner resistance.)
4.4K
TLP620 or EQ.
SW
TR
5mA
AC SERVO DRIVE
+24V
COM1
COM2
Output
The signals of SVRDY, ALM, VPF, POSO0~POS06 are photo coupler output, thus the current is
limited to 50mA.
R
COM3 or COM4
L
O
A
D
+24V
50mA max
AC SERVO DRIVE
-
8/20/2019 DASD-RH (ENG)
17/49
2.5 Connection diagram
2.5.1 Connection diagram of DASD-RH10SPZA and DASD-RH20SPZA
M
B
PG
COM1
SPARE
5
STOP
JOG -
JOG +
SVON
sensor
COM3
SVRDY
ALM
BRAKE +
BRAKE -
COM2
START
POSI6
POSI5
POSI4
POSI3
POSI2
POSI1
POSI0
COM4
VPF
POSO5
POSO4
POSO3
POSO2
POSO1
POSO0
GND
FG
L1 (R)
L2 (S)
L3 (T)
U
V
W
PE
A
B
C
D
E
F
K
L
M
N
P
R
H
G
J
F
I
B
D
E
G
HDC24V RY2
SHIELD
3
4
23
20
22
21
11
10
30
29
5
13
9
8
7
6
28
27
26
25
24
15
16
14
36
35
34
33
32
31
17
1
2
19
6
7
8
9
10
16
15
14
17
18
19
1
11
2
12
3
13
20
RX
RX
+5V
GND
VBAT-
VBAT+
RY1
RY2
RY1MC1
MC1
M C 1
M C 1
M C 1
NOISE
FILTER
M C C B
AC SERVO MOTOR
TURRETSERVO DRIVE
NC
SEQUENCE OUTPUT
POSITION INPUT
POSITION OUTPUT
SHIELD
CN1
CN2
TB1
CN3OPERATOR
12
POWEROFF
POWERON
3 Phase AC 220V
SEQUENCE INPUT
DC24V
DC24V
DC24V
DC24V
DC24V
NOTE
1.
; Twisted Pair Shielded Cable
2. Use for Built-In Brake Type Motor
*1
*1
*2
*2
Battery
3 Phase AC 220V
RY3
POSO6
UNSOL
-
8/20/2019 DASD-RH (ENG)
18/49
2.5.2 Connection diagram of DASD-RH35SPZB
-
8/20/2019 DASD-RH (ENG)
19/49
3. Operation
3.1 Automatic operation
If the drive operates normally after 500msec) after the POWER is ON , the absolute
encoder will detect the initial position and output the position data according to the
initial position. After that output the inposition signal VPF).
When SVON signal is ON and, SVRDY will turn ON after inner GATE is ON.
When START signal is ON, the servo will move according to the position data.
Maintain ON status of START signal to about 50msec~100msec)
When the operation is started and UNCLAMP SENSOR will turn on after UNCLAMP SOLENOID is ON.
After UNCLAMP SENSOR is ON, this signal waits for the fixed time of parameter 31.
When movement is started, VPF inposition signal) will turn OFF .
After position movement is completed, UNCLAMP SOLENOID signal is OFF and UNCLAMP SENSOR
input will turn off. After UNCLAMP SENSOR is OFF, this signal waits for the fixed time of
parameter 32. The current position data will be output and then the inposition signal VPF)
will be ON .
From the upper controller, if VPF signal is ON , please turn OFF the SVON signal.
Move to the next position after SVRDY signal is OFF)
-
8/20/2019 DASD-RH (ENG)
20/49
3.2 Method of machine reset
When assembling the first motor, please set the zero-point of absolute encoder to the
status of original machine.
The Setting method is as follows.
(The below steps should be done when the external servo signal is OFF.)
Turn 'ON' the power to the machine power supply.
Clamp the Turret.
Fix the POST number of the current position to parameter 8 .
Press the MODE key and change the operating display to parameter setting mode.
MODE
parameter setting mode
Press UP key and change the number of the first two segments to 08.
Press SET key and the dot under the first two segments will be blinking.
SET
Press UP or DOWN key to adjust the data of last 4 segments on the POST number of the
current position.
(example :If the current position number is 10, 10 is set as the initial POST)
-
8/20/2019 DASD-RH (ENG)
21/49
Press SET key and the dot under first two segments will disappear.
The data will be stored and the dot will appear after a while.
The display will turn back to the former status. (After turn off the power and then turn on
it again, the stored data will be displayed)
⇨ ⇨
Set the zero-point at zero-point setting mode in diagnosis mode.
Press the MODE key and change the operating mode to the diagnosis mode of servo ON/OFF.
MODE
Diagnosis display
Press the DOWN key and change the display to zero-point setting mode.
Press SET key for 5 seconds and the display will set the parameter related to the
zero-point automatically and turn back to the zero-point setting mode.
SET
-
8/20/2019 DASD-RH (ENG)
22/49
SET
press for 5 secs.
Turn OFF the power and then ON again. The zero-point setting is completed.
-
8/20/2019 DASD-RH (ENG)
23/49
4. Explanation of each mode display
-
8/20/2019 DASD-RH (ENG)
24/49
4.1
Status mode
The function of status mode can check the status of the driver during the operation.
Command pulse accumulation
The command pulse accumulation will accumulate the pulse capacity counted by the inner
position control device to move the target position after the START signal is on and
it will be displayed and divided into lower and upper word(16bit).
When SVON signal is off, it will resume to '0'.
: Lower word display range of command pulse accumulation value
[00000 ~ 65535]
: Upper word display range of command pulse accumulation value
[00000 ~ 65535]
Current position
The absolute current position within one turret rotation will be displayed by pulse counts.
It will be displayed and divided into lower and upper word(16bit).
Display range [00000 ~ pulse per turret rotation]
: Lower word of current position
: Upper word of current position
Remaining pulse
It will display the Error capacity between position command and position feedback as
accumulating the pulse unit. If the pulse exceeds over the set value of the parameter 19,
the overload alarm of position deviation will appear.
If the value is minus pulse, the dot under the segment will light up and when SVON signal
turns OFF, it will resume to '0'.
: Display range of remaining pulse accumulation value
[6.0.0.0.0.0. ~ 600000]
: minus display (-100)
-
8/20/2019 DASD-RH (ENG)
25/49
Current POST number
This displays the post number of current position. The value will be renewed only when
the motor stops or when SVON signal is OFF.
: Display range of current POST number [1 ~ max POST no.]
Motor rotation speed
The rotation speed of the motor is displayed by RPM unit. The changes of fast speed cannot
be seen due to inner filtering process. (To view the speed changes, use the monitor output)
In case of counterclockwise rotation (clock wise in side of motor), '-' will be displayed.
: Display range of motor rotation speed [-3000 ~ 3000]
: minus display (-1000rpm)
Absolute value of encoder rotation count
Displays the rotation count of the absolute value of encoder built in the motor.
(a count per motor rotation) When the count exceeds 8191, it will resume to '0'.
: Display range of absolute value of encoder rotation speed count
[0 ~ 8191]
Absolute value of encoder one rotation
Displays the pulse count per rotation of the absolute value of encoder built in the motor.
(2048 count per rotation) When the count exceeds 2047, it will resume to '0'.
: Display range of absolute value of encoder pulse count per rotation
[0 ~ 2047]
Effective load factor
It is displayed the percent( ) unit counted the effective value of current load.
(100 is standardization). If the value is the minus, a '-' will be displayed and
it will resume to '0' when the SVON signal is OFF.
: Display range of effective load factor [-300.0 ~ 300.0]
: minus display (-100 )
-
8/20/2019 DASD-RH (ENG)
26/49
Maximum load factor
It is displayed the percent( ) unit counted the maximum value of current load.
While the SVON signal is ON, it is always renewed the maximum value and can be resumed to
'0' as pressing the operator SET key. If the value is the minus, a '-' will be displayed
and it will resume to '0' when the SVON signal is OFF.
: Display range of maximum load factor [-300.0 ~ 300.0]
: minus display (-250 )
4.2 Diagnosis mode
This is very convenient mode to verify the external sequence status and the system
condition.
It will display on the OP panel LED display of driver. The contents and it's use is as
follows.
Servo ready status
: SVON signal is OFF and then displays the free status of motor.
: SVON signal is ON and displays the available running status.
Sequence I/O signal
Display ON/OFF status of external input signal in 7 segments.
< external input signal >
SEQUENCEINPUT
SENSOR
SVON
JOG +
JOG -STOP
-
8/20/2019 DASD-RH (ENG)
27/49
Display ON/OFF status of external output signal in 7 segments.
< external output signal >
The I/O display of 7 segment LED display panel will be displayed when the LED is on and
this will verify ON and OFF. (If it is ON, the LED will be on, if it is OFF, the LED
will be off.)
Position data I/O signal
Display the ON/OFF status of position data input signal in 7 segments.
< PLC input signal >
POSITION
INPUT
START
POSI6
POSI5
POSI4
POSI0
POSI1
POSI2
POSI3
SEQUENCEOUTPUT
BAT_L
ALM
BRAKE
SVRDY
-
8/20/2019 DASD-RH (ENG)
28/49
Display the ON/OFF status of the position data output signal in 7 segments.
< PLC output signal >
The I/O display of 7 segment LED display panel will be displayed when the LED is on and
this will verify ON and OFF. (If it is ON, the LED will be on, if it is OFF, the LED
will be off.)
Passive Unclamp output
It outputs Unclamp signal by the hand.
; set the output data by the SET key.
UCON signal OFF UCON signal ON
; Resume to initial display mode
VPF
SOL-OUT
POSO5
POSO0
POSO1
POSO2
POSO3POSO4
POSITIONOUPUT
SET
SET
SET
SET
-
8/20/2019 DASD-RH (ENG)
29/49
Jog operation
The driver operates jog operation by itself regardless of external signals.
When setting the zero-point, use this to move the right position of fixed POST.
The driver will rotate according to the fixed speed of parameter 27 while pressing the UP
or DOWN key.
If press the SET key and the SVON signal will turn ON automatically, and it will change to
Jog operation mode.
; Jog operation mode
CCW rotation CW rotation
; Resumes to initial display mode
Parameter initialization
Saves in Memory as resetting the parameters by fixing value when outgoing.
The stored value when sending out will be reset if pressing the SET key, but The parameters
related to the zero-point setting will remain the value as it is.
Press SET key and it will carry out the Parameter initialization.
SET
SET
SET
-
8/20/2019 DASD-RH (ENG)
30/49
Initialization of position compensation value
Saves in Memory as initializing the position compensation value per POST to '0'.
Press the SET key and it will start the initialization.
Press the SET key and it will initialize the position compensation value.
4.3 Parameter setting mode
The parameter must be set according to the system composition and operation contents
before the motor operation. the setting method is as follows.
Set the operator display to parameter setting mode by pressing the MODE key.
Parameter setting mode
Set the first two segments for intended setting number by pressing the UP key.
(example : set 08)
The dot will appear under the first two segments when Press the SET key.
Set the latter 4 segments for intended setting number by pressing the UP or DOWN key.
(example : in case of fixing the data to 10)
SET
SET
-
8/20/2019 DASD-RH (ENG)
31/49
When Press the SET key in current status, the dots under first two segments from
parameter 00 to 09 will appear, and the data will be saved. After a while, the dot
will appear and it will resume to the initial value before the set up.
When press the SET key, the dot under the first two segments from parameter 10 to 33
will appear, and it will display the set value.
When the zero-point setting, parameters from 34 to 45 is set automatically.
The parameter is for maker management. Please do not change it.
(If you change this parameter, Driver will not operate properly)
SET
SET
-
8/20/2019 DASD-RH (ENG)
32/49
4.4 Parameter list
Note. Adjusted parameter operated as follows.
N0. Abbr. Name Range Default Unit Division
00 MPC
motor power capacity
0 0 A, B
01 MRD
motor running direction
0 ~ 1 1 A, B
02 -
reserve parameter
0 0 A, B
03 JFS
fixed direction, jog function selection
0 ~ 1 0 A, B
04 -
reserve parameter
0 0 A, B
05 MPN
maximum POST number
2 ~ 127 12 POST A, B
06 GR1
gear ratio - motor side
1 ~ 9999 33
Rev
A, B
07 GR2
gear ratio - machine side
1 ~ 9999 12 POST A, B
08 HSP
POST number of home
1 ~ 127 1 A, B
09
reserve parameter
0 0 A, B
10 PKP
position loop proportional gain
0 ~ 2048 256 B, C
11 VKP
speed loop proportional gain
0 ~ 2048 250 B, C
12 VKI
speed loop integral gain
0 ~ 2048 1 B, C
13 SROT
servo ready on delay time
0 ~ 40 0 50 msec B, C
14 BFT
brake off control delay time
0 ~ 40 0 50 msec B, C
15 BOT
brake on delay time
0 ~ 40 0 50 msec B, C
16 VTO
monitor offset voltage
-12 ~ 12 0 10/128 V B, C
17 VTM
monitor selection
0 ~ 3 0 B, C
18 INP
positioning complete range
1 ~ 9999 100 PULSE B
19 RPA
remaining pulse allowance
1 ~ 6000 6000 100 PULSE B
20 FFG
position loop feed-forward gain
0 ~ 100 0 B
21 FTC
feed-forward filter time constant
0 ~ 100 0 4 msec B
22 TLP1
positive torque limit 1
0 ~ 300 250 B
23 TLN1
negative torque limit 1
0 ~ 300 250 B
24 TLP2
positive torque limit 2
0 ~ 300 50 B
25 TLN2
negative torque limit 2
0 ~ 300 50 B
26 VLS
speed limit
0 ~ 3000 1850 rpm B
27 JSP
jog speed at set home
1 ~ 1000 100 rpm B
28 VEL
operation speed
10 ~ 3000 1800 rpm B
29 ATC
acceleration time
0 ~ 500 50 msec B
30 DTC
deceleration time
0 ~ 500 80 msec B
31 UDT
speed monitor output voltage
0 ~ 1000 100 msec B
32 CDT
torque monitor output voltage
0 ~ 1000 100 msec B
33 ISD
initial status display
0 ~ 10 6 B
34 AOL
encoder coordinates compensation lower)
D
35 AOM
encoder coordinates compensation upper)
D
36 HOL
set value of machine zero-point lower)
D
37 HOM
set value of machine zero-point upper)
D
38 IKP
current loop proportional gain
D
39 IKI
current loop integral gain
D
40 EPN
encoder pulse per one rotation
D
41 FPL
feedback pulse lower)
D
42 FPM
feedback pulse upper)
D
43 ACR
acceleration rate of remaining value
D
44 REM
accel rate compensation of remaining value
D
45 -
reserve parameter
D
Section Contents
A
Power is OFF after parameter setting, and the setting value will be valid if it is put into again.
B
Available to set on SVON is OFF. After the setting, it will be vaild right away.
C
Valid to set on SVON status, but temporary save. It has to be reset on SVON is OFF.
D
When machine zero-point setting, User can not set it as automatic setting or for a maker management.
-
8/20/2019 DASD-RH (ENG)
33/49
4.5 Detailed explanation of parameter setting mode for user
[1] No.0 : Motor power capacity
This is the parameter that enables to select the applied motor capacity.
The capacity is selected according to each ROM now.
0 : 1.0KW / 2.0KW / 3.5 KW
[2] No.1 : Motor rotation direction
This sets the motor rotation direction. Please set it according to the structure of
the equipment.
0 : In case that The motor rotation direction accords with the rotation direction of
equipment.
1 : In case that The motor rotation direction discords with the rotation direction of
equipment.
[3] No.2 : Spare parameter
[4] No.3 : Direction fixing and selection of JOG function
Defines the function of JOG+(no.20) and JOG-(no.23) signal of CN1 connector.
0 : Defines the signal of direction fixing.
This is applicable if the parameter 1 is set to '0'.
If the parameter is set to '1', it rotates to the opposite.
1 : Defines JOG operation signal
JOG+ JOG- Rotation direction
OFF OFF Rotates to distinguish the shortest distance.
OFF ON The motor always rotates to clock wise.
ON OFF The motor always rotates to counter-clock wise.
ON ON The motor always rotates to counter-clock wise.
JOG+ JOG- Contents
OFF OFF Only operates by position data input.
OFF ON Do Step JOG operation toward decreasing of POST number
ON OFF Do Step JOG operation toward increasing of POST number
ON ON Can not be defined.
-
8/20/2019 DASD-RH (ENG)
34/49
This is applicable if the parameter 1 is set to '0'.
If the parameter is set to '1', it rotates to the opposite.
Position data input is ignored if JOG+ and JOG- signal is ON.
For more detailed explanation, refer to 'JOG operation' section.
[5] No.4 : Spare parameter
[6] No.5 : Maximum POST number
This sets the maximum POST number. The position data input exceeding the set data
is ignored.
Setting range : 2 ~ 127, Outgoing value : 12
[7] No.6 : Gear ratio of motor side
This sets the rotation count when it moves as the POST number set at parameter 7.
Setting range : 1 ~ 9999, Outgoing value : 33
[8] No.7 : Gear ratio of machine side
This sets the POST number when the motor rotates as the set value at parameter 6.
Setting range : 1 ~ 9999, Outgoing value : 12
[9] No.8 : Origin POST number
Inputs the POST number that sets as the origin when setting the machine origin(zero-point).
Setting range : 1 ~ 127, Outgoing value : 1
[10] No.9 : Spare parameter
[11] No.10 : Position loop proportionality gain
The position loop proportionality gain is the parameter that determines the response of
position control loop. If the value increases, the mechanical response gets better.
Example)
1. The machine is 10 POST turret. When the motor makes 30.75 rotations and in case the
deceleration ratio is fixed so that the turret is made 1 rotation, Turret 1 rotation
fits the 10 POST movement, thus the value will be set as follows.
[5] Maximum POST data : 10
[6] Gear ratio of motor side : 3075
[7] Gear ratio of machine side : 1000
-
8/20/2019 DASD-RH (ENG)
35/49
However, the added impact for machine increases when the motor starts or stops.
If the value decreases, the mechanical response will be late, and the position
error may increase due to the remaining pulse. This is also related to the speed
loop proportionality gain.
Setting range : 0 ~ 2048, Outgoing value : 256
[12] No.11 : Speed loop proportionality gain
The speed loop proportionality gain is the parameter that determines the response of
speed control loop. On the external characteristics, it determines the degree of rigidity.
If the value of the proportionality gain increases, the rigidity becomes strong.
Thus, it is good as large as possible, but if it is larger than any degree, it may cause
the oscillation and hunting. Accordingly, the value will be set as large as possible under
stable condition.
Setting range : 0 ~ 2048, Outgoing value : 250
[13] No.12 : Speed loop integral gain
The speed loop integral gain is the compensatory factor that reduces the normal state
error, and increases the rigidity. If the value of integral gain is increased, the rigidity
will get larger, but if it is increased too much, it may cause the oscillation, and the
system may become unstable.
Setting range : 0 ~ 2048, Outgoing value : 1
[14] No.13 : Brake off delay time
In case of the brake motor, this is the delay time until SVRDY signal is ON after the brake
signal is ON. Please set the value higher than the time releasing the actual brake.
The unit is 50msec.
Setting range : 0 ~ 40 [x 50msec], Outgoing value : 0
[15] No.14 : Brake off control delay time
In case the brake motor, this is the delay time until BRAKE signal is ON after SVON signal
is input. After this delay, the brake signal turns OFF.
Setting range : 0 ~ 40 [x 50msec], Outgoing value : 0
[16] No.15 : Brake ON delay time
In case the brake motor, this is the delay time until the gate of the power device is OFF
after the brake signal turns OFF and the SVON signal turns OFF.
(Of course SVRDY signal is off as the same time)
-
8/20/2019 DASD-RH (ENG)
36/49
Please set the value higher than the time operating the actual brake.
Setting range : 0 ~ 40 [x 50msec], Outcome value : 0
[17] No.16 : Spare parameter
[18] No.17 : Spare parameter
[19] No.18 : Positioning decision completion range
When position control, it is set the positioning decision completion range.
If the error between the target position and the current position is within the set range,
the VPF terminal (Number 16 of CN1 connector) will turn ON.
Setting range : 1 ~ 9999 [pulse], Outgoing value : 100
[20] No.19 : Remaining pulse allowance
When position control, The difference of position command and position feedback per each
position control loop is accumulated. lf this difference value exceeds the set value, the
overload alarm of position deviation will appear.
Setting range : 1 ~ 6000 [x 100 pulse], Outgoing value : 6000
[21] No.20 : Position loop feed-forward gain
This can be enable to have a response characteristic that shortens the position determine
time by using the feed-forward control. However, if the value is set too high, it may cause
the oscillation in the machine.
Setting range : 1 ~ 100 [ ], Outgoing value : 0
[22] No.21 : Feed-forward filter time constant
This sets the time constant when the first delay filter is put in the feed-forward position
command.
Setting range : 0 ~ 500 [x 4msec], Outgoing value : 0
[23] No.22 : Positive torque limit 1
This limits the torque output of positive (+) polarity in the areas except the positioning
decision completion range. If the value is set at 0 , the positive torque will not occur.
If the value is set too low, the hunting may occur when the motor starts or stops.
Setting range : 0 ~ 300 [ ], Outgoing value : 250
-
8/20/2019 DASD-RH (ENG)
37/49
[24] No.23 : Negative torque limit 1
This limits the torque output of negative (-) polarity in the areas except the positioning
decision completion range. If the value is set at 0 , the negative torque will not occur.
If the value is set too low, the hunting may occur when the motor starts or stops.
Setting range : 0 ~ 300 [ ], Outgoing value : 250
[25] No.24 : Positive torque limit 2
This limits the torque output of the positive (+) polarity in the areas within the
positioning decision completion range. After the position decision completes, if the low
value is set on the use to provide the invariable load constantly under SVON signal of
driver is ON, it can be avoided from the overstrain of the equipment or motor.
Setting range : 0 ~ 300 [ ], Outgoing value : 50
[26] No.25 : Negative torque limit 2
This limits the torque output of the negative (-) polarity in the areas within the
positioning decision completion range. After the position decision completes, if the low
value is set on the use to provide the invariable load constantly under SVON signal of
driver is ON, it can be avoided from the overstrain of the equipment or motor.
Setting range : 0 ~ 300 [ ], Outgoing value : 50
[27] No.26 : Speed limit
This limits the maximum operation speed.
Even when overshooting and such cases occur during the accelerating, the speed is limited
within the set value. Please set the value more than at least 50rpm as compared with
parameter 28 (operating speed).
Setting range : 0 ~ 3000 [rpm] Outgoing value : 1850
[28] No.27 : Origin (Home) set jog speed
This sets the speed of internal jog operation in order to move equipments of turret,
magazine and so on to the right position of when the origin (zero-point) set.
This is discussed separately from the step jog speed.
Setting range : 1 ~ 1000 [rpm], Outgoing value : 100
[29] No.28 : Operation speed
This is the motor speed when automatic operation or when step jog operation.
Setting range : 10 ~ 3000 [rpm], Outgoing value : 1800
-
8/20/2019 DASD-RH (ENG)
38/49
[30] No.29 : Acceleration time
This sets the time that takes from zero movement (motor stops) to the fixed speed at
parameter 28. If the value is set too low, the speed overshooting may occur when
accelerating.
Setting range : 0 ~ 500 [msec], Outgoing value : 50
[31] No.30 : Deceleration time
This sets the time that takes from the fixed speed at parameter 28 to zero movement
(motor stops). If the value is set too low, the position decision time may be delayed
due to the hunting when the motor stops.
Setting range : 0 ~ 500 [msec], Outgoing value : 80
[32] No.31 : UNCLAMP delay time
Operate UNCLAMP for the transfer when inputs the start signal after SVON is ON and after
NCLAMP SENSOR signal is ON, this is the delay time before the actual transfer.
Setting range : 0 ~ 1000 [msec], Outgoing value : 0
[33] No.32 : CLAMP delay time
Operate CLAMP after the transfer and after turning off UNCLAMP SENSOR, this is the delay
time before the completion signal is output.
Setting range : 0 ~ 1000 [4msec], Outgoing value : 0
[34] No.33 : Initial status display selection
Please select the initial status display after the main power switch ON.
Outgoing value : 06 (Motor rotation speed)
[35] No.34 ~ No.45 : Automatic setting and parameter managed for the maker management
(manufacturer)
When setting the machine origin(zero-point), the parameter will be set automatically or
Set
value
Initial display content
Set
value
Initial display content
00 Accumulated value of command pulse (lower word) 06 Motor rotation speed
01 Accumulated value of command pulse (upper word) 07 Absolute encoder rotation
02 Current position (lower word) 08 Absolute encoder-one rotation
03 Current position (upper word) 09 Effective load ratio
04 Accumulated value of remaining pulse 10 Maximum load ratio
05 Current POST number
-
8/20/2019 DASD-RH (ENG)
39/49
it is for manufacturer's management use. Please do not set it according to then user's
purpose. It may not be operated normally if setting for user's purpose only.
4.6 Alarm record mode
It stores the recent alarm records till 9 rotations.
Press UP or DOWN key for checking the previous alarm records.
All records of alarm will be cleared by pressing SET key at this mode.
: alarm record mode
: 1 time alarm display
(ex. in case of overload of 1 time alarm)
: 2 times alarm display
: 9 times alarm display
5. Maintenance and inspection
5.1 Maintenance & Inspection
This chapter explains the servo motor, the maintenance and inspect method of driver,
the trouble shooting and countermeasure.
5.1.1 Notice
When checking motor voltage : The wave of pulse shape is displayed as the voltage
applied from the servo driver to the motor controls PWM. Please use the exact voltmeter
for correct measurement because measured value may occur big differences according to
the types of meter.
When checking motor current : Please use to connect the ammeter to the motor directly
because the pulse wave is smoothed as sine wave by the motor reactance.
-
8/20/2019 DASD-RH (ENG)
40/49
The other devices : please use not to contact the ground when using oscilloscope,
digital volt meter. Please use the input current less than 1 mA as well.
5.1.2 Checkpoint
Inspection of servo motor
(note1) check between one of the servo motor power line U,V,W and FG
Inspection of servo driver
Please refer to the below inspection of servo driver. Daily inspection is not necessary,
but check it over 1/year.
Inspection item Inspection period Inspection and handling Remark
Vibration, noise Every month Sense of touch, hearing
Not bigger than normal
condition
External
appearance
According to
demage or
contamination
Cleanup with cloth or air -
Insulating
resistance
measurement
Minimum 1/year
Disconnect with driver,
measure it by 500V mega.
if over 10M , this is a
normal.(note1)
If under 10M , call to our
service depart.
Change oil seal Minimu 1/5000hr
Detach from the machine, and
replace it.
In case the motor with oil
seal
General
inspection
Minium 1/20000hr or
1/5year
Call to service dept in
company
Do not dismantle and clean
servo motor.
Check part Check time Inspection method Handling when trouble
Clean main board and
circuit board
Minimum 1/year Remove dust, oil and etc Clean it with air or cloth
Loose screw Minimum 1/year
Tighten connection terminal,
connector screw
Tighten
Trouble of part
defects on main
board and circuit
board
Minimum 1/year
Check changed color, damage and
disconnection by overheat
call to company
When you check, it is remained the charged voltage in inner smoothing
condense, so do the inspection after power off and wait about 5 minute
because it may be dangerous.
-
8/20/2019 DASD-RH (ENG)
41/49
5.1.3 Period of part replace
The parts age because of mechanical friction or as time passes, therefore it is necessary
to check the regular inspection and replacement not only preventing the falling-off in
quality and trouble but also keeping the prevention conservation.
Smoothing condenser : the characteristics age due to the affects of ripple current.
Sometimes the life time of condenser is affected by the surrounding temperature and use
condition, but in case of continual operation under the condition of normal environment,
10 years are standard. The inspection period is minimum 1 per year (less than 1 per year
when left short life time) because the condenser aging is fast in a limited period
sometimes.
Check point as external appearance
1. Case condition : the side and bottom of case are expanded
2. Top plate condition : prominent expansion, extreme crack, break
3. Condition of explosion sides : sides expansion, already operation.
4. Life time is the time that periodically the standard capacity of condenser is under 85
about the appearance, external crack, break, changed color, leak.
Relay kind : Contact faultiness may occur due to the contact abrasion by the switching
current, so the standard life time is 100,000 times( accumulated switching number) because
the relay is affected by the power capacity .
Motor bearing : replaces it on the basis of the standard replace time is 2~30,000 hrs
under rated speed, and load. The motor bearing is affected by the operating conditions,
so replace the motor bearing when abnormal noise or vibration is occurred.
Battery : replaces it 1 per 5 years under rated speed and load.
[standard replacement period of parts]
Part name Standard replacement period Replacement method
Smoothing condenser 10 year Replacement decide after check)
Relay kind
Switching ON/OFF) No is
100,000
Decide after check
Fuse 10 year Replacement
Electrolytic condenser 10 year Decide after check
Cooling fan 5 year Replacement over 3 KW )
Motor bearing - Decide after change
Motor oil seal 5,000 hrs Replacement
Battery 5 year Replacement
-
8/20/2019 DASD-RH (ENG)
42/49
5.2 Trouble diagnosis and countermeasure
Alarm signal example) ALP-UU is displayed on the window of loader display when trouble
occurs during the operation. In this case, please take the following steps.
If the trouble is not remedied by these steps, please call to service dept.
5.2.1 Servo motor
[Trouble reason , check method, handling]
Phenomenon Reason Check method Handling
Not
operated
Parameter setting
error
Check parameter like motor, capacity,
encoder pulse value, control mode
Parameter reset
(refer to chapter 4)
Over load Check rotation condition Re-adjust machine
Motor defective Check motor red terminal by tester
Replace motor in case of
normal voltage
Screw loosened Check connect part by drive Re-tighten loosed screw
External wrong wirng,
disconnected cable
Check motor & encoder wiring Re-wire, and change cable.
Encoder defective Check output wave Change encoder.
unstable
motor
rotation
defective connection
Check connection of motor
lead terminal
Repair defective part.
Low input voltage Check driver input voltage Change power supply.
Over load Check machine condition.
Remove residue from rotator,
and lubricating oil supply.
Motor
overheat
Ambient temp is high
Check motor ambient temp of setting
point (should be lower than40 )
Change heat sink structure.
Motor surface
contamination
Check adhesion of residue on
motor surface.
Clean motor surface.
Over load
Check load rate of driver.
Check ac/deceleration cycle.
Decrease load, increase
ac/deceration time.
Magnet magnetism
decrease
Check electromotive voltage and
wave type of voltage.
Replace motor.
Abnormal
noise
Coupling defective
Check screw tightness of the coupling
& concentricity of joints.
Re-adjust coupling.
Bearing defective Check vibration and abnormal noise Call to company.
Parameter setting
error (motor/encoder
pulse value, gain)
Check parameter related to gain.
Refer to parameter setting
method of chapter4.
-
8/20/2019 DASD-RH (ENG)
43/49
5.2.2 Servo drive
When the alarm occurs, error signal out contact(ALARM) is turned off, and motor is stopped
automatically.
[Alarm cord and inspection]
Main
LED
OP panel
LED display
Alarm type Corrective method
Lack voltage : occurs when voltage of inner
DC link is under standard value.
- check the input power is low.
- check the short of motor power cable .
Over voltage : occurs when voltage of inner
DC link is over standard value.
- check the input power is high.
- check the operation frequency is over
the standard value.
- check regenerative resistor is damaged
Main circuit error : occurs in case of error
of inner IPM device.
- check the temp of heat sink is over 100
degrees.
- check the operation frequency is over
the standard value.
Encoder I/F module error : occurs when
assembly of inner encoder I/F module is not
correct.
- check the assembly of encoder I/F module
is correct.
Encoder signal error : A,B,Z signal error
among signal of encoder
- check the encoder cable is pulled out or
signal line is disconnected.
Over speed : occurs when the motor speed
exceeds the maximum rotation count.
- check the encoder cable is pulled out or
wrong assembly.
Over load : occurs when the over load
status continues over the standard time.
- check the motor power cable is
disconnected.
- check if the parameter is set correctly.
CPU error : occurs when the CPU malfunctions
or inner board is defective
- check the parameter set is correct.
Parameter error : occurs when the save value
of parameter is not within the setting
range.
- check the parameter set is correct.
Excessive position deviation : occurs a case
that the remaining pulse exceeds the fixed
value of parameter 19 when positioning
control.
- check the value of parameter 18 is set
too low.
Unclamp solenoid error: occurs when no
operation of clamp solenoid.
- check Unclamp and clamp.
Encoder battery error : occurs when the
backup battery of inner encoder
is discharged or pulled out.
- change the battery.
-
8/20/2019 DASD-RH (ENG)
44/49
NO. Inspection item Inspection result Handling
1 Check the power voltage
Under AC 150V Re-check the power
Normal AC 220V
Do investigation and handling of
investigation article 2
2
Occurs alarm intermittently
when accelerating
Occurs alarm
when accelerating
Re-check power capacity.
Occurs alarm
unconditionally
Change the driver unit or PAB
NO. Inspection item Inspection result Handling
1
Secure regular power
capacity
Power capacity lack Power capacity increase.
No problem.
Do investigation and handling of
investigation article 2.
2
Check the voltage is over
170V by tester
when decelerating motor.
Under 170V . Power capacity increase.
Over 170V .
Do investigation and handling of
investigation article 3.
3
Check the voltage of line
R-S, S-T, T-R by tester
Voltage difference between
lines is over 10V.
Balance improvement on the power
No problem.
Do investigation and handling of
investigation article 4.
4
Check the wiring, setting
circumstance
1) Is the ground right?
2) Is a machine that makes
a noise beside the unit?
1) Ground instability Right set of ground.
2) Easy to occur the alarm
when some special machine is
operate.
Counter-plan execution for the
machine that makes a noise
No problem. Change the driver unit or PAB
5.2.3 detailed explaination of alarm code
(1) ALP - UU : low voltage alarm
(2) ALP - OU : over voltage
; DC bus voltage exceeds over 400V.
-
8/20/2019 DASD-RH (ENG)
45/49
NO. Inspection item Inspection result Handling
1 Inspect the occur area.
Occurs Servo is OFF. Replace the driver unit or PAB.
Occurs after servo ON .
Do investigation and handling of
investigation article 2.
2
Check the setting value of
oparameter NO.23, NO.24.
No set of normal value Decrease load capacity.
Set of normal value.
Do investigation and handling of
investigation article 3.
3
Check the amount of load
when transferring
Load capacity is over 100 . Decrease load capacity.
Load capacity is under 100 .
Do investigation and handling of
investigation article 4.
4
Check wiring between drive
unit and motor U, V, M.
1)Check the looseness of
screw in terminal
2)Check the shorted wire
3)Check the grounded phase,
and open 2 side of cable
when checking 2),3).
1) loosened. Tighten it correctly.
2) cut Change the cable.
3) grounded. Change the cable.
No problem. Do investigation and handling of
investigation article 5.
5
Check the motor insulation.
Measure the line and
earth of motor by Mega
Resistance value is under 1MΩ Replace the motor.
Resistance value is over 1M .
Do investigation and handling of
investigation article 6.
6 Check the power voltage.
Sometimes voltage is under 170V
when ac/decelerating.
Re-check the power voltage.
Always over 171V .
Do investigation and handling of
investigation article 7.
7
Check the wiring, setting
circumstance
1)Is the ground right?
2) Is a machine that
makes a noise beside the
unit?
1) Ground instability correct ground set.
2) Easy to occur the alarm
when some special machine
is operate.
Counter-plan execution for the
machine that makes a noise
No problem. Change the driver unit or PAB.
(3) ALP - OH : power module trouble
; In case the trouble occurs in power module used for driver unit .
1) operated the over current protect.
2) downed the base power voltage.
3) overheated.
-
8/20/2019 DASD-RH (ENG)
46/49
NO. Inspection item Result Handling
1
Shake it by hand and check the
detector connector(CN2) is
connected or disconnected.
Loosened. Set it correctly.
Normal.
Do investigation and handling of
investigation article 2.
2
Power off, and check the detector
cable connection.
Connection faultiness Change the detector cable.
Normal connection. Change the motor.
NO. Inspection item Result Handling
1
Shake it by hand and check
the cnnector(CN2) of speed
detector is connected or
disconnected.
Loosened.
Set it correctly.
Change the detector cable.
Normal.
Do investigation and handling
of investigation article 2.
2
Check the wiring, setting
circumstance
1) Is the ground right?
2) Is a machine that makes a
noise beside the unit?
3) Is the shield of speed/
positioning detector
cable correctly?
1) Ground instability Correct ground set.
2) Easy to occur the alarm
when some special machine is
operate.
Counter-plan execution for the
machine that makes a noise
3) Shield is not set correctly Correct Shield set.
No problem. Change the driver unit or PAB.
(4) ALP - CA : encoder signal trouble
(5) ALP - OS : over speed
-
8/20/2019 DASD-RH (ENG)
47/49
NO. Inspection item Result Handling
1
Check the setting value of
parameter NO.23, NO.24.
No set of normal value Decrease load capacity.
Set of normal value.
Do investigation and handling
of investigation article 2.
2
Check wiring between drive unit
and motor U, V, M.
1)Check the looseness of screw
in terminal
2)Check the shorted wire
3)Check the grounded phase, and
open 2 side of cable when
checking 2),3).
1) Loosened. Tighten it correctly.
2) cut Change the cable.
3) grounded. Change the cable.
No problem.
Do investigation and handling
of investigation article 3.
3
Shake it by hand and check the
cnnector(CN2) of speed detector
is connected or disconnected.
Loosened.
Set it correctly.
Normal.
Do investigation and handling
of investigation article 4.
4
Power off, and check the detector
cable connection by tester.
Connection faultiness or
disconnection
Change the detector cable.
Connect it correctly
Normal.
Do investigation and handling
of investigation article 5.
5 Check the motor load capacity.
Load capacity exceeds motor's
rating.
Make load capacity within
motor's rating.
No problem
Do investigation and handling
of investigation article 6.
6 check the rotation of motor.
Motor is closed. Re-chech the machine.
No problem.
Change the driver unit or
PAB.
(6) ALP - OL : over load
; due to the current flowed to the motor is the value exceeded the overload detection
level, a case that time continues over the overload detection time
[Overload characteristic curve of servo motor]
-
8/20/2019 DASD-RH (ENG)
48/49
NO. Inspection item Result Handling
1 Inspect the re-occur.
Always occurs when power on. Change the driver unit or PAB.
Occurs sometimes.
Do investigation and handling
of investigation article 2.
2
Check the wiring, setting
circumstance
1) Is the ground right?
2) Is a machine that makes
a noise beside the unit?
1) Ground instability Correct ground set.
2) Easy to occur the alarm
when some special machine
is operate.
Counter-plan execution for the
machine that makes a noise
No problem. Change the driver unit or PAB
NO. Inspection item Result Handling
1 Inspect the re-occur.
Always occurs when power on. Change the driver unit or PAB.
Occurs sometimes.
Do investigation and handling
of investigation article 2.
2
check the wiring, setting
circumstance
1) Is the ground right?
2) Is a machine that makes
a noise beside the unit?
1) Ground instability Correct ground set.
2) Easy to occur the alarm
when some special machine is
operate.
Counter-plan execution for the
machine that makes a noise
No problem. Change the driver unit or PAB
(7) ALP - SE : CPU trouble
(8) ALP - PE : parameter trouble
-
8/20/2019 DASD-RH (ENG)
49/49
NO. Inspection item Result Handling
1
Check wiring between driver
unit and motor U, V, M.
Abnormal connection. Correct line wiring.
Normal connection.
Do investigation and handling of
investigation article 2.
2
Check the setting value of
parameter(NO.18)
Normal value is not set. Correct set
Abnormal value is set.
Do investigation and handling of
investigation article 3.
3
Check load capacity when
transferring.
Load capacity is over 100 . Decrease the load capacity.
Load capacity is under 99 .
Do investigation and handling of
investigation article 4.
4
Shake it by hand and check
the cnnector(CN2) of speed
detector is connected or
disconnected.
Disconnected. Correct set
Connected.
Do investigation and handling of
investigation article 5.
5
Power off, and check the speed
detector cable connection by
tester.
Connection faultiness or
disconnection
Change the detector cable.
Make the correct connection.
Normal connection. Change the driver unit.
NO. Inspection item Result Handling
1
Inspect the occurrence
area.
Always occurs
when transferring.
Check the clamp sensor.
check the solenoid.
Occurs sometimes.
Do investigation and handling of
investigation article 2.
2
Check the setting value of
parameter(NO.31,NO.32)
Normal value is set
Do investigation and handling of
investigation article 3.
Normal value is not set.
Adjust the value of parameter
(NO.31, NO.32).
3
Check the wiring
of solenoid and sensor.
Shorted or grounded. Change the cable.
No problem.
Change the driver unit or PAB.
change the sensor.
NO. Inspection item Result Handling
(9) ALP - rP : speed gap exaggeration
; in case the speed order and current speed gab exceeds the setting value at parameter
(NO.18)
(10) ALP - UC : solenoid trouble
(11) ALP - En : battery trouble