Professional Documents
Culture Documents
Preface
ADSD-S
safety precautions:
Carefully note and observe the following safety precautions when receiving, inspecting, installing,
operating, maintaining and troubleshooting.
Thank you very much for purchasing A&Ds ADSD-S series servo products. This manual provide
related contents on how to use our ADSD-S servo drive and ADSM-S motor. It includes:
Receiving inspecting
1.
2.
3.
4.
5.
6.
7.
8.
attentioin
attention
2.
5.
6.
Ensure that the motor and drive are correctly connected to a ground.
Do not attach, modify and remove wiring when power is applied to the AC servo drive
and motor.
Before starting the operation with a mechanical system connected, make sure the
emergency stop equipment can be energized and work at any time.
Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may
result in serious personnel injury
Do not use the product in a wet location or where have corrosive and
inflammable gases or liquids. Failure to observe this caution may result
in electric shock, fire, or personal injury.
Wiring
warrning
attention
Install the product in a clean and dry location free from corrosive and inflammable gases
or liquids.
3.
4.
Installation
In order to prevent fire hazard and accidents, please form the wiring by
Ensure that all screws, connectors and wire terminations are secure on
the power supply, servo drive and motor. Failure to observe this caution
may result in damage, fire or personal injury.
Operation
warrning
In order to prevent accidents, the initial trial run for servo motor should
be conducted under no load conditions (separate the motor from its
couplings and belts).
Do not approach or touch any rotating parts (e.g. shaft) while the motor
is running. Failure to observe this precaution may cause serious
personal injury.
If you have other questions , Please consult our distributors or our customer services center.
II
ADSD-S
damage to the mechanical system.
ADSD-S
attention
install the encoder cables in a separate conduit from the motor power
mechanical system.
Do not touch either the drive heat sink during operation as they may
become hot and personal injury may result.
warrning
Do not touch any internal or exposed parts of servo drive and servo
after power has been removed before performing any wiring and/or
inspection.
Wait at least 5 minutes after power has been removed before touching
the servo drive and servo motor with hazardous voltages even after
Do not install the moter power cables and encoder cables tegother,
attention
Please perform trial run without load first and then perform trial run
with load connected. After the servo motor is running normally and
regularly without load, then run servo motor with load connected.
Ensure to perform trial run in this order to prevent unnecessary danger.
attention
Please perform the wiring after the terminal blocks are all removed
attention
In order to prevent accidents, the initial trial run for servo motor should
Insert only one wire into one terminal on the terminal block.
When inserting wires, please ensure that the conductors are not
couplings and belts),that mean, just let the motor work separately, do
III
IV
ADSD-S
Contents
ADSD-S
3-5 interface circuit ....................................................................................................... 16
3-5-1 input switching interface...............................................................................16
3-5-2 output switching interface .............................................................................17
standby
Company:A&D
Servo driver
Series: S: AS synchronous
AS :AC asynchronous
Voltage grade: 2 220v
3 380v
0.2kw
0.4kw
0.75kw
1.5kw
2.2kw
1-1phase
3-phase
5-2-4-1 ............................................................................................................ 39
II
ADSD-S
ADSD-S
Chapter 1
explanation
8-2 Maintenance........................................................................................................... 88
8-3 Lifespan of Replacement Components..................................................................... 88
Chapter 9 Troubleshooting ....................................................................................................89
description
If any problem mentioned above happened, please inform the distributor whom you purchased
the product from or our company.
A complete and workable AC servo system should be including the following parts:
(1) Servo drive and Servo motor.
(2) One power cable, which is used to connect servo motor and U, V, W terminals of servo
drive. This power cable is with one green grounding cable. Please connect the green
grounding cable to the ground terminal of the servo drive.
(3)One encoder cable, which is used to connect the encoder of servo motor and CN2 terminal of
servo drive.
(4)Connector CN1: 44 PIN Connector.
(5)Connector CN2: 15 PIN Connector.
(6)Connector CN3: 8 PIN Connector
1
III
ADSD-S
ADSD-S
power
ADSD-S23-0.4K
Servo driver
Series: S: AS synchronous
AS :AC asynchronous
Voltage grade: 2 220v
3 380v
ADSM-S80-024M30
ADSM-S80-033M30
standby
Company:A&D
0.2kw
0.4kw
0.75kw
1.5kw
2.2kw
750W
ADSD-S23-0.75K
ADSM-S110-020M30
ADSM-S130-040M25
ADSM-S130-050M20
ADSM-S110-040M30
ADSM-S130-050M25
1-1phase
3-phase
ADSM-S110-060M20
ADSM-S110-050M30
1500W
ADSD-S23-1.5K
ADSM-S130-060M25
ADSM-S110-060M30
ADSM-S130-077M20
AD SM-S 110-040 M 20 D K Z
ADSM-S130-077M25
ADSM-S130-100M15
A&D
Electromagnetic
brake
Servo motor
Z with brake
default without
Asynchronors
series
ADSM-S130-077M30
2200W
ADSD-S23-2.2K
Shaft type
ADSM-S130-150M15
K with key
defaultwithout
Machine seat
110 110 series
Coder resolution
ADSM-S150-150M25
4000W
ADSD-S23-4.0K
ADSM-S150-270M20
15:1500rpm 20:2000rpm
25:2500rpm 30:3000rpm
020 2N.m
040 4N.m
077 7.7N.m 10010N.m
150 15N.m 180 18N.m
230 23N.m 270 27N.m
Motor inertia
L low
ADSM-S150-180M20
ADSM-S150-230M20
Rated speed
Rated torque
ADSM-S130-100M25
ADSM-S130-150M15
M middle
ADSD-S
ADSD-S
Mode
Description
Code
External Position
Control
Internal Position
command.
Pi
Control
Speed Control
internal Speed
single
Si
Control
mode
Internal Torque
Ti
Control
Index mode
Dual mode
P-S
P-T
ADSD-S
Pi-T
S-T
ADSD-S
Chapter 2 Installation
Chapter 2
Installation
1) Do not bend or strain the connection cables between servo drive and motor.
2) When mounting servo drive, make sure to tighten screws to secure the drive in place.
The above control modes can be accessed and changed via by parameter B01. If
the control mode is changed, switch the drive off and on after the new control
mode has been entered.
3) If the servo motor shaft is coupled directly to a rotating device ensure that the alignment
specifications of the servo motor, coupling, and device are followed.
4) If the length of cable connected between servo drive and motor is more than 20m, please
increase the wire gauge of the encoder cable and motor connection cable (connected to
U, V, W terminals).
5) Make sure to tighten the screws for securing motor.
The product should be kept in the shipping carton before installation. In order to retain the
warranty coverage, the servo drive should be stored properly when it is not to be used for an
extended period of time. Some storage suggestions are:
ADSD-S
Chapter 2 Installation
ADSD-S
Chapter 2 Installation
Installation Procedure
In order to help the cooling fan subject to a lower wind block so as to discharge the heat more
Do not mount the servo drive or motor in a location subjected to airborne dust or metallic
particles.
50mm(min)
Do not mount the servo drive or motor in a location where vibration and shock will exceed
specification.
Do not mount the servo drive or motor in a location where it will be subjected to high levels of
electromagnetic radiation.
The ambient temperature of servo motor for long-term reliability should be within under
0~40.
please observe the following precautions:
20mm(min)
20mm(min)
Do not mount the motor adjacent to heat-radiating elements or under high temperature,
Avoid droping water , steam , dust or oil.
Prohibit use in dangerous environment where is subject to inflammable or combustible or
explosive gas or liquid.
Do not mount the servo drive or motor in a location subjected to airborne dust or metallic
particles.
50mm(min)
100mm(min)
FUN
FUN
100mm(min)
installation may result in a drive malfunction or premature failure of the drive and or motor. The
servo drive should be mounted perpendicular to the wall or in the control panel. In order to
ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and
sufficient free space is given to the servo drive. Do not install the drive in a horizontal position
or malfunction and damage will occur.
20mm(min)
10mm(min)
10mm(min)
100mm(min)
10mm(min)
40mm(min)
100mm(min)
ADSD-S
ADSD-S
3. When using an external resistor, connect it to RB and RB1, and ensure an open circuit
between RB and RB2. When using an internal resistor, ensure the circuit is closed between
RB and RB2, and the circuit is open between RB and RB1.
This chapter provides information on wiring ADSD-S series servo products, the descriptions of
I/O signals and gives typical examples of wiring diagrams.
4. If a fault or emergency stop occurs, using ALARM or WARN output can control
electromagnetic contactor and cut off the power of the servo drive.
Identification
Terminal description
Functions
terminals
main circuit input
terminals
terminals
RB2
breaking resistance
CN1
connecto to controller
CN2
encoder terminal
connector to encoder
CN3
communication
connctor to PC
terminal
3) If the encoder cable is too short, please use a twisted-shield signal wire with grounding
conductor. The wire length should be 20m or less. For lengths greater than 20m , the wire gauge
correct.
2. Check if the phase of U, V, W cables is connected correctly.
10
ADSD-S
ADSD-S
CN1
Single phase connection can only fit for the unit whose power is undedr 1KW. In below
drawing, Power ON is on a position, OFF and Processing is on bposition. 1MC/x is
electromagnetic contcactingt coil, 1MC/a is self-protection power, 1MC is main circuit
interface.
Three phase connection fit for unit whose power is 1KW or above
General signal
Signal
Signal code
Pin No.
Analog
VI1
40
VI2
41
M2
36
M1
37
Signal
Input
Analog
Monitor
Output
Single phase connection fit for unit whose power is under 1KW
Position
Pulse
output
Position
Pulse
input
Power
Power
12
Function
10
OA-
11
OB+
12
OB-
13
OZ+
14
OZ-
15
P+
34
P-
35
N+
32
N-
33
+24V
42,43,44
COM
28,29,30
24V ground
+12V
38
+12V source
-12V
39
-12V source
12VGND
25,26,27
13
input pulse
input pulse sign
supply 24V suource
+12V/-12V ground
ADSD-S
DI signal
signal
DI
signal code
Pin No.
Function
DI1
16
DI2
DI3
17
DI4
DI5
18
DI6
DI7
19
DI8
DO signal
signal
DO
ADSD-S
signal code
Pin No.
Function
DO1+
24
DO1-
DO2+
23
DO2-
DO3+
22
DO3-
DO4+
21
DO4-
DO5+
20
DO5-
14
Signal
Footnote
function
A+
AB+
BZ+
ZU+
UV+
VW+
W+5V
7
8
9
10
15
14
5
4
3
2
1
6
13
GND
11,12
Identification
15
ADSD-S
ADSD-S
functions
Pin No.
Signal
R1+
R1-
T1-
RX232
TX232
GND
4
3
1,2
DO2+
terminal
Controller termimal data receiving line drive
DO2-
terminal
10
24VGND
COM
Drive
T1+
DO110
terminal
ground signal
driving relay
Driving LED
DI1
4.7K
SW2
DI2
4.7K
SW3
24VGND
NOTE: the 24V AD source can either be supplied by servo dirver or external source.
DI3
DCOM
4.7K
16
17
ADSD-S
18
19
ADSD-S
ADSD-S
MCCB
MC
RB2
L1
32
N-
33
P+
34
P-
ADSD-S
Servo
Drive
CN1
FG
35
A+
AB-
12VGND
25,26,27
15
Z+
28,29,30
DI1
16
CNTCLR
DI2
CWSTE
DI3
17
CCWSTE
DI4
TC0
DI5
18
TC1
DI6
ALMRST
DI7
CN2
CN1
14
Z-
U+
U-
V+
V-
W+
W-
13
+5V
11,12
GND
CN1
19
DI8
1.5K
RDY
1.5K
ZS
1.5K
HOME
1.5K
POSIN
1.5K
DO1+ 24
CN1
DO1- 9
DO2+ 23
DO2- 8
25\26\27
M2
10
OA+
11
OA-
12
OB+
13
OB-
14
OZ+
15
OZ-
CN3 8
RS422_R1+
RS422_R1-
DO4+ 21
RS422_T1-
DO4- 6
RS422_T1+
DO5+ 20
RS232_RX
DO5- 5
TS232_TX
1,2
GND
20
41
CN2
25,26,27
S
T
P
CN1
+24V 42,43,44
COM 28,29,30
SG
GND
DO3- 7
DO3+ 22
T_REF
12VGND
SVON
DI1
16
ATRIG
DI2
CWSTE
DI3
CCWSTE
DI4
PS0
DI5
18
PS1
DI6
17
White
DI7
ALMRST
1.5K
DI8
EMG
PG Signal output
Phase B
1.5K
RDY
PG Signal output
Phase Z
1.5K
ZS
24V
1.5K
HOME
1.5K
POSIN
1.5K
ALM
Encoder
Green
A+
A-
B+
10
B-
15
Z+
14
Z-
U+
4
3
U-
V-
W+
S
T
P
SG
V+
W-
13
+5V
11,12
GND
37
M1
CN1
19
25\26\27
GND
M2
36
PG Signal output
Phase A
servo motor
Black
SG
1.5K
CN1
7
10V
SG
M1
37
36
EMG
ADSD-S
Servo
Drive
FG
Encoder
Green
B+
COM
Red
L1
servo motor
Black
42,43,44
RB1
White
10
SVON
ALM
41
+24V
RB2
L2
T_REF
10V
Red
N+
RB
RB1
MC
AC220/
230VSingle
or Three
Phase
50/60Hz
RB
L2
24V
AC220/
230V Single
or Three
Phase
50/60Hz
ADSD-S
1.5K
1.5K
CN1
CN1
DO1+ 24
DO1- 9
DO2+ 23
DO2- 8
10
OA+
11
OA-
12
OB+
13
OB-
14
OZ+
15
OZ-
CN3 8
RS422_R1+
DO3- 7
RS422_R1-
DO4+ 21
RS422_T1-
DO4- 6
RS422_T1+
DO5+ 20
RS232_RX
DO5- 5
TS232_TX
1,2
GND
DO3+ 22
21
PG Signal output
Phase A
PG Signal output
Ohase B
PG Signal output
PHASE Z
ADSD-S
ADSD-S
MCCB
MC
AC220/
230V Single
or Three
Phase
50/60Hz
RB2
RB1
Red
T
L1
ADSD-S
Servo
Drive
L2
V
W
FG
SVON
40
12VGND
25,26,27
T_REF
41
12VGND
25,26,27
+24V
42,43,44
COM
28,29,30
DI1
TRQLM
CN1
V_REF
DI2
CN2
CN1
16
1
CWSTE
DI3
17
CCWSTE
DI4
SPD0
DI5
DI6
ALMRST
DI7
19
DI8
1.5K
1.5K
ZS
24V
1.5K
ARRV
1.5K
BRK
1.5K
ALM
White
Black
FG
Green
CN1
V_REF
40
12VGND
25,26,27
T_REF
41
12VGND
25,26,27
CN1
DO1- 9
DO2+ 23
DO2- 8
10
B-
15
Z+
10
B-
15
Z+
14
Z-
14
Z-
U+
U+
U-
V+
V-
W+
U-
V+
V-
W+
W-
13
+5V
11,12
GND
M1
25\26\27
S
T
P
SG
SVON
42,43,44
COM
28,29,30
DI2
CN2
CN1
16
1
CWSTE
DI3
CCWSTE
DI4
TC0
DI5
18
TC1
DI6
ALMRST
DI7
19
EMG
DI8
17
OA+
11
OA-
12
OB+
13
OB-
14
OZ+
15
OZ-
RS422_R1-
DO4+ 21
RS422_T1-
DO4- 6
RS422_T1+
DO5+ 20
RS232_RX
TS232_TX
1,2
GND
W-
13
+5V
1.5K
RDY
PG Signal output
Phase B
1.5K
ZS
24V
1.5K
ARRV
1.5K
BRK
1.5K
ALM
SG
SG
37
CN1
25\26\27
M1
M2
11 OA-
CN1
CN1
DO1+ 24
12 OB+
13 OB-
DO1- 9
14 OZ+
DO2+ 23
15 OZ-
DO2- 8
CN3 8
RS422_R1+
DO3- 7
RS422_R1-
DO4+ 21
RS422_T1-
DO4- 6
RS422_T1+
DO5+ 20
RS232_RX
DO5- 5
TS232_TX
1,2
GND
DO3+ 22
23
GND
10 OA+
PG Signal output
Ohase A
S
T
P
11,12 GND
1.5K
PG Signal output
Phase Z
36
1.5K
A
+24V
DI1
SPDLM
GND
M2
DO3- 7
22
B+
B+
RS422_R1+
DO5- 5
A-
CN3 8
DO3+ 22
A+
A-
DO1+ 24
Encoder
37
CN1
servo motor
A+
10
RDY
10V
36
EMG
Red
ADSD-S
Servo
Drive
L1
L2
SG
CN1
RB1
Encoder
Green
RB2
servo motor
Black
RB
White
18
SPD1
MC
AC220/
230VSingle
or three
Phase
50/60Hz
RB
10V
MCCB
1.5K
1.5K
PG Signal output
PhaseA
PG Signal output
Phase B
PG Signal output
Phase Z
ADSD-S
ADSD-S
Chapter 4
Motor
Wiring
wiring
Socket
socket
FG
This chapter describes ADSD-S servo drive panel display and the basic operation of the digital
keypad.
no.
Signal
5V
0V
A+
A-
B+
B-
Z+
Z-
U+
U-
V+
V-
W+
W-
FG
10
13
11
14
12
15
Encoder
socket
Socket
no.
Socket
Break
no.
unit
Power
24VDC(-15%~+10%)
FG
PRG/>> Key
MODE Key
SET Key
Run lamp
UP Key
DOWN Key
Alarm lamp
25
24
ADSD-S
ADSD-S
Function
Display
Arear
PRG/>>
SHIFT Key
SET Key.
UP and DOWN
UP
arrow Key.
DOWN
+1
-1
UP +MODE
+10
DOWN +MODE
MODE Key
-10
mode.
LED display
RUN
ALARM
Description
occurred.
26
27
ADSD-S
ADSD-S
Monitor parameter
ADSD-S servo drive works according multi-level menu, the first level is main menu, which
including seven kinds of parameters: monitoring parameter, fault parameter ,basic parameter,
high-level parameter, system parameter, factory parameter, user parameter. The operation
procedure of these parameters is as follows:
Software version
Power On
Monitor Parameter
Fault Paramete
System Paramete
E2
RAM
parameter name
A00
0000H
VER
A01
0001H
ALM_FLG
A02
0002H
ALM_FLG1
A03
0003H
SPD_FB_H
A04
0004H
SPD_CMD
Speed command
A05
0005H
SPD_REF
A06
0006H
POS_FB_H
A07
0006H
POS_FB_L
A08
0007H
POS_CMD_H
A09
0007H
POS_CMD_L
A10
0008H
POS_ERR_H
A11
0008H
POS_ERR_L
A12
0009H
TRQ_CMD
Torque command
A13
000AH
TRQ_REF
A14
000BH
TRQ_FB
A15
000CH
DC_V
A16
000DH
IN_ST
Input status
A17
000EH
OUT_ST
Output status
A18
000FH
MODE
Control mode
A19
0010H
SV_ON
Servo on mark
A20
0011H
CPLD ver
CPLD version
A21
0012H
IU_FB
A22
0013H
IV_FB
No
High Paramete
function
Firmware version
Factory Paramete
User Paramete
Letter A stands for monitoring parameters. Each monitoring parameter can be setted according
below operation procedure.you can set 22 kinds of different monitoring parameters according
your choosed software version, speed command, analog command, moter feedback pulse,
commanded pulse, differential value, torque value, moter control mode, DC bus voltage and
alarm code.
28
29
Actual torque
ADSD-S
ADSD-S
user parameeter
parameters working. The details of the parameters definition is stated in following description.
No.
Contain
0
U00
upper
Lower
factory
limitation
limitation
setting
3Fh
FFFFh
FFFF
description
driver->key
no function
Control EEPROM,store data to kekboard
1
EEPROM
0
U01
key->driver
no function
Keyboard EEPROM,store data to control
1
EEPROM.
U02
no function
0bit
1bit
paramters
2bit
shielded,basic,parameter group
group shielded.
31bit
4bit
5bit
setting
correct
Reset factory
Twinkling
U04
passwork,permit
User password
parameters.
30
31
to
modify
ADSD-S
ADSD-S
In order to prevent accidents and avoid damaging the servo drive and mechanical system, the
trial run should be performed under no load condition (no load connected, including
disconnecting all couplings and belts). Do not run servo motor while it is connected to load or
mechanical system because the unassembled parts on motor shaft may easily disassemble
during running and it may damage mechanical system or even result in personnel injury. After
removing the load or mechanical system from the servo motor, if the servo motor can runs
normally following up the normal operation procedure (when trial run without load is
completed), then the users can connect to the load and mechanical system to run the servo
motor.
In order to prevent accidents, the initial trial run for servo motor should be conducted
under no load conditions(separate the motor from its couplings and belts).
Caution: Please perform trial run without load first and then perform trial run with load
connected. After the servo motor is running normally and regularly without load, then run
servo motor with load connected. Ensure to perform trial run in this order to prevent
unnecessary danger.
Confirm control
Power on running
After power in connected to AC servo drive, the charge LED will light and it indicates that AC
servo drive is ready. Please check the followings before trial run
Inspect the servo drive and servo motor to insure they were not
damaged.
To avoid an electric shock, be sure to connect the ground terminal of
servo drive to the ground terminal of control panel.
Before making any connection, wait 10 minutes for capacitors to
discharge after the power is disconnected, alternatively, use an appropriate
discharge device to discharge.
Ensure that all wiring terminals are correctly insulated.
Inspection before
Ensure that all wiring is correct or damage and or malfunction may
operation
result.
(Control power is
Visually check to ensure that there are not any unused screws, metal
not
strips, or any conductive or inflammable materials inside the drive.
Never put inflammable objects on servo drive or close to the external
applied)
regenerative resistor.
Make sure control switch is OFF.
If the electromagnetic brake is being used, ensure that it is correctly
wired.
If required, use an appropriate electrical filter to eliminate noise to the
servo drive.
Ensure that the external applied voltage to the drive is correct and
matched to the controller.
32
33
ADSD-S
External
Position
Control
P/S
P/T
S/T
Pi-Internal Position
OFF:P MODE
ON:S MODE
MODE status
Switch
via
input
signal
OFF:P MODE
ON:T MODE
input
signal
OFF:S MODE
ON:T MODE
MODE status
Switch
via
MODE status
Control
Si-Internal Speed
control
Ti Internal torque
control
0101H
CTRL_MOD
Control Mode
Pi/S
0~8
Pi/T
Mode instruction
OFF:Pi MODE
ON:T MODE
signals MODE.
T Analog Torque
control
11
Toe index
ON:S MODE
e
0
OFF:Pi MODE
signals MODE.
10
Control mode
There are 6 single control modes and 6 dual control modes, besides,also some special mode(for special toe index mode
Valu
Before operation, system control mode should be confirmed. Set the control mode by
b01
S-External Speed
control
-10 ~ +10 Vdc command only. Control of the internal speed parameters is
via the Digital Inputs (DI). (A maximum of three speeds can be stored
internally).
34
35
ADSD-S
SP1
0DH
DISPN
0EH
ORG_ST
0FH
ORG_SW
10H
5B
040EH
DI2-DI1
0601H
Input terminal DI4,DI3
H15
5C
040FH
DI4-DI3
0B0AH
0~FFFFH
defination
Input terminal DI6,DI5
H16
5D
0410H
DI6-DI5
0D0CH
0~FFFFH
defination
0~FFFFH
defination
ADSD-S
TC0
11H
TC1
12H
JOGU
13H
JOGD
14H
HOLD
15H
POSU
16H
POSD
17H
POSR
18H
ATRIG
19H
position command.
Under internal register mode after setting internal position control
commands(POS0~2switch on will trigger motor to move according to internal
position control register command.after digital output 0 speed signalZSPD=1
Then incept next trigger internal position command
POS_AUTO
1AH
87
0411H
DI8-DI7
0208H
0~FFFFH
defination
Input function definition chart
symbol
Set
Function instruction
value
P/PI
00H
SVON
01H
ALMRST
02H
Alarm reposition. After alarm,alarm reason removed, then switch it on,it shows
alarm signal removed.
MODE
03H
DIR_REV
04H
GAIN_CHG
05h
Plus switchUnder speed&postion mode, after switch on, plus turns to Primary
plus* changing ratio.
TRQLM
06H
07H
position command.
SPDLM
position command.
08H
SV_LOCK
09H
CWSTE
0AH
CCWSTE
0BH
SP0
0CH
36
1BH
PS2
PS1
PS0
ATRIG
Positon
register 0
37
Correspondi
ng
parameter
H42
H43
ADSD-S
1CH
PS2
Positon
register 1
Positon
register 2
Positon
register 3
Positon
register 4
Positon
register 5
Positon
register 6
Positon
register 7
1DH
ZCLAMP
1FH
H44
ADSD-S
ZS
ARRV
TLM
ALM
BRK
Electromagnet brake on
H52
HOME
Origion regress
H53
POSIN
Under position control mode,when error pulse NO.< setting position range,POSIN
H45
H46
H47
H48
H49
H50
H51
H54
switch on
H55
H56
H57
Firstly set motor basic parameter to system parameter according to servo motor fixed, e.g.
Current ratio coefficient Y13Set the calculation according to module currentand
motor rated current Y13=256*module current crest value/motor rated
current/1.414
Motor pulse NO. per revolution Y14(Set according to coder pulse NO. per revolution)
Motor poles Y15according to motor nameplate
Electric angle biasing Y18Offset angle between phase Z and phase U /360*2048;
A/D speed input limit Y194000H corresponding 3000rpm
Above paramters must be confirmed correct before run, or else faulse alarm will occur.
TB0
20H
TB1
21H
TB4bit4;
TB2
22H
TB3
23H
TB4
24H
CTRIG
25
According to control mode set, need to set according parameter while trial run.
now introduce several frequency-used modesas below
5-2-4-1 Position control mode.
Output
H18
5E
0412H
terminal
DO2-DO1
0100H
0~FFFFH
0502H
0~FFFFH
0003H
0~FFFFH
DO2,DO1 defination
Output
H19
5F
0413H
terminal
DO4-DO3
DO4,DO3 defination
Output
H20
60
0414H
terminal
DO5
DO5
defination
Output function chart defination
Symbol
Set value
Function instruction
RDY
SON
38
The position control mode (P or Pi mode) is usually used for the applications requiring
precision positioning, such as industry positioning machine, indexing table etc. It
supports two kinds of command sources in position control mode. One is an external
pulse train(P:Position Terminals, External Position Control) and the other is internal
parameter(PiPosition Register, i.e. internal parameters H41~H43, Internal Position
Control). The external pulse train with direction which can control the rotation angle
of servo motor. The max. input frequency for the external pulse command is 500Kpps
and it is equal to rotation speed of 3000r/min. In order to provide a convenient
position control function, AD servo drive provides eight internal preset parameters for
position control. There are two setting methods of internal parameters, one is to set
different position command into these eight internal parameters before operation and
then use POS0~POS2 of DI signals of CN1 to perform positioning control. The other
setting method is to use serial communication to change the setting value of these
39
ADSD-S
ADSD-S
PP
PN
To make the servo motor and load operate more smoothlyoop gain and feed forward
compensation.
DP
DN
Positive
Negative
rotation
rotation
AB Phase pulse
PP
PN
DP
DN
Positiv
Negati
12
0102H
GRN
1~32767
1~32767
Pulse
0~0
Pulse
20
0~50000
Pulse
7H
0~7H
Pulse
0A120H
molecular
1/50 (GRN / GRM)200Set the denominator of position command pulse rotio
under absolute mode,electronic gear ratio must be 1
13
0103H
GRM
denominator
The position control mode includes P and Pi: The command source of P mode is
external pulse train input form terminals. The command sources of Pi mode are
H41~H73 built-in parameters.
Under postion control mode, below parameter needs to be setTake external position as
Position coincidence
b04
example
14
0104H
POS_COIN_H
pulse
0100H
PMOD
Position coincidence
0~4
b05
0104H
POS_COIN_L
pulse
15
e.gpositive logic
CW/CCW Pulse
16
0105H
POS_LMP_H
NO.
PP
PN
17
0105H
POS_LMP_L
0~0FFFFH
NO.
1~500000
DP
DN
When wap of command position and actual positon >b07, servo drive gives over-position warp alarm
Positive
Negtive
rotation
rotation
b08
18
0106H
POS_LMN_H
Pulse
0FFF8H
b09
19
0106H
POS_LMN_L
Pulse
5EE0H
8000~0FFFFH
0~0FFFFH
(-500000~-1)
40
41
ADSD-S
ADSD-S
When command and actual position warp>b09,servo drive gives over-position warp alarm
Position loop
b10
1A
0107H
KPP
1/s
10
2A
0203H
DFLT
b32
2E
0207H
KPF
forward proportional
0~100
1~1000
020BH
KVP
60
10~3000
proportional gain
Set velocity loop proportional gain
oscillating
set value is bigger, response faster;too big value arouse oscillating Under the condition that system does not produce
oscillatingset as big as possible
forward smooth
010AH
PFLT_TM
ms
0~10000
filtering time
constant
Velocity
b37
33
020CH
integral
ms
33
1~1000
time constant
Position
010BH
loop
KVI
1E
0.1ms
velocity loop
32
Set according to concrete servo drive system and loads condition,set value is bigger, response faster;too big value arouse
b14
integral
Velocity loop integral time constantset value is bigger, response faster;too big value arouse oscillating
b36
1D
0~10000
time constant
gain
b13
loop
KVD
oscillating
time
constant
proportional gain
1B
filtering
1~500
Set according to concrete servo drive system and loads condition,set value is bigger, response faster;too big value arouse
b11
pass
loop
Note1Debug the speed loop first, and then debug the position loop while debugging.
smooth
PFFLT_TM
ms
10
0~10000
2 Try your best to increase speed loop plus till there is no adnormal libration or
When Position loop proportional gain(KPP) is too big, position open loop bandwith rises to
reduce phase limit, then motor roter will oscillate. KPP must be reduced till rotor stop
pscillating. When external torque joins, too low KPP cant meet reasonable position following
warp requirement.Then feed forward gain b11 can reduce position dynamic following warp.
2A
0203H
loop
default
DFLT
0.1ms
0~10000
Velocity
b29
2B
0204H
FLT
loop
smooth
ms
10
1~10000
constant
Velocity loop smooth low pass filtering time constantspeedup/down mode. Valid whenACCEL_MODE=1
b30
2C
0205H
LNR
42
43
ms
30
1~50000
ADSD-S
2D
0206H
SLNR
ms
100
ADSD-S
1~50000
set value is lower, response faster;too low value arouse oscillating Under the condition that system does not produce
time constant
Speed command S-shape curve speed up/down time constant,speed up/down modeACCEL_MODE=3
b38
34
020DH
ZSPD
Zero-speed RTS
54
0~3000
3121
100~30000
External speed
b39
35
020EH
G_SPD
commands Scaling(10V
conversion)
4000000H*(K/3000)/21504K=10030000<3000>[rpm/10V]4000000H=4000h2^12
2E
0207H
KVD
0.1ms
Speed corresponding with Analog voltage input 10V, setting the ratio.
1~1000
time constant
b40
b33
2F
0208H
SV1
-16384~16384
(0C000H~4000H)
b34
30
0209H
SV2
-16384~16384
BH
(0C000H~4000H)
31
020AH
ACEL_MOD
37
0210H
ASPD
Speedup/down mode
velocity
b42
38
0211H
loop
0~4000H
100
10~1000
gain
KVPR
0~3
velocity
b43
2:Beeline speed up/down
4000H
fluctuation ratio
(0D8F1H~270FH)
b35
b41
3AA
-9999~9999
SP_OFST
21504/10*K/000
1 Set speed command offset voltage, set value=servo drive internal offset voltage
020FH
biasing
oscillating
0555
36
39
0212H
loop
feed
KVPF
10~1000
forward gain
Set according to concrete servo drive system and loads condition,set value is bigger, response faster;too big value arouse
oscillating
accordingly as below:
Torque command
velocity
b36
32
020BH
loop
KVP
b53
%
60
3F
0300H
TRQ_SW
10~3000
0,1
selection
proportional gain
External torque command input switch0:Deffective
1:Effective
Set velocity loop proportional gain .set value is bigger, response faster;too big value arouse oscillatingUnder the
Under torque control modeit must be set to 1.Under speed control modewhen it is oexternal input torque command
condition that system does not produce oscillatingset as big as possible
ADLWhen it set to 1,external input torque adds to actual torque command.
Set according to concrete servo drive system and loads condition
33
020CH
loop
KVI
integral
b54
ms
33
1~1000
40
0301H
TFLT
ms
Filter time constant
time constant
Torque command input smooth filter time constant
44
45
10
0~10000
ADSD-S
41
0302H
G_TRQ
command Scaling(10V
1170
30~3000
b62
conversion)
1800000H*(K/300)/21500K=303000<300>[%/10V]
4A
0309H
FLG_T
NoteWhen torque selection is included within external terminals, external input priority. Viz:torqueselection is
determined by external input terminal ON or OFF
42
0303H
-3000H~3000H
TRQ_OFST
0
offset
b63
(0D000~3000H)
030AH
TSPLM_F
030BH
T_DIR
4B
TRQ_GSP
100
0,1
11
0~8
direction
0305H
0,1
10~1000
torque mode
44
selection
Set torque command offset voltage. Set value=Servo drive internal torque offset voltage
43
b64
1000H100% rating torque.
b58
0123
Set conversion constant of torque command input voltage and output torque (Ratio to rated torque)
b57
b56
ADSD-S
TRQ_SPLM
2AAAH
0~4000H
BIT2:Reserved
4000H3000RPM
-3000H~3000H
b59
45
0306H
TRQ1
0
(0D000~3000H)
b60
46
0307H
TRQ2
-3000H~3000H
b61
47
0308H
TRQ3
-3000H~3000H
11
0101H
CTRL_MOD
Control mode
-3000H~3000H
Control mode
Torque selection 2
Torque selection 1
Torque command
OFF
OFF
External anolog
ON
ON
Internal torque1
ON
OFF
Internal torque2
ON
ON
Internal torque3
OFF
OFF
OFF
ON
Internal torque1
ON
OFF
Internal torque2
b59
45
0306H
TRQ1
46
1000H
(0D000~3000H)
H35
52
0422H
TB_MD
H36
AA
0423H
TB_NUM
Rotation
table
control
0/1
2~32
2~32
H37
AB
0424H
TB_GRN
1~8
1~5000
1~8
1~5000
mode
0T
3Ti
numerator
H38
AC
0425H
TB_GRM
47
ADSD-S
AD
0426H
TB_TM
10
0~10000
8000~7FFFH
ADSD-S
time
H40
AE
0427H
BLAS
Pulse
(-32768~32767)
compensation
H41
AF
0428H
POSS_MD
Power
Supply
2/3/4
0~8
Servo
mode
TB No
Input/Output IO setting
TB03
TB05
TBx
5B
040EH
DI2-DI1
2401H
0~FFFFH
defination
CTRIG
5C
040FH
DI4-DI3
201FH
0~FFFFH
2221H
0~FFFFH
Motor
Speed
0F10H
0~FFFFH
TLM
0100H
0~FFFFH
POSIN
0803H
0~FFFFH
0004H
0~FFFFH
defination
Input terminal DI6,DI5
H16
5D
0410H
DI6-DI5
defination
Input terminal DI8,DI7
H17
87
04111H
DI8-DI7
defination
Input terminal DO2,DO1
H18
5E
0412H
DO2-DO1
defination
Input terminal DO4,DO3
H19
5F
0413H
DO4-DO3
defination
Input terminal DO5
H20
60
0414H
DO5
defination
Remarks
Power Supply : Servo input power supply
SVONServo enableinput commands
TB NOGraduation selection inputinput commands
CTRIGGraduation springinput commands
Motor Speed Motor speed
TLMTorque limited commandsoutput commands
POSINPostion reach commandsoutput commands
3Instruction
Parameter relatedTRQ1(B59),SP1B25TB_MD(H35), TB_NUM (H36),
TB_GRN(H37), TB_GRM(H38), TB_TM(H39), BLAS(H40), POSS_MD(H41)
1.Motor controls the graduation begaining with the origin.
2.) Rotation table graduation can control motor rotor angle accurately, define station
number of rotation table per cycle by TB_NUM, define periodic quantity by
TB_GRN (rotation table gear ratio numerator)and TB_GRM (rotation table gear
ratio denominator).Specific station of rotation table is defined by TB0~TB4 and
48
49
ADSD-S
ADSD-S
E2
Uni
RAM
Parameter
NO
address
ALM_FLG
ALM_FLG1
VER
A01
0001H
0002H
Range
Firmware version
0000H
Default
t
address
A00
A02
Function
0001CPU error
0002RAM error
0004EEP error
0002H
0020Overcurrent
0040Overload
B59 TRQ1.
0080Undervoltage
H40 BLAS Graduation control backlash compensation. The pluse NO. set should be
0100Overvoltage
0200Regeneration error
0400IPM error
4.Note
0800: Overspeed
1000Emergency stop
2000Excessive deviation
4000Motor over hot
A02:
RAM error.
A03
0003H
SPD_FB_H
51
50
ADSD-S
A04
1BITDO2
3BITDO4
4BITDO5
Corresponding bit=0
SPD_CMD
Speed command
0BITDO1
0004H
0005H
SPD_REF
A18
000FH
MODE
A19
A06
0006H
POS_FB_H
A07
0006H
POS_FB_L
NO.
0010H
SV_ON
A20
0011H
CPLD ver
POS_CMD_H
Position
A09
0007H
POS_CMD_L
pulse NO.
command
A21
0012H
IU_FB
A11
POS_ERR_H
0008H
POS_ERR_L
feedback warp
2Position
1Servo status is ON
CPLD version
IU Feedback current instant
value
IV Feedback current instant
A22
1Speed
Servo on mark
0013H
IV_FB
value
Addup pulse NO. of input command32bit, display hight 16bits and low 16bits respectively
0008H
Addup pulse NO.feedback by motortotally 32bit,display hight 16bits and low 16bits respectively
0007H
Control mode
A08
2BITDO3
input
A10
ADSD-S
Warp between addup pulse NO. of input command and Addup pulse NO.feedback by motor
Totally 32bit, display hight 16bits and low 16bits respectively
A12
0009H
TRQ_CMD
Torque command
E2address
A14
funtion
Unit
Default
Range
Fault record 0
0~15
F01
01
ALM_1
Fault record 1
0~15
Keyboard display external analog torque command inputcommunication gets data 1000h100% keyboard display
F02
02
ALM_2
Fault record 2
0~15
rated current
F03
03
ALM_3
Fault record 3
0~15
F04
04
ALM_4
Fault record 4
0~15
F05
05
ALM_5
Fault record 5
0~15
F06
06
ALM_6
Fault record 6
0~15
F07
07
ALM_7
Fault record 7
0~15
F08
08
ALM_8
Fault record 8
0~15
F09
09
ALM_9
Fault record 9
0~15
000AH
000BH
TRQ_REF
TRQ_FB
Actual torque
000CH
DC_V
000DH
IN_ST
Input status
A17
name
ALM_0
Keyboard display main loop WB voltage,communication gets data. DC actual voltage= DC_V*400/8192
A16
address
00
Keyboard display motor actual torquecommunication gets data 1000h100% rated current
A15
Parameter
F00
Keyboard display current loop torque command inputcommunication gets data 1000h100% rated current
A13
RAM
0bitDI1
1bitDI2
2bitDI3
3bitDI4
4bitDI5
5bitDI6
01CPU fault
6bitDI7
7bitDI8
02RAM fault
03EEP fault
05Coder abnormal
06Overcurrent
09Overvoltage
10Regeneration error
11IPM
13Emergency stop
14Excessive deviation
15Moter overhot
000EH
OUT_ST
Output status
52
07Overload
53
20CCW
ADSD-S
F10
0A
ALM_ADR
ADSD-S
PN
0~9
DP
DN
F11
0B
Reserved
Reserved
0FFFFH
F12
0C
Reserved
Reserved
0FFFFH
F13
0D
Reserved
Reserved
0FFFFH
F14
0E
Reserved
Reserved
0FFFFH
F15
0F
Reserved
Reserved
0FFFFH
Positive
rotation
b01
11
0101H
Control mode
0~8
Value
Control mode
T-Anolog torque
Torque control for the servo motor is achieved via by 3 commands stored
control mode
within the servo controlleror input anolog voltage via external terminals
Mode instruction
RAM
address
address
Parameter
Function
Unit
Default
10
Range
1
NO.
b00
CTRL_MOD
Series can be programmed to provide six single and five dual modes of operation. Their operation and description is
listed in the following table and special graduation mode(available for rotation table control)
Negtive
0100H
PMOD
0~4
S-Anolog speed
control mode
P-Pulse
position
control mode
P/S
OFF:P MODE
ON:S MODE
MODE
e.gPositive logic
CW/CCW pulse
P/T
Selected
by
input
signal
OFF:P MODE
ON:T MODE
S/T
by
input
signal
OFF:S MODE
ON:T MODE
Pi Internal position
Position control for the servo motor is achieved via by 8 commands stored
control mode
within the servo controllercan use DI signal to select register NO. can also
MODE
PP
PN
MODE
DP
DN
Positive
Negtive
rotation
rotation
set the run order according to parameter setting. Drive receives positon
PP
PN
DP
Selected
7
H
Si Internal speed
Speed control for the servo motor is only achieved via by 3 commands
contro mode
DN
Positive
Negtive
rotation
rotation
AB Phase pulse
Ti Internal torque
Torque control for the servo motor is only achieved via by 3 commands
control mode
54
55
ADSD-S
Pi/S
Selected
by
input
signal
OFF:Pi mode
ON:S mode
by
input
signal
OFF:Pi mode
ON:T mode
MODE
10
Pi/T
Selected
Pulse reference
Toe index
GRN
Positon
GRM
F2
F2=F1*GRN/GRM
F1
MODE
11
ADSD-S
Remarks1Please set electronic gear ratio under SERVO OFFif set it wrongly servo motor easy to cause violent
motion
2Drive 4th DF coder input pulse internally,viz. coder send each 2500 pulses to drive, after 4th DF,totally 10000
pulses.
If 10000 pulses enter drive from coderper ERVwhen electronic gear ratio=1one command pulse is corresponding to
one motor pulse. when electronic gear ratio=0.5two command pulse is corresponding to one motor pulse
Position
b04
14
0104H
coincidence
POS_COIN_H
Pulse
0~0
Pulse
14H
0~C350H
Pulse
7H
0~7H
Pulse
0A120H
pulse
Position
b05
15
0104H
coincidence
POS_COIN_L
pulse
16
0105H
POS_LMP_H
b07
17
0105H
POS_LMP_L
NO.High 16 bit
CCW max warp pulse
0~0FFFFH
NO.Low 16 bit
1~500000
When wap of command position and actual positon >b07, servo drive gives over-position warp alarm
18
0106H
POS_LMN_H
b09
19
0106H
POS_LMN_L
High 16 bits
Pulse
0FFF8H
Pulse
5EE0H
8000~0FFFFH
0~0FFFFH
(-500000~-1)
When command and actual position warp>b09,servo drive gives over-position warp alarm
Position
b10
1A
0107H
loop
KPP
1/s
10
1~500
proportional gain
Set according to concrete servo drive system and loads condition,set value is bigger, response faster;too big value arouse
oscillating
Position
Electronic
b02
12
0102H
gear
ratio
GRN
1~32767
b11
1B
0108H
KPF
numberator
Electronic
b03
13
0103H
loop
feedforward proportional
1/s
1~500
gain
gear
GRM
ratio
Set according to concrete servo drive system and loads condition,set value is bigger, response faster;too big value arouse
1~32767
denominator
oscillating
Position
b12
1C
0109H
loop
KPPR
Under absolute modeparameter H41 is 157, Electronic gear ratio denominator must be 1
56
gain
%
fluctuation ratio
57
100
10~500
ADSD-S
Adjust Position loop proportional gain fluctuation according to Position loop gain switch condition
1D
010AH
PFLT_TM
ADSD-S
ms
0~10000
Gain switch condistion
time constant
b22
24
0113H
GCC
2H
00~55H
selection
Position
feedforward
4: when the motor speed less than the value of parameter
b14
1E
010BH
PFFLT_TM
smooth
filtering
time
ms
10
b52
0~10000
5when the motor speed warp less than the value of parameter b52
constant
Position loop gain switch
b23
1F
010CH
Reserved
Reserved
b16
20
010DH
Reserved
Reserved
010EH
0114H
PGCT
ms
10
1~10000
Pulse
000AH
1~FFFFH
time constant
b15
b17
25
b24
26
0115H
PGCV
-16384~16384
BIAS_SPD
0
under positon control
b25
27
0200H
SP1
Internal speed 1
64H
C000H~4000H
b26
28
0201H
SP2
Internal speed 2
0F000H
C000H~4000H
b27
29
0202H
SP3
Internal speed 3
3E8H
C000H~4000H
0~50000
10
1~50000
22
010FH
POS_HIST
Pulse
10
0~30000
position mode
4000H3000RPM
Availble or invalid of speed offset
Speed selection via external input terminals, Speed selection 1 and 2 ,to selction internal
Position pulse warp > POS_COIN+POS_HISTspeed offset AV;
AV WHEN FLG_SP=13
Position pulse warp < POS_COINspeed offset ADL;
Speed
b19
0110H
Reserved
Reserved
b28
2A
0203H
0.1m
DFLT
filtering time constant
0111H
1H
PDIR
23
0,1H
switch
AV WHEN ACCEL_MODE=0
0112H
PINH
0
prohibited
0,1H
Speed
b29
2B
0204H
FLT
filtering time constant
BIT0: Reserved
Speed command smooth low pass filtering time constant
BIT1: Position command logic switch (PDIR)
Valid WHEN ACCEL_MODE=1
0:when position add CW
1:CCW
BIT2: Position reference input prohibited(PINH)
58
59
1ms
ADSD-S
ADSD-S
32
020BH
KVP
60
10~3000
gain
Set proportional speed loop proportional gain
set value is bigger, response faster;too big value arouse oscillating Under the condition that system does not produce
oscillatingset as big as possible
Set according to concrete servo drive system and loads condition,
Velocity loop integral time
b30
2C
0205H
LNR
1ms
1ms
30
1~50000
b37
2D
0206H
020CH
KVI
SLNR
100
b38
AV WHEN ACCEL_MODE=3
34
020DH
ZSPD
KVD
0.1ms
b39
35
020EH
G_SPD
Speed loop differential time constantresponse faster;too big value arouse oscillating
2F
0208H
SV1
3121
100~30000
Speed corresponding with Analog voltage input 10V, setting the ratio.
36
020FH
SP_OFST
-9999~9999
mV
offset
0209H
SV2
(0D8F1H~270FH)
21504/10*K/1000
2 Set speed command offset voltage
3 Set value=Internal servo drive offset voltage
4 Speed command working voltage=speed command input voltage+offset voltage
5
[e.g] speed command input voltage =1V
3AABH
(0C000H~4000H)
4000H3000RPM
AV WHEN ACCEL_MODE=3
020AH
(10V
4000000H*(K/3000)/21504K=10030000<3000>[rpm/10V]4000000H=4000h2^12
-16384~16384
31
ratio
(0C000H~4000H)
AV WHEN ACCEL_MODE=3
b35
conversion
-16384~16384
0555H
4000H3000RPM
30
0~3000
conversion)
b34
54
1~1000
time constant
b33
Zero-speed RTS
1~1000
1~50000
2E
33
set value is lower, response faster;too low value arouse oscillating Under the condition that system does not produce
time constant
b32
ms
constant
b31
33
ACEL_MOD
Acc/Dec
mode
Acceleration/deceleration mode
0~3
b41
0:Default
37
0210H
ASPD
4000H
0~4000H
100
10~1000
4000H3000RPM
38
0211H
KVPR
%
switching ratio
39
0212H
KVPF
%
forward gain
60
61
10~1000
ADSD-S
Set according to concrete servo drive system and loads condition,set value is bigger, response faster;too big value arouse
When bit1=1,and speed command value < zero speed set value
oscillating
Speed command
b44
3A
0213H
FLG_SP
0~3
0:drive prohibiting DI AV
selection mark
0External analog/0 speedWhen control mode=1external analog
1:ADL
1Internal speed 1
2Internal speed 2
Speed commandInternal.external
3Internal speed 3
Facing the motor axis, rotation direction reference input symbol setting
NoteWhen speed selection is included within external terminals, external input priority. Viz:speed
selection is
CW/CCW prohibited
3B
0214H
B0=1:CCW
Bit4:Reserved
B45
FLGSTK
0~3
b51
3D
021AH
SGCT
ms
b52
3E
021BH
SGCV
CCW terminal
CW terminal
selection
ON
ON
invalid
ON
OFF
CW prohibited
OFF
ON
CCW prohibited
OFF
OFF
CW and CCW
Torque command
b53
3F
0300H
TRQ_SW
selection
0215H
P_CTL
P/PI switch
0,1
0216H
ZCLAMP
Zero clamp
0,1
40
0301H
TFLT
0,1
0,1
External
Positive/negative rotation
switch
reserved
Reserved
10
0~10000
1170
30~3000
invalid
0219H
ms
Filter time constant
CW/CCW prohibited
STK_OFF
1:AV
Under torque control modeit must be set to 1.Under speed control modewhen it is oexternal input torque command
b47
b50
0,1
4000H3000RPM
b46
DIR_CTL
prohibited
0218H
0~4000H
condition
0217H
000AH
NoteWhen drive prohibiting is included within external terminals, external input priority. Viz: drive prohibiting is
3C
1~FFFFH
b48
000AH
constant
mark
b49
ADSD-S
b55
41
0302H
G_TRQ
command
torque
Scaling(10V
conversion)
0,1
1800000H*(K/300)/21500K=303000<300>[%/10V]
Set conversion constant of torque command input voltage and output torque (Ratio to rated torque)
External
b56
42
0303H
TRQ_OFST
1:AV
62
torque
-3000H~3000H
0
command offset
63
(0D000~3000H)
ADSD-S
Set torque command offset voltage. Set value=Servo drive internal torque offset voltage
43
0304H
gain
under
TRQ_GSP
b63
%
100
TRQ_SPLM
2AAAH
TRQ1
-3000H~3000H
0
(0D000~3000H)
0307H
TRQ2
-3000H~3000H
BIT2: Reserved
47
0308H
0,1
b60
direction
0~4000H
4000H3000RPM
0306H
0,1
45
T_DIR
selection
b59
030BH
b64
0305H
TSPLM_F
4B
44
030AH
10~1000
torque mode
b58
Volecity
b57
ADSD-S
TRQ3
-3000H~3000H
3
Set internal torque command value
b65
4C
FFFFH
Reserved
Reserved
0FFFFH
b66
4D
FFFFH
Reserved
Reserved
0FFFFH
Unit
Default
Range
10
471015
3000H
0~3000H
Torque selection via external input terminals:1Torque selection 2to select internal torque 1internal torque 2internal
torque
Control mode
Torque selection 2
Torque selection 1
Torque command
OFF
OFF
External analog
Series
E2
RAM
Parameter
NO
address
address
name
4E
0400H
CARRY_F
OFF
ON
Internal torque 1
ON
OFF
Internal torque 2
Function
0T
ON
ON
Internal torque 3
OFF
OFF
OFF
ON
Internal torque 1
ON
OFF
Internal torque 2
ON
ON
Internal torque 3
H00
44KHZ
H01
1515KHZ
4F
0401H
internal
torque
TLM_PCCW
Torque
0309H
1010KHZ
limit
4A
77KHZ
CCW
3Ti
b62
Control period
command
FLG_T
0
selection
64
0123
[Note] When the external and internal torque limit both AV, the lower value is awailable.
65
ADSD-S
H05
H02
50
0402H
TLM_NCW
54
0405H
MON_MODE
0D000~0H
(-3000H~0)
XY:X:MON1,Y:MON2 output
4: Generatrix voltageDC_V
1000H=rated torque
BRK_TM
0~4H
200
0~10000
0F830~07D0H
0403H
1H
[Note] When the external and internal torque limit both AV, the higher value is awailable.
51
0D000H
H03
ADSD-S
(-2000~+2000)
Regenerative
Set the timen between brake signal and servo on or servo off.
H06
55
0406H
resistor
RG_LVL
BRK_TM>0
protection value
Set the value of Regenerative resistor protection.
Brake
Signal
OFF
ON
ON
Servo Signal
OFF
OFF
ON
BRK_TM
0C000~4000H
H07
56
0407H
JOG_SP
JOG speed
0
(-16384~16384)
ON
Brake Signal
Servo Signal
Torque
ON
OFF
H08
57
OFF
ON
BRK_TM
0409H
H10
040AH
H11
H12
2000.02000.0msec
EST_LVL
0~1000
0~0
Reserved
SPFB_FIL
0.1ms
10
0~1000
0~0FH
11
0~255
time constant
040BH
Reserved
Speed feedback low pass filtering time constant. set to 0, low pass filter function OFF.
0404H
0.1ms
BRK_TM
53
time
Current loop torque filtering time constant, setting to 0, low pass filter function OFF.
58
H04
filtering
TRQ_FIL
constant
H09
OFF
0408H
120
59
040CH
ID
Drive ID ADD No
0~300
Overload protection
H13
Setting value is percentage of rated current. When current> this value and last for some time, overload alarm will
occur. Current higher, last time shorter. Twice current,10 second; triple current 5 second.
66
5A
040DH
DLY_VAL
time
67
ADSD-S
5B
040EH
0601H
DI2-DI1
0~FFFFH
definition
HOLD
15H
POSU
16H
Under internal position register mode,POSU ON, run to next internal postion
5C
040FH
DI4-DI3
0B0AH
0~FFFFH
definition
POSD
17H
Under internal position register mode. POSD ON, run to next internal postion
5D
0410H
DI6-DI5
0D0CH
0~FFFFH
definition
POSR
18H
Under internal position register mode POSR ON, back to next internal postion
87
0411H
DI8-DI7
0208H
0~FFFFH
definition
ATRIG
19H
Value
0H
ADSD-S
POS_AUTO
1AH
Under internal position register mode trigger motor move according to internal
integral component
SVON
1H
ALMRST
2H
Alarm reset
PS0
1BH
MODE
3H
PS1
1CH
1DH
DIR_REV
4H
Motor reverse.
PS2
GAIN_CHG
5H
Gain switch
ZCLAMP
1EH
TRQLM
6H
TB0
1FH
TB1
20H
TB4bit4;
SPDLM
7H
command
TB2
21H
TB3
22H
TB4
23H
CTRIG
24H
EMG
8H
SV_LOCK
9H
CWSTE
AH
CW prohibited fault
CCWSTE
BH
SP0
CH
SP1
DH
DISPN
EH
ORG_ST
FH
ORG_SW
10H
when origin searching, switch ORG_SW on, take this point as origin.
TC0
11H
H18
5E
0412H
DO2-DO1
0100H
0~FFFFH
0502H
0~FFFFH
0003H
0~FFFFH
definition
Output terminal DO4,DO3
H19
5F
0413H
DO4-DO3
definition
Output
H20
60
0414H
terminal
DO5
DO5
definition
Set value
Function instruction
RDY
0H
12H
SON
1H
JOGU
13H
ZS
2H
JOGD
14H
ARRV
3H
68
69
ADSD-S
4H
ALM
5H
After slowdown switch off,phase Z pulse NO. up to the value, offset start,the offset value defined by
BRK
6H
Electromagnet brake on
65H,66H.
HOME
7H
Origion regress
POSIN
8H
Under position control mode,when error pulse NO.< setting position range,POSIN
ORG_OFST_
H27
ORG_OFST_L
7FFF~8000H
Reserved
low 16 bits.
BH
Reserved
CH
Reserved
DH
Reserved
EH
Reserved
FH
NC
Notch attenuation
H29
041CH
NOTCH_Q
68
041DH
Notch frequency
Hz
Q
Mechanical resonance frequency settingclose the function if the value is 0
0
Bit03
Origin regression
H31
Bit47
Bit811
041EH
ORG_TIME
ms
10
2~10000
6E
regression
ORG_DIR
H32
6F
041FH
G_MON_SPD
512
Scaling
NOTCH_FRE
H30
ORG_EN
0417H
67
quotient
direction
256/(4000H2)216=512
1:Internal mode
4000H3000rpm
(32767~-32768)
Reserved
Origin
H23
AH
selection
0416H
66
9H
0415H
61
7FFF~8000H
Origin offset high bits
65
041BH
H28
switch on
H22
ADSD-S
1:CCW
H33
70
0420H
G_MON_TRQ
1170
Scaling
cuonting start.
1After slowdown switch onservo motor decelerates to zerotill leaving slowdown switch, phase Z pulse cuonting
71
0421H
G_MON_V
62
0418H
ORG_SPH
0~4000H
1555H
speed
(0~16384)
Rotation
H35
52
0422H
regression
ORG_SPL
low
222H
041AH
ORG_ZP
1Available
AA
TB_NUM
0423H
0
number
0Invalable
0~4000H
speed
H26
Origin
0419H
control
mode
4000H3000rpm
63
table
TB_MD
H25
171
Scaling
start.
70
0~128
71
2~16
ADSD-S
H45
B3
AB
0424H
TB_GRN
1~5000
In RAM POS1= POS1H*2^16+ POS1L
Interial positon 1 position pulse NO. setting
B_GRN/TB_GRM: 1/5050
0425H
TB_GRM
1~5000
H46
B4
042BH
0426H
table
0~10000
In RAM POS2= POS2H*2^16+ POS2L
nterial positon 2 position pulse NO. setting
BLAS
8000~7FFFH
Pulse
compansition
AF
0428H
B6
Pulse
POS3_H
7FFF~8000H
0
3
042CH
Position internal register
H49
B7
Pulse
POS3_L
7FFF~8000H
0
Position
H41
(-32768~32767)
7FFF~8000H
0
2
10ms
Pulse
POS2_L
B5
speed
TB_TM
up/down time
H40
7FFF~8000H
0
denominator
AD
Pulse
POS2_H
B_GRN/TB_GRM: 1/5050
H39
7FFF~8000H
0
numberator
H38
Pulse
POS1_L
ADSD-S
reference
POSS_MD
0~8
control mode
H50
B8
Pulse
POS4_H
7FFF~8000H
0
042DH
Position internal register
H51
B9
Pulse
POS4_L
7FFF~8000H
0
In RAM
H52
BA
Pulse
POS5_H
7FFF~8000H
0
042EH
7: Relative auto cycle arresting
Pulse
POS0_H
7FFF~8000H
(32767~-32768)
0429H
Position internal register
B1
0
0
H43
Pulse
POS0_L
7FFF~8000H
BC
POS6_L
B2
042AH
POS1_H
7FFF~8000H
0
72
Pulse
7FFF~8000H
0
Pulse
7FFF~8000H
0
042FH
H55
Pulse
POS6_H
6
H44
7FFF~8000H
0
Pulse
POS5_L
5
H42
BB
73
ADSD-S
POS7_H
BE
Pulse
7FFF~8000H
H57
BF
CA
043BH
POS7_L
Pulse
7FFF~8000H
Internal 2 latency time setting under auto cyclic fixed channel assignment mode
Position internal register
H69
CB
043CH
POST3
0431H
POSV0
0
(0~16384)
CC
043DH
POST4
RPM
POSV1
0~4000H
0
CD
043EH
POST5
RPM
POSV2
0
Position internal register
H72
CE
043FH
POST6
RPM
POSV3
Internal 6latency time setting under auto cyclic fixed channel assignment mode
0~4000H
CF
0440H
POST7
RPM
POSV4
Internal 7 latency time setting under auto cyclic fixed channel assignment mode
0~4000H
H74
0436H
RPM
POSV5
0~4000H
0
H75
5 moving speed
0437H
RPM
POSV6
H76
0438H
Remote
RM_ALM_RS
Romote
clearance mark
RPM
POSV7
0~4000H
0439H
POST0
0~7530H
0.1s
030000
Internal 0 latency time setting under auto cyclic fixed channel assignment mode
Position internal register
H67
C9
043AH
servo
servo
0443H
7 moving speed
H66
0,1
0,1
0,1
enable
alarm
On condition of servo NO enable, if H76=1, reposition will clear alarm.alarms besides CPU fault/RAM fault /EEP
RM_SVON
0442H
0~4000H
6 moving speed
H65
JOG mark
JOG_FLG
mark
H64
0441H
JOG run, H74=1
0
4 moving speed
H63
0~7530H
0.1s
C4
0
3 moving speed
H62
0~7530H
0.1s
C3
Internal 5 latency time setting under auto cyclic fixed channel assignment mode
0~4000H
2 moving speed
H61
0~7350H
0.1s
C2
Internal 4 latency time setting under auto cyclic fixed channel assignment mode
1 moving speed
H60
0~7530H
0.1s
C1
Internal 3 latency time setting under auto cyclic fixed channel assignment mode
0~4000H
RPM
0 moving speed
H59
0~7530H
0.1s
C0
H58
0~7530H
0.1s
POST2
0430H
ADSD-S
POST1
0~7530H
0.1s
74
75
ADSD-S
ADSD-S
Seri
E2
Parameter
RAM
Function
es
address
name
y00
0444H
Reserved
y01
0445H
CAN_MOD
y02
0446H
y03
0447H
address
Unit
Default
Range
NO.
y08
044AH
044DH
LV_EN
0,1
044EH
ENC_EN
Coder inspection
0,1
AHOT_EN
0,1
MHOT_EN
0,1
906
128~1FFFH
2500
0~10000
6,8,14
0~3
0,1
-123
-200~200H
y10
BK_EN
Brake enable
0,1
y11
044FH
DY_EN
0,1
y12
0450H
0,1
0,1
0,1
reserved
STK_STP
y09
81
Reserved
0ADL
EX_TCLM_FLG
0 ADL
0 ADL
0,1
0 ADL
Bit0: Reserved
0 ADL
y13
0:CAN deffective
1 AV
mode
Bit1:CAN_MOD
1 AV
044BH
1: AV
CW/CCW prohibited
y07
0,1
0,1
80
y06
High-precision resolution
0449H
0448H
y05
PHE_EN
044CH
Reserved
1: CAN effective
97
1 AV
0451H
G_CUR
Motor
y14
0: Deffective
9F
0452H
1: Effective
NO.
per
MOTOR_POL
y15
1: AV
E6
0453H
Motor poles
Pole
y16
7F
0454H
ENC_TYPE
Encoder type
Internal
y17
D6
0455H
servo
enable
SVON_CH
setting
Bit5: Reserved
BIT6:
pulse
ENC_PPR
rotation
0: 0 speed stop(default)
y18
8E
0456H
E_ANG_OFST
1: free stop
E_ANG_OFST =(Offset angle between phase Z and phase U /360)*2048;
After changing the parameter, must power off
0~7FFFH
76
77
ADSD-S
8F
0457H
MAX_SPD
Speed
2BBCH
to controller EEPROM
4000H3000rpm
SPD_REF limit value
y20
0458H
J OG_FLG_IN
0:Stop
1:CCW
2:CW
0505H
SPD_ADTEST
y21
0,1,2
0506H
Reset->factor
Ignore
Reset
0bit
1bit
2bit
3bit
4bit
5bit
U0
TRQ_ADTES
y22
U0
Authority set
Parameter
group mask
T
Used for torque command analog linear adjustment
y23
F5
0507H
SPD_B_OFST
F800
U0
y24
F6
0508H
SPD_S_OFST
FA00
y25
EF
0509H
G_SPD_B
F0
050AH
G_SPD_S
F1
050BH
G_T
Seri
02C2
es
0B06
5-00
F7
050CH
T_OFST
FB
050DH
MON1_OFST
03FH
0FFF
0FFF
is available
FH
FH
E2addres
RAM
Parameter
address
name
0500H
EEP_COM
Fucntion
Write operation
F800
Read operation
y29
5-01
0100
0501H
EEP_WR_AD
EEP_WR_DA
5-02
Write Date
0502H
T
Used for EEPROM write
EEP_RD_AD
5-03
Seri
es
NO
U0
0
U0
Parameter
name
board->key
key->board
Defa
Function
0
1
0
Range
NO.
y28
0B06
y27
PASSWORD
(Users
password
y26
ADSD-S
ult
Uppe
Lowe
limit
limit
Ignore
0503H
5-04
0504H
EEP_RD_DAT
Read data
to keyboard EEPROM
Ignore
78
79
0~2
ADSD-S
ADSD-S
PC DB-9 Socket
Drive CN3 Interface
1 CD
2 RXD
3 RS232_TX
3 TXD
4 RS232_RX
4 DTR
1 GND
5 GND
2 GND
All aspects of control, operation and monitoring as well as programming of the controller
6 DSR
can be achieved via communication. However, only one communication mode can be used
7 RTS
8 CTS
9 RI
7-1-1 RS-232
Configuration
7-1-2 RS-422/RS485
Configuration
PRG
L2
STOP
RE SET
JP-12
L1
ES C
SE T
CN1
RUN
ALARM
R
L1 L2
S
T
CN1
V
W
PC
CN2
RB
RB2
CN2
CN3
PC
RB
RB1
RB2
RB1
CN3
RS232
E
RS232/RS422
/RS485 convertor
Cable Connection
Cable Connection
80
81
ADSD-S
Return of drive
Return of integer variables read request.
+data(HH)+data(HL)+data(LH)+
1.Intention:
By using of this communication protocol software, epigynous computer can
data(LL)+inspect(H)+inspect(L)
monitor servor status, change, load and save servor interior parameters.
2. Working condition:
Hardware: Epigynous computer,digital servor and connecting cable (RS232).
(4)
Parity inspectionNO
!NACK
Inspect data
All charactersASCII CODEsum and low 8bit.
Examplepage of variables=01H, deviation of variables=00H,format of
Data lenght8bit
Stop bit1bit
All datas will divided into 4bitfragment, and each one will transform to
characterASCII CODEand transmit.
R010013
Among the aftermost bit binary digit 13=52H+30H+31H+30H+30Hlow 8bit
ADSD-S
83
ADSD-S
ADSD-S
3Click ADSD-S in the main menu of the communication software after the
commnication display is well, and conduct read-out and write-in of RAM and
EEPROM directly.The specific address of RAM and EEPROM should be refered to
detailed specification.
2Setup communication parameterto setup baud rate and communication port according
to different computer.
84
85
ADSD-S
4The related parameters also can be read and put in direct through parameter page, but the
parameters of EEPROM just will be valid after power off.
ADSD-S
Content of inspection
Periodically inspect the screws of the servo drive, motor shaft, terminal block
andthe connection to mechanical system. Tighten screws as necessary as they
mayloosen due to vibration and varying temperatures.
Ensure that oil, water, metallic particles or any foreign objects do not fall
General
insidethe servo drive, motor, control panel or ventilation slots and holes. As
Inspection
5Servor can be leaded in recorded parameter by lead-in record .All parameters also can
be kept in servo-drive by keeping record.
Inpsection
before
Ensure that all wiring is correct or damage and or malfunction may result.
operation
Control
Visually check to ensure that there are not any unused screws, metal strips,
power is not
applied
Inspection
Ensure that detector cable is not over tension.When servo motor is working,
before
Please take caution to avoid attrition between cable and machine member.
working
If the servo motor has phenomenon of vibration and big noise,please contact to
87
86
Control
power
is
applied
ADSD-S
ADSD-S
Chapter 10 Specification
manufacturer.
Comfirming all parameters are proper set, difference of mechanical features
Chapter 9 Troubleshooting
Parameter
Fault
No.
Code
Fault Name
Fault Description
0001
CPU error
CPU is in error
8-2 Maintenance
0002
RAM error
0004
EEP error
Periodically clean the surface and panel of servo drive and motor.
Clean off any dust and dirt with a vacuum cleaner. Place special emphasis on cleaning the
0008
0010
ventilationports and PCBs. Always keep these areas clean, as accumulation of dust and
CW/CCW prohibited
fault
Encoder error
0020
Overcurrent
Overload
0080
Undervoltage
0100
Overvoltage
0200
Regeneration error
0400
IPM error
0800
Overspeed
1000
Emergency stop
A01
The contacts will wear and result in malfunction due to switching currentThe life of relay
variesaccording to power supply capacity. Therefore, the common guaranteed life of relay
is cumulative100,000 times of power on and power off.
The cooling fan life is limited and should be changed periodically. The cooling fan will
reach the end ofits life in 2~3 years when it is in continuous operation. However, it also
must be replaced if the coolingfan is vibrating or there are unusual noises.
A02
2000
Excessive deviation
4000
Motor overhot
8000
Drive overhot
0001
89
88
Cooling fan
Smooth capacitor
The life ofsmooth capacitor varies according to ambient temperature and operating
ADSD-S
Chapter 9 Troubleshooting
0002
0004
0008
0010
ADSD-S
Chapter 9 Troubleshooting
capacity
error
CW limitation alarm
CW limitation alarm
incorrect
error
Communication
Communication is in error.
abnormal
Undervoltage
Potential Cause
Corrective Actions
system)
for service.
Overvoltage
RAM/EEPROM
error
prohibited fault
for service.
Regeneration
error
low.
error.
resistance is correct.
Regenerative switch transistor fault
switch.
Encoder error
Overcurrent
is incorrect.
4Encoder is damage.
IPM
Hardware damange
wiring.
for service.
IGBT capacity.
parameter.
90
for service.
Change the parameter.
correct.
error
Overload
service.
CW/CCW
Overspeed
of the drive
91
ADSD-S
Chapter 9 Troubleshooting
The permissible value of the drive is too
alarm
small.
Electronic gear ratio setting is too high.
Emergency
stop
ADSD-S
Chapter 9 Troubleshooting
forward limit switch postion.
alarm.
Reconnect again.
incorrect or loose.
is in error.
theres no error.
CCW limitation
alarm
alarm.
error.
broken wire.
Reconnect again.
incorrect or loose.
incorrect.
Excessive
deviation
Communication
error
correct.
Communication parameter setting error
of phase.
phase loss
Dynamic
braking relay
for service.
error
CW limitation
92
Input power
is in error.
Change the parameter.
Drive overhot
93
ADSD-S
Chapter 10 Specification
Input mode
Electronic gear
wheel
1/5050
Chapter 10 Specifications
10-1 Specifications of Servo Drive
Items
Power supply
Voltage/frequency
range
Permissible
fluctuation
Control System
Output frequency
The highest speed
of vector control
Input
of
programmable
digital quantity.
Input
of
programmable
digital quantity.
Input
of
programmable
analog quantity
Output
of
programmable
analog quantity
Input of digital
quantity.
Working status
1pulse
500KPPS
31
02 given pulse
Output of fault
Output of analog
signal
output of digital
quantity.
DC current braking
Protectio
n
94
Protection
controller
Setup of speed
Input signal
Postion-control
of
Frequency5%
Operation
control mode
Torque control
Control
of
acceleration
and
deceleration
Resolution of speed
set
Overload capacity
Methods
of
operation
Output signal
Methods of control
range
speed-control
Specifications
Single-phase 220V50/60HZ
Three-phase 220V
50/60HZ
Single-phase 380V50/60HZ
Three-phase 440V
50/60HZ
Voltage15%
ADSD-S
of
ADSD-S
Display
Protection
of
parameters
LCD
Chinese Operatio
-english
n
display message
+
LED
fault
keyboar
message
d
commu
nicatio
n
RS485
CAN BUS
Environment
temperature
Memory
temperature
Environment
humidity
Heightvibration
Place of application
Cooling mode
numberC/T
Motor
Kg)
Motor insulation
Protection class
Motor model
Environment
-20 - 65
At most 90% RH .
Below 1000mand 5.9m/S(=0.6g)
No sunlight,corrosive and explosive gas and moisture
Fan cooling and natural circulation cooling.
Rated
torque
110-020M30
110-050M30
1.5
3000
110-060M2
6.4
1.0
1.3
1.5
1.6
2.0
Rated torque
N.m
7.7
7.7
2500
2000
2500
2500
2000
2500
Rated current(A)
5.0
Rotor inertia
1.10110
5.5
-3
6.0
1.33310
-3
7.0
1.33310
-3
1.54410
6.5
-3
2.01710
5.042
4.186
3.677
3.122
2.34
110-060M30
Encoder line
numberC/T
2500ABZUVW
1.2
16
Motor insulation
class
3000
3000
2000
3000
(Rpm)
Rated
6.4
1.0
Operational
RPM
5.8
8.5
-3
2.01710
-3
N.m
Rated
2.624
constant(Ms)
1.2
4.2
Kgm )
0.6
IP65
PowerKW
mechanical time
0
PowerKW
weight
condensing
environment
-10 - 40
110-020M3
Environment temperature055
Operational
class
ADSD-S
4.0
6.0
7.0
6.0
8.5
inertia
0.3310
0.82810
0.91510
1.010
1.11110
3.64
3.46
4.8
1.82
1.864
environment
condensing
Protection class
IP65
current
Environmental temperature055
6.1
6.9
7.0
7.6
8.8
8.8
(A)
Rotor
-3
-3
-3
-3
-3
Motor
model
Encoder
line
2500ABZUVW
96
130-100M1
130-100M2
130-150M15
130-150M25
M30
PowerKW
2.4
1.5
2.6
2.3
3.8
Rated
torque
N.m
7.7
10
10
15
15
Kgm )
mechanical time
constant ms)
130-077
97
ADSD-S
RPM
3000
1500
2500
1500
2500
Kgm )
(Rpm)
mechanical time
Rated
10.5
6.5
11.5
9.5
16.5
2.43
2.27
constant(Ms)
current(A)
Rotor
inertia
2.01710
-33
2.59510
-3
-3
-3
2.59510
3.2410
6.1510
1.903
1.88
2.59
Kgm )
mechanical time
2.353
2.162
constant(Ms)
Encoder
line
numberC/T
2500ABZUVW
Motor insulation
class
Operational
Environmental temperature055
Protection class
Motor
weight
condensing
environment
IP65
8.8
10.6
10.6
14.3
15.35
(Kg)
150-150M2
150-180M2
150-230M
150-270M
20
20
PowerKW
3.8
3.6
4.7
5.5
Rated
torque
N.m
15
18
23
27
2500
2000
2000
2000
16.5
16.5
20.5
26
Rated
model
RPM
(Rpm)
Rated
current(A)
Rotor
inertia
-3
5.210
-3
6.310
-3
8.010
98
ADSD-S
-3
11.1910
99
2.04
1.932
ADSD-S
ADSD-S
paper, wind energy area that the synchro servo drive produced by Dalian A&D digital operation.
and when the motor reverse runs and pulled off switch,the Z-phase will count
H24=1555HThe high-speed of homing is 1000rpm
H25=444HThe low-speed of homing is 200rpm
H26=1the No. of Z-phase pulse in homing is 1, namely after pulling off speed reduing
switch ,the system find NO.1 Z-phase pulse and regards it as homing point
H27/H28=0There is no homing deviation after finding homing point
H41=1absolute positioning order
H42H49 Set internal register position order
H58~H61 Set corresponding speed of internal position order
Other motor parameters such as gain of position,speed will be set according to
mechanical running condition.
3Timing diagram of origin regression action
ORG_SPH
ORG_SW onmotor reverse
ORG_SPL
ORG_SW
Phase Z pulse
4Operation
Under the correct wiring and parameters setting
1First let SVON=1DI1
2)Doing origin regression operation and then choose origin regression mode
H14=1901DI2:ATRIGDI1:SVON
H15=1C1BDI4:PS1,DI3:PS0
H16=0B0ADI6:CCWSTE,DI5:CWSTE
H17=100FDI8:ORG_SW,DI7:ORG_ST
with low speed from origin until the speed reducing switch falling off, the
system will check Z-phase pulse,lastly the motor will stop when checked
H19=0000
Z-phase pulse.
3According to processing demand to choose respectively corresponding
100
0internal position register under PS1 and PS0 status,3Put down order
101
ADSD-S
H19=0008DO3:POSIN
order.
H20=0005DO5:ALM
ADSD-S
ADSD-S drive has inside toe index function, which can replace tool control function.As
the more and more precise demand of digital control machine tool, the servo tool has gradually
replaced electrical and hydraulic tool.ADSD servo drive can be convenient matched with
machine tool and without extral servo tool controller.In addition, the function can be widely
used in Rotation table control and other Rotation equipments.
The following is the specification of servo tool turret control.
We assume that turret has 8 positions, there are shortest path for turret swithching and the
switch-ORG_SW. When the motor reverse runs and pulled off switch,the Z-phase
will count
H24=1555HThe high-speed of homing is 1000rpm
H25=444HThe low-speed of homing is 200rpm
H26=1the No of Z-phase pulse in homing is 1, namely after pulling off speed reduing
switch ,the system find NO.1 Z-phase pulse and regards it as homing point
decelearation rate is 2:1(The motor runs 2 circles 720 degress, the turret will run 1 circle 360
degree)
H35=0The torque will not reduce when turret stop,the practical application of this
parameter is set according to mechanical structure
Other motor parameters such as loop of position,speed and graduated control gap
compesation parameters will be set according to mechanical running condition.
DI6empty
DI7: Starting signal of activating origin homing functionORG_ST
DI8Deceleration signal of origin homingORG_SW
origin is as NO 1 position
of turret
DO1Output signal of ENABSON
DO2: Finish signal of origin homing functionHOME
DO3Position coincidence signalPOSIN
DO5: Alarm output signalALM
3 Operation:
1 When the serve is equipped, first use SVON=1DI1
2 Doing origin homing operation and comfirming No1 positon of turret.
3 Put in turret optional signal(TB0TB2) according to demand,then trigger
CTRIGDI5).The Rotation table will reversely run turret and reach target
position in princle of shortest path from currently position to target position.
4 Sequence chart
2 Parameters setting
B01=11Toe index function
B25=1555(graduated speed 1000rpm
H14=1F01DI2:TB0DI1:SVON
H15=2120DI4:TB2DI3:TB1
H16=0024DI6:empty,DI5:CTRIG
H17=100FDI8:ORG_SW,DI7:ORG_ST
H18= 0701(DO2:HOME ,DO1:SON)
102
103
ADSD-S
ADSD-S
Power
Supply
SVON
TB No
TB03
TB01
TBx
CTRIG
Motor
Speed
TLM
POSIN
104
105
ADSD-S
ADSD-S
2The wiring of ADSD-S drive matching with TSFA of Dalian motor factory
ADSD
servo
drive
L1
L2
PE
PE
U
V
W
PE
+M-MZ
UX
UX
VX
VX
WX
WX
PE
PE
MS
WEPG
2Using Dalian CNC 31T system and matching with Wuhan Golden motor wiring.
+5V 13
GND 11,12
A+
AB+
BZ+
ZU+
UV+
VW+
W-
7
8
9
10
15
14
5
4
3
2
1
6
PE
106
107
AC SERVO MOTOR
+5V
GND
A+
AB+
BZ+
ZU+
UV+
VW+
W-
2
3
4
5
6
7
8
9
10
11
12
13
14
PE
15
PG
Axis X motor
motor
ADSD-S
Addendum
Addendum
ADSD-S
Addendum
and CN2 interface of synchro servo motor for all signals.
Order modelADSD-B
servo
motor
1
3
2
4
ADSD-S-CP-***
servo
motor
UL2464
8P*24#
2 1
5
4 3
10 9 8 7 6
13 12 11
15 14
ADSD-S-CE-***
2Communication cable(optional)
Order modelADSD-CRS-***
Pinboard of interfaceoptional
Our companys interface pinboard is designed for customers convenience and it has CN1
108
109