User Manual
Content
DACHENG
DCSF-C SERIES SERVO MOTOR
User Manual
（Ver8.34）
Zhejiang Dacheng Electric Co., LTD
D A C H EN G
Chapter 1 Introduction 1.1 Name plate 1.2 Naming rules 1.3 Standard Specification Chapter 2 System Installation 2.1 Connecting and Installation 2.2 Confirmation Items 2.3 Attention for Using
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Contents
Cautions
2.4 Installation Method Chapter 3 System Wiring 3.1Standard Wiring 3.2 Wiring Specification 3.3 Wiring method 3.4 Considerations 3.5 Terminals 3.5.1 DCSF-C Terminals 3.5.2 Encoder Signal Input Terminal CN1(15 cores) 3.5.3 AI/ AO Terminal CN2(44cores) 3.5.4 Telecommunication Terminal CN3(9 cores) 3.6Input/ Output Interface Type 3.6.1 DI Interface 3.6.2 AI Interface 3.6.3 Encoder Signal Output 3.6.4Encoder Z Signal Collector Unconnected Output Interface Chapter 4 Keyboard Operation Parameter and Display 4.1 Panel Instruction 4.2 Menu Operation Instruction 4.3 Specific Operation Instruction 4.4 Control Parameter 4.5 Alarm Parameter Chapter 5 Standard Control Wiring 5.1 Speed Control 5.1.1 Internal Speed Control（Pr90=0） 5.1.2 External Analogue Speed Control（Pr90=2） External Analogue Torque Control（Pr90=3） 5.1.3 Preinstall Curve Speed Control（Pr90=4） 2
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5.1.4 Computer Speed Control（Pr90=8） 5.1.5 Location Control（Pr90=6） 5.1.6 Location Curve Control(（Pr90=5） 5.1.7 Pressure Closed Loop Control（Pr90=9） （Applicable for Injection Machine） 5.1.8 Braking Resistor Configuration Table 5.1.9Injection Machine Servo Configuration Table
Chapter 6 Supervisory Software 6.1 Brief Introduction 6.2 Software Installation
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Brief introduction to DCSF-C series ac servo controller
DCSF-C series servo drivers are the products that we have co-developed with Harbin Institute of Technology and we have the proprietary intellectual property rights. The series of servo drivers adopt the latest Digital Signal Processing Chips of American TI company and CPLD as core control chip. The implement of the advanced vector algorithms together with our successful experience in automatic control field has helped realize the design optimization of servo driver’s software and hardware. Adaptive control algorithm can adapt parameters dynamically and improve the accuracy and speed of system control according to the change of controlled objects. Besides, we use the imported IPM to ensure the perfect protection, reliable operation and stable performance. Our company has proved the reliability of our servo drivers through a large number of product application, thus to guarantee you use our DCSF-C series servo drivers in a safe and reliable way. ☆ Power grade: 100W-15kW single phase 220V, three phase 380 V optional ☆ Power grade: 100W-15kW single phase 220V, three phase 380 V optional ☆ Position transducer: incremental photoelectric encoder, rotary transformer available ☆ Protection functions: over voltage, under voltage, short circuit, over current, over load, encoder anomaly and so on ☆Speed mode: +10V---- -10V different bipolar analog input 8 segments internal speed control 5 segments speed curve control RS232 digital speed control ☆Position mode (mixed logic) ☆Pulse+ directional level control (mixed logic) ☆Two-way orthogonal pulse position input control(pulse phase displacement) (mixed logic) ☆RS232 digital position control ☆Frequency dividing output of encoder pulse 1-4096 Internal electronic gear Digital input & output: 7 ways input, 4 ways output Analog voltage output: -10V---+10V for the users to use instead of external power supply Internal braking, feedback energy absorption circuit The currency of current loop and speed loop can be up to 20kHz. RS232 real-time digital control 4
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Thank you very much for choosing our DCSF-C series servo motors. Please read the instruments carefully before your operation of our products. please contact us, if you have any question or suggestion. Tel:0575-82165222 Fax:0575-82168183
Servo Production Section of Zhejiang Dacheng Electric http://www.zjdacheng.cn Please pay special attention to these warning signs while reading this manual: Warning: wrong operation may cause disastrous results----death or serious injury
Careful: wrong operation may make the operators hurt or get the equipment damaged
Attention: improper operation may damage the product or equipment.
Safety Rules ● The design and manufacturing of our products are not to use in the machinery or systems that threaten people’s safety. ● when choosing our products for your machines or systems, you must take safety measures into consideration during designing and manufacturing, to avoid accidents caused by improper operations. 。
Inspection ●The damaged or faulted products can’t be used.
Transportation ● The products must be stored and transported according to the given terms. ● the products can’t be piled in excess to prevent fall. 5
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● the products should be packed perfect during transshipment. ● While moving the machines, you mustn’t drag the power cord, motor shafts or the encoders. ● Both servo motors and servo drivers can’t burden the external forces or bumps.
Installation Servo drivers and motors： ● The machines can’t be fit on or near inflammables to prevent fires. ● Vibration should be avoided, and shock is forbidden. ● Installation is prohibited, when there’s any damage or loss of parts. Servo drivers： ● The machine must be installed in the control cabinet with enough safety production level. ● Enough space must be kept between other equipments. ● Good radiation condition must be available.。 ● Prevent dust, caustic gas, electric conduction objects, liquid or flammable
explosive materials getting in.
Servo motor： ● The installment must be firm to prevent loose caused by vibration.。 ● liquid invasion must be prevented, which may cause damage to machines and encoders. ● Any knock to the motors or motor shafts is forbidden to avoid damage to encoders. ● The motor shafts can’t bear the load pasts the limits. Connection ● The personnel taking part in the connection or inspection must be well qualified. ● Connection and inspection can’t be done until 5 minutes later. ● The servo drivers and motors must be well earthed. ● There is probable bombs or operation accidents if the voltage or power polarity is wrong. ● Earthing can be done after the installment. ● Ensure the power cord insulative; avoid pressing the power cord to avoid electric shock. ● Connection must be right and firm, otherwise, running errors may occur or equipments may be damaged because of poor contact. ● Don’t apply the reverse polarity to U、V、W terminators or connect alternating current. ● Servo motors and drivers should be connected directly, and electric 6
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capacity, the inductance or the filter can’t be put in. ● Prevent the electric conduction fastener and the electricity end from entering into the machine. ● The electric wire and the heat non-resistant body cannot draw close to radiator of the servo driver and the servo machinery. ● The freewheel diodes can’t be applied reversed, which are joined up in parallel to DC relays to output signals. Debugging and running ● Before energizing, make sure servo drivers and motors are properly installed, well fixed, and the voltage and connection are right. ● While debugging, the machine should firstly have no-loading running to make sure the parameters right, then take load debugging to avoid the damage to machinery and equipments caused by wrong operation.
Application ● A emergency circuit should be plugged in, so that the equipment can stop and the power supply be off immediately ● Before resetting an alarm, you must make sure the running signal is off other wise the machine will restart suddenly. ● The servo drivers must be used together with the specified and assorted motors. ● Don’t turn on and off the power supply frequently, which may damage the system. ● The servo drivers and motors may feel hot after continuous running. Don’t touch the drivers, radiators or machines ● Don’t adapt servo systems. Fault handling ●even if the servo drivers are off power, the high pressure will still last for a period of time. So please don’t take the power cord apart in five minutes or touch the terminal plate. ● people taking part in disassembly and repair should have relevant knowledge and operation capacity. ● After alarming, faults must be cleared. And reset the alarm before reset the machine. ● while the power is on after momentary interruption, keep away from the machine, because it may start abruptly.(The design of the machine should make sure that no danger be caused when restarting.) System matching
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● The rated torque of the servo motors must be higher than effective continuous load torque. ● The ratio of load inertia and the motor inertia should be smaller than the recommended value. ● The servo driver and motor should be a match.
Chapter 1
1.1 Name plate
Brief Introduction
1.2 Naming rules for different models
DCSF-C150S220V40
Servo Driver Series C、 D、 U、Y Series Power Grade 100W-15kW Voltage Grade 220V/380V Version V1.0-V8.0 DCSF-C: Universal Servo Driver DCSF-D: High Performance Servo Driver DCSF-U: Dedicated Servo Driver (made to order by customers) DCSF-Y: Servo Driver for Hydraulic Pressure Only
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1.3 Standard Specification
Model Input Power DCSF-C150 DCSF-C200 DCSF-C750 Three 220V 50/60Hz Power Control Method Regenerative Braking Control Input 100W-1.5KW 1.5KW-2.2KW 2.2KW-5.5KW 5.5KW-15KW phase DCSF-C1100 Three AC380V phase
Single phase AC220V
①Location Control②Speed Control③Torque Control④JOG Running Internal ①forward rotation servo enabled②backward rotation servo enabled ③ forward rotation driven prohibited ④ backward rotation driven prohibited ⑤ Speed option 1 ⑥ Speed option 2 ⑦ Speed option 3 ⑧ Torque/speed limited option
Control Output
①Servo Ready ②Servo Alarm③positioning completed④speed arrival ⑤zero speed
Location control
Impulse frequency Electronic gear Control precision Input method
Max Input0~500kHz(displacement input),Max Input0~200kHz(collector input) 1/50≤1~30000/1~30000≤500
0.036
①
Pulse + symbol
②forward pulse/reverse pulse
③two phase A/B
orthogonal pulse（positive logic ） ④ pulse + symbol ⑤forward pulse/backward pulse ⑥two phase A/B
orthogonal pulse（negative logic ） Programmable Speed Control Feedback impulse Torque limit Speed control Speed scope 0～±10VDC(max value match max torque) 1:5000 2500 line/revolution, 10000 impulse/revolution 8 bit field internal programmable speed control
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Speed response frequency Speed fluctuation rate Torque rate Torque control Analog Input Speed limit 500Hz
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＜±0.03%(load 0～100%);＜±0.02%(power supply -15～+10%)
0～±10VDC(max value matching rated torque) 0～±10VDC(source impedance less than 10kΩ) 0～±10VDC（max value matching rated speed） Running speed, current location, command pulse accumulation , location deviation, motor torque, motor current, bus voltage, running status, input/ output terminal signal and so on
Surveillance function
Protecting function
Over speed 、 main power source over-voltage or under-voltage, over-load, over-current, encoder anomaly, main circuit overheat, location out-of- tolerance and so on
Appropriate load inertia
Less than 15 times the rotor inertia（when load inertia
is 5 times
more than rotor inertia, you should connect external braking resister.） Environmental condition Temperature Humidity Air pressure Vibration Cooling mode At running：0～5℃ At store：-20℃～75℃
40%～90%（free from condensation） 86～106kPa ≤5G Cold wind
Chapter 2 System Installation
2.1 Wiring and Installation 1、 Have PE end grounded firmly and no other grounding method. Otherwise, it may cause electric shock. 2、 Please connect wires correctly. Misconnecting U\V\W can make the machine unable to work properly. 3、 Don’t use “On/Off” of the power to start/ stop the servo drivers. 4、 Please use servo enabled switches to start / stop the motor. 5、 Before starting cabling, changing wiring, inspection, maintenance, or moving, please firstly cut off the power. After three minutes, measure with a voltmeter,
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and operate after confirming safety. The interval between other equipments should be over 10mm for abstraction of heat. Special warning for wiring： １、the three-phase power cord from motor to driver can’t be connected wrong, (blue, white, red -----U V W) ２、the encoder wire from the motor to encoder must get connected before energization. It is forbidden to connect after energization. ３、The controller should match the motor. Don’t change the motor or driver. 2.2 Confirmation items After the arrival, please open the package and check the following contents. confirmation item Make sure the model is what you have ordered Check if the product is damaged or not Check if the shaft of the motor is free to rotate Check if the screws get off or loose confirmation method Confirm by name plate and model Look at the appearance to check if there’s something broken Rotate with hand. Pivoted means normal. But, braking servo motor can’t do this. Take a look
If you find anything unusual, please contact our distributors or offices at once. 2.3 Attention for using Installation environment 1、 Protecting Servo controllers must be installed in well-protected cabinets and they should be kept away from corrosive matters, flammable gases, conductive materials, metal powder, oil and liquids. 2、 Temperature\ humidity Ambient temperature should be no higher than 50Ｃ and long-term continuous working temperature should be below 40 C and good ventilation should be provided for abstraction of heat. 3、 Vibration and shock Drivers should be installed to avoid vibration, shock absorption measures to be taken. Environment condition 1、 Usage temperature and humidity 0--55℃（free from freezing） 2、 Storage temperature -20--85℃ 3、 Altitude below 90%FS（free from condensation） below 90%FS（free from condensation）
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Lower than 5000m
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Cautions
1、 The storage and installation of this product must satisfy environmental requirements. And original package is necessary. 2、 The stacking of our products is limited. it’s improper to stack too
many together to prevent pressure damage or fall.
3、 The products must be installed with fire prevention materials. Don’t
install on flammable items or near to prevent fires.
4、 It’s forbidden to drag all the cords from servo controllers and encoders 5、 After cutting off the power supply, there’s high voltage in most big capacitances. Reconnect the power five minutes later. Don’t get the power on and off frequently in a short time. Fig. 2.1 Servo driver installation Diagram
2.4 installation method 1、 Installation direction The normal installation direction of the servo driver is upright vertical. 2、 Installation and fix Tighten the four M6 fixed screws in the rear part of the servo driver while installing. Installation spacing Look at Diagram 2.1 for reference of the space between the drivers and other equipments. 3、 Radiation The servo drives take use of natural cooling. The cooling fans should
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be installed in the cabinets to ensure adequate ventilation conditions. Installation cabinet environment During installation of electrical control cabinet, prevent dust or iron filings entering into the servo drivers and causing short circuit.
Chapter 3 System Wiring
3.1 Standard wiring
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Fig.2.2 Servo Controller Standard Wiring
3.2 Wiring Specification
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firm connection. 3.3 Wiring Method
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1、 We suggest you use insulating cold pressure terminals and make sure 2、 We suggest you use three phase isolation transformer for power supply. 1、 For the input and output signal wire and encoder wire, please use the shielded one. The length should be: input wire: within 5m; encoder signal wire: within 15m. Condition permitting, the shorter the wire is, the better. 2、 One end of the grounding wire should be earthed. And the diameter of the wire must be no less than 1mm. 3、 In the environment with serious disturbance, noise filter is suggested to be installed. While installing, pay attention to the following items： ● ● ● Try to install the noise filter, the servo driver and the supervisory controller as close as possible. You must fit in the coils of the relay, electromagnetic contactor and brake the surge suppressors. Don’t make the main circuit and the signal wires go through the same pipeline, nor tie them together. 4、 When there are intensive interference sources used nearby(such as welding machines, high-power machine tools and so on), use isolation transformers with input power source. 5、 Please fit a no-fuse breaker to cut off the external power supply when there’s a trouble in running.、 3.4 Cautions 1、match the wiring of U、V、W with terminal A,B,C respectively. You can not make the motor run backward by changing the wiring of three phase terminals.。 2、Because of a lot of electrolyte and capacitance in the servo drivers, there is still high voltage in the internal circuit even if the power is off. So please electrify servo drivers five minutes later. Please cut off the power supply if you don’t use the machine for a long time. Definition of rotating direction: Facing the machine shaft, rotating shaft rotating in an anticlockwise direction is called Forward Rotation; on the other hand, it is Backward Rotation. 3.5 Terminal 3.5.1 DCSF-C terminal Terminal mark R S T P+ Signal name Main circuit power Rectify anode output Function
Three phase AC220V
50Hz
Braking output , connect braking devices between P+
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BP U V W PG Control terminal Output machine power Output machine power Output machine power Grounding
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U phase V phase W phase Grounding
Wrong wiring of U、V、W will make the motor unable to run properly. So please be sure to wire correctly. Special Attention needed: PB,P are terminals of external braking resistors. Generally, there’s no need to connect external braking resistors when PB, P terminals are impending. When there’s too much regenerative energy during slowing down, which can’t be absorbed completely, AL-05 will be overloaded and give an alarm. Increase deceleration time. If there is still alarm, attach braking resistors to PB and P Terminals, who range from 100 to 200Ω, and the power is from 100 to 500 W. the smaller the resistance value is, the larger the current is , the power of the braking resistor needed is larger. However, too small resistance value can cause damage to the driver. So make trials from big resistance value to smaller ones, until it doesn’t alarm. The connection of external braking resistor must be done 10min after driver’s power outage and the internal high voltage has gone. Because PB and P are connected with internal high voltage circuit, so please don’t touch the Terminal PB and Terminal P in case of electric shock. And avoid collision between Terminal PB, Terminal P and other terminals to prevent damage to drivers because of short circuit. 3.5.2 Encoder Signal Input Terminal CN1(15 cores) Terminal No. 1 2 3 4 5 6 7 8 9 10 11 Symbol A+ AB+ BZ+ ZU+ UV+ VW+ Signal Name Encoder A+ Input Encoder A- Input Encoder B+ Input Encoder B- Input Encoder Z+ Input Encoder Z- Input Encoder U+ Input Encoder U- Input Encoder V+ Input Encoder V- Input Encoder W+ Input Function Connect with Photoelectric Encoder A+ Connect with Photoelectric Encoder AConnect with Photoelectric Encoder B+ Connect with Photoelectric Encoder BConnect with Photoelectric Encoder Z+ Connect with Photoelectric Encoder ZConnect with Photoelectric Encoder U+ Connect with Photoelectric Encoder UConnect with Photoelectric Encoder V+ Connect with Photoelectric Encoder VConnect with Photoelectric Encoder W+
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12 14 15 W+5V GND （+15V） Encoder W- Input 5V power supply GND（+15V）
Dacheng Electric
Connect with Photoelectric Encoder WSupply photoelectric encoder of servo motor with +5V power source （The motor adopts rotating transformer）
3.5.3 AI/ AO Terminal CN2(44cores)
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 Z+ ZCZ GND IN0 IN1 IN2 IN3 IN4 IN5 IN6 COM+ GND +24V Reserve A+ AOUT1 OUT2 OUT3 OUT4 COMAD1 AGND AD2 AGND +10V Analog speed input Analog Ground Analog Running Torque Input Analog Ground Internal +10V Analog Power supply 100mA Encoder splitting A+ output Encoder splitting A- output Digital Output Port 1 Digital Output Port 2 Digital Output Port 3 Digital Output Port 4 24v power supply output 300mA Digital input port 0 Digital input port 1 Digital input port 2 Digital input port 3 Digital input port 4 Digital input port 5 Digital input port 6 Servo forward running drive En Servo backward running drive En Speed option 1 Speed option 2 Speed option 3 Encoder splitting Z+ output Encoder splitting Z- output Z Collector open-drain output Symbol Signal Name Function
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28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 1 2 3 4 5 6 7 8 9 Reserve -10V Reserve B+ BPLUS+ PLUSPDIR+ PDIRPCLR+ PCLRReserve Reserve Reserve Reserve Reserve Reserve Reserve TXD RXD Reserve GND Reserve Reserve Reserve Reserve Ground wire Send Accept Encoder splitting B+ output Encoder splitting B- output Position Pulse Input A+ Position Pulse Input APosition Pulse Input B+ Position Pulse Input BPosition Clear Input CLR+ Position Clear Input CLR-
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100mA
Internal -10V Analog Power Supply
3.5.4 Telecommunication Terminal CN3(9 cores)
3.6 3.6.1
Input/ Output Interface Type DI Interface
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Fig.3.6.1.1 DI Interface
A Relay Connection B Photoelectric coupler connection Fig.3.6.1.2
DO Interface
1、 OUT1，OUT2，OUT3，OUT4 Max. load current: 100mA，Max. working voltage: 32V。 2、Customers can provide the external power source. Pay special attention to the power polarity while wiring. Wrong polarity connection can cause damage to drivers. 3、In case of lagging load such as relays, connect antiparallel freewheel diodes at the two ends. Attention: inverse wiring can cause damage to the drivers. 4、Output transistors are Darlington ones. While conducting, the pressure drop between the collector and the emitter is around 1v, which can’t satisfy the
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circuit.
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low-level requirement. So don’t connect the transistors with integrated
3.6.2 AI Interface
Fig3.6.2Analog difference-mode input 1、 Analog ground wire connecting with the negative input end at the controller side. 2、 The input voltage should be within the range of -10V-+10V， otherwise, the driver may be damaged. 3、 Shielded wire for connecting id preferred. Try to make the wire as short as possible to decrease the noise disturbance3.6.3 Encoder signal output Encoder signal is put out by way of differentially driven. The Ground wire of the controller and driver must be grounded safely3、 When using rotating transformers, the signal has turned into the one that is compatible for rotating encoder. 4、While rotating transformer is used, the 15 foot of the plug is not the ground wire, but the +15V signal.
th
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Fig 3.6.3 encoder output interface
3.6.4 Z signal of encoder through open collector output Fig3.6.4 Z signal of encoder through open collector output The signal of Z phase in encoder through open collector output when Z signal appears, start output, or otherwise it will be cut off. While the pulse of the encoder’s signal of Z phase is very narrow, high-speed Opt coupler is advised.(such as453,pc9000,4504) 3.6.5 input interface of pulse 1、In order to transmit data correctly, the difference drive method is adopted. 2、Under the difference drive method, adopting AM26C31,75176 or RS422 similar line drivers 3、Adopting the single-ended drive, the supply of external power are provided by users, do not apply the reverse polarity to the actuator unit.
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Fig. 3.6.5 input interface of pulse ● PUL+/PUL-，DIR+/DIR-： The power supply is ok when input TTL differential method： The power supply is ok when input the differential method is TTL When input the single-ended drive, we have to connect 24v to the other end of resistance in switching tube, and link GND to the outflow end of current if using internal 24V; while using external power, don’t connect the internal 24v to the external power,, and voltage drop of user’s switching tube is lower than 1V , increasing external resistance value appropriately if it is higher than this value .The choice of external resistance value R=(12~24V)/(10~20ma),the resistance power is 1W.For single-ended method, it must be done to connect GND to reference ground of Console, either internal or external power supply. ● There are six kinds of pulse input, as shown in the list below: Pulse type Pulse group mark Forward pulse group Reverse pulse group A phase pulse group B phase pulse group Pulse group mark Forward pulse group Reverse pulse group A phase pulse group B phase pulse group instruction Mark PUL DIR PUL DIR PUL DIR PUL DIR PUL DIR PUL DIR Negative logic(two phase instruction pulse)*4 Reverse logic(forward pulse/ reverse pulse)*2 negative logic(PUL mark +DIR pulse)*2 Positive logic(two phase instruction pulse)*4 Positive logic(forward pulse/ reverse pulse)*2 Positive logic( PUL mark +DIR pulse)*2 Description
Chapter four The illustration and operating data of Keyboard
4.1 Panel Description The panel is composed of six LED displays and 5 keys
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MENU
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● OK
↑
↓
Key Name
MENU
Introductions MENU：For choose the mode of the first floor or from another layer return to the first layer multiply key: represent add serial number or numerical increment
↑ ↓ Reduced key: represent reduce serial number or numerical decrease Start button: starting motor ● OK Enter key: for fixing next layer or setting parameter values
4.2 Operating instructions of menu Enter or quit menu or back to the previous menu by pushing MENU button The first level: five kinds of mode DSP---：display mode PRG---：parameter setting mode JOG---：running mode AUT---：zeroing mode EEP---：parameter Management Mode The second level 1、DSP Show Selection 1：SPd Display Speed （r/min） 2：Cod Display Encode (Pulse Count) 3：dCU Bus Voltage （V） 4：I-b b Phase current 5：CoJ Pole Position 6：I-q q Shaft Current 7：I-d d Shaft Current 8：I-A A Phase Current 9：CdH Feedback pulse high 5 bytes 10：CdL Feedback pulse low 5 bytes 11：PdH Control pulse high 5 bytes 12：PdL 13：Cnt 14：Ad1 15：Ad2 16：Iod Control pulse low 5 bytes position curve segment analog signal 1(analog collecting digital value) analog signal 2(analog collecting digital value) terminator input state
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Show 1 for the high level signal, No show for the low level signal 2、PRG parameter setting selection：Pr01-Pr198 ● 3、JOG trial operation： （pushing OK button，then stop working） button，the motor sets up，pushing
4、AUT（(the second level) zeroing: ● pushing button ， automatic measuring angles of magnetic pole pushing OK zero
AJ automatic measuring angles
button，The motor stop measuring zero
angles of magnetic pole
LJ measuring angle by hand
pushing ●button, set up，pushing adjust zeroing angle
↓
↑ button
pushing OK button，The motor stop measuring zero angles of magnetic pole
AL Zeroing of Current Sensor
OK pushing button，The motor stop adjusting zero angles of Current Sensor automatically pushing OK button，automatic output testing
io digital output testing
5、EEP backup and restore:：SA Storing，LF adjust default value，bF backup，HF restore，Er software version（see8.08） Parameter management method EEP-SA write parameter EEP-BF parameter backup EEP-HF restore parameter zone Write the parameters of list to EEPROM backup zone Read the data of EEPROM backup zone in the details Write the parameters of list in EEPROM parameter
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EEP-LF restore default values EEP-Er the date of software version 4.3 operating instructions in the first menu, pushing Finished by pushing OK ↓
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parameter table
Read the default values of parameter in the parameter table Show the production software version
↑ b button \ ↑
button，Choose any kinds of 5 modes。
Enter the second menu.。Pushing or function If finished, pushing OK
↓
button again, to modify parameter
Button .If Modification completed, please push MENU
button， return and
to the previous page，Then pushing ↓ pushing write ↑ ↓ Button to choose ERP，pushing ↑ OK button then button to
button to choose EEP-SA again，pushing
OK
the parameters of list in EEPROM parameter zone, in order to save the parameter in after power failure. ↓ ↑ the digitals have changed more rapidly if clicking button again and again when modification. It helps to modify big numbers quickly. 4.4 control parameters(it is useful if tick”*”) Serial number Pr-01 Pr-02 Pr-03 Pr-04 Pr-05 Pr-06 Pr-07 Pr-08 Pr-09 Pr-10 Pr-11 name Test running speed Maximum speed limits encoder electrical angle U phase current zero U phase current zero analog signal 1 gain analog signal 1 zero analog signal 2 gain analog zero signal 2 r/min r/min 1000 0 100 200 unit r/min r/min 0.144angl e default value 200 1500 1200 0 0 1000 0 0-5000 0-2500 ±5000 ±5000 1-5000 ±5000 0-5000 ±5000 ±5000 ±5000 * * range notes unchanging * *
internal speed 1 Internal speed 2
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Pr-12 Pr-13 Pr-14 Pr-15 Pr-16 Pr-17 Pr-18 Pr-19 Pr-20 Pr-21 Pr-22 Pr-23 Pr-24 Internal speed 3 Internal speed 4 analog signal filtering analog signal filtering internal speed 5 Internal speed 6 Internal speed 7 Internal speed 8 speed loop Kp speed loop ki speed loop kc speed loop kd maximum limit of positive current in speed loop maximum limit of negative current in speed loop Response frequency of speed loop acceleration time deceleration time minimum limit of analog speed ms ms r/min 1 2 r/min r/min 0.1ms 0.1ms r/min r/min r/min r/min 0.001 0.0001 0.001 0.001 300 400 1 1 500 600 700 800 500 10 200 0 500
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±5000 ±5000 1-50 1-50 ±5000 ±5000 ±5000 ±5000 0-5000 0-5000 0-5000 0-1000 0-5000 -500 -5000-0 10 100 100 0 ±100 * * * * * *
Pr-25
Pr-26 Pr-27 Pr-28 Pr-29
1-50 0-30000 0-30000 0 unrestraine d
Pr-30 Pr-31 Pr-32 Pr-33 Pr-34
current loop kp current loop ki current loop kc current loop kd maximum limit of current loop and positive current maximum limit of current loop and negative current maximum limit of current loop and positive weak magnet
0.001 0.0001 0.001 0.001
900 200 400 100 1000
0-5000 0-5000 0-5000 0-1000 0-5000
Pr-35
-1000 -5000-0 900 0-5000
Pr-36
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Pr-37 maximum limit of current loop and positive weak magnet Encoder frequency output hz -900
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-5000-0
Pr-38 Pr-39
1 0
1-4096
carrier frequency0-10khz 1-8khz 2-6khz 3-4khz rated current (current protection) the auto-zero motor choice
0-3
Pr-40
ampere
5 1-20 0 0:below 1kw 1:above 1kw -5000-+50 00 -5000-+50 00 0-1000 1 200 100 0 * *
Pr-41
Pr-42 Pr-43 Pr-44
maximum speed for position control the rate of location curve change return time of location curve change default display of nixie tube maximum speed limit of torque direct-current and bus voltage gain direct-current and bus voltage zero retain the goal of speed curved section 1 add-subtract time of speed curved section 1 the goal of speed curved section 2 add-subtract time of speed curved section 2 the goal of speed 10ms 10ms 0.1s
200 200 10
* The details seen 4.2
Pr-45 Pr-46 Pr-47 Pr-48 Pr-49 Pr-50 Pr-51
1-16 -3000-300 0 1-200 -3000-300 0
100 100
0-5000
*
0-30000 200 100 0-30000 300 0-5000
*
Pr-52 Pr-53
0-5000
*
* *
Pr-54
27
D A C H EN G
curved section 3 Pr-55 add-subtract time of speed curved section 3 the goal of speed curved section 4 add-subtract time of speed curved section 4 the goal of speed curved section 5 add-subtract time of speed curved section 5 holding time of speed curved section 1 holding time of speed curved section 2 holding time of speed curved section 3 holding time of speed curved section 4 holding time of speed curved section 5 retain Position kp Position kc electronic numerator electronic denominator gear gear 50 10 1 1 10ms 10ms 10ms 100
Dacheng Electric
0-30000 400 100 0-30000 500 100 0-30000 * * *
Pr-56 Pr-57
0-5000
*
Pr-58 Pr-59
0-5000
*
Pr-60
10ms
100 0-30000 *
Pr-61
10ms
100 0-30000 *
Pr-62
10ms
100 0-30000 *
Pr-63
10ms
100 0-30000 *
Pr-64
10ms
100 0-30000 *
Pr-65~ 69 Pr-70 Pr-71 Pr-72 Pr-73
1-200 1-200 1-30000 1-30000
28
D A C H EN G
Pr-74 Input pulse type： 1 ： orthogonal AB pulse (positive) 2：positive pulse+ direction (positive) 3：positive pulse + reverse pulse (positive) 4 ： orthogonal AB pulse (negative) 5： Pulse + direction (negative) 6： positive pulse + reverse pulse (negative) type of the Encoder output pulse 0：orthogonal pulse dividing frequency 1:pulse + direction channels 2:synchronization between positive and reverse pulse 3:Synchronous of orthogonal pulse retain Selection of Control Mode （ 0internal speed control 2 modulating control 3 torque control 4preset the speed control of velocity curve 5 position curve control 6 position control 7 he position controlled by computer 8 speed controlled by computer 0 0 1
Dacheng Electric
1-6
Pr-75
0
0-3
Pr-76~ 89 Pr-90
0-8
29
D A C H EN G
Pr-91 On Mode （ 1 ： Not Displayed 0 ： Display） the display of manually zero（1： current0：angle） 0 ： The maximal efficiency control 1the maximum power control 0：pc not on-line 1：pcon-line 0light change 8rotary change retain the cycles of the position curve 0 The cycles deviation of the position curve 0 the speed of position curved section 0 retain the cycles of the position curved section 1 The deviation position section 1 cycles of the curved 0 0 Pr-92 0 0
Dacheng Electric
Pr-93
0
Pr-94 Pr-95 Pr-96~99 Pr-100 Pr-101
* above5.5kw
* *
Pr-102
*
Pr-103 Pr-104
* *
Pr-105
*
Pr-106
the speed of the position curved section 1 retain the cycles of the position curved section 2 The deviation position section 2 cycles of the curved
*
Pr-107 Pr-108
* *
Pr-109
*
30
D A C H EN G
Pr-110 the speed of the position curved section 2 retain the cycles of the position curved section 3 The deviation position section 3 cycles of the curved Pr-111 Pr-112
Dacheng Electric
*
* *
Pr-113
*
Pr-114
the speed of the position curved section 3 retain the cycles of the position curved section 4 The deviation position section 4 cycles of the curved
*
Pr-115 Pr-116
* *
Pr-117
*
Pr-118
the speed of the position curved section 4 retain the cycles of the position curved section 5 The deviation position section 5 cycles of the curved
*
Pr-119 Pr-120
* *
Pr-121
*
Pr-122
the speed of the position curved section 5 retain the cycles of the position curved section 6 The deviation position section 6 cycles of the curved
*
Pr-123 Pr-124
* *
Pr-125
*
31
D A C H EN G
Pr-126 the speed of the position curved section 6 retain the cycles of the position curved section 7 The deviation position section 7 cycles of the curved Pr-127 Pr-128
Dacheng Electric
*
*
Pr-129
*
Pr-130
the speed of the position curved section 7 retain the cycles of the position curved section 8 The deviation position section 8 cycles of the curved
*
Pr-131 Pr-132
*
Pr-133
*
Pr-134
the speed of the position curved section 8 retain the cycles of the position curved section 9 The deviation position section 9 cycles of the curved
*
Pr-135 Pr-136
*
Pr-137
*
Pr-138
the speed of the position curved section 9 retain the cycles of the position curved section 10 The cycles deviation of the position curved section 10
*
Pr-139 Pr-140
*
Pr-141
*
32
D A C H EN G
Pr-142 the speed of the position curved section 10 retain the cycles of the position curved section 11 The cycles deviation of the position curved section 11 the speed of the position curved section 11 retain the cycles of the position curved section 12 The cycles deviation of the position curved section 12 the speed of the position curved section 12 retain the cycles of the position curved section 13 The cycles deviation of the position curved section 13 the speed of the position curved section 13 retain the cycles of the position curved section 14 The cycles deviation of the position curved section 14 Pr-143 Pr-144
Dacheng Electric
*
*
Pr-145
*
Pr-146
*
Pr-147 Pr-148
*
Pr-149
*
Pr-150
*
Pr-151 Pr-152
*
Pr-153
*
Pr-154
*
Pr-155 Pr-156
*
Pr-157
*
33
D A C H EN G
Pr-158 the speed of the position curved section 14 retain the cycles of the position curved section 15 The cycles deviation of the position curved section 15 the speed of the position curved section 15 retain the cycles of the position curved section 16 The cycles deviation of the position curved section 16 the speed of the position curved section 16 retain the cycles of the position curved section 17 The cycles deviation of the position curved section 17 the speed of the position curved section 17 retain the cycles of the position curved section 18 The cycles deviation of the position curved section 18 Pr-159 Pr-160
Dacheng Electric
*
*
Pr-161
*
Pr-162
*
Pr-163 Pr-164
*
Pr-165
*
Pr-166
*
Pr-167 Pr-168
*
Pr-169
*
Pr-170
*
Pr-171 Pr-172
*
Pr-173
*
34
D A C H EN G
Pr-174 the speed of the position curved section 18 retain the cycles of the position curved section 19 The cycles deviation of the position curved section 19 the speed of the position curved section 19 retain retain Pr-175 Pr-176
Dacheng Electric
*
*
Pr-177
*
Pr-178
*
Pr-179 Pr-180 -198
4.5Alarm parameters name AL-01 AL-02 AL-03 AL-04 AL-05 AL-06 AL-07 AL-08 AL-09 AL-10 AL-11~12 Module protection Over speed Protection wiring error of encoder the wiring error of motors overvoltage protection over-current protection zero-coding error zero error for the electrical wiring， renewable electrical braking no signal of encode reserve description
PID adjust introductions: 1 Speed Kp：the greater the value, the higher the gain, the greater the rigidity. the determination Of parameter calculating according to specific type and load of the servo drivers. Under normal circumstances, the greater the load of inertia, the greater the value. There are no shocks in the system, the larger setting as much as possible. 2、Speed Ki：the greater the value, the faster the rate, the greater the rigidity. the determination Of parameter calculating according to specific type and load of the servo drivers. Under normal circumstances, the greater the load of inertia, the smaller the value. There are no shocks in this system ,the larger setting as much as possible.。 3、Location Kp：the greater the value, the higher the gain, the greater the rigidity.
35
D A C H EN G
Dacheng Electric
Under the same frequency instruction pulse,the smaller the position lag. There are no shocks in this system, the larger set as much as possible. 4、Current Kp：the greater the value, the higher the gain, the smaller the current tracking error. However, the higher the gain, will have noise or vibration. This parameter has something to do with servo driver and mnotors, having nothing to do with loading.There are no shocks in this system, the larger setting as much as possible. 5、Current Ki：the greater the value, the faster the rate, the smaller the current tracking error. However, the higher the gain, will cause the noise or vibration. This parameter has something to do with servo driver and mnotors, having nothing to do with loading. Under normal circumstances, the smaller the electromagnetic motor constant, the smaller the integration time constant. There are no shocks in this system, the larger setting as much as possible. 6、Feed forward set Methods: The speed can be fed through the open-loop control of the servo system to accelerate the speed of response, when speeding up the feed forward gain to reduce the accumulation of position loop error, thus speeding up the error rate of compensation .In theory analysis, the current speed gain increases, the smaller the total error value of location loop, that is, the smaller the integral role. But too much feed forward gain easily lead to oscillations and location overshoot, In addition, the actual system in the ideal differential link doesn’t exist, so the link can not gain too much, at the same time, in order to ensure accuracy of the positioning servo system, integral control is essential points
36
D A C H EN G
5.1 Speed control 5.1.1 Internal speed control（Pr90=0）
Dacheng Electric
Chapter five Standard control wiring
37
D A C H EN G
S1， 0 0 0 0 1 1 1 1 S2， 0 0 1 1 0 0 1 1 S3 0 1 0 1 0 1 0 1
Dacheng Electric
description choose internal speed 1 Pr10 choose internal speed 2 Pr11 choose internal speed 3 Pr12 choose internal speed 4 Pr13 choose internal speed 5 Pr16 choose internal speed 6 Pr17 choose internal speed 7 Pr18 choose internal speed 8 Pr19
38
D A C H EN G
Dacheng Electric
5.1.2 the external simulate rate-controlling(Pr90=2)
the external simulate torque controlling(Pr90=3)
39
D A C H EN G
5.1.3 Preset rate-controlling curve （Pr90=4）
Dacheng Electric
Note: the speed section controlled by the parameters Pr-50~64
40
D A C H EN G
5.1.4 controlling of computer rate（Pr90=8）
Dacheng Electric
1:The communications are RS232, agreement is:57600, n,8,1 2:Communicationformat:0x55+controlsignal(1byte)(00110011)+High-speed+low-speed
41
D A C H EN G
bytes +0xAA
Dacheng Electric
5.1.5Position control(Pr90=6)
the choice of the input mode（Pr74） ①pulse + mark ②positive pulse +reverse pulse ③ two-phase A/B orthogonal pulse
42
D A C H EN G
Dacheng Electric
(positive logic)④ pulse + mark ⑤ positive pulse /reverse Pulse ⑥two-phase A / B orthogonal pulse (negative logic) 5.1.6 the control of position curve（Pr90=5）(to realize the synchronization of XY axis in CNC machine tools if use two servos)
Note: the location controlled by the parameters Pr-100 ~ 180,If use two servos can be realized the synchronization of XY axis in CNC machine tools while simultaneously
43
D A C H EN G
Dacheng Electric
reach the location of mutual connection and synchronization signal. 5.1.7 Pressure Closed Loop Control（Pr90=9） （Applicable for Injection Machine）
Note: This function controlled by the parameters Pr80, Pr81, Pr82, Pr83, Pr84 ,Pr85, Pr86.
44
D A C H EN G
5.1.8 Braking Resistor Configuration Table Motor （kW） 1.5 2.2 3.7 5.5 7.5 11 15 18.5 Power
Renewable Power(W) Resistor
Dacheng Electric
Renewable Resistor Maximum(Ω) 400 250 150 100 75 50 40 32 Renewable Resistor Minimum (Ω) 130 130 78 39 39 26 26 20
300 300 500 800 1000 1500 2000 4000
Note: This table is just for the reference, details are determined on the value of load inertia matched by motor. 5.1.9Injection Machine Servo Configuration Table The
of
Maximum Injection System Pressure （MPa） 16 16 16 16 16 16 16 16 16 Matching Oil Pump Matching Motor Matching Driver Matching transducer
mould locking force
Machine （T） 55 80 120 150 200 250 280 320 380
QT42-31.5FA QT42-31.5FA QT52-50F-A
DCM-UBF190P75 DCM-UBF190P11 0 DCM-UBG190P11 0 DCM-UBG190P15 0 DCM-UBG190P18 0 DCM-UBG190P22 0 DCM-UBG190P30 0 DCM-UBG190P37 0 DCM-UBG190P45 0
DCSF-U1100S 380V8.34 DCSF-U1500S 380V8.34 DCSF-U1500S 380V8.34 DCSF-U1800S 380V8.34 DCSF-U2200S 380V8.34 DCSF-U3000S 380V8.34 DCSF-U3700S 380V8.34 DCSF-U4500S 380V8.34 DCSF-U5500S 380V8.34
HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742
QT52-63F-A
QT52-63F-A
QT52-63F-A
QT62-125F-A
QT62-125F-A
QT62-125F-A
Note: This table is just for the reference, details are determined on the value of oil pump output matched by motor.
45
D A C H EN G
Dacheng Electric
Chapter VI Monitoring software
6.1 Summary DCSFC series AC servo driver is high-performance servo controller independently developed by our company , this software is the monitoring software can be used for monitoring synchronous development of DCSFC series AC servo drivers ,so that we can clearly observe the various parameters and status of motor running , while the software also has real-time control functions, for providing services for a variety of applications of computer control systems 6.2 software Installation The software for the green software, it runs as long if only it is easily copied , USB communications is available Open” DCSFC”, the following dialog appears:
to choose the communication interface and baud rate. Entering the following interface by click "OK "button:
Technical Department 2008-07-21
46
DCSF-C SERIES SERVO MOTOR
User Manual
（Ver8.34）
Zhejiang Dacheng Electric Co., LTD
D A C H EN G
Chapter 1 Introduction 1.1 Name plate 1.2 Naming rules 1.3 Standard Specification Chapter 2 System Installation 2.1 Connecting and Installation 2.2 Confirmation Items 2.3 Attention for Using
Dacheng Electric
Contents
Cautions
2.4 Installation Method Chapter 3 System Wiring 3.1Standard Wiring 3.2 Wiring Specification 3.3 Wiring method 3.4 Considerations 3.5 Terminals 3.5.1 DCSF-C Terminals 3.5.2 Encoder Signal Input Terminal CN1(15 cores) 3.5.3 AI/ AO Terminal CN2(44cores) 3.5.4 Telecommunication Terminal CN3(9 cores) 3.6Input/ Output Interface Type 3.6.1 DI Interface 3.6.2 AI Interface 3.6.3 Encoder Signal Output 3.6.4Encoder Z Signal Collector Unconnected Output Interface Chapter 4 Keyboard Operation Parameter and Display 4.1 Panel Instruction 4.2 Menu Operation Instruction 4.3 Specific Operation Instruction 4.4 Control Parameter 4.5 Alarm Parameter Chapter 5 Standard Control Wiring 5.1 Speed Control 5.1.1 Internal Speed Control（Pr90=0） 5.1.2 External Analogue Speed Control（Pr90=2） External Analogue Torque Control（Pr90=3） 5.1.3 Preinstall Curve Speed Control（Pr90=4） 2
D A C H EN G
Dacheng Electric
5.1.4 Computer Speed Control（Pr90=8） 5.1.5 Location Control（Pr90=6） 5.1.6 Location Curve Control(（Pr90=5） 5.1.7 Pressure Closed Loop Control（Pr90=9） （Applicable for Injection Machine） 5.1.8 Braking Resistor Configuration Table 5.1.9Injection Machine Servo Configuration Table
Chapter 6 Supervisory Software 6.1 Brief Introduction 6.2 Software Installation
3
D A C H EN G
Dacheng Electric
Brief introduction to DCSF-C series ac servo controller
DCSF-C series servo drivers are the products that we have co-developed with Harbin Institute of Technology and we have the proprietary intellectual property rights. The series of servo drivers adopt the latest Digital Signal Processing Chips of American TI company and CPLD as core control chip. The implement of the advanced vector algorithms together with our successful experience in automatic control field has helped realize the design optimization of servo driver’s software and hardware. Adaptive control algorithm can adapt parameters dynamically and improve the accuracy and speed of system control according to the change of controlled objects. Besides, we use the imported IPM to ensure the perfect protection, reliable operation and stable performance. Our company has proved the reliability of our servo drivers through a large number of product application, thus to guarantee you use our DCSF-C series servo drivers in a safe and reliable way. ☆ Power grade: 100W-15kW single phase 220V, three phase 380 V optional ☆ Power grade: 100W-15kW single phase 220V, three phase 380 V optional ☆ Position transducer: incremental photoelectric encoder, rotary transformer available ☆ Protection functions: over voltage, under voltage, short circuit, over current, over load, encoder anomaly and so on ☆Speed mode: +10V---- -10V different bipolar analog input 8 segments internal speed control 5 segments speed curve control RS232 digital speed control ☆Position mode (mixed logic) ☆Pulse+ directional level control (mixed logic) ☆Two-way orthogonal pulse position input control(pulse phase displacement) (mixed logic) ☆RS232 digital position control ☆Frequency dividing output of encoder pulse 1-4096 Internal electronic gear Digital input & output: 7 ways input, 4 ways output Analog voltage output: -10V---+10V for the users to use instead of external power supply Internal braking, feedback energy absorption circuit The currency of current loop and speed loop can be up to 20kHz. RS232 real-time digital control 4
D A C H EN G
Dacheng Electric
Thank you very much for choosing our DCSF-C series servo motors. Please read the instruments carefully before your operation of our products. please contact us, if you have any question or suggestion. Tel:0575-82165222 Fax:0575-82168183
Servo Production Section of Zhejiang Dacheng Electric http://www.zjdacheng.cn Please pay special attention to these warning signs while reading this manual: Warning: wrong operation may cause disastrous results----death or serious injury
Careful: wrong operation may make the operators hurt or get the equipment damaged
Attention: improper operation may damage the product or equipment.
Safety Rules ● The design and manufacturing of our products are not to use in the machinery or systems that threaten people’s safety. ● when choosing our products for your machines or systems, you must take safety measures into consideration during designing and manufacturing, to avoid accidents caused by improper operations. 。
Inspection ●The damaged or faulted products can’t be used.
Transportation ● The products must be stored and transported according to the given terms. ● the products can’t be piled in excess to prevent fall. 5
D A C H EN G
Dacheng Electric
● the products should be packed perfect during transshipment. ● While moving the machines, you mustn’t drag the power cord, motor shafts or the encoders. ● Both servo motors and servo drivers can’t burden the external forces or bumps.
Installation Servo drivers and motors： ● The machines can’t be fit on or near inflammables to prevent fires. ● Vibration should be avoided, and shock is forbidden. ● Installation is prohibited, when there’s any damage or loss of parts. Servo drivers： ● The machine must be installed in the control cabinet with enough safety production level. ● Enough space must be kept between other equipments. ● Good radiation condition must be available.。 ● Prevent dust, caustic gas, electric conduction objects, liquid or flammable
explosive materials getting in.
Servo motor： ● The installment must be firm to prevent loose caused by vibration.。 ● liquid invasion must be prevented, which may cause damage to machines and encoders. ● Any knock to the motors or motor shafts is forbidden to avoid damage to encoders. ● The motor shafts can’t bear the load pasts the limits. Connection ● The personnel taking part in the connection or inspection must be well qualified. ● Connection and inspection can’t be done until 5 minutes later. ● The servo drivers and motors must be well earthed. ● There is probable bombs or operation accidents if the voltage or power polarity is wrong. ● Earthing can be done after the installment. ● Ensure the power cord insulative; avoid pressing the power cord to avoid electric shock. ● Connection must be right and firm, otherwise, running errors may occur or equipments may be damaged because of poor contact. ● Don’t apply the reverse polarity to U、V、W terminators or connect alternating current. ● Servo motors and drivers should be connected directly, and electric 6
D A C H EN G
Dacheng Electric
capacity, the inductance or the filter can’t be put in. ● Prevent the electric conduction fastener and the electricity end from entering into the machine. ● The electric wire and the heat non-resistant body cannot draw close to radiator of the servo driver and the servo machinery. ● The freewheel diodes can’t be applied reversed, which are joined up in parallel to DC relays to output signals. Debugging and running ● Before energizing, make sure servo drivers and motors are properly installed, well fixed, and the voltage and connection are right. ● While debugging, the machine should firstly have no-loading running to make sure the parameters right, then take load debugging to avoid the damage to machinery and equipments caused by wrong operation.
Application ● A emergency circuit should be plugged in, so that the equipment can stop and the power supply be off immediately ● Before resetting an alarm, you must make sure the running signal is off other wise the machine will restart suddenly. ● The servo drivers must be used together with the specified and assorted motors. ● Don’t turn on and off the power supply frequently, which may damage the system. ● The servo drivers and motors may feel hot after continuous running. Don’t touch the drivers, radiators or machines ● Don’t adapt servo systems. Fault handling ●even if the servo drivers are off power, the high pressure will still last for a period of time. So please don’t take the power cord apart in five minutes or touch the terminal plate. ● people taking part in disassembly and repair should have relevant knowledge and operation capacity. ● After alarming, faults must be cleared. And reset the alarm before reset the machine. ● while the power is on after momentary interruption, keep away from the machine, because it may start abruptly.(The design of the machine should make sure that no danger be caused when restarting.) System matching
7
D A C H EN G
Dacheng Electric
● The rated torque of the servo motors must be higher than effective continuous load torque. ● The ratio of load inertia and the motor inertia should be smaller than the recommended value. ● The servo driver and motor should be a match.
Chapter 1
1.1 Name plate
Brief Introduction
1.2 Naming rules for different models
DCSF-C150S220V40
Servo Driver Series C、 D、 U、Y Series Power Grade 100W-15kW Voltage Grade 220V/380V Version V1.0-V8.0 DCSF-C: Universal Servo Driver DCSF-D: High Performance Servo Driver DCSF-U: Dedicated Servo Driver (made to order by customers) DCSF-Y: Servo Driver for Hydraulic Pressure Only
8
D A C H EN G
Dacheng Electric
1.3 Standard Specification
Model Input Power DCSF-C150 DCSF-C200 DCSF-C750 Three 220V 50/60Hz Power Control Method Regenerative Braking Control Input 100W-1.5KW 1.5KW-2.2KW 2.2KW-5.5KW 5.5KW-15KW phase DCSF-C1100 Three AC380V phase
Single phase AC220V
①Location Control②Speed Control③Torque Control④JOG Running Internal ①forward rotation servo enabled②backward rotation servo enabled ③ forward rotation driven prohibited ④ backward rotation driven prohibited ⑤ Speed option 1 ⑥ Speed option 2 ⑦ Speed option 3 ⑧ Torque/speed limited option
Control Output
①Servo Ready ②Servo Alarm③positioning completed④speed arrival ⑤zero speed
Location control
Impulse frequency Electronic gear Control precision Input method
Max Input0~500kHz(displacement input),Max Input0~200kHz(collector input) 1/50≤1~30000/1~30000≤500
0.036
①
Pulse + symbol
②forward pulse/reverse pulse
③two phase A/B
orthogonal pulse（positive logic ） ④ pulse + symbol ⑤forward pulse/backward pulse ⑥two phase A/B
orthogonal pulse（negative logic ） Programmable Speed Control Feedback impulse Torque limit Speed control Speed scope 0～±10VDC(max value match max torque) 1:5000 2500 line/revolution, 10000 impulse/revolution 8 bit field internal programmable speed control
9
D A C H EN G
Speed response frequency Speed fluctuation rate Torque rate Torque control Analog Input Speed limit 500Hz
Dacheng Electric
＜±0.03%(load 0～100%);＜±0.02%(power supply -15～+10%)
0～±10VDC(max value matching rated torque) 0～±10VDC(source impedance less than 10kΩ) 0～±10VDC（max value matching rated speed） Running speed, current location, command pulse accumulation , location deviation, motor torque, motor current, bus voltage, running status, input/ output terminal signal and so on
Surveillance function
Protecting function
Over speed 、 main power source over-voltage or under-voltage, over-load, over-current, encoder anomaly, main circuit overheat, location out-of- tolerance and so on
Appropriate load inertia
Less than 15 times the rotor inertia（when load inertia
is 5 times
more than rotor inertia, you should connect external braking resister.） Environmental condition Temperature Humidity Air pressure Vibration Cooling mode At running：0～5℃ At store：-20℃～75℃
40%～90%（free from condensation） 86～106kPa ≤5G Cold wind
Chapter 2 System Installation
2.1 Wiring and Installation 1、 Have PE end grounded firmly and no other grounding method. Otherwise, it may cause electric shock. 2、 Please connect wires correctly. Misconnecting U\V\W can make the machine unable to work properly. 3、 Don’t use “On/Off” of the power to start/ stop the servo drivers. 4、 Please use servo enabled switches to start / stop the motor. 5、 Before starting cabling, changing wiring, inspection, maintenance, or moving, please firstly cut off the power. After three minutes, measure with a voltmeter,
10
D A C H EN G
Dacheng Electric
and operate after confirming safety. The interval between other equipments should be over 10mm for abstraction of heat. Special warning for wiring： １、the three-phase power cord from motor to driver can’t be connected wrong, (blue, white, red -----U V W) ２、the encoder wire from the motor to encoder must get connected before energization. It is forbidden to connect after energization. ３、The controller should match the motor. Don’t change the motor or driver. 2.2 Confirmation items After the arrival, please open the package and check the following contents. confirmation item Make sure the model is what you have ordered Check if the product is damaged or not Check if the shaft of the motor is free to rotate Check if the screws get off or loose confirmation method Confirm by name plate and model Look at the appearance to check if there’s something broken Rotate with hand. Pivoted means normal. But, braking servo motor can’t do this. Take a look
If you find anything unusual, please contact our distributors or offices at once. 2.3 Attention for using Installation environment 1、 Protecting Servo controllers must be installed in well-protected cabinets and they should be kept away from corrosive matters, flammable gases, conductive materials, metal powder, oil and liquids. 2、 Temperature\ humidity Ambient temperature should be no higher than 50Ｃ and long-term continuous working temperature should be below 40 C and good ventilation should be provided for abstraction of heat. 3、 Vibration and shock Drivers should be installed to avoid vibration, shock absorption measures to be taken. Environment condition 1、 Usage temperature and humidity 0--55℃（free from freezing） 2、 Storage temperature -20--85℃ 3、 Altitude below 90%FS（free from condensation） below 90%FS（free from condensation）
11
D A C H EN G
Lower than 5000m
Dacheng Electric
Cautions
1、 The storage and installation of this product must satisfy environmental requirements. And original package is necessary. 2、 The stacking of our products is limited. it’s improper to stack too
many together to prevent pressure damage or fall.
3、 The products must be installed with fire prevention materials. Don’t
install on flammable items or near to prevent fires.
4、 It’s forbidden to drag all the cords from servo controllers and encoders 5、 After cutting off the power supply, there’s high voltage in most big capacitances. Reconnect the power five minutes later. Don’t get the power on and off frequently in a short time. Fig. 2.1 Servo driver installation Diagram
2.4 installation method 1、 Installation direction The normal installation direction of the servo driver is upright vertical. 2、 Installation and fix Tighten the four M6 fixed screws in the rear part of the servo driver while installing. Installation spacing Look at Diagram 2.1 for reference of the space between the drivers and other equipments. 3、 Radiation The servo drives take use of natural cooling. The cooling fans should
12
D A C H EN G
Dacheng Electric
be installed in the cabinets to ensure adequate ventilation conditions. Installation cabinet environment During installation of electrical control cabinet, prevent dust or iron filings entering into the servo drivers and causing short circuit.
Chapter 3 System Wiring
3.1 Standard wiring
13
D A C H EN G
Dacheng Electric
Fig.2.2 Servo Controller Standard Wiring
3.2 Wiring Specification
14
D A C H EN G
firm connection. 3.3 Wiring Method
Dacheng Electric
1、 We suggest you use insulating cold pressure terminals and make sure 2、 We suggest you use three phase isolation transformer for power supply. 1、 For the input and output signal wire and encoder wire, please use the shielded one. The length should be: input wire: within 5m; encoder signal wire: within 15m. Condition permitting, the shorter the wire is, the better. 2、 One end of the grounding wire should be earthed. And the diameter of the wire must be no less than 1mm. 3、 In the environment with serious disturbance, noise filter is suggested to be installed. While installing, pay attention to the following items： ● ● ● Try to install the noise filter, the servo driver and the supervisory controller as close as possible. You must fit in the coils of the relay, electromagnetic contactor and brake the surge suppressors. Don’t make the main circuit and the signal wires go through the same pipeline, nor tie them together. 4、 When there are intensive interference sources used nearby(such as welding machines, high-power machine tools and so on), use isolation transformers with input power source. 5、 Please fit a no-fuse breaker to cut off the external power supply when there’s a trouble in running.、 3.4 Cautions 1、match the wiring of U、V、W with terminal A,B,C respectively. You can not make the motor run backward by changing the wiring of three phase terminals.。 2、Because of a lot of electrolyte and capacitance in the servo drivers, there is still high voltage in the internal circuit even if the power is off. So please electrify servo drivers five minutes later. Please cut off the power supply if you don’t use the machine for a long time. Definition of rotating direction: Facing the machine shaft, rotating shaft rotating in an anticlockwise direction is called Forward Rotation; on the other hand, it is Backward Rotation. 3.5 Terminal 3.5.1 DCSF-C terminal Terminal mark R S T P+ Signal name Main circuit power Rectify anode output Function
Three phase AC220V
50Hz
Braking output , connect braking devices between P+
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D A C H EN G
BP U V W PG Control terminal Output machine power Output machine power Output machine power Grounding
Dacheng Electric
U phase V phase W phase Grounding
Wrong wiring of U、V、W will make the motor unable to run properly. So please be sure to wire correctly. Special Attention needed: PB,P are terminals of external braking resistors. Generally, there’s no need to connect external braking resistors when PB, P terminals are impending. When there’s too much regenerative energy during slowing down, which can’t be absorbed completely, AL-05 will be overloaded and give an alarm. Increase deceleration time. If there is still alarm, attach braking resistors to PB and P Terminals, who range from 100 to 200Ω, and the power is from 100 to 500 W. the smaller the resistance value is, the larger the current is , the power of the braking resistor needed is larger. However, too small resistance value can cause damage to the driver. So make trials from big resistance value to smaller ones, until it doesn’t alarm. The connection of external braking resistor must be done 10min after driver’s power outage and the internal high voltage has gone. Because PB and P are connected with internal high voltage circuit, so please don’t touch the Terminal PB and Terminal P in case of electric shock. And avoid collision between Terminal PB, Terminal P and other terminals to prevent damage to drivers because of short circuit. 3.5.2 Encoder Signal Input Terminal CN1(15 cores) Terminal No. 1 2 3 4 5 6 7 8 9 10 11 Symbol A+ AB+ BZ+ ZU+ UV+ VW+ Signal Name Encoder A+ Input Encoder A- Input Encoder B+ Input Encoder B- Input Encoder Z+ Input Encoder Z- Input Encoder U+ Input Encoder U- Input Encoder V+ Input Encoder V- Input Encoder W+ Input Function Connect with Photoelectric Encoder A+ Connect with Photoelectric Encoder AConnect with Photoelectric Encoder B+ Connect with Photoelectric Encoder BConnect with Photoelectric Encoder Z+ Connect with Photoelectric Encoder ZConnect with Photoelectric Encoder U+ Connect with Photoelectric Encoder UConnect with Photoelectric Encoder V+ Connect with Photoelectric Encoder VConnect with Photoelectric Encoder W+
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D A C H EN G
12 14 15 W+5V GND （+15V） Encoder W- Input 5V power supply GND（+15V）
Dacheng Electric
Connect with Photoelectric Encoder WSupply photoelectric encoder of servo motor with +5V power source （The motor adopts rotating transformer）
3.5.3 AI/ AO Terminal CN2(44cores)
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 Z+ ZCZ GND IN0 IN1 IN2 IN3 IN4 IN5 IN6 COM+ GND +24V Reserve A+ AOUT1 OUT2 OUT3 OUT4 COMAD1 AGND AD2 AGND +10V Analog speed input Analog Ground Analog Running Torque Input Analog Ground Internal +10V Analog Power supply 100mA Encoder splitting A+ output Encoder splitting A- output Digital Output Port 1 Digital Output Port 2 Digital Output Port 3 Digital Output Port 4 24v power supply output 300mA Digital input port 0 Digital input port 1 Digital input port 2 Digital input port 3 Digital input port 4 Digital input port 5 Digital input port 6 Servo forward running drive En Servo backward running drive En Speed option 1 Speed option 2 Speed option 3 Encoder splitting Z+ output Encoder splitting Z- output Z Collector open-drain output Symbol Signal Name Function
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D A C H EN G
28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 1 2 3 4 5 6 7 8 9 Reserve -10V Reserve B+ BPLUS+ PLUSPDIR+ PDIRPCLR+ PCLRReserve Reserve Reserve Reserve Reserve Reserve Reserve TXD RXD Reserve GND Reserve Reserve Reserve Reserve Ground wire Send Accept Encoder splitting B+ output Encoder splitting B- output Position Pulse Input A+ Position Pulse Input APosition Pulse Input B+ Position Pulse Input BPosition Clear Input CLR+ Position Clear Input CLR-
Dacheng Electric
100mA
Internal -10V Analog Power Supply
3.5.4 Telecommunication Terminal CN3(9 cores)
3.6 3.6.1
Input/ Output Interface Type DI Interface
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D A C H EN G
Dacheng Electric
Fig.3.6.1.1 DI Interface
A Relay Connection B Photoelectric coupler connection Fig.3.6.1.2
DO Interface
1、 OUT1，OUT2，OUT3，OUT4 Max. load current: 100mA，Max. working voltage: 32V。 2、Customers can provide the external power source. Pay special attention to the power polarity while wiring. Wrong polarity connection can cause damage to drivers. 3、In case of lagging load such as relays, connect antiparallel freewheel diodes at the two ends. Attention: inverse wiring can cause damage to the drivers. 4、Output transistors are Darlington ones. While conducting, the pressure drop between the collector and the emitter is around 1v, which can’t satisfy the
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D A C H EN G
circuit.
Dacheng Electric
low-level requirement. So don’t connect the transistors with integrated
3.6.2 AI Interface
Fig3.6.2Analog difference-mode input 1、 Analog ground wire connecting with the negative input end at the controller side. 2、 The input voltage should be within the range of -10V-+10V， otherwise, the driver may be damaged. 3、 Shielded wire for connecting id preferred. Try to make the wire as short as possible to decrease the noise disturbance3.6.3 Encoder signal output Encoder signal is put out by way of differentially driven. The Ground wire of the controller and driver must be grounded safely3、 When using rotating transformers, the signal has turned into the one that is compatible for rotating encoder. 4、While rotating transformer is used, the 15 foot of the plug is not the ground wire, but the +15V signal.
th
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D A C H EN G
Dacheng Electric
Fig 3.6.3 encoder output interface
3.6.4 Z signal of encoder through open collector output Fig3.6.4 Z signal of encoder through open collector output The signal of Z phase in encoder through open collector output when Z signal appears, start output, or otherwise it will be cut off. While the pulse of the encoder’s signal of Z phase is very narrow, high-speed Opt coupler is advised.(such as453,pc9000,4504) 3.6.5 input interface of pulse 1、In order to transmit data correctly, the difference drive method is adopted. 2、Under the difference drive method, adopting AM26C31,75176 or RS422 similar line drivers 3、Adopting the single-ended drive, the supply of external power are provided by users, do not apply the reverse polarity to the actuator unit.
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D A C H EN G
Dacheng Electric
Fig. 3.6.5 input interface of pulse ● PUL+/PUL-，DIR+/DIR-： The power supply is ok when input TTL differential method： The power supply is ok when input the differential method is TTL When input the single-ended drive, we have to connect 24v to the other end of resistance in switching tube, and link GND to the outflow end of current if using internal 24V; while using external power, don’t connect the internal 24v to the external power,, and voltage drop of user’s switching tube is lower than 1V , increasing external resistance value appropriately if it is higher than this value .The choice of external resistance value R=(12~24V)/(10~20ma),the resistance power is 1W.For single-ended method, it must be done to connect GND to reference ground of Console, either internal or external power supply. ● There are six kinds of pulse input, as shown in the list below: Pulse type Pulse group mark Forward pulse group Reverse pulse group A phase pulse group B phase pulse group Pulse group mark Forward pulse group Reverse pulse group A phase pulse group B phase pulse group instruction Mark PUL DIR PUL DIR PUL DIR PUL DIR PUL DIR PUL DIR Negative logic(two phase instruction pulse)*4 Reverse logic(forward pulse/ reverse pulse)*2 negative logic(PUL mark +DIR pulse)*2 Positive logic(two phase instruction pulse)*4 Positive logic(forward pulse/ reverse pulse)*2 Positive logic( PUL mark +DIR pulse)*2 Description
Chapter four The illustration and operating data of Keyboard
4.1 Panel Description The panel is composed of six LED displays and 5 keys
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MENU
Dacheng Electric
● OK
↑
↓
Key Name
MENU
Introductions MENU：For choose the mode of the first floor or from another layer return to the first layer multiply key: represent add serial number or numerical increment
↑ ↓ Reduced key: represent reduce serial number or numerical decrease Start button: starting motor ● OK Enter key: for fixing next layer or setting parameter values
4.2 Operating instructions of menu Enter or quit menu or back to the previous menu by pushing MENU button The first level: five kinds of mode DSP---：display mode PRG---：parameter setting mode JOG---：running mode AUT---：zeroing mode EEP---：parameter Management Mode The second level 1、DSP Show Selection 1：SPd Display Speed （r/min） 2：Cod Display Encode (Pulse Count) 3：dCU Bus Voltage （V） 4：I-b b Phase current 5：CoJ Pole Position 6：I-q q Shaft Current 7：I-d d Shaft Current 8：I-A A Phase Current 9：CdH Feedback pulse high 5 bytes 10：CdL Feedback pulse low 5 bytes 11：PdH Control pulse high 5 bytes 12：PdL 13：Cnt 14：Ad1 15：Ad2 16：Iod Control pulse low 5 bytes position curve segment analog signal 1(analog collecting digital value) analog signal 2(analog collecting digital value) terminator input state
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D A C H EN G
Dacheng Electric
Show 1 for the high level signal, No show for the low level signal 2、PRG parameter setting selection：Pr01-Pr198 ● 3、JOG trial operation： （pushing OK button，then stop working） button，the motor sets up，pushing
4、AUT（(the second level) zeroing: ● pushing button ， automatic measuring angles of magnetic pole pushing OK zero
AJ automatic measuring angles
button，The motor stop measuring zero
angles of magnetic pole
LJ measuring angle by hand
pushing ●button, set up，pushing adjust zeroing angle
↓
↑ button
pushing OK button，The motor stop measuring zero angles of magnetic pole
AL Zeroing of Current Sensor
OK pushing button，The motor stop adjusting zero angles of Current Sensor automatically pushing OK button，automatic output testing
io digital output testing
5、EEP backup and restore:：SA Storing，LF adjust default value，bF backup，HF restore，Er software version（see8.08） Parameter management method EEP-SA write parameter EEP-BF parameter backup EEP-HF restore parameter zone Write the parameters of list to EEPROM backup zone Read the data of EEPROM backup zone in the details Write the parameters of list in EEPROM parameter
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D A C H EN G
EEP-LF restore default values EEP-Er the date of software version 4.3 operating instructions in the first menu, pushing Finished by pushing OK ↓
Dacheng Electric
parameter table
Read the default values of parameter in the parameter table Show the production software version
↑ b button \ ↑
button，Choose any kinds of 5 modes。
Enter the second menu.。Pushing or function If finished, pushing OK
↓
button again, to modify parameter
Button .If Modification completed, please push MENU
button， return and
to the previous page，Then pushing ↓ pushing write ↑ ↓ Button to choose ERP，pushing ↑ OK button then button to
button to choose EEP-SA again，pushing
OK
the parameters of list in EEPROM parameter zone, in order to save the parameter in after power failure. ↓ ↑ the digitals have changed more rapidly if clicking button again and again when modification. It helps to modify big numbers quickly. 4.4 control parameters(it is useful if tick”*”) Serial number Pr-01 Pr-02 Pr-03 Pr-04 Pr-05 Pr-06 Pr-07 Pr-08 Pr-09 Pr-10 Pr-11 name Test running speed Maximum speed limits encoder electrical angle U phase current zero U phase current zero analog signal 1 gain analog signal 1 zero analog signal 2 gain analog zero signal 2 r/min r/min 1000 0 100 200 unit r/min r/min 0.144angl e default value 200 1500 1200 0 0 1000 0 0-5000 0-2500 ±5000 ±5000 1-5000 ±5000 0-5000 ±5000 ±5000 ±5000 * * range notes unchanging * *
internal speed 1 Internal speed 2
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D A C H EN G
Pr-12 Pr-13 Pr-14 Pr-15 Pr-16 Pr-17 Pr-18 Pr-19 Pr-20 Pr-21 Pr-22 Pr-23 Pr-24 Internal speed 3 Internal speed 4 analog signal filtering analog signal filtering internal speed 5 Internal speed 6 Internal speed 7 Internal speed 8 speed loop Kp speed loop ki speed loop kc speed loop kd maximum limit of positive current in speed loop maximum limit of negative current in speed loop Response frequency of speed loop acceleration time deceleration time minimum limit of analog speed ms ms r/min 1 2 r/min r/min 0.1ms 0.1ms r/min r/min r/min r/min 0.001 0.0001 0.001 0.001 300 400 1 1 500 600 700 800 500 10 200 0 500
Dacheng Electric
±5000 ±5000 1-50 1-50 ±5000 ±5000 ±5000 ±5000 0-5000 0-5000 0-5000 0-1000 0-5000 -500 -5000-0 10 100 100 0 ±100 * * * * * *
Pr-25
Pr-26 Pr-27 Pr-28 Pr-29
1-50 0-30000 0-30000 0 unrestraine d
Pr-30 Pr-31 Pr-32 Pr-33 Pr-34
current loop kp current loop ki current loop kc current loop kd maximum limit of current loop and positive current maximum limit of current loop and negative current maximum limit of current loop and positive weak magnet
0.001 0.0001 0.001 0.001
900 200 400 100 1000
0-5000 0-5000 0-5000 0-1000 0-5000
Pr-35
-1000 -5000-0 900 0-5000
Pr-36
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D A C H EN G
Pr-37 maximum limit of current loop and positive weak magnet Encoder frequency output hz -900
Dacheng Electric
-5000-0
Pr-38 Pr-39
1 0
1-4096
carrier frequency0-10khz 1-8khz 2-6khz 3-4khz rated current (current protection) the auto-zero motor choice
0-3
Pr-40
ampere
5 1-20 0 0:below 1kw 1:above 1kw -5000-+50 00 -5000-+50 00 0-1000 1 200 100 0 * *
Pr-41
Pr-42 Pr-43 Pr-44
maximum speed for position control the rate of location curve change return time of location curve change default display of nixie tube maximum speed limit of torque direct-current and bus voltage gain direct-current and bus voltage zero retain the goal of speed curved section 1 add-subtract time of speed curved section 1 the goal of speed curved section 2 add-subtract time of speed curved section 2 the goal of speed 10ms 10ms 0.1s
200 200 10
* The details seen 4.2
Pr-45 Pr-46 Pr-47 Pr-48 Pr-49 Pr-50 Pr-51
1-16 -3000-300 0 1-200 -3000-300 0
100 100
0-5000
*
0-30000 200 100 0-30000 300 0-5000
*
Pr-52 Pr-53
0-5000
*
* *
Pr-54
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D A C H EN G
curved section 3 Pr-55 add-subtract time of speed curved section 3 the goal of speed curved section 4 add-subtract time of speed curved section 4 the goal of speed curved section 5 add-subtract time of speed curved section 5 holding time of speed curved section 1 holding time of speed curved section 2 holding time of speed curved section 3 holding time of speed curved section 4 holding time of speed curved section 5 retain Position kp Position kc electronic numerator electronic denominator gear gear 50 10 1 1 10ms 10ms 10ms 100
Dacheng Electric
0-30000 400 100 0-30000 500 100 0-30000 * * *
Pr-56 Pr-57
0-5000
*
Pr-58 Pr-59
0-5000
*
Pr-60
10ms
100 0-30000 *
Pr-61
10ms
100 0-30000 *
Pr-62
10ms
100 0-30000 *
Pr-63
10ms
100 0-30000 *
Pr-64
10ms
100 0-30000 *
Pr-65~ 69 Pr-70 Pr-71 Pr-72 Pr-73
1-200 1-200 1-30000 1-30000
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Pr-74 Input pulse type： 1 ： orthogonal AB pulse (positive) 2：positive pulse+ direction (positive) 3：positive pulse + reverse pulse (positive) 4 ： orthogonal AB pulse (negative) 5： Pulse + direction (negative) 6： positive pulse + reverse pulse (negative) type of the Encoder output pulse 0：orthogonal pulse dividing frequency 1:pulse + direction channels 2:synchronization between positive and reverse pulse 3:Synchronous of orthogonal pulse retain Selection of Control Mode （ 0internal speed control 2 modulating control 3 torque control 4preset the speed control of velocity curve 5 position curve control 6 position control 7 he position controlled by computer 8 speed controlled by computer 0 0 1
Dacheng Electric
1-6
Pr-75
0
0-3
Pr-76~ 89 Pr-90
0-8
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D A C H EN G
Pr-91 On Mode （ 1 ： Not Displayed 0 ： Display） the display of manually zero（1： current0：angle） 0 ： The maximal efficiency control 1the maximum power control 0：pc not on-line 1：pcon-line 0light change 8rotary change retain the cycles of the position curve 0 The cycles deviation of the position curve 0 the speed of position curved section 0 retain the cycles of the position curved section 1 The deviation position section 1 cycles of the curved 0 0 Pr-92 0 0
Dacheng Electric
Pr-93
0
Pr-94 Pr-95 Pr-96~99 Pr-100 Pr-101
* above5.5kw
* *
Pr-102
*
Pr-103 Pr-104
* *
Pr-105
*
Pr-106
the speed of the position curved section 1 retain the cycles of the position curved section 2 The deviation position section 2 cycles of the curved
*
Pr-107 Pr-108
* *
Pr-109
*
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D A C H EN G
Pr-110 the speed of the position curved section 2 retain the cycles of the position curved section 3 The deviation position section 3 cycles of the curved Pr-111 Pr-112
Dacheng Electric
*
* *
Pr-113
*
Pr-114
the speed of the position curved section 3 retain the cycles of the position curved section 4 The deviation position section 4 cycles of the curved
*
Pr-115 Pr-116
* *
Pr-117
*
Pr-118
the speed of the position curved section 4 retain the cycles of the position curved section 5 The deviation position section 5 cycles of the curved
*
Pr-119 Pr-120
* *
Pr-121
*
Pr-122
the speed of the position curved section 5 retain the cycles of the position curved section 6 The deviation position section 6 cycles of the curved
*
Pr-123 Pr-124
* *
Pr-125
*
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D A C H EN G
Pr-126 the speed of the position curved section 6 retain the cycles of the position curved section 7 The deviation position section 7 cycles of the curved Pr-127 Pr-128
Dacheng Electric
*
*
Pr-129
*
Pr-130
the speed of the position curved section 7 retain the cycles of the position curved section 8 The deviation position section 8 cycles of the curved
*
Pr-131 Pr-132
*
Pr-133
*
Pr-134
the speed of the position curved section 8 retain the cycles of the position curved section 9 The deviation position section 9 cycles of the curved
*
Pr-135 Pr-136
*
Pr-137
*
Pr-138
the speed of the position curved section 9 retain the cycles of the position curved section 10 The cycles deviation of the position curved section 10
*
Pr-139 Pr-140
*
Pr-141
*
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D A C H EN G
Pr-142 the speed of the position curved section 10 retain the cycles of the position curved section 11 The cycles deviation of the position curved section 11 the speed of the position curved section 11 retain the cycles of the position curved section 12 The cycles deviation of the position curved section 12 the speed of the position curved section 12 retain the cycles of the position curved section 13 The cycles deviation of the position curved section 13 the speed of the position curved section 13 retain the cycles of the position curved section 14 The cycles deviation of the position curved section 14 Pr-143 Pr-144
Dacheng Electric
*
*
Pr-145
*
Pr-146
*
Pr-147 Pr-148
*
Pr-149
*
Pr-150
*
Pr-151 Pr-152
*
Pr-153
*
Pr-154
*
Pr-155 Pr-156
*
Pr-157
*
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D A C H EN G
Pr-158 the speed of the position curved section 14 retain the cycles of the position curved section 15 The cycles deviation of the position curved section 15 the speed of the position curved section 15 retain the cycles of the position curved section 16 The cycles deviation of the position curved section 16 the speed of the position curved section 16 retain the cycles of the position curved section 17 The cycles deviation of the position curved section 17 the speed of the position curved section 17 retain the cycles of the position curved section 18 The cycles deviation of the position curved section 18 Pr-159 Pr-160
Dacheng Electric
*
*
Pr-161
*
Pr-162
*
Pr-163 Pr-164
*
Pr-165
*
Pr-166
*
Pr-167 Pr-168
*
Pr-169
*
Pr-170
*
Pr-171 Pr-172
*
Pr-173
*
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D A C H EN G
Pr-174 the speed of the position curved section 18 retain the cycles of the position curved section 19 The cycles deviation of the position curved section 19 the speed of the position curved section 19 retain retain Pr-175 Pr-176
Dacheng Electric
*
*
Pr-177
*
Pr-178
*
Pr-179 Pr-180 -198
4.5Alarm parameters name AL-01 AL-02 AL-03 AL-04 AL-05 AL-06 AL-07 AL-08 AL-09 AL-10 AL-11~12 Module protection Over speed Protection wiring error of encoder the wiring error of motors overvoltage protection over-current protection zero-coding error zero error for the electrical wiring， renewable electrical braking no signal of encode reserve description
PID adjust introductions: 1 Speed Kp：the greater the value, the higher the gain, the greater the rigidity. the determination Of parameter calculating according to specific type and load of the servo drivers. Under normal circumstances, the greater the load of inertia, the greater the value. There are no shocks in the system, the larger setting as much as possible. 2、Speed Ki：the greater the value, the faster the rate, the greater the rigidity. the determination Of parameter calculating according to specific type and load of the servo drivers. Under normal circumstances, the greater the load of inertia, the smaller the value. There are no shocks in this system ,the larger setting as much as possible.。 3、Location Kp：the greater the value, the higher the gain, the greater the rigidity.
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D A C H EN G
Dacheng Electric
Under the same frequency instruction pulse,the smaller the position lag. There are no shocks in this system, the larger set as much as possible. 4、Current Kp：the greater the value, the higher the gain, the smaller the current tracking error. However, the higher the gain, will have noise or vibration. This parameter has something to do with servo driver and mnotors, having nothing to do with loading.There are no shocks in this system, the larger setting as much as possible. 5、Current Ki：the greater the value, the faster the rate, the smaller the current tracking error. However, the higher the gain, will cause the noise or vibration. This parameter has something to do with servo driver and mnotors, having nothing to do with loading. Under normal circumstances, the smaller the electromagnetic motor constant, the smaller the integration time constant. There are no shocks in this system, the larger setting as much as possible. 6、Feed forward set Methods: The speed can be fed through the open-loop control of the servo system to accelerate the speed of response, when speeding up the feed forward gain to reduce the accumulation of position loop error, thus speeding up the error rate of compensation .In theory analysis, the current speed gain increases, the smaller the total error value of location loop, that is, the smaller the integral role. But too much feed forward gain easily lead to oscillations and location overshoot, In addition, the actual system in the ideal differential link doesn’t exist, so the link can not gain too much, at the same time, in order to ensure accuracy of the positioning servo system, integral control is essential points
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D A C H EN G
5.1 Speed control 5.1.1 Internal speed control（Pr90=0）
Dacheng Electric
Chapter five Standard control wiring
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D A C H EN G
S1， 0 0 0 0 1 1 1 1 S2， 0 0 1 1 0 0 1 1 S3 0 1 0 1 0 1 0 1
Dacheng Electric
description choose internal speed 1 Pr10 choose internal speed 2 Pr11 choose internal speed 3 Pr12 choose internal speed 4 Pr13 choose internal speed 5 Pr16 choose internal speed 6 Pr17 choose internal speed 7 Pr18 choose internal speed 8 Pr19
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D A C H EN G
Dacheng Electric
5.1.2 the external simulate rate-controlling(Pr90=2)
the external simulate torque controlling(Pr90=3)
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D A C H EN G
5.1.3 Preset rate-controlling curve （Pr90=4）
Dacheng Electric
Note: the speed section controlled by the parameters Pr-50~64
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D A C H EN G
5.1.4 controlling of computer rate（Pr90=8）
Dacheng Electric
1:The communications are RS232, agreement is:57600, n,8,1 2:Communicationformat:0x55+controlsignal(1byte)(00110011)+High-speed+low-speed
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D A C H EN G
bytes +0xAA
Dacheng Electric
5.1.5Position control(Pr90=6)
the choice of the input mode（Pr74） ①pulse + mark ②positive pulse +reverse pulse ③ two-phase A/B orthogonal pulse
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D A C H EN G
Dacheng Electric
(positive logic)④ pulse + mark ⑤ positive pulse /reverse Pulse ⑥two-phase A / B orthogonal pulse (negative logic) 5.1.6 the control of position curve（Pr90=5）(to realize the synchronization of XY axis in CNC machine tools if use two servos)
Note: the location controlled by the parameters Pr-100 ~ 180,If use two servos can be realized the synchronization of XY axis in CNC machine tools while simultaneously
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D A C H EN G
Dacheng Electric
reach the location of mutual connection and synchronization signal. 5.1.7 Pressure Closed Loop Control（Pr90=9） （Applicable for Injection Machine）
Note: This function controlled by the parameters Pr80, Pr81, Pr82, Pr83, Pr84 ,Pr85, Pr86.
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D A C H EN G
5.1.8 Braking Resistor Configuration Table Motor （kW） 1.5 2.2 3.7 5.5 7.5 11 15 18.5 Power
Renewable Power(W) Resistor
Dacheng Electric
Renewable Resistor Maximum(Ω) 400 250 150 100 75 50 40 32 Renewable Resistor Minimum (Ω) 130 130 78 39 39 26 26 20
300 300 500 800 1000 1500 2000 4000
Note: This table is just for the reference, details are determined on the value of load inertia matched by motor. 5.1.9Injection Machine Servo Configuration Table The
of
Maximum Injection System Pressure （MPa） 16 16 16 16 16 16 16 16 16 Matching Oil Pump Matching Motor Matching Driver Matching transducer
mould locking force
Machine （T） 55 80 120 150 200 250 280 320 380
QT42-31.5FA QT42-31.5FA QT52-50F-A
DCM-UBF190P75 DCM-UBF190P11 0 DCM-UBG190P11 0 DCM-UBG190P15 0 DCM-UBG190P18 0 DCM-UBG190P22 0 DCM-UBG190P30 0 DCM-UBG190P37 0 DCM-UBG190P45 0
DCSF-U1100S 380V8.34 DCSF-U1500S 380V8.34 DCSF-U1500S 380V8.34 DCSF-U1800S 380V8.34 DCSF-U2200S 380V8.34 DCSF-U3000S 380V8.34 DCSF-U3700S 380V8.34 DCSF-U4500S 380V8.34 DCSF-U5500S 380V8.34
HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742 HUBA511.943003742
QT52-63F-A
QT52-63F-A
QT52-63F-A
QT62-125F-A
QT62-125F-A
QT62-125F-A
Note: This table is just for the reference, details are determined on the value of oil pump output matched by motor.
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D A C H EN G
Dacheng Electric
Chapter VI Monitoring software
6.1 Summary DCSFC series AC servo driver is high-performance servo controller independently developed by our company , this software is the monitoring software can be used for monitoring synchronous development of DCSFC series AC servo drivers ,so that we can clearly observe the various parameters and status of motor running , while the software also has real-time control functions, for providing services for a variety of applications of computer control systems 6.2 software Installation The software for the green software, it runs as long if only it is easily copied , USB communications is available Open” DCSFC”, the following dialog appears:
to choose the communication interface and baud rate. Entering the following interface by click "OK "button:
Technical Department 2008-07-21
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