User'sManual ACSERVODRIVER - nssystem.co.kr

1 user 's Manual AC SERVO DRIVER. TANGO-A Series NS SYSTEM Co., Ltd. NS SYSTEM SinYong B/D 4F #942-6 Ingye-Dong, Paldal-Gu, Suwon-City, Kyungki-Do, Korea Homepage : TEL: 82-31-235-7492~6 FAX: 82-31-235-7497. CONTENTS. Safety Instructions 1. CHAPTER 1. FUNCTIONS AND SPECIFICATIONS 4. 1-1. FEATURES AND THE PRODUCT 4. 1-2. CONTROL MODE 4. 1-3. STANDARD SPECIFICATIONS 5. 1-4. MODEL CODE DEFINITION 9. 1-4-1. NAME PLATE 9. 1-4-2. MODEL CODE 9. 1-5. COMBINATION WITH SERVO MOTOR 9. 1-6. DIMENSIONS OF SERVO AMPLIFIER 10. 1-6-1. DIMENSIONS OF BOOK TYPE1 ( TANGO-A01/A02/A04/A06 ) 10. 1-6-2. DIMENSIONS OF BOOK TYPE2 ( TANGO-A08/A12/A18 ) 10. 1-6-3. DIMENSIONS OF BASE MOUNT TYPE1 ( TANGO-A24/A30/A35 ) 11. 1-6-4. DIMENSIONS OF BASE MOUNT TYPE2 ( TANGO-A40/A50/A75 ) 11.

2 CHAPTER 2. INSTALLATION 12. 2-1. CHECK ITEMS WHEN PRODUCT DELIVERED 12. 2-2. INSTALLATION DIRECTION AND CLEARANCES 12. 2-2-1. INSTALLATION OF SERVO AMPLIFIER 12. 2-2-2. INSTALLATION OF SERVO MOTOR 13. 2-2-3. ENVIRONMENTAL CONDITIONS 13. 2-2-4. ALLOWABLE WEIGHT OF MOTOR SHAFT 13. 2-2-5. AUXILIARY EQUIPMENTS AND WIRES 14. CHAPTER 3. SIGNALS AND WIRING 15. 3-1. PARTS IDENTIFICATION 15. 3-1-1. PARTS IDENTIFICATION OF BOOK TYPE1 / TYPE2 15. 3-1-2. PARTS IDENTIFICATION OF BASE MOUNT TYPE1 / TYPE2 15. 3-2. CONNECTION DIAGRAM OF SERVO AMPLIFIER 16. 3-2-1. CONNECTION DIAGRAM OF BOOK TYPE1 / TYPE2 16. 3-2-2. CONNECTION DIAGRAM OF BASE MOUNT TYPE1 / TYPE2 17. 3-3. I/O SIGNALS OF CN1 18. 3-3-1. SIGNAL LAYOUTS AND ASSIGNMENT 18.

3 3-3-2. FORWARD/REVERSE COMMAND PULSE 18. 3-3-3. INPUT SIGNALS FOR CONTROL 19. 3-3-4. OUTPUT SIGNALS FOR CONTROL 20. 3-3-5. ENCODER PULSE OUTPUT 21. 3-3-6. ANALOG IN/OUT SIGNAL 22. 3-4. MOTOR ENCODER SIGNALS OF CN3 23. 3-5. SIGNALS AND WIRING OF CN4, CN5 (POWER, MOTOR, REGENERATIVE BRAKE) 23. CHAPTER 4. PARAMETER MODE 24. 4-1. PARAMETER INPUT KEYS 24. 4-2. PARAMETER DISPLAY AND SETTING 24. 4-3. DETAILS OF PARAMETERS 25. 4-3-1. PARAMETER GROUP 1 (PAR1) 25. 4-3-2. PARAMETER GROUP 2 (PAR2) 31. 4-3-3. PARAMETER GROUP 3 (PAR3) 37. CHAPTER 5. DISPLAY MODE 38. 5-1. DISPLAY MODE SETTING 38. 5-2. DETAILS OF DISPLAY MODE 38. CHAPTER 6. CHECK MODE 40. 6-1. CHECK MODE SETTING 40. 6-2. DETAILS OF CHECK MODE 40. CHAPTER 7.

4 ALARM MODE 44. 7-1. ALARM MODE SETTING 44. 7-2. ALARM LISTS AND DETAILS 45. CHAPTER 8. OPERATION OF POSITION CONTROL 47. 8-1. STANDARD CONNECTION DIAGRAM OF POSITION CONTROL 47. 8-2. FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF POSITION CONTROL 47. CHAPTER 9. OPERATION OF SPEED CONTROL 50. 9-1. STANDARD CONNECTION DIAGRAM OF SPEED CONTROL 50. 9-2. FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF SPEED CONTROL 50. CHAPTER 10. OPERATION OF TORQUE CONTROL 53. 10-1. STANDARD CONNECTION DIAGRAM OF TORQUE CONTROL 53. 10-2. FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF TORQUE CONTROL 53. CHAPTER 11. OPERATION OF INTERNAL SPEED CONTROL 55. 11-1. STANDARD CONNECTION DIAGRAM OF INTERNAL SPEED CONTROL 55. 11-2. FUNCTIONAL BLOCK DIAGRAM AND OPERATION OF INTERNAL SPEED CONTROL 55.

5 CHAPTER 12. AUTO TUNING 57. 12-1. SEMI-AUTO TUNING 57. 12-2. FULL-AUTO TUNING 57. CHAPTER 13. SIGNAL TIMING 58. 13-1. POWER ON SEQUENCE 58. 13-2. SERVO ON / OFF SEQUENCE 58. 13-3. BRAKE ON / OFF SEQUENCE 58. CHAPTER 14. OPTIONS 59. 14-1. ENCODER AND MOTOR CABLE 59. 14-2. OPTIONAL REGENERATIVE BRAKE RESISTOR 59. CHAPTER 15. MAINTENANCE AND INSPECTION 60. 15-1. INSPECTION 60. 15-2. LIFE 60. CHAPTER 16. SUMMARY OF LISTS 61. 16-1. PARAMETER LISTS 61. 16-2. ALARM LISTS 62. 16-3. DISPLAY MODE LISTS 62. 16-4. CHECK MODE LISTS 62. 16-5. COMBINATION OF AMPLIFIERS AND MOTORS 63. 16-6. PARAMETER INITIAL VALUE AT FACTORY SETTING 63. CHAPTER 17. COMMUNICATION FUNCTIONS 65. 17-1. COMMUNICATION CONNECTOR (CN2) 65. 17-2.

6 COMMUNICATION SPECIFICATIONS 65. 17-3. RS-232C 66. 17-4. RS-422 66. 17-5. PROTOCOL 67. 17-5-1. DOWN LOAD 67. 17-5-2. UP LOAD 67. 17-6. COMMUNICATION CODES 68. APPENDIX 70. APPENDIX A. SERVO MOTOR CONFIGURATIONS 71. APPENDIX B. SERVO MOTOR CLASSIFICATION 72. APPENDIX C. SERVO MOTOR SPECIFICATIONS AND CHARACTERISTICS 73. APPENDIX C-1. KANZ/Q SERIES SERVO MOTOR SPECIFICATIONS 73. APPENDIX C-2. KAND/S SERIES SERVO MOTOR SPECIFICATIONS 74. APPENDIX C-3. KANH/F SERIES SERVO MOTOR SPECIFICATIONS 75. APPENDIX C-4. KAFX/N SERIES SERVO MOTOR SPECIFICATIONS 76. APPENDIX D. SERVO MOTOR DIMENSIONS 77. APPENDIX E. ELECTROMAGNETIC BRAKE SPECIFICATIONS 80. APPENDIX F. SHAFT END SPECIFICATIONS 81. APPENDIX G. CONNECTOR PIN ARRANGEMENT 82.

7 Safety Instructions (After being familiar with this user 's manual, use the TANGO Series Servo Drive.). Do not attempt to install, operate, maintain or inspect the servo amplifier and motor until you have read through this user 's Manual and appended documents carefully. After reading all, keep the manual well in order that the user of product can easily access it. In this user 's Manual, the safety instruction levels are classified into "DANGER" and "CAUTION". DANGER : Indicates that incorrect handling may cause hazardous conditions to make the death or severe injury CAUTION : Indicates that incorrect handling may cause hazardous conditions to make the medium and slight injury to personnel or may cause physical damage.

8 Note that the "CAUTION" level may lead to a serious result according to conditions. Please follow the instructions of both levels because they are important to personnel safety. Be sure to keep it. DANGER To prevent electric shock, note the following: Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and motor to ground(class 3). There might be the electric shock or fire. Operate the switches with dry hand to prevent from an electric shock. The cables should not be damaged, stressed loaded or pinched. Otherwise, you may get an electric shock. The wiring should be done by the professional electrician.

9 There might be the electric shock or fire. DANGER To prevent fire, note the following: Do not install the servo amplifier, motor and regenerative brake resistor on or near combustibles. Otherwise, a fire may cause. When the servo amplifier has becomes faulty, switch off the main power side. Continuous flow of a large current may cause a fire. When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative brake resistor fault or the like may overheat the regenerative brake resistor, cause a fire. When installing the servo amplifier in enclosed space, install the cooling fan to make the ambient temperature around the servo amplifier less than 55 . CAUTION To prevent injury, note the following: Care must be taken during the transportation.

10 Falling to the foot may cause the injury. Only the voltage specified in the user 's Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. During power-on or some time after power-off, do not touch the servo amplifier fins, regenerative brake resistor, servo motor. Their temperatures may be high and you may get burnt. CAUTION Transportation Do not carry the motor by the cables, shaft or encoder. Do not hold the cover to transport the servo amplifier. The servo amplifier may drop. Transport the products correctly according to their weights. Do not climb or stand on servo equipment. Do not put heavy objects on equipment.