Page 2: Preface
Preface We appreciate your support for choosing the AS100 Series AC Servo System of ALPHA. This Manual is formulated to help you apply this product in a correct manner. It introduces the naming rules, supporting recognition, wiring, utilization, parameter setting, precautions, and fault diagnosis of the servo drive and the motor.
Page 3 Preface Danger! ◆ This equipment is with hazardous voltage. Operations against warnings or this Manual may incur life risk and personal injury. Therefore only professionals familiar with safety precautions are allowed to operate the equipment after completion of its installation. ◆...
Page 4 Preface ◆ Please make sure that all signs and tags are legible and fill in new tags for missing or worn ones. ◆ Please place the Manual where it is easily accessible and disseminate it to all users for reading. Our Company reserves the right to modify this Manual without notice;...
Page 5: Table Of Contents
Contents Contents Preface ..........................1 Chapter I Purchase Inspection ..................7 1.1 Unpacking Inspection ..................7 1.2 Naming Rules ....................8 1.3 Servo Drive Nameplate .................. 10 1.4 Servo Motor Nameplate ................. 10 1.5 Servo System Constitution ................11 Chapter II Installation and Wiring ................12 2.1 Outline Dimension and Installation Dimension of Servo Drive .....
Page 6 Contents 3.4 System Parameter Initialization ..............46 Chapter IV Operation ....................47 4.1 Power Connection ..................47 4.2 Trial Operation ....................50 4.1.1 The Checking Points Before Trial Operation .......... 50 4.1.2 The Checking Points During Operation ..........51 4.1.3 Commissioning When Connecting to Power .......... 51 4.3 Adjustment .....................
Page 7 Contents Chapter IX Quality Guarantee ................. 143 Annex 1 Appearance Dimensions and Installation Dimensions of Drive ....145 Annex 2 Technical Specification of Servo Drive ............ 148 Annex 3 Matching Selection of Servo Motor and Drive (220V series) ....151 Annex 4 Matching Selection of Servo Motor and Drive (380V series) ....
Page 8: Chapter I Purchase Inspection
Chapter I Purchase Inspection Chapter I Purchase Inspection 1.1 Unpacking Inspection The servo drive system has been tested and checked strictly before delivery. However, please check the purchased product of the following items to avoid unnecessary mistakes during purchasing and transport. ...
Page 9: Naming Rules
1.2 Naming Rules Naming rules of the servo drive are as follows: AS100 A - 5R5 M2 U Series Code Encoder Type Alpha Servo 100 U: 2500CPR standard inc. Enc. Series V: 2500CPR wire-saving inc. Enc. W: 20-bit inc. Enc.
Page 10 ⑤ ① ② ③ ① Series Code: ASMG=Medium Inertia AC Servo Motor of Alpha ASMH=High Inertia AC Servo Motor of Alpha ASMS=Low Inertia AC Servo Motor of Alpha ② Output Power: Three figures or two figures plus R (decimal point) are employed to represent the rated output power of the motor, which is in KW.
Page 11: Servo Drive Nameplate
Chapter I Purchase Inspection ⑦ Option Option is represented by a letter. No oil seal No oil seal With oil seal With oil seal Option code No brake With brake No brake With brake Circular shaft (with screw holes ) Keyway Keyway (with screw holes )
Page 12: Servo System Constitution
Chapter I Purchase Inspection 1.5 Servo System Constitution 1Ф/3Ф 220V/380V Circuit Breaker Communication Cable EMC filter AS100 series Servo Driver Magnetic Contactor I/O Cable Motion controller Ext. Brake Resistor Encoder (Remove the jumper Motor Feedback between B2 and + Drive...
Page 13: Chapter Ii Installation And Wiring
Chapter II Installation and Wiring Chapter II Installation and Wiring 2.1 Outline Dimension and Installation Dimension of Servo Drive See Appendix 1 for details on outline dimension and installation dimension of servo drive. 2.2 Installation Site Requirements and Management Caution •...
Page 14: Installation Site
Chapter II Installation and Wiring 2.2.1 Installation Site The IP code of AS100 servo drive is IP20, and the installation site shall meet the following requirements:  Keep the indoor environment well ventilated;  Do not install the drive on a wood material or other combustibles; ...
Page 15: Emc Installation Conditions
Chapter II Installation and Wiring Above 100mm Above Above 40mm 40mm Above 100mm Fig. 2-1 Installation Direction and Space  To achieve good cooling and circulation effects, adequate space must be reserved between the upper, lower, left and right parts and the adjacent objects or baffle plates (wall).
Page 16: Main Circuit Terminal Wiring
Chapter II Installation and Wiring GB/T17626.2-6. In order to avoid any possible influence of external strong electromagnetic interference source, to ensure normal operation of the servo system, and to prevent the adverse impacts of the actions of the high -frequency electronic switch on the sensitive equipment nearby, the following EMC measures should be taken during the installation of the servo system: ...
Page 17 Chapter II Installation and Wiring Table 2-1 Function and Description of Main Circuit Terminal Terminal Code Terminal Name and Function Description Main circuit power supply input terminal: The drive shall be connected to three-phase 220V or three-phase 380V or single-phase 220V power supply according to different models;...
Page 18 Chapter II Installation and Wiring  Use proper wire noses, and press it on the wire of which the insulating layer is stripped with a proper crimping tool.  Insert the wire of the terminal connector into the opening on the hole with a tool. Two methods may be applied: ■...
Page 19 Chapter II Installation and Wiring Typical Wiring Diagram of Main Circuit ● Single-phase/three-phase 220V Power Supply: AS100A-1R6M2U and AS100A-2R8M2U do not have a jumper between B2 Notes: and +. The above figure is applicable to the following drives: AS100A-1R6M2U AS100A-2R8M2U AS100A-3R8M2U AS100A-5R5M2U AS100A-7R6T2U...
Page 20 Chapter II Installation and Wiring ● Three-phase 380V Power Supply: the above figure is applicable to the following drives: Notes: AS100A-3R5T3U AS100A-5R4T3U AS100A-8R4T3U...
Page 21: Control Circuit Terminal Wiring
Chapter II Installation and Wiring 2.6 Control Circuit Terminal Wiring 2.6.1 Encoder Single Wiring CN1 Encoder terminal CN1 Plug Welding Terminal Arrangement Fig. 2-3 Encoder Signal Interface (CN1) Table 2-2 Function and Description of Encoder Signal Terminal Terminal Terminal Classification Signal Name Function Grade...
Page 22 Chapter II Installation and Wiring Terminal Terminal Classification Signal Name Function Grade Encoder Z- Motor encoder Z- signal CN1-8 phase input interface Encoder B+ Motor encoder B+ signal CN1-9 phase input interface Pulse signal Encoder B- Motor encoder B- signal CN1-10 input phase input...
Page 23: I/O Signal Wiring Cn2
Chapter II Installation and Wiring 2.6.2 I/O Signal Wiring CN2 D03- DO1+ DO1 - DO2+ DO2- PULS+ PULS- PAO+ PAO- PBO+ I/O terminal DIR+ PBO- DIR- BRK- BRK+ PZO+ PZO- +24VIN + DO4 Z-OUT+ - DO3+ Z-OUT- CN2 SCSI 50P Plug Welding Terminal Arrangement Fig.
Page 24 Chapter II Installation and Wiring Terminal Terminal Classification Signal Name Function Grade Alarm through parameter settings. The possible clear ALM-RST input functions include: Default Function: 0: Servo enable (S-ON) CN2-42 Reverse 1: Alarm clear (ALM-RST) travel limit N-OT 2:Reverse travel limit Default Function: (N-OT) CN2-43...
Page 25 Chapter II Installation and Wiring Terminal Terminal Classification Signal Name Function Grade completion/speed input functions include: coincidence 0: Servo ready CN2-26 P_CMP+ / 1: Servo alarm P_CMP- 2: Positioning completion/speed CN2-23 coincidence Origin search 3: Origin search completion completion CN2-24 Output form: OC output Home+/Home- Maximum output:...
Page 26 Chapter II Installation and Wiring Terminal Terminal Classification Signal Name Function Grade CN2-49 Z-OUT+ Encoder origin signal Z Z pulse output open collector signal CN2-50 Z-OUT- output CN2-19 PZO+ Z pulse output Encoder divider pulse CN2-20 PZO- Pulse Output output A,B (90° phase CN2-33 PAO+ difference pulse)
Page 27: Communication Signal Wiring Cn3/Cn4
Chapter II Installation and Wiring 2.6.3 Communication Signal Wiring CN3/CN4 Communication terminal Fig. 2-5 Communication Signal Interface (CN3/CN4) Table 2-4 Function and Description of Communication Signal Terminal CN3 Pin No. Shell Definition GND Retain Retain RS485+ RS485- Retain Retain +5V Shell CN4 Pin No.
Page 28: Basic Block Diagram Of Servo System
Chapter II Installation and Wiring 2.7 Basic Block Diagram of Servo System Ext. Brake Resistor 3 ~ 220V +24V EMC Filter Servo Motor Varistor Surge Arrester Relay Voltgae Gate Driver Current Detect Drive Detect Varistor +/- 15V Temperature Detect SMPS +15V x 4 -8V x 4 +24V...
Page 29 Chapter II Installation and Wiring Motor Encoder PULS+ PAO+ Position command pulse PULS- PAO- SIGN+ PBO+ PBO- SIGN- External PZO+ power supply +24VIN DC12-24V 3.3K PZO- DI1 (S-ON) Z-OUT+ 3.3K Z-OUT- S-RDY+ (ALM-RST) 3.3K S-RDY DI3 (N-OT) ALM+ 3.3K DI4 (P-OT) P_CMP+ 3.3K DI5 (CLR)
Page 30 Chapter II Installation and Wiring Motor Encoder PAO+ Speed reference Low-pass filter PAO- PBO+ PBO- External power supply PZO+ +24VIN DC12-24V 3.3K PZO- DI1 (S-ON) Z-OUT+ 3.3K Z-OUT- DI2 (ALM-RST) S-RDY+ 3.3K S-RDY- DI3 (N-OT) ALM+ 3.3K ALM- DI4 (P-OT) V_CMP 3.3K DI5 (SC1)
Page 31 Chapter II Installation and Wiring Motor Encoder PAO+ Torque reference PAO- Low-pass filter PBO+ PBO- External power supply DC12-24V PZO+ +24VIN 3.3K PZO- DI1 (S-ON) Z-OUT+ 3.3K Z-OUT- DI2 (ALM-RST) S-RDY+ 3.3K S-RDY- DI3 (N-OT) ALM+ 3.3K DI4 (P-OT) ALM- 3.3K BRK+ 3.3K...
Page 32: Interface Circuit Principle
Chapter II Installation and Wiring 2.9 Interface Circuit Principle The I/O signal of the servo drive and the interface circuit connection of the host device are as shown in Fig. 2-10 to Fig. 2-17: Analog Input Circuit The I/O interface CN2 of the drive has one loop of analog input (0~± 10V), as the speed command or torque command signals;...
Page 33 Chapter II Installation and Wiring (1) The user shall provide the power supply DC12-24V >50mA (2) If the polarity of the power supply is reversed, the drive will not respond to the signal. If the host device is open collector output: Servo drive External power supply DC12-24V...
Page 34 Chapter II Installation and Wiring (4) A freewheeling diode must be installed and the polarity must be correct; otherwise the drive will be damaged. If the host device is OC input: Servo drive DC5-24V S-RDY+ S-RDY- Fig. 2-14 Digital Output Circuit (b) Pulse (Position Command) Input Circuit The position command pulse of the host device has two types: differential drive (line drive) and open collector drive (single-end drive).
Page 35 Chapter II Installation and Wiring Servo drive PULS+ 3.3k PULS- SIGN+ 3.3k SIGN- Fig. 2-15 Pulse Differential Drive Input Circuit (a) Servo drive +24V 3.9k PULS- 3.9k SIGN- Fig. 2-16 Pulse Single-end Drive Input Circuit (b)
Page 36 Chapter II Installation and Wiring Timing Requirements for Pulse Input: Parameters Differential Drive Input Single-end Input Drive >2μs >5μs >1μs >2.5μs >1μs >2.5μs <0.2μs <0.3μs <0.2μs <0.3μs >1μs >2.5μs >8μs >10μs >4μs >5μs >4μs >5μs >0.2μs <0.3μs >0.2μs <0.3μs >1μs >2.5μs PULS SIGN...
Page 37 Chapter II Installation and Wiring PULS SIGN Sequence Diagram of CCW+CW Pulse Input Interface (maximum frequency 500 KHz) PULS SIGN Sequence Diagram of Two-phase Quadrature Pulse Input Interface (maximum frequency 300 KHz)
Page 38 Chapter II Installation and Wiring Encoder Pulse Divider Output Circuit Servo drive Host device PAO+ (PBO+, PZO+) PAO- (PBO-, PZO-) Fig. 2-17 Encoder Pulse Divider Output Circuit...
Page 39: Holding Brake Wiring
Chapter II Installation and Wiring 2.10 Holding Brake Wiring The power supply connection for the servo motor holding brake (mechanical brake) has no polarity requirements, the DC power supply shall be provided by users. The standard wiring for brake signal (BRK) outputted by the drive and the brake power supply are shown in Fig.
Page 40 Chapter II Installation and Wiring  The drive and the servo motor must be reliably grounded, and the grounding wire should be thick wire (above 2.0mm ) if possible.  Do not bend the cable or make it bear any tension. The diameter of the core wire of cables for signal is extremely small, i.e.
Page 41: Chapter Iii Display And Operation
Chapter III Display & Operation Chapter III Display and Operation 1. Close the input power supply upon completion of the terminal cover installation; please do not remove the terminal cover when the power is on to avoid electric shocks. 2. Please keep off the mechanical equipment to avoid personal Danger injury possibly caused by the sudden start-up of the servo drive when electrified.
Page 42: Led Display
Chapter III Display & Operation Name Function One left shift of the flicker bit for each pressing during Shift parameter setting Proceeding to the next menu or saving the parameter value during setting please find out the cause of the alarm prior to the alarm reset. Notice: 3.1.2 LED Display There is a 5-bit 7-segment LED display on the operation panel of the servo drive which...
Page 43: Parameter Setting
Chapter III Display & Operation 3.2.2 Parameter Setting Upon each power-on, adjust P00.00 to 356 and save it before changing other Notice: parameters. Some parameters takes immediate effect upon setting; wrong parameter settings may lead to mal-operation and result in an accident. Other parameter settings take effect after restarting.
Page 44: Monitor Display
Chapter III Display & Operation 3.3 Monitor Display The parameter of P02.04 “Pos” displayed on the monitor is shown in Fig. 3-3 as an example of monitor display. The servo motor is in 4 LSBs of a pulse of 2053. Fig.
Page 45 Chapter III Display & Operation Function Code No. Function Code Name Unit P02.10 (trq) Actual motor torque P02.11 (I) Actual motor current Input terminal high order P02.12 (InH) state Input terminal low order P02.13 (InL) state P02.14 (oUt) Output terminal state Pulse frequency of P02.15 (Frq) position command...
Page 46 Chapter III Display & Operation 3-internal speed control; 4-speed trial operation; 5-JOG trial operation; 6-factory mode. 3. The pulse frequency of the position command is the actual one which has not yet been amplified through the electric gear. The minimum unit of the pulse frequency is 0.1 kHz, and it is positive in the forward direction and negative in the reverse direction.
Page 47: System Parameter Initialization
Chapter III Display & Operation 3.4 System Parameter Initialization Restore the factory defaults according to the following steps: In order to set the parameter of PP00.16 as 1, press . The system will begin the restoring of the defaults with the display of “start” and ends it with the display of “done”.
Page 48: Chapter Iv Operation
Chapter IV Operation Chapter IV Operation Danger  The drive and motor must be reliably connected to ground, PE terminal must be reliably connected to the equipment grounding end.  It is recommended that the drive power supply is provided by the isolation transformer and power filter, to ensure the safety and anti-interference capability.
Page 49 Chapter IV Operation circuit shall be limited to 5 times per hour and 30 times per day. If the failure of servo system is due to overheating of drive or motor, it shall be cooled for 30 minutes before re-connecting to power. Fig.
Page 50 Chapter IV Operation · The Sequence Diagram of Power on Control of Power (LC1, LC2) About 1.0~4.0s Internal Control of Power Confirm About 2s About 1.5s The Microprocessor action Reset Initialization Usual work Above 0s Main Power (L1, L2, L3) Above 10ms Servo enable output Output Tr OFF...
Page 51: Trial Operation
Chapter IV Operation · The Sequence Diagram of Alarm Clearance Above 120ms Alarm Input coupler Input coupler clearance Input coupler About Motor connected Disconnected to power 60ms to power Connected to power Servo enable Output Tr OFF (no ready) Output Tr ON (ready) output (S-RDY) Servo alarm...
Page 52: The Checking Points During Operation
Chapter IV Operation 4.1.2 The Checking Points During Operation  Whether the motor operation is stable.  Whether the motor operation direction is correct.  Whether the motor has abnormal vibration.  Whether the motor is stable when increasing or decreasing speed. ...
Page 53 Chapter IV Operation Reference Steps Operations Chapter Set the control mode (P00.02) at speed test run (the setting is 4). At this time, the drive is at enabled state, the motor is Keyboard initiated and at zero speed running state, gentle vibration can operation be felt when touching the motor with hand.
Page 54 Chapter IV Operation Reference Steps Operations Chapter Set the control mode (P00.02) as the speed test run (the setting is 5). At the this time, the drive is at enabling state, the motor Keyboard is initiated and at zero speed running state, gentle vibration operation can be felt when touching the motor with hand.
Page 55 Chapter IV Operation Set the control mode (P00.02) as the position control mode (the setting is 0), set the parameter position instruction pulse input mode (P00.05) according to the controller output signal, Keyboard and set the appropriate electronic gear ratio (P04.04/P04.05). operation Confirm the relevant parameters setting of others and position method...
Page 56: Adjustment
Chapter IV Operation Reference Steps Operations Chapter drift, and the motor is operated at low speed. If necessary, adjust the analog zero compensation value (P03.12) to make the motor stop running. Operate the host control signal, set appropriate speed instruction to the servo drive, so the motor is operated according to instruction.
Page 57: Basic Gain Adjustment
Chapter IV Operation 4.3.1 Basic Gain Adjustment ● Parameters For Speed Loop The speed loop parameters include: speed loop gain (P00.08), speed loop integral time constant (P00.09), speed feedback low-pass filter coefficient (P00.10), and speed reference low-pass filter coefficient (P00.11). 1.
Page 58 Chapter IV Operation System rigidity [Position loop gain] Low rigidity 10~20 Hz Medium rigidity 30~50 Hz High rigidity 50~70 Hz the greater the rigidity means the faster the system response. Note: 4. If the required position following characteristics is high, the set value of speed feed-forward gain P00.04 can be increased.
Page 59: Basic Parameter Adjustment
Chapter IV Operation 4.3.2 Basic Parameter Adjustment P00.04 P04.01 Speed Feed-forwar feed-forward d low-pass gain filter P04.04 P00.08 P09.07 P00.05 P04.05 P00.03 P00.07 P00.09 Motor P00.12 P09.08 Position Torque Torque Electroni Position Instruction P00.02 instruction Speed loop Pulse instruc- loop gain c gear loop gain smooth...
Page 60 Chapter IV Operation : command pulse equivalency : encoder resolution (encoder pulse number of one round of motor shaft rotation) : helical pitch of ball screw : mechanical reduction ratio (the motor rotates m rounds, the load shaft rotates n rounds) Electronic gear ratio P/△l= number of instruction pulses required for one round of load shaft rotation...
Page 61 Chapter IV Operation The molecular set value of electronic gear ratio = 5, the denominator set value of electronic gear ratio = 3 Example 2: The mechanical composition is shown in the following figure: Circular truncated cone, reduction ratio n/m= 1/100, the required command pulse equivalency is 0.01 Encoder resolution P = 10,000 pulse/rotation...
Page 62: Chapter V List Of Functional Parameters
Chapter V List of Functional Parameters Chapter V List of Functional Parameters Parameter Schedule of Function Codes Group P00 Basic functions Group P01 Auxiliary Operation Group P02 Monitor and display Group P03 IO and analog control Group P04 Position control parameters Group P05 Speed control parameters Group P06...
Page 63 Chapter V List of Functional Parameters Function Setting Delivery Mode of Name Unit Code No. Range Value Application Speed forward gain of the P00.04 0~100 position loop Input mode of the P00.05 command pulse Selection of rotation P00.06 directions Smoothing filter P00.07 coefficient of position 0~4,095...
Page 64 Chapter V List of Functional Parameters Group P01: Auxiliary Operation Function Setting Delivery Mode of Name Unit Code No. Range Value Application Speed trial operation P01.00 function JOG trial operation P01.01 function Related 0.1A Limit value of software to the P01.02 0~900 Over current...
Page 65 Chapter V List of Functional Parameters Function Setting Delivery Mode of Name Unit Code No. Range Value Application Broadened width of Z P01.14 0~31 pulse Delay time for servo-on P01.15 0~2,000 to holding brake released P01.16 Selection of external P,S,T brake resistors P01.17 Power of external brake...
Page 66 Chapter V List of Functional Parameters Function Function Code Name Unit Code No. Low order state of input P02.13 (InL) terminal P02.14 (oUt) Output terminal state Pulse frequency of position P02.15 (Frq) command P02.16 (CS) Speed command P02.17 (Ct) Torque command P02.18 (Cod) Encoder UVW input signal P02.19 (Err)
Page 67 Chapter V List of Functional Parameters Function Setting Delivery Mode of Name Unit Code No. Range Value Application DO4 function and P03.03 enabled status 256~259 setting DI1 function and P03.04 enabled status setting DI2 function and P03.05 enabled status setting DI3 function and P03.06 enabled status...
Page 68 Chapter V List of Functional Parameters Group P04: Position Control Parameters Function Setting Delivery Mode of Name Unit Code No. Range Value Application Position command P04.00 source Speed feed-forward P04.01 1~4095 low-pass filter coefficient Positioning P04.02 0~30,000 1,000 Pulse completed width Detection range of P04.03 0~30,000...
Page 69 Chapter V List of Functional Parameters Group P05: Speed Control Parameters Function Setting Delivery Mode of Name Unit Code No. Range Value Application Speed command P05.00 source Speed for JOG P05.01 -3,000~3,000 r/min operation P05.02 Reserved P05.03 Reserved P05.04 Reserved P05.05 Reserved Related...
Page 70 Chapter V List of Functional Parameters Group P06: Torque Control Parameters Function Setting Delivery Mode of Name Unit Code No. Range Value Application Internal CCW P06.00 0~300 torque limit Internal CW P06.01 -300~0 -150 torque limit External CCW P06.02 0~300 torque limit External CW P06.03...
Page 71 Chapter V List of Functional Parameters Group P09: Manufacturer Parameter The manufacturer parameter is used and controlled by the manufacturer, and users have no right to change. This parameter group can only be accessed with the manufacturer code. It is not specified in detail here. Group P10: Parameters of Origin Search and Multistage Position Action selection P10.00...
Page 72 Chapter V List of Functional Parameters Displacement P10.11 command type selection Waiting time unit P10.12 selection Displacement 4 HSBs (decimal) of -9,999~9,999 P10.13 the first segment Displacement 4 LSBs (decimal) of -9,999~9,999 5,000 P10.14 the first segment speed of the first P10.15 0~3,000 segment...
Page 73 Chapter V List of Functional Parameters Displacement 4 P10.24 LSBs (decimal) of -9,999~9,999 5,000 the third segment Running speed of P10.25 0~3,000 the third segment Acceleration and deceleration time P10.26 0~1,000 of the third segment Waiting time of the P10.27 0~10,000 ms/s third segment...
Page 74 Chapter V List of Functional Parameters Waiting time of the P10.37 0~10,000 ms/s fifth segment Displacement 4 P10.38 HSBs (decimal) of -9,999~9,999 the sixth segment Displacement 4 LSBs (decimal) of -9,999~9,999 5,000 P10.39 the sixth segment Speed of the sixth 0~3,000 P10.40 segment...
Page 75 Chapter V List of Functional Parameters speed of the eighth P10.50 0~3,000 segment Acceleration and deceleration time P10.51 0~1,000 of the eighth segment Waiting time of the P10.52 0~10,000 ms/s eighth segment Displacement 4 HSBs (decimal) of -9,999~9,999 P10.53 the ninth segment Displacement 4 LSBs (decimal) of -9,999~9,999...
Page 76 Chapter V List of Functional Parameters Displacement 4 HSBs (decimal) of P10.63 -9,999~9,999 the eleventh segment Displacement 4 LSBs (decimal) of -9,999~9,999 5,000 P10.64 the eleventh segment speed of the 0~3,000 P10.65 eleventh segment Acceleration and deceleration time P10.66 0~1,000 of the eleventh segment Waiting time of the...
Page 77 Chapter V List of Functional Parameters Displacement 4 LSBs (decimal) of P10.74 -9,999~9,999 5000 the thirteenth segment Speed of the P10.75 0~3,000 thirteenth segment Acceleration and deceleration time P10.76 0~1,000 of the thirteenth segment Waiting time of the P10.77 0~10,000 ms/s thirteenth segment Displacement 4...
Page 78 Chapter V List of Functional Parameters Acceleration and deceleration time P10.86 0~1,000 of the fifteenth segment Waiting time of the P10.87 0~10,000 ms/s fifteenth segment Displacement 4 HSBs (decimal) of P10.88 -9,999~9,999 the sixteenth segment Displacement 4 LSBs (decimal) of P10.89 -9,999~9,999 5,000...
Page 79 Chapter V List of Functional Parameters Acceleration time P11.05 0~10,000 Deceleration time 0~10,000 P11.06 Acceleration time P11.07 0~10,000 1,000 Deceleration time P11.08 0~10,000 1000 The first segment -3,000~3,000 P11.09 speed Runtime of the P11.10 0~30,000 first segment speed ACC/DEC time P11.11 selection of the first segment...
Page 80 Chapter V List of Functional Parameters ACC/DEC time P11.20 selection of the fourth segment The fifth segment P11.21 -3,000~3,000 2,000 speed Runtime of the fifth segment 0~30,000 P11.22 speed ACC/DEC time selection of the P11.23 fifth segment The sixth segment P11.24 -3,000~3,000 1,000...
Page 81: Chapter Vi Specified Function Introduction
Chapter VI Specified Function Introduction Chapter VI Specified Function Introduction 6.1 Basic Function (Group P00) Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Power up P00.00 Password 0~9,999 effective Function Description: The passwords are set to prevent unauthorized people to read the setting parameters and illegally modify them.
Page 82 Chapter VI Specified Function Introduction 22: Motor torque current 23: Instantaneous braking power 24: Long-time average braking power 25: Motor model Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Immediately P00.02 Control mode selection effective Function Description: Select servo system control mode. The meanings of setting values are as follows: 0: Position control mode 1: Analog speed control mode 2: Torque control mode...
Page 83 Chapter VI Specified Function Introduction Function Description: Set the speed feed-forward gain of position loop. When the setting value is 100%, this indicates that under the command pulse of any frequency, the position hysteresis is always 0. The feed-forward gain of position loop is higher and the high-speed responsiveness is developed, but a shock may be caused.
Page 84 Chapter VI Specified Function Introduction 2: Two-phase pulse (Phase A + Phase B) Input Phase A into PULS port and Phase B into SIGN port. The actual rotate direction of motor is related to the setting of Parameter P00.06 Note: (rotate direction selection).
Page 85 Chapter VI Specified Function Introduction Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Smoothing filter Immediately P00.07 coefficient of 0~4,095 effective position command Function Description: Set the smoothing filter coefficient of position command. The filter would not lose the input pulse, but there may be a command delay phenomenon.
Page 86 Chapter VI Specified Function Introduction Function Description Set the proportional gain of the speed loop. The responsiveness of the speed loop would be determined by this parameter. A larger gain setting value of the speed loop determines higher speed control responsiveness of the system.
Page 87 Chapter VI Specified Function Introduction However, the overlarge value would result in a slower response, and may cause an oscillation. A smaller setting value determines higher cut-off frequency and faster speed response. If a higher speed response is required, the setting value can be reduced appropriately. Function Setting Factory...
Page 88 Chapter VI Specified Function Introduction Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Control bit of Power on P00.13 over-travel limit effective Function Description: Set the valid of external input over-travel limit switch input. 0: positive over-travel limit (P-OT), negative over-travel limit (N-OT) input is valid. 1: positive over-travel limit (P-OT), negative over-travel limit (N-OT) input is invalid.
Page 89 Chapter VI Specified Function Introduction Up-down Side-mode setting Inverse of input value Count Pulse Edge Type of CNC pulse level 0 unchanged 0 General 0 positive edge system 0 unchanged 1 Siemens 0 positive edge system 1 negative 0 General 0 positive edge system 1 negative...
Page 90: Auxiliary Operation (Group P01)
Chapter VI Specified Function Introduction parameters have been written to EEPROM. The system will use factory set values after being powered up again. 2: Start the operation of save the overall parameters into EEPROM. During this operation, all the parameters currently kept in RAM will be written to EEPROM for saving.
Page 91 Chapter VI Specified Function Introduction Function Description: Set current value for software over-current protection. The default is in consistency with the over-current value of drive’s hardware. If users want to use software over current protection function, he or she can set it according to the actual needs and use it together with parameter P01.03 (allow time limit for overcurrent).
Page 92 Chapter VI Specified Function Introduction Function Description: Set the dividing ratio for encoder pulse output. Frequency of encoder output pulse= Incoming frequency of encoder pulse× (P01.05) ÷ (P01.06) Note: In current version, only division in integral multiples can be outputted, which means the set value of P01.05 is invalid and the set value is fixed as 1.
Page 93 Chapter VI Specified Function Introduction Function Description: The above parameters set holding brake (electromagnetic brake) action sequence. P01.10: This parameter sets the speed detection value for the purpose to judge if the motor is standstill. The setting value is used only for holding brake control. When actual speed of motor is below this setting, the motor is judged to be standstill, conversely the motor is judged to be in operation.
Page 94 Chapter VI Specified Function Introduction ■ The motor is in the running state (that the actual motor speed is more than P01.10 setting value), the brake action sequence is as follows: SRV-ON BRK Signal P01.13 Motor State Power-on Power-off Motor Speed P01.12 Function Setting...
Page 95 Chapter VI Specified Function Introduction Function Description: Setting the delay time from servo-on to holding brake released. Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Brake resistor Power up P01.16 external selection effective Function Description: The default value is 0, namely to choose internal braking resistor. Choose external braking resistor for 1.
Page 96: Monitor And Display (Group P02)
Chapter VI Specified Function Introduction 6.3 Monitor and Display (Group P02) Refer to Section 3.3 for function description about monitor and display. 6.4 I/O and Analog Control (Group P03) Function Setting Factory Parameter Name Attribute Unit Code Range Defaults DO1 function and Power up P03.00 enabled status setting...
Page 97 Chapter VI Specified Function Introduction Function Setting Factory Parameter Name Attribute Unit Code Range Defaults D03 function and Power up P03.02 enabled status setting effective 256~259 Function Description: Refer to P03.00 for function description. Function Setting Factory Parameter Name Attribute Unit Code Range...
Page 98 Chapter VI Specified Function Introduction 9: Zero Speed Clamp in Analog speed Mode 8: Spare (ZCLAMP) 10: direction in Internal Speed 11: direction in Analog speed Mode Mode 12: Spare 13: Positive Start in Analog speed Mode 14: Negative Start in Analog speed 15: Multi-Stage Operation Option 1 (CMD1) Mode 16: Multi-Stage Operation Option 2...
Page 99 Chapter VI Specified Function Introduction Function Description: Refer to P03.04 for function description. Function Setting Factory Parameter Name Attribute Unit Code Range Defaults 0~20 DI4 function and Power up P03.07 enabled status setting effective 256~276 Function Description: Refer to P03.04 for function description. Function Setting Factory...
Page 100 Chapter VI Specified Function Introduction Function Description: Refer to P03.04 for function description. Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Zero deviation Immediately P03.11 calibration for analog effective input Function Description: Set the auto zero calibration for analog input. This setting is valid when Analog Speed Control mode or Torque Control mode is set in P00.02.
Page 101 Chapter VI Specified Function Introduction Speed Command/ After Compensation Curve Torque Command Before Compensation Curve Input Voltage Zero Compensation Value Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Immediately P03.13 Analog input gain 0~500 effective Function Description: In the analog speed control mode, it describes the proportional relationship between the set motor speed command value and rotation command input voltage.
Page 102 Chapter VI Specified Function Introduction Speed/Torque Command 100% 100% -10V Input Voltage -100% Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Threshold of analog Immediately P03.14 -5.000~5.000 0.001V input hysteresis effective Function Description: Set the Analog input hysteresis threshold. The parameter is effective in analog speed control mode and torque control mode.
Page 103: Position Control Parameters (Group P04)
Chapter VI Specified Function Introduction Speed Command 100% -10V Input Voltage -100% 2. In the torque control mode, it has the similar function in speed mode. Please be careful while using! 6.5 Position Control Parameters (Group P04) Function Setting Factory Parameter Name Attribute Unit...
Page 104 Chapter VI Specified Function Introduction Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Speed feed-forward Immediately P04.01 low-pass filter 1~4,095 effective coefficient Function Description: Set the low-pass filter coefficient of speed feed-forward of position loop. Appropriate use can increase the stability of the composite position control. (Composite position control refers to the position control adopting speed feed-forward) Function Setting...
Page 105 Chapter VI Specified Function Introduction Function Description: Set detection range of over position error. Each unit corresponds to 100 encoder feedback pulses. Under the position control mode, when the value of position error counter exceeds this parameter, the servo drive would output over position error alarm signal. When set as 0, the position error detection is invalid.
Page 106 Chapter VI Specified Function Introduction Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Coefficient of Moving Average Power up P04.08 0~500 Filter for position effective command Function Description: Position command moving average filtering function refers to that conduct the moving filtering averagely (MAF) on position command input to make the servo motor run more smoothly.
Page 107: Speed Control Parameters (Group P05)
Chapter VI Specified Function Introduction 6.6 Speed Control Parameters (Group P05) Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Speed command Power up P05.00 source effective Function Description: Set the speed command source under speed control mode (including analog speed mode and internal speed mode).
Page 108 Chapter VI Specified Function Introduction Function Parameter Factory Attribute Setting Range Unit Code Name Defaults Immediately P05.07 Reached speed 5~3,000 effective Function Description: Set the speed threshold of reaching speed detection. Under the non-position control mode, if the difference value between setting speed and feedback speed of motor is smaller than this setting value, the speed reaching signal (S_CMP) will be outputted.
Page 109 Chapter VI Specified Function Introduction Function Parameter Factory Attribute Setting Range Unit Code Name Defaults Deceleration Immediately P05.10 ramp time of 0~16,000 effective speed command Acceleration Immediately P05.11 ramp time of 0~16,000 effective speed command Function Description: Set the deceleration and acceleration time of speed command signal. The setting values correspond to the decoration and acceleration time from zero speed to rated speed of the motor.
Page 110: Torque Control Parameters (Group P06)
Chapter VI Specified Function Introduction 6.7 Torque Control Parameters (Group P06) Function Parameter Factory Attribute Setting Range Unit Code Name Defaults Internal CCW Immediately P06.00 0~300 torque limit effective Internal CW Immediately P06.01 -300~0 -150 torque limit effective Function Description: Set the servo motor internal torque limit values in CCW (positive) and CW (negative) direction.
Page 111: Modbus Communication (Group P07)
Chapter VI Specified Function Introduction Function Description: Torque limits set under speed trial operation and JOG trial operation modes. This function is effective in both directions. Set value is the percentage of rated torque of motor. The internal/ external torque limits are still effective.
Page 112: Parameters Of Origin Search And Multistage Position (Group P10)
Chapter VI Specified Function Introduction When you choose even parity or odd parity, the actual bits of every byte is 11. Among them, the one is start bit, 8 data bits, 1 check bit and 1 stop bit. When you choose no parity, the actual bits of every byte are also 11.
Page 113 Chapter VI Specified Function Introduction (b) The motor searches the position of origin switch signal (OrgNear) at given low search speed (P10.04) in negative direction of high search speed. Search will be stopped suddenly when it meets the falling edge of origin switch. It indicates that the origin search is done and the completion signal (Home) is outputted.
Page 114 Chapter VI Specified Function Introduction Function Description: Set the enabling conditions of origin search. 0: Shut down the origin search function. 1: Enable the origin search function by starting the origin search signal SHOM through digital input. 2: Enable the origin search function immediately after powering up and enabling the drive (in position mode).
Page 115 Chapter VI Specified Function Introduction function, user can easily realize automatic multi-stage fixed-length operation, or through external inputting DI signal can realize the preset position control function. Because it is controlled by internal parameters, there is no need for external pulse command.
Page 116 Chapter VI Specified Function Introduction Trigger and change the stage for running by external digital input. One stage will be in run as enabling signal S-ON varies from invalid to valid once. Segment number of each running is confirmed by the signal combination of CMD1~CMD4 when enable signal changed from invalid to valid state.
Page 117 Chapter VI Specified Function Introduction displacement at current position. When P10.11=1 is chosen, the displacement instruction means the absolute position based on the original point. (2) Explanation of Main Parameters Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Internal position Immediately P10.08...
Page 118 Chapter VI Specified Function Introduction Function Setting Factory Parameter Name Attribute Unit Code Range Defaults Processing mode Immediately P10.10 for residual effective command Function Description: Set the processing mode for residual position command when enable signal recovery after being interrupted. 0: Continue to run the rest of the segments 1: Start running again from segment 1 Function Setting...
Page 119 Chapter VI Specified Function Introduction Function Parameter Factory Attribute Setting Range Unit Code Name Defaults Displacement 4 HSBs Immediately P10.13 (decimal) of -9,999~9,999 effective the first segment Displacement 4 LSBs Immediately P10.14 (decimal) of -9,999~9,999 5,000 effective the first segment Function Description: Combine P10.13 with P10.14 to set stage 1 displacement number (pulse number before electronic gear ratio).
Page 120 Chapter VI Specified Function Introduction Signal name Function Description Note Share with enabling S-ON Multi-stage position triggering signal signal Choose 1 for multistage position CMD1 command See the table below for the relationship Choose 2 for multistage position CMD2 between command CMD1~CMD4 signal Choose 3 for multistage position...
Page 121: Parameters Of Multistage Speed Function (Group P11)
Chapter VI Specified Function Introduction Table of relationship between CMD1~4 and position instruction segment number: segment number of CMD4 CMD3 CMD2 CMD1 selected position command (0 - inactive input; 1 - active input) 6.10 Parameters of Multistage Speed Function (Group P11) (1) Function Description The multi-stage speed function under speed control mode refers to the speed operation function accomplished by the driver alone based on the internal stored 8 groups of...
Page 122 Chapter VI Specified Function Introduction Function Parameter Factory Attribute Setting Range Unit Code Name Defaults Multi-stage speed Immediately P11.00 instruction effective operation mode Function Description: Set multi-stage speed instruction operation mode. You can set three kinds of operation mode: 0: single operation mode. After the enable signal is valid, the driver starts to run one by one segment based on preset total segments and operation time for each segment in order of segment from small to large.
Page 123 Chapter VI Specified Function Introduction Note: ◇ In single operation or cyclic operation mode,, under the condition that the power for driver is applied continuously, the driver stops to run once the enable signal becomes invalid and the driver will starts to run from the first segment after the enable signal becomes valid again.
Page 124 Chapter VI Specified Function Introduction Function Description: Set the unit of operation time for each speed segment. 0: millisecond 1: second 2: minute Function Parameter Factory Attribute Setting Range Unit Code Name Defaults Acceleration Immediately P11.03 0~10,000 Time 1 effective Function Description: Set acceleration time 1.
Page 125 Chapter VI Specified Function Introduction Function Parameter Factory Attribute Setting Range Unit Code Name Defaults The first Immediately P11.09 -3,000~3,000 segment speed effective Function Description: Set the speed of the first segment. Function Parameter Factory Attribute Setting Range Unit Code Name Defaults Runtime of the...
Page 126: Chapter Vii Diagnosis Of Malfunctions
Chapter VII Diagnosis of Malfunctions Chapter VII Diagnosis of Malfunctions 7.1 Alarm Display and Description Table 7-1 Fault Alarm Table Alarm Code Alarm Content Short circuit and overcurrent on IPM module or the voltage of Er.IPF driving power is too low Er.OCU Hardware overcurrent Er.LU...
Page 127: Diagnosis Of Malfunctions And Correction
Chapter VII Diagnosis of Malfunctions 7.2 Diagnosis of Malfunctions and Correction Table 7-2 Fault Treatment Approaches Alarm Operating Possible Cause Processing Methods Code state When switched on Circuit board fault Change servo drives control power Low service voltage Check drive and power up again, changing drive if the Overheated drive failure didn’t disappear...
Page 128 Chapter VII Diagnosis of Malfunctions Alarm Operating Possible Cause Processing Methods Code state Servo unit failure Repair or change drives Voltage of main power is too low, poor contact of Check the power supply and power supply lines or correct failure Switch on power supply capacity is main power...
Page 129 Chapter VII Diagnosis of Malfunctions Alarm Operating Possible Cause Processing Methods Code state Er.IbF switched on Fault of current testing control channel power During the operation process of motor When Fault of control board Change drives switched on control Encoder fault Change motor power Pulse frequency of input...
Page 130 Chapter VII Diagnosis of Malfunctions Alarm Operating Possible Cause Processing Methods Code state operating Examination area of out Expand examination area of of tolerance of setting out of tolerance of setting position is too small position Proportional gain of Add proportional gain of position is too low position Check the limit value of...
Page 131 Chapter VII Diagnosis of Malfunctions Alarm Operating Possible Cause Processing Methods Code state Control board fault During the Check connection. power up of Encoder cable defective Change power cable control Overlong encoder cable Shorten the cable and adopt power causes the lower supply Er.ELS multi-core parallel operation.
Page 132: Motor Failure And Corrective Action
Chapter VII Diagnosis of Malfunctions Alarm Operating Possible Cause Processing Methods Code state Servo system is in During the Use bigger power servo drive continuous energy operation and servo motor; making Er.brS feedback condition; process of sure the voltage is up to network voltage is too motor specifications;...
Page 133 Chapter VII Diagnosis of Malfunctions Possible Fault Confirmation method Processing Methods Cause Wiring of servo motor Confirm the connection Correct wiring cable drops state Lighten load or replace it Load of Try to empty running to with servo motor replace it servo motor confirm the load state with bigger power servo...
Page 134 Chapter VII Diagnosis of Malfunctions Possible Fault Confirmation method Processing Methods Cause Positive stroke limit POT and negative Confirm P-OT and N-OT Set P-OT and N-OT to ON Servo stroke limit input signal motor N-OT keep doesn’t showing start drive fault If the fault is confirmed to be Confirm if the fault can (has display...
Page 135 Chapter VII Diagnosis of Malfunctions Possible Fault Confirmation method Processing Methods Cause Input incorrect Set control modes and input command methods correctly pulse drive fault Change drives Confirm the installation Retighten the mounting status of servo motor screw Poor Keep the degree of Confirm if the coupling mechanical eccentricity within permitted...
Page 136 Chapter VII Diagnosis of Malfunctions Possible Fault Confirmation method Processing Methods Cause There is noise Confirm if the encoder interference cable is standard. Cable because the specification: twisted Use standard cables specification unshielded pair or of encoder shielded pair (core wire cable is not above 0.12mm standard...
Page 137 Chapter VII Diagnosis of Malfunctions Possible Fault Confirmation method Processing Methods Cause Dirty surface Determine the dirty Remove dirt, dust, oil fouling of servo surface of motor by and so on motor visual inspection Overheated If it’s overload, lightening servo motor Servo motor Confirm the load the load or replacing it with...
Page 138: Chapter Viii Maintenance
Chapter VIII Maintenance Chapter VIII Maintenance Danger Please don't touch the rotating parts when the servo motor is running. Otherwise may cause hurts. Please make sure that the servo motor can be stopped anytime in emergency when installed on the matched machine and began to run. Otherwise may cause hurts. Please don't touch the internal servo drive.
Page 139 Chapter VIII Maintenance 15. The ground terminal of the servo drive must be grounded. Otherwise may cause electric shock. Caution Please make sure that the user parameter of the replaced servo drive is sent to the new one when altering the servo drive, and then restart it. Otherwise may cause machinery damage.
Page 140: Maintenance
Chapter VIII Maintenance 8.1 Maintenance The servo drive is characterized by commercial unit and microelectronic devices due to its combination of power electronic technology and microelectronic technology. The working environment changing, such as temperature, humidity, smog and so on, and the aging internal components may cause various faults of servo drive.
Page 141: Periodic Maintenance
Chapter VIII Maintenance sound, peculiar smell, dirt retention Temperature, Refer to Appendix Working humidity, dust surroundings 2 Technical Environment and harmful gas, Regulation etc. Refer to Appendix Input and output Input and output Voltage 2 Technical terminals voltages Regulation temperature Electrical Load Motor rise, abnormal...
Page 142: Regular Replacement Of Devices
Chapter VIII Maintenance Check whether there Blow off with dry compressed air Power Device are dust (pressure 4~6kg/cm Check whether there Electrolytic are discoloration, Replace the electrolytic capacitor Capacitor peculiar smell, bubble, leakage, etc. Check whether there Keep the braking resistor in a dry and Braking Resistor is good ground insulated place...
Page 143 Chapter VIII Maintenance  Charging test should be carried out if the servo drive has not been used more than 1 year in order to recover the properties of electrolytic capacitor in the main circuit. Use voltage regulator to increase the input voltage of servo drive up to nominal voltage when charging.
Page 144: Chapter Ix Quality Guarantee
Chapter IX Quality Guarantee Chapter IX Quality Guarantee The product’s quality guarantee shall be in accordance with the following rules: The warranty scope only refers to the noumenon of servo drives, and the warranty period begins to count at company’s shipping date. The warranty period of the product is 12 months after purchase within 24 months after the manufacture date on the nameplate.
Page 145 Chapter IX Quality Guarantee  Our Company could not responsibility for the liability caused or induced by the violation of the user manual’s rules;  Our Company shall not be held liable for your loss or diffusible, secondary damage caused by t+he product’s faulty. About User Instructions: The user manual is only for the product of this series.
Page 146: Annex 1 Appearance Dimensions And Installation Dimensions Of Drive
Annex 1 Appearance Dimensions and Installation Dimensions of Drive Annex 1 Appearance Dimensions and Installation Dimensions of Drive (Unit: mm) Type –A Structure: applicable to Single-phase 220V grade: AS100A- 1R6M2U and AS100A-2R8M2U...
Page 147 Annex 1 Appearance Dimensions and Installation Dimensions of Drive Type-B Structure: applicable to Three-phase 220V grade: AS100A-3R8M2U, AS100A-5R5M2U and AS100A-7R6T2U...
Page 148 Annex 1 Appearance Dimensions and Installation Dimensions of Drive Type-C Structure: applicable to Three-phase 220V grade: AS100A-012T2U Three-phase 380V grade: AS100A-3R5T3U, AS100A-5R4T3U and AS100A-8R4T3U...
Page 149: Annex 2 Technical Specification Of Servo Drive
Annex 2 Technical Specification of Servo Drive Annex 2 Technical Specification of Servo Drive ■ Specifications of 220V Series Servo Drive AS100A- AS100A- AS100A- AS1000A- AS100A- AS100A- Drive Model 1R6M2U 2R8M2U 3R8M2U 5R5M2U 7R6T2U 012T2U Feedback Type Standard 2500 c/r Incremental Encoder AS100A- AS100A- AS100A-...
Page 150 Annex 2 Technical Specification of Servo Drive General Technical Specifications of Servo Drive Temperature Working: 0~45℃ Storage: -20~80℃ Service Humidity Less than 90% (without condensation) Environment Vibration Less than 4.9m/S (0.5G), 10~60Hz Control Mode IGBT SVPWM current vector control Position control, speed control, torque control, internal Basic Control Mode position control, internal speed control Speed frequency response: 400Hz (load rotational...
Page 151 Annex 2 Technical Specification of Servo Drive Motor speed, current position, position command, position deviation, motor torque, motor current, current control mode, position command pulse frequency, speed Monitoring and display command, torque command, absolute position of rotor, function input terminal status, output terminal status, Encoder UVW input signal, encoder zero pulse, fault code display, etc.
Page 152: Annex 3 Matching Selection Of Servo Motor And Drive (220V Series)
Annex 3 Matching Selection of Servo Motor and Drive (220V series) Annex 3 Matching Selection of Servo Motor and Drive (220V series) ■ Matching Selection of Series E 220V Servo Motor and Drive Rated Rated Rated Structure Speed Power Supply Motor Model Drive Model Output...
Page 153: Annex 4 Matching Selection Of Servo Motor And Drive (380V Series)
Annex 4 Matching Selection of Servo Motor and Drive (380V series) Annex 4 Matching Selection of Servo Motor and Drive (380V series) ■ Matching Selection of Series E 380V Servo Motor and Drive Rated Power Rated Rated Drive Structure Speed Motor Model Supply Output...
Page 154: Annex 5 Specification Of Braking Resistor
Annex 5 Specifications of Braking Resistor Annex 5 Specification of Braking Resistor 220V series Standard built-in Min. allowable braking Drive Model braking resistor resistance (resistance/ power) 40Ω AS100A-1R6M2U 40Ω AS100A-2R8M2U 40Ω/60W 40Ω AS100A-3R8M2U 40Ω/60W 40Ω AS100A-5R5M2U 40Ω/60W 40Ω AS100A-7R6T2U 20Ω/100W 20Ω...
Page 155: Annex 6 Main Input/Output Cable Selection
Annex 6 Main Input/Output Cable Selection Options Annex 6 Main Input/Output Cable Selection 220V Series Sectional Sectional Sectional Area of Area of Area of Control main Drive Model main Input Power Output Cable Cable Cable AS100A-1R6M2U 1.25 AS100A-2R8M2U 1.25 AS100A-3R8M2U 1.25 AS100A-5R5M2U 1.25...
Page 156: Annex 7 Modbus Communication Protocol
Annex 7 MODBUS Communication Protocol Annex 7 MODBUS Communication Protocol The drive supports the MODBUS RTU protocol, with the functions of reading monitoring parameters (0X03) and writing function code parameter (0x06). (1) Reading Monitoring Parameters (0x03) Command frame format: START Greater than or equal to 3.5 characters idle time, indicating the start of a frame ADDR...
Page 157 Annex 7 MODBUS Communication Protocol DATA2 8 LSBs of monitoring parameters (or function code) CRCH CRC high significant bytes CRCL CRC low significant bytes Greater than or equal to 3.5 characters idle time, indicating the end of a frame (2) Writing Function Code Parameters (0x06) Command frame format: START Greater than or equal to 3.5 characters idle time, indicating the start of a...
Page 158 Annex 7 MODBUS Communication Protocol CRCH CRC high significant bytes CRCL CRC low significant bytes Greater than or equal to 3.5 characters idle time, indicating the end of a frame For example, if you want to modify the function code P10.13 to 1,000 by means of communication, you should send the following frame data via the host computer: ADDR DATA0...
Page 159 Annex 7 MODBUS Communication Protocol Monitoring Contents: MODBUS Name Value Description ADDR 0: Position mode 1: Analog speed mode 2: Torque mode Working 0003H 3: Internal speed mode Mode 4: Test run mode 5: JOG mode 6: Factory mode Bit0 Overtemperature Bit1 Current regulator saturation alarm...
Page 160 Annex 7 MODBUS Communication Protocol MODBUS Name Value Description ADDR Bit11 Bit12 000CH DI Status Bit13 Bit14 Bit15 Bit12 Bit13 000DH DO Status Bit14 Bit15 Bit 15 represents the least significant bit of the parameter, and Bit 0 represents Notes: the most significant bit of the parameter.
Page 161 Annex 7 MODBUS Communication Protocol MODBUS Name Value Description ADDR 65,536 + 0x520 = 1,312 e.g.: if M1=0x0101 and M2=0x0520, POS = POS = 0x101* 65,536 + 0x520 Position = 257*65,536 +1312 = 16,844,064 0031H feedback If the motor is negative, the pulse should be 16 MSBs negative.
Page 162 Annex 7 MODBUS Communication Protocol P03.00 ~ P03.14 0400H~040EH P04.00 ~ P04.08 0500H~0508H P05.00 ~ P05.13 0600H~060DH P06.00 ~ P06.04 0700H~0704H P07.00 ~ P07.05 0800H~0805H P08.00 ~ P08.06 0900H~0906H P09.00 ~ P09.35 0A00H~0A23H P10.00 ~ P10.92 0B00H~0B5CH P11.00 ~ P11.32 0C00H~0C20H...
Page 163: Annex 8 Parameters And Size Of Servo Motor
Annex 8 Parameters and Size of Servo Motor Annex 8 Parameters and Size of Servo Motor ■ Motor Wiring Connection 60, 80 and 90 flange motor wiring connection No.: Winding lead Socket No. 110, 130, 150 and 180 flange motor winding connection No.: Winding lead Socket No.
Page 164 Annex 8 Parameters and Size of Servo Motor ■ Servo Motor Torque Characteristic Curves Torque T Peak torque Tmax Acceleration and deceleration (instantaneous) work area Rated torque Continuous work area Motor speed n Rated speed Nr ■ Parameters of 60 Flange Series E 220V Motor Series 60 Motor Model ASMS...
Page 165 Annex 8 Parameters and Size of Servo Motor Installation Size: Motor Length: Spec. 0.64Nm 1.27Nm Length L (mm) the length indicates the length of motor without brake, and the length of motor Note: with a brake will increase 48mm. ■ Parameters of 80 Flange Series E 220V Motor Series 80 Motor Model...
Page 166 Annex 8 Parameters and Size of Servo Motor Installation Size: Motor Length: Spec. 2.4Nm 4.0Nm Length L (mm) the length indicates the length of motor without a brake, and the length of motor Note: with a brake will increase 54mm. ■...
Page 167 Annex 8 Parameters and Size of Servo Motor Installation Size: Motor Length: Spec. 2.4Nm 4.0Nm Length L (mm) the length indicates the length of motor without a brake, and the length of motor Note: with a brake will increase 57mm. ■...
Page 168 Annex 8 Parameters and Size of Servo Motor Environment temperature: -20~+50℃, environment Service Environment humidity: relative humidity﹤90% (without condensation) Installation Size: Motor Torque Nm 21.5 21.5 21.5 the length indicates the length of motor without a brake, and the length of motor Note: with a brake will increase 74mm.
Page 169 Annex 8 Parameters and Size of Servo Motor ■ Parameters of 130 Flange Series E 220V Motor Series 130 Motor Model ASMH ASMG ASMG -1R0B25U2 -1R3B25U2 -1R5B25U2 Rated Power KW Rated Current Rated Speed rpm 2,500 2,500 2,500 Rated Torque Nm Peak Torque Nm 12.0 15.0...
Page 170 Annex 8 Parameters and Size of Servo Motor Series 130 Motor Model ASMG- ASMH- ASMG- ASMG- 2R0B25U2 1R5B15U2 2R6B25U2 3R8B25U2 Environment temperature: -20~+50℃, environment Service Environment humidity: relative humidity﹤90% (without condensation) Installation Size: Motor Speed rpm 2,500 1,500 2,500 Motor Torque Nm 24.5 24.5 24.5...
Page 171 Annex 8 Parameters and Size of Servo Motor Motor Spec. With a brake (Flange No., torque) Increased length 130 flange, torque: 4~7.7Nm 57mm 130 flange, torque: 10~15Nm 81mm ■ Parameters of 150/180 Flange Series E 220V Motor Series 150 Series 180 Motor Model ASMH ASMG...
Page 172 Annex 8 Parameters and Size of Servo Motor Spec. 17.2Nm 19.0Nm Length LA (mm) 150 Installation Size of Flange: Spec. 15.0Nm Length LA (mm) the length indicates the length of motor without a brake, and the length of motor Note: with a brake will increase 73mm.
Page 173 Annex 8 Parameters and Size of Servo Motor Series 110 Motor Model ASMS ASMS ASMS ASMG -R80C20U2 -1R2C30U2 -1R5C30U2 -1R2C20U2 Encoder 2,500 Resolution C/R Insulation Grade Class F of Motor Protection Level IP65 Environment temperature: -20~+50℃, environment humidity: Service Environment relative humidity﹤90% (without condensation) Installation Size: Motor Torque Nm...
Page 174 Annex 8 Parameters and Size of Servo Motor the length indicates the length of motor without a brake, and the length of motor Note: with a brake will increase 74mm. ■ Parameters of 130 Flange Series E 380V Motor Series 130 Motor Model ASMH ASMG...
Page 175 Annex 8 Parameters and Size of Servo Motor Series 130 Motor Model ASMG ASMG ASMG -1R5C15U2 -1R5C25U2 -2R0C25U2 Class F Insulation Grade of Motor Protection Level IP65 Environment temperature: -20~+50℃, environment Service Environment humidity: relative humidity﹤90% (without condensation) Series 130 Motor Model ASMG ASMG...
Page 176 Annex 8 Parameters and Size of Servo Motor Installation Size: Speed 2,500 1,500 1,000 2,000 Torque 24.5 24.5 24.5 24.5 24.5 24.5 24.5 24.5 24.5 24.5 the length indicates the length of motor without a brake, and the length of motor Note: with a brake will increase 57 or 81mm, see below for details.
Page 177 Annex 8 Parameters and Size of Servo Motor Series 180 Motor Model ASMG ASMG ASMG -2R7C15U2 -2R9C10U2 -4R5C20U2 Rated Power KW Rated Current Rated Speed rpm 1,500 1,000 2,000 Rated Torque Nm 17.2 27.0 21.5 Peak Torque Nm 43.0 67.0 53.0 Rotor Inertia kg•m 34.0×...
Page 178: Annex 9 Servo Drive Warranty
Annex 9 Servo Drive Warranty Annex 9 Servo Drive Warranty Servo Drive Warranty User: User Address: Contact: Tel: Post Code Fax: Drive Model: Serial Number: Date of purchase: Date of fault: Fault: Motor: pole Application: Failure time: input power no-load load Other: Symptom:...

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