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Wheatstone K series User Manual

Ac servo driver
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K/iK series
AC Servo Driver
User's Manual
2016（V1.9）

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Summary of Contents for Wheatstone K series

  • Page 1 K/iK series AC Servo Driver User’s Manual 2016（V1.9）...
  • Page 2 Preface ● Thank you for purchasing this AC servo driver. ● This Manual is the user manual for K/iK series products. ● To use this series of servo drivers correctly, please carefully read this Manual before use and keep this Manual properly for future reference. If this product is purchased for your customer, please send this product to the final user together with this Manual.
  • Page 3 Safety Precautions Before product storage, installation, wiring, operation, check or maintenance, users must be familiar with and observe the following important notes to ensure safety during use of the product. 1. Electric Shock Injury Warning Warning When the servo driver is powered on, the machine casing should not be opened so as to avoid electric shock.
  • Page 4 3. Fire Warring Warning The driver should not be installed on the surface of a combustible and should be kept away from flammable materials. Otherwise, a fire accident may occur. Do not use it at a place which is damp, full of corrosive gas or flammable gas for fear of a fire.

  • Page 5: Table Of Contents

    Contents Chapter I Function Overview......................1 1.1 Description of Servo Driver Models..................1 1.2 External Dimension......................1 1.3 Basic Functions........................2 Chapter II Installation and Dimension....................3 Servo Driver........................3 2.1.1 Storage Condition....................3 2.1.2 Installation Site....................3 2.1.3 Installation Direction..................3 2.1.4 Installation of Several Servo Drivers..............3 2.1.5 Dimension Description..................
  • Page 6 Auxiliary Function Mode (F□□□□)............... 29 4.2.1 Execution Mode List of Auxiliary Functions........... 29 4.2.2 Display of Software Version of Servo.............. 29 4.2.3 Position Demonstration Operation..............30 4.2.4 Identification of Inertia Percentage..............30 4.2.5 Confirmation of Motor Model................31 4.2.6 Initialization of User Parameter Setup............. 32 4.2.7 Displaying History Alarm Data................
  • Page 7 5.6.2 Setting of Electronic Gear................72 5.6.3 Position Reference.................... 74 5.6.4 Smoothing......................77 5.6.5 Positioning Completed Output Signal.............. 77 5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)......79 Torque Control Operation..................... 80 5.7.1 User Parameter Setting..................80 5.7.2 Torque Reference Input..................80 5.7.3 Adjustment of Reference Offset...............
  • Page 8 7.2.3 General Standards of Replacement of Internal Parts of Servo Drive.... 145 Appendix A Summary of User Parameters..................146 Appendix B Table of iK Series M2 Drive Parameters..............178 Appendix C List of Alarm Display....................193 Appendix D Guidelines for Motor Model by Users............... 195 Motor Adaption Table......................

  • Page 9: Chapter I Function Overview

    K/iK Series AC Servo Driver Chapter I Function Overview 1.1 Description of Servo Driver Models Naming rule of K series servo driver: Naming rule of iK series bus servo driver: Note : 3.5kW and 5kW products are single axis products...

  • Page 10: Basic Functions

    K/iK Series AC Servo Driver 1.3 Basic Functions Control mode Position control, JOG running, speed contact, etc. Encoder feedback 2500-line incremental standard and 17 bit incremental encoders Ambient/storage Ambient temperature: 0~+50℃; storage temperature: -20~+85℃ temperature Ambient/storage humidity Under 90%RH (no freezing or condensation) conditions Vibration/impact 4.9m/s...

  • Page 11: Chapter Ii Installation And Dimension

    K/iK Series AC Servo Driver Chapter II Installation and Dimension 2.1 Servo Driver K series servo drivers are base-mounted and improper installation may give rise to failures. Please install the servo driver properly by following the instructions below. 2.1.1 Storage Condition The servo driver should be kept in a place with an ambient temperature of [-20~+85]℃...

  • Page 12: Dimension Description

    K/iK Series AC Servo Driver If more than one servo driver should be installed in a control cabinet in parallel, the space indicated below should be followed for installation and heat dissipation. ■ Installation direction of servo driver The front (wiring side) of the servo driver should face the operator and should be vertical to the mounting base.

  • Page 13: Servo Motor

    K/iK Series AC Servo Driver Dimension of 1.5kW / 2.0kW（220V）and 2.0kW / 3.5kW（380V）are shown below: Dimension of 3.5kW / 5.0kW（220V）和 5.0kW / 7.5kW（380V）are shown below: 2.2 Servo Motor The servo motor can be installed in horizontal or vertical direction. The service life of the servo motor will be shortened significantly or unexpected accident may occur if any mechanical mismatch occurs during installation.

  • Page 14: Installation Concentricity

    K/iK Series AC Servo Driver Servo motor should be installed indoor and the indoor space should meet the following environmental conditions. No corrosive, flammable or explosive air  Good ventilation, little dust and dry environment  Ambient temperature within 0~40℃ ...

  • Page 15: Cable Tension

    K/iK Series AC Servo Driver 2.2.6 Cable Tension Bending radius cannot be too small when connecting cables. It is also not suggested to exert too much tension in cables. Specially, diameter for core wire of signal line is usually very fine (0.2 or 0.3 mm), therefore too much tension cannot be exerted during wiring.

  • Page 16: Chapter Iii Wiring

    K/iK Series AC Servo Driver Chapter III Wiring 3.1 Wiring of Main Circuit This section explains wiring examples of main circuit, functions of terminals in main circuit and power ON sequence. Notes · Do not lead power lines and signal lines to the same pipe, nor bind them together. During wiring, power lines should be kept over 30 cm away from signal line.

  • Page 17: Typical Examples For Main Circuit Wiring

    K/iK Series AC Servo Driver 3.1.2 Typical Examples for Main Circuit Wiring  Three phase 220 V (double-axis drive)
  • Page 18 K/iK Series AC Servo Driver  Three phase 220 V (single-axis drive) -------------------------------------------------------------------------------------------- Notes: design of power ON sequence The following items should be considered during design of power ON sequence. 1. Design of power ON sequence: power should be OFF after output of signals of "servo alarm". (Refer to the above circuit diagram.) 2.

  • Page 19: Encoder Signal Wiring

    K/iK Series AC Servo Driver  Three phase 380 V (single-axis drive) 3.2 Encoder Signal Wiring Connecting cables between encoder and servo driver and their wiring pin No. vary with servo motors.Signal of side encoder interface (CN1/CN2) for servo driver: Signal leads Signal leads Terminal...

  • Page 20: Connection With Encoder Interface (Cn1/Cn2) And Processing Of Output Signal From Cn3

    K/iK Series AC Servo Driver 3.2.1 Connection with Encoder Interface (CN1/CN2) and Processing of Output Signal from CN3 In the figure: *1: connector wiring pin No. varies with used servo motor. *2: refers to multi-stranded shielded wire. *3: connector wiring pin No. varies with used servo motor. 19 -25 is pin number for axis A of single-axis or double axis motor;...
  • Page 21 K/iK Series AC Servo Driver (2) 2500 incremental standard encoder (3) Bus incremental encoder (4) Bus absolute encoder...

  • Page 22: Input/Output Signal Wiring

    K/iK Series AC Servo Driver 3.3 Input/Output Signal Wiring 3.3.1 Speed/Torque Control Mode Pin-out for signal wiring of single-axis driver should be subject to A-axis wiring pin-out. The b-axis pin-out will not be connected.
  • Page 23 K/iK Series AC Servo Driver...

  • Page 24: Position Control Mode

    K/iK Series AC Servo Driver 3.3.2 Position Control Mode Pin-out for signal wiring of single-axis driver should be subject to A-axis wiring pin-out. The b-axis pin-out will not be connected.

  • Page 25: Signals And Their Functions For Input/Output Connector (Cn3)

    K/iK Series AC Servo Driver 3.3.3 Signals and Their Functions for Input/Output Connector (CN3) Functions Functions Terminal Terminal Name Name Double-axis Single-axis driver Double-axis driver Single-axis driver driver APULS+ BPULS+ b-axis reference Reference pulse input A-axis reference pulse input Reserved pulse input APULS- BPULS-...

  • Page 26: Interface Circuit

    K/iK Series AC Servo Driver Output: OUT1, OUT2, OUT3, OUT4, OUT5, OUT6 The said output ports can change into ALM, /COIN, /TGON, /S-RDY, /CLT, /BK, /PGC of A axis or B axis Input: IN1, IN2, IN3, IN4, IN5, IN6, IN7, IN8 By parameters, the said input ports can change into such signals of A axis or B axis as /S-ON, /P-CON, POT, NOT, /ALM-RST, /CLR, /PCL, /NCL and /GSEL 3.3.4...
  • Page 27 K/iK Series AC Servo Driver (2) Interfaces to sequence control input circuit The following is to describe IN1 - IN8 terminals of CN3 connector. Connect through the transistor circuit of relay or open connector. Please select relay for small current when using relay for connection. If otherwise, bad contact will occur. Note: For interface of SEN signal input circuit, please refer to Chapter "Usage of Absolute Value Encoder".

  • Page 28: Other Wiring

    K/iK Series AC Servo Driver (4) Interfaces to output circuit (a) Bus driver (differential) output circuit The following is to describe 19-20 (A phase signal) terminals, 21-22 (B phase signal) terminals and 23-24 (C phase signal) terminals of CN3 connector. Output signal (PAO/PAO, PBO/PBO), origin pulse signal (PCO/PCO) and S phase rotation quantity signal (PSO/PSO) that convert the 2 phases (A, B) of serial data for encoder are outputted by bus driver output circuit, which is generally used when servo unit forms position control...
  • Page 29 K/iK Series AC Servo Driver · Since servo unit is industrial equipment, no countermeasure is taken against radio frequency interference. To prevent misoperation due to noise, the following approaches are effective. · Please locate reference input equipment and noise filter close to servo unit where possible. ·...

  • Page 30: Anti-Interference Wiring

    K/iK Series AC Servo Driver 3.4.2 Anti-interference Wiring (1) Example of anti-interference wiring "High speed switch element" is used for the main circuit of this servo driver, which may be subject to the influence of switch and noise because of switch element depending on the peripheral wiring and grounding processing of servo driver.
  • Page 31 K/iK Series AC Servo Driver 2. Separate the grounding wire of noise filter from its output wiring. Please do not put the output wiring of noise filter and other signal wires and grounding wires into the same pipeline or bind them together. 3.

  • Page 32: Wiring Of Motor

    K/iK Series AC Servo Driver When there is a noise filter within a certain device, please connect the grounding wire of this filter and that of other machines to the bound grounding plate and then proceed to grounding. 3.5 Wiring of Motor 3.5.1 Connector Terminal Wiring for Motor Power Supply (1) Power socket (4-pin AMP and 4 straight pin aviation type) of series less than or equal to 90:...
  • Page 33 K/iK Series AC Servo Driver Terminal No. Signals (3) Wire-saving encoder socket (3 rows and 9-pin AMP) Terminal No. Signals (4) Motor absolute encoder socket (7-pin): Terminal No. Signals...

  • Page 34: Chapter Iv Panel Operation

    K/iK Series AC Servo Driver Chapter IV Panel Operation 4.1 Basic Operation 4.1.1 Key Names and Functions Through panel, such functions as switch of A-axis and b-axis display and operation, setting of various parameters, execution and status display of JOG running reference can be achieved. The following is a list of key names and functions.

  • Page 35: Status Display

    K/iK Series AC Servo Driver Basic modes include status display mode, parameter setting mode, monitoring mode and auxiliary function mode. After Key M is pressed, the modes switch in the order as shown in the following figure. 4.1.3 Status Display Distinguishing method of status display is shown as below: ■...
  • Page 36 K/iK Series AC Servo Driver (/V-CMP) speed and reference speed is completed motor position position lower than the specified value (/COIN) reference is lower than the Specified value: PA503 specified value (Factory default: 10 rpm) Specified value: PA500 (Factory default: 10 pulse) Light on when motor speed is Light on when motor speed is A axis...

  • Page 37: Auxiliary Function Mode (F□□□□)

    K/iK Series AC Servo Driver A-axis servo is P-OT/N-OT (required to be judged depending on P-OT/N-OT bits in A-axis bit display) b-axis servo is P-OT/N-OT (required to be judged depending on positive and negative rotation in b-axis bit display) A axis is in alarm state displaying alarm number b axis is in alarm state displaying alarm number...

  • Page 38: Position Demonstration Operation

    K/iK Series AC Servo Driver Press SET and A-1.00 is displayed, which indicates processor program version is V1.00. Press Shift key and P-1.00 is displayed, which indicates FPGA program version is V1.00. Press SET key to return to the display of Fb000. 4.2.3 Position Demonstration Operation The following are operation steps for display of A axis position demonstration.

  • Page 39: Confirmation Of Motor Model

    K/iK Series AC Servo Driver Press SET to return to the previous menu. Press M function key and select the desired auxiliary function FA003. Press SET to display the operation interface "-JIn-" for display of inertia identification percentage. Press M function key, initiate inertia identification operation by rotating motor 3 circles clockwise and another 3 circles counterclockwise, after which display flickers "donE".

  • Page 40: Initialization Of User Parameter Setup

    K/iK Series AC Servo Driver Press SET to return to the display of Fb000. 4.2.6 Initialization of User Parameter Setup Operation steps to initialize A axis user parameter setup are as follows. Operation Operation Operation instruction Display after operation steps Press M function key to select auxiliary function mode for A axis.

  • Page 41: Operation Under User Parameter Mode (P□□□□)

    K/iK Series AC Servo Driver Press UP to display the alarms in order. * “A--” or “b--” indicates "Zero Alarm". Press SET to return to the display of Fb012. □□□□ 4.3 Operation under User Parameter Mode (P Functions can be selected or adjusted by setting parameters. User parameters consist of "Parameter Setting"...

  • Page 42: Signal Distribution Of Input Circuit

    K/iK Series AC Servo Driver (b) Example to change "Function Selection" Example: the operation steps to change the control method (PA000.1) of basic switch PA000 for A axis function selection from speed to position are listed as follows. Operation Operation Operation instruction Display after operation steps...
  • Page 43 K/iK Series AC Servo Driver Input signals are distributed to the pins of input connector based on the user parameter setup. (Distribution list is shown as follows.) (1) Factory setting The default distribution is indicated in bold as follows. (a) Factory settings of single-axis driver PA509 = H.4321 PA510 = H.8765 PA511 = H.0000...
  • Page 44 K/iK Series AC Servo Driver (b) List of input circuit signal distribution of double axis driver: No connection Signal CN3 Pin no. required Input signal Always Always User parameter distribution (IN1) (IN2) (IN3) (IN4) (IN5) (IN6) (IN7) (IN8) invalid valid Servo ON /S-ON □...

  • Page 45: Signal Distribution Of Output Circuit

    K/iK Series AC Servo Driver Operation Operation Operation instruction Display after operation steps Press M function key to select parameter setting mode. In case of failing to display PA509, press UP or DOWN to set. Press SET to display current PA509 data. (Distribute /S-ON to CN3-14.) Press shift key and select Bit 1 of the displayed number.
  • Page 46 K/iK Series AC Servo Driver (1) Factory setting (a) Factory settings of single-axis driver: PA513 = H.4321 PA514 = H.0065 PA521 = H.0000 PA522 = H.0000 (b) Factory settings of double-axis driver: PA513 = H.0321 PA514 = H.0000 Pb513 = H.0654 Pb514 = H.0000 Distribution change The output circuits for sequence signals as follows can be used for function distribution.
  • Page 47 K/iK Series AC Servo Driver Note: 1、 When ALM signals and other signals are distributed to the same output circuit, the output circuit only output ALM signals. 2、 When PGC signals and other signals rather than ALM are distributed to the same output circuit, the output circuit only output PGC signals.
  • Page 48 K/iK Series AC Servo Driver (b) List of output circuit signal distribution of double-axis driver: 7/(8) 9/(10) 11/(12) 32/(33) 34/(35) 36/(37) CN3 Pin no. OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 Polarity setting of signal output User parameter □ □ □ □...
  • Page 49 K/iK Series AC Servo Driver Note: 1、 When ALM signals and other signals are distributed to the same output circuit, the output circuit only output ALM signals. 2、 When PGC signals and other signals rather than ALM are distributed to the same output circuit, the output circuit only output PGC signals.

  • Page 50: Operation Under Monitoring Mode (Un□□□)

    K/iK Series AC Servo Driver □□□ 4.4 Operation under Monitoring Mode (Un Under monitoring mode, the reference value input to A axis or b axis servo driver, status of input/output signals and servo internal status can be monitored. Even though the servo motor is running, the monitoring mode can be changed.
  • Page 51 K/iK Series AC Servo Driver Monitor LED number is Factory settings Name of input terminal number displayed Single-axis Double-axis IN1（CN3-14） /S-ON A axis /S-ON IN2（CN3-15） /P-CON A axis /P-CON IN3（CN3-16） A axis POT IN4（CN3-17） A axis NOT Un007 IN5（CN3-39） /ALM-RST b axis /S-ON IN6（CN3-40）...
  • Page 52 K/iK Series AC Servo Driver Press SET to display Un000. The decimal point of current Bit 0 is off, so A axis Un000 is displayed Press UP or Down, the decimal point of current Bit 0 is on, so b axis Un000 is displayed Press SET to return to the display of monitor number.

  • Page 53: Chapter V Operation

    K/iK Series AC Servo Driver Chapter V Operation 5.1 Trial Operation Perform trial operation after wiring. 5.1.1 Trial Operation for Servo Motor Unit Notes · Disconnect the servo motor and machinery and only fix the servo motor unit. To avoid accident, based on the instruction, trial operation is performed on a servo motor under unloaded status (where the servo motor unit connects with no coupling or belt).

  • Page 54: Trial Operation For Servo Motor Unit With Superior Reference

    K/iK Series AC Servo Driver Pay attention, in the operation under jogging (JOG) mode, it is invalid to disable Forward Drive Prohibited (P-OT) or Reverse Drive Prohibited (N-OT). 5.1.2 Trial Operation for Servo Motor Unit with Superior Reference This item is to validate whether the servo motor moving reference and input/output signals from the command controller to the servo unit are correctly set, whether the wiring and polarity between command controller and servo unit are correct and whether the movement setting of servo unit is correct.
  • Page 55 K/iK Series AC Servo Driver In case of interference in reference voltage during speed control, “-” in the upper left part of the panel operator will flash. When the servo is ON, the servo motor might run at dead slow speed. For such occasion, please refer to “Other Wiring”...
  • Page 56 K/iK Series AC Servo Driver Step Content Verification methods and supplementary instruction Please validate the power and input signal circuit again and validate the speed command input (voltage between V-REF and GND) is 0 V. If the servo motor rotates at an extremely slow speed, see Set servo ON(/S-ON) input signal as ON.

  • Page 57: Trial Operation Servomotor Connected To The Machine

    K/iK Series AC Servo Driver Un011=Un010 Please validate the input pulse polarity and input reference pulse Please validate the conformity of rotation direction with shape. the servo motor giving reference. Please refer to "Selection of Pulse Reference shape". To change the motor rotation direction without changing input Please validate motor rotation direction.

  • Page 58: Trial Operation Of Servomotor With Brakes

    K/iK Series AC Servo Driver 5.1.4 Trial Operation of Servomotor with Brakes In terms of a servo motor with brake, operation for its holding brake should be controlled by interlocking output (/BK) signals of the brake in servo driver. Measures against natural falling of machinery and vibration caused by external force should be taken prior to confirmation of brake operation.

  • Page 59: Setting Of General Basic Functions

    K/iK Series AC Servo Driver □□ □ P□000 Speed control (analog voltage reference) Control RPM of servo motor by reference of analog voltage speed in case of: · required RPM control · feedback from frequency dividing output by encoder of servo; setting position loop in command controller;...

  • Page 60: Rotation Direction Switching Of Motor

    K/iK Series AC Servo Driver 5.3.2 Rotation Direction Switching of Motor In this case, only reverse the rotation direction of motor without changes to pulse and voltage polarity of commands being sent into servo driver. At the same time, moving direction (+, -) of shaft is reversed but polarity for output signals from servo (such as pulse output of encoder and analog monitor signal) is kept unchanged.
  • Page 61 K/iK Series AC Servo Driver Notes Workpieces may fall under the overtravel state when using servo motor in vertical shaft. □ □□□ In order to prevent workpieces from falling in case of overtravel, make sure to set P 000= H.1 so as to switch on zero clamping state after stop.

  • Page 62: Setting For Holding Brake

    K/iK Series AC Servo Driver · Plug braking stopping: stop the motor via deceleration (brake) torque (P□407). · Zero clamping state: use state of position loop in zero configuration of position reference. * See the Selection of Stop Methods in Servo OFF for stop methods in servo OFF and alarm condition. (4) Setting for stop torque in overtravel 5.3.4 Setting for Holding Brake...
  • Page 63 K/iK Series AC Servo Driver (2) Brake interlocking output Pin No. of connector Name Signal Meanings (factory) A axis B axis ON = L Level Release brake. Distribution Output through P□514 OFF = H Level Use brake. When using servo motor with brake, it is the output signal of control brake. In addition, this output signal is not used in factory setting.
  • Page 64 K/iK Series AC Servo Driver (5) Timing setting of brake ON (during rotation of servo motor) If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal will be turned OFF. The timing of brake signal output can be adjusted by setting the following parameter.

  • Page 65: Use Of Absolute Encoder

    K/iK Series AC Servo Driver 5.3.5 Selection of Stop Methods in Servo OFF Select stop methods for servo unit in servo off. Methods for After stop of User Parameter Meanings motor stop motor Reduce speed to stop the servo motor by emergency stop Plug braking □...

  • Page 66: Interface Circuit

    K/iK Series AC Servo Driver If a servo motor with absolute encoder is used, absolute value detection system can be configured in the command controller (host system). Results indicate that it can operate again directly without need of origin reset when power is ON again. Resolution of absolute Output range of Operation when exceeding limit...

  • Page 67: Selection Of Absolute Encoder

    K/iK Series AC Servo Driver ■ Attentions In order to set the ON SEN signal as OFF and then ON, operation should be executed when H level is kept for over 1.3 s as shown in the following figure. 5.4.2 Selection of Absolute Encoder Absolute encoder can also be used as incremental encoder.

  • Page 68: Giving And Receiving Sequence Of Absolute Data

    K/iK Series AC Servo Driver 5.4.4 Giving and Receiving Sequence of Absolute Data After receipt of output from absolute encoder, the sequence used for the driver to send absolute data to the command controller is as follows. (1) Summary of absolute signal As shown below, serial data and pulse of absolute encoder are output by servo driver via "PAO, PBO and PCO".
  • Page 69 K/iK Series AC Servo Driver Pulse should be output at the same speed as pulse for rotation of 1250rpm (factory setting is used for 17 byte frequency dividing pulse). Final absolute data PM can be calculated by the following formula: M ×...

  • Page 70: Setting Of Absolute Encoder (F□009/ F□010)

    K/iK Series AC Servo Driver □ □ 5.4.5 Setting of Absolute Encoder (F 009/ F 010) In addition, setting operation for absolute encoder must be carried out in case of: ＊ initial startup of machinery ＊ "Bus encoder multi-coil information error (A25 / b25)" ＊...

  • Page 71: Clear Of Internal Errors Of Bus Encoder

    K/iK Series AC Servo Driver Press UP or DOWN and select the desired auxiliary function FA010. Press SET to display "PoSCL" and clear multi-coil position operation. Press function key to display "CLFin" which indicates that multi-coil position is completely cleared. Press SET to return to the display of FA009.

  • Page 72: Setting Of Input Signal

    K/iK Series AC Servo Driver 5.5.2 Setting of Input Signal (1) Speed reference input If speed reference is sent to servo driver in the form of analog voltage reference, speed of servo motor is controlled in proportion to input speed. Pin No.
  • Page 73 K/iK Series AC Servo Driver In speed control mode, even if OV reference is sent under analog reference voltage, motor will rotate with low speed in case of small reference voltage offset (unit: mV) of superior control unit or in external circuit. In such case, reference offset can be automatically or manually adjusted by panel operator.
  • Page 74 K/iK Series AC Servo Driver After completion of auto-zeroing, "rEF_o" instead of —— flickering "donE" is displayed. Press SET to return to the display of FA008. Manual adjustment of speed reference offset □ Manual adjustment of speed reference offset ( F 006 ) should be applied in case that: ·...

  • Page 75: Soft Start

    K/iK Series AC Servo Driver 5.5.4 Soft Start Soft start is the function to transfer step speed reference input to the reference with certain acceleration and deceleration in the servo driver. (1) Trapezoidal start-up User Parameter Meanings P□309 H.□□□0 Trapezoidal start-up (2) S -curved start-up User Parameter...

  • Page 76: Use Of Zero Clamping Function

    K/iK Series AC Servo Driver □□ □ First acceleration and deceleration filtering □□ □ Second acceleration and deceleration filtering 5.5.5 Use of Zero Clamping Function Meaning of zero clamping function Zero clamping function refers to the function in the system where command controller is not equipped with position loops under speed control.

  • Page 77: Encoder Signal Output

    K/iK Series AC Servo Driver Setting of input signal Pin No. of connector (factory) Name Signal Meanings A axis B axis ON = L Level Zero clamping function ON (valid) Input /P-C0N CN3-15 CN3-40 OFF = H Level Zero clamping function OFF (invalid) It is the input signal to switch to zero clamping action.
  • Page 78 K/iK Series AC Servo Driver * Even in the negative rotation mode (P□000.0=1), frequency division output phase form is the same as that in the standard setting (P□000.0=0). ■Output phase form Note: For bus encoder, C-phase pulse output of servo driver should be applied for mechanical origin reset after two cycles of rotation of servo motor.

  • Page 79: Position Control Operation

    K/iK Series AC Servo Driver The output signal can be distributed to other output terminals through user parameter P□513. See "Signal distribution of output circuit" for distribution of output signal. 5.6 Position Control Operation 5.6.1 User Parameter Setting Following user parameters should be set for position control by pulse train. (1) Control mode selection User Parameter Meanings...

  • Page 80: Setting Of Electronic Gear

    K/iK Series AC Servo Driver H.□1□□ PULS input does not reverse and SIGN input reverse H.□2□□ PULS input reverse, and SIGN input does not reverse H.□3□□ PULS input reverse, and SIGN input does not reverse Logic reverse for pulse reference is available by setting the parameter. (4) Selection of clear signal form Pin No.
  • Page 81 K/iK Series AC Servo Driver (3) Relevant user parameter (4) Procedure for setting the electronic gear ratio Electronic gear ratio should be set as below. Step Content Instruction To confirm mechanical specifications Reduction ratio, ball screw pitch, pulley diameter, etc. should be confirmed. To confirm encoder pulse Encoder pulse of servo motor should be confirmed.

  • Page 82: Position Reference

    K/iK Series AC Servo Driver Encoder 17-bit: 32768P/R 17-bit: 32768P/R 17-bit: 32768P/R Determine 1 reference unit: 0.001 mm 1 reference unit: 0.1° 1 reference unit: 0.02mm reference unit used. (1 μm) Calculate movement of loading axis 6mm/0.001mm=6000 360°/0.1°=3600 314 mm/0.02 mm=15700 with cycle rotation...
  • Page 83 K/iK Series AC Servo Driver Note: 1. Interval between ON set for servo ON signal to input of reference pulse should be more than 40 ms; Otherwise, the reference pulse may not be received by the servo driver. 2. Clear signal ON should be set more than 200 μs. Table: Timing for reference pulse input signal Reference pulse form Electrical specification...
  • Page 84 K/iK Series AC Servo Driver (b) Connection example of open- collector output R1 value of limiting resistor should be selected to ensure that input current is within the range below. Input current i = 7mA ~ 15mA (3) Chart of control box Chart of control box is as below during position control.

  • Page 85: Smoothing

    K/iK Series AC Servo Driver 5.6.4 Smoothing Filtering is available in the servo unit through reference pulse input with certain frequency. (1) Selection of position reference filter User Parameter Meanings P□206 H.□□□0 First acceleration and deceleration filtering H.□□□1 Second acceleration and deceleration filtering (2) User parameter related to filter 5.6.5 Positioning Completed Output Signal...
  • Page 86 K/iK Series AC Servo Driver The signal represents completion of servo motor positioning during position control, and should be used when interlocking is confirmed by positioning completion of command controller. Pin No. of connector (factory) Name Signal Meanings A axis B axis ON = L Level Positioning completed...

  • Page 87: Inhibition Function Of Reference Pulse (Inhibit Function)

    K/iK Series AC Servo Driver If jitter frequency can be directly measured by instrument, such as laser interferometer, frequency □ measured should be directly input into parameter P 413 in the unit of 0.1 Hz. In case of no measuring instrument available, drawing or FFT analysis function of PC communication software can be used to measure jitter frequency of load indirectly.

  • Page 88: Torque Control Operation

    K/iK Series AC Servo Driver ■Inhibit switching condition · /P-CON signal is ON (L level) (3) Setting of input signal Pin No. of connector (factory) Name Signal Meanings A axis B axis ON = L Level INHIBIT function ON (stop counting of reference pulse) Input /P-CON CN3-15...

  • Page 89: Adjustment Of Reference Offset

    K/iK Series AC Servo Driver ■ Input specification · Input range: DC ± 1V ~ ± 10V/ rated torque · Maximum allowable input voltage: DC ± 12V · Factory settings □ 400 = 30: rated torque under 3 V +3V input: rated torque in the positive direction +9 V input: 300% of rated torque in the positive direction -0.3 V input: 10 % of rated torque in the negative direction Voltage input range can be changed through user parameter...
  • Page 90 K/iK Series AC Servo Driver Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF. Auto-adjustment of torque reference offset of A axis is conducted as below. Operation Operation Operation instruction Display after operation steps Turn OFF the servo drive, and input OV refercnce voltage through host controller or external circuit.

  • Page 91: Speed Limit Under Torque Control

    K/iK Series AC Servo Driver steps Press M function key to select auxiliary function mode for A axis. In case of failing to display FA006, press UP or DOWN to set. Press SET, and "A.Tcr" is displayed. Press SET for at least 1 s, and "0000" is displayed.

  • Page 92: Speed Control (Internal Speed Selection) Operation

    K/iK Series AC Servo Driver (3) External speed limiting function Pin No. of connector Name Signal Name A axis B axis V-REF CN3-5 CN3-30 External speed limit input Input CN3-6 CN3-31 Signal ground Motor speed limit in case the torque limit is input under analog voltage reference. When P□001=H.□1□□, the smaller one of V-REF speed limit input and P□408 (speed limit under torque control) is the valid value.

  • Page 93: Setting Of Input Signal

    K/iK Series AC Servo Driver User Parameter Meanings P□000 H.□□3□ Selection of control manner: internal set speed control (contact reference) 5.8.2 Setting of Input Signal Pin No. of connector Name Signal Name A axis B axis /P-CON CN3-15 CN3-40 Shift of rotation direction of servo motor Input /PCL Need to distribute...
  • Page 94 K/iK Series AC Servo Driver In case that the control mode is switching mode □ When P 000.1 = 4, 5, 6, if the signal of either /PCL or /NCL is OFF (H level), then the control mode is shifted. □...

  • Page 95: Torque Limit

    K/iK Series AC Servo Driver Note: The soft start function is used in the figure above. Value of t1 will not be affected by whether soft start function is used. Read-in of /PCL and /NCL may delay at most 2 ms. 5.9 Torque Limit The servo driver provides the following four methods for limiting output torque to protect the machine.

  • Page 96: External Torque Limit (Through Input Signal)

    K/iK Series AC Servo Driver 5.9.2 External Torque Limit (through Input Signal) Use this function to limit torque by inputting a signal from the host controller at a specific times during machine operation, such as forced stop or hold operations for robot workpieces. The torque limit value preset at the user parameter become valid through signal input.

  • Page 97: Torque Limit Based On Analog Voltage Reference

    K/iK Series AC Servo Driver ON = L Level Positive-side external torque The smaller value between Pn403 and Pn405 Different drives limit ON Input /PCL single axis and double OFF=H Level Positive-side external torque Pn403 axis limit OFF ON = L Level External torque limit...

  • Page 98: Torque Limit Based On External Torque Limit + Analog Voltage Reference

    K/iK Series AC Servo Driver Note: Input voltage for analog voltage reference of torque limit does not have polarity. The value is absolute value, no matter it is positive or negative, and the torque limit based on the absolute value is applicable to both positive and negative directions.
  • Page 99 K/iK Series AC Servo Driver (1) Relevant user parameter User Parameter Meanings □ Speed control option: If /P-CL or /N-CL is valid, T-REF terminal is used as the external □□ □ torque limit input. □□ □ If H. is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it cannot serve for these two input functions simultaneously.

  • Page 100: Confirmation Under Input Torque Limit

    K/iK Series AC Servo Driver When using external torque limit + torque limit based on analog voltage reference, please confirm whether to distribute other signals to the terminal same to /P-CL and /N-CL. Since the logic becomes OR logic when several signals are distributed to a terminal, affect from ON/OFF of other signals distributed to the same terminal may be inevitable.

  • Page 101: Other Output Signal

    K/iK Series AC Servo Driver 5.11 Other Output Signal Describe other signals that can be output, although they have no direct relationship with various control manners. 5.11.1 Servo Alarm Output (ALM) (1) Servo alarm output (ALM) Refer to signals output when the servo drive detects any abnormalities. Pin No.

  • Page 102: Servo Ready Output (/S-Rdy)

    K/iK Series AC Servo Driver 5.11.3 Servo Ready Output (/S-RDY) Pin No. of connector (factory) Name Signal Meanings A axis B axis □ ON = L Level Servo ready status Need P 513 for Output /S-RDY distribution OFF = H Level Servo not ready status Indicate that servo unit is under the status ready for servo ON signal reception.
  • Page 103 K/iK Series AC Servo Driver...

  • Page 104: Data Set Sequence Mode

    K/iK Series AC Servo Driver (2) Setting of input signal Pin No. of connector Name Signal Name A axis B axis □ Input /POS-START Need P 512 for distribution Startup signal of mode motion sequence □ Input /POS-STEP Need P 512 for distribution Step change signal of mode motion sequence □...
  • Page 105 K/iK Series AC Servo Driver (1) Setting of user parameter User Parameter Meanings P□000 H.□□C□ Selection of control mode: mode motion sequence manner P□764 H.□□□0 Selection of data set startup manner: single data set manner User Parameter Meanings P□704 No step change condition, directly start up subsequent data sets; 2nd step change condition H.□□□0 invalid.
  • Page 106 K/iK Series AC Servo Driver User Parameter Meanings P□704 H.□0□□ No conjunction, step change condition 2 invalid H.□1□□ "And" conjunction between condition 1 and 2. H.□2□□ "Or" conjunction between condition 1 and 2. User Parameter Meanings P□705 H.0□□□ Aborting: neglect step change condition, immediately interrupt motion, and start up subsequent data sets.
  • Page 107 K/iK Series AC Servo Driver H.3□□□ BlendingLow: neglect step change condition, and after reaching the goal position, adjust speed based on the speed of subsequent data set. H.4□□□ BlendingPrevious: neglect step change condition, and after reaching the goal position, adjust speed based on the speed of subsequent data set.
  • Page 108 K/iK Series AC Servo Driver H.6□□□ BlendingHigh: neglect step change condition, and after reaching the goal position, adjust speed based on the speed of subsequent data set.

  • Page 109: Operation Of Seeking Reference Point (Return To Zero)

    K/iK Series AC Servo Driver (2) Setting of input signal Pin No. of connector Name Signal Name A axis B axis Need P□512 for Startup signal of mode motion sequence Input /POS-START distribution Need P□512 for Step change signal of mode motion sequence Input /POS-STEP distribution...
  • Page 110 K/iK Series AC Servo Driver H.□□□2 For on-off operation of seeking POT in the negative direction, C pulse is required H.□□□3 For on-off operation of seeking reference point in the negative direction, C pulse is required H.□□□4 For on-off operation of seeking reference point in the positive direction, C pulse is required H.□□□5 For on-off operation of seeking NOT in the negative direction, C pulse is not required...
  • Page 111 K/iK Series AC Servo Driver H.□□□6 For on-off operation of seeking POT in the negative direction, C pulse is not required H.□□□7 For on-off operation of seeking reference point in the negative direction, C pulse is not required H.□□□8 For on-off operation of seeking reference point in the positive direction, C pulse is not required P□770 H.0□□□...
  • Page 112 K/iK Series AC Servo Driver Need P□512 for Start return to zero operation and seek for zero point as per Input /POS-START-HOME distribution P□770.0 setting. When /POS-START signal is ON, the motor is allowed to operate (return to zero allowed); when it is OFF, the motor suspends operation (return to zero suspended).

  • Page 113: Chapter Vi Communication

    K/iK Series AC Servo Driver Chapter VI Communication ZSD-K servo drives are equipped with standard MODBUS communication of RS485 interface and optional CANopen of CAN interface (conforming to DS301 and DS402 standard protocols). The Chapter mainly describes MODBUS communication. 6.1 Communication Wiring Signal name and functions of communication connector are as follows: Terminal No.

  • Page 114: User Parameter

    K/iK Series AC Servo Driver 6.2 User Parameter User Parameter Meanings P□600 H.□□□0 RS485 communication baud rate: 4800 H.□□□1 RS485 communication baud rate: 9600 H.□□□2 RS485 communication baud rate: 19200 H.□□□3 RS485 communication baud rate: 38460 H.□□□4 RS485 communication baud rate: 57600 P□600 H.□□0□...

  • Page 115: Modbus Communication Protocol

    K/iK Series AC Servo Driver 6.3 MODBUS Communication Protocol In case of RS-485 communication, every servo drive must have parameters P□600 ~ P□601 preset. In case of MODBUS protocol for communication, the following two modes are available: ASCII mode RTU mode. The following is the description of MODBUS communication.
  • Page 116 K/iK Series AC Servo Driver 11 bit character format (for 8-bit data) ■ Communication data structure ASCII mode: Beginning character ':' =>(3A Communication address => 1-byte includes 2 ASCII codes Command code => 1-byte includes 2 ASCII codes DATA(n-1) Data content => n-word=2n-byte includes 4n ASCII codes (n ≤ 12) DATA(0) Check code =>...
  • Page 117 K/iK Series AC Servo Driver Data format of communication protocol is described as follows: STX (Communication starting) ASCII mode: ':' character. RTU mode: rest time of communication time (automatically changed based on different communication speed) for more than 4 bytes. ADR (Communication address) Legal communication address ranges from 1 to 254.
  • Page 118 K/iK Series AC Servo Driver RTU mode: Command code: 06 , write in 1 word For example: write 100(0064 ) in address 0200 of servo with office number 01 ASCII mode:...
  • Page 119 K/iK Series AC Servo Driver RTU mode: Calculation of detection error values of LRC (ASCII mode) and CRC (RTU mode): LRC calculation of ASCII mode: ASCII mode adopts LRC (Longitudinal Redunancy Check) detection error value. LRC detection error value is the sum of contents from ADR to the last data and the result is in the unit of 256 and removes exceeding part (for example, the result after totaling is sexadecimal 128 and 28 is then...
  • Page 120 K/iK Series AC Servo Driver Steps for calculation of CRC detection error value are as follows: Step 1: download a 16-bit register with content of FFFF (called as "CRC" register). Step 2: conduct XOR operation on the first bit (bit0) of command massage and the low order bit (LSB) of 16-bit CRC register, and save the result to CRC register;...
  • Page 121 K/iK Series AC Servo Driver if(crc_reg & 0x01){ crc_reg=( crc_reg >>1)^0xA001; Else crc_reg＝crc_reg >>1; return crc_reg; ■ Communication error During communication, errors are possible, and common error sources are as follows: During parameters reading and writing, data address is wrong; ...

  • Page 122: Modbus Communication Address

    K/iK Series AC Servo Driver start Slave station address Command Data address, data, etc. Check 0002 0006 Servo drive feedbacks error frame: start Slave station address Response code Error code Check In addition, if the slave station address in data frame sent by upper computer is 00 indicate that the data of the frame are broadcast data and the servo drive will not return any frame.
  • Page 123 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 043C Rotational inertia percent Unit: 1% Read only 043E Actual angle of encoder Unite: 1 reference pulse Read only 0440 Encoder multi-circle position Unit: 1 circle Read only 044A Current alarm Read only...
  • Page 124 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system Position contact electronic gear 05F8 Read and write numerator Position contact electronic gear 05F9 Read and write denominator 05FA Reference point seeking manner Read and write Reference point seeking on-off 05FB 0~6000 rpm Read and write...
  • Page 125 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 0614 h Step change condition 1 value Read and write 0615 h Step change condition 2 value Read and write 0616 h Subsequent data set number Read and write 0: NULL;...
  • Page 126 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system Data set 6 parameter: 0630 Destination position low byte Read and write 0631 Destination position high byte Read and write 0632 Target speed Read and write 0633 Step change condition attribute Read and write 0634...
  • Page 127 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 064D Step change condition 2 value Read and write 064E Subsequent data set number Read and write 0: NULL; 1: Absolute; 2: 064F Data set type Read and write Relative Data set 10 parameter: 0650...
  • Page 128 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 0668 Destination position low byte Read and write 0669 Destination position high byte Read and write 066A Target speed Read and write 066B Step change condition attribute Read and write 066C Step change condition 1 value...
  • Page 129 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 0686 Subsequent data set number Read and write 0: NULL; 1: Absolute; 2: 0687 Data set type Read and write Relative Data set 17 parameter: 0688 Destination position low byte Read and write 0689 Destination position high byte...
  • Page 130 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 06A1 Destination position high byte Read and write 06A2 Target speed Read and write 06A3 Step change condition attribute Read and write 06A4 Step change condition 1 value Read and write 06A5 Step change condition 2 value...
  • Page 131 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 0: NULL; 1: Absolute; 2: 06BF Data set type Read and write Relative Data set 24 parameter: 06C0 Destination position low byte Read and write 06C1 Destination position high byte Read and write 06C2 Target speed...
  • Page 132 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system 06DA Target speed Read and write 06DB Step change condition attribute Read and write 06DC Step change condition 1 value Read and write 06DD Step change condition 2 value Read and write 06DE Subsequent data set number...
  • Page 133 K/iK Series AC Servo Driver Communication data address Meaning Instruction Operation Hexadecimal system Relative Data set 31 parameter: 06F8 Destination position low byte Read and write 06F9 Destination position high byte Read and write 06FA Target speed Read and write 06FB Step change condition attribute Read and write...
  • Page 134 K/iK Series AC Servo Driver *3 . Step change condition attribute...
  • Page 135 K/iK Series AC Servo Driver...

  • Page 136: Chapter Vii Maintenance And Inspection

    K/iK Series AC Servo Driver Chapter VII Maintenance and Inspection 7.1 Abnormality Diagnosis and Treatment Methods 7.1.1 Overview of Alarm Display Relationship between alarm display and alarm code output ON/OFF is as shown in the table below. The method to stop motor in case of alarm: free-running stop: without braking, natural stop by friction resistance at the time of motor rotation.

  • Page 137: Alarm Displays And Their Causes And Treatment Measures

    K/iK Series AC Servo Driver Alarm Alarms Alarm contents Clear or display output □30 Bleeder resistor disconnection alarm Braking resistor damage. Clear □31 Regeneration overload Regeneration processing circuit is abnormal. There is outage of over one power cycle under AC Clear □33 Momentary outage alarm.
  • Page 138 K/iK Series AC Servo Driver (1) List of alarm displays Alarm Alarm contents Circumstance Cause Treatment measures Wiring of encoder is wrong Correct wiring of encoder Change cable specifications to stranded wire stranded Encoder cables are interfered due to different shielded wire with core wire specifications over 0.12 mm...
  • Page 139 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures Servo drive circuit board develops fault Replace the servo drive Motor wiring is abnormal (poor condition in Revise motor wiring wiring and connection) Encoder wiring is abnormal (poor wiring and Correct wiring of encoder When the servo motor connection)
  • Page 140 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures regeneration handling capacity is exceeded operation condition (check specifications of inertia of load) The installation (direction, interval with other parts) of servo drive is improper (whether there Reduce ambient temperature of is storage disk is releasing heat while the the servo drive to below 55 °C surrounding is heating )
  • Page 141 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures Power is turned off when alarm is being entered Servo drive circuit board develops fault Replace the servo drive When control power Servo drive circuit board develops fault Replace the servo drive supply is on The phase sequence of U, V and M of motor...
  • Page 142 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures is incorrect correct value Load conditions (torque and moment of inertia) Review reassessed load inconsistent with motor specifications motor capacity When control power supply is on Electronic gear fault Setting of electronic gear is incorrect Reset P□202 and P□203 □17...
  • Page 143 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures resistor is in good condition or broken circumscribed regenerative resistor Jumper wire between B2 and B3 comes off Correct wiring (when using built-in regenerative resistor) Revise wiring Check whether the wiring of regenerative circumscribed regenerative resistor is in good condition or comes off...
  • Page 144 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures abnormal supply is on Encoder failure Replace servo motor Servo drive circuit board develops fault Replace the servo drive Wiring of encoder is wrong Correct wiring of encoder Change cable specifications to stranded wire...
  • Page 145 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures line or their distance is too close free from surge voltage Connect equipment ground wire Change in FG potential due to influence by to prevent shunting to FG at PG motor side equipment (welding machine, etc.) side Take anti-interference measures...
  • Page 146 K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures Servo drive circuit board develops fault Replace the servo drive Wiring of encoder is wrong Correct wiring of encoder Change cable specifications to stranded wire stranded Encoder cables are interfered due to different shielded wire with core wire specifications over 12 mm...

  • Page 147: Causes And Treatment Measures Of Other Abnormalities

    K/iK Series AC Servo Driver Alarm Alarm contents Circumstance Cause Treatment measures supply is on Overload alarm reset for several times due to Change reset method of alarms power off Review loading condition, Load exceeds rated load. operation condition or motor Cooling capacity overheated when main...
  • Page 148 K/iK Series AC Servo Driver Check method Treatment measures Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to OFF. improper during torque control are consistent or check between T-REF and GND Position reference input...
  • Page 149 K/iK Series AC Servo Driver Check method Treatment measures Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to OFF. bearing Company in case of any abnormality Supporting machines have Whether moving part Please inquire relevant manufacturers...
  • Page 150 K/iK Series AC Servo Driver Check method Treatment measures Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to OFF. Ratio of moment of inertia is Check ratio f moment of inertia Correct ratio f moment of inertia P□103 inappropriate when not suing P□103...
  • Page 151 K/iK Series AC Servo Driver Check method Treatment measures Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to OFF. data read error controller command controller Whether data (odd-even) check is Execute odd-even check of multi-turn executed on command controller? data...

  • Page 152: Maintenance And Check Of Servo Drive

    K/iK Series AC Servo Driver Check method Treatment measures Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to OFF. distance is too close? Change in FG potential due to What is grounding state (not Connect equipment ground wire to...

  • Page 153: Check Of Servo Drive

    K/iK Series AC Servo Driver inspection Measurement Once every year Disconnect from servo Please contact local dealer insulation unit and measure in case the resistance is resistance insulation resistance with less than 10 MΩ. 500 V megameter. Resistance over 10 MΩ is considered as normal.

  • Page 154: Appendix A Summary Of User Parameters

    K/iK Series AC Servo Driver Appendix A Summary of User Parameters Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□000 Basic function selection switch —— —— 0010 P□001 Basic function selection switch 1 —— —— 0001...
  • Page 155 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□002 Basic function selection switch 2 —— —— 1100 P□003 Basic function selection switch 3 —— —— 0000...
  • Page 156 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□004 Basic function selection switch 4 —— —— 0100 P□100 Speed loop gain 1 ~ 2500 0.1 Hz P□101 Speed loop integral time constant 1 ~ 4000 0.01ms 2000...
  • Page 157 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□112 Accelerated speed feedforward 0 ~ 640 0.1ms filter time constant P□113 Application function for gain select 0000 ~ 0064 —— 0000 switch P□114 Mode switch (torque reference)
  • Page 158 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□126 Speed observer period 0 ~ 100 0.1ms 0/35/70 P□127 Online autotune switches —— —— 1340 P□200 Position control reference form —— ——...
  • Page 159 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□201 PG frequency dividing 16 ~ 32768 1 P/rev 2500 P□202 First electronic gear ratio 1 ~ 65535 —— (numerator) P□203 First electronic gear ratio...
  • Page 160 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□400 Torque reference input gain 10 ~ 100 0.1V/rated torque P□401 Torque reference filter time 0 ~ 250 0.1ms constant P□402 Second torque reference filter time 0 ~ 250 0.1ms constant...
  • Page 161 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□508 Brake command wait time when 10 ~ 100 10ms servo is OFF P□509 8765 (double Input signal selection 1 —— —— 4321 axis/b)
  • Page 162 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□510 8765 (single 0000 (double Input signal selection 2 —— —— axis) axis) P□511 Input signal selection 3 —— —— 0000 P□512 Input signal selection 4 ——...
  • Page 163 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□513 0321 (double axis/A) Output signal selection 1 —— —— 4321 0654 (double axis/b) P□514 0000 (double Output signal selection 2 —— ——...
  • Page 164 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□516 Reserved —— —— —— P□517 Input port filter time constant 0 ~ 1000 0.1ms 0 ~ 3 P□518 Alarm input filter time constant 0.1ms P□519 Active input port signal level...
  • Page 165 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□521 Output port signal reverse select 1 —— —— 0000 P□522 Output port signal inverse select 2 —— —— 0000 P□600 RS-485 communication parameter ——...
  • Page 166 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot parameter P□603 Reserved —— —— 0000 P□604 Reserved —— —— 0000 P□605 Reserved —— —— 0000 P□606 Reserved —— —— 0000 P□607 Reserved ——...
  • Page 167 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot - Pulse edge required for step change: Value 0: rising edge Value 1: falling edge Value 2: rising edge or falling edge - Level required for step change: Value 3: 1 level Value 4: 0 level...
  • Page 168 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□623 Step change condition value 1 in 0 ~ 65535 —— data set 9 - Unconditional: no transitional condition value - Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms - Pulse edge required for step change: Value 0: rising edge Value 1: falling edge...
  • Page 169 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□631 Step change condition value 1 in 0 ~ 65535 —— data set 10 - Unconditional: no transitional condition value - Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms - Pulse edge required for step change: Value 0: rising edge Value 1: falling edge...
  • Page 170 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□636 10000-reference High byte value of Data Set 11 -9999~+9999 pulse P□637 Speed of data set 11 0 ~ 6000 P□638 Step change attribute in Data Set ——...
  • Page 171 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□642 Type of data set 12 0 ~ 2 —— 0: data set is null 1: data set is in absolute motion 2: data set is in relative motion P□643 Low byte value of Data Set 12...
  • Page 172 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□648 Step change condition value 2 in 0 ~ 65535 —— data set 12 Ditto P□649 Follow-up data set number of data 0 ~ 14 ——...
  • Page 173 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot Value 1: falling edge Value 2: rising edge or falling edge - Level required for step change: Value 3: 1 level Value 4: 0 level P□656 Step change condition value 2 in 0 ~ 65535...
  • Page 174 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot data set 14 - Unconditional: no transitional condition value - Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms - Pulse edge required for step change: Value 0: rising edge Value 1: falling edge Value 2: rising edge or falling edge...
  • Page 175 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□705 Step change condition value 1 in 0 ~ 65535 —— data set 0 - Unconditional: no transitional condition value - Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms - Pulse edge required for step change: Value 0: rising edge Value 1: falling edge...
  • Page 176 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□710 10000-reference High byte value of Data Set 1 -9999~+9999 pulse P□711 Speed of data set 1 0 ~ 6000 P□712 Step change attribute in Data Set 1 ——...
  • Page 177 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot 0: data set is null 1: data set is in absolute motion 2: data set is in relative motion P□717 Low byte value of Data Set 2 -9999~+9999 1-reference pulse P□718...
  • Page 178 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot Ditto P□723 Follow-up data set number of data 0 ~ 14 —— set 2 P□724 Type of data set 3 0 ~ 2 ——...
  • Page 179 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot Value 3: 1 level Value 4: 0 level P□730 Step change condition value 2 in 0 ~ 65535 —— data set 3 Ditto P□731 Follow-up data set number of data...
  • Page 180 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot Value 0: rising edge Value 1: falling edge Value 2: rising edge or falling edge - Level required for step change: Value 3: 1 level Value 4: 0 level P□738 Step change condition value 2 in...
  • Page 181 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot data set 5 - Unconditional: no transitional condition value - Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms - Pulse edge required for step change: Value 0: rising edge Value 1: falling edge Value 2: rising edge or falling edge...
  • Page 182 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□753 Step change condition value 1 in 0 ~ 65535 —— data set 6 - Unconditional: no transitional condition value - Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms - Pulse edge required for step change: Value 0: rising edge Value 1: falling edge...
  • Page 183 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□758 10000-reference High byte value of Data Set 7 -9999~+9999 pulse P□759 Speed of data set 7 0 ~ 6000 P□760 Step change attribute in Data Set 7 ——...
  • Page 184 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot 0: internal method (single data set method) 1: task mode (data set sequence) P□765 Acceleration of data set 0 ~ 60000 10 rpm/s 10000 P□766 Deceleration of data set...
  • Page 185 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot point byte speed/position P□773 0 ~ 9999 1-reference pulse switching reference point High byte speed/position 10000-reference P□774 0 ~ 9999 switching reference point pulse...

  • Page 186: Appendix B Table Of Ik Series M2 Drive Parameters

    K/iK Series AC Servo Driver Appendix B Table of iK Series M2 Drive Parameters Param Power eter Name Setting range Setting unit Factory setting Remarks reboot P□000 Basic function selection switch —— —— 0010 P□001 Basic function selection switch 1 ——...
  • Page 187 K/iK Series AC Servo Driver Param Power eter Name Setting range Setting unit Factory setting Remarks reboot P□002 Basic function selection switch 2 —— —— 1100 P□003 Basic function selection switch 3 —— —— 0000...
  • Page 188 K/iK Series AC Servo Driver Param Power eter Name Setting range Setting unit Factory setting Remarks reboot P□004 Basic function selection switch 4 —— —— 0100 P□100 Speed loop gain 1 ~ 2500 0.1 Hz P□101 Speed loop integral time constant 1 ~ 4000 0.01 ms 2000...
  • Page 189 K/iK Series AC Servo Driver Param Power eter Name Setting range Setting unit Factory setting Remarks reboot percentage P□112 Accelerated speed feedforward 0 ~ 640 0.1ms filter time constant P□113 Gain application switch 0000 ~ 0064 —— 0000 P□114 Mode switch (torque reference) 0 ~ 300 P□115 Mode switch (speed reference)
  • Page 190 K/iK Series AC Servo Driver Param Power eter Name Setting range Setting unit Factory setting Remarks reboot P□125 Friction gain 0 ~ 30000 P□126 Speed observer cycle 0 ~ 100 0.1ms 0/35/70 P□127 Online autotune switches —— —— 1340 P□200 Position control reference form ——...
  • Page 191 K/iK Series AC Servo Driver Param Power eter Name Setting range Setting unit Factory setting Remarks reboot P□201 PG frequency dividing 16 ~ 32768 1 P/rev 2500 P□202 First electronic gear ratio 1 ~ 65535 —— (numerator) P□203 First electronic gear ratio 1 ~ 65535...
  • Page 192 K/iK Series AC Servo Driver Param Power eter Name Setting range Setting unit Factory setting Remarks reboot P□400 Torque reference input gain 10 ~ 100 0.1V/rated torque P□401 Torque reference filter time 0 ~ 250 0.1ms constant P□402 Second torque reference filter time 0 ~ 250 0.1ms constant...
  • Page 193 K/iK Series AC Servo Driver Param Power eter Name Setting range Setting unit Factory setting Remarks reboot P□508 Brake command wait time when 10 ~ 100 10ms servo is OFF...
  • Page 194 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□509 8765 (double Input signal selection 1 —— —— 4321 axis/b)
  • Page 195 K/iK Series AC Servo Driver Parame Power Name Setting range Setting unit Factory setting Remarks ter No. reboot P□510 8765 (single 0000 (double Input signal selection 2 —— —— axis) axis) P□511 Input signal selection 3 —— —— 0000 P□512 Input signal selection 4 ——...
  • Page 196 K/iK Series AC Servo Driver Parame Factory Power Name Setting range Setting unit Remarks ter No. setting reboot P□513 0321 (double axis/A) Output signal selection 1 —— —— 4321 0654 (double axis/b) P□514 Output signal selection 2 —— —— 0065 0000 (double axis) P□515 Output signal selection 3...
  • Page 197 K/iK Series AC Servo Driver Parame Factory Power Name Setting range Setting unit Remarks ter No. setting reboot P□516 Reserved —— —— —— P□517 Input port filter time constant 0 ~ 1000 0.1ms P□518 Alarm input filter time constant 0 ~ 3 0.1ms P□519 Active input port signal...
  • Page 198 K/iK Series AC Servo Driver Parame Factory Power Name Setting range Setting unit Remarks ter No. setting reboot P□522 Output port signal reverse select 2 —— —— 0000 P□600 RS-485 communication parameter —— —— 0151 selection switch RS-485 communication axis P□601 1 ~ 127 ——...
  • Page 199 K/iK Series AC Servo Driver Parame Factory Power Name Setting range Setting unit Remarks ter No. setting reboot parameter selection switch CANopen communication axis P□604 1 ~ 127 —— 1 (A axis) 2 (b axis) address P□605 Metratrolink communication —— ——...
  • Page 200 K/iK Series AC Servo Driver Parame Factory Power Name Setting range Setting unit Remarks ter No. setting reboot P□626 Reference point seeking switch 0 ~ 65535 100 p/s speed P□627 Zero return closing speed 0 ~ 65535 100 p/s P□628 Zero return displacement distance Remarks: 1.

  • Page 201: Appendix C List Of Alarm Display

    K/iK Series AC Servo Driver Appendix C List of Alarm Display Alarm Alarm contents Clear or Alarms display output □01 Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear □02 Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear Overload Continuous running at a certain torque exceeding the...
  • Page 202 K/iK Series AC Servo Driver Alarm Alarm contents Clear or Alarms display output □42 Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear □43 Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear Check error in bus encoder control Encoder signal is interrupted or encoder decoding circuit □44...

  • Page 203: Appendix D Guidelines For Motor Model By Users

    K/iK Series AC Servo Driver Appendix D Guidelines for Motor Model by Users Operation Display after Steps Operation instruction operation After energizing, gently press M function key to switch to A axis auxiliary function mode. Gently press “∧” key for four times and set FA004. Gently press SET key to enter password operation.

  • Page 204: Motor Adaption Table

    K/iK Series AC Servo Driver Gently press SET key to exit motor model code setting. Note: 1. In case of double-axis servo drive, M function key should be press for a long time (continuously for above 1 s) during setting of b axis motor model to switch to b axis parameter and then follow step 9-12.
  • Page 205 K/iK Series AC Servo Driver Torque Rotation speed Power Motor type Voltage Motor model N•m Pn005 110ST-M06030 3000 130ST-M04025 2500 130ST-M05025 2500 130ST-M06025 2500 130ST-M07725 2500 130ST-M10010 10.0 1000 130ST-M10015 10.0 1500 130ST-M10025 10.0 2500 130ST-M15015 15.0 1500 130ST-M15025 15.0 2500 180ST-M17215 17.2...

  • Page 206: H Series Motor

    K/iK Series AC Servo Driver Torque Rotation speed Power Motor type Voltage Motor model N•m Pn005 150ST-M27020 2000 100ST-M03230 2000 100ST-M06430 3000 130AST-M04025 2500 130AST-M05025 2500 130AST-M06025 2500 130AST-M07725 2500 130AST-M10015 1500 130AST-M15015 1500 130AST-M10025B 2500 2. H Series Motor If the motor is H Series Motor, refer to PA006 setting below: Torque Rotation speed...
  • Page 207 K/iK Series AC Servo Driver 130ST-M10015LFB 1500 130ST-M10025LFB 10.0 2500 130ST-M15015LFB 15.0 1500 130ST-M15025LFB 15.0 2500 150ST-M15025LFB 15.0 2500 150ST-M18020LFB 18.0 2000 150ST-M23020LFB 23.0 2000 150ST-M27020LFB 27.0 2000...

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