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ATO MG-1000 Series Connection And Debugging Manual

All-digital ac servo driver
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Connection and Debugging Manual
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Summary of Contents for ATO MG-1000 Series

  • Page 1 Connection and Debugging Manual for All-digital AC Servo Driver...

  • Page 2: Table Of Contents

    Table of Contents Important Safety Information ............................ I Chapter I Installation ........................... 1 Outline Dimensions of the Servo Driver ......................1 Installation Dimensions for the Servo Driver ......................3 Installation Site ............................... 4 Direction and Space of Installation ........................6 Chapter II Overview of Functions .........................
  • Page 3 Chapter VI Parameters ..........................47 List of Parameters [PA Mode] ......................... 47 Detailed Explanation of Parameters ........................48 Chapter VII Failures and Diagnosis........................58 List of Alarms ............................58 Troubleshooting ............................58 Chapter VIII Debugging and Application ......................63 Notices to Quick Debugging ........................63 Position Control (Quick adjustment of parameters after power on) .................

  • Page 4: Important Safety Information

    Important Safety Information I. Personnel Safety ●This product is a high-voltage heavy current product. Make sure that personal are within the safety area of moving mechanisms. ● Improper operation may cause accidents such as electric arc burn or electric shock, etc. ●...
  • Page 5 Remarks It is hereby declared that : ● 2A/3A/5A/ shown in the manual or nameplate are the abbreviations for 20A/30A/50A.

  • Page 6: Chapter I Installation

    Chapter I Installation 1.1 Outline Dimensions of the Servo Driver Figure 1.1 Outline Dimensional Drawings for the Servo Driver of 30A/30A...
  • Page 7 1.11 Outline Dimensions of the Servo Driver Figure 1.2 Outline Dimensional Drawings for the Servo Driver of 50A/75A...

  • Page 8: 1.2 Installation Dimensions For The Servo Driver

    1.2 Installation Dimensions for the Servo Driver Figure 1.11 Installation Dimensions for the Servo Driver of 30A/30A...
  • Page 9 1.21 Installation Dimensions for the Servo Driver Figure 1.21 Installation Dimensions for the Servo Driver of 50A/75A...

  • Page 10: Installation Site

    Installation Site I. To make sure that the servo driver works normally, it is necessary to ensure that the temperature around the driver is below 50°C and that the relative humidity is below 90%. The long-term safe working temperature should be below 40°C. II.

  • Page 11: Direction And Space Of Installation

    Direction and Space of Installation I. Pay attention to the direction of installation (See Figure 1.3). II. Pay attention to the spacing of installation (See Figure 1.3). III. Four (4) M5 bolts can fix the servo driver with a spring washer added. IV.

  • Page 12: Chapter Ii Overview Of Functions

    Chapter II Overview of Functions Basic Funct -1000 Series of Servos ions of MG Type -1000 (20A/30A/50A/75A) Control power supply and main Single phase or three phase AC 220V circuit power supply Voltage fluctuation:-15-+10%, 50/60Hz Temperature Working temperature: 0-55 Storage temperature: -40 C-80 Environment Humidity...

  • Page 13: Type Selection Of The Servo Driver

    Type Selection of the Servo Driver -1000 B 30 (1) (2) (3) (1) Series: Dealour’s common types of servo drivers are adaptable to multiple specifications of servo motors and industries with rich forms of database. (2) Feedback elements: 1000 2500C/T incremental type and wiring saving type encoders, S sine and cosine (2 bi/2 bit(131072/262144)), M multi-loop bus type...
  • Page 14 Rated Power Rated Toque Type Code Applicable Driver Applicable Motor Current (kW) (Nm) 130ST-M07720LBF 130ST-M07725LBF 130ST-M07730LBF 130ST-M10015LBF 130ST-M10025LBF 130ST-M15015LBF 130ST-M15025LBF 150ST-M12030LBF 16.5 150ST-M15025LBF 16.5 -1000/50A 150ST-M18020LBF 16.5 150ST-M23020LBF 20.5 150ST-M27020LBF 20.5 150ST-M12020LBF 180ST-M17215LBF 10.5 180ST-M19015LBF 180ST-M21520LBF 180ST-M27010LBF 180ST-M27015LBF 180ST-M35010LBF 180ST-M35015LBF 180ST-M48015LBF Table 2.22 -1000/50A...
  • Page 15 Rated Power Rated Toque Type Code Applicable Driver Applicable Motor Current (kW) (Nm) 130ST-M07720LBF 130ST-M07725LBF 130ST-M07730LBF 130ST-M10015LBF 130ST-M10025LBF 130ST-M15015LBF 130ST-M15025LBF 150ST-M12030LBF 16.5 150ST-M15025LBF 16.5 -1000/75A 150ST-M18020LBF 16.5 150ST-M23020LBF 20.5 150ST-M27020LBF 20.5 150ST-M12020LBF 180ST-M17215LBF 10.5 180ST-M19015LBF 180ST-M21520LBF 180ST-M27010LBF 180ST-M27015LBF 180ST-M35010LBF 180ST-M35015LBF 180ST-M48015LBF Table 2.23 -1000/75A...

  • Page 16: Chapter Iii Wiring

    Chapter III Wiring Notices ● The servo driver is a high voltage e heavy current product. Improper connection may cause damage to personnel and equipment. ● PE terminal must be connected to a ground wire and make sure that the ground wire is reliably grounded.
  • Page 17 ●The required diameters of R, S, T and U, V, W, PE wires should be equal to and more than 1.5mm ● All power terminals should be cold-pressed ones, firm and reliable. ●CN1 and CN2 are high-density signal plugs, with both ends of the shielding layer grounded and connected with the housing.

  • Page 18: Typical Wiring

    Typical Wiring Position Control (pulse type) Figure 3.1 Wiring of Position Control...

  • Page 19: Speed Control (Analog Value)

    Speed Control (analog value) Servo motor Circuit breake Single ph ase or three phase AC 220V External connect ion to braking resistors Servo motor socket DC12V-24V Servo enable Alarm reset CCW driver disabled CW driver disabled Zero speed clamping/speed selection 1 Speed selec tion 2 Servo ready Servo alarm...

  • Page 20: Torque Control (Analog Value)

    Torque Control (analog value) Servo motor (Circuit breaker) Single phase or three phase AC 220V External connect ion to braking resistors Servo motor socket DC12V-24V Servo enable Alarm reset CCW driver disabled CW driver disabled CCW torque limit CW torque limit Servo ready Servo alarm Band -type brake tightness...

  • Page 21: Wiring Diagram For Wire Saving Motor Encoder

    Wiring Diagram for Wire Saving Motor Encode r Servo motor Servo driver Wire saving servo motor encoder Servo motor socket Figure 3.4 Wiring Diagram for Wire Sav ing Motor Encoder ● A wire saving encode r should be selected for servo motors below 80 series ●...
  • Page 22 MG -1000 servo driver Servo motor DC12V- KA relay DC12V- Band-type brake coil Figure3.5 Wiring Diagram for Band -type Brake Motor Pin No. Pin mark Function Description DC power supply positive pole DC24V + DC power supply negative pole 0V Housing ground wire Table 3.1 Socket for Servo Motor Band-type Brake ●...

  • Page 23: Chapter Iv Interfaces

    Chapter IV Interfaces Definitions of Servo Cont rol Power Supply and Heavy Current Terminal Mark Signal Name Function Control circuit and main R, S and T can be connected to a signal-phase or three-phase 220V circuit power supply 50HZ power supply. The control power supply for the driver and (switched in via the isolation the power supply for the main circuit are designed in an integrated transformer)

  • Page 24: Definitions Of Cn1 Interface And Control Signal Input/Output

    Definitions of CN1 Interface and Control Signal Input/output Figure 4.1 Front Elevation of 36-core Plug Soldering Terminal of CN1 Interface Mark Signal Name Function +24V Input power Common input terminal (connected supply positive +12V-+24V power supply) Enable terminal ： Servo enable When 0V is switched off, SON is OFF: The driver stops and the motor is in free state.
  • Page 25 driver The servo motor is not allowed to rotate the terminal disabled clockwise. ● When Parameter PA20 = 0, When 0V is switched off, FSR is OFF and the servo motor can rotate clockwise. When 0V is switched on, FSR is ON and the servo motor is not allowed to rotate clockwise.
  • Page 26 ● External 0-+10 positive analog value control PA22=2 ; 0-+10V rotation controls positive rotation . CCW torque limit During torque control, the motor is limited to rotate the terminal clockwise. When 0V is switched on, the value of Parameter PA38 is effective;...
  • Page 27 Command pulse The command pulse disabled terminal: ● The mode of external position control when Parameter disabled PA4 = 0: When 0V is switched off, INH is OFF and the comman d pulse input is effective. When 0V is switched on, INH is ON and the comman d pulse input is disabled.
  • Page 28 upper computer. Example: Pin 25 is connecte d to 0V and Pin 8 to the upper computer. When the servo is in normal state, the upper computer is able to receive the electrical level of 0V. When the servo alarms, 0V is disconnected from the upper computer (normal close).
  • Page 29 Mark Signal Name Function ALM+ Servo alarm Example: Pin 26 is connected to +24 V and Pin 27 to the output upper computer. ALM- When the servo alarms, the upper computer is able to receive the electrical level of +24V. When the servo is in normal state, +24V is disconnected from the upper computer.
  • Page 30 (band -type the positive pole of the relay coil. brake) ti ghtness After the motor is enabled, the coil of the intermediate relay is able to receive the electrical level of +24V; otherwise +24V is disconnected from the relay. Example: P in 31 is connected to 0V and Pin 30 to the negative pole of the relay coil.
  • Page 31 I+> OA+> Encoder's Phase The difference of ABZ signal of the encoder is output and 2ρ Aρ OA+> fed back by the driver to the upp er computer. ， 3ρ ’ OB+> Encoder s Phase 4ρ B+> OB+> 5ρ ’ OZ+>...

  • Page 32: Definitions Of Cn2 Interface And Encoder Input Signal

    Definitions of CN2 interface and Encoder Input Signal Figure 4.2 Front Elevation of 26-core Plug Soldering Terminal of CN2 Interface Mark Signal Name Function 14,15,16,17 +5V power supply for the encoder To provide power supply for the encoder (via shielded cables). 18,19,20,21,22,23 0V ground wire for the encoder A+ input for the encoder...
  • Page 33 The ground wire for the shielding To be connected with layer housing. Improve anti- interference by short circuiting P E with the digital ground wire to ensure reliable grounding, according different upper computers.

  • Page 34: Principle Of The Input Interface For Switching Value

    Principle of the Input Interface for Switching Value Figure 4.3-a Input Interface for Switching Value Servo controller ● The input interface should be externally connected to a power supply of DC12V-24V with a current equal to and more than 105MA. ●...

  • Page 35: Principle Of The Input Interface For Pulse Value

    ● Inverse connection of the positive and negative poles may damage the driver and make it unable to work normally. ● The output load is a inductive component which should be inversely connected in parallel with a fly-wheel diode (Make sure that the poles are properly connected; otherwise the driver will be damaged.
  • Page 36 Servo controller Figure 4.4-b Single-ended Output Mode of Pulse Servo controller ● The differential output mode of pulse is relatively reliable, so it is suggested to use AM26LS31 and the like that are similar to a RS422 line driver. ● The power supply is provided externally under the single-ended output mode and the working frequency will lower.

  • Page 37: 4.6.1 Input Mode Of Pulse

    4.6.1 Input Mode of Pulse CCW Operation CW Operation Input Mode of Parameter Pulse Selection Pulse + direction Parameter PA14=0 CCW pulse Parameter PA14=1 CW pulse AB-biphase Parameter PA14=2 orthogonal pulse Principe of the input interface of Analog Value Upper computer Servo driver AS+ or AT+ AS- or AT-...
  • Page 38 Servo driver Upper computer AS+ or AT+ AS- or AT Figure 4.5-b Interface for Analog Single-ended Input Servo driver AS+ or AT+ Potentiometer AS- or AT- Figure 4.5-c Input Interface for Analog Differential Potentiometer...

  • Page 39: Principe Of Encoder Interface

    Servo driver AS+ or AT+ Potentiometer AS- or AT- Figure 4.5-d Input Interface for Analog Single-ended Potentiometer ● The input voltage of the analog value should not exceed the range of -10V-+10V; otherwise the driver will be damaged. ● The analog value has a deviation indeed, because wires and the interface circuit, etc, weaken and are interfered. It is suggested that a cable with a shielding layer be used for connection with its both ends grounded.

  • Page 40: Cn2 Input Interface For Encoder Signal (From The Servo Motor To The Driver)

    ● The signal of the encoder passes the differential driver AM26LS31 and is not an non-isolated output. ● The upper computer can receive the signal via AM26LS32 or a high-speed photocoupler. CN2 Input Interface for Encoder Signal (from the servo motor to the driver) Servo driver 器...

  • Page 41: Chapter V Display And Operation

    Chapter V Display and Operation Operation Panel The operation panel is comprised of six LED digital tube displays and four keys , one red lamp , and one green lamp, which are used to display all kinds of statuses of the system and to set parameters.

  • Page 42: Components Of Parameter Structure

    Components of Parameter Structure The first layer is used for mode selection. There are totally seven modes. Press ← to return the main menu. Press ← to go back ↑ and ↓ to select a mode. Press Enter to enter the second layer of a selected mode. to the first layer.

  • Page 43: Status Monitoring Mode (Dp- -)

    Status Monitoring Mode (DP- -) Motor speed Current position lower 5 digit Current position higher 5 digit Position command lower 5 digit Position command higher 5 digit Position deviation lower 5 digit Position deviation higher 5 digit Motor torque (%) Motor current(A) Z pulse count Current control mode...
  • Page 44 INH (command pulse disabled) SC2 (speed selection 2) FIL (CCW torque limit) RIL (CW toque limit) CLE (deviation counter reset) SC1 (speed selection 1) ZEROSPD (zero position clamping) RSTP (CW driver disabled) FSTP (CW driver disabled) ALRS (Alarm clearance) SRV-ON (servo enable) (When strokes lighten and there is signal input, the input terminal is ON;...
  • Page 45 Encoder’s V-phase Encoder’s W- phase Encoder’s U-phase Encoder’s Z-phase Encoder’s B-phase Encoder’sA-phase Figure 5.4 Status Display of Encoder Feedback Signal (When strokes lighten and there is signal input, the encoder is ON; when it goes out, the encoder is disconnected to OFF.) Encoder’s U-phase Encoder’s V-phase...

  • Page 46: Parameter Modification Mode (Pa--)

    Parameter Modification Mode (PA--) Press Ente to enter the parameter modification mode ― PA-- . Press ↑ and ↓ to increase or decrease a parameter n umber. Press Enter to e nter a nd modify a p arameter. The decimal points at the lower right corner of the digital tube will lighten when a parameter is being modified;...

  • Page 47: Speed Trial Run Mode (Sr- -)

    Enter  J 200 – Jr--- -- Jog mode Table 5.5 Operation of JOG Operational Mode Speed Trial Run Mode (Sr- -) Press Enter to enter the speed trial run mode ―Sr--‖. Press Enter to enter the jog operational mode ―S--‖, speed command and motor direction.

  • Page 48: Open Loop Operation Mode (Ol- -)

     Enter Finish Automatic zeroing of encoder CO-- – – Table 5.8 Operation of Automatic Zeroing Mode of Encoder ● The automatic zeroing of the encoder is mainly used to check the angle of Z pulse after the encoder for the servo driver is installed.

  • Page 49: Chapter Vi Parameters

    Chapter VI Parameters List of Parameters [PA Mode] Parameter Parameter Name Unit Range of Parameter Default Parameter password 0-9999 Motor model 0-52 Software version No. Initial status display 0-21 Control mode selection Speed proportional gain 50-500 Speed integral time constant 1-1000 Torque filter 20-500...
  • Page 50 Command pulse signal filter factor Command direction signal filter factor 0-300 External CCW and CW torque limit -2000-2000 Zero drift compensation for analog value torque command Acceleration time constant 1-10000 Deceleration time constant 1-10000 Alarm 15 shielded Analog speed command gain (r/min) / V 10-3000 Reversion of Analog speed command direction...

  • Page 51: Detailed Explanation Of Parameters

    Detailed Explanation of Parameters Parameter Parameter Detailed Explanation of Functions Range of parameter Name [Default] Parameter a. The user password is 315. 0-9999 password b. The password for type code is 385 and only used for modifying Parameter [ 315 ] PA1.
  • Page 52 b. Four types of internal speeds are selected via the combination of Pin 14 SC1 and Pin 15 SC2 in the CN1 interface. SC1 OFF, SC2 OFF: internal speed 1. The rotational speed is set via PA24. SC1 ON, SC2 OFF: internal speed 2.The rotational speed is set via PA25. SC1 OFF, SC2 ON: internal speed 3.The rotational speed is set via PA26.
  • Page 53 frequency is and the faster the speed feedback response is. Where a faster speed response is needed, the set value can be decreased appropriately. Position a. Used to set the proportional gain of the position loop regulator. 1-500 proportional b. The greater the set value is, the greater the gain is, the greater the rigidity is, [ 40 ] gain and the smaller the hysteretic value of position under the same condition of...
  • Page 54 command 1: CCW pulse/CW pulse; pulse 2: Two-phase orthogonal pulse input. See Figure 4.4-c Pulse Mode on Page 28. Reversion of 0: Default direction. 1: Direction reversion. direction [ 0 ] position command pulse Positioning a. When the value in the position deviation counter is less than or equal to the 0-3000 completion set value during position control, positioning completion is COIN ON;...
  • Page 55 When Pin CNISC1 is OFF and Pin SC2 is ON, this parameter is internal speed [ 300 ] Internal speed When PA4=1 and PA22=0 : -3000-3000 When Pin CNISC1 is ON and Pin SC2 is ON, this parameter is internal speed [ -100 ] Arrival speed In non-position mode:...
  • Page 56 Example: If this parameter is set to two times of the rated torque, the set value is 200; This set value is limited and effective all the time. Command When PA4=0, this parameter is effective during position control. pulse signal The greater the set value is, the strong the anti-interference to the command [ 1 ] filter factor...
  • Page 57 Zero drift The zero drift compensation value to the analog speed torque input is namely -5000-5000 compensation positive and negative offsets. [ 0 ] Analog This parameter is automatically modified and stored during the automatic value speed zeroing of the analog value. command See Table 5.7a on Page 41.
  • Page 58 RSTP:CW driver disabled [ 1000 ] SON: Servo enable: [ 0001 ] A-CLR: Alarm clearance [ 0010 ] FSTP: CCW driver disabled [ 0100 ] RSTP: CW driver disabled [ 1000 ] Higher 4 digit CLE/SC1/ZEROSPD: 0000-1111 terminal Deviation counter reset/speed selection 1/zero speed clamping: [ 0001 ] [ 0000 ] forced INH/SC2: command pulse disabled/speed selection 2 [ 0010 ]...
  • Page 59 Remarks It is hereby declared that: ● PA-59 can reach PA-299 at most in default in the parameter structure of -1000 series of servo drivers. The internal super password of the manufacturer or the password of the cooperation manufacturer of the servo motor should be input.

  • Page 60: Chapter Vii Failures And Diagnosis

    Chapter VII Failures and Diagnosis List of Alarms (Table 7.1) Alarm No. Alarm Name Failure Diagnosis Overspeed The speed of the servo motor exceeds the set value. Main circuit overvoltage The voltage of three-phase or two-phase power supply is too high or the brake fails to work.

  • Page 61: Troubleshooting

    Troubleshooting (Table 7.2) Alarm Alarm Name Operation Cause Solution Status ●Driver or motor failure ★Replace the driver. Overspeed Power on ●Check parameters ★Check whether internal enable ★ Check the wire of the motor. ●Short circuit between motor and Being enabled ●Encoder Position 0 deviation ★Motor encoder zeroing ●...
  • Page 62 ★PA20, CW and CWW wires ● Check parameters and wires Disable Power on abnormal ★Check the load. ● Motor stalling Position In operation ★ Reduce the speed of the upper ● Command frequency abnormal deviation computer. counter overflow ★Check the wire and connect the ●Wiring incorrect shielding layer.
  • Page 63 acceleration/decelerationtime. ★Reduce the mechanical inertia. ●Mechanical inertia too great ★Replace the encoder. ● Encoder damaged Encoder In operation ★Check the wiring and replace the ●Encoder wiring incorrect coun t incorrect encoder. ★5V voltage should be stable. ● Encoder power supply unstable ★Adjust the number of ●The number of encoder wires wires...

  • Page 64: Chapter Viii Debugging And Application

    Chapter VIII Debugging and Application Notices to Quick Debugging I. Confirm that wiring is correct. ● R, S, T and U, V,W should not be connected reversely and loosely. ● Check whether the input voltage is three-phase 220V or single-phase 220V. ●...

  • Page 65: Position Control (Quick Adjustment Of Parameters After Power On)

    Position Control (Quick adjustment of parameters after power on) Example: A -1000/3Adriver matches a 130ST-M15015 motor (position control). 1. Make ensure that the three-phase 220V voltage between R, S and T is correct after power on. 2. Do not connect the servo enable signal temporarily. Check whether there is any alarm and observe the red lamp (ALM).

  • Page 66: Torque Control (Quick Adjustment Of Parameters After Power On)

    correct. 3. Do not connect the servo enable signal temporarily. Check whether there is any alarm and observe the red lamp (ALM). If the red lamp is not on, the operation is normally and you can go to the next step. 4.

  • Page 67: Dynamic Electronic Application

     PA--4 --Control mode Set to 6 PA--20--Driver disablement ineffective  Factory value=1 PA-40 -- Acceleration time constant  Set as required PA-41 -- Deceleration time constant  Set as required PA-43 -- Analog speed command gain  Set as required PA-45 -- Analog speed zero drift compensation ...

  • Page 68: Debugging Of Typical Problems

    Debugging of Typical Problems I. (Run) the enable green lamp fails to be on. a. Check whether the voltages of three phases R, S and T are normal. b. Check whether the +24V for Pin 18 of CN1 interface is correct. c.
  • Page 69 PA12 / PA13: = ( co mmand value mm)*( the nu mb er of wires of the encoder) *(4 quadruple frequency)/ (pitch)*(the number of pulses) = 10 *2 500 *4 / 6 *1 0000 = 5 / 3 viz. PA 12 = 5 , PA 13 = 3 . b.
  • Page 70 Chapter IX Servo Motor Definition and Wiring of the Servo Motor Plug I. Power Socket (with 4 prongs) Winding lead Socket No. U, V and W are the lead ends of the winding coil of the servo motor. A round plug is dedicated for the motor with Seat 80.
  • Page 71 Socket No. SD+ and SD- are data output signals; E+ and E- are battery leads. ●Socket (with 7 prongs) for rotatable transformer (R) Signal Socket No. R1-R2 are primary signals, S1-S3 and S2-S4 are secondary signals. III. Socket for Safe Brake (Band-type Brake): VDC(direct current power supply) Power supply without requirements on polarity access.
  • Page 72 (7) Standard matching: F-incremental encoder (2500 C/T), F1- wire saving incremental encoder (2500C/T). (8) Medium inertia (9) A safe brake has been installed. Dimensions and Type Selection Parameters of Servo Motors ● Seat 80 Type 80ST-M01330LF1B 80ST-M02430LF1B 80ST-M03330LF1B 0.4 kW 0.75 kW 1.0 kW Power...
  • Page 73 Seat 80: yp A L1 d Φ1 6 15. -0.013 -0.03 -0.1 Φ1 6 15. -0.013 -0.03 -0.1 Φ1 6 15. -0.013 -0.03 -0.1 ● Seat 11 110ST-M020 110ST-M04030 110ST-M05030 110ST-M06020 110ST-M06030 Type 30LFB 0.6 kW 1.2 kW 1.5 kW 1.2 kW 1.6 kW Power...
  • Page 74 Key A Key B Key B Seat 110: -0.013 -0.03 -0.1 Φ1 2 76 4 40 -0.013 -0.03 -0.1 Φ1 4 40 Φ1 -0.013 -0.03 -0.1 4 40 3 Φ1 -0.013 -0.03 -0.1 ● Seat 130 Type 130ST-M04025LFB 130ST-M05020LFB 130ST-M05025LFB 130ST-M06025LFB 1.0 kW 1.0 kW...
  • Page 75 (1.268×10 (1.50×10 (1.50×10 (1.711×10 12.0 A 15.0 A 15.0 A 18.0 A Maximum current 12.0 Nm 15.0 Nm 15.0 Nm 18.0 Nm Maximum torque Fr≤900N Maximum Fs≤300N radia l and axial forces Key A Key B Seat 130:...
  • Page 76 b (mm) t (mm) (mm) 5 Φ22 16 20 18.5 -0.013 -0.03 -0.1 5 Φ22 18.5 -0.013 -0.03 -0.1 5 Φ2 18 22 -0.013 -0.03 -0.1 ● Seat 130 Type 130ST-M07720LFB 130ST-M07725LFB 130ST-M07730LFB 130ST-M10015LFB 1.6 kW 2.0 kW 2.4 kW 1.5 kW Power 7.7 Nm...
  • Page 77 d (mm) t (mm) (mm) 5 Φ22 18.5 -0.013 -0.03 -0.1 5 Φ2 21 26 13 -0.013 -0.03 -0.1 ● Seat 130 Type 130ST-M10025LFB 130ST-M15015LFB 130ST-M15025LFB 2.6 Kw 2.3 Kw 3.9 Kw Power Rated torque 10.0 Nm 15.0 Nm 15.0 Nm 2500 rpm 1500 rpm 2500 rpm...
  • Page 78 Seat 130: Type d (mm) b (mm) t (mm) (mm) (mm) (mm) (mm) (mm) (mm) 130ST-M10025 Φ22 18.5 -0.013 -0.03 -0.1 130ST-M15015 Φ22 18.5 -0.013 -0.03 -0.1 130ST-M15025 ● Seat 150 Type 150ST-M15025LFB 150ST-M18020LFB Power 3.8 Kw 3.6 Kw 15.0 Nm 18.0 Nm Rated torque 2500 rpm...
  • Page 79 6.15×10 6.33×10 Rotor inertia (6.75×10 (6.93×10 49.5 A 49.5 A Maximum current 45.0 Nm 54.0 Nm Maximum torque ● Seat 150 Type 150ST-M23020LFB 150ST-M27020LFB 4.7 Kw 5.5 Kw Power 23.0 Nm 27.0 Nm Rated torque 2000 rpm 2000 rpm Rated speed 20.5 A 20.5 A Rated current...
  • Page 80 Seat 150 Type d (mm) b (mm) t (mm) (mm) (mm) (mm) (mm) (mm) 60(Key B) Φ28 150ST-M15025LFB 55(Key C) -0.03 -0.01 -0.1 Φ28 60(Key B) 150ST-M18020LFB 55(Key C) -0.03 -0.01 -0.1 60(Key B) Φ28 150ST-M23020LFB 55(Key C) -0.03 -0.01 -0.1 60(Key B) Φ28...
  • Page 81 Appendix 1 Siemens -1000 Series Drivers NC system matched for MG (To match Siemens 802S/801/802S) 1. Setting requirements for driver parameters Parameter No. Parameter Name Unit Parameter Range Default 50-2000 Speed ratio gain filter factor command pulse signal Note: ● When a Siemens NC system is matched for the driver, PA36 should be equal to 1 and PA37 to 0; otherwise repeated position precision will be affected.

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