Doosan Vision DVSD-TA Series Operation Manual
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Doosan Vision DVSD-TA Series Operation Manual

Doosan Vision DVSD-TA Series Operation Manual

Ac servo motor / drive
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RD4TT017OMS08C101
DOOSAN AC SERVO
MOTOR / DRIVE
Vision
DVSD - TT, TA Series
Model : 0.8KW / 1.5 KW / 2.0KW / 4.0KW
Operation Manual

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Summary of Contents for Doosan Vision DVSD-TA Series

  • Page 1 RD4TT017OMS08C101 DOOSAN AC SERVO MOTOR / DRIVE Vision DVSD - TT, TA Series Model : 0.8KW / 1.5 KW / 2.0KW / 4.0KW Operation Manual...

  • Page 2: Table Of Contents

    - Contents - IMPORTANT COMMON PART 1. Specifications and Structure 1.1. Formal type designation 1.2. Specifications for Servo Motor 1.3. Characteristics Figure 1.4. Specifications for Servo Drive 1.5. Coupling of the Servo Motor / Drive 1.6. Inner structure of Servo Drive 1.7.
  • Page 3 TA PART(ATC) 1. Installation and wiring 1.1. Designations 1.2. Environmental conditions 1.3. Installation procedure 1.4. Wiring 1.5. Noise treatment 1.6. Outside circuit connection (Sample) 1.7. Layout of driver connector terminal 1.8. Input signal for connector CN1 and its significance 1.9. Output signal for connector CN2 and its significance 1.10.

  • Page 4: Important

    IMPORTANT . Definition of Symbols for Warning Warning : This symbol means if not handled properly, there is possible danger such as electric shock. DANGER Caution : This symbol means if not handled properly, there is possible danger of acquiring mild to severe injuries or machine damages. DANGER Ⅱ.
  • Page 5 10) This product uses batteries. Take the following precautions while using the battery. If used inappropriately, explosion or fire may occur. The contents of the battery are harmful to the eye. Do not heat above 100 and do not open when there is fire. ①...

  • Page 6: Specifications And Structure

    DOOSAN SERVO  COMMON SUBJECT 1. Specifications and Structure 1.1. Formal type designation ◆ Servo Motor ◆ Servo Driver...

  • Page 7: Specifications For Servo Motor

    DOOSAN SERVO  1.2 Specifications for Servo Motor Items Specifications Rated output kWatt kgcm 25.98 73.08 97.44 194.88 Rated torque 2.55 7.16 9.54 19.11 Continuous kgcm 77.95 219.24 292.32 584.64 maximum 7.64 21.49 28.66 57.32 torque Rated speed 2000 Maximum...

  • Page 8: Specifications For Servo Drive

    DOOSAN SERVO  1.4 Specifications for Servo Driver Specifications Applied motor capacity 0.8KW / 1.5KW / 2.0KW 3.0KW / 4.0KW Rated current 14A rms 28A rms Maximum current 40A peak 80A peak Rotation speed 2000rpm / 3000rpm (Rated / Maximum) Main input voltage 3 phase 200/220V +10%～-15%, 50/60HZ ±5%...

  • Page 9: Coupling Of The Servo Motor / Drive

    DOOSAN SERVO  1.5 Coupling of the Servo Motor / Drive 1.6 Inner structure of Servo Drive AC/DC IPM INVERTER Servo 3 Phase Motor 200/230 V Gate Signal Generator Position/ Pulse Counter Sequence ( Position, Input Speed ) & MEMORY...

  • Page 10: Direction Of The Servo Motor Rotation

    DOOSAN SERVO  1.7 Direction of the servo motor rotation ▶  Caution : The encoder of the servo motor is made of glass. Take precautions in order to avoid damages to the encoder shaft of the servo motor. ▶...

  • Page 11: Dimensions Of The Servo Motor / Drive

    DOOSAN SERVO  2. Dimensions of the servo motor / drive 2.1 Dimensions of the servo motor ■ 800W...
  • Page 12 DOOSAN SERVO  ■ 1.5KW / 2.0KW...
  • Page 13 DOOSAN SERVO  ■ 4.0KW...

  • Page 14: Dimensions Of The Servo Drive

    DOOSAN SERVO  2.2 Dimensions of the servo drive ■ 1.5kW/2.0KW Turret/Magazine : DVSC - TT14A - 09 : DVSD - TA14A - 03...

  • Page 15: Tt Part(Turret & Magazine)

    DOOSAN SERVO  TT PART(TURRET & MAGAZINE DRIVE) 1. Installation and wiring 1.1 Designations Designations of DOOSAN AC Servo Motor and Drive are as follows. 1)Encoder Connector 2)Power Connector 3)Name Plate 4)Shaft 5)Flange 6)Frame 7)Encoder 1) Fan 2) Input Voltage Connector...

  • Page 16: Environmental Conditions

    DOOSAN SERVO  1.2 Environmental conditions This product was designed for indoor usage.  Caution : If used in different circumstances and environment other than stated below, possible damages may occur. Please use under the following conditions. SERVO MOTOR SERVO DRIVE 3phase AC 200V～230V...
  • Page 17 DOOSAN SERVO  ▷ The admissible load inertia converted into the motor shaft is within 5 times the inertia of the applied servo motor. If it exceeds this, during deceleration it may cause regenerative malfunction. The following steps should be taken if the load inertia exceeds more than 5 times the inertia of the servo motor.

  • Page 18: Wiring

    DOOSAN SERVO  1.4 Wiring ▶ For signal lines and encoder lines, use twisted lines or multi-core shielded twisted-pair lines. The length for reference input lines should be a maximum of 3m, and the encoder line should be a maximum of below 10m.

  • Page 19: Outside Circuit Connection (Sample)

    DOOSAN SERVO  1.6 Outside circuit connection (Sample)
  • Page 20 DOOSAN SERVO ...
  • Page 21 DOOSAN SERVO ...

  • Page 22: Layout Of Driver Connector Terminal

    DOOSAN SERVO  1.7 Layout of drive connector terminal 1.7.1 Layout of connector terminal CN1 Spec : 1-1318118-9 (Housing), 1376137-1 (Plug), Manufacturer : TYCO ELECTRONICS　AMP 1.7.2 Layout of connector terminal CN2 Spec : 2-1318118-9 (Housing), 1376137-2 (Plug), Manufacturer : TYCO ELECTRONICS　AMP 1.7.3 Layout of connector terminal CN3...

  • Page 23: Input Signal For Connector Cn1 And Its Significance

    DOOSAN SERVO  1.8 I/O signal for connector CN1 and its significance Signal Description This signal makes the motor ready to start operation. When this signal is off, SVON the motor remains free. (In case there is an inner brake, the brake is on.) According to the fixed value of parameter 3, there are 2 types of modes.

  • Page 24: Output Signal For Connector Cn2 And Its Significance

    DOOSAN SERVO  1.8 I/O signal for connector CN2 and its significance Signal Description Alarm signal is on, output is 'OFF' and when it is normal, the output is 'ON'. The servo is ready. When the SVON is ON, the driver turns on after...

  • Page 25: Structure Of Driver I/O Circuit

    DOOSAN SERVO  1.10 Structure of driver I/O circuit ① Input There are ALMRST, SVON, JOG+, JOG-, STOP, SPARE, START, POSI0~POSI6 signals and two types of input circuits are provided (the current is limited to 5mA due to inner resistance.)

  • Page 26: Operation

    DOOSAN SERVO  2. Operation 2.1 Automatic operation ① If the drive operates normally (after 500msec) after the POWER is 'ON', the absolute encoder will detect the initial position and output data according to the initial position and the turn on the position completion signal (VPF).

  • Page 27: Usage Of Jog And Brake Signal

    DOOSAN SERVO  2.2 Usage of Jog and brake signal JOG Switch SERVO ON Parameter 14 BRAKE Parameter Parameter 13 SERVO READY Motor Free JOG+ SIGNAL ① Turn on the jog switchl. ② The PLC outputs servo on signal to the drive.

  • Page 28: Machine Home Setting Method

    DOOSAN SERVO  2.3 Machine Home setting method When assembling the motor for the first time, set the absolute encoder zero-point to the machine Home The Setting method is as follows. (These steps should be done when the external servo 'ON' signal is OFF.) ...
  • Page 29 DOOSAN SERVO  ⑤ Press SET key and the dot will appear below the first two segments. The data will be stored and after a while the dot will disappear and the display will turn back to the former status.

  • Page 30: How To Change Offset Value By Outside Signal Optionally

    DOOSAN SERVO  2.4. How to change optional offset value by outside signal optionally when Setting the offset value in old version, the value was always applied in next tool numbers continuously. However, when parameter fixed version driver (from DVSD-TT-14B-09), the value is applied by outside point of contact (OVR0) optionally.
  • Page 31 DOOSAN SERVO  ⑤ Press SET key and the dot will appear below the first two segments. The data will be stored ⇨ ⇨ ⇨  If NC makes a point of contact (OVR0) in a servo driver be fixed to "ON", the servo driver makes a point of contact (AUX_OUT0) be fixed to "ON".

  • Page 32: How To Operate Servo Driver In Jog Mode By Outside Signal

    DOOSAN SERVO  2.5. How to operate servo driver in JOG mode by outside signal Existing servo drivers were operated using some buttons of the front of servo driver in JOG mode. However, when parameter 2 is fixed to 1 in new version drivers (from DVSD-TT-14B-09), the servo drivers can be operated by outside point of contact (OVR1).
  • Page 33 DOOSAN SERVO  ⑤ Press SET key and the dot will appear below the first two segments. The data will be stored. ⇨ ⇨ ⇨  If NC makes a point of contact (OVR1) in a servo driver be fixed to "ON", the servo driver makes a point of contact (AUX_OUT1) be fixed to "ON".

  • Page 34: How To Set Machine Home Of Servo Driver By Outside Signal

    DOOSAN SERVO  2.6. How to set Machine Home of servo driver by outside signal Machine Home of existing servo drivers was set using some buttons of the front of servo driver. However, when parameter 2 is fixed to 1 in new version drivers (from DVSD-TT-14B-09), Machine HOME of the servo drivers can be set by outside point of contact (OVR0 and OVR1).
  • Page 35 DOOSAN SERVO  ⑤ Press SET key and the dot will appear below the first two segments. The data will be stored. ⇨ ⇨ ⇨  If NC makes two points of contact (OVR0, OVR1) in a servo driver be fixed to "ON", the servo driver makes two points of contact (AUX_OUT0, AUX_OUT1) be fixed to "ON".

  • Page 36: Display / Setting Switches

    DOOSAN SERVO  3. Display / Setting switches Display / Setting switch is applicable when using the operator 3.1 Functions The 6 digits 7 segment display in front of the driver indicates parameter setting, position compensation value setting, diagnosis, alarm, and address and the data can be selected by 4 display mode.

  • Page 37: Operating The Display Setting Switches And Display Flowchart

    DOOSAN SERVO  3.2 Operating the display setting switches and display flowchart 3.2.1 Overview ▶ After turning on the main power, 7 segment LED is displayed in status mode and the mode can be selected by pressing the mode button.
  • Page 38 DOOSAN SERVO  3.2.2 Display flowchart...

  • Page 39: Status Display

    DOOSAN SERVO  3.3 Status display ▶ The status display mode verifies the status of the drive. ▶ The operator panel displays the status and its usage is as status below. ▶ All position datas are executed according to pulse unit inside the drive. Therefore the status display of the pulse unit is displayed according to the pulse standard of the encoder.
  • Page 40 DOOSAN SERVO  3.3.5 Motor running speed The running speed of the motor is displayed in RPM unit. The changes of the speed cannot be seen du e to inner filtering process. (To view the speed changes, use the monitor output) In case the motor is running clock wise, a ‘-’...

  • Page 41: On/Off Display (Diagnosis Display)

    DOOSAN SERVO  3.4 Diagnosis display ▶ This display will verify the external sequence status and the condition of the system. ▶ It will display the status as shown below on the OP panel LED display of the drive and the contents are as follows.
  • Page 42 DOOSAN SERVO  3.4.3 Position data I/O signal ▷ Displays the ON/OFF status of the position data input signal in 7 segments. POSITION INPUT START POSI0 POSI6 POSI1 POSI5 POSI2 POSI4 POSI3 < PLC Input Signal > ▷ Displays the ON/OFF status of the position data output signal in 7 segments.
  • Page 43 DOOSAN SERVO  3.4.6 Maker management ; No use 3.4.7 Sequence output signal test ▷ This makes it possible to test the sequence or the connection by forcing the sequence output signal to be displayed externally. ⇩ Press the SET key and set the output data.
  • Page 44 DOOSAN SERVO  3.4.8 Position data output signal test ▷ This makes it possible to test the sequence or the connection by forcing the position data output signal to be displayed externally. ; Press the SET key and set the output data.
  • Page 45 DOOSAN SERVO  3.4.11 Initialization of parameter ▷ After resetting the parameter setting value, save initial parameter in FRAM. ▷ The stored value will be reset by pressing the SET key. ▷ The parameters fixed while setting the zero-point will remain the same.
  • Page 46 DOOSAN SERVO  3.4.13 Setting machine home ▷ This function will set the current position to machine home. Press the SET key in the zero-point setting mode for 10 seconds and the parameters dealing with zero-point will be automatically set and displayed.

  • Page 47: Alarm History Display

    DOOSAN SERVO  3.5 Alarm history display 3.5.1 Alarm history display ▷ The recent alarm records will be stored and displayed up to 9 times. The records can be verified by pressing the UP or DOWN key. ▷ All records of the alarm will be cleared by pressing the SET key in this mode.
  • Page 48 DOOSAN SERVO  ※ The alarm display and contents of the driver is as following. OP Panel main Alarm type Corrective actions LED Display under voltage occurs - check if the input power is low. when voltage below - check if the motor power cable is open.

  • Page 49: Setting Parameter

    DOOSAN SERVO  3.6 Setting parameter The parameter must be set before the motor operation. 3,6,1 Method of setting parameter ① Press the MODE key and change the operator display to parameter setting display mode. ⇨ ⇨ ⇨ status display...
  • Page 50 DOOSAN SERVO  From parameter 09 to 33, press the SET key and it will display the set value as the dot below the first two segments is on. ⇨ From parameter 34 to 45, the home will be set automatically. Do not change this parameter.
  • Page 51 DOOSAN SERVO  3.6.2 Parameter list Name N0. Abbr. Range Default Uint motor power capacity motor running direction 0 ～ 1 reserve parameter fixed direction, jog function selection 0 ～ 1 encoder pulse per one rotation 2048 maximum POST number 2 ～...
  • Page 52 DOOSAN SERVO  3.6.3 Detailed explanation of parameter Motor power capacity  This is the parameter that enables selection of applied motor capacity. Presently only 1.5kW can be selected. 0 : 1.5kW 8 : 0.8KW 20 : 2,0KW 40 : 4.0kW * Motor below 2.0KW must be used by 14A servo driver and motor above 3.0KW must be used by...
  • Page 53 DOOSAN SERVO  Encoder pulse per one rotation  divided by four This is the encoder pulse per one rotation Maximum POST number  This sets the maximum POST number. The position data input exceeding the set data is ignored.
  • Page 54 DOOSAN SERVO  Alternative angle  This sets the alternative angle of the Turret. Please select accordingly to the support of NC program. ※ If you change this parameter, Turret will not operate properly. fit for use 0 : Un...
  • Page 55 DOOSAN SERVO  ꊺ ꋈ Brake on delay time In case the motor has an inner brake, this is the time it takes for the brake to put on. Set the value higher than the actual time it takes for the brake to put on.
  • Page 56 DOOSAN SERVO  ꊻ ꋄ Feed-forward filter time constant This sets the time constant when the first delay filter is put in the feed-forward position command. Setting range : 0 ～ 500 [x 4msec], Outcome value : 0 ꊻ ꋅ Positive torque limit 1 This limits the torque output of the positive (+) polarity in areas other than the positioning complete range.
  • Page 57 DOOSAN SERVO  ꊻ ꋊ Jog speed at set home This sets the speed of the internal jog operation in order to move the turret, magazine and such of the machinery while setting the zero-point. This is different from step jog speed.

  • Page 58: Setting Position Compensation

    DOOSAN SERVO  ꊼ ꋆ Initial status display Turn the main power switch ON and select the initial status display. Initial display content Initial display content value value Accumulated command pulse (lower word) Motor running speed Accumulated command pulse (upper word)
  • Page 59 DOOSAN SERVO  3.7 Setting position compensation Set the position compensation value for each POST. The unit will be encoder 4 times pulse (8192 pulse per 1 rotation) and the setting range is from -9999 to 9999. The setting method is as follows.

  • Page 60: Installation And Wiring

    1. Installation and wiring 1.1 Designations Designations of DOOSAN AC Servo Motor and Drive are as follows. ① encoder connector ② power connector ③ name plate ④ shaft ⑤ flange ⑥ frame ⑦ encoder ① setting bracket ② encoder connector ③...

  • Page 61: Environmental Conditions

    DOOSAN SERVO  1.2 Environmental conditions This product was designed for indoor usage.  Caution : If used in different circumstances and environment other than stated below, possible damages may occur. Please use under the following conditions. SERVO MOTOR SERVO DRIVE 3phase AC 200V～230V...
  • Page 62 DOOSAN SERVO  rating specification, thus it should not be used in minus load. ▷ The admissible load inertia converted into the motor shaft is within 5 times the inertia of the applied servo motor. If it exceeds this, during deceleration it may cause regenerative malfunction.

  • Page 63: Wiring

    DOOSAN SERVO  1.4 Wiring ▶ For signal lines and encoder lines, use twisted lines or multi-core shielded twisted-pair lines. The length for reference input lines should be a maximum of 3m, and the encoder line should be a maximum of below 10m.

  • Page 64: Outside Circuit Connection (Sample)

    DOOSAN SERVO  1.6 Outside circuit connection (Sample)
  • Page 65 DOOSAN SERVO  1.7 Layout of drive connector terminal 1.7.1 Layout of connector terminal CN1 Spec : 1-1318118-9 (Housing), 1376137-1 (Plug), Manufacturer : TYCO ELECTRONICS　AMP 1.7.2 Layout of connector terminal CN2 Spec : 2-1318118-9 (Housing), 1376137-2 (Plug), Manufacturer : TYCO ELECTRONICS　AMP 1.7.3 Layout of connector terminal CN3...
  • Page 66 DOOSAN SERVO  1.8 I/O signal for connector CN1 and its significance 1.8.1 Input signal Signal Description SVON This signal makes the motor ready to start operation. When this signal is off, the motor remains free. (In case there is an inner brake, the brake is on.) STEP JOG operation signal Used for stepl jog operation signal.
  • Page 67 DOOSAN SERVO  1.8.2 Output signal Signal Description Alarm signal is on, output is 'OFF' and when it is normal, the output is 'ON'. The servo is ready. When the SVON is ON, the driver turns on after SVRDY parameter fixed.
  • Page 68 DOOSAN SERVO  1.9 Structure of drive I/O circuit ① Input There are SVON, JOG+, JOG-, STOP, TOOL0, TOOL1, START, SJOG_MODE signals and two types of input circuits are provided (the current is limited to 5mA due to inner resistance.)

  • Page 69: Operation

    DOOSAN SERVO  2. Operation 2.1 Automatic operation ① If the drive operates normally (after 500msec) after the POWER is 'ON', the absolute encoder will detect the initial position and output data according to the home position and the turn on the origin_out signal.

  • Page 70: Machine Home Setting Method

    DOOSAN SERVO  2.2 Machine Home setting method When assembling the motor for the first time, set the absolute encoder zero-point to the machine Home The Setting method is as follows. (These steps should be done when the external servo 'ON' signal is OFF.) ...

  • Page 71: Display / Setting Switches

    DOOSAN SERVO  3. Display / Setting switches Display / Setting switch is applicable when using the operator 3.1 Functions The 6 digits 7 segment display in front of the driver indicates parameter setting, position compensation value setting, diagnosis, alarm, and address and the data can be selected by 4 display mode.

  • Page 72: Operating The Display Setting Switches And Display Flowchart

    DOOSAN SERVO  3.2 Operating the display setting switches and display flowchart 3.2.1 Overview ▶ After turning on the main power, 7 segment LED is displayed in status mode and the mode can be selected by pressing the mode button.
  • Page 73 DOOSAN SERVO  3.2.2 Display flowchart...

  • Page 74: Status Display

    DOOSAN SERVO  3.3 Status display The status display mode verifies the status of the drive. ▶ ▶ The operator panel displays the status and its usage is as status below. ▶ All position datas are executed according to pulse unit inside the drive. Therefore the status display of the pulse unit is displayed according to the pulse standard of the encoder.
  • Page 75 DOOSAN SERVO  3.3.5 Motor running speed The running speed of the motor is displayed in RPM unit. The changes of the speed cannot be seen du e to inner filtering process. (To view the speed changes, use the monitor output) In case the motor is running clock wise, a ‘-’...
  • Page 76 DOOSAN SERVO  3.4 Diagnosis display ▶ This display will verify the external sequence status and the condition of the system. ▶ It will display the status as shown below on the OP panel LED display of the drive and the contents are as follows.
  • Page 77 DOOSAN SERVO  3.4.3 Function data I/O signal ▷ Displays the ON/OFF status of the function data input signal in 7 segments. DATA INPUT START SJOG_MODE S_JOG+ H_TOOL0 S_JOG- H_TOOL1 ▷ Displays the ON/OFF status of the function data output signal in 7 segments.
  • Page 78 DOOSAN SERVO  3.4.5. Software version display ; Maker management 3.4.6 Position of rotor ; No use 3.4.7 Sequence output signal test ▷ This makes it possible to test the sequence or the connection by forcing the sequence output signal to be displayed externally.
  • Page 79 DOOSAN SERVO  3.4.8 Function data output signal test ▷ This makes it possible to test the sequence or the connection by forcing the function data output signal to be displayed externally. ; Press the SET key and set the output data.
  • Page 80 DOOSAN SERVO  3.4.11 Initialization of parameter ▷ After resetting the parameter setting value, save initial parameter in FRAM. ▷ The stored value will be reset by pressing the SET key. ▷ The parameters fixed while setting the zero-point will remain the same.
  • Page 81 DOOSAN SERVO  3.4.13 Setting machine home ▷ This function will set the current position to machine home. Press the SET key in the zero-point setting mode for 10 seconds and the parameters dealing with zero-point will be automatically set and displayed.

  • Page 82: Alarm History Display

    DOOSAN SERVO  3.5 Alarm history display 3.5.1 Alarm history display ▷ The recent alarm records will be stored and displayed up to 9 times. The records can be verified by pressing the UP or DOWN key. ▷ All records of the alarm will be cleared by pressing the SET key in this mode.
  • Page 83 DOOSAN SERVO  ※ The alarm display and contents of the driver is as following. OP Panel main Alarm type Corrective actions LED Display under voltage occurs - check if the input power is low. when voltage below - check if the motor power cable is open.

  • Page 84: Setting Parameter

    DOOSAN SERVO  3.6 Setting parameter The parameter must be set before the motor operation. 3,6,1 Method of setting parameter ① Press the MODE key and change the operator display to parameter setting display mode. ⇨ ⇨ ⇨ status display...
  • Page 85 DOOSAN SERVO  From parameter 09 to 33, press the SET key and it will display the set value as the dot below the first two segments is on. ⇨ All Parameters will be set by the initialization of parameter. Do not change all parameters...
  • Page 86 DOOSAN SERVO  3.6.2 Parameter list N0. Symbol Name Range Default unit motor power capacity motor running direction 0 ～ 1 reserve parameter fixed parameter reserve parameter fixed parameter gear ratio - motor side 1 ～ 9999 Rev. fixed parameter...
  • Page 87 DOOSAN SERVO  Symbol Name Range Default Unit SPEED5 speed zone 5 10 ～ 3000 SPEED6 speed zone 6 10 ～ 3000 SPEED7 speed zone 7 10 ～ 3000 1000 SPEED8 speed zone 8 10 ～ 3000 SPEED9 speed zone 9 10 ～...
  • Page 88 DOOSAN SERVO  3.6.3 Detailed explanation of parameter Motor power capacity  This is the parameter that enables selection of applied motor capacity. Presently only 1.5kW can be selected. 0 : 1.5kW Motor running direction  This sets the running direction of the motor.
  • Page 89 DOOSAN SERVO  ꊺ ꋄ Speed loop proportional gain The proportional gain of speed loop is the parameter which determines the response of the speed control loop. For external characteristics, it determines the degree of rigidity. If the value or the proportional gain increases, the rigidity becomes better. Thus, the larger the setting, the better it will be, except it may cause oscillations and hunting.
  • Page 90 DOOSAN SERVO  ꊺ ꋌ Remaining pulse allowance In position control, in each position control loop the difference between position command and position feedback is accumulated. Should this difference value exceed the set value, the position deviation overload alarm will appear. The numerical value unit in pulse is 8192 pulse per 1 rotation.
  • Page 91 DOOSAN SERVO  ꊻ ꋈ Negative torque limit 2 This limits the torque output of the negative (-) polarity in areas within the positioning complete range. After position determining is complete, the SVON signal turns ON and in this case a continuous load is put on the machine.
  • Page 92 DOOSAN SERVO  ꊼ ꋅ Torque monitor output voltage This sets the voltage of the monitor output when the torque outputs data in rated torque (100%) into the monitor terminal. Setting range : 1000 ～ 5000 [x 2mV] Outcome value : 1500 (3V when torque outputs 100%) ꊼ...
  • Page 93 DOOSAN SERVO  ꊿ ꋌ Clamp position for heavy tool This sets the degree of clamp for the heavy tool. ～ Setting range : 1 Outcome value : 289 ꋀ ꋃ Unclamp position for heavy tool This sets the degree of unclamp for the heavy tool.

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