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Higen FDA7000 Series User Manual

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OPERATION MANUAL
AC Servo Drive
FDA7000 Series
Ver 1.4 (Soft. Ver. 1.15 ~)
FDA7000 Series
Servo Drive User Manual

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Summary of Contents for Higen FDA7000 Series

  • Page 1 OPERATION MANUAL AC Servo Drive FDA7000 Series Ver 1.4 (Soft. Ver. 1.15 ~) FDA7000 Series Servo Drive User Manual...
  • Page 2 Essential notes before use Essential notes before use A. Checking Motor ID certainly. : Enter the motor ID indicated on the motor name plate to the parameter of “P01-01”. For details on the motor ID, refer to Chapter 3 of this manual. B.

  • Page 3: Table Of Contents

    Contents Essential notes before use Chapter 1 Model check and handling 1.1 Model check....................1-1 1.2 Servo drive specification................1-2 1.3 Combination table of servo drive and motor ..........1-3 1.4 Installation..................... 1-4 1.5 Handling......................1-7 Chapter 2 Wiring and connection 2.1 Main circuit and peripheral device connection..........
  • Page 4 3.12 Alarm display setting................. 3-38 Chapter 4 Servo using method and Gain adjustment 4.1 Gain adjustment for speed control mode............4-1 4.2 Gain adjustment for position control mode ........... 4-7 4.3 Gain adjustment for torque control mode ........... 4-14 4.4 Autotuning....................4-17 4.5 Precaution for absolute encode ..............
  • Page 5 Chapter Model check and handling Chapter 1 explains the details to check before using the servo drive and motor that you have purchased. Before assembling the product, check whether name plate is as ordered. Mishandling can disable normal operation or can significantly reduce the operating life depending on the situation.

  • Page 6: Model Check

    1. Model check and handling 1.1 Model check 1.1.1 Servo drive model classification F D A 7 0 AC Servo Drive FDA7000 Series Encoder Symbol Type Power(W) Power(W) Power(W) Symbol Symbol Symbol INC. common 30/30B 3000 INC. 17bit 1000 4500...

  • Page 7: Servo Drive Specification

    1. Model check and handling 1.2 Servo drive specification Servo Drive [ FDA70- ] 3 phase AC200~230V, 50/60Hz ± 5% Input voltage, 3 phase AC200~230V, 50/60Hz Main ± 5% Single phase AC230V, 50/60Hz ± 5% frequency (Note) 1 circuit Permitted voltage power 3 phase AC170 ~ 253V 3 phase AC170 ~ 253V (Input voltage range +10/-15%)

  • Page 8: Combination Table Of Servo Drive And Motor

    1. Model check and handling 1.3 Combination table of servo drive and motor Motor Drive CN/CK KN Series TN Series LN Series KF Series TF Series LF Series [FDA70- ] Series 3000/6000 2000/3000 1500/3000 1000/2000 2000/3000 1500/3000 1000/2000 [rpm] [rpm] [rpm] [rpm] [rpm]...

  • Page 9: Installation

    1. Model check and handling 1.4 Installation 1.4.1 Installation of servo drive 1) Operating environment 0-50℃ (There should be no freezing) Note) Ambient temperature Ambient humidity 90% RH or lower (There should be no vapor) Note) Inside control panel temperature specifications : To ensure maximum operating life and reliability of the drive, maintain the average control panel temperature at ℃...
  • Page 10 1. Model check and handling machine. Mismatched shaft center causes vibration, and may cause damage to the bearing. Use a rubber hammer to install couplings to prevent excessive force from being applied to the shaft and bearing. Check 4 places in turn. The difference between maximum and minimum should be 0.03 or lower.
  • Page 11 1. Model check and handling 4) Accuracy of attachments The accuracies of the shaft and attachments of the AC servo motor are shown on the following table. Accuracy Item Reference Diagram (T.I.R.) Perpendicularity of flange attachment plane and 0.04mm output shaft (A) Eccentricity of flange fitting outer diameter (B) 0.04mm Vibration of shaft end (C)

  • Page 12: Handling

    1. Model check and handling 9) Cable disconnection Take caution not to stress or damage to the cables. If the motor is used as a mobile motor, use flexible cables. 1.5 Handling 1.5.1 Handling precaution : Mishandling can lead to unexpected accidents or damage. The key items are listed as follows.
  • Page 13 Chapter Wiring and connection Chapter 2 explains the main circuit wiring, I/O signal connection examples and connection to peripheral devices of the servo drive. 2.1 Main circuit and peripheral device connection........2-1 2.2 Main circuit terminal................2-3 2.3 CN1 I/O signal explanation..............2-8 2.4 CN2 wiring and signal explanation ............

  • Page 14: Main Circuit And Peripheral Device Connection

    2. Wiring and connection 2.1 Main circuit and peripheral device connection This part explains the peripheral device and main circuit wiring. Keep the following danger and caution details during wiring. ！ Danger • Do not open the surface cover when connecting the power or during operation. It can cause electric shock.
  • Page 15 2. Wiring and connection 2.1.1 Main circuit and peripheral device connection ◆ At the U, V and W terminal, connect the U, V and W phase of the servo motor. ◆ Ground the FG terminal. Connect the grounding wire of the servo motor with this terminal.

  • Page 16: Main Circuit Terminal

    2. Wiring and connection 2.2 Main circuit terminal 2.2.1 Small type terminal connection [ FDA7001 ~ FDA7002 connection terminal ] The usage and wiring method of FDA7001~FDA7002 are as follows. 1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase AC200~230[V].
  • Page 17 2. Wiring and connection 2.2.2 Medium type terminal connection [ FDA7004/7004B ~ FDA7010 connection terminal ] The usage and wiring method of FDA7004/7004B~FDA70010 are as follows. 1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase AC200~230[V].
  • Page 18 2. Wiring and connection ※ For the wiring of small/medium capacity socket, execute in the following order. ⓐ After checking the wire thickness indicated in 2.2.1, remove the wire coating. - The coating of the wire to be used should be 8 ~ 9mm or less. - The thickness of the wire permitted by the socket is as follows.
  • Page 19 2. Wiring and connection 2.2.3 Large type terminal connection [ FDA7015 ~ FDA7045 connection terminal ] [ FDA7015B ~ FDA7030B connection terminal ] The usage and wiring method of FDA7015~FDA7045, FDA7015B~FDA7030B are as follows. 1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase AC200~230[V].
  • Page 20 2. Wiring and connection FDA7015/ FDA7020/ FDA7030/ AC SERVO operating FDA7045 FDA7015B FDA7020B FDA7030B device AWG #12(3.5mm 2 ) AWG #10 (5.5mm 2 ) Wire thickness Open/close device GMC-40(35A) GMC-50(50A) level product ABS33b ABS33b ABS33b (30A) Breaker (10A) (20A) Level product NFZ-4030SG NFZ-4040SG Noise filter...

  • Page 21: Cn1 I/O Signal Explanation

    2. Wiring and connection 2.3 CN1 I/O signal explanation 2.3.1 CN1 terminal arrangement CN1 is the connector located on the top right part of the front side of the servo device. This connector is used for connecting the host controller that commands the operating device and the operation.
  • Page 22 2. Wiring and connection 2.3.2 CN1 I/O wiring Servo Drive Power AC 200~230V FDA7000 50/60Hz (note) 1 Brake Power (note) 2 input terminal Regenerated resistor (note) 3 (input) *Digital Loader +24V +24V *PC Loader(RS232C) 3.3K ESTOP *Network communication 3.3K SPD1/GEAR1 (RS485, RS232C) 3.3K SPD2/GEAR2...
  • Page 23 2. Wiring and connection 2.3.3 Variable input signal function table (Based on manufactured default) Signal content Term Function and usage explanation It decides whether the servo motor can be operated or Servo drive Enable SVONEN not. (ON: Enable OFF: not Enable) Speed selection 1/ SPD1/ Electronic gear...
  • Page 24 2. Wiring and connection 2.3.4 Variable output signal function table (Based on manufactured default) Signal content Name Function and usage explanation number You can directly set the input contact point function from P7-01. (Manufactured default : Not use) This is the output signal to operate the external Brake brake.
  • Page 25 2. Wiring and connection Analog torque When operating in torque mode, enter the analog torque command command. TRQIN Analog torque When operating in speed mode, enter the torque limit. limit Designated variable value is outputted in 0~±5[V] range through the DA converter. Monitor output 1 MONIT1 [Monitor selection] 0: Speed, 1: Speed command, 2: Torque,...

  • Page 26: Cn2 Wiring And Signal Explanation

    2. Wiring and connection 2.4 CN2 wiring and signal explanation CN2 is the connector located on the bottom right side of the front cover of the servo drive. This connector is used for connecting the servo drive and the encoder of the servo motor. The PIN arrangement shown from the connector in the user’s point of view is as follows.
  • Page 27 2. Wiring and connection Vcc( DC 5V ) ♥ Connect the grounding wire of the encoder wiring cable for F.G. ♥ Applied cable specification: AWG24 x 9Pair TWIST,SHIELD CABLE (Maximum length 20m) 2.4.2 11bit absolute encoder ERST [ Based on soldering side of user connector ] ◆...
  • Page 28 2. Wiring and connection F.G. Shield Vcc( DC 5V ) ERST ♥ Connect the grounding wire of the encoder wiring cable for F.G ♥ Applied cable specification: AWG24 x 9Pair TWIST,SHIELD CABLE (Maximum length 20m) 2.4.3 17bit absolute/incremental encoder /Shield [ Based on soldering side of user connector ] ◆...
  • Page 29 2. Wiring and connection BAT+ BAT- F.G. Shield Vcc( DC 5V ) ♥ Connect the grounding wire of the encoder wiring cable for F.G ♥ Applied cable specification: AWG24 x 5Pair TWIST,SHIELD CABLE (Maximum length 20m) 2-16...
  • Page 30 2. Wiring and connection ※ A wiring example of CN2 of motor side (□ 60,80) and FDA7000(A) when applying the 17bit absolute/incremental encoder AC SERVO DRIVER (FDA7000A) AC SERVO MOTOR HOST CONTROLLER (□60,80) [*1] Serial Data Division => circuit Pulse 1-32 /PA0 Conv.
  • Page 31 2. Wiring and connection Signal name Condition Signal content When turning on the power Serial data and initializing Initial incremental pulse During normal operation after Incremental pulse initialization is complete When turning on the power Initial incremental pulse and initializing During normal operation after Incremental pulse initialization is complete...
  • Page 32 2. Wiring and connection ※ Absolute data is calculated as follows. × − : Current position read from encoder : Serial data (multi turns data) : Initial incremental pulse (Generally showed in “-“ value) : Initial incremental pulse read from absolute encoder initialization point (Generally shown in “-“...
  • Page 33 Chapter Parameter setting Chapter 3 explains the individual servo parameter setting according to the usage. The parameter setting can be executed with the internal mount loader and digital loader, and refer to Chapter 5 for details on how to use the internal mount load and digital loader. The parameter NO.

  • Page 34: Status Display Parameter

    3. Parameter setting The menu setting can be executed with the digital and internal mount loader. Refer to Chapter 5 for details on how to use the internal mount load and digital loader. The acronym and meaning used in this manual are as follows. Acronym Meaning Position Controller...
  • Page 35 3. Parameter setting [ First and second space value ] Upper menu name and 2 value Refer to each parameter for the third and fourth menu number. Manufactured Unit Display range Speed/position StE-02 Command Speed default -9999.9 ~ 9999.9 control Manufactured Unit Display range...
  • Page 36 3. Parameter setting Manufactured Unit Display range Speed/Torque/ StE-17 I/O Status default 0 ~ 999999 Position control <For internal mount loader > CN1-13 CN1-14 CN1-15 CN1-16 CN1-17 CN1-18 CN1-38 CN1-39 CN1-40 CN1-41 CN1-42 CN1-43 Input contact PIN allocation part Output contact PIN allocation part CN1-19 CN1-20...
  • Page 37 3. Parameter setting <For digital loader > The following table shows the PIN allocation based on the manufactured default value. CN1 PIN (SVON SPD1) SPD2) SPD3) DIR) PI/P) CWLIM) ESTOP) STOP) SPDLIM (Input) LIM) /TLIM) RST) Example Speed/ Command Motor in Internal command speed 1 revolution torque...

  • Page 38: Motor And Operating Device Setting

    3. Parameter setting 3.2 Motor and operating device setting Manufactured Unit Setting range Speed/Torque/ P01-01* Motor ID default GEN - 00 ~ 99 Position control By capacity Set the motor ID to use. P01-02 ~ P01-10 (Except P01-07 and P01-08), the motor parameter, masked.
  • Page 39 3. Parameter setting Manufactured Unit Display range Speed/Torque/ P01-07 Rated Speed default 0.0 ~ 9999.0 Position control By motor type Manufactured Unit Display range Speed/Torque/ P01-08 MAX Speed default 0.0 ~ 9999.0 Position control By motor type Manufactured Unit Display range Speed/Torque/ P01-09 Rated TRQ...
  • Page 40 3. Parameter setting Manufactured Unit Display range Speed/Torque/ P01-15* COM Baud Rate default 0 ~ 15 Position control Select the communication speed. Set the communication speed of the transmitting side (main unit). P01-15 RS232 RS485 P01-15 RS232 RS485 9600 9600 38400 9600 9600...

  • Page 41: General Control Parameter Setting

    3. Parameter setting Manufactured Unit Display range Speed/Torque/ P01-18* Serial ID default 1 ~ 31 Position control Manufactured Unit Display range Speed/Torque/ P01-19 Parameter Lock default ON/OFF Position control Manufactured Unit Display range Speed/Torque/ P01-20* Absolute Origin default ON/OFF Position control * When applying the 2048 or 17 bit absolute encoder, you can execute the encoder origin point.
  • Page 42 3. Parameter setting Manufactured Unit Display range Speed/Torque/ P02-03 CCW TRQ LMT default 0.0 ~ 300.0 Position control 300.0 Manufactured Unit Display range Speed/Torque/ P02-04 CW TRQ LMT default -300.0 ~ 0.0 Position control -300.0 Manufactured Unit Display range default Speed/Torque/ P02-05 CCW Speed Limit...
  • Page 43 3. Parameter setting Manufactured Unit Display range Speed/Torque/ P02-10 Notch Filter 1 default 0 ~ 2 Position control The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery. Set value Operation explanation Do not use the notch filter 1.
  • Page 44 3. Parameter setting Manufactured Unit Display range Speed/Torque/ P02-15 NF Bandwidth 2 default 10.0 ~ 99.9 Position control 95.0 Manufactured Unit Display range Speed/Torque/ P02-16 TRQ Filter TC default 0.0 ~ 1000.0 Position control By capacity Manufactured Unit Display range Speed/Torque/ P02-17 Auto Tuning...
  • Page 45 3. Parameter setting Manufactured Unit Display range Speed/Torque/ P02-19 Inertia Ratio default 1.0 ~ 50.0 Position control Manufactured Unit Display range Speed/Torque/ P02-20 Gain ADJ Speed 1 default 100.0 ~ 5000.0 Position control 800.0 Manufactured Unit Display range Speed/Torque/ P02-21 Gain ADJ Speed 2 default 10.0 ~ 500.0...
  • Page 46 3. Parameter setting C o m m a n d s p e e d S p e e d A c tu a l s p e e d T o rq u e In te rn a l c o m m a n d s p e e d P 0 2 - 2 2 P 0 2 - 2 3...
  • Page 47 3. Parameter setting Manufactured Unit Display range Speed/Torque/ P02-26 Emergency Stop default ON / OFF Position control As the emergency stop, it sets the operation of the set input contact point. Depending on the menu value, the emergency stop operation is converted. Manufactured Unit Display range...

  • Page 48: Speed Control Parameter Setting

    3. Parameter setting Manufactured Unit Display range Speed/Torque/ P02-32 CCW Limit default ON / OFF Position control As the CCW Limit function, it sets the operation type of the set input contact point. Depending on the menu value, the CCW Limit operation is converted. Manufactured Unit Display range...
  • Page 49 3. Parameter setting Manufactured Unit Display range Speed/position P03-04 Load COMPEN default 0.0 ~ 100.0 control This sets the external load compensation coefficient to improve the response of the servo motor for the sudden load change. Manufactured Unit Display range Speed/position P03-05 SC Loop Gain 1...
  • Page 50 3. Parameter setting Manufactured Unit Display range default Speed/Torque P03-15* + 10[V] RPM 0.0 ~ 9999.9 Applied motor control rated speed This sets the command speed range of the +10[V] analog voltage when the servo drive is in speed control or torque control mode. Set speed (P03-15) Voltage...
  • Page 51 3. Parameter setting Manufactured Unit Display range Speed/Torque P03-17 Auto Offset default ON / OFF control It automatically adjusts the offset voltage of the servo drive for the analog 0 [V] input of the host controller. At first, servo off and then supply the zero speed voltage to the speed input pin of CN1 connector.
  • Page 52 3. Parameter setting Manufactured Unit Display range P03-21 Clamp Voltage default Speed control -1000.0 ~ 1000.0 Manufactured Unit Display range P03-22* F/Back TC default Speed control 0.0 ~ 2000.0 Manufactured Unit Display range Speed/position P03-23 Zero SPD VIB REJ default 0.0 ~ 1000.0 control Manufactured...

  • Page 53: Input Contact Point Digital Speed And Torque Setting

    3. Parameter setting 3.5 Input contact point digital speed and torque setting Manufactured Speed 1 Unit Setting range Speed/Torque P04-01 default Digital input speed 1 -9999.9 ~ 9999.9 control 10.0 Manufactured Speed 2 Unit Setting range Speed/Torque P04-02 default Digital input speed 2 -9999.9 ~ 9999.9 control 100.0...

  • Page 54: Position Control Parameter Setting

    3. Parameter setting 3.6 Position control parameter setting Manufactured Unit Display range P05-01* POS Gain Mode default Position control 1 ~ 5 When the servo drive is set to position control mode, this parameter sets the position control gain type. Set value Operation explanation Use the position loop gain 1.
  • Page 55 3. Parameter setting Manufactured Position control Unit Display range Position/speed P05-03 default Speed Mode ON / OFF control If the servo drive is set to position control mode, set P05-03 on to apply the acceleration/ deceleration (P03-10, P03-11) and S shape mode operation (P03-12) setted in user menu P03. Manufactured Unit Display range...

  • Page 56: Torque Control Parameter Setting

    3. Parameter setting Manufactured Unit Display range P05-17* ELCTR Gear DEN 3 default Position control 1 ~ 99999 Manufactured Unit Display range P05-18* ELCTR Gear NUM 4 default Position control 1 ~ 99999 Manufactured Unit Display range P05-19* ELCTR Gear DEN 4 default Position control 1 ~ 99999...
  • Page 57 3. Parameter setting Manufactured Unit Display range P06-04* TRQ S-Mode default Torque control 0.0 ~ 2000.0 If you adjust the S-mode operation time constant under the condition of satisfying the operattion characteristics of the machine system, you can reduce the vibration and impact of the machinery.

  • Page 58: Input Contact Point Function Setting

    3. Parameter setting 3.8 Input contact point function setting Manufactured CN1_18 Unit Setting range Speed/Torque/ P07-01* default Digital INPUT 1 0 ~ 30 Position control In P07-01 menu, you can set the individual pin function (0~20) and set the pin (25~30) by control mode.
  • Page 59 3. Parameter setting [ Input contact point function table ] Function Function acronym Function explanation number Do not use applicable input pin SVONEN Servo on/off operation input contact point When the control mode is multiple mode, control mode conversion TYPE input contact point Torque/speed/location direction conversion input contact point PI/P...
  • Page 60 3. Parameter setting ※ Torque control mode internal setting function table (When P7-01 is set to 25 (Torque control mode) Function Parameter Input pin Function acronym Function explanation number P07-01 CN1-18 SVONEN Servo on/off operation input contact point P07-02 CN1-43 STOP Temporary stop input contact point P07-03...
  • Page 61 3. Parameter setting ※ Position control mode internal setting function table (When P7-01 is set to 27 (Position control mode) Function Parameter Input pin Function acronym Function explanation number P07-01 CN1-18 SVONEN Servo on/off operation input contact point P07-02 CN1-43 STOP Temporary stop input contact point P07-03...
  • Page 62 3. Parameter setting ※ Speed/position multi control mode internal setting function table (When P7-01 is set to 29 (Speed/position multi control mode)) Function Parameter Input pin Function acronym Function explanation number P07-01 CN1-18 SVONEN Servo on/off operation input contact point P07-02 CN1-43 STOP...

  • Page 63: Output Contact Point Function Setting

    3. Parameter setting 3.9 Output contact point function setting Manufactured CN1_23 Unit Display range Speed/Torque/ P08-01* default Digital OUTPUT 1 0 ~ 30 Position control In the P08-01 menu, you can set the individual pin function (0~18) or set the pin (25~30) by control mode, But in P08-02~P08-10 menu, you can only set the individual pin function (0~18).
  • Page 64 3. Parameter setting [ Output contact point function table ] Function Function acronym Function explanation number Do not use output function SVONOFF Servo on/off operation output TYPEOUT Control mode conversion output BRAKE Brake operation signal output ZTRQ Zero torque reach output ZSPD Zero speed reach output Set speed reach completion output/ Set position reach completion...
  • Page 65 3. Parameter setting ※ Torque control mode internal setting function table (Output function setting table when P8-01 = 25) Function Parameter Output pin Function acronym Function explanation number P08-01 CN1-23 SVONOFF Servo on/off operation output P08-02 CN1-48 BRAKE Brake operation signal output P08-03 CN1-22 Servo ready status output...
  • Page 66 3. Parameter setting ※ Position control mode internal setting function table (Output function setting table when P8-01 = 27) Output Function contact Output pin Function acronym Function explanation number point P08-01 CN1-23 SVONOFF Servo on/off operation output P08-02 CN1-48 BRAKE Brake operation signal output P08-03 CN1-22...
  • Page 67 3. Parameter setting ※ Speed/position multi control mode internal setting function table (Output function setting table when P8-01 = 29) Function Parameter Output pin Function acronym Function explanation number P08-01 CN1-23 TYPEOUT Control mode conversion output P08-02 CN1-48 BRAKE Brake operation signal output P08-03 CN1-22 Servo ready status output...

  • Page 68: Analog Monitor Function Setting

    3. Parameter setting 3.10 Analog monitor function setting The internal speed, command speed, torque, command torque, feedback pulse and command pulse of the servo can be monitored externally through analog monitor 1 and monitor 2. The output voltage range is -5 ~ +5[V]. The following are the parameters related to the monitor use. Manufactured Unit Display range...

  • Page 69: Jog Operation Parameter Setting

    3. Parameter setting Manufactured Unit Display range Speed/Torque/ P09-04 Monitor Offset 1 default -1000.0 ~ 1000.0 Position control Manufactured Unit Display range Speed/Torque/ P09-08 Monitor Offset 2 default -1000.0 ~ 1000.0 Position control 3.11 Jog operation parameter setting Manufactured Unit Display range Speed/Torque/ JOG-01...
  • Page 70 3. Parameter setting Manufactured Unit Display range e Speed/Torque/ JOG-07 Jog Time2/REV2 default [sec]/[rev] 0.00 ~ 5000.00 Position control 1.00 Manufactured Unit Display range Speed/Torque/ JOG-08 Jog Speed 3 default -9999.9 ~ 9999.9 Position control 200.0 Manufactured Unit Display range Speed/Torque/ JOG-09 Jog Time3/REV3...

  • Page 71: Alarm Display Setting

    3. Parameter setting (JOG-04) Speed (JOG-08) (JOG-06) Position [Rev.] (JOG-05) (JOG-07) (JOG-09) Servo Time [sec] [ Auto jog mode 2 (Speed - revolution) ] 3.12 Alarm display setting Manufactured Unit Display range Speed/Torque/ ALS-01 Current Alarm default Position control This parameter indicates the current alarm. ALS-01 menu is not the user input parameter but the menu to notify the alarm condition of the servo drive.
  • Page 72 3. Parameter setting Manufactured Unit Display range Speed/Torque/ ALS-02 Alarm Reset default ON/OFF Position control It resets and initializes the occurred alarm. Check and remove the cause of the alarm before resetting the alarm and then reset. This is the parameter that the occurrend alarm history resets and initializes. ALS-03 Alarm History 1 Manufactured...
  • Page 73 Chapter Servo using method and Gain adjustment Chapter 4 explains the servo using method and gain adjustment by each control mode. 4.1 Gain adjustment for speed mode ............... 4-1 4.2 Gain adjustment for position mode ..............4-7 4.3 Gain adjustment for torque mode..............4-14 4.4 Autotuning ......................

  • Page 74: Gain Adjustment For Speed Control Mode

    4. Servo using method and gain adjustment 4.1 Gain adjustment method for speed control mode This explains the gain adjustment method when using speed servo. The following diagram shows the generation sequence of the speed command in speed control.
  • Page 75 4. Servo using method and gain adjustment 4.1.1 CN1 wiring diagram for speed control servo Servo Drive Power AC 200~230V FDA7000 50/60Hz (note) 1 Brake power (note) 2 input terminal Regenerated resistor (note) 3 (input) *Digital Loader +24V +24V *PC Loader(RS232C) 3.3K ESTOP *Network communication...
  • Page 76 4. Servo using method and gain adjustment 4.1.2 Speed servo gain adjustment 1) This sets the speed control mode gain. Manufactured Unit Setting range P03-01 Speed Gain Mode default Speed control 1 ~ 5 When the servo drive set to speed control mode, this sets the speed control gain. Set value Operation explanation Use speed controller gain 1 (P03-05, P03-06).
  • Page 77 4. Servo using method and gain adjustment Command speed × ∗ P_SC I_SC Feedback speed Loop Gain P_SC I_SC 4) This sets the inertia ratio. Manufactured Unit Display range Speed/Torque/ P02-19 Inertia Ratio default 1.0~ 50.0 Position control System inertia (Motor inertia Load...
  • Page 78 4. Servo using method and gain adjustment Manufactured Unit Display range Speed/Torque/ P02-22 Gain ADJ TRQ1 default 0.0 ~ 300.0 Position control 150.0 Manufactured Unit Display range Speed/Torque/ P02-23 Gain ADJ TRQ1 default 0.0 ~ 300.0 Position control 50.0 Command speed Speed Actual speed Internal command speed...
  • Page 79 4. Servo using method and gain adjustment Gain conversion contact point (GcsIos) P03-07 P03-06 SC TC Applied gain SC loop gain P03-05 P03-08 P02-24 = 100 [ms] 8) This sets the mixture rate of the PI-IP controller. Manufactured Unit Display range P03-02 PI-IP Control % Speed control...

  • Page 80: Gain Adjustment For Position Control Mode

    4. Servo using method and gain adjustment 4.2 Gain adjustment method for position control mode This explains the position servo control mode and gain adjustment method. The following diagram shows the generating sequence of the speed command for position control.
  • Page 81 4. Servo using method and gain adjustment 4.2.1 CN1 wiring diagram for position control servo Servo Drive Power AC 200~230V FDA7000 50/60Hz (note) 1 Brake power (note) 2 input terminal Regenerated resistor (note) 3 (input) *Digital Loader +24V +24V *PC Loader(RS232C) 3.3K ESTOP *Network communication...
  • Page 82 4. Servo using method and gain adjustment 4.2.2 Position servo gain adjustment [Feed forward TC (P05-11)] Differentiation [Feedforward (P05-04)] 1st filter [Position command pulse TC (P05-10)] Internal Speed Position position Position command command [PC P Gain [POS Gain mode command error 1st filter (P05-05, P05-06)]...
  • Page 83 4. Servo using method and gain adjustment Manufactured Unit Display range P05-05 PC P Gain1 Position control default 0.0 ~ 500.0 By capacity Manufactured Unit Display range P05-06 PC P Gain2 default Position control 0.0 ~ 500.0 By capacity Position command P_PC Position feedback...
  • Page 84 4. Servo using method and gain adjustment Manufactured Unit Display range Speed/Torque/ P02-22 Gain ADJ TRQ1 default 0.0 ~ 300.0 Position control 150.0 Manufactured Unit Display range Speed/Torque/ P02-23 Gain ADJ TRQ2 default 0.0 ~ 300.0 Position control 50.0 Command speed Speed Actual speed Internal command speed...
  • Page 85 4. Servo using method and gain adjustment 6) Feed forward ratio setting Manufactured Unit Display range P05-04 Feedforward Position control default 0.0 ~ 100.0 Enter the feedforward ratio for the position command speed in [%] unit. When this value increases it can reduce the position decision time but if set to high, it can cause an overshoot or vibration to the machine.
  • Page 86 4. Servo using method and gain adjustment control mode. If you would like to execute smoothing operation without setting the position command filter TC, set the position decision mode setting of Position control speed mode (P05- 03) to ON. It permits the acceleration/deceleration (P03-10, P03-11) and S mode operation (P03-12) set in user menu P03 of speed command.

  • Page 87: Gain Adjustment For Torque Control Mode

    4. Servo using method and gain adjustment 4.3 Gain adjustment method for torque control mode This explains the torque servo using method and gain adjustment method. The following diagram shows the generation sequence of the current command during torque control. 4-14...
  • Page 88 4. Servo using method and gain adjustment 4.3.1 CN1 wiring diagram for torque control servo Servo Drive Power AC 200~230V FDA7000 50/60Hz (note) 1 Brake power (note) 2 input terminal Regenerated resistor (note) 3 (input) *Digital Loader +24V +24V *PC Loader(RS232C) 3.3K ESTOP *Network communication...
  • Page 89 4. Servo using method and gain adjustment 4.3.2 Gain adjustment of torque servo Manufactured Unit Display range P06-01* Analog TRQ TC default Torque control 0.0 ~ 2000.0 If you suspect that machine vibration is being caused by the servo system, try to adjust the Analog TRQ TC.

  • Page 90: Autotuning

    4. Servo using method and gain adjustment 4.4 Autotuning For the autotuning applied to FDA7000 series, the servo drive estimates the inertia of the load attached to the servo motor during operation and has the function of adjusting the speed control gain and position control gain.
  • Page 91 4. Servo using method and gain adjustment 4.4.2 Autotuning setting sequence START Test operation with basic setting Does load inertia change ? Turn ON on-line tuning mode (P02-17) Repeated acceleration/deceleration operation (*) (500rmp or above) Operation OK ? Manually adjust system response (P02-18) Operation OK ?
  • Page 92 4. Servo using method and gain adjustment 4.4.3 Precaution during autotuning 1) Operate at 500[rpm] or higher speed. 2) Manually set the acceleration/deceleration time setting of speed shortly [ms]. If the acceleration/deceleration time is set too long, the speed deviation during the algorithm processing time is too small to make estimation.

  • Page 93: Precaution For Absolute Encode

    4. Servo using method and gain adjustment 4.5 Precaution for absolute encoder In the host controller, when detecting the absolute position of the machine even when the power of the servo drive is turned off, you must use an absolute type servo motor and drive. If you connect the power to the absolute type servo system, you can make a machine system that can directly enable auto operation with additional position detection operation without the difference between the absolute type drive and standard type drive is whether there is a back-...
  • Page 94 4. Servo using method and gain adjustment 3) Battery replacement The encoder battery alarm is generated when the battery voltage drops under 2.7 V. The alarm is generated by receiving the data from the absolute encoder when the power is connected to the servo drive.

  • Page 95: Chapter 5 Servo Operating

    Chapter Servo operating Chapter 5 explains the operation of the loader for servo operation to set the servo parameter and display the status. 5.1 Basic of loader .................... 5-1 5.2 Operation of internal mount loader ............. 5-2 5.3 Operation of digital loader................5-9...
  • Page 96 (Mode change, parameter value decrease) LEFT Key (Move to left for parameter change and menu) [ Overview diagram of internal mounter loader] ALARM RESET EMERGENCY STOP KEY JOG ON Same as mounter loader function HIGEN [ Overview diagram of digital loader]...

  • Page 97: Operation Of Internal Mount Loader

    5. Servo operating 5.2 Operation of internal mount loader 5.2.1 Display flow If the power is correctly supplied, the mount loader display on the front panel of the servo drive a message. The internal mount loader is composed of 7 segment LED and 6 digits. You can set the parameter, display the status, check the sequence and alarm record by the loader.
  • Page 98 5. Servo operating and 2 digit value ] Name of higher mode mode mode mode mode mode mode mode mode mode mode mode menu and 2 digit value Refer to each parameter item for the menu number of 3 and 4 digit.
  • Page 99 5. Servo operating 5.2.3 Alarm related processing part 1) Currently generated alarm display menu ENTER : Indicated generated alarm value ENTER In case of over-current alarm In case of normal condition after removing alarm cause and resetting Currently generated alarm display menu shows the currently generated alarms. Even though it is free to move to the next menu, the alarm cannot be reset and the motor cannot be operated.
  • Page 100 5. Servo operating 3) Alarm record display menu Alarm record display menu saves the latest 10 alarms in each menu in the sequence of ALS- 03 ~ ALS-12. The following diagram is the case assuming that the over-current (01) alarm is generated after the encoder mis-wiring (05) alarm is generated during servo operation.
  • Page 101 5. Servo operating 5.2.4 Jog operation 1) Key jog mode setting (JOG-01) UP : Positive direction mode change, increase blinking value DOWN : Negative direction mode change, decrease in blinking value LEFT : Command reverse direction revolution, move blink to left when entering key jog speed (JOG-02) RIGHT : Command positive direction revolution, move blink to left when entering key jog speed (JOG-02)
  • Page 102 5. Servo operating 2) Auto jog mode setting JOG speed 1 setting JOG time 1 setting ENTER, ENTER LEFT, LEFT, UP JOG speed 2 setting RIGHT JOG time 2 setting JOG 3 ~ 7 setting JOG speed 8 setting JOG time 8 setting Auto JOG mode setting...
  • Page 103 5. Servo operating 5.2.5 I/O contact point function parameter setting 1) Input contact point function setting (P07 mode) ENTER CN1_18 pin is set to “01(SVONEN)” input function ENTER UP, UP ENTER CN1_18 pin is changed to “03(DIR)” input function 2) Output contact point function setting (P08 mode) ENTER ENTER UP, LEFT, UP...

  • Page 104: Operation Of Digital Loader

    5. Servo operating 5.3 Operation of digital loader 5.3.1 Display flow If the power is supplied and connected to digital loader correctly, LCD window of the digital loader display a message. The digital loader has LCD window and function key on front panel. You can set the parameter, display the status, check the sequence and alarm record by the loader.
  • Page 105 5. Servo operating 5.3.2 Parameter change Even though the changeable range differs by the menu, the operating method is the same, and the case of P01-01[Motor ID] is used as a representative example. - JOG Key : Key Jog ON - RESET Key : Alarm reset - ESTOP Key : Emergency stop - UP Key : Mode change (increase), increase parameter value...

  • Page 106: Chapter 6 Troubleshooting And Check

    Chapter Troubleshooting and check Chapter 6 explains the method of action and check for the issues that can occur during servo operation. 6.1 Troubleshooting ................... 6-1 6.2 Check....................6-4...

  • Page 107: Troubleshooting

    6. Troubleshooting and check 6.1 Troubleshooting 6.1.1 Servo motor Symptom Cause Inspection Corrective Actions Check the parameter of Parameter Reset parameter. motor, encoder, encoder mis-setting (Refer to Chapter 3) type, control mode etc. Check the revolution Overload Readjust the machine device. condition of the machine.
  • Page 108 6. Troubleshooting and check 6.1.2 Servo drive When an alarm occurs in servo drive and error signal output contact point (ALARM) goes OFF and the motor is stopped by dynamic brake. Display Content Cause Corrective Actions Normal condition Check external DC 24V power. Ano-00 Emergency Turn external ESTOP...
  • Page 109 6. Troubleshooting and check Ano-13 Output U,V,W Output U, V, W mis-wiring Check motor wiring, replace servo Output EC Mis-wiring (Error Connection) drive Trial of entry of parameter that cannot be changed Change the set value after servo is Set value input Err - 01 when servo is ON, OFF, cancel parameter lock setting...

  • Page 110: Check

    6. Troubleshooting and check 6.2 Check ！ Caution • When checking the unit, always turn off the power and wait for more than 10 minutes to pass before checking the unit because charged voltage can remain in DC Link capacitor to cause an accident.

  • Page 111: Chapter 7 Connection With Host Controller

    Chapter 7 Connection with host controller Chapter 7 shows the example of connection with representative host controller. 7.1 Example of connection with host controller ......... 7-1...

  • Page 112: Example Of Connection With Host Controller

    Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems XGF-PO1A and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27(Position control mode)
  • Page 113 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems XGF-PD1A and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27(Position control mode)
  • Page 114 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems K7F-POPA and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27(Position control mode)
  • Page 115 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems G4F-PP1O and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27 (Position control mode).
  • Page 116 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems G4F-PP1D and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27 (Position control mode).
  • Page 117 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to Mitsubishi AD75 and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27 (Position control mode).
  • Page 118 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to Mitsubishi AD72 and FDA7000 Series (Note) The above connection is only shown in case of P07-01=26 (Speed control mode).

  • Page 119: Chapter 8 External View

    Chapter 8 External View Chapter 8 displays the external view of the servo drive. 8.1 External view of servo drive..............8-1...

  • Page 120: External View Of Servo Drive

    8. External view 8.1 External view of servo drive [ External view A ] [ External view B ] [ External view C ] [ External view D ]...
  • Page 121 8. External view [ External view E ] Weight Cooling Model Remarks [Kg] method FDA7001 view A FDA7002 Self cooling FDA7004 FDA7005 view B FDA7008 FDA7010 Forced FDA7015 cooling FDA7020 (FAN) view C FDA7030 FDA7045 Self FDA7004B view D cooling FDA7015B Forced FDA7020B...
  • Page 122 Appendix Ⅰ Servo system application Appendix Ⅰ explains the application cases that can be utilized when applying the servo system. Ⅰ.1 Position control application .............. Ⅰ-1 Ⅰ.2 Examples of other applications ............Ⅰ-3...
  • Page 123 Appendix Ⅰ Servo system application Ⅰ.1 Position control application The electronic gear enable the workpiece movement distance per input reference command pulse from the host controller to be set to any value. One reference command pulse form the host controller, that is the minimum position data unit, is called a command unit. [ Electronic gear ratio setting ] Servo Drive Input...
  • Page 124 Appendix Ⅰ Servo system application ③ Obtain the load feed rate per load axis rotation in the unit of command. : Command unit = 0.001[mm], ball screw pitch = 5[mm], Load feed per load axis revolution [Command unit] = 5/0.001 = 5000[Command unit] ⎛...
  • Page 125 Appendix Ⅰ Servo system application Ⅰ.2 Example of other application A. Rotary table Rotary table Speed pattern Worm gear Servo motor Reduction gear Process Process Process - Prepare the motion program in the host controller. - Enter the operating signal and operate the angle. - After angle operation, position decision completion signal(INPOS) is sent out externally.
  • Page 126 Appendix Ⅱ Noise control Appendix Ⅱ explains the noise control. Ⅱ Ⅱ .1 Wiring Precautions................Ⅱ Ⅱ .2 Wiring for noise control ..............
  • Page 127 Appendix Ⅱ Noise control Ⅱ.1 Wiring Precautions The FDA7000 servo drive uses high-speed switching in the main circuit. It may receive switching noise from these high-speed switching elements if wiring or grounding around the servo drive is not correct. To protect the servo drive system from the external noise install the noise filter in appropriate place as much as possible.
  • Page 128 Appendix Ⅱ Noise control ※ Example of wiring connected with ground connection AC 200~230[V] Noise Filter1 Servo Drive FDA7000 I/O signal Noise processing Filter2 circuit (ex. PLC) (Ext. GND) (Ext. GND) Ground Plate (Earth GND) Class-3 ground (100Ω max.) - Use the thick wire with a thickness at least 3.5[㎟] for ground to the casing. Ⅱ-2...
  • Page 129 Appendix Ⅱ Noise control ※ Example of noise filter wiring NOISE FILTER NOISE FILTER < > < > NOISE FILTER NOISE FILTER < > < > [ Do not put the input and output line in the same duct or bundle them together. ] NOISE FILTER NOISE FILTER <...
  • Page 130 Appendix Ⅱ Noise control ※ Example of wiring when using multiple units of servo drives. Multiple servos can share a single circuit breaker or noise filter. Always select a NFB or noise filter that has enough capacity for the total power capacity of that system. AC 200~230[V] Main power Main power...
  • Page 131 Appendix Ⅲ Parameter table Appendix Ⅲ shows the full table of parameters mentioned in the manual. Ⅲ Ⅲ .1 Parameter table ................
  • Page 132 Appendix Ⅲ Parameter table Ⅲ.1 Parameter table Default set Parameter Menu explanation Unit Setting range Control type value StE-01 Display select 100 ~ 1330 1203 Speed/Torque/Position StE-02 Command Speed -9999.9 ~ 9999.9 Speed/Position StE-03 Motor Speed -9999.9 ~ 9999.9 Speed/Torque/Position StE-04 CCW Speed Limit 0.0 ~ 9999.9...
  • Page 133 Appendix Ⅲ Parameter table P02-15 NF Bandwidth 2 10.0 ~ 99.9 95.0 Speed/Torque/Position P02-16 TRQ Filter TC 0.0 ~ 1000.0 By capacity Speed/Torque/Position P02-17 Auto Tuning 0 ~ 1 Speed/Torque/Position P02-18 System Response 1 ~ 19 By capacity Speed/Torque/Position P02-19 Inertia Ratio 1.0 ~ 50.0 Speed/Torque/Position...
  • Page 134 Appendix Ⅲ Parameter table P05-02 POS Pulse Type 0 ~ 5 Position P05-03 Speed Mode ON/OFF Position/Speed P05-04 Feedforward 0.0 ~ 100.0 Position P05-05 PC P Gain1 0.0 ~ 500.0 By capacity Position P05-06 PC P Gain2 0.0 ~ 500.0 By capacity Position P05-07...
  • Page 135 Appendix Ⅲ Parameter table P09-04 Monitor Offset 1 -1000.0 ~ 1000.0 Speed/Torque/Position P09-05 Monitor 2 0 ~ 5 Speed/Torque/Position P09-06 Monitor ABS 2 ON/OFF Speed/Torque/Position P09-07 Monitor Scale 2 0.1 ~ 2000.0 Speed/Torque/Position P09-08 Monitor Offset 2 -1000.0 ~ 1000.0 Speed/Torque/Position JOG-01 Key Jog Mode...
  • Page 136 Appendix Ⅳ Ⅳ.1 Revision record Issue date Revised content Version 2007.07 Issued initial version. 2008.01 correction ( Function correction and contents modification )
  • Page 137 Appendix Ⅴ Servo motor specification Appendix Ⅴ explains the servo motor specification. Ⅴ.1 Servo motor specification ................Ⅴ-1...
  • Page 138 Appendix Ⅴ Servo motor specification Ⅴ.1 Servo motor specification Motor [ FMA - ] CKZ5 CK01 CK02 CK04 Drive [ FDA70- ] 04/04B Flange Size ( □ ) Rated output ( W ) Rated current A(rms) 0.81 2.65 Max. instantaneous current 2.43 7.95 A(rms)
  • Page 139 Appendix Ⅴ Servo motor specification Motor [ FMA - ] CN01 CN02 CN03 CN04 CN05 CN04A CN06 CN08 CN10 Drive [ FDA70- ] 04/04B Flange Size ( □ ) Rated output ( W ) 1000 Rated current A(rms) 1.25 2.85 4.65 Max.
  • Page 140 Appendix Ⅴ Servo motor specification Motor [ FMA - ] CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07 Drive [ FDA70- ] 15/15B 20/20B 30/30B 04/04B Flange Size ( □ ) Rated output ( W ) 1500 2200 3000 3000 5000...
  • Page 141 Appendix Ⅴ Servo motor specification Motor [ FMA - ] KN06A KN11 KN16 KN22 KN22A KN35 KN55 Drive [ FDA70- ] 15/15B 20/20B 30/30B Flange Size ( □ ) Rated output ( W ) 1100 1600 2200 2200 3500 5500 Rated current A(rms) 10.2...
  • Page 142 Appendix Ⅴ Servo motor specification Motor [ FMA - ] TN05 TN09 TN13 TN17 TN20 TN30 TN44 TN75 Drive [ FDA70- ] 15/15B 20/20B 30/30B Flange Size ( □ ) Rated output ( W ) 1300 1700 1800 2900 4400 7500 Rated current A(rms)
  • Page 143 Appendix Ⅴ Servo motor specification Motor [ FMA - ] LN03 LN06 LN09 LN12 LN12A LN20 LN30 LN40 Drive [ FDA70- ] 04/04B 20/20B 30/30B Flange Size ( □ ) Rated output ( W ) 1200 1200 2000 3000 4000 Rated current A(rms) 17.2...
  • Page 144 Appendix Ⅴ Servo motor specification Motor [ FMA - ] KF08 KF10 KF15 KF22 KF35 KF50 Drive [ FDA70- ] 15/15B 20/20B 30/30B Flange Size ( □ ) Rated output 1000 1500 2200 3500 5000 ( W ) Rated current A(rms) 14.1 20.5...
  • Page 145 Appendix Ⅴ Servo motor specification Motor [ FMA - ] TF05 TF09 TF13 TF20 TF30 TF44 Drive [ FDA70- ] 15/15B 20/20B 30/30B Flange Size ( □ ) Rated output ( W ) 1300 1800 2900 4400 Rated current A(rms) 10.7 14.8 21.7...
  • Page 146 Appendix Ⅴ Servo motor specification Motor [ FMA - ] LF03 LF06 LF09 LF12 LF20 LF30 Drive [ FDA70- ] 04/04B 20/20B 30/30B Flange Size ( □ ) Rated output ( W ) 1200 2000 3000 Rated current A(rms) 16.0 24.3 Max.
  • Page 147 (82) 55-281-8407 Order NO : 7200SV3015A ※ This book is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of HIGEN Motor company.

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