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Kingservo KSDG Series Manual

Ac servo motorksma
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Kingservo
Manual
AC Servo MotorKSMA
Servo Driver KSDG Series
rd
20081014(3
Version)
汪生：135 1038 2344
QQ： 9795 220 98
东莞市京伺自动化设备有限公司
网址：www.kingservo.com
地址：东莞市长安沙头振安中路272号

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  • Page 1 Kingservo Manual AC Servo MotorKSMA Servo Driver KSDG Series 20081014(3 Version) 汪生：135 1038 2344 QQ： 9795 220 98 东莞市京伺自动化设备有限公司 网址：www.kingservo.com 地址：东莞市长安沙头振安中路272号...
  • Page 2 Contents Chapter One: Identificaiotns of Products............5 1-1Safety Marking.....................5 1-2Check before Usage..................6 1-3 Indentification of AC Servo Driver Type............7 1-3-1 Name-plate of Driver.................7 1-3-2 Identificaiton of Driver Type.............7 1-4 Encoding Principles of AC Servo Driver Type...........8 1-4-1Name-plate of Servo Motor..............8 1-4-2 Identification of Servo Motor Type...........8 1-5 Names of Parts.....................9 1-5-1Driver....................9 1-5-2 Motor....................10...
  • Page 3 3-7-3 Auto OFFSET Adustment..............43 3-7-4 Clearance of Anomaly Record............44 Chapter Four Parameters .....................45 4-1 Setting of Parameters and Modes..............45 4-1-1 Introduction of Paramters..............45 4-1-2 Setting Mothed ................45 4-1-3 Connection Mothed .................45 4-1-4 Contents and list of Parameters............46 4-2 Funciton Instruciton of Parameters............51 Chapter Fiver: Usage of Pins of Control Mode............89 5-1 Pins Table of Position, Speed and Torsion Modes........89 5-2 Wiring Reference of Interface Lines............90...
  • Page 4 KingServo...
  • Page 5 Chapter One: Identificaiotns of Products 1-1Safety Sign Warning Sign KingServo...
  • Page 6 ・ Check whether the numbers of parts are as same as the specification? ・ Check whether there is any damage to the appearance during transportation? Verify whether driver motor controller and motor are the Kingservo Ac Servo series? package contents: ・...
  • Page 7 Serial No. : K080401010129 額定功率 Power : 400W 200~255 3PH 50/60Hz 2.8A Input : { 輸入電壓/電流 200~255 1PH 50/60Hz 3.5A Output : 110V 3PH 0/416.6Hz 2.8A K080128A- 0001 輸出電壓/相數/頻率/電流 Kingservo Technology CO., LTD. Made In Taiwan 1-3-2 Identifications of Driver Type KingServo...
  • Page 8 1-4 AC Encoding Principles of Servo Motor Type 1-4-1 Name-plate of Servo Motor Kingservo 機種名 AC SERVO MOTOR 額定電壓/電流 Model No. : KSMA04LI4 PN : BEC-M0801151-00 序號 SER.No. : K080401010165 額定輸出 Input : 3PH AC 90V 2.8A Rated Output : 0.4 KW Rated Freq.
  • Page 9 1-5 Name of Parts 1-5-1Driver KSMG 400W‧750W ● 模式切換按鈕 設定按鈕 MODE 顯示用LED(6位) 資料設定按鈕 ：SHIFT ：UP ：DOWN 主電源 連結端子 通信用接頭 Kingservo (L1，L2，L3) RS-232 231-205/026-000 WAGO 控制用電源 連結端子 編碼器 (r，t) 連接接頭 外接回升電阻 231-103/026-000 連結端子 WAGO (P，B1，B2) 上層控制器 馬達連結端子 231-203/026-000 連接接頭 (U，V，W) WAGO 接地連結螺絲...
  • Page 10 1-5-2 Motor KSMA 400W‧750W ● 編碼器電纜接頭 編碼器電纜 馬達動力電纜 馬達動力電纜接頭 旋轉編碼器 煞車電纜接頭 (僅現有電磁煞車之馬達) 馬達外殼 螺絲定位孔 (4個) 凸緣 KingServo...
  • Page 11 PIN14, 6, and 18. Speed and torque mode control use few pin. Wile single application, the numbers of I/F Pin Weld line. 3. While I/f connector(MDR) does not connect controller, the motor can be test run. KingServo...
  • Page 12 軸端規格 25.0 22.5 60.0 30.0 ø70.0 -0.01 -0.00 ø14.0 ø4.5 104.8 KingServo...
  • Page 13 Resistor P、 、 、 、 B B B B 1 1 1 1 、 、 、 、 B B B B 2 2 2 2 端子 端子 Resistor P Resistor P 通常B1-B2之間是維持在短路狀態。 內建回生電阻容量不足時，請取出 B1-B2之間的短路線，將外接回升電 阻連接在P-B2的端子。 外接回升電阻時，驅動器的參數Pr6C 請設定為1或2。 回生電阻 回生電阻 回生電阻 回生電阻 ( ( ( ( 另購 另購) ) ) ) 另購 另購 KingServo...
  • Page 14 到RS-232(與個人電腦連結) 個人電腦 (客戶自備) 編碼器用中繼電纜 (與編碼器連結) (與上層控制器連結) 馬達用中繼電纜 (馬達驅動的各相及接地) 煞車用直流電源 DC24V (客戶自備) 煞車用 中繼電纜 KingServo...
  • Page 15 驅 Encode Encode 172159-1 172159-1 動 動 Tyco Electronics AMP Tyco Electronics AMP 器 器 紅 紅 白 白 連結馬達 連結馬達 黑 黑 綠 綠 Encode Encode 馬達 馬達 172167-1 172167-1 Tyco Electronics AMP Tyco Electronics AMP 煞車用直流電源 煞車用直流電源 KingServo...
  • Page 16 The power consumption of external resistor is limited to 10% duty, and set Par 6C as 2. (while Par 6C is set as 2, overheating-protection fuse shall be installed, or else it may cause overheating and burning-down of flyback resistor.). KingServo...
  • Page 17 Red Green Black White Yellow Blue Gray Orange Brown/ Purple/ Grounding Line Light RED Ligth Green of Isolation Net Pin Definition Color Purple Light Green Brown Pink Green Black White 13-16 Pin Definition Color Yellow Blue Gray Orange Grounding line of Isolation Net KingServo...
  • Page 18 Wiring Diagram of Encoder Line 低慣量750W以下編碼器配線圖 Tyco Electronics AMP Tyco Electronics AMP 172163-1 172171-1 驅動器 +5V 驅動器 0V 馬達側 編碼器中繼電纜 驅動器側 馬達 2-3-2 Power Cable of Motor Pin NO. Definition Color White Black Green KingServo...
  • Page 19 2-4 Communication Line of RS-232 While connecting computer and driver by RS-232, the communication software KSDTools can be set up. KSDTools provides many convenient functions such as to monitor the states of motor, set/modify parameters and so no. Driver KingServo...
  • Page 20 2-5 Wiring of Connector I/F 與上層控制器等週邊裝置的配線請在3m以內。 3m以內 控制 裝置 30cm以上 與主線路配線需保持30cm以上的距離。通過同 電源 一線槽請勿綁在一起。 馬達 請自行準備COM+~COM-之間的控制訊號用電源 (VDC)。電壓：DC+12~+24V。 COM+ 命令脈波輸入、編碼器訊號輸出等的配線，請 使用有遮蔽的對絞線。 控制訊號輸出端子切勿施加超過24V以上的 電壓，或導通超過50mA以上的電流。 COM- 利用控制訊號輸出直接驅動繼電器時，請依 照圖的方向和繼電器並聯一二極體。 如未安裝，或安裝方向錯誤，將導致驅動器 受損。 接地端子已在驅動器內部與地線連接。 KingServo...
  • Page 21 2-5-1 Pins of Connector I/F(SCSI II) Specification of Connector I/F Side Connector Connector Prepared by User Manufacturer of Driver Name of Parts Mode Connector(Welde 54306-5011 or 54306-5019(leadfree) Molex Inc. 10250-52A2 PL Shell of Connector 54331-0501 Connector(Welde 10150-3000PE Sumitomo 3M Shell of Connector 10350-52A0-008 KingServo...
  • Page 22 Input SIGNH2 Position command signal2 Input Signal(+) of B phase Output Signal(+) of B phase Output Signal(+) of B phase Output Signal(-) of B phase Output Signal(-) of B phase Output Signal(-) of B phase Output Grouding Grouding Grouding KingServo...
  • Page 23 當介面電路為開集極時 COM+ OPC1 2.2KΩ 4.7K (1)使用12V/24V的電源，且 PULS-INH OPC2 2.2KΩ 使用外接電阻時。 PULS1 SVO-ON PULS2 命令脈波輸入2 請在500Kpps以下 PULS1 GAIN SIGN1 使用 PULS2 SIGN2 SIGN1 SIGN2 C-MODE A相輸出 ALM-CLR CCW-LIMIT R阻值 B相輸出 CW-LIMIT 1KΩ 1/2W Servo-Ready輸出 2KΩ 1/2W SVO-RDY+ Z相輸出 SVO-RDY- 伺服警報輸出 (2)使用24V的電源，但不 SVO-ALM+ 使用外接電阻時。...
  • Page 24 Speed Mode Speed Mode Speed Mode Speed Mode KingServo...
  • Page 25 COM+ OPC1 4.7K PULS-INH OPC2 PULS1 SVO-ON PULS2 GAIN SIGN1 SIGN2 ZERO-SPD C-MODE A相輸出 ALM-CLR CCW-LIMIT B相輸出 CW-LIMIT Servo-Ready輸出 SVO-RDY+ Z相輸出 SVO-RDY- 伺服警報輸出 SVO-ALM+ SVO-ALM- 12~24V 速度到達輸出 AT-SP+ AT-SP- Z相輸出(開集極介面) 煞車解除輸出 BK-OFF+ BK-OFF- 扭力限制中輸出 零速度檢出輸出 扭力命令輸入 或是 SPR/TRQR 速度限制輸入(0 10V) COM- CCW方向扭力...
  • Page 26 72.0 132.0 67.0 MODE Kingservo RS-232 KingServo...
  • Page 27 Charpter Threee: Panel Operation 3-1 Panel Structure LED面板顯示，發生Error時，面板的6個LED燈 號開始閃爍，並顯示Error畫面。 發生警告時，所有LED燈號開始緩慢閃爍。 MODE 各模式的顯示變更、資料變更、參數選擇等的操作。 (對小數點燈號閃爍的位數有效) 鍵：數值遞增 鍵：數值遞減 鍵：小數點移位功能(往左循環) 小數點閃爍時，即可調整上下鍵改變LED數值。 設定鍵 選擇顯示或操作的接換 MODE模式切換鍵，可切換5種模式： (1)監視模式 (2)參數設定模式 (3)EEPROM寫入模式 (4)剛性設定模式 (5)輔助功能模式 KingServo...
  • Page 28 3-2 Mode Category and Contents Refer to monitor mode in P29 Refer to mode of parameter setting in P35 Refer to EEPROM writing-in mode in P37 Refer to rigid setting mode in P39 Refer to auxilary function mode in KingServo...
  • Page 29 按MODE鍵按一次 監視功能選擇 監視功能執行 顯示範例 涵意 參考頁 位置偏差3個脈波 位置偏差 2000rpm 馬達轉速 轉矩輸出100% 扭力輸出 位置控制模式 控制模式 輸入輸出狀態顯示 輸入輸出狀態 異常履歷 未發生警報 軟體版本ver.002 軟體版本 未發生警告 警告 按SET鍵 回生負載率 已發生58%的回生電壓 已發生60%的負荷 過負載負荷率 2710的迴授脈波總和 迴授脈波數總和 命令脈波數總和 5133的命令脈波總和 SPR接腳輸入+10.00V 類比輸入值 按 面板往箭頭方向循環 按 往箭頭反方向循環 MODE 至參數設定模式 KingServo...
  • Page 30 ● – sign: axis core rotates along CW Non-sign: axis core rotates along CCW Unit：rpm Torque Output ● – sign: axis core rotates along CW Non-sign: axis core rotates along CCW Scope：–300 ~ 300 (100% in rated torque) Unite：% KingServo...
  • Page 31 * About the names and functions of all output signals, refer to the conneciton of all control modes. * It’s switch connecting CCW-LIMIT and CW-LIMIT, use B connection of usually closed switch. KingServo...
  • Page 32 Verify connection of male and female connector of encoder cable is Err.21 Protection of faults of encoder communication correct. Err.14 Excessive current protection Verify whether motor power(U,V,W) is short circuit or loose. Err.99 Excessive current protection of driver hardware KingServo...
  • Page 33 To display the software version of driver. ˙ ˙ ˙ ˙ Alarm Display Over 85%, the LED panel will keep on flickering. ˙ ˙ ˙ ˙ Display of Fyback Load Rate ˙ ˙ ˙ ˙ Display of Overload Rate KingServo...
  • Page 34 3 seconds, and the sum of regeneration pulses and command pulses will be zero clearing. ˙ ˙ ˙ ˙ Display of Analog Input Data Press to choose the signal No. that you expect to monitor. 所顯示的是經OFFSET補正過的值。 (SPR 類比輸入值 單位[V]) (CCWTL 類比輸入值 單位[V]) (CWTL 類比輸入值 單位[V]) Note: voltage over ±10V can not display correctly. KingServo...
  • Page 35 After modifying parameters, press the values will be sent to control result; so the modificaiton of parameters greatly affecting motor(especially speed loopgain, position loop gain etc) shall not be made dramatically at one step and shall be ajusted with finetuning way. KingServo...
  • Page 36 While EEPROM is writing in, do not shut down power, or else it produce errors. In case similar error happens, reset all parameters and confirm them totally, then execute it. ● While writing in incorrectly, execute it again. If doing it several times, there are still errors, it may be faults. KingServo...
  • Page 37 While EEPROM is writing in, do not shut down power, or else it produce errors. In case similar error happens, reset all parameters and confirm them totally, then execute it. ● While writing in incorrectly, execute it again. If doing it several times, there are still errors, it may be faults. KingServo...
  • Page 38 While EEPROM is writing in, do not shut down power, or else it produce errors. In case similar error ● happens, reset all parameters and confirm them totally, then execute it. While writing in incorrectly, execute it again. If doing it several times, there are still errors, it may be ● faults. KingServo...
  • Page 39 While adustment is wrong, adjust the gain parameter back to the previous data. Except abnormality, servo motor will not cease. Moreover, as load difference , sometimes machine will produce vibration but not faults, so pay attention to the safety. KingServo...
  • Page 40 ●Separate motor and load, and pluck out connector I/F prior to usage. ●For avoiding abnormaly caused by vibration, user parameters(especially Pr11~Pr14, Pr20) shall be set to initial value. ˙ Check Before Test ˙ ˙ ˙ ˙ Steps of testing run KingServo...
  • Page 41 , motor rotates along CW. Rotate motor with the speed set according to Pr57(JOG speed). Free , and the motor will cease at once. After testing run, refer to the structure of all modes in P28 and return to option screen. KingServo...
  • Page 42 3-7-2 Clearance of Abnormality Alarm ˙ Operation of Choosing Screen: From the initial state of LED, press five times to enter into auxiliary mode. Press to display ˙ ˙ ˙ ˙ Operation of Execution Srceen: Press to display execution screen. KingServo...
  • Page 43 Press to display execution screen. <Instruction> While in position control mode, the mode is not effective. While only executing automatic OFFSET adjustmet, data will not written into EEPROM. After it, if requiring responding result, write in them into EEPROM. KingServo...
  • Page 44 From the initial state of LED, press five times to enter into auxiliary mode. Press to display ˙ ˙ ˙ ˙ Operation of Execution Srceen: Press to display execution screen. 持續壓住 (約5秒)後 如右圖「 」會持續增加 結束 異常履歷清除結束 <Instruction> The function can clear the abnormaly record. KingServo...
  • Page 45 4-1-2 Setting Method The setting mothod of parameters is as following: 1.Front panel of machine 2.Set supporting software KSDTools by combining with computer. <Instruction> About the setting method of computer screen, refer to the munual of KSDTools. 4-1-3 Connection Method Kingservo...
  • Page 46 ＊ if 3.,4and 5 complex modes are set, one of the first and second modes can be chosen according to control mode shift input(C-MODE). While C-MODE is broken circuit, the first mode is chosen While C-MODE is short circuit, the second mode is chosen. Before and after 10ms of shift, don’t input command. Kingservo...
  • Page 47 Time constant of second torque filter 25~2500 0.01ms Notch filter frequency 1600 50~1600 Notch filter width 0~10000 Inertia ratio External noise detection External noise detection filter 0~6400 0.01ms CCW torque control offset -127~127 CW torque control offset -127~127 P，S Kingservo...
  • Page 48 Multiplication of instruction division multiplicaiotn 0~17 numerator Instruction division multiplication denominator 1~10000 Smooth filter setting Counter clearance input mode Modification of parameter No. marked with will be effective only after control power is reset. ● ★ ★ ★ ★ Kingservo...
  • Page 49 Eighth speed of speed setting -10000~10000 Jog speed setting 1~2000 Acceleration time setting 0~10000 1ms/(1000rpm) Speed-down time setting 0~10000 1ms/(1000rpm) S-shape speed-up/speed-down 0~1000 time setting Torque command option Torque control input gain 10~100 0.1V/100% Torque control input reversion Torqeu limit setting 0~300 Kingservo...
  • Page 50 Mechanical brake action setting while machine 0~200 ceases 0~200 Mechanical brake action setting while action Retrogradation resistance impressing option ★ ★ ★ ★ ● Modification of parameter No. marked with will be effective only after control power is reset. ★ ★ ★ ★ Kingservo...
  • Page 51 Rotary Speed of Motor Torque Output 電 源 開 啟 Control Mode I/O Signal State 初期處理中(約1秒 Abnormality Record 鐘) 會全亮。 Software Version Warning Notice Pr01的設定值 Retrogradation Load Rate Overload Load Rate Sum of Feedback Pulse Sum of Command Pulse Analog Input Value Kingservo...
  • Page 52 If setting is a complex mode (Pr02=3,4,5), control mode shift input (C-MODE) is used to make shift between first and second mode. ＜Attention＞ After 10ms of C-MODE input, input commander. Position, speed and torque instruction are not allowed to input. Kingservo...
  • Page 53 Function： ： ： ： This is the parameter that can make analog torque limit input (CCW TL,CW TL) signal invalid. 1: invalid input 0: valid input If not using torque limit function, set Pr03 to “1”. This parameter is invalid in the torque control mode, CCW /CW torque limit value will be set by Pr5E. Kingservo...
  • Page 54 3.W hile used in the vertical axis and limit switch at the top of work piece acts, it may cause disappearance of upward torque and work piece to move downwar d. At the moment, donot use this function and use upper-level controller to process trip limit. Kingservo...
  • Page 55 關閉 CL/INH input, if expecting to control 關閉 CLR輸入 開啟 開啟 關閉 關閉 motor’s drive and cease, input zero 第2速 speed clamp input (ZERO-SPD) and 速度 第3速 第1速 server on input (SVO-ON). 第4速 時間 ＜注意＞ 加速時間、減速時間、以及S字形加減速時間可使用參數進行個別設定。 請參考本章的Pr58：加速時間設定 請參考本章的Pr59：減速時間設定 請參考本章的Pr5A：S字形加減速時間設定 Kingservo...
  • Page 56 I/F PIN 43) and motor ’s actual speed and intruction speed. Setting Value SPM Signal Relation Between Output Voltage Level and Speed 【 0】 6V/375rpm 6V/750rpm Motor 6V/1500rpm speed 6V/3000rpm 6V/6000rpm 6V/375rpm 6V/750rpm Command 6V/1500rpm speed 6V/3000rpm 6V/6000rpm Kingservo...
  • Page 57 Setting Range： ： ： ： 0~4 Unit： ： ： ： – Function： ： ： ： Assign function of zero speed detection(ZSP:CN I/F PIN 12). Relation of setting value of Pr0A and ZSP output function is same with TLC output option of above Pr09. Kingservo...
  • Page 58 Function： ： ： ： Set speed loop integral time constant. Value is smaller , deviation faster reaches 0 when machine stops. If setting value is 999, it can still keep integral function. If setting value is 1000, it has no integral function. Kingservo...
  • Page 59 Function： ： ： ： Set time constant of one time delay filter inserted into speed feed-forward section. Large setting value may cause Over Shoot of speed. If operation noise is too bigger, to set the filter can improve it. Kingservo...
  • Page 60 Initial Value： ： ： ： 【 1600 】 Setting Range： ： ： ： 50~1600 Unit： ： ： ： Hz Function： ： ： ： Set frequency of resonance restraint NOTCH filter. If the parameter is set to “1600”, then NOTCH filter is invalid. Kingservo...
  • Page 61 Initial Value： ： ： ： 【 500 】 Setting Range： ： ： ： 0~6400 Unit： ： ： ： 0.01ms Function： ： ： ： Set constant of one time delya filter of external torque noise detection compensation to improve resonance noise caused by Pr27 compensation. Kingservo...
  • Page 62 Fixation to first gain(PI/P can be shifted) First/second gain can be shifted. PI/P action shift is made by gain shift input(GAIN CN I/F PIN 27). GAIN Input Speed Loop Action Open with COM- PI Action Connection wihtCOM- P Action Kingservo...
  • Page 63 Function： ： ： ： It is valid as Pr31 is set to 3~8. set determinant level of first/second gain shift. Pr Pr Pr Pr34 | 34 | 34 | 34 | A A A A Position Control Shift Level Width Kingservo...
  • Page 64 • Setting value should be smaller than KP2 and KP1. Pr Pr Pr Pr36 | 36 | 36 | 36 | A A A A Speed Control Shit Mode Initial Value： ： ： ： 【 0 】 Kingservo...
  • Page 65 Unit： ： ： ： – – – – Function： ： ： ： Refer to Pr37 Pr Pr Pr Pr3A | 3A | 3A | 3A | A A A A Torque Control Shift Mode Initial Value： ： ： ： 【 0 】 Kingservo...
  • Page 66 Unit： ： ： ： – – – – Function： ： ： ： Refer to Pr3B Pr Pr Pr Pr40 | 40 | A A A A 40 | 40 | Command Pulse Input Option ★ Initial Value： ： ： ： 【 0 】 Kingservo...
  • Page 67 Function： ： ： ： Command pulse input can be input from photo-coupler or line drive exclusive input. Setting Value Content 【 0】 Optical coupler(I/F PULS1： PIN 3， PULS2： PIN 4， SIGN1： PIN 5， SIGN2：PIN6) Line drive exclusive input(I/F PULSH1： PIN 44， PULSH2： PIN 45， SIGNH1：PIN 46，SIGNH2：PIN 47) Kingservo...
  • Page 68 500ns 250ns 250ns 250ns 250ns 250ns Lind drive interface 500kpps 2µs 1µs 1µs 1µs 1µs 1µs Pulse line interface Interface of open zone polarity 200kpps 5µs 2.5µs 2.5µs 2.5µs 2.5µs 2.5µs Rising/decending time of comman pulse input signa shall be kept lower than 0.1µs. Kingservo...
  • Page 69 Initial Value： ： ： ： 【 1 】 Setting Range： ： ： ： 0~225 Unit： ： ： ： – – – – Function： ： ： ： Set pre-division of one reversion pusle number of encoder pulse input to upper-level device. Kingservo...
  • Page 70 This parameter can be used to reverse logic of B phase pusle wave and the B phase pulse wave relation relating with A phase pulse wave. Motor CCW Rotation Motor CW Rotation Setting A Phase（OA） Value B Phase（OB） Non-Reversion B Phase（OB） Reversion Kingservo...
  • Page 71 10000(2500 P/r × 4) Encoder Resolution Example 1： Instruction input(f) is set to 5000 as average one motor rotation. Example 2: Pr4A Instruction input(f) is set to 40000 as average one motor 10000 Pr46 × 2 Pr4B 5000 rotation. Kingservo...
  • Page 72 A A A A 4B | 4B | Instruction Division Multiple Denominator Initial Value： ： ： ： 【 1 】 Setting Range： ： ： ： 1~10000 Unit： ： ： ： – – – – Function： ： ： ： Refer to Pr46 Kingservo...
  • Page 73 Setting Range： ： ： ： 0~2 Unit： ： ： ： – – – – Function： ： ： ： Set clearance of counter clearance input signal(CN:CN I/F 30PIN) of clearing deviation counter. Setting Value Clearance Condition Level Activation Edge Activation Invalid Kingservo...
  • Page 74 2. The driver is used in speed control mode, if position loop is installed exterior of driver, setting value of Pr50 can be used to adjust the position gain of servo system integrity. But more care is that large setting valueof Pr50 may cause vibration. Kingservo...
  • Page 75 In the server is locked and ceases, us zero section of deviation pulse to set this parameter. Auto-adjustment • As to the automatic OFFSET adjustment method, refer to automatic OFFSET adjustment of auxiliary function mode. • Execution result of automatic OFFSET adjustment will be input into this parameter Pr52. Kingservo...
  • Page 76 Unit： ： ： ： rpm Function： ： ： ： As to JOG speed in the JOG operation of Motor testing run mode, directly use [r/min] unit to set it. About details of JOG function, refer to instruction of Testing Run. Kingservo...
  • Page 77 59 | 59 | 59 | A A A A Speed-down Time Setting Initial Value： ： ： ： 【 0 】 Setting Range： ： ： ： -0~10000 Unit： ： ： ： 1ms/ (1000rpm) Function： ： ： ： Refer to Pr58 Kingservo...
  • Page 78 Initial Value： ： ： ： 【 0 】 Setting Range： ： ： ： 0~1 Unit： ： ： ： – – – – Function： ： ： ： Option of torque command and speed command Pr5B Torque Command Speed Command SPR/TRQR Pr56 CCWTL/TRQR SPR/TRQR Kingservo...
  • Page 79 Function： ： ： ： Revers the polarity of torque control input signal(SPR/TRQR: CN I/F 14PIN or CCWTL/TRQR: CN I/F 16PIN) Setting Value Generation Direction of Motor Torque （＋）instruction directs the CCW at the axis end. （－）instruction directs the CW at the axis end. Kingservo...
  • Page 80 But as 3 times of torque may damage motor load(mechanic) strength, use this parameter to set maximum torque limit. • Use % to set rated torque. • Right figure is the example that torque is limited to 150% rated torque. • Pr5E is used to limit CW/CCW maximum torque. Kingservo...
  • Page 81 ＜Attention＞ 1 .If setting value of Pr60 is too small, it will cause the longer output timing of ON-POS signal and sometimes even surge phenomenon may emerge. 2. Setting of on-position range can not affect the final position precision. Kingservo...
  • Page 82 I/F PIN 39）. As motor speed is over setting speed of the parameter Pr62, it will output speed attainment signal(ON-POS（AT-SP）). Setting of Pr62 has no relation with rotation direction of motor and act in the CW/CCW. 速度 Pr62 Pr62 ON-POS(AT-SP) Kingservo...
  • Page 83 As there is no position commad, zero speed detection signal is on and position deviation is lower than Pr60(on-position range), it is on. As there is no position commad and position deviation is lower than Pr60(on-position range), it is on and maintains ON untile another command is input. Kingservo...
  • Page 84 Setting Drive Condition Content of deviation Value counter Speeddown Cease Clear Free-run Clear Free-run Clear Free-run Free-run Clear DB： About dynamic brake action, refer to sequence figure of “Servo state process as abnormality occurs. Kingservo...
  • Page 85 • Set parameter according to brake action delay time(tb) for avoiding slight movement/fall of motor(work piece). • With setting of Pr6A≧tb, make Servo OFF after brake is actually activated. Refer to sequence diagram of Servo ON/OFF operaiton after motor ceases. Kingservo...
  • Page 86 Retrogradation Resistance Overload Protection Value Resistance Cooperate with internal resistance make Internal Resistance retrogradation resistance overload protection act. Taking action limit of impressing resistance as 10% Impressing Resistance DUTY, make it generate retrogradation resistance overload protection Impressing Resistance No protection Kingservo...
  • Page 87 Pr77 | | | | A A A A Eighth Speed of Speed Setting Initial Value： ： ： ： 【 0 】 Setting Range： ： ： ： -10000~10000 Unit： ： ： ： rpm Function： ： ： ： Refer to Pr53 Kingservo...
  • Page 88 Kingservo...
  • Page 89 Input SIGNH2 Position command signal2 Input Signal(+) of B phase Output Signal(+) of B phase Output Signal(+) of B phase Output Signal(-) of B phase Output Signal(-) of B phase Output Signal(-) of B phase Output Grouding Grouding Grouding KingServo...
  • Page 90 220Ω HCPL-M601 驅動器 (3) Open set I/F( Input pulse OPC1 frequency：200Kpps) 2KΩ PULS1 Use 24V power, but not connection of external limit 2KΩ PULS2 resistor 220Ω HCPL-M601 represents twisted pair 驅動器 KingServo...
  • Page 91 2KΩ PULS1 2KΩ represents twisted pair PULS2 220Ω HCPL-M601 驅動器 Analog command input Analog command has 3 goups: SPR/TRQR(Pin 14), CCWTL(Pin16) and CWTL(Pin18) Alowable maximum input voltage is ±10V. All commands AD can be divided into 12bit about 5mV. KingServo...
  • Page 92 Analog monitor output It be divide into two types of output: speed monitor signal output(SP) and torque monitor signal output(TM) Output signal amplitude is ±10V. Output impedence is 1K , pay attention to input impedence of testing instrument or external line. KingServo...
  • Page 93 Transistor emitter used for output can be divided into two kinds: independent output and cascode(connected with COM-) output. As one time testing current used to photo-coupler is 10mA, use the following formula to decide resistance value. 務必按照圖的 方向安裝 ALM+ 12~24V V ALM- TLC,ZSP COM- − Ω 最大額定30V ，50mA KingServo...
  • Page 94 COM- － Control ZERO-SPD input invalidity Open Speed command is zero. Short circuit Normal operation Open Speed command is CCW Short circuit Speed command is CW • As Pr06 is 2 in the torque control mode, ZERO-SPD is invalid. KingServo...
  • Page 95 CLR/INSP2, set speed of internal 8 speed . Torque • Input is invalid control ＜Attention＞ Before and after 10ms of shift, donot input command pulse. CN X5 Pin-28 • • • • 指令分周倍率分子選 指令分周倍率分子選 指令分周倍率分子選 指令分周倍率分子選 Iinstruction division multiple setting Open Short KingServo...
  • Page 96 ） Pr0 setting value Open with COM-（1 Short with COM-(2 Position control Speed control Position control Torque control Speed control Torque control ＜Attention＞ In C-MODE shift control mode, commands of control modes may cause intense changes of motor action. KingServo...
  • Page 97 • This input can make Pr43(command pulse Position internal inhibiton input invalidity) setting invalid. control speed setting Pr43 Content option two Valid 1(Factory setting) Invalid Speed • Select 1 input (INTSP1) for internal speed speed. control Torque • The input is invalid. control KingServo...
  • Page 98 Position OPC2 • Use Pr41(control pulse reversion) and Pr42(pulse input mode command SIGN1 setting) to select 6 types of command pulse input form, about mark two SIGN2 more details, refer to the following input forms of command pulse. [input] KingServo...
  • Page 99 500ns 250ns 250ns 250ns 250ns 250ns Pulse Line Driver Interface 500kpps 2µs 1µs 1µs 1µs 1µs 1µs Train(photo-coupler) Open collector Interface 200kpps 5µs 2.5µs 2.5µs 2.5µs 2.5µs 2.5µs Interface • rising/declining time of command pulse input signal shall be controlled under 0.1µs. KingServo...
  • Page 100 • A/D convertor resolution of the input is 12Bit（including sign's Bit）. ±2047[LSB]= ±10[V], 1[LSB]≒5.0[mV] ＊In above complex control mode, underline of ／ represents the function is valid as selecting the control mode. <Remarks> As to analog command input of SPR/TRQR, c KingServo...
  • Page 101 •A/D convertor resolution of the input is 12Bit（including sign's Bit）. ±2047[LSB]= ±10[V], 1[LSB]≒5.0[mV] ＊In above complex control mode, underline of ／ represents the function is valid as selecting the control mode. <Remarks> voltage shall not be over±10V. Analog command input of CWTL,CCWTL/TRQR, KingServo...
  • Page 102 •As warning signal output is over-flyback warning or overload warning, transistor output is ON. •As over-flyback warning reaches 85% warning level of over-flyack protection, transistor output is ON. •As overload warning reaches 85% warning level of overload warning, transistor output is ON. KingServo...
  • Page 103 •Polar voltage output with equal proportion of command speed. Command ＋：CW rotate speed －：CCW rotate Analog Signal 13,15, •Analog signal grounding line Grounding 17,25 • Separate from control signal power(COM-) inside the driver. Grounding •Connect grounding line terminal inside driver. KingServo...
  • Page 104 KingServo...
  • Page 105 Chapter Six: Documenets 6-1Dimension Drawing Controller KSDG 400W 72.0 132.0 67.0 MODE Kingservo RS-232 KingServo...
  • Page 106 Motor KSMA 400W KingServo...
  • Page 107 馬達供電 無供電 供電 約40ms Brake Off輸出 作動 解除 約5ms 100ms以上 外部命令輸入 無命令 輸入 <Attention> Above charter represents the sequences from AC power starting to order inputing. ● Input Servo ON signal and external commands according to above sequences. ● KingServo...
  • Page 108 T represents setting value of Pr6B or the quicker time as motor speed is under ● 30rpm. As motor ceases, T has no relation with Pr6A and is 0. About operation of dynamic brake, refer to instruction of Pr68 while alarm sounds. ● ˙ Servo state process while abnormality is released: KingServo...
  • Page 109 ● About operation of dynamic brake in Servo Off, refer to instruction(parameter ● setting of all control modes) of Pr69(sequence diagram of Servo Off). Motor speed must maintain under 30rpm, or else Servo ON can not be activated. ● KingServo...
  • Page 110 *About operation of dynamic brake in Servo Off, refer to instruction(parameter setting of all control modes) of Pr69(sequence diagram of Servo Off). *2 About energized state of speeddown motor in Servo Off, refer to instruction(parameter setting of all control modes) of Pr69(sequence diagram of Servo Off). KingServo...
  • Page 111 (SPR/TRQR) is too low or speed loop gain is too low or speed loop integral time constant is 1000(invalid), the cause is that samll input of torque limit can not reach the designated torque of analog torque command. KingServo...
  • Page 112 6-4 S-T Feature of Motor ℃ 1000 2000 3000 4000 5000 0 10℃ 20℃30℃40℃ ℃ 6-5 Feature of Overload Time Limit KingServo...
  • Page 113 5PIN，7.5mm power( L1,L2, L3 )and control power( r, t) Connector (Female)， 231-103/026-000 WAGO Connectors of flyback resistor 3PIN，5mm (P, B1, B2) Connetctor 231-203/026-000 WAGO Connector of motor power(U、 (Female )，3PIN， V、V) 7.5mm White pressing rod 231-131 WAGO Wiring tool KingServo...
  • Page 114 Set dynamic brake action program while power off, Servo OFF, protection Dynamic Brake function action and inhibition drive input action. 6 modes, set and shifted by parameters,(1)postion control, (2)Speed Control Mode control, (3)torque control, (4)position/speed control/, (5)positon/torque control, (6)speed/torque control KingServo...
  • Page 115 （3V/ rated torque） Speed control range 1：5000 Internal speed command Use parameters to set, 4 sections. 0~10s/1000r/min, respectilvely set speedup/speeddown, set Soft-start/cease function S-shaped speedup/speeddown Zero speed clamp Use zero speed clamp input to control internal speed to 0. KingServo...
  • Page 116 Position deviation excess, command pulse division Fault Warning abnormality and EEPROM abnormality etc Including current fault warning, it can trace back previous Warning Record 16 warning records. Panel Five key in the front panel MODE △ ▽ Setting adjustment ① Software KSDTools KingServo...
  • Page 117 KINGSERVO TECHNOLOGY CO.,LTD. KingServo...

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