1. Manuals
  2. Brands
  3. Higen Manuals
  4. Servo Drives
  5. FDA5000 Series
  6. Operation manual

Higen FDA5000 Series Operation Manual

Ac servo drive
Hide thumbs
Table of Contents

Advertisement

Quick Links

OPERATION MANUAL
AC Servo Drive
FDA5000 Series
Ver 3.3 (Soft. Ver. 6.02 ~)
FDA5000 Series
Servo Drive User Manual

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the FDA5000 Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Higen FDA5000 Series

Summary of Contents for Higen FDA5000 Series

  • Page 1 OPERATION MANUAL AC Servo Drive FDA5000 Series Ver 3.3 (Soft. Ver. 6.02 ~) FDA5000 Series Servo Drive User Manual...
  • Page 2 < CAUTION > 1. Check Motor ID certainly. ( P1-01 ) 2. Check Drive Amp-Type certainly. ( P1-10 ) Model 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075 Amp Type 3. Check Encoder Pulse certainly. ( P1-12 ) Example) FMALN09-AA00 Encoder Type...

  • Page 3: Table Of Contents

    Table of Contents 1. Checking and Handling --------------------------------------------- 1-1 Handling(Connection of main circuit and motor) --------------------- 1-2 Caution during Use ---------------------------------------------------------- 1-3 Installation --------------------------------------------------------------------- 1-4 Order Specifications --------------------------------------------------------- 1-5 Functions that facilitate starting ------------------------------------------- 1-10 2. Ratings and Specifications ---------------------------------------- 2-1 Ratings and Specifications for AC Servo driver FDA-5000 series ------------------------------------------------------------- 2-2 AC Servo Motor Ratings and Specifications --------------------------...
  • Page 4 Table of Contents 6-2 Description of servo status (Status Window: ST--) ------------------ 6-3 Motor and System Parameters (Motor Parameters: P1--) --------- 6-10 6-4 Common Parameters Related to Control (Control Mode: P2--) -- 6-13 6-5 Speed control parameters (Speed Mode: P3--) ---------------------- 6-21 6-6 Position control parameters (Position Mode: P4--) ------------------ 6-24...
  • Page 5 13-4 Generating Speed Command (torque control) ------------------------- 13-2 13-5 Example of positioning Unit K7F-POSP connection between FDA-5000, the AC servo driver of HIGEN and PLC MASTER-K ----------- 13-3 13-6 Example of positioning Unit MD71 connection between FDA-5000, the AC servo driver of HIGEN and PLC GOLDSEC-M ------------...
  • Page 6 Table of Contents 13-9 Example of positioning Unit G3F-POPA connection between FDA-5000, the AC servo driver of HIGEN, and PLC GLOFAPLC -------------- 13-7 14. Maintenance and Inspection -------------------------------------- 14-1 14-1 Caution ------------------------------------------------------------------------- 14-1 14-2 Inspection Items ------------------------------------------------------------- 14-1 14-3 Replacing Parts --------------------------------------------------------------...

  • Page 7: Checking And Handling

    1.1 Handling (Connection of main circuit and motor) Thank you for purchasing HIGEN AC Servo Driver. Incorrect handling of the driver may lead to unsatisfactory operation or, in some cases, to the rapid reduction of its life, or damage to the servo.

  • Page 8: Caution During Use

    Chapter 1. Checking and Handling 1.2 Caution during Use Improper handling of the driver may lead to unexpected accident or damage. The following are important points in operating the driver. 1.2.1 Handling Avoid impact to the encoder, the motor detector. Striking the shaft with a hammer may cause the motor to drop leading to unexpected damage.

  • Page 9: Installation

    Chapter 1. Checking and Handling 1.2.3 Operation Use the magnetic brake of the motor only for emergency and maintenance (preservation). The brake is designed for maintenance (preservation) during power outage. If used to reduce speed, the brake wears out fast. Install brakes and magnetic contactors on power supply terminals R, S and T.
  • Page 10 Chapter 1. Checking and Handling Installation direction and intervals - Install the servo driver in such a way that FDA-5000 can be seen from the front. - If the drivers are installed in a closed panel, maintain an interval of more than 10 mm between drivers and more than 40 mm between top and bottom.
  • Page 11 Chapter 1. Checking and Handling MOTOR MODEL RADIAL LOAD AXIAL LOAD REFERENCE DIAGRAM Series Type CN01~CN05 CN06~CN08 CN09~CN15 CN20~CN30 CN30A~CN50A 1470 KN03~KN07 KF08~KN11 KF15~KN22 KN22A~KN55 1470 TN05~TN09 Radial TN13~TN17 Load TN20~TN75 1470 LN03~LN06 Axial Load LN09~LN12 LN12A~LN40 1470 KF08~KF10 KF15 KF22~KF50 1470 TF05~TF09...
  • Page 12 Chapter 1. Checking and Handling Impact resistance The driver withstands an acceleration of 10G and two times of impacts when up-and-down impacts are applied after setting the motor shaft horizontally. However, a precision detector is attached to the end of the shaft on the opposite side of the load.

  • Page 13: Order Specifications

    1300 2048 Absolute 11/13 bit 1.4.2 Servo driver model marking ♦ AC Servo Drive ♦ Encoder Type Symbol Encoder Type ♦ FDA5000 Series None Incremental Absolute ♦ Rated Power (Watt) ♦ Type Symbol Power (W) Symbol Power (W) Symbol Power (W)
  • Page 14 Chapter 1. Checking and Handling 1.4.3 AC Servo application table Drive FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075 Motor Model Flange ◎ CKZ5 Series ◎ CK01 3000 ◎...
  • Page 15 Chapter 1. Checking and Handling Drive FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075 Motor Model Flange ◎ LN03 ◎ LN06 ◎ LN09 Series ◎ LN12 1000 ◎...

  • Page 16: Functions That Facilitate Starting

    Chapter 1. Checking and Handling 1.5 Functions that facilitate starting The following are the functions that help diagnosing and starting of the control panel and the machine. Major function Description This function automatically calculates the load's inertia moment by detecting the current and speed at the time of starting. Adjusting of Autotuning the machine, which so far has been carried out based on experience and senses (six senses and intuition), can easily be performed.

  • Page 17: Ratings And Specifications

    Chapter 2. Ratings and Specifications 2. Ratings and Specifications Ratings and specifications for AC servo driver FDA-5000 series Model FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- Item 5001 5002 5004 5005 5010 5012 5015 5020 5030 5045 5075 Power supply voltage...

  • Page 18: Ac Servo Motor Ratings And Specifications

    Chapter 2. Ratings and Specifications AC Servo Motor Ratings and Specifications Motor CN01 CN02 CN03 CN04 CN05 CN04A CN06 CN08 CN10 Model Spec. Driver 5001 5002 5004 5005 5010 Flange size ( □ ) Rated output ( W ) 1000 ( N·m ) 0.32 0.64...
  • Page 19 Chapter 2. Ratings and Specifications Motor CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07 Model Spec. Driver 5010 5015 5020 5030 5030 5045 5004 5004 5005 5010 Flange size ( □ ) Rated output 1500 2200 3000 3000 5000 ( W ) ( N·m )
  • Page 20 Chapter 2. Ratings and Specifications Motor KN06A KN11 KN16 KN22 KN22A KN35 KN55 Model Spec. Driver 5005 5010 5015 5020 5020 5030 5045 Flange size ( □ ) Rated output ( W ) 1100 1600 2200 2200 3500 5500 ( N·m ) 2.86 5.25 7.64...
  • Page 21 Chapter 2. Ratings and Specifications Motor TN05 TN09 TN13 TN17 TN20 TN30 TN44 TN75 Model Spec. Driver 5005 5010 5015 5020 5020 5030 5045 5075 Flange size ( □ ) Rated output ( W ) 1300 1700 1800 2900 4400 7500 ( N·m ) 2.87...
  • Page 22 Chapter 2. Ratings and Specifications Motor LN03 LN06 LN09 LN12 LN12A LN20 LN30 LN40 Model Spec. Driver 5004 5005 5010 5012 5012 5020 5030 5045 Flange size ( □ ) Rated output ( W ) 1200 1200 2000 3000 4000 ( N·m ) 2.86 5.72...
  • Page 23 Chapter 2. Ratings and Specifications Motor KF08 KF10 KF15 KF22 KF35 KF50 Model Spec. Driver 5010 5015 5020 5030 5045 Flange size ( □ ) Rated output ( W ) 1000 1500 2200 3500 5000 ( N·m ) 3.58 4.77 7.16 10.5 16.7...
  • Page 24 Chapter 2. Ratings and Specifications Motor TF05 TF09 TF13 TF20 TF30 TF44 Model Spec. Driver 5005 5010 5015 5020 5030 5045 Flange size ( □ ) Rated output ( W ) 1300 1800 2900 4400 ( N·m ) 2.87 5.41 8.27 11.5 18.6...
  • Page 25 Chapter 2. Ratings and Specifications Motor LF03 LF06 LF09 LF12 LF20 LF30 Model Spec. Driver 5004 5005 5010 5012 5020 5030 Flange size ( □ ) Rated output ( W ) 1200 2000 3000 ( N·m ) 2.84 5.68 8.62 11.5 19.1 28.4...

  • Page 26: Wiring And Signals

    Chapter 3. Wiring and Signals 3. Wiring and Signals 3.1 Representative wiring Regenerative resistor (seperately installed) MCCB1 Power Supply AC 200 ~ 230 V 50/60 Hz Servo motor FDA-5000 (Note1) (Note2) Encoder (Input) +24VIN ESTOP Emergency stop SPD1 / GEAR1 Speed/Electric gear select SPD2 / GEAR2...

  • Page 27: Internal Configuration

    Chapter 3. Wiring and Signals 3.2 Internal Configuration 3.2.1 Power board configuration Regenerative resistor Power module Initial Charging resistor DIODE Current sensor 3phase (U,V,W) (R,S,T) Fuse Relay Condensor 200~230V DC voltage IGBT Relay U,W current detection circuit drive drive drive detection SMPS circuit circuit...

  • Page 28: Main Circuit Terminal Board Wiring

    Chapter 3. Wiring and Signals 3.3 Main Circuit Terminal Board Wiring 3.3.1 Main circuit terminal board wiring Open the main circuit terminal board cover to see the terminal board. Terminal names are located on the right side of the terminal board. (See figure on the right side.) Uses and wiring methods of FDA-5001 -5004 are as follows.
  • Page 29 Chapter 3. Wiring and Signals □ □ Uses and wiring methods of FDA-5005 -5075 are as follows. 1) The R, S and T terminals are used to connect main power supply of 3-phase AC 200-230[V] to the power circuits. (Note) Single-phase AC 220V may also be used; however, output may be lower than the rated value.
  • Page 30 Chapter 3. Wiring and Signals [Table 3.2. Recommended parts to be installed on electric panel] AC SERVO FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- 5005□ 5010□ 5012□ 5015□ 5020□ 5030□ 5045□ 5075□ Drive system AWG #14 AWG #12 AWG #10 AWG #8 Wire thickness (2.0mm...
  • Page 31 Chapter 3. Wiring and Signals [External view 3 ] 250W*4 (FDA-5075)
  • Page 32 Chapter 3. Wiring and Signals 3.3.2 Turning ON/Off of power supply As the main circuit of the servo driver is designed in condenser input type, high charging current (charging time approximately 03-0.5 seconds) flows when main power is connected. If the main power supply is turned ON/OFF frequently, the main circuit element may be deteriorated leading to an error.
  • Page 33 Chapter 3. Wiring and Signals 3.3.3 Timing diagram at the time of power connection In the case of FDA-5001-4, power is supplied to the control circuit if 3-phase power is connected to the R, S and T terminals. In the case of FDA-5005-10, power is supplied to the control circuit if single-phase power is connected to the r and t terminals.

  • Page 34: Cn1 Wiring And Signal

    Chapter 3. Wiring and Signals 3.4 CN1 Wiring and Signal CN1 is the connector located at the right 1:GND 26:GND lower part of the front of drive system. This 27:SPDIN 2:MONIT2 3:MONIT1 28:TRQIN connector is used to connect the drive 5:PZO 30:/PZO system with the upper control system which...
  • Page 35 Chapter 3. Wiring and Signals 3.4.2 Analog I/O signal Analog signal is based on 0 [V] (GND terminal) of the control power supply. Connect the GND terminal of the circuit connected to this signal with the GND terminal of CN1. The analog speed command input (CN1-27) runs the motor at a speed determined from the [10V Speed [RPM] (P3- 13)] menu of [Speed Mode (P3-13)].
  • Page 36 Chapter 3. Wiring and Signals 3.4.3 Position command pulse input signal To use the servo driver in position servo mode, input the position command pulse by using the open collector input, line drive input, and pulse output of the MPG (Manual Pulse Generator) or PLC position control card using external power supply of 5 [V] and 24 [V].
  • Page 37 Chapter 3. Wiring and Signals To select speed command, combine rpm selection 1 (CN1-43), rpm selection 2 (CN1-17), rpm selection 3 (CN1-42) and select internal speed command or analog speed command. The internal speed command [Speed CMD 1, 2, 3, 4, 5, 6, 7 (P3-1, 2, 3, 4, 5, 6, 7)] sets value at the applicable menu of [Speed Mode].
  • Page 38 Chapter 3. Wiring and Signals [Types and functions of CN1 input contact signal] Speed Position Torque Pin Name control control control Contact status (CN1-) signal signal signal function function function Servo drive Servo drive Servo drive SVONEN (18) ON = Servo drive ENABLE ENABLE ENABLE ENABLE...
  • Page 39 Chapter 3. Wiring and Signals [Types and functions of CN1 output contact signals] Speed control Position control Torque control Pin Name Contact status signal function signal function signal function Brake activates ON = Resets BRAKE (48) Brake activates Brake activates OFF = Activates INSPD/ In speed...
  • Page 40 Chapter 3. Wiring and Signals 3.4.6 CN1 I/O signal function and use table Name Pin No. Function and use PAO,/PAO 7,32 Outputs the AC servo motor encoder signal received from CN2 in line drive system after PBO,/PBO 6,31 dividing it according to the frequency dividing ratio set by the sub-menu [Pulse Out Rate PZO,/PZO 5,30 (P2-07)] of the main menu [Control Mode (P2--)].
  • Page 41 Chapter 3. Wiring and Signals Name Pin No. Function and use Selects direction of servo rotation when controlling speed (Off: in command direction, ON: in reverse command direction) PI/P Selects speed controller type. (Off: PI control, ON: P control) STOP/ Forcibly zeros (stops) speed command value, or starts operation.

  • Page 42: Description Of Cn2 Wiring And Signals

    Chapter 3. Wiring and Signals 3.5 Description of CN2 Wiring and Signals 3.5.1 Wiring and signals of incremental encoder 1:PW 11:/PZ CN2 is a connecter located in the right center of the 2:/PW 12:FG front part of the drive system. This is used to 3:PV 13:/PB 4:/PV...
  • Page 43 Chapter 3. Wiring and Signals [Example of wiring between motor side ( □ 60, 80 series) and FDA 5000 CN2 when incremental encoder is used] MOTOR side(□60,□80) AC SERVO DRIVER (FDA 5000) INCREMENTAL ENCODER Controller [*1] [*1] 2-18 2-15 1-32 /PA0 2-16 2-13...
  • Page 44 Chapter 3. Wiring and Signals [Example of wiring between motor side ( □ 130, 180 series) and FDA 5000 CN2 when incremental encoder is used] Motor side(□130,□180) AC SERVO DRIVER (FDA 5000) INCREMENTAL ENCODER Controller [*1] [*1] 2-18 2-15 1-32 /PA0 2-16 2-13...
  • Page 45 Chapter 3. Wiring and Signals 3.5.2 Wiring and signal of absolute value encoder 1:RX 11:/PZ 2:/RX 12:FG CN2 is a connecter located in the right center of the 13:/PB front part of the drive system. This is used to 14:PZ 15:/PA connect the drive system and servo motor encoder.
  • Page 46 Chapter 3. Wiring and Signals Press the encoder Reset switch connected between the CN2-19 +5V(Vcc) encoder reset terminal ERST (CN2-20) and the Vcc terminal CN2-20 Driver ERST (CN2-19) for longer than 4 seconds to set the zero point of the absolute value encoder itself or in case of alarm. [Wiring of encoder reset switch] [Example of wiring between motor side ( □...
  • Page 47 Chapter 3. Wiring and Signals [Example of wiring between motor side ( □ 130, 180 series) and FDA 5000 CN2 when absolute value encoder is used] AC SERVO DRIVER (FDA 5000A) Motor side(□130,180) Absolute encoder Controller [*1] [*1] 2-18 2-15 /PA0 1-32 2-16...
  • Page 48 Chapter 3. Wiring and Signals ■ Caution when using the absolute value encoder Set [Encoder type (P1-1)] to 6 when the absolute value encoder is used. When [Encoder type (P1-1)] is set to 6, the input contact (SPD3/type) is automatically reset to the absolute position request (ABSREQ).
  • Page 49 Chapter 3. Wiring and Signals ■ Absolute position data transmission To request absolute position transmission, change the absolute position request (ABSREQ) signal from OFF to ON when the servo is turned OFF. The absolute position request (ABSREQ) must remain ON from the time absolute position transmission is requested to the time transmission is completed, and if the absolute position request (ABSREQ) is turned OFF during transmission, transmission stops and the mode returns to initial state.
  • Page 50 Chapter 3. Wiring and Signals 1. In the initial phase, servo is turned OFF, and A_CODE0, A_CODE1, and A_CODE2 indicate ALARM code is turned ON (All OFF in normal condition). If the servo is turned ON, following process will not start. 2.

  • Page 51: Digital Loader Operation

    Chapter 4. Digital Loader Operation 4. Digital Loader Operation Prior to connecting power and turning ON the servo, check the parameters [Motor parameters (P1--)] related to the motor at the digital loader. In order for the servo system to operate satisfactorily based on the information on the motor connected to the servo, accurate value must be set.
  • Page 52 Chapter 4. Digital Loader Operation Moves from main menu to sub-menu; Start editing PROG Moves from main menu to main menu or from sub-menu to main menu MODE Moves between sub-menus PROG Status Window MotorSpeed[RPM] CMD Speed[RPM] I/O Status St-- St-01 3000 St-02...

  • Page 53: Displays After Power Is Connected

    Chapter 4. Digital Loader Operation 4.1 Displays after power is connected 4.1.1 Setting initial menu after power is connected Display Select P2-28 Turn OFF and Turn ON power Self Testing.. Motor Speed[RPM] Wait.. St-01 0000.0 Display Select [Display Select(P2-28)] is set to 10 P2-28 Turn OFF and Turn ON power Self Testing..
  • Page 54 Chapter 4. Digital Loader Operation 4.1.2 When the initial menu is set to motor speed after power is turned ON in No alarm status MODE Self Testing.. MotorSpeed[RPM] MotorParameter Wait.. St-01 0000.0 P1-- CMD Speed[RPM] St-02 3000.0 When there is no alarm after power is connected in the initial stage, and if the initial menu set value is motor speed, [Motor speed [RPM](St-01)] is displayed as above.

  • Page 55: Sub-Menu Group

    Chapter 4. Digital Loader Operation 4.2 Sub-menu Group Menus are classified into 3 main groups: a menu capable of editing or inputting information required for operation, a menu which monitors operation status, and a menu which carries testing function. Operation monitoring menu: Status Window, Alarm Status Edit menu: Motor Parameter, Control Mode, Speed Mode, Position Mode, Torque Mode Testing menu: Test Mode 4.3 Operation Monitoring Menu...
  • Page 56 Chapter 4. Digital Loader Operation You can move to other menus from the operation status display menu by using "MODE", "PROG", "LEFT" and "RIGHT" keys. The digital loader display meaning and value of each menu from the operation status display menu.
  • Page 57 Chapter 4. Digital Loader Operation (1) Current alarm reset, [Alarm Status (ALS02)] Alarm Display AL-01 OVER CURNT Alarm Reset ALS02 PROG Alarm Reset ALarm Cleared Displays for 2 seconds Alarm Reset ALS02 Alarm Display ALS01 The current alarm reset [Alarm Status (ALS-02)] menu resets the current system alarm. This function is the same as that of the external input reset.

  • Page 58: Changing Parameters

    Chapter 4. Digital Loader Operation 4.4 Changing Parameters The parameter value can be changed in the same method. Even though the changeable range varies according to menu, operation methods are the same. Hence, [Motor ID (P1-01)] is presented here as a representative example. Starts parameter editing and cancels parameter change PROG Verifies changed parameter...

  • Page 59: Test Mode (Test Mode:p6--)

    Chapter 4. Digital Loader Operation 4.5 Test Mode (Test Mode: P6--) 4.5.1 Jog mode (P6-01): Motor can independently operate without upper controller Test Mode P6-- PROG Jog Mode P6-01 PROG ENTER Jog Command[RPM] Jog Speed [RPM] tS-01 +0100. 0 tS-02 +0100.0 toggle PROG...
  • Page 60 Chapter 4. Digital Loader Operation 4.5.2 Auto jog mode (P6-02): Motor can independently operate without upper controller Motor can run without the need of connecting the contact input connector CN1 in Auto jog mode just like in Jog mode. However, unlike the Jog mode in which the Left and Right keys must be continuously pressed to run the motor, the motor runs continuously for a given period of time and at given speed if the value of [Auto Jog Set(tS-17)] is set to 1.
  • Page 61 Chapter 4. Digital Loader Operation 4.5.3 Simulation operation [Simulation mode (P603)] While the motor is connected and is operated without contact input in Jog and Auto Jog modes, simulated operation is a condition under which, while the connector CN1 is connected in normal state, the menu displays data just as the motor is running when the motor wire and encoder are separated.

  • Page 62: Mount Loader Operation

    Chapter 5. Mount Loader Operation 5. Mount Loader Operation Prior to connecting power and turning ON the servo, check the parameters [Motor parameters (P1--)] related to the motor at the digital loader. In order for the servo system to operate satisfactorily based on the information on the motor connected to the servo, accurate value must be set.
  • Page 63 Chapter 5. Mount Loader Operation St-01, ..., ALS04 : sub-menu UP : Moves from main menu to main menu and from sub-menu to main menu. St--, P1--, ..., ALS-- : Main menu ENTER : Moves from main menu to sub menu RIGHT, LEFT : Moves between sub-menu RIGHT RIGHT...

  • Page 64: Initial Screen After Power Is Connected

    Chapter 5. Mount Loader Operation 5.1 Initial screen after power is connected Menus displayed after power is connected can be set according to [Display Select(P2-28)] set value. [Display Select(P2-28)] Initial menus after power is connected Motor Speed[r/min], (St-01) CMD Speed[r/min] , (St-02) CMD Pulse, (St-03) Feedback Pulse, (St-04) Pulse ERR, (St-05)

  • Page 65: Sub-Menu Group

    Chapter 5. Mount Loader Operation 5.1.2 Connecting power when No alarm and initial menu are set to inertia ratio ENTER RIGHT,UP key ENTER Turn OFF and turn ON power Indicates set inertia ratio 5.1.3 Connecting power in Emergency alarm state after setting initial menu to motor speed ENTER ENTER...

  • Page 66: Operation Monitoring Menu

    Chapter 5. Mount Loader Operation 5.3 Operation Monitoring Menu 5.3.1 Operation monitoring window ENTER Note1) LEFT RIGHT ENTER Note2) Note3) LEFT RIGHT RIGHT LEFT Note1) Press ENTER to move from main menu to sub-menu Note2) Press ENTER also to monitor actual value from the sub-menu Note3) "F"...
  • Page 67 Chapter 5. Mount Loader Operation 5.3.2 Alarm window (1) Menu displaying current alarm status (ALS-01) ENTER : Moves to sub-menu ENTER ENTER In case overcurrent alarm occurs In case of No alalrm and nomal status : The alarm status display menu displays the current alarm. In case of an alarm, it is displayed in the alarm display window of any menu.
  • Page 68 Chapter 5. Mount Loader Operation (3) Alarm history (ALS-03) display menu ENTER, RIGHT ENTER ENTER (Indicates alarm occured most recently) LEFT RIGHT Note) Assuming that overcurrent (AL-01) alarm occured after the encoder miswiring (AL05) alarm had LEFT occured during servo operation RIGHT RIGHT LEFT...
  • Page 69 Chapter 5. Mount Loader Operation (4) Alarm history reset (ALS04) menu RIGHT LEFT ENTER ENTER ENTER ENTER ENTER (Alarm that have occured most recently) Displays message LEFT LEFT RIGHT RIGHT for 2 seconds LEFT RIGHT RIGHT LEFT RIGHT RIGHT LEFT LEFT The above figure is a block diagram showing how to erase the system alarm history.

  • Page 70: Changing Parameters

    Chapter 5. Mount Loader Operation 5.4 Changing Parameters The difference in editing between the mount loader and digital loader is that ENTER must be pressed once more to see the actual value of menu items in the case of the mount loader, and that only UP key may be used to change values during the process of editing.

  • Page 71: Test Mode (P6--)

    Chapter 5. Mount Loader Operation 5.5 Test Mode (P6--) 5.5.1 Jog operation function (P6-01) ENTER : Starts/ends jog mode; starts/ends jog speed input; starts/ends jog speed monitor LEFT : Blink moves to left when motor is running in the opposite direction of command, and jog speed is input RIGHT : Blink moves to right when motor is running in the direction of command, and jog speed is input...
  • Page 72 Chapter 5. Mount Loader Operation 5.5.2 Auto job operation function (P6-02) ENTER RIGHT ENTER ENTER ENTER Speed change1 (LEFT,RIGHT,UP key) RIGHT LEFT ENTER (Speed change2) RIGHT LEFT (Speed change3) RIGHT LEFT (Operation time 1 change) RIGHT LEFT (Operation time 2 change) (Operation time 3 change) RIGHT LEFT...
  • Page 73 Chapter 5. Mount Loader Operation In jog mode, the motor runs by the use of LEFT and RIGHT. In [Auto jog operation mode], speed and time are set in [tS-11) - [tS-17); and if 1 is input in [tS-17), the motor runs repeatedly. Set value can be changed in each sub-menu of [tS-11) - [tS-17) in the same method of changing previous motor parameters and control-related parameters.

  • Page 74: Parameter Setting

    Chapter 6. Parameter Setting 6. Parameter Setting Menus can be set by the digital loader and mount loader. See Chapter 4 and 5 for information on how to use the digital loader and mount loader. Abbreviations used in this manual and their meanings are as follows. Abbreviation Meaning Abbreviation...

  • Page 75: Parameter Summary

    Chapter 6. Parameter Setting 6.1 Parameter Summary Digital loader displays menus along with menu names, but the mount loader shows only menus. (1) Status window (Status window: St--) Menu Menu name Unit Display range Initial value Mode St-01 Motor Speed[RPM] r/min -9999.9~9999.9 St-02...
  • Page 76 Chapter 6. Parameter Setting (3) Common control menu (Control mode: P2--) Menu Menu name Unit Display range Initial value Mode * P2-01 Controller Type 0 ~ 5 P2-02 PC P Gain rad/sec 0 ~ 500 (Note 1) P2-03 SC LOOP Gain rad/sec 0 ~ 5000 By capacity...
  • Page 77 Chapter 6. Parameter Setting (4) Speed menu (Speed Mode : P3--) Menu Menu name Unit Display range Initial value Mode P3-01 Speed CMD1[RPM] r/min P3-02 Speed CMD2[RPM] r/min P3-03 Speed CMD3[RPM] r/min P3-04 Speed CMD4[RPM] r/min 1000 P3-05 Speed CMD5[RPM] r/min 1500 P3-06...
  • Page 78 Chapter 6. Parameter Setting (6) Torque menu (Torque Mode : P5--) Menu Menu name Unit Display range Initial value Mode P5-01 TRQ CMD TC[ms] 0.0 ~ 1000.0 * P5-02 10V Torque 0 ~ 300 P5-03 Torque OFFS -1000.0 ~ 1000.0 (Caution !) Menus marked with "*"...
  • Page 79 Chapter 6. Parameter Setting 6.2 Description of servo status (Status Window: St--) Screen display Description Motor Speed[RPM] Indicates current motor speed in [RPM] St-01 CMD Speed[r/min] Indicates servo motor speed command in [RPM] St-02 CMD Pulse Indicates current command pulse when controlling positions St-03 Feedback Pulse Indicates feedback pulse when controlling positions...
  • Page 80 Chapter 6. Parameter Setting 6.2.1 Digital loader signal display (1) Input signal display The status of input contact recognized within the system is indicated with either "0" or "1". Therefore, if the status input from the external sources is different from the displayed information, it indicates problem on the input system.
  • Page 81 Chapter 6. Parameter Setting (2) Output signal display The output contact status is displayed with either "0" or "1". Therefore, if the status actually output on the outside is different from the displayed information, it indicates problem on the input system. As each signal carries different meaning, explanation is provided through examples below.
  • Page 82 Chapter 6. Parameter Setting 6.2.2 Mount loader signal display The following figure shows magnified 7segment of the mount loader. Each segment of the mount loader's 7segment has its own meaning. The part above the solid line indicates the contact input status, while the part below the solid line, the contact output status.

  • Page 83: Motor And System Parameters (Motor Parameters: P1--)

    Chapter 6. Parameter Setting 6.3 Motor and System Parameters (Motor Parameters: P1--) These parameters are used to set the motor and the system. User must set parameters to suit the motor and the system prior to use. (Caution !) Menus marked with "*" cannot be corrected during Servo-ON. Setting Menu Menu name...
  • Page 84 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode *P1-02 JM [gfcms2] gf-cm-sec 0.01 ~ 999.99 Convert the motor inertia moment in [gf-cm-sec ] and input the data. In this mode, input the inertia of the motor which does not include load inertia. For information on how to input load inertia, see section [Inertia Ratio (P2-22)].
  • Page 85 2 ~ 98 Input the number of motor poles. The number of motor poles is always expressed in even number. Take caution not to input odd numbers. HIGEN servo motor has 8 numbers in all. Menu Menu name Unit Display range...

  • Page 86: Common Parameters Related To Control (Control Mode: P2--)

    Chapter 6. Parameter Setting 6.4 Common Parameters Related to Control (Control Mode: P2--) In this group, functions of common parameters related to control and several additional functions can be executed. (Caution !) Menus marked with "*" cannot be corrected during Servo-ON. Menu Menu name Unit...
  • Page 87 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P2-03 SC LOOP Gain rad/sec 0 ~ 5000 By capacity (Description continued) If the ratio of the overall system inertia (Sum of motor inertia and load inertia) to the motor inertia is set in [Inertia Ratio (P2-22)], or if the value set by using the autotuning [Autotuning (P2-24)] provided with the servo is the same as the following, the recommended set values of [SC Loop Gain (P2-03)] by servo capacity are as follows.
  • Page 88 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P2-05 TRQ LMT(+) [%] 0 ~ 300 P2-06 TRQ LMT(-) [%] 0 ~ 300 [TRQ LMT(+) (P2-05)] × rated torque Maximum CW torque = [TRQ LMT(+) (P2-06)] ×...
  • Page 89 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P2-10 Brake Time[ms] 0 ~ 10000 If the servo is turned OFF during servo motor operation and the brake speed is reduced, set the time which activates the machine brake after a specific time irrespective of [Brake SPD (P-29)] in [ms].
  • Page 90 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P2-19 Resonant FRQ[Hz] 0 ~ 1000 P2-20 Resonant BW[Hz] 0 ~ 1000 Input the band width of resonant frequency and resonant frequency band in [Hz]. Torque output 0.707 Torque output frequency...
  • Page 91 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P2-23 Autotune Range 0 ~ 9 Prior to using the automatic setting function, input approximate ratio of system inertia to motor System inertia (Motor inertia + load inertia) Inertia to define the range.
  • Page 92 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P2-27 DB Control Enables quick motor control during servo operation by turning off SVONEN terminal and forming DB control circuit while the gating motion is turned off when the motor stops. However, if the DB control status is continuously maintained while the motor remains stopped, it is not easy to achieve free-run of the motor in case the user so desires.
  • Page 93 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P2-30 Emergency Type Select the input contact ESTOP (CN1-39) terminal function. If 0 is selected: Emergency stops when ESTOP contact is turned OFF (Normal B contact). If 1 is selected: Emergency stops when ESTOP contact is turned ON (Normal A contact). Menu Menu name Unit...

  • Page 94: Speed Control Parameters (Speed Mode: P3--)

    Chapter 6. Parameter Setting 6.5 Speed control parameters (Speed Mode: P3--) (Caution !) Menus marked with "*" cannot be corrected during Servo-On. Menu Menu name Unit Display range Initial value Mode P3-01 Speed CMD1[RPM] -Maximum~Maximum P3-02 Speed CMD2[RPM] -Maximum~Maximum P3-03 Speed CMD3[RPM] -Maximum~Maximum In case of speed control: Input digital speed command in [rpm].
  • Page 95 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode *P3-10 S TYPE ENB 0, 1 If 1 is selected in this menu, the motor deceleration/acceleration is activated in S-letter form when the load inertia is large so that the motor can run smoothly. 0 : Linear deceleration/acceleration operation 1 : S-letter form deceleration/acceleration Menu...
  • Page 96 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P3-15 Zero Clamp Mode 0 ~ 2 0 : Zero Clamp Mode0 1 : Zero Clamp Mode1 2 : Zero Clamp Mode2 Speed Speed Speed command command command Command Command...

  • Page 97: Position Control Parameters (Position Mode: P4--)

    Chapter 6. Parameter Setting 6.6 Position control parameters (Position Mode: P4--) (Caution !) Menus marked with "*" cannot be corrected during Servo-On. Menu Menu name Unit Display range Initial value Mode P4-01 Feedforward[%] 0 ~ 100 Input the Feedforward rate of the position command speed in [%]. The delay element of the position controller can be reduced if the value of this item is increased.
  • Page 98 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode P4-03 CMD FLT TC[ms] 0 ~ 10000 Input the filter time constant of the position command input in [ms]. The output which passes through the primary filter is used as the position command for the loaded position command.
  • Page 99 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode *P4-12 ELCTR Gear4 NUM 1 ~ 99999 *P4-13 ELCTR Gear4 DEN 1 ~ 99999 Set the numerator and denominator of the electronic gear 3 in constant values. (Caution !) The calculation value of ELCTR Gear NUM/DEN must be between 0.05-20.

  • Page 100: Torque Control Parameters (Torque Mode: P5--)

    Chapter 6. Parameter Setting 6.7 Torque control parameters (Torque Mode: P5--) (Caution !) Menus marked with "*" cannot be corrected during Servo-On. Menu Menu name Unit Display range Initial value Mode *P5-01 TRQ CMD TC[ms] 0.0 ~ 1000.0 Torque control: Set the filter time constant of the torque command input terminal. Speed or position control: Set the filter time constant of the torque control input terminal.

  • Page 101: Test Mode Parameters (Test Mode: P6--)

    Chapter 6. Parameter Setting 6.8 Test mode parameters (Test Mode: P6--) 6.8.1 Jog Mode (P6-01) The Jog Mode carries sub-menus related to Jog. The Jog Mode operates even when there is no external contact signal. Menu Menu name Unit Display range Initial value Mode tS-01...
  • Page 102 Chapter 6. Parameter Setting Menu Menu name Unit Display range Initial value Mode tS-14 Auto Jog Time1 1 ~ 50000 tS-15 Auto Jog Time2 1 ~ 50000 tS-16 Auto Jog Time3 1 ~ 50000 Input the auto jog mode set time in [sec]. Menu Menu name Unit...

  • Page 103: Alarm Status Display (Alarm Status: Als--)

    Chapter 6. Parameter Setting 6.9 Alarm status display (Alarm Status: ALS--) Menu Menu title Description Mode ALS01 Alarm Display Displays current alarms (In normal condition: displays "normal"). ALS02 Alarm Reset Resets current alarms. ALS03 Alarm History Displays the latest 10 alarms. ALS04 Alarm Reset All Resets all alarm history stored in the Alarm History.
  • Page 104 Chapter 6. Parameter Setting 6-31...
  • Page 105 Chapter 6. Parameter Setting The alarm type output varies according to the types of the alarm. If it is necessary for the external control system to identify the alarm details of the drive system, use these signals. Output status of each alarm is as follows. [Output status of ALARM CODES] Alarm Emerg.

  • Page 106: How To Use Speed Servo

    Chapter 7. How to Use Speed Servo 7. How to Use Speed Servo 7.1 Power Supply Wiring For wiring, see "3.3 Main Circuit Terminal Board Wiring". 7.2 CN1 Wiring (49) +24VIN /PAO (32) 4.7K +24V (18) SVONEN Servo enable /PBO (31) (16) Select direction...
  • Page 107 Chapter 7. How to Use Speed Servo 7.2.1 Input contact signal function and use table Name Pin No. Function and Use ON: Servo start command SVONEN OFF: Servo start command reset Selects servo rotation direction (Off: Command direction rotation, ON: Counter-command direction rotation) STOP/ Forcibly zeros (stops) the speed command value, or starts...

  • Page 108: Cn2 Wiring

    Chapter 7. How to Use Speed Servo [Output status of ALARM CODES] Alarm Emerg. Over- Over- Over- Power Encoder Others Normal type stop current voltage Load error miswiring A_CODE0 A_CODE1 A_CODE2 Where ON: Applicable contact is connected to "GND24". OFF: Applicable contact is connected to "+24V", or applicable contact not connected. 7.2.3 Analog input use and function table Name Pin No.

  • Page 109: Setting Parameters Related To Motor And Servo

    Chapter 7. How to Use Speed Servo 7.4 Setting Parameters Related to Motor and Servo When the servo start ENABLE contact (SVONEN) is turned OFF after power is connected, set the following parameters. 7.4.1 Setting motor and models Parameter Description Name P1-01 Motor ID...
  • Page 110 Chapter 7. How to Use Speed Servo ☞ Set (P2-23) range according to approximate inertia ratio. Inertia ratio Set value Inertia ratio Set value Inertia ratio Set value 1 ~ 3 10 ~ 25 100 ~ 300 2 ~ 10 15 ~ 100 200 ~ 400 3 ~ 15...

  • Page 111: Limiting Output Torque

    Chapter 7. How to Use Speed Servo 7.5 Limiting Output Torque The output torque can be limited within 300% of the rated torque. The output torque can be limited by digital signal and also by the analog signal. To limit output torque by digital signal, turn Off contact input (TLIM);...

  • Page 112: Inputting Speed Command

    Chapter 7. How to Use Speed Servo 7.6 Inputting Speed Commands Speed command can be input freely by using 3 methods: ① Using 7 digital speed commands ([Speed CMD1 (P3-01)] - [Speed CMD7 (P3-07)] ② Using external analog speed command ③...
  • Page 113 Chapter 7. How to Use Speed Servo 7.6.1 Inputting digital speed commands The following is how to input 7 digital speed commands. First, move to [Speed Mode (P3--)], the speed-related parameter group, from the main menu. Then, input the desired digital speed command in [RPM].
  • Page 114 Chapter 7. How to Use Speed Servo (2) In case of Zero Clamp Mode = 1 [SPD CMD OFFS (P3-14)] [Clamp VOLT (P3-16)]] Internal speed command [rpm] = 0 in case of (SPDIN) + < 1000 1000 [SPD CMD OFFS (P3-14)] [Clamp VOLT (P3-16)]] Internal speed ≥...

  • Page 115: Setting Motor Deceleration/Acceleration Characteristics

    Chapter 7. How to Use Speed Servo 7.6.4 Setting in-speed range Offset value can be set to output in-speed signal prior to the completion of in-speed. Menu Menu name Unit Display range Initial value Mode P3-12 Inspeed Range 0 ~ 9999.9 7.7 Setting Motor Deceleration/Acceleration Characteristics Speed command occurring in the servo are as follows.

  • Page 116: Using Monitor

    Chapter 7. How to Use Speed Servo 7.8 Using Monitor The servo's internal speed command and torque, and the feedback motor speed can be monitored from outside through the analog output (MONIT1) and (MONIT2). The range of output voltage is -4[V] - 4[V]. The following are the parameters related to the use of the motor. Menu Menu name Unit...
  • Page 117 Chapter 7. How to Use Speed Servo Monitor outputs according to the parameter set values are as follows. As the method of using monitor 1 and monitor 2 is the same, the following figures show outputs of monitor 1 only. (1) In case of [Monitor 1 ABS (P2-12)] = 0 (2) In case of [Monitor 1 ABS (P2-12)] = 1 +5[V]...

  • Page 118: Resonance Frequency Operation

    Chapter 7. How to Use Speed Servo 7.9 De-resonance Frequency Operation Mechanical resonance of specific frequency may occur when a system is constructed by using servo. To remove such resonance, input the resonant frequency occurring on the system to the [Resonant FRQ (P2-19)] in terms of [Hz];...

  • Page 119: How To Use Position Servo

    Chapter 8. How to Use Position Servo 8. How to Use Position Servo 8.1 Power Supply Wiring For wiring, see "3.3 Main Circuit Terminal Board Wiring". 8.2 CN1 Wiring (49) +24VIN /PAO (32) 4.7K +24V (18) SVONEN Servo enable /PBO (31) (15) CCWLIM...
  • Page 120 Chapter 8. How to Use Position Servo 8.2.1 Input contact signal function and use table Name Pin No. Function and Use ON: Servo start command SVONEN OFF: Servo start command reset OFF: Motor CCW running limited CCWLIM ON: Motor CCW running allowed OFF: Motor CW running limited CWLIM ON: Motor CW running allowed...

  • Page 121: Cn2 Wiring

    Chapter 8. How to Use Position Servo [Output status of ALARM CODES] Alarm Emerg. Over- Over- Over- Power Encoder Others Normal type Stop current voltage load error miswiring A_CODE0 A_CODE1 A_CODE2 Where ON: Applicable contact is connected to "GND24". OFF: Applicable contact is connected to "+24V", or applicable contact not connected. 8.2.3 Analog input use and function table Name Pin No.

  • Page 122: Setting Parameters Related To Motor And Servo

    Chapter 8. How to Use Position Servo 8.4 Setting Parameters Related to Motor and Servo When the servo start ENABLE contact (SVONEN) is turned OFF after power is connected, set the following parameters. 8.4.1 Setting motor and models Parameter Description Name P1-01 Motor ID...
  • Page 123 Chapter 8. How to Use Position Servo ☞ Set (P2-23) range according to approximate inertia ratio. Inertia ratio Set value Inertia ratio Set value Inertia ratio Set value 1 ~ 3 10 ~ 25 100 ~ 300 2 ~ 10 15 ~ 100 200 ~ 400 3 ~ 15...

  • Page 124: Limiting Output Torque

    Chapter 8. How to Use Position Servo 8.4.4 Setting position control gains Set the following position-control-related parameters. Menu Menu name Unit Display range Initial value Mode P4-01 Feedforward[%[ 0 ~ 100 P4-02 FF FLT TC[ms] 0 ~ 10000 P4-03 CMD FLT TC[ms 0 ~ 10000 P4-05 FLLW ERR[PULSE]...

  • Page 125: Inputting Position Commands

    Chapter 8. How to Use Position Servo 8.5.2 limiting analog output torque (TLIM) = ON Apply voltage between -10[V] - 10[V] to analog input (TRQIN) to limit analog output torque. As the analog output torque limit command input uses the absolute value of the voltage, voltage of the same size in different code is treated as the same input.
  • Page 126 Chapter 8. How to Use Position Servo 8.6.1 Inputting position command pulse 3 types of command pulses, ① A phase + B phase, ② CW pulse + CCW pulse and ③ direction + pulse, can be selected. Input applicable number to [Pulse Logic (P4-14)]. Command pulse operation is effected based on the encoder pulse value multiplied by 4.

  • Page 127: Using Monitor

    Chapter 8. How to Use Position Servo 8.7 Using Monitor The servo's internal speed command and torque, and the feedback motor speed can be monitored from outside through the analog output (MONIT1) and (MONIT2). The range of output voltage is -4[V] - 4[V]. For more information on how to use, see section 7.8 Using Monitor. Menu Menu name Unit...

  • Page 128: How To Use Torque Servo

    Chapter 9. How to Use Torque Servo 9. How to Use Torque Servo 9.1 Power Supply Wiring For wiring, see "3.3 Main Circuit Terminal Board Wiring". 9.2 CN1 Wiring Make wiring as follows to use FDA5000 as the torque control mode. (49) +24VIN /PAO...
  • Page 129 Chapter 9. How to Use Torque Servo 9.2.1 Input contact signal function and use table Name Pin No. Function and Use ON: Servo start command SVONEN OFF: Servo start command reset OFF: Motor CCW running limited CCWLIM ON: Motor CCW running allowed OFF: Motor CW running limited CWLIM ON: Motor CW running allowed...

  • Page 130: Cn2 Wiring

    Chapter 9. How to Use Torque Servo Alarm Emerg. Over- Over- Over- Power Encoder Others Normal type Stop current voltage load error miswiring A_CODE0 A_CODE1 A_CODE2 Where ON: Applicable contact is connected to "GND24". OFF: Applicable contact is connected to "+24V", or applicable contact not connected. 9.2.3 Analog input use and function table Name Pin No.
  • Page 131 Chapter 9. How to Use Torque Servo 9.4 Setting Parameters Related to Motor and Control Parameter Description Name P1-01 Motor ID Sets ID No. according to servo motor type P1-10 Amp Type Sets ID No. according to driver type P1-11 Encoder Type Sets No.

  • Page 132: Inputting Torque Command

    Chapter 9. How to Use Torque Servo 9.5.1 Inputting digital speed limit The following is how to input 3 digital speed commands. First, move to [Speed Mode (P3--)], the speed-related parameter group, from the main menu. Then, input the desired digital speed command in [RPM].

  • Page 133: Using Monitor

    Chapter 9. How to Use Torque Servo LPF: Low Pass Filter (Low pass primary filter) CCW Torque TRQIN Command voltage -10V +10V CW torque Menu Menu name Unit Display range Initial value Mode P5-01 TRQ CMD TC[ms] 0.0 ~ 1000.0 P5-02 10V Torque 0 ~ 300...

  • Page 134: How To Use Speed/Position Servo

    Chapter 10. How to Use Speed/Position Servo 10. How to Use Speed/Position Servo 10.1 Power Supply Wiring For wiring, see "3.3 Main Circuit Terminal Board Wiring". 10.2 CN1 Wiring Make wiring as follows to use FDA5000 as the speed/position control mode. (49) +24VIN /PAO...
  • Page 135 Chapter 10. How to Use Speed/Position Servo 10.2.1 Input contact signal function and use table Name Pin No. Function and Use ON: Servo start command SVONEN OFF: Servo start command reset Selects servo rotation direction[Valid only in speed control mode] (Off: Command direction rotation, ON: Counter-command direction rotation) STOP/ Forcibly zeros (stops) the speed command value, or starts operation.

  • Page 136: Cn2 Wiring

    Chapter 10. How to Use Speed/Position Servo [Output status of ALARM CODES] Emerg. Over- Over- Over- Power Encoder Alarm type Others Normal stop current voltage load error miswiring A_CODE0 A_CODE1 A_CODE2 Where ON: Applicable contact is connected to "GND24". OFF: Applicable contact is connected to "+24V", or applicable contact not connected. 10.2.3 Analog input use and function table Name Pin No.

  • Page 137: How To Use Speed/Position Servo

    Chapter 10. How to Use Speed/Position Servo 10.4 How to Use Speed/Position Servo To start speed/position servo, set the servo controller type to “3”. 10.4.1 Switching of control modes Type Speed servo Position servo (Caution!) Switch speed servo/position servo only when motor is stopped. 10.4.2 How to use by control mode Refer to sections 7 and 8 for detailed directions by control mode.

  • Page 138: How To Use Speed/Torque Servo

    Chapter 11. How to Use Speed/Torque Servo 11. How to Use Speed/Torque Servo 11.1 Power Supply Wiring For wiring, see "3.3 Main Circuit Terminal Board Wiring". 11.2 CN1 Wiring Make wiring as follows to use FDA5000 as the speed/torque control mode. (49) +24VIN /PAO...
  • Page 139 Chapter 11. How to Use Speed/Torque Servo 11.2.1 Input contact signal function and use table Name Pin No. Function and Use ON: Servo start command SVONEN OFF: Servo start command reset Selects servo rotation direction[Valid only in speed control mode] (Off: Command direction rotation, ON: Counter-command direction rotation) STOP/...

  • Page 140: Cn2 Wiring

    Chapter 11. How to Use Speed/Torque Servo [Output status of ALARM CODES] Alarm Emerg. Over- Over- Over- Power Encoder Others Normal type stop Current voltage Load error miswiring A_CODE0 A_CODE1 A_CODE2 Where ON: Applicable contact is connected to "GND24". OFF: Applicable contact is connected to "+24V", or applicable contact not connected. 11.2.3 Analog input use and function table Name Pin No.

  • Page 141: How To Use Speed/Torque Servo

    Chapter 11. How to Use Speed/Torque Servo 11.4 How to Use Speed/Torque Servo To start speed/torque servo, set the servo controller type to “4”. 11.4.1 Switching of control modes Type Speed control Torque control (Caution!) Switch speed servo1 position servo only when motor is stopped. 11.4.2 How to use by control mode Refer to sections 7 and 8 for detailed directions by control mode.

  • Page 142: How To Use Position/Torque Servo

    Chapter 12. How to Use Position/Torque Servo 12. How to Use Position/Torque Servo 12.1 Power Supply Wiring For wiring, see "3.3 Main Circuit Terminal Board Wiring". 12.2 CN1 Wiring Make wiring as follows to use FDA5000 as the position/torque control mode. (49) +24VIN /PAO...
  • Page 143 Chapter 12. How to Use Position/Torque Servo 12.2.1 Input contact signal function and use table Name Pin No. Function and Use ON: Servo start command SVONEN OFF: Servo start command reset OFF: Motor CCW running limited CCWLIM ON: Motor CCW running allowed OFF: Motor CW running limited CWLIM ON: Motor CW running allowed...
  • Page 144 Chapter 12. How to Use Position/Torque Servo [Output status of ALARM CODES] Alarm Emerg. Over- Over- Over- Power Encoder Others Normal type Stop current Voltage Load error miswiring A_CODE0 A_CODE1 A_CODE2 Where ON: Applicable contact is connected to "GND24". OFF: Applicable contact is connected to "+24V", or applicable contact not connected. 12.2.3 Analog input use and function table Name Pin No.

  • Page 145: Cn2 Wiring

    Chapter 12. How to Use Position/Torque Servo 12.3 CN2 Wiring For information on CN2 wiring, see "Section 3.5 CN2 Wiring and Signal Description". 12.4 How to Use Position/Torque Servo To start speed/position servo, set the servo controller type to “3”. 12.4.1 Switching of control modes Type Position control...

  • Page 146: Examples Of Operation Flow And Plc Wiring

    Chapter 13. Examples of Operation Flow and PLC Wiring 13. Examples of Operation Flow and PLC Wiring 13.1 Generating Speed Command (speed control) Speed command selection (SPD1,SPD2,SPD3) [Speed CMD1 (P3-01)] (ON,OFF,OFF) [Speed CMD2 (P3-02)] (OFF,ON,OFF) Direction Stop command (DIR) (STOP) [Speed CMD3 (P3-03)] (ON,ON,OFF) (ON)
  • Page 147 Chapter 13. Examples of Operation Flow and PLC Wiring 13.3 Generating Current Command (when position and speed are controlled) [In Speed (P3-12)] In speed (in case of +>- ) Select P/PI (P/PI) CC torque CW torque Speed limit limit error (OFF) Internal current Internal speed command...

  • Page 148: Example Of Positioning Unit K7F-Posp Connection Between Fda-5000, The Ac Servo Driver Of Higen And Plc Master-K

    Chapter 13. Examples of Operation Flow and PLC Wiring 13.5 Example of positioning Unit K7F-POSP connection between FDA-5000, the AC servo driver of HIGEN and PLC MASTER-K CN1 of FDA-5000 MASTER-K (K7F - POSP) ICOM PAO (7) DC 24V /PAO...

  • Page 149: Example Of Positioning Unit Md71 Connection Between Fda-5000, The Ac Servo Driver Of Higen And Plc Goldsec-M

    Chapter 13. Examples of Operation Flow and PLC Wiring 13.6 Example of positioning Unit MD71 connection between FDA-5000, the AC servo driver of HIGEN and PLC GOLDSEC-M GOLDSEC-M (MD71) CN1 of FDA-5000 PAO (7) /PAO (32) (49) +24VIN PBO (6)

  • Page 150: Example Of Positioning Unit G3F-Poaa Connection Between Fda-5000, The Ac Servo Driver Of Higen And Plc Glopaplc

    Chapter 13. Examples of Operation Flow and PLC Wiring 13.7 Example of positioning Unit G3F-P0AA connection between FDA-5000, the AC servo driver of HIGEN and PLC GLOFAPLC GLOFA - G3FPOAA CN1 of FDA-5000 10 ICOM ENCODER PAO (7) Upper L/S...

  • Page 151: Example Of Positioning Unit G4F-Popa Connection Between Fda-5000, The Ac Servo Driver Of Higen And Plc Glofaplc

    Chapter 13. Examples of Operation Flow and PLC Wiring 13.8 Example of positioning Unit G4F-POPA connection between FDA-5000, the AC servo driver of HIGEN and PLC GLOFAPLC GLOPA - G4FPOPA CN1 of FDA-5000 16 ICOM PAO (7) /PAO (32) DC 24V...

  • Page 152: Example Of Positioning Unit G3F-Popa Connection Between Fda-5000, The Ac Servo Driver Of Higen And Plc Glofaplc

    Chapter 13. Examples of Operation Flow and PLC Wiring 13.9 Example of positioning Unit G3F-POPA connection between FDA-5000, the AC servo driver of HIGEN and PLC GLOFAPLC CN1 of FDA-5000 GLOPA - G3FPOPA 21 ICOM PAO (7) /PAO (32) DC 24V...

  • Page 153: Maintenance And Inspection

    Chapter 14. Maintenance and Inspection 14. Maintenance and Inspection The servo driver need not be checked and maintained on a daily basis as it uses highly reliable parts, but inspect it at least once a year. The brushless servo motor is semi- permanent;...

  • Page 154: Replacing Parts

    Chapter 14. Maintenance and Inspection 14.3 Replacing Parts The following parts undergo aging process as time passes due to mechanical friction or the characteristics of the material used, leading to the deterioration of equipment performance or breakdown. Check the parts periodically and replace them, if necessary. 1.

  • Page 155: Maintenance

    Chapter 14. Maintenance and Inspection 14.4 Maintenance 14.4.1 Motor If the motor is not used immediately, store it in the following manner. 1) Store the motor in a clean and dry place. Ambient temperature Ambient humidity -15 ℃ ~ +70℃ Less than 90 % RH (Caution !) Must be free of dewing or freezing.

  • Page 156: Troubleshooting

    Chapter 15. Troubleshooting 15. Troubleshooting In case an error occurs during operation, take the following steps. If taking such steps does not correct errors, contact service center. 15.1 Servo Motor Actions to be taken in case of errors Symptom Cause Inspection Corrective action Check parameters related to...

  • Page 157: Servo Driver

    Chapter 15. Troubleshooting 15.2 Servo driver If an alarm occurs, error signal output contact (Alarm) is turned OFF, and the motor stops by the action of dynamic brake. Actions to be taken in case of an alarm Screen display Cause Corrective action Normal Check external DC 24V power...
  • Page 158 Chapter 15. Troubleshooting Screen display Cause Corrective action AL-09 Check motor wiring. Output (U, V, W) open phase. Output NC Replace servo driver. AL-10 Set the number of encoder pulse No. of encoder pulse set error. PPR ERROR (P1-12) accurately. AL-11 Absolute value encoder data Reset and retransmit the absolute...

  • Page 159: External View

    Chapter 16. External View 16. External View 16.1 External Dimensions of AC Servo Driver < Outline drawing A > < Outline drawing B > < Outline drawing C > < Outline drawing D > Weight Cooling Outline Product [Kg] system Drawing FDA-5001 FDA-5002...

  • Page 160: External Dimensions Of Ac Servo Motor

    Chapter 16. External View 16.2 External Dimensions of AC Servo Motor 16.2.1 Flange 60 Series Standard type Brake type Model Weight (kg) FMA-CN01(B) 115(155) 85(125) 14(14) 44(44) 57(97) 0.85(1.4) FMA-CN02(B) 129(169) 99(139) 28(28) 58(58) 71(111) 1.14(1.7) FMA-CN03(B) 143(183) 113(153) 42(42) 72(72) 85(125) 1.43(2.0)
  • Page 161 Chapter 16. External View 16.2.2 Flange 80 Series Standard type Brake type External dementions Key dimensions Model Weight 147(174 112(139 CN04A, KN03 76(103) (63) (113) 2.1(2.9) 171(198 131(158 CN06, KN05 95(122) (63) (132) 2.6(3.3) 193(219 153(179 117(143 CN08, KN06 (63) (153) 3.1(3.9) 213(246...
  • Page 162 Chapter 16. External View 16.2.3 Flange 130 Series (Dotted lines indicate position of brake-attached connectors) External dementions Key dimensions Model Weight TF05 LF03 (315) (257) (206) (53) (226) (10.4) KF08 (325) (267) (216) (53) (236) (11.0) 11.6 KF10 TF09 LF06 (365) (307) (256)
  • Page 163 Chapter 16. External View 16.2.4 Flange 180 Series Straight Shaft(Standard) Type (Dotted lines indicate position of brake-attached connectors) Taper Shaft(Standard) Type (Dotted lines indicate position of brake-attached connectors) External dementions Key dimenstions Model Weight 12.9 CN30A KN22A TN20 LN12A (332) (253) (202) (96)

  • Page 164: Specifications Of Options

    Chapter 17. Specifications of options 17. Specifications of options 17.1 AC servo motor cable specifications 17.1.1 Encoder signal cable (Flange 60, 80 Series) Order side( FCA_□□□□□) Operating type Non-operatig type Flange 60,80 EA03F EA05F EA10F EA20F EA03N EA05N EA10N EA20N 17.1.2 Encoder singal cable (Flange 130,180 Series) Order code( FCA_□□□□□) Operating type...
  • Page 165 Chapter 17. Specifications of options 17.1.3 Power cable for motor (Flange 60,80 Series) Order code( FCA–□□□□□) Flange Type Operating type Non-operating type Standard SA03F SA05F SA10F SA20F SA03N SA05N SA10N SA20N Brake BA03F BA05F BA10F BA20F BA03N BA05N BA10N BA20N Standard SB03F SB05F...

  • Page 166: Ac Servo Driver

    Chapter 17. Specifications of options 17.2 AC servo driver 17.2.1 Digital loader (Order code No.: FDA500004S) 17.2.2 Mount loader (Order code No.: FDA500005S) 17.2.3 CN1 Connector (Order code No.: FDACON50P-3M) Item No.: 10150-3000VE,10350-52A0-008,Maker:3M 17-3...
  • Page 167 Chapter 17. Specifications of options 17.2.4 Noise Filter FDA- FDA- FDA- FDA- FDA- FDA- FDA- AC Servo drive 5001~5005 5010 5015 5020 5030 5045 5075 NFZ- NFZ- NFZ- NOISE FILTER 4030SG 4040SG 4050SG 17.2.5 Power unit for brake Item No.: BPU-109A Input: Singal phase AC200~220[V] Output: DC24[[V](60,80 Series), DC90[V](130,180 Series) 17.2.6 PC Loader (RS232C PC Communication Software)
  • Page 168 (82) 55-281-8407 Order NO : 702003121 ※ 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.

Table of Contents

Save PDF