Higen FDA6000C Series User Manual
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Higen FDA6000C Series User Manual

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OPERATION MANUAL
AC Servo Drive
FDA6000C Series
Ver 1.2 (Soft. Ver. 6.06 ~)
FDA6000C Series
Servo Drive User Manual

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Summary of Contents for Higen FDA6000C Series

  • Page 1 OPERATION MANUAL AC Servo Drive FDA6000C Series Ver 1.2 (Soft. Ver. 6.06 ~) FDA6000C Series Servo Drive User Manual...
  • Page 2 < CAUTION > 1. Check Motor ID certainly. ( P1-01 ) 2. Check Drive Amp-Type certainly. ( P1-10 ) Drive 6001C 6002C 6004C 6005C 6010C 6012C 6015C 6020C 6030C 6045C 6075C 6110C 6150C Type 3. Check Encoder Pulse certainly. ( P1-12 ) Example) FMALN09-AB00 Encoder Type...

  • Page 3: Table Of Contents

    Installation ------------------------------------------------------------------ Order Specifications ---------------------------------------------------------- 2. Ratings and Specifications Ratings and specifications for AC servo drive FDA6000C series ---- AC Servo Motor Ratings and Specifications --------------------------- 3. Wiring and Signals Power parts wiring ----------------------------------------------------------- Connection and signal-form of input/output ------------------------------...
  • Page 4 Contents 6. Operation Mode and How to use An important point check and set items, when operation --------------- How to operate absolute position -------------------------------------------- How to use relative position operation. ------------------------------------ How to use sequential operation. -------------------------------------------- Setting of position, input and output ---------------------------------------- Origin Operation -------------------------------------------------------------- How to JOG operation --------------------------------------------------------- 6-11...

  • Page 5: Checking And Handling

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

  • Page 6: Caution During Use

    Chapter 1. Checking and Handling 1.2 Caution during Use Improper handling of the drive may lead to unexpected accident or damage. The following are important points in drive operation. 1.2.1 Handling Avoid impact to the encoder, the motor detector. Striking the shaft with a hammer or dropping the motor may cause unexpected damage. Do not connect commercial power supply (AC 220V) directly to the motor.

  • Page 7: 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 the speed, the brake wears out quickly. Install brakes and magnetic contactors on power supply terminals R, S and T.
  • Page 8 Chapter 1. Checking and Handling Installation direction and intervals - Install FDA6000C can be seen from the front. - If the drives are installed in a closed panel, maintain an interval of more than 10 mm between drives and more than 40 mm between top and bottom. If multiple number of panels are installed in parallel, about 100 mm space is required on the upper side.
  • Page 9 Chapter 1. Checking and Handling MOTOR MODEL RADIAL LOAD AXIAL LOAD REFERENCE DIAGRAM Series Type CN01~CN05 CN04A~CN10 CN09~CN30 CN30A~CN50A 1470 KN03~KN07 KF06A~KN22 KN22A~KN70 1470 TN05~TN17 Radial Load TN20~TN75 1470 TN110~TN150 1764 Axial Load LN03~LN12 LN12A~LN55 1470 KF08~KF15 KF22~KF50 1470 TF05~TF13 TF20~TF44 1470 LF03~LF09...
  • Page 10 Chapter 1. Checking and Handling Impact resistance The drive withstands two times of impacts with an acceleration of 10G 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, take caution not to apply impact directly to this end.

  • Page 11: Order Specifications

    Chapter 1. Checking and Handling 1.4 Order Specifications Prior to installing the product, check the ratings plate to see if the related specifications match with those of the order. 1.4.1 Servo motor model marking Symbol Item AC servo motor Oil Seal type None Oil seal attached Series...
  • Page 12 Chapter 1. Checking and Handling 1.4.3 AC Servo application table Drive 6001 6002 6004 6005 6010 6012 6015 6020 6030 6045 6075 6110 6150 Motor Model Flange ◎ CKZ5 Series ◎ CK01 3000 ◎ CK02 /5000 ◎ CK04 (r/min) ◎ CN01 ◎...
  • Page 13 Chapter 1. Checking and Handling Drive 6001 6002 6004 6005 6010 6012 6015 6020 6030 6045 6075 6110 6150 Motor Model Flange ◎ LN03 ◎ LN06 ◎ LN09 Series ◎ LN12 1000 ◎ LN12A /2000 ◎ LN20 ◎ LN30 (r/min) ◎...

  • Page 14: Ratings And Specifications

    Chapter 2. Ratings and Specifications 2. Ratings and Specifications Ratings and specifications for AC servo drive FDA6000C series Model [FDA-] 6001 6002 6004 6005 6010 6012 6015 6020 6030 6045 6075 6110 6150 Item Power supply voltage Input 3 phase AC200~230V +10/-15%, 50/60Hz...

  • Page 15: Ac Servo Motor Ratings And Specifications

    Chapter 2. Ratings and Specifications AC Servo Motor Ratings and Specifications Motor CKZ5 CK01 CK02 CK04 Model Spec. Drive 6001C 6001C 6002C 6004C Flange size ( □ ) Rated output ( W ) ( N·m ) 0.16 0.32 0.64 1.27 Rated torque ( kgf·cm ) 1.62...
  • Page 16 Chapter 2. Ratings and Specifications Motor CN01 CN02 CN03 CN04 CN05 CN04A CN06 CN08 CN10 Model Spec. Drive 6001C 6002C 6004C 6005C 6010C Flange size ( □ ) Rated output ( W ) 1000 ( N·m ) 0.32 0.64 0.96 1.27 1.59 1.27...
  • Page 17 Chapter 2. Ratings and Specifications Motor CN09 CN15 CN22 CN30 CN30A CN50A Model Spec. Drive 6010C 6015C 6020C 6030C 6030C 6045C Flange size ( □ ) Rated output 1500 2200 3000 3000 5000 ( W ) ( N·m ) 2.86 4.77 9.54 9.54...
  • Page 18 Chapter 2. Ratings and Specifications Motor KN03 KN05 KN06 KN07 Model Spec. Drive 6004C 6004C 6005C 6010C Flange size ( □ ) Rated output ( W ) ( N·m ) 1.43 2.15 2.57 3.04 Rated torque ( kgf·cm ) 14.6 21.9 26.2 Maximum...
  • Page 19 Chapter 2. Ratings and Specifications Motor KN06A KN11 KN16 KN22 KN22A KN35 KN55 Model Spec. Drive 6005C 6010C 6015C 6020C 6020C 6030C 6045C Flange size ( □ ) Rated output ( W ) 1100 1600 2200 2200 3500 5500 ( N·m ) 2.86 5.25 7.64...
  • Page 20 Chapter 2. Ratings and Specifications Motor TN05 TN09 TN13 TN17 TN20 TN30 TN44 TN75 TN110 TN150 Model 6005 6010 6015 6020 6020 6030 6045 6075 6110 6150 Spec. Drive Flange size ( □ ) Rated output ( W ) 1300 1700 1800 2900...
  • Page 21 Chapter 2. Ratings and Specifications Motor LN03 LN06 LN09 LN12 LN12A LN20 LN30 LN40 Model Spec. Drive 6004C 6005C 6010C 6012C 6012C 6020C 6030C 6045C Flange size ( □ ) Rated output ( W ) 1200 1200 2000 3000 4000 ( N·m ) 2.86 5.72...
  • Page 22 Chapter 2. Ratings and Specifications Motor KF08 KF10 KF15 KF22 KF35 KF50 Model Spec. Drive 6010C 6015C 6020C 6030C 6045C Flange size ( □ ) Rated output ( W ) 1000 1500 2200 3500 5000 ( N·m ) 3.58 4.77 7.16 10.5 16.7...
  • Page 23 Chapter 2. Ratings and Specifications Motor TF05 TF09 TF13 TF20 TF30 TF44 Model Spec. Drive 6005C 6010C 6015C 6020C 6030C 6045C Flange size ( □ ) Rated output ( W ) 1300 1800 2900 4400 ( N·m ) 2.87 5.41 8.27 11.5 18.6...
  • Page 24 Chapter 2. Ratings and Specifications Motor LF03 LF06 LF09 LF12 LF20 LF30 Model Spec. Drive 6004C 6005C 6010C 6012C 6020C 6030C Flange size ( □ ) Rated output ( W ) 1200 2000 3000 ( N·m ) 2.84 5.68 8.62 11.5 19.1 28.4...

  • Page 25: Wiring And Signals

    Chapter 3. Wiring and Signals 3. Wiring and Signals Regenerative resistor (Separately installed) MCCB1 (Note 1) Power Supply AC 200 ~ 230V 50/60 Hz Servo Motor FDA6000C (Note 2) Encoder (Input) +24VIN COMSEL 0 Position Command Select 0 COMSEL 1 Position Command Select 1 (Output) COMSEL 2/CCW JOG...

  • Page 26: Power Parts Wiring

    Chapter 3. Wiring and Signals 3.1 Power parts wiring Main power ON Main power OFF Surge killer Regenerative resistor MCCB1 Voltage AC 200~230V 50/60Hz Servo motor FDA6000C (Note1) (Note2) Encoder (Input) ALARM 1Diode (Output) GND24 Note 1) NF is an abbreviation for Noise Filter. Use this to prevent infiltration of noise from external sources.
  • Page 27 Chapter 3. Wiring and Signals [FDA6075C□ Main circuit terminal] 1.Uses and wiring methods of FDA6001C ~6004C 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;...
  • Page 28 Chapter 3. Wiring and Signals □ 2. Uses and wiring methods of FDA6005C 6150C 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 29 Chapter 3. Wiring and Signals [Table 3.2. Recommended parts to be installed on electric panel] AC SERVO Drive system 6005C 6010C 6012C 6015C 6020C 6030C 6045C 6075CN 6110CN 6150CN AWG #14 AWG #12 AWG #10 AWG #8 AWG #6 AWG #4 Wire thickness (2.0mm (3.5mm...
  • Page 30 Chapter 3. Wiring and Signals [External view 3 ] 250W*4 (FDA6075C) [External view 4 ] 1600W*4 (FDA6110CN), 2000W*3 (FDA6150CN)
  • Page 31 Chapter 3. Wiring and Signals 3.1.2 Turning ON/Off of power supply As the main circuit of the servo drive 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 32 Chapter 3. Wiring and Signals 3.1.4 Timing diagram at the time of Alarm occurrence If Alarm occurs on the drive system, PWM is shut off and the motor stops. (Caution!) Check and remove causes of Alarm and turn off the servo motor drive command (SVONEN) before resetting Alarm.

  • Page 33: Connection And Signal-Form Of Input/Output

    Chapter 3. Wiring and Signals 3.2 Connection and signal-form of input/output 3.2.1 Input contact signal Function of each input contact signal is shown on the following +24VIN +24V Driver table. The input contacts are classified into A contact and B Speed1 contact depending on the contact characteristics.
  • Page 34 Chapter 3. Wiring and Signals Pin number (No.) Signal function in controlling position Contact Type ORGOUT (48) Completion of origin reach ON= Completion RDY (22) Servo READY ON = READY ON = BRAKE cancellation BRAKE (47) BRAKE operation OFF = BRAKE operation ALARM (21) ALARM OFF = Alarm status...
  • Page 35 Chapter 3. Wiring and Signals 3.2.4 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] (P3-16) menu of Speed Mode (P3- ).

  • Page 36: Cn1 Wiring And Signal

    Chapter 3. Wiring and Signals Controller Driver /PAO Line receiver Line driver (SN75175) (SN75174) [Encoder signal connection example] 3.3 CN1 Wiring and Signal 3.3.1 CN1 Wiring and Signal Signal Title Function Start Command START Start operation (OFF ON: Operation) origin machine(ON: Origin Origin Command...
  • Page 37 Chapter 3. Wiring and Signals Connect greater than (+24[VDC]±10% 1.0[A]) of external power supply. +24[V] * Note) If used as I/O contact power supply +24VIN Power Input simultaneously, recalculate the power supply capacity according to the number of output points. +24[V] GND Input GND24...
  • Page 38 Chapter 3. Wiring and Signals Outputs within the range of –4 ∼ +4 [V] according to values set to [Monitor1 Select (P2-10)], [Monitor1 ABS (P2-11)], [Monitor1 Scale (P2-12)], [Monitor1 offset (P2- Monitor Output 1 MONIT1 13)]. [Monitor1 Select] - 0: current position, 1: position error, 2: speed, 3: torque Outputs within the range of –4 ∼...
  • Page 39 Chapter 3. Wiring and Signals 3.3.2 CN1 pin arrangement 1:GND 26:GND CN1 is the connector located at the right lower 27:SPDIN 2:MONIT2 3:MONIT1 part of the front of drive system. This 5:PZO 30:/PZO connector is used to connect the drive system 31:/PBO 6:PBO 7:PAO...
  • Page 40 Chapter 3. Wiring and Signals 3.3.4 Relative coordinate operation mode CN1 wiring (Input) +24VIN COMSEL 0 Position Command Select 0 COMSEL 1 Position Command Select 1 (Output) COMSEL 2/CCW JOG Position Command Select 2/CCW JOG MONIT1 COMSEL 3/CW JOG Monitor Output Position Command Select 3/CW JOG MONIT2 (0 ~ 4V)
  • Page 41 Chapter 3. Wiring and Signals 3.4 Description of CN2 Wiring and Signals 3.4.1 Wiring and signals of incremental encoder 1:PW 11:/PZ CN2 is a connector located in the right center of the 2:/PW 12:FG front part of the drive system. This is used to connect 3:PV 13:/PB 4:/PV...
  • Page 42 Chapter 3. Wiring and Signals [Example of wiring between motor side (□60, 80 series) and FDA6000C CN2 when incremental encoder is used] Motor side(□60,□80) AC SERVO DRIVER (FDA6000C) INCREMENTAL ENCODER Controller [*1] [*1] 2-18 2-15 1-32 /PA0 2-16 2-13 1-31 /PB0 2-14 2-11...
  • Page 43 Chapter 3. Wiring and Signals [Example of wiring between motor side (□130, 180 series) and FDA6000C CN2 when incremental encoder is used] Motor side(□130,□180) AC SERVO DRIVER (FDA6000C) INCREMENTAL ENCODER Controller [*1] [*1] 2-18 2-15 1-32 /PA0 2-16 2-13 /PB0 1-31 2-14 2-11...
  • Page 44 Chapter 3. Wiring and Signals (Note ) CN2 connector is an option item. ∗ Maker: 3M ∗ Case product name: 10320-52FO-008 ∗ Connector (For soldering): 10120-3000VE Wiring between CN2 and the FMA-series AC servo motor absolute encoder is shown on the following table.
  • Page 45 Chapter 3. Wiring and Signals [Example of wiring between motor side (□60, 80 series) and FDA6000CA CN2 when absolute encoder is used] AC SERVO DRIVER(FDA6000CA) Motor side(□60,80) Absolute Encoder Controller [*1] [*1] 2-18 2-15 1-32 /PA0 2-16 2-13 1-31 /PB0 2-14 2-11 1-30...
  • Page 46 Chapter 3. Wiring and Signals [Example of wiring between motor side (□130, 180 series) and FDA6000CA CN2 when absolute encoder is used] Motor side(□130,180) AC SERVO DRIVER (FDA6000CA) Absolute encoder Controller [*1] [*1] 2-18 2-15 1-32 /PA0 2-16 2-13 1-31 /PB0 2-14 2-11...

  • Page 47: Digital Loader Operation

    Chapter 4. Digital Loader Operation 4. Digital Loader Operation Prior to turning ON the servo enable, 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 48: Handling And Menu System

    Chapter 4. Digital Loader Operation 4.1 Handling and Menu system PROG Status Window CMD Position Current Position ST-- ST-01 2500 ST-02 2500 MODE MODE PROG Motor Parameters Motor ID JM[gfcms2] P1-- P1-01 P1-02 12.24 MODE MODE PROG Control Mode PC P Gain SC LOOP Gain P2-- P2-01...

  • Page 49: Changing Parameters

    Chapter 4. Digital Loader Operation 4.2 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 Confirm changed parameter...

  • Page 50: Parameter Setting

    5. Parameter Setting 5. Parameter Setting Menus can be set by the digital loader. See Chapter 4 for information on how to use the digital loader. Abbreviations used in this manual and their meanings are as follows. Abbreviation Meaning Abbreviation Meaning Position Controller ACCEL...
  • Page 51 5. Parameter Setting (2) Motor and system parameter (Motor parameters: P1--) Menu Menu title Description Unit Range Default * P1-01 Motor ID 0 ~ 99 * P1-02 JM [gfcms2] Inertia gf-cm-sec 0.01 ~ 999.99 Torque * P1-03 KT [kgfcm/A] kgf-cm/A 0.001 ~ 999.99 Constant * P1-04...
  • Page 52 5. Parameter Setting Resonant P2-18 0 ~ 1000 FRQ[Hz] P2-19 Resonant BW[Hz] 0 ~ 1000 P2-20 De-Resonant ENB 0, 1 P2-21 Inertia Ratio multiple 1.0~500.0 P2-22 Autotune Range P2-23 Autotune ON/OFF ON/OFF * P2-24 Parameter Init currt/dFLT currt (Note 3) P2-25 Power fail Mode 0, 1...
  • Page 53 5. Parameter Setting (5) Position control parameter (Position Mode: P4--) Menu Menu title Description Unit Range Default P4-01 Feedforward[%] Feedforward Gain 0 ~ 100 Position decision P4-02 In Position USER 0.001 ~999.999 range P4-03 Following Error Error and range USER -99999.9~99999.9 90000 Select Command...
  • Page 54 5. Parameter Setting (7) Jog/Original mode parameter (Jog/Origin Mode: P6--) Menu Menu title Description Unit Range Default P6-01 Origin SPD0[rpm] Origin operation speed 0 0.0 ~ 9999.9 P6-02 Origin SPD1[rpm] Origin operation speed 1 0.0 ~ 9999.9 P6-03 Origin Torque[%] Damper Origin Torque 0.0 ~ 300 Coordinates value of...
  • Page 55 5. Parameter Setting *P8-10 MPG Select Select MPG Set origin of absolute *P8-11 ABS ORG SET type encoder POSITION IN POS Complete *P8-12 TYPE Signal output type *P8-13 Stop select Stop Fuction selection 0 ~ 2 *P8-14 Ias Offset Save Offset value 99.999~-99.999 *P8-15 Ics Offset...

  • Page 56: Motor And System Parameter (Motor Parameter: P1--)

    5. Parameter Setting 5.2 Motor and System Parameter (Motor Parameter: 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. Menu Menu title Description Unit Setting range Default...
  • Page 57 5. Parameter Setting Menu Menu title Description Unit Display range Default *P1-02 JM [gfcms2] Inertia gf-cm-sec 0.01 ~ 999.99 Convert the motor inertia moment in [gf-cm-sec ] and input the data. In this item, input the inertia of the motor which does not include load inertia. For information on how to input load inertia, see section [Inertia Ratio (P2-21)].
  • Page 58 5. Parameter Setting Menu Menu title Description Unit Display range Default *P1-09 Pole Number Pole 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.

  • Page 59: Control Parameter (Control Mode: P2--)

    5. Parameter Setting 5.3 Control Parameter (Control Mode: P2--) Menu Menu title Display range Default Description Unit P2-01 PC P Gain PC Proportion Gain rad/s 0 ~ 500 If the proportional gain is large, the time to reach the command position is reduced. However, if the proportional gain is excessively large, vibration occurs when the motor stops, or overshoot occurs in transient status.
  • Page 60 5. Parameter Setting Menu Menu title Description Unit Display range Default P2-04 TRQ LMT(+) [%] Torque Limit (+) 0 ~ 300 P2-05 TRQ LMT(-) [%] Torque Limit (-) 0 ~ 300 [TRQ LMT(+) (P2-04)] × rated torque Maximum CW torque [TRQ LMT(+) (P2-05)] ×...
  • Page 61 5. Parameter Setting Menu Menu name Description Unit Display range Default P2-09 Brake Time[ms] Brake activation Time 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 (P2-08)] in [msec].
  • Page 62 5. Parameter Setting Menu Menu title Description Unit Display range Default P2-18 Resonant FRQ[Hz] Resonant Frequency 0 ~ 1000 P2-19 Resonant BW[Hz] Frequency Band Width 0 ~ 1000 Input the band width of resonant frequency and resonant frequency band in [Hz]. Torque output 0.707 Torque output...
  • Page 63 5. Parameter Setting Menu Menu title Description Unit Display range Default P2-23 Autotune ON/OFF Autotune ON/OFF ON/OFF ON: Auto set function is activated and the results are automatically stored in [SC LOOP Gain (P2-02)], [Inertia Ratio (P2-21)]. Menu Menu title Description Unit Display range...
  • Page 64 5. Parameter Setting Menu Menu title Description Unit Display range Default P2-27 Display Select Display Select 1~11 Depending on the set value of [Display Select (P2-27)], the following initial menus can be displayed. VA LU E In itia l M e n u V A LU E In itia l M e n u VA LU E Initia l M en u C M D P ositio n...

  • Page 65: Speed Control Parameter (Speed Mode : P3--)

    5. Parameter Setting 5.4 Speed control parameter (Speed Mode : P3--) Menu Menu title Description Unit Display range Default P3-01 Group SPD0[rpm] Group0 speed [rpm] 0.0 ~ 9999.9 P3-02 Group SPD1[rpm] Group1 speed [rpm] 0.0 ~ 9999.9 P3-03 Group SPD2[rpm] Group2 speed [rpm] 0.0 ~ 9999.9...
  • Page 66 5. Parameter Setting Menu Menu title Description Unit Display range Default *P3-15 FDELAY Speed trajectory delay 0.0 ~ 100.0 If vibration and noise happens to the motor, after the motor speed detection value passes through the primary delay filter, input the delay time constant in [msec]. In case noise occurs on the motor shaft during feeding due to vibration, adjust the delay time constant value to reduce noise level.

  • Page 67: Position Control Parameter (Position Mode: P4--)

    5. Parameter Setting Menu Menu title Description Unit Display range Default P3-18 Clamp VOLT[mV] Set Clamp Voltage [mV] -1000 ~ 1000 Input Zero Clamp voltage in [mV]. 5.5 Position control parameter (Position Mode: P4--) Menu Menu title Unit Display range Default Description P4-01...
  • Page 68 5. Parameter Setting Menu Menu title Unit Display range Default Description *P4-04 Pulse Logic Command Pulse Type 0 ~ 5 Type of command pulse Remark [Pulse Logic] A phase +B phase CCW pulse + CW pulse Direction + pulse A phase +B phase CCW pulse + CW pulse...

  • Page 69: Position Command Parameter(Pos Command Mode : P5--)

    5. Parameter Setting 5.6 Position Command Parameter(POS Command Mode : P5--) Menu Menu title Description unit Range Default P5-01 Position CMD0 position command 0 USER -99999.9~99999.9 P5-02 Position CMD1 position command 1 USER -99999.9~99999.9 P5-03 Position CMD2 position command 2 USER -99999.9~99999.9 P5-04...
  • Page 70 5. Parameter Setting [Loader Jog Mode] The jog Mode comprises sub-menu of position command mode. The jog mode operates even when status of non-contact, only possible in Digital Loader. Input position command by User’s unit. Digital loader: “ENTER-Key” Menu Menu title Description Unit Range...

  • Page 71: Jog/Original Mode Parameter (Jog/Origin Mode: P6--)

    5. Parameter Setting 5.7 Jog/Original Mode Parameter (Jog/Origin Mode: P6--) Menu Menu title Description Unit Range Default P6-01 Origin SPD0[rpm] Origin operation speed 0 0.0~9999.9 P6-02 Origin SPD1[rpm] Origin operation speed 1 0.0~9999.9 Move [Origin SPD0] to the ultimate contact point position when operation in origin and move[Orgin SPD1] to the z-pulse point position.

  • Page 72: Mechanical Parameter (Mechanical Mode : P7--)

    5. Parameter Setting 5.8 Mechanical Parameter (Mechanical Mode : P7--) Menu Menu title Description Unit Range Default *P7-01 Move Motor USER 1~10000 *P7-02 Move Mechanical USER 1~10000 Moving motor and Move Mechanical set the rate of moving quantity of user’s coordinates and the encoder pulse number equivalent this.
  • Page 73 5. Parameter Setting Menu Menu title Description Unit Range Default *P7-06 MPG Pulse[REV] User 0~100000 Set command pulse or MPG pulse input quantity. Ex) If set to P7-05=1, P7-06=100, when MPG pulse is putted 100 pulse motor rotates one revolution Namely, pulse number/one revolution= P7-06/P7-05= 100 pulse / 1 rotation Menu Menu title...

  • Page 74: Operational Mode Parameter (Operation Mode : P8--)

    5. Parameter Setting 5.9 Operational Mode Parameter (Operation Mode : P8--) Menu Menu title Description Unit Range Default *P8-01 RUN_MODE Operation Mode Set the operation type (3.3.4 reference the operation timing diagram) 0 : Absolute position operation (Turret operation) Can choose the absolute position in COMSEL0-4, if the position come to by the input of START signal, position completed signal is displayed by OP0-4.
  • Page 75 5. Parameter Setting Menu Menu title Description Unit Range Default *P8-01 RUN_MODE Operation Mode Set the operation type (3.3.4 reference the operation timing diagram) 6 : Relative Position PROCESS Operation If START signal is putted on time, transport in the CW direction. At this time, speed is Origin Spd0(P6-01).
  • Page 76 5. Parameter Setting Menu Menu title Description Unit Range Default *P8-04 Soft Lim Enable Soft Limit Select Prevent motor from over travel by P8-05(CCWLim) & P8-06(CWLim) values. 0: Cannot use Soft Limit function 1: Can use Soft Limit function Menu Menu title Description Unit...
  • Page 77 5. Parameter Setting Menu Menu title Description Unit Range Default *P8-09 ORG_RULE Operation method of origin 0~24 Can set the method of seeking the origin point 0: Don’t seek the origin point.(when the power source is on, it’s position is the origin, as in the case of this, ORGOUT output is maintained state) 1,2 : Seek the origin point by using the CWLimit 3,4 : Seek the origin point by using the CCWLimit...
  • Page 78 5. Parameter Setting Menu Menu title Description Unit Range Default Set origin point of *P8-11 ABS_ORG_SET Absolute encoder This is the menu of operating the origin point of absolute type encoder. Ex) Consider to motor for absolute type encoder, after move motor to the position equivalent to origin point, if set the P8-07[ABS_ORG_SET]=1, over changing 1->0 after 1-2 seconds, current position is considered as an origin point Menu...
  • Page 79 5. Parameter Setting Menu Menu title Description Unit Range Default Command ABS Multi-Turn Data -100000~ *P8-16 Data On CMD Position 100000 Save Multi-Turn Data. Menu Menu title Description Unit Range Default Multi-Turn Data -100000~ *P8-17 Current ABS Data On CUR Position 100000 Save Multi-Turn Data.
  • Page 80 5. Parameter Setting 5.10 Description of servo status (Status Window: St--) Screen display Description CMD Position Indicates current command position St-01 Current Position Indicates current position St-02 Position Error Indicates the difference between the current command position St-03 and current position Motor Speed [rpm] Indicates current motor speed in [rpm] St-04...
  • Page 81 5. Parameter Setting Signal Display Description COMSEL0 COMSEL1 COMSEL2/ CCWJOG Position command = set Position CMD[1] COMSEL3/ CWJOG COMSEL4/ MPGEN START JOB start command operation SVONEN Servo motor start command operation CCWLIM/ CCW direction rotation not possible CCWJOG CWLIM/ CW direction rotation possible CWJOG ORG-DOG/ Situate outside Dog switch domain...
  • Page 82 5. Parameter Setting Signal Display Description Completely reach the origin point displayed ORGOUT No Alarm, power good displayed. Motor brake reset signal display. BRAKE No Alarm displayed ALARM Command position reached displayed/(Turret operation position INPOS/OP0 reach display 0) (TURRET operation) Command position reached display 1 (TURRET operation) Command position reached display 2 (TURRET operation) Command position reached display 3 (TURRET operation) Command position reached display 4...
  • Page 83 5. Parameter Setting Gain excessiveness, menu set value error, excessive gravity AL-06 OVER SPEED load Rapid deceleration/acceleration, gain set value error, AL-07 FOLLOW ERR command pulse frequency excessive (greater than 300 kpps), miswiring, mechanical overload AL-08 Output NC Output (U, V, W) open phase AL-09 PPR ERROR Encoder pulse level setting error...

  • Page 84: Operation Mode And How To Use

    Chapter 6. Operation Mode and How to use 6. Operation Mode and How to use 6.1 An important point check and set items, when operation Before servo operating, surely check and set the items below. *** Servo and machines can be damaged by error setting. 1) Where it is rightly chosen the form of purchase product.
  • Page 85 Chapter 6. Operation Mode and How to use Inertia ratio setting Inertia ratio setting Unknown 15-100 25-200 2-10 100-300 3-15 200-400 10-25 300-500 * Inertia ratio = (inertia of motor + load inertia)/motor inertia If autotuning (P2-23) is ON and practice five times deceleration and acceleration operation inertia value is saved to P2-21.

  • Page 86: How To Operate Absolute Position

    Chapter 6. Operation Mode and How to use 6.2 How to operate absolute position 6.2.1 Rectangular coordinate operation Ball nut lead 10mm decelerator 1/20 servo motor 1) Set machine momentum ex) In case of 1[mm] per two rotations : Move Motor [P7-01]=2 & move Mechanical [P7-02]=1 2) Set moving direction [P7-03] In case of CW, Coordinates value increases : 0 In case of CCW, Coordinates value increases : 1...
  • Page 87 Chapter 6. Operation Mode and How to use 6.2.2 Rotary coordinate operation Decelerator 1/10 servo motor 1) Set machine momentum ex) In case of 360 degree per ten rotations : Motor revolution quantity [P7-01]=10 & Device moving quantity [P7-02]=360 2) Set moving direction [P7-03] In case of CW, Coordinates value increases : 0 In case of CCW, Coordinates value increases : 1 3) Set MPG operation...

  • Page 88: How To Use Relative Position Operation

    Chapter 6. Operation Mode and How to use 6.3 How to use relative position operation. 6.3.1 Roll Feeder operation 10mm if rotating 90 degree, 10mm moving deceleration ratio 1/20 ※ 10mm moving by rotation in 5 cycles servo motor 1) Set machine momentum ex) In case of 2[mm] per rotation : Motor revolution quantity [P7-01]=5 &...

  • Page 89: How To Use Sequential Operation

    Chapter 6. Operation Mode and How to use 6.4 How to use sequential operation. Ball nut lead 10mm decelerator 1/20 servo motor 1) Set machine momentum ex) In case of 2[mm] pulse per rotation : Motor revolution quantity [P7-01]=5 & Device moving quantity[P7-02]=10 2) Set moving direction[P7-03] In case of CW, Coordinates value increases : 0...
  • Page 90 Chapter 6. Operation Mode and How to use Y axis X axis 6.4.2 Rotary Coordinate Operation Decelerator 1/10 servo motor 1) Set machine momentum ex) In case of 360 degree per ten rotations : Motor revolution quantity [P7-01]=10 & Device moving quantity[P7-02]=360 2) Set moving direction[P7-03] In case of CW, Coordinates value increases : 0...

  • Page 91: Setting Of Position, Input And Output

    Chapter 6. Operation Mode and How to use 5) Main application field Input absolute position value in parameter at all sorts INDEX machine, respectively and sequent ional operation is executed by START contact of ON, Manual operation mode : START contact=ON; 1 step operation Auto operation mode : START contact=ON, continuously sequential operation 6.5 Setting of position, input and output Parameter...

  • Page 92: Origin Operation

    Chapter 6. Operation Mode and How to use 6.6 Origin Operation Origin Mode[P8-09] Origin Operation Origin Signal Not using Origin Operation CW Limit Z Pulse ←ORG Speed 0[P6-01] Using CW Limit ← ORG Speed 1[P6-02] ORG Offset[P6-04] Z Pulse CCW Limit ORG Speed 0[P6-01] →...
  • Page 93 Chapter 6. Operation Mode and How to use Origin Mode[P8-09] Origin Operation Origin Signal Z Pulse Origin DOG CCW Limit ORG Speed 0[P6-01] → Using CCW→CW (11) direction (11) (12) (12) (CCW Limit ) and ORG Speed 1[P6-02] → origin DOG ORG Offset[P6-04] CW Damper Z Pulse ←ORG Speed 0[P6-01]...

  • Page 94: How To Jog Operation

    Chapter 6. Operation Mode and How to use Note2) Can specify origin equivalent to the position which z phase position fixed distance by using ORG Offset[P6-04] Note3) In case of using Damper(13-16) set torque in ratings torque ratio(%) for recognition in collision with damper.

  • Page 95: How To Use Monitor

    Chapter 6. Operation Mode and How to use 6.8 How to use 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].
  • Page 96 Chapter 6. Operation Mode and How to use (1) In case of [Monitor 1 ABS (P2-12)] = 0 (2) In case of [Monitor 1 ABS (P2-12)] = 1 +5[V] Max+Offset +5[V] Max+Offset Offset 0[V] 0[V] Offset Not use -5[V] -5[V] Speed, speed command Torque 1.25 x maximum speed...

  • Page 97: Maintenance And Inspection

    Chapter 7. Maintenance and Inspection 7. Maintenance and Inspection The servo drive 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. However, check it periodically for signs of abnormal noise or vibration.

  • Page 98: Replacing Parts

    Chapter 7. Maintenance and Inspection 7.3 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 99: Maintenance

    Chapter 7. Maintenance and Inspection 7.4 Maintenance 7.4.1 Motor If the motor is not used immediately, preserve 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 100: Troubleshooting

    Chapter 8. Troubleshooting 8. Troubleshooting In case an error occurs during operation, take the following steps. If taking such steps does not correct errors, contact our service center. Servo Motor Actions to be taken in case of errors Symptom Cause Inspection Corrective action Check parameters related to...

  • Page 101: Servo Drive

    Chapter8. Troubleshooting 8.2 Servo drive 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 AL-00 External ESTOP contact input...
  • Page 102 Chapter 8. Troubleshooting Screen display Cause Corrective action AL-10 Absolute value encoder data Reset and retransmit the absolute value ABS DATA transmission error. encoder data. AL-11 Battery voltage drops below 2.8V. Replace battery (3.6V). ABS BATT AL-12 ABS encoder multi-rotation data Reset and retransmit the absolute value ABS MDER transmission error.

  • Page 103: External View

    Chapter 9. External View 9. External View 9.1 External Dimensions of AC Servo Drive <Outline drawing A> <Outline drawing B> <Outline drawing C> WARNING HAZARDOUS VOLTAGE 감전의 위험이 있습니다. READ INSTRUCTIONS BEFORE INSTALLING 설치전 반드시 사용설명서를 읽으시길 바랍니다. DON'T TOUCH DRIVE UNIT BEFORE THE CHARGE LAMP TURN OFF 충전램프가...

  • Page 104: External Dimensions Of Ac Servo Motor

    Chapter 9. External View 9.2 External Dimensions of AC Servo Motor 9.2.1 Flange 60 Series Standard type <KEY TYPE> Brake type <KEY TYPE> Model Weight(kg) FMA-CN01(B) 115(155) 85(125) 44(44) 57(97) 0.85(1.4) FMA-CN02(B) 129(169) 99(139) 58(58) 71(111) 1.14(1.7) FMA-CN03(B) 143(183) 113(153) 72(72) 85(125) 1.43(2.0)
  • Page 105 Chapter 9. External View 9.2.2 Flange 80 Series Standard type Brake type External dimensions Key dimensions Model Weight CN04A, KN03 147(174) 112(139) 76(103) (63) (113) 2.1(2.9) CN06, KN05 171(198) 131(158) 95(122) (63) (132) 2.6(3.3) CN08, KN06 193(219) 153(179) 117(143) (63) (153) 3.1(3.9) CN10, KN07...
  • Page 106 Chapter 9. External View 9.2.3 Flange 130 Series <Tape Shaft Detail> (Dotted lines indicate position of brake-attached connectors) External dimensions 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...
  • Page 107 Chapter 9. External View 9.2.4 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 dimensions Key dimensions Model Weight 12.9 CN30A KN22A TN20 LN12A (332) (253) (202) (96)
  • Page 108 Chapter 9. External View 9.2.5 Flange 220 Series Straight Shaft(standard) Type (Dotted lines indicate position of brake-attached connectors) External dimensions Key dimensions Model Weight TN110 388.5 TN150 345) 293.5...

  • Page 109: Specifications Of Options

    Chapter 10. Specifications of options 10. Specifications of options 10.1 AC servo motor cable specifications 10.1.1 Encoder signal cable (Flange 60, 80 Series) Order code( FCA_□□□□□) Flexible type Non-flexible type Flange 60,80 EA03F EA05F EA10F EA20F EA03N EA05N EA10N EA20N 10.1.2 Encoder signal cable (Flange 130,180 Series) Order code( FCA_□□□□□) Flexible type...
  • Page 110 Chapter 10. Specifications of options 10.1.3 Power cable for motor (Flange 60,80 Series) Order code( FCA–□□□□□) Flange Type Flexible type Non-flexible type Standard SA03F SA05F SA10F SA20F SA03N SA05N SA10N SA20N Brake BA03F BA05F BA10F BA20F BA03N BA05N BA10N BA20N Standard SB03F SB05F...

  • Page 111: Ac Servo Drive

    Chapter 10. Specifications of options 10.2 AC servo drive 10.2.1 Digital loader (Order code No.: FDA500004S) 10.2.2 CN1 connector (Order code No.: FDACON50P-3M) Item No.: 10150-3000VE,10350-52A0-008,Maker:3M 10.2.3 Noise filter AC Servo FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- FDA- drive 6005C...
  • Page 112 Chapter 10. Specifications of options 10.2.4 Power unit for brake Item No.: BPU-109A N 60 N 80 N/F 130 N/F 180 Series Name CN10/KN07 Series Series Series Series Static fraction (kgfcm) torque Dynamic fraction (kgfcm) 15.6 19.8 torque Power(W) Rated Voltage(V) DC 24 DC 90...
  • Page 113 Chapter 10. Specifications of options 10.2.5 P-DORI Station (RS232C PC Communication Software) (Download the program from our website: www.higenmotor.com) ☞ Main Features ① Current status display function(motor speed, load rate, etc.) ② Alarm status display function ③ I/O status display function ④...
  • Page 114 Chapter 10. Specifications of options 10.2.6 Multi unit communication model (FDA60□□N Model) ☞ Main Features ① Two channels communication (RS485, RS232C) ② Using general MODBUS protocol (Download the MODBUS manual from our website: www.higenmotor.com) ③ Capable of HMI network with the upper control systems(PLC, Motion controller, etc) 10.2.6.1 RS232C &...

  • Page 115: [Appendix] Revision History

    [Appendix] Revision History(FDA6000C) Issue Date Version Revision contents Note 2005.01. Version 1.0 First Printed 2008.04. Version 1.1 Second Printed 2008.05 Version 1.2 Third Printed...
  • Page 116 (82) 55-281-8407 Order NO : 7200SV3009A ※ 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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