1. Product Inspection and Model Descriptions 1.1 Summary The control models for Shihlin Multipurpose AC Servo can be classified into the single model or the combined model. There are for modes for the single model: the position mode (terminal input), the position mode (internal register), the speed mode, and the torque mode.
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Turn the motor axis by hand. A smooth turning indicates a normal motor axis.If the motor has an attached electromagnetic brake, then the motor axis will not be turned smoothly by hand. Please contact the agent for solutions if any of the above issue happens. A complete original set of servo components from the manufacturer should include: (1) A servo actuator and a servo motor.
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A Reference for Product Serial Number Coding Rules for Shihlin Servo Motor Serial Number (一) Coding Method S M A □ ○ ○ ○ R △ △ A □ □ ─ └─┬─┘ │ │ └─┬─┘ └─┬─┘ │ │ └── Axis Mode │...
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(5) Rated Rotation Speed: The rated output speed of the motor. Three-digit Coding: The first digit is represented by R, the second digit is represented by 20 (for 2,000rpm) or 30 (for 3,000rpm). For example, R20 denotes for a 2000rpm of amotor’s rated rotation speed. (6) Encoder Resolution: It is represented by a capital letter A.
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The Coding Rules for Servo Actuator Serial Number (一) Coding Method S D A ─ ○ ○ ○ △ △ └─┬─┘ │ └──┬──┘ └─┬─┘ │ │ │ └──── Type of the Electric Power │ │ └─────────── Motor Capacity │ └────────────────── Product Code └───────────────────────...
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The Reference Table for Servo Actuator and Motor Models Servo Actuator Corresponding Servo Motor SDA-010A2 SMA-L010R30AB 100W SDA-020A2 SMA-L020R30AB 200W SDA-040A2 SMA-L040R30AB 400W SDA-050A2 SMA-M050R20AD 500W SDA-075A2 SMA-L075R30AB 750W SDA-100A2 SMA-M100R20AD 1000W SDA-150A2 SMA-M150R20AD 1500W SDA-200A2 SMA-M200R20AD 2000W SDA-350A2 SMA-M350R20AD 3500W...
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1.3 Servo Actuator Appearance and Panel Descriptions Display Section: 顯示部: 5-digit, 7-way LED displaying 由5位數七段顯示LED顯示 alarms, server status, 異警、伺服狀態、參數等等 parameters, etc. Operation Section: 操作部: Operation status includes setups 操作狀態有功能、參 for function, parameter, etc. Power Indicator Light: 數等等的設定 MODE: Mode options If the light is on, it indicates 電源指示燈:...
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1.4 An Overview of the Servo Actuator Operation Modes Shihlin Actuator provides multiple operation mode for the users to select. More detailed descriptions are listed as follows: Mode Code Description The actuator accepts position commands for controlling Position Mode the motor to reach the target position. Position (Internal commands are inputted by the terminal block, and the Register)
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1.5 Circuit Breaker and Fuse Specifications and Recommendations Circuit breaker and fuse specifications for Shihlin servo actuator: Actuator Serial No. Fuse Circuit Breaker SDA-010A1 SDA-020A1 SDA-040A1 SDA-050A1 SDA-075A1 SDA-100A1 SDA-150A1 SDA-200A1 SDA-350A1...
2. Installation 2.1. Notices and Storage Methods Do not install the product on inflammable matters or close to inflammable matters. Do not over tighten the wire between the actuator and the motor. Do not place heavy objects on top of the actuator. Be sure to tighly lock the fixing spots of the actuator when fastening the actuator.
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Avoid locations with electromagnetic interference. Select solid, vibration-free locations. 2.3. Installation Direction and Spacing Note: Follow the regulations for installation direction to avoid causing servo breakdowns.Provide a good circulation cooling by keeping sufficient space between Shihlin AD servo actuator and objects or baffle board/walls when installing Shihlin AD servo actuator to avoid breakdowns.Do not seal the suction and the ventilation opening or place the AD servo actuator upside down during the installation to avoid breakdowns.
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50mm (2.0in)min. 20mm 20mm (0.8in) (0.8in) Min. Min. 50mm (2.0in)min. 100mm 100mm (4.0in) (4.0in) Min. Min. 40mm 10mm 10mm 10mm 40mm (1.6in) (0.4in) (0.4in) (0.4in) (1.6in) Min. Min. Min. Min. Min. 100mm 100mm (4.0in) (4.0in) Min. Min.
Signals and Wiring This chapter provides definitions of the wiring and signals of Shihlin servo actuator and the standard wiring diagrams for all the models. 3.1. Main Circuit Power Source and Peripheral Device Connections 3.1.1. Peripheral Device Connection Wiring (Under 1KW) Power Source: Three-phase 200 –...
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3.1.2. Peripheral Device Connection Wiring (Above 1.5KW) Power Source: Three-phase 200 – 230V 電源:三相200~230V Server Motor 伺服馬達 CN4 USB communication connection USB通訊連接 RS-232 RS-485通訊連接 RS-232 and RS-485 communication connection encoder connection 編碼器連接 電磁接觸器 Electromagentic contactor I/O連接,連至上 I/O connection with the controller 位控制器...
Installation Note: Make sure that the terminal wiring of servo motor output U, V, Q is correct, or the motor will rotate randomly or be unrotatable. If external brake resistors are used, be sure to connect the open circuit resistor and the external brake resistor of P and D terminals to the P and C terminals.
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P: Main Circuit “+” P、N Select brake modules for models greater than Terminal 1.5kW. When selecting a brake module, be sure N: Main Circuit “-” to connect the “+” terminal to the P terminal of the Terminal actuator servo and the “-“ to the N terminal of the actuator servo.
3.1.4. Power Source Wiring The power source wiring of Shihlin servo actuator is a three-phase power source. In the figure below, Power ON is for connecting point a and OFF and Alarm Processing is for connecting point b.1MC/a is the self-sustaning power source, and 1MC is the electromagnetic contactor.
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3.1.5. Connector Specifications of the Leadout Wire of Motor U, V &W Connector specifications (female connectors) of U, V &W wiring of Shihlin Low Inertia Motor: Actuator Capacity Motor Type SMA-L010R30AB 100W SMA-L020R30AB 200W SMA-L040R30AB 400W SMA-L075R30AB 750W Signals of U, V &W lead-out wire connectors of the low inertia motor: Signal Wire Color White...
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Actuator Motor Type Capacity 500W SMA-M050R20AD SMA-M100R20AD 1.5KW SMA-M150R20AD Actuator Motor Type Capacity SMA-M200R20AD 3.5KW SMA-M350R20AD Signals of U, V &W lead-out wire connectors of the low inertia motor: Signal (Using the motor of the electromagnetic brake) (Using the motor of the electromagnetic brake) Note: The above-mentioend wiring are connected to the connector of the motor itsel.
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3.1.6. Connector Specifications of the Lead-out Wire of the Encoder Connectors of the encoder wiring of Shihlin low-inertia servo are described as follows: Motor terminal: female connector Shihline servo actuator capacity applicable connetors are presented in the table below: Actuator Motor Type Capacity 1 2 3...
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Actuator Terminal: 9 PIN Female Connector Pin Name Connectors of the encoder wiring of Shihlin low-inertia servo are described as follows: Motor terminal: female connector Shihline servo actuator capacity applicable military-standard connetors are presented in the table below: Actuator Motor Type Capacity SMA-M050R20AD 500W...
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Actuator Terminal: 9 PIN Female Connector Pin Name 3.1.7. Wiring Materials The users have to do the wiring before using Shihlin actuator. Here are some recommended wiring: Power Source related wiring (AWG) Actuator Motor Model Model U、V、W R、S、T L1、L2 P、D、C SDA-010A2 SMA-L010R30AB AWG14...
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Encoder Wiring (AWG) Actuator Standard Motor Model Number of Conductor Model Wire Gauge Length of Conductors Gauge the Wiring SDA-010A2 SMA-L010R30AB UL1332 AWG26 SDA-020A2 SMA-L020R30AB UL1332 AWG26 SDA-040A2 SMA-L040R30AB UL1332 AWG26 SDA-050A2 SMA-M050R20AD UL1332 AWG26 SDA-075A2 SMA-L075R30AB UL1332 AWG26 SDA-100A2 SMA-M100R20AD UL1332 AWG26 SDA-150A2 SMA-M150R20AD...
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3.2. Servo System Functional Block Diagram...
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3.3. CN1 I/O Signal Wiring and Descriptions 3.3.1. CN1 Terminal Layout Shihlin servo actuator provides eight sets of DI input and five sets of DO output for the user to arrange by themselves, which makes the application and intercommunication from connecting to the host controller more flexible.The eight input DI parameters for the users to set up by themselves are PD02 to PD09, and the output DI parameters are PD10 to PD14.In addition, signals of encoder A+, A-, B+, B-, Z+ and Z- of differential output, analog...
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Code Function Code Function Code Function Code Function +15 Power Analog +15 Power Analog VC/VLA TC/TLA (15V) source speed (15V) source Torque output (For command output (For Command / analog / restriction analog Restriction ommand) ommand) Analog No Effect Analog Analog input signal input...
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3.3.2. CN1 Terminal Signal Descriptions Signals listed in the above section are explained in more details here: CN1 Terminal Signals CN1 has a total of 50 pins, and their signals are described as follows: Marks for the control modes in the table below are explained as below: Pt: Position control mode and position mode (terminal input) Pr: Position control mode and position mode (built-in registers) S:Speed Control mode...
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Rotation A reverse pulse train between NP and SG. Pulse Train When using the differential receiving method (maximum input frequency 500 Kpps). A forward rotation pulse train between PG and PP. A reverse pulse train between NG and NP. The format of pulse train commands can be changed according to PA13.
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Command / Add a votage of DC -10V to +10V between TC-LG. Generate the maximum torque at ±10V. Restriction (The torque from inputting ±10V can be modified by parameter PC13.) An effective TLA will globally restrict the torque when the servo motor outputting the torques. Add a voltage of DC0 –...
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by activating the circuit protection.When there is no alarm, ALM-SG becomes conductive one second after turning on the power. Digital COM+ Input DC24V for the input interface.Connect to the CN1-47 power positive of DC 24V external power source. CN1-49 source +24V ±...
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External emergency stop A phase pulse detector (differential receiving) Control mode switch Analog speed command B phase pulse detector (differential receiving) Analog speed restrictoin The positive end of 15V Analog torque restriction power source output The positive end of 24V Analog torque command internal power source output The positive end of 24V...
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Siganl Control Code Value Function Name Mode Servo ON SON-SG short circuit; include power source into the basic circuit for rotatable state (i.e., the servo is ON). Break the short circuit and the loop will result in the servo motor at a free run state (i.e., servo 0x01 OFF).
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Speed At the speed control mode, select command return S, T option 1 speed during rotation. When using SP3, set up parameter PD02 – PD09 to make it possible to be used. setup (Note) Input Speed Command parameter signal PD02 – PD09 0x06 Speed option Analog speed command (VC)
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Internal speed command 2 (parameter PC06) Internal speed command 3 (parameter PC07) Internal speed command 4 (parameter PC08) Internal speed command 5 (parameter PC09) Internal speed command 6 (parameter PC010) Internal speed command 7 (parameter PC011) Note: OFF (Open between SG) 1: ON (Short circuit between SG) Forward After activating the servo motor, the directions of...
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Return to When searching the original point at the built-in the Origin position register mode, the servo will treat the location of this point as the origin after receiving the ORGP 0x0B signal.Origin return action will be intitiated when SHOM is ON. Origin When searching the original point at the built-in Search...
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Select the control mode at the position/speed control control switch mode. mode. (Note) LOP Control Mode Speed Torque Select the control mode at the position/speed control switch mode. (Note) LOP Control Mode Torque Position Note 0: OFF (SG opened); 1: ON(SG short circuit) External Opening EMG-SG will result in an emergency state, emergency...
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Note: When setting up parameter PA01 for the speed mode (STQ) or the torque mode (RS2), ST1/RS2 and ST2/RS1 will automatically switch the signal themselves. The users have to arrange the terminals themselves. Set up PA01 as 0 order to plan the terminal setup. If PA01 is set as 1 , the set value will be theDI/DO digital input function recommended set value.
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PA05) or the analog torque restriction (TLA), TLC-SG will be come conductive. But when SON signal is OFF, TLC-SG will become inconductive. Speed restricted 0x 05 When controlling the torque through internal speed command 1 – 7 (parameter PC05 – PC07 and PC08 – PC11) or analog speed control (VLA), the reach of the speed limit will make VLA-SG conductive.But when SON...
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The eight sets of digital input (parameter PD02 – PD09) and five sets of digital output (parameter PD10 – PD14) of Shihlin servo are arranged at the CN1 terminal to provide a more flexibility for the user to set up according to their requirement. The connector signal function differs according to the type of the control mode.
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0x0C SHOM Origin Search Electronic 0x0D Gear Option 1 Electronic 0x0E Gear Option 2 Clear 0x0F Switch Gain 0x10 Signal Control Switch 0x11 External 0x12 emergency stop Position 0x13 POS1 command option 1 Position 0x14 POS2 command option 2 Position 0x15 POS3 command...
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Recommended Set Value for DI Digital Output Function Code Function Pt-S Pt-T Pr-S Pr-T Code 0x01 Ready DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 0x02 Breakdown Positioning DO1 DO1 DO1 DO1 DO1 DO1 Completed Speed attained HOME Return to Origin Torque DO4 DO4 DO4 DO4 DO4 DO4 DO4 DO4...
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3.3.3. Interface Wiring Diagram (1). Digital Input DI Using built-in power source Using external power source (2). Digital input DI using source mode A digital input DI wired in source mode will be followed by all DI. When any digital input DI applied source mode, source cannot be outputted.
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(3). Digital Output DO It can drive lamp, relay, and photo-couple. (Allowable current: under 40mA; Inrush current: under 100mA) Relay negative load using internal power Relay negative load using external power source source Server Driver Do not connect DC24V VDD and COM+ COM+ X=1,2,3,4,5 DC24V...
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(4). Speed, torque analog input and MON1 and MON2 analog monitored output Speed and torque analog input’s input resistance are between 10Ω and 12KΩ. The output voltage of MON1 and MON2 analog monitored output is ±10V. Speed and torque analog input MON1 and MON2 analog monitored output The upper limit of VC and TC input voltage is 10V.
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The maximum line driver encoder pulse detection circuit is 20mA. Line driver OP output encoder location Line driver OP output encoder location (6). Pulse command input Pulse commands can be inputted by open collector or line driver. Line driver’s maximum pulse input is 500kpps.
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Line driver approach 3.3.4. DI and DO Signals Assigned by the Users The default DI and DO signals of Shihlin servo are signals of the position mode. If clients need to change the default DI and DO signals, they can change the setup of parameter PA01 to alter the operation mode.
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3.4. CN2 Encoder Signal Wiring and Descriptions The resolution of the included encoder in Shihlin servo motor is 2500ppr. After the signal been four-fold decoded by the servo actuator, A and B signal will be increased to 10000ppr. There are eight wires for Shihline servo encoder, which are A, /A, B, ./B, Z, /B, +5V and GND.
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The corresponding signal pin position of the actuator terminal connector and the motor terminal connector and their functions are presented below: Quick Military-standard actuator Terminal connector connector Siganl Name Functions side mark Pin NO Pin NO Pin NO Encoder /Z phase /Z phase input output Encoder /B phase...
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3.5. CN3 Communication Port Signal Wiring and Descriptions Shihlin CN3 is the port for RS-232 and RS-485. The user can connect to the actuator and the computer and then Shihlin servo communication software willl set up the parameters, the state monitoring, and operation tests, etc. CN3 provides two types of communication approaches: RS232 communication and RS485 communication.The use can select RS232 or RS-485 communication by setting up parameter PC21.RS-232 is more common and its maximum communicaton distance is 15 m.If RS485 is chosen, it will provide a larger...
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3.6. CN4 USB Communication Port Shihlin servo actuator provides USB communication terminal slot that is designed to allow a quick use of UBS after its insertion and therefore provides conveniences to the users.Similar to RS-232 and RS-485 of CN3, CN4 ues general mini-USB connected to the computer.
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3.7. Standard Wiring Method 3.7.1. Built-in single-axis Position Control (PR) Servo Driver Amplifier Regenerative MCCB Resistor 3-phase AC200V~230V Encoder Servo Motor Below 50m 3、10、11 COM+ 47、49 Server On Position Command selection 1 POS1 Encoder A- Phase Pulse Differential Signal Position Command selection 2 POS2 Position Command Trigger CTRG...
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3.7.2. Position control (Pt Mode) Wiring Servo Driver Amplifier Regenerative MCCB Resistor 3-phase AC200V~230V Encoder Servo Motor Below 50m Differential Pulse Command Input Open Collector Pulse Command Input COM+ 47、49 Server On Electronic Gear Ratio Selection 1 Encoder A- Phase Pulse Differential Signal Proportion Control Torque Limit Selection Encoder B- Phase Pulse Differential Signal...
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3.7.3. Speed Control (S Mode) Wiring Servo Driver Amplifier Regenerative MCCB Resistor 3-phase AC200V~230V Encoder Servo Motor Below 50m TC/VC 3、10、11 COM+ 47、49 Server On Speed Selection 2 Encoder A- Phase Pulse Differential Signal Forward Rotation Start Reverse Rotation Start Encoder B- Phase Pulse Differential Signal Reset Speed Selection 1...
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3.7.4. Torque Control (T Mode) Wiring Servo Driver Amplifier Regenerative MCCB Resistor 3-phase AC200V~230V Encoder Servo Motor Below 50m TC/VC 3、10、11 COM+ 47、49 Server On Speed Selection 2 Encoder A- Phase Pulse Differential Signal Reverse Rotation Selection Forward Rotation Selection Encoder B- Phase Pulse Differential Signal Reset Speed Selection 1...
4. Panel Display and Operation This chapter describes the conditions of Shihlin servo actuator ‘s panel and all the operation procedures for using the panel. 4.1. Panel Components Display 顯示器 MODE Key MODE鍵 SET Key SET鍵 UP Key UP鍵 DOWN Key DOWN鍵...
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4.2. Flow Process Display The users can use the display section at the front of SERVO AMP to carry out actions such as displaying the status and modifying the parameters.Verify the parameter setup, abnormal breakdown diagnosis, external control confirmation and operation condition before carrying out the operation.Press MODE, UP and DOWN these buttons once to move to the next screen.Setting up parameter PA42 is required for the references and operation of parameters to be valid.
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4.3. Status Display Operation status of the servo can be displayed at the five-digit, seven-level LED display section. Press the UP and DOWN buttons to change the content arbitrarily. When turning on the power, the user can select symbols for display and press the SET butoon to display the information.
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Status Display Summery Servo status can be displayed in the following abbreviations. Status Display Abbreviation Unit Content Range Motor Feedback pulse It indicates the number of -9999~ number (the absolute pulse feedback pulse of the servo value) motor detector. It indicates the number of Motor Feedback feedback loops of the servo -32767~...
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Status Display Abbreviation Unit Content Range It indicates the loading rate of continuous torque. Express the Effective Loading Rate effective loading rate 0~ 300 assuming the rated torque as 100% It indicates the largest torque peak value. The highest value Peak Loadind Rate from the past 15 seconds is 0~ 300...
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4.4. Abnormal Alarm Mode It displays the current abnormal alarms and the abnormal alarm record. The last two digits display the occurred abnormal alarm number. Name Display Content Current No abnormal alarm Abnormal Alarm Occurred voltage (AL01) Screen flickers when abnormal alarm happens.
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4.5. The Diagnostic Mode The following table provides information related to the operation of Shih servo diagnostic mode: Name Display Content Control Status Not ready yet Either initialization incompleted or alarms have already occurred. Ready Initialization completed; ready for operation External I/O It indicates the ON/OFF status of the external I/O Signal Indication...
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4.5.1. External I/O Signal Indication To verify and continue the ON/OFF state of digital I/O signal of SERVO AMP. (1) Operation It indicates the display screen after turning on the power.Use the MODE button to switchto the diagnostic screen. (2) Content It corresponds to the position and PIN of the seven-level LED.
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Operation It indicates the display screen after turning on the power.Use the MODE button to switch to the diagnostic screen. Press the UP button twice. Press the SET button for more than 2 seconds. …For the ON/OFF of the bottom lighted LED signal Kept lighted constantly …It indicates the ON/OFF of the output signal The content and the output signal of external I/O signal...
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For the display screen after turning on the power, employ the following operation order: JOG operation, position testing operation, and inertia approximation analysis operation. Use the MODE button to switch to the diagnostic screen. Press UP three times. Press SET for more than 2 seconds. …JOG operation can be carried out when this screen comes up.
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Button Functions: Button Content Press the button for CCW direction rotation. Release the button to stop the rotation. Press the button for CCW direction rotation. DOWN Release the button to stop the rotation. When using the communication software for JOG operation, the servo motor decelerates until stop if the communication wire comes out during the operation.
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4.5.4. Position Operation Test Connect RS-232 or USB to Shihlin communication software to carry out the position operation test. Positioning operation can be tested after verifying that there is no external command device and no abnormal messages from the servo. Make sure of the open contact of SON and SG from the test.
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4.5.5. Analog Input Auto-offset When the external analog speed command input is 0V, the motor may still have offset, which can cause a slow motor rotation. The user can enter into the diagnostic mode and then select analog input auto-offset function to have the voltage offset adjusted automatically.Follow the following method for setting up the analog input auto-offset.
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Operation Make sure that the motor is wired correctedly when using inertia approximation analysis operation.Select inertia approximation analysis operation from Shihlin communication software. Press the INERTIA RATIO AUTO-DETECTION button is there is no abnormal alarm. Press SERVO ACTIVATION button and motor magnatization happens at this point.
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Load Inertia Pt、Pr、S Ratio of the PB 06 0~1200 0.1time Servo Motor Position Loop Pt、Pr PB07 4~1024 rad/s Gain Value Speed Loop Pt、Pr、S PB08 40~4096 rad/s Gain Speed Integral Pt、Pr、S PB 09 1~1000 Gain Value After completing the calculation, must turn off the INERTIA RATIO AUTO-DETECTION before parameter write-in.If the users already know about the low frequency gain and inertia ratio of the system, they can also enter the to be achieved frequency width for a direct calculation of the best controller parameter set value.
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4.6. The Parameter Mode The users have to switch the power off and aon after modifying certain parameter to make the modification effective. (1) Operation Here are some examples. One is for the operation method after restarting the machine for changing the control mode (parameter PA01) to the speed mode. The second example is about the switching the function of the MODE key to the SHIFT function and the use the SHIFT function to change the number of rotation for the internal position command 1 to -20000.
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Example 2: When setting up the parameters, the MODE key will be used for the function of the SHIFT.(Take parameter PA15 as an example.) Use the MODE key and the UP and DOWN buttons to jump to the screen of PA15.
5. Operation 5.1. Checklist before Operation Befire running the motor, conduct a detailed check on the following items to avoide motor damage when running. Whether the power source terminals (R, S, T, L1, L2) of the servo actuactor are correctly wired. The power terminals of the servo motor (U, V, W) and the U, V, W wire on the servo actuactor have to have consistent phases.
5.2. No-load Test Remove all the loads (e.g., the coupler and other devices of the machine or the servo motor axle) connected to the servo motor before conducting a no-load test.After removing all the loads connected to the servo motor, follow the regular operation procedure to start the servo motor, and then connect the servo motor to the servo motor.Motor's no-load test is explained below.
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Press the UP button three times. Press the SET button for more than 2 seconds. …Carry out JOG operation when this screen appears. The screen will flicker when the mode has switched to the operation test mode. Step 3 When conducting the JOG operation, press the UP button for the motor to rotate toward the CCW direction, or press the DOWN button for the motor to rotate toward the CW direction.
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Button Content Forward Rotation Press the button for CCW direction rotation. Reverse Rotation Press the button for CCW direction rotation. Stop Press the button to stop the motor. Close Terminate the JOG test. Step 4 At the end of the JOG operation, shut down the power or press the SET button at the operation testing screen (d-01) for more than 2 seconds to terminate the JOG operation mode.
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5.2.2. No-load Positioning Test To make sure that the rotation speed and direction of the motor is as expected, connect to Shihlin communication softare via RS-232 and USB for no-load positioning operation. It is recommended to conduct positioning operation under low speed.The number of rotation loops and the number of rotation pulse have to be set up for positioning rotation.
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Button Functions: Button Content Press the button to have the motor rotate toward CCW direction until reaching the target number of rotation and of pulses. Press the button to have the motor rotate toward CW DOWN direction until reaching the target number of rotation and of pulses.
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5.3. Tunning Process 5.3.1. Tunning Methods and Types The use can quickly and precise approximate the load inertia by using the auto-gain tunning function. The user can also use it to carry out a quick search of appropriate servo gain according of the motor under various loads.The use can manually tune the mode to attain the requirement if auto-gain tuning mode cannot satisfy the requirement.
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For tunning, follow the table below for tunning order and modes. 開始 Start Supplementary Information 補充說明 開始操作請先以此模式 Use this mode for tunning at 做調整,此模式只可更 the beginning of the operation. Only response type setup 改應答性設定(PA 03) Auto-tunning mode 1 自動調整模式1 (PA03) can be changed by this mode.
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5.3.2. Auto-Tunning Mode The auto-tunning function can carry out instantaneous approximation of the load inertia ratio of servo motor’s rotor inertia for the servo actuator. Also, this value will be used for automatically for setting up the best gain under the current environment (GAIN value).Use auto-tunning function for simple and quick execution of gain tuning for the servo actuator.
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3Load inertia cannot be greater than the 100-fold of the motor rotor inertia. 4Environment with external force or fierce inertia ratio change is not suitable for this mode. 5The inertia approximation value will not be written into EEPROM. For it to be written into EEPROM, use the manual setup.
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5.3.2.2. Auto-tunning Action Flow Process When the user is setting up the auto-tunning, actions of the servo can be expressed by the block diagram below: Load inertia 負 載 慣 Auto-setup 自動設定 量 控制增益 Command Gain control Encoder ATU、GD1、 命令 Current control ATU 、...
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change in inertia ratio), the user can set up parameter PA02 as the auto-gain tunning mode 2 and write the known inertia ratio into parameter PB06. At this stage, an action for searching the gain value will be carried out still. ③...
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Servo off; Set PA02 as automatic inertia approximation; Servo on again Set up the status display for display load inertia ratio. Server motor repeat acceleration and deceleration Reduce the responsivenss of parameter Resonance generated. PA03 or use Notch filter to achieve the resonance effect.
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If the desired bandwidth can cause the machine to produce resonance, the user can employ machine resonance suppression filter (parameter PB01, PB02, PB21, PB22) and the resonance suppression low-pass filter (parameter PB03) to effectively suppress the resonance effect.And then, a higher responsiveness may be set sometimes. Refer to Section 6.3.6 for more information on machine resonance suppression filter and resonance suppression low-pass filter.
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5.3.3. Manual-Tunning Mode The users can use the manual-tunning mode to adjust the gain parameter to the desired value if the auto-tunning function cannot meet the requirement of the users. The manual-tunning mode Bandwidth, machine rigidity, and environment have a great impact at the position or the speed mode.
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Position Loop Gain Value (PG1) This parameter determines the responsiveness of the position loop. The larger the PG1 is, the higher the responsiveness frequency of the position loop is. It well follows the great position commands, requires a short setting time, and reduces position errors. Nevertheless, setting up an over-large value can cause vibration or overshoot of the machine.
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Resonance Suppression of Low-pass Filter (NLP) The larger the load inertia is, the lower the system bandwidth is. To maintain a relatively high bandwidth, higher gain value may be required. But for the machine, an increased gain value can also increase the probability of resonance. At this point, resonance suppression low-pass filter parameter can be used to remove the resonance.The higher the set value is, the better the improvement on high-frequency noises is.
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(3) Parameter Setup After wiring the position control mode, the following parameters have to be set for basic position control Parameter Name Value Content PA01 (Note 1) Control mode option Position control mode □□□0 PA02 (Note 2) Auto-tunning Auto-tunning mode 1 0002 Auto-tunning PA 03...
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(6) Return to Origin The return to origin action is to make sure the correctness of the direction and the correctness of the return to origin position. Return to origin can be carried out if necessary. (7) Stop Take the following steps to stop the rotation of the motor. (a) Turn off the servo ON signal (SON).
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5.5. Parameter Setup and Operation of the Speed Mode (1) Servo Actuator Power Transmission The SON signal of digital inpu DI of the servo will be modified to the OFF state after the servo actuator is turned on.The panel of the servo actuator will automatically display “SERVO MOTOR ROTATION SPEED”...
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(5) Activation Select motor roation speed using speed selection signal 1 (SP1) and speed selection signal 2 (SP2). Options are presented in the following table. (Note) External Input Signal Rotation Speed Command Value Analog speed command (VC) Internal speed command 1 (parameter PC05) Internal speed command 2 (parameter PC06)
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(6) Stop Take the following steps to stop the rotation of the motor. (a) Turn off the servo ON signal (SON). Turn off the base for the servo to be at a free run state (Turn off the base for the servo to be at a free run state.) (b) Abnormal Alarm Occurrence When abnormal occur, turn off the base and take the dynamic brake action for an...
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(3) Parameter Setup After wiring the torque control mode, the following parameters have to be set for basic position control Parameter Name Value Content PA01 (Note 1) Control mode option Torque control mode □□□4 PC 05 Internal speed restriction 1 1000 Set as 1000 rpm PC 06...
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(6) Stop Take the following steps to stop the rotation of the motor. Turn off the servo ON signal (SON). Turn off the base for the servo to be at a free run state (Turn off the base for the servo to be at a free run state.) Abnormal Alarm Occurrence When abnormal occur, turn off the base and take the dynamic brake action for an...
6. Control Function 6.1. Control Mode Option Shihlin servo actuator has four basic operation modes, which are the position (terminal input) mode, the postion (internal register input) mode, the speed mode, and the torque mode. The actuator can employ either a single control mode, that is, to be controlled by a fixed mode, or a combined control mode, that is, to be controlled by mixed modes.
Position mode The switch for Pt to S or vice versa is (Termina carried out by DI signals. Pt-S 0001 input) – Speed mode Position mode The switch for Pt to S or vice versa is (Termina carried out by DI signals. Pt-T 0005 input) –...
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6.2.1. Analog Torque Command Proportioner Analog torque propotioner is the analog command torque maximum output. The content is presented in the following table: Parameter Default Control Name Unit Code Range Value Mode Pt, Pr, Analog Command Torque PC 13 0~300 Maximum Output S, T Set up the analog torque command as the torque at the maximum input voltage...
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Parameter Default Control Name Set Range Unit Code Value Mode Analog Torque Command / S, T PC 27 -999~999 Restricted Shifted Quantity Offset voltage before calibration 偏移電壓校正前 轉矩命令(%) Torque command (%) Offset voltage after calibration 偏移電壓校正後 輸入類比電壓(V) Input analog voltage (V) 偏移電壓由參數PC 27設定...
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6.2.4. Torque Restriction of the Torque Mode When using the torque mode, the function of torque restriction has two major parameters, PA05 and PC25, which are explained in the following table. Parameter Parameter Default Control Name Unit Abbreviation Code Range Value Mode Pt, Pr,...
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6.2.5. Speed Restriction of the Torque Mode At the torque control mode, the contact of motor speed restriction can be changed internally by SP1, SP2 and SP3, as well as externally by the analog commands.Internal restriction plus external analog restriction provide a total of eight speed restrictions for the user to select and arrange.Speed restriction methods are provided in the following table: (Note) Input signal Speed...
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Parameters for internal rotation speed restriction are presented in the table below: Parameter Default Control Name Set Range Unit Code Value Mode Internal speed PC 05 restriction 1 Instantaneous permissible rotation speed Internal speed PC 06 restriction 2 Instantaneous permissible rotation speed Internal speed PC 07...
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6.3. Speed control mode Speed control mode is often applied for occasions where highly accurate speed control is required; for example, CNC machine, drilling machine, etc.There are two modes for Shihlin servo speed command input: (1) analog input, and (2) register input. Analog command input can control motor rotation speed via external voltage.
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The upper part of the figure is the internal speed command. That is, the size of the speed command is switched by the user writing into the parameters and then the digital input terminal DI carries out the switching. The lower part of the figure is the ±10V of external analog input.
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When the users select to use external input analog speed commands, make sure to set the voltage to 0V and parameter PC12 in advance. Try to have a base not exceeding the motor’s rated rotation speed or motor and structural damages can be caused.
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Rotation speed (rpm) 迴轉速(rpm) 3000rpm 2000rpm 1000rpm -10V 輸入類比電壓(V) Input analog voltage (V) -1000rpm -2000rpm 斜率由參數PC 12設定 Use PC12 to set up the slope -3000rpm 6.3.3. Smoothing the Torque Commands If the motor's input command is changed greatly and quickly, vibration, noises, or even overshoot may be generated by the motor.The user can set up the parameters related to smoothing operation provided by Shihlin servo and thus suppress those negative impacts induced by sudden and quick changes from input commands.First, the acceleration time...
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These three parameters are explained in more details below: Acceleration time constant This parameter is the acceleration time required for the rotation of the motor from 0 rpm to the rated rotation speed, and it is set as the acceleration time constant.For example, if the rated rotation speed of the servo motor is 3000 rpm, this parameter will be set as 3000 (3s).
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order to smooth the starting and stopping of the motor.Setting up an appropriate STC can improve the stability of the motor during activation and stop.The beginning S-shape acceleration/deceleration constant is set as 0 second.The users are recommended to open this function when using the speed mode. Speed Speed Command...
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Target speed 目標速度 SFLT 6.3.4. Torque Restriction of the Speed Mode When using the speed mode, the function of torque restriction has two major parameters, PA05 and PC25, which are explained in the following table. Parameter Parameter Default Control Name Unit Abbreviation...
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Parameter Control Name Description Abbreviation Mode When using the signal, set parameter PD02 – PD09 to usable, make the Torque internal torque restriction 1 (parameter Pt, Pr, S restriction option PA05) effective when TL-SG is opened, and make the analog torque restriction (TLA) effective at short circuit.
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TLC-SG becomes conductive when servo motor produces torques at parameter setup PA05 and PC25, or when analog torque restricted torque is reached.TLC is a digital output DO signal. Parameter Control Name Description Abbreviation Mode When torque reaches set value of the internal torque restriction 1 (parameter PA05) or the analog torque restriction Pt, Pr, S...
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Parameter Parameter Default Control Name Set Range Unit Abbreviation Code Value Mode Auto-tunning ATUM PA02 0000h~0003h 0002h Pt, Pr, S mode 1 Auto-tunning responsivene ATUL PA03 0001h~000Fh 0005h Pt, Pr, S ss setup Speed Loop PB08 40~4096 rad/s Pt, Pr, S Gain Speed Integral Gain...
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Manual-mode parameter setup Speed Loop Gain Increase the value of this parameter will increase the bandwidth of high-speed loop, but a too large value will cause system vibration. Therefore, it is recommended to first approximate the base values using the auto-mode. If these values cannot satisfy the requirement, increase the values slowly until the system produces vibration and then return to the previous set value.
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Decay Rate of Pt、Pr、 Machine Resonance NHD1 PB 02 0~32 S、T Suppression Filter 1 Frequency of Pt、Pr、 Machine Resonance NHF2 PB 21 50~1000 1000 S、T Suppression Filter 2 Decay Rate of Pt、Pr、 Machine Resonance NHD2 PB 22 0~32 S、T Suppression Filter 2 Frequency of Machine Resonance Suppression Filter The user can set the frequency for resonance decay of machine resonance suppression filter.
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Gain Frequen Shihlin servo also has a resonance suppression low-pass filter, and the function is presented below: Parameter Parameter Default Control Name Set Range Unit Abbreviation Code Value Mode Resonance Suppression of PB 03 0~10000 0.1ms Pt, Pr, S, T Low-pass Filter Resonance Suppression of Low-pass Filter Set up the resonance suppression low-pass filter time constant.
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When using machine resonance suppression function, the user have to know the frequency generated by the system resonance point before setting up the depth in order to achieve the resonance suppression function. If machine resonance suppression frequency is incorrect set, it cannot suppress resonance and may cause the machine to produce more resonance.
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Position Loop Pt、Pr PB07 4~1024 rad/s Gain Value Speed Loop Pt, Pr, S PB08 40~4096 rad/s Gain Speed Integral Pt, Pr, S PB09 1~1000 Gain Value Gain Switch 0000h~ Pt, Pr, S Selection PB11 0000H 0004h Criteria Param Gain Switching Pt, Pr, S eter PB12...
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the parameter to carry out criteria selection. The selection for carrying out gain switching action can have the external digit input (DI) signal as the triggering source.The external digit input (DI) signal can become a gain switching function by setting parameter PD02 – PD09. X = ): Turn of the gain switch.
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(5). Load Inertia Ratio of the Servo Motor is 2GD2 (PB14). This parameter can be set to the load motor inertia ratio for the switching. If the load inertia ratio stays the same during the routine, set the value of GD1 (PB06) as the parameter.
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② . Switching action diagram CDT=10ms 切換後增益 Gain after switching 增益的變化 Gain change 切換前增益 Gain before switching 增益切換(CDP) Gain Switch (CDP) ③ . Parameter Change Condition Name CDP OFF CDP ON CDP OFF Load Inertia Ratio of the → → Servo Motor Position Loop Gain Value →...
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Gain Switching Criteria Value PB12 pulse Gain Switch Time Constant PB13 Load Inertia Ratio of the Servo PB14 0.1-fold Motor Change Rate of Position Gain at PB15 Gain Switching Change Rate of Position Gain at PB16 Gain Switching Change Rate of Position Integral VIC2 PB17 Gain at Gain Switching...
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6.4. Position control mode Position control mode can be used at occasions that require highly accurate positioning; for example, industrial machinery, processing machines, etc.There are two ways of command input of Shinlin servo position control mode: one is terminal input mode, and the other is internal register input mode.The terminal input mode uses receiving the host controller's pulse commands to control the servo motor’s position.
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6.4.1. External Pulse Command (Pt Command) The pulse command of this mode is to be provided by external devices. When using this mode, set parameter PA01 to 0000H and then restart the machine.There are three input wave types for this mode that can be used by the user. The pulse trigger type can be arranged into positive logic or negative logic.
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Pulse Train + Sign Forward Rotation Pulse Train Reverse Rotation Pulse Train AB phase pulse train Pulse Train + Positive Sign Logic Forward Rotation Pulse Train Reverse Rotation Pulse Train If pulse input is line drive input, the highest input frequency is 500Kpps. If the pulse input is open collector input, the highest input frequency is 200Kpps.
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Number of PA 18 Pulses Loops PA 19 PA 33 ↑ Number of PA 20 Pulses Loops PA 21 PA 34 ↑ Number of PA 22 Pulses Loops PA 23 PA 35 ↑ Number of PA 24 pulses Loops PA 25 PA 36 ↑...
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For example, if input position registers P1 and P2 are set as 30-rotation and 60-rotation commands respectively. P1 command is sent before P2 command. Differences between the absolute type and the incremental type of position control are displayed in the figure below: The incremental type The absolute type...
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parameters related to the speed smoothing treatment of position acceleration / deceleration: Parameter Paramet Default Control Name Unit Abbreviation er Code Range Value Mode Pt, Pr, S, Acceleration time PC 01 0~20000 constant Pt, Pr, S, Deceleration time PC 02 0~20000 constant S-shape...
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Position Speed 逆轉額定轉速 Reverse rotation rated rotation speed Torque STC/2 STC/2 STC/2 STC/2 It can be found from the figure above that when position command sends a forward rotation command, the acceleration / deceleration times are controlled by the speed acceleration time constant (PC01).
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Numerator of the Third Set Pt、Pr CMX3 PC 33 1~32767 Electronic Gear Ratio Numerator of the Fourth Set Pt、Pr PC 34 CMX4 1~32767 Electronic Gear Ratio When setting up electronic gear ratio, make sure to make the set up at SERVO OFF, or wrong setup can cause overshoot of the servo motor.
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Electronic gear ratio calculation Before calculating the electronic gear ratio, the users have to understand system specifications such as the motor encoder’s resolution is 2500 pulse /rev, the deceleration rate of the machine, and the gear ratio. Use the following equation to calculate the electronic gear ratio: Motor encoder resolution ×...
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It can be found that by setting the numerator of electronic gear ratio as 10000 and the denominator of the electronic gear ratio as 200, then the screw shaft would shift 5µm after inputting the pulse. 6.4.5. Torque Restriction of the Position Loop Same as Section 6.3.4 6.4.6.
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Position Loop Pt、Pr PB07 4~1024 rad/s Gain Value If position loop gain PG1 (parameter PB07) is set too large, the motor will rotate back and forth and generate vibration even though the bandwidth and responsiveness are becoming faster. These phenomena are not permitted for occasions requiring an accurate position control.
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The arrangement of digital input DI and output DO is critical when using the combine mode. To avoid insufficient DI/DO pins, the users can select external analog input for the speed and the torque at the speed / torque mode, or for the position mode, external input pulse can be used to reduce DI.
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6.5.1. Position / Speed Combined Mode The position / speed mode has two types: Pt / S and Pr / S. The users can make changes using the LOP terminal of the digital input DI pin.When parameter PA01 is set as the terminal input of the position mode or the internal register input, the order for changing with the speed mode is presented in the figure below: 位置模式...
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6.5.2. Speed / Torque Combine Mode Set parameter PA01 as 0003H before using the speed / torque combined mode. The users can use the LOP terminal of digital input DI pin to change the speed / torque mode.Because DI terminal ST1 (ST2) of the speed mode corresponds to RS2(RS1) of the torque mode, motor rotation will reverse when changing between the speed and the torque modes.The sequence diagram of the speed / torque mode is presented below: Speed mode...
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位置模式 位置模式 Position mode Torque mode Position mode 轉矩模式 (端子輸入) (端子輸入) (Terminal input) (Terminal input) Control mode switching 控制模式切換 Zero 伺服馬達 Server motor 零速度準位 speed level rotation speed 迴轉速度 類比轉矩 Analog torque 指令 command Zero speed detection 零速度檢出 位置模式 位置模式 Position mode Position mode Torque mode...
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6.6. Othe Functions 6.6.1. Regenerative Resistor Selection When the motor output direction is the opposite of the rotation direction, the motor will become a power generator from an electric machine. The energy will be transmitted back to the actuator from the load terminal. At this point, the PN terminal voltage will raise and requires a regenerative protection function to stabilized the safety voltage (within 370V) to prevent damaging the modules and the capacitance.IGBT and resistors constitute the major function.
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1000 1500 2000 3500 The regenerative capacity of built-in regenerative resistor treatment is the average of the treatable regenerative capacity. This value is 50% of the rated capacity of the built-in regenerative resistor. It is the same for the external regenerative resistor’s treatable regenerative capacity.
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1500 18.75 41.2 40.9 2000 83.5 40.9 3500 54.5 Equation for energy calculation is provided below: π × ⎛ ⎞ ω ⎜ ⎟ ⎝ ⎠ − : Load inertia; J : Rotor inertia; N : Rated rotation speed (rpm); V : capacitor voltage before regeneration;...
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Parameter Parameter Default Control Name Description Abbreviation Code Range Value Mode Analog monitoring output setup has two monitoring outputs:Ch1 and Ch2. 0 ch2 0 ch1 The set values of CH1 and CH2 and their corresponding output are presented below: 0: Motor rotation speed (±10V/2-fold of the rated rotation speed) 1: Motor torque...
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analog voltage output of +5V from CN1-30.In the example above, the analog voltage value is observed when the parameters of PC28 – PC31 are unadjusted. Analog monitoring voltage drift Analog monitoring voltage drift parameter enables the users to make calibration when the analog voltage shows a drift.
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Assuming that the rotation speed of the motor is 0 rpm, then the voltage displayed by the analog output monitoring (MOD) should be 0 V. It can be found from the above that there is 0.5 V differences between MOD’s output analog voltage and the actual voltage.
7. Parameter Setup 7.1. Parameter Setup Based on safety and usage frequency consideration, Shihlin actuator has the parameters divided into basic parameter, gain, filter parameter, expansion parameter, and input/output setup parameters. Modify the set value of parameter PA42 in order to modify the setup of expansion parameter f it is necessary to adjust the read and write permission.
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Expansion Parameter This is the speed mode of servo actuator. Set up this Setup parameter when using the torque control mode. ( No PA □□ Input/Output Parameter It is used when changing the input / output signal of the Setup servo actuator.
7.2. Parameter List Shihlin servo parameters can be organized into four categories: PA, PB, PC and PD parameters groups.PA parameters are basic parameters, for example, control mode selection, auto-tuning, etc.PB parameters are gain filter parameters. PB parameter is set to adjust the servo motor to achieve a more stable running.PC parameters are expansion parameters.
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The setup of the number of position pulses of pulse PA18 PO2L ○ internal position command 2 The setup of the number of position rotations PA19 PO3H ○ of internal position command 3 The setup of the number of position pulses of PA20 PO3L pulse...
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II. Gain and Filter Parameters Control Mode Abbrev Initial Name Unit iation Value Pr S frequency machine resonance NHF1 PB01 1000 ○ ○ ○ ○ suppression filter 1 Decay rate of machine resonance suppression PB02 NHD1 ○ ○ ○ ○ filter 1 0.1m PB03...
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III. Expansion Parameters Control Mode Abbrev Initial Name Unit iation Value Pr S PC01 Acceleration constant ○ ○ ○ PC02 Deceleration constant ○ ○ ○ S-shape acceleration/deceleration time PC03 ○ ○ ○ constant Preparation PC04 PC05 Internal speed command 1 ○...
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PC37 Preparation PC38 Preparation PC39 Preparation PC40 Preparation PC41 Preparation PC42 Preparation PC43 Preparation PC44 Preparation PC45 Preparation IV. Input/Output Parameter Setup Control Mode Abbrev Initial Name Unit iation Value Pr S PD01 *DIA1 Input communication auto-ON option 0000h None ○...
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To help the users using parameters and setting up required parameters of Shihlin servo at different mode, relevant parameters of all categories are listed below: Torque Control Relevant Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value Pt Pr S T PA01(*) Control mode set value 0000h None...
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Speed Control Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value Pt Pr S T 0000h None PA01(*) Control mode set value ○ ○ ○ ○ Internal torque restriction 1 PA05 ○ ○ ○ ○ pulse The number of encoder output PA14* 10000 ○...
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Position Control Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value PA01(*) Control mode set value 0000h None ○ ○ ○ ○ PA04 Zero Return Mode 0000h None HMOV ○ PA05 Internal torque restriction 1 ○ ○ ○ ○...
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Position Control Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value The setup of the number of PA22 PO4L position pulses of internal Pulse ○ position command 4 The setup of the number of PA23 PO5H position pulses of internal ○...
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Position Control Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value The setup of the speed of PA31 POV1 1000 ○ internal position control 1 The setup of the speed of PA32 POV2 1000 ○ internal position control 2 The setup of the speed of PA33 POV3...
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Filter Smoothing and Resonance Suppression Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value The frequency of machine PB01 NHF1 1000 ○ ○ ○ ○ resonance suppression filter 1 Decay rate of machine PB02 NHD1 ○ ○ ○ ○...
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Gain and Switching Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value PA02 ATUM Auto-tuning mode setup 0002h None ○ ○ ○ Auto-tuning responsiveness PA03 ATUL 0005h None ○ ○ ○ setup PB05 Position feedforward gain value 0 ○...
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Digital Output/Input Pin Setup and Output Setup Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value PA12 Range to reach the position pulse ○ ○ Zero speed signal output PC17 ○ ○ range Electromagnetic brake PC16 ○ ○ ○...
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Communication Setup Parameter Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value Servo actuator communication *PC20 Station ○ ○ ○ ○ station number *PC21 Communication mode setup 0000h None ○ ○ ○ ○ *PC22 Communication protocol setup 0010h None ○...
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Monitoring and Status Display Setup Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value Analog control output PC14 0100h None ○ ○ ○ ○ monitoring *PC24 Actuator state display setup 0000h None ○ ○ ○ ○ Voltage drift of analog PC28 ○...
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Other Parameters Control Mode Parameter Initial Abbreviation Parameter Function Unit Code Value Anti-write protection at PA42 0000h None ○ ○ ○ ○ parameters zones PA40 Special parameter write-in 0000h None (▲) ○ ○ ○ ○ Setup the motor stop mode options and the restart of *PC18 COP1...
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7.3. Parameter Group Descriptions Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA01 0000h 0000h None Control Mode Set Value Pr.Pt 1125h X: Control mode setup x=0: Position mode; x=1: Position and speed combine model x=2: Speed mode; x=3: Speed and torque combine mode x=4: torque mode;...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA03 ATUL Pr. Pt. 0005h 0001h None Auto-tuning responsiveness setup 000Fh X: Auto-tuning mode responsiveness setup Responsiv Speed loop Responsive eness responsivene ness Setup ss frequency 10 Hz responsive 15 Hz ness...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA04 HMOV 0000h 0000h None Zero Return Mode ~ 1125h U: Origin point triggering activation mode 0: Turn off the return to the origin function 1: Automatically execute the return to the origin function when the power source is turned on.
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA05 Internal torque restriction 1 Pt、Pr S, T The set up of this parameter can restrict the torque produced by the servo motor. The set value of the parameter has % as the unit, and the calculation equation is presented below:Torque restriction value = the maximum torque x the set value...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value Position Command pulse input command f2=f1. PA08 HSPD1 Level 1 high-speed return to the origin speed 1000 setup 2000 PA09 HSPD2 Level 2 high-speed return to the origin speed setup PA10 HOF1...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA13 PLSS Pulse command options 0000h 0000h None 0112h Set up the external pulse train input type x: Select the type of input pulse train x=0: Forward/reverse rotation pulse train;x = 1: pulse train + symbol x = 2: AB phase pulse train y: Select input pulse train logic...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value Do not exceed this restricted range if the highest output frequency is 500KPPS (four-fold of the frequency). For the output pulse setup, the number of output pulses are as follows: Set parameter PA39 as (initial value), and at this...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA20 PO3L The setup of the number of position pulses of pulse ±9999 internal position command 3 Internal position command 3 = Level 3 internal position number of rotation set value + level 3 internal position number of pulse set value PA21 PO4H...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA31 POV1 The setup of the speed of internal position control 1000 1-3000 PA32 POV2 The setup of the speed of internal position control 1000 1-3000 PA33 POV3 The setup of the speed of internal position control 1000 1-3000...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA39 Motor rotation direction options Pr.Pt 0000h 0000h None 0111h The relation among the motor rotation direction, the input command pulse train rotation direction, and encoder output pulse direction. x:To set input pulse command relations with driver rotation direction Servo driver the rotation direction...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PA42 Anti-write protection at parameters zones Pr.Pt 0000h 0000h None 0006h Value Basic Setup Gain; filter Expansion Input/Output Parameter Parameter Setup Parameter Parameter Setup No.PA□□ No.PA□□ No.PA□□ No.PA□□ Read and Read and Read and...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value PB01 NHF1 frequency machine resonance Pr.Pt 1000 suppression filter 1 1000 The frequency of the machine resonance suppression filter can be set as follows: PB02 NHD1 Decay rate of machine resonance suppression Pr.Pt filter 1 The decay rate of the machine resonance...
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value can decrease the operation vibration of the machine. Load inertia ratio of the servo motor PB06 Pt、Pr 0.1-fold Set up the ratio between load inertia and servo motor inertia.When the auto-tuning mode (PA02) 1200 is set as auto-gain tuning mode 1, the tuning result will be automatically set as the parameter.
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value operation vibration of the machine. Gain switch selection criteria: Pt、Pr PB11 0000h 0000h None 0004h X = ): Turn of the gain switch. x=1:Switching when gain switch signal CDP is on. X = 2: Switching is carried out when the position command frequency is larger than the setup of parameter CDS.
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value The change rate of speed gain at gain switching: Pt、Pr PB16 When setting up the change rate of speed gain at gain switching, make sure to cancel auto-tuning in order to activate the function.
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value Torque command filter time constant: PB19 The filter time constant for setting up the torque command can make motor operation smoother 5000 when the sever actuator experience sudden and severe change from the torque commands if this parameter is appropriately set.
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value Acceleration time constant: PC01 This parameter is the acceleration time required for the rotation of the motor from 0 rpm to the 20000 rated rotation speed, and it is set as the acceleration time constant.For example, if the servo motor’s rated rotation speed is 3000 rpm, this parameter will be set as 3000 (3s).
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value Speed Speed Command Time To make the command curve smoother, S-curve is added. Some errors may exist in the acceleration / deceleration time. The time required for the motor to accelerate to the speed command time = STA + STC The time required for the motor to decelerate from speed command to 0 = STB + STC.
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value Internal speed command 3 (Restriction 3): PC07 1000 -4500 At the speed control mode, the parameter has the setup for speed command 3.At the torque control 4500 mode, the parameter has the setup for speed command 3.
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Abbre Control Initial Parameter Function and Description Range Unit viation Mode Value Analog command speed maximum rotation PC12 3000 speed: (▲) Set up the speed command as the rotation speed 10000 at the maximum input voltage (10V).Assuming the parameter is set as 2000, then the external input voltage would be 10V, suggesting that the speed control command is 2000 rpm.
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Analog output monitoring: PC14 Pr.Pt 0100h 0000h None Analog monitoring output setup has two monitoring outputs:Ch1 and Ch2. 0707h 0 ch2 0 ch1 The set values of CH1 and CH2 and their corresponding output are presented below: 0: Motor rotation speed (±10V/2-fold of the rated rotation speed)
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Setup the motor stop mode options and the PC18 COP1 0010h 0000h None restart of instantaneous stopped power option 0011h X: Power source instantaneous restart option At the speed control mode, when the power source is too low, abnormal alarm will go off due to insufficient voltage, and the servo motor will be stopped.When the power source return to the normal state, there is no...
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Communication mode setup PC21 Pr.Pt 0010h 0000h None 0011h Y: Communication reply delay time (the changed parameter become valid after restarting the machine.) Y=0: delay within 1ms; y=1: delay 1ms after reply X: Communication mode options X=0: use RS-232C;...
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Actuator state display setup: PC24 Pr.Pt 0000h 0000h 無 001Fh X: Set the status display after turning on the power. X=0: Accumulate the motor feedback pulse number. X=1: Accumulte the motor feedback rotation number. X=2: Pulse Counting for Pulse Command X=3: Number of rotations of pulse command X=4: Number of pulse errors...
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Internal torque restriction 2 PC25 Pr.Pt The setup description is the same as the one for PA05.Also, the use of internal parameter torque restriction jn concert with external input signal TL and TL1 can select different torque restriction.
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value The numerator of the second set electronic gear PC32 CMX2 Pt、Pr None ratio: Set the numerator of the second set of electronic 32767 gear ratio. The numerator of the third set electronic gear Pt、Pr PC33 CMX3 None...
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Input signal option 2 PD03 Pr.Pt 0000h None 000Dh Input signal CN1-15 pin function program 2CN1-15 can be assigned to any input signal. 001Fh The parameter setup method is the same as the one for PD02.
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Input signal option 8 PD09 Pr.Pt 0011h 0000h None nal CN1-21 pin function program 8CN1-21 can be assigned to any input signal. The parameter setup 001Fh method is the same as the one for PD02. Refer to PD02 for the setup.
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Digital input terminal filter time option PD15 Pr.Pt 0002h 0000h None 0003h X =0: None; X=1: 2ms; x=2 : 4 ms ; x=3 : 6 ms Software input contact communication control PD16 Pr.Pt 0000h...
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value short circuit, the position pulse command of the actuator and the feedback pulse error will be cleared continuously to X=2: Set to stop the positioning. When CR and SG upper edge are conductive, the motor will decelerate to stop according to the deceleration time.The incompleted remaining pulses will be neglected.
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Export abnormal code option PD19 DOP3 Pr.Pt 0000h 0000h None 0001h Value Pin Content CN1-41 CN1-42 CN1-45 According According According to the to the to the function function function setup setup...
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Abbrev Control Initial Parameter Function and Description Range Unit iation Mode Value Action option at abnormal reset signal short PD20 DOP4 Pr.Pt 0000h 0000h None circuit 0001h X=0: Base power off (motor excitation) X=0: Base power off (no motor excitation)
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Digital Input (DI) Functional Definition Abbreviation Value Digital Input (DI) Functional Description 0x01 Turn on the servo when this signal is connected. When abnormal alarm occurs, connect to this signal to clear some 0x02 of the abnormal alarm. Connect to the signal will make the speed controller switch from a 0x03 proportional integral type to a proportional type.
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Abbreviation Value Digital Input (DI) Functional Description When the signal is connected, the gain values will be switched to 0x10 the product of the parameters PB14 – PB17. 0x11 It is used to switch different control mode at the combined mode. When the signal is opened, the servo will be at an emergency 0x12 status.
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Abbreviation Value Digital Output (DI) Functional Description When torque reaches the set value of internal torque restriction 1 (parameter PA05) or the torque set by the analog torque restriction (TLA) at the position and the speed mode, TLC-SG will be come conductive.
8. Communication Function 8.1. Communication Hardware Interface and Wiring This servo actuator has serial commonunication function of plug and play USB and RS-232C as well as RS-485. This function carries out various tasks include drive the servo system, change parameters, and monitor condition of the servo system.But RS-232C, RS485, and USB communication function cannot be employed simultaneously.
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(2) The wiring diagram: Note 1: CN3’s connector is RJ-45. Note 2: The lengh of wire for an environment with little noises is less than 15 m. But if the transmission speed is greater than 38400 bps, use wire less than 3 m. RS-485 (1) External Thumbnail Graph: For station 1-32, as many as 32 servo actuator axles can be operated on the same bus.
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(2) The wiring diagram: Recommendation: if communication is conducted under an easily interfered environment, the user can make GND of RS-485 and RS-232 converter (or other utility terminal with similar communication protocol such as HMI) and GND of servo controller CN3 short circuit to reduce communication failures.
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8.2. Communication Setup Parameter SERVO communication setup specifications using RS-232C/RS-485 communication function for servo actuator operation are provided below: 1. Station setup (PC20) Parameter Parameter Default Control Name Unit Description Abbreviation Code Range Value Mode During the communication, different servo actuator has to have different Servo actuator...
x=0 : 7 data bit , No parity , 2 Stop bit (Modbus , ASCII Mode) x=1 : 7 data bit , Even parity , 1 Stop bit (Modbus , ASCII Mode) x=2 : 7 data bit , Odd parity , 1 Stop bit (Modbus ,...
A. ASCII Mode (a) Coding Each 8-bit datum comprises two ASCII characters.For example, a one-byte datum of 75H (hexadecimal expression) is expressed by 75 of ASCII, which includes the ASCII code for 7 (37H) and the ASCII code for 5 (35H). (b) Character structure 11-bit character framework (used for 8-bit): Start...
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10-bit character framework (used for 7-bit): Start Stop 開始 奇同 停止 parity 位元 位 位元 數據資料 7- bit 字元 7-bit character data 10-bit character frame 10 bit 字元框架 Even Start Stop 開始 偶同 停止 parity 位元 位 位元 數據資料 7- bit 字元 7-bit character data 10-bit character frame 10 bit 字元框架...
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ADR (Communication address) Communication location ranges between 1 and 32. For example, for communication with servo actuator of station No. 18 (hexadecimal 12H): ADR= “1” , “2” = > “1”=31H ,“ 2”=32H CMD (command) and Data (data character) The format of data character is determined by the command code.Those commonly applied command codes are described below: Command code: 03H, read N words N <...
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Command code: 06H; write 1 word For example, write 100 (0064h) into the starting address 0100h of servo actuator station No. 01H. Command message (the mainframe): Response message (slave machine): : : Starting data Starting data address address Data content Data content LRC error LRC error...
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: Starting data address Data quantity LRC error detection End1 0DH(CR) End0 0AH(LF) End1、End0(Communication ended) Use (0DH) as the character ’\r’ (carriage return) and (0AH) as the character ’\n’ (new line) to denote the end of the communication. B. The RTU mode (a) Coding Each 8-bit data comprises two 4-bit hexadecimal characters.For example, 1-byte datum (b) Communication data structure...
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Communication data format and details of the items are described below: Bit Code Name Content Still time for more than 6 ms Start character Communication 1 byte address Command 1 byte code DATA(n-1) n-word = 2n-byte , n<=29 Data content ………...
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Command code: 03H, read N words N < 20; for example, read two words continuously from the starting address 0100H of the servo actuator of station No. 01H. Command message (the mainframe): Response message (slave machine): Data number (Counted by byte) 00H (High byte) Starting data...
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CRC (RTU mode) error detection calculation: The RTU mode adopts CRC (Cyclical Redundancy Check) to detect error. CRC error detection calculation is explained as follows: Step1: Load a 16-bit register with FFFFH content and name it as the CRC register. Carry out Exclusive OR operation for the first byte of the command message and the 16-bit CRC register.
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End1、End0( Communication ended ) Communication ends when the still period lasts for more than 6 ms. CRC program example: CRC value in the following example is produced by C programming language.This function requires two parameters: unsigned char* data; unsigned char length Transmit this function to CRC value of the unsigned integer type.
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(c) Function code and error code Shihlin servo actuator ‘s definition of function code and error code. Description Function code Reading the parameter Writing the parameter Function code 03H denotes parameter reading (as many as 29 per reading). Function code 06H denotes one set of data writing. Function code 08H is the diagnoistic mode for judging whether the communication is normal or not.
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C. Overtime action When the PC communication action ends, if no servo reply action is received after 1000 ms, data will be sent again. Overtime happens if the transmission has been carried out three times but not servo replay hhahs been received (communication abnormal). Controller Communication Data transmission...
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8.4. Communication Parameter Writing and Reading (1) Condition monitoring (read only) Status expression command code Communication Data Display Item address Length 0x0000 Motor Feedback pulse number (the absolute value) [pulse] 1word 0x0001 Motor Feedback Rotation Loops (the absolute value) [rev] 1word Pulse Counting for Pulse Command [pulse] 0x0002...
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(b) IO pin function Communication Data Content address Length For planning the display of the current digital input 0x0204~0x0207 and output terminal function, make the following pin 1word arrangement. Address : 0x0204 Bit4 ~ Bit7 Bit0 ~ bit3 No. of Bit Bit12~Bit15 Bit8~Bit11 Pin code...
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Note 1: DO function option definition Function 0x05 0x04 0x03 0x02 0x01 0x00 option code Representing TLC/VLC HOME INP/SA None signal Function 0x09 0x08 0x07 0x06 option code Representing CMDOK signal Note 2: DI function option definition Function 0x07 0x06 0x05 0x04 0x03...
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(4) Clearing the abnormal information (readable and writable) Communication Content Data Length address Clear the current abnormal alarm if the written 0x0130 1word information is 0x1EA5. Transmit the current abnormal alarm back if read this address data. Clear the current abnormal alarm if the written 0x0131 1word information is 0x1EA5.
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(7) Software input contact control (Readable and Writable) Step 1: Select communication contact input mode (write-in data 0x0001). Communication Content Data Length address 0x0387 0 :External terminal input mode; 1word 1: Communication contact input mode Step 2: Write-in digital input termal status (ON/OFF) Communication Content Data Length...
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Step 3: Write-in digital output terminal status Communication Content Data Length address 0x0202 See below for write-in digital input termal status 1word (ON/OFF). Bit6~Bit15 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 No. of Bit Please set the Pin code CN1-46 CN1-45 CN1-44 CN1-43 CN1-42...
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Step 5: Set the command for testing JOG operation Communication Data Content address Length 0x0904 When the write-in data is 0, JOG operation stops. 1word When the write-in data is 1, JOG operation has a forward rotation. When the write-in data is 2, JOG operation has a reverse rotation.
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Step 5: Set the shifting number of rotations for the positioning mode Communication Data Content address Length 0x0905 Set the shifting number of rotations for the positioning 1word mode (Range 0 – 30000) (Unit: rev) Step 6: Set the shifting pulse number of the positioning mode Communication Data Content...
Basic Check and Maintenance 9.1. Basic Check It is recommended for the user to conduct the following check regularly. Make sure that the servo actuator has stopped power transmission. Carry out the inspection only when the recharging light is off. Check if there are loose screws at the connection between the machine and the terminal block, the installation part of the servo actuator, and the servo motor.
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Component Approximate Description Name Life 100,000 Power capacity can affect the service life. The switch can Rely times be used for about 100,000 time accumulatedly. Continuous operation or place the servo actuator at place 1 – 30,000 with harmful gases would short the service life of the fan. Cooling fan hours The approximate service life is about 2 –...
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Abnormal Alarm Troubleshooting 10.1. The Abnormal Alarm List and the Resolution Display alarms or warning if breakdowns happen during the operation process.Handle alarms or warnings according to the methods given presented in Chapter 2. When parameter PD19 is set as xxxx1, alarm codes can be outputted. Alarm codes are outputted by the ON/OFF between each PIN and SG.
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10.2. Abnormal Causes and Handling AL.01 Overvoltage Abnormal action content: Action when the main loop voltage is greater than the specification. Abnormal Alarm Cause Abnormal Inspection Method Abnormal Handling Method Main loop input voltage is Use a voltmeter to measure Use a correct voltage higher than the rated if the main loop input voltage...
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Abnormal Alarm Cause Abnormal Inspection Method Abnormal Handling Method Abnormal motor wiring Check if wiring sequence Rewire by following from the motor to the sequence provided by the actuator. manual. Actuator output short circuit Check if the wiring or the Remove the short circuit wires between the motor and prevent the exposure of...
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AL.05 Overload Abnormal alarm action content: Action taken for motor and actuator overload Abnormal Alarm Cause Abnormal Inspection Method Abnormal Handling Method Continue usage when Check if the overload is too Increase the motor capacity exceeding the actuator large. or decrease the load. rated load Control system parameter Check if there is any...
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AL.07 Abnormal pulse control command Abnormal alarm action content: Action taken when the input frequency of the pulse command exceeds the permitted value. Abnormal Alarm Cause Abnormal Inspection Method Abnormal Handling Method Pulse command frequency Use pulse frequency Correctly set the pulse higher than the rated input measurer to assess the input frequency.
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Communication address Check the communication Set the communication incorrect address. parameter address correctly. Communication data Check the access values. Set the values correctly. incorrect AL.0A Serial communication overtime Abnormal alarm action content: Action taken when RS-232 / 485 communication overtime. Abnormal Alarm Cause Abnormal Inspection Method Abnormal Handling Method...
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AL.0C Abnormal position encoder 2 Abnormal alarm action content: Action taken when the pulse signal is abnormal Abnormal Alarm Abnormal Handling Abnormal Inspection Method Cause Method Initial magnetic field Make the motor axle roate before restarting the machine. If error of the encoder there is no improvement, return the machine to the agent or the factory.
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AL.10 Overload 2 Abnormal action content: When maximum current is outtpued continuously for more than 1 second under mechanical impacts. Abnormal Handling Abnormal Alarm Cause Abnormal Inspection Method Method Mechnical impacts Check if the route planning is Correct the movement problematic.
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AL.13 Forward / reverse rotation limit abnormal Abnormal alarm action content: The action of pressing the button for forward limit. Abnormal Handling Abnormal Alarm Cause Abnormal Inspection Method Method Press the forward limit Make sure the switch location. Activate the forward limit switch switch.
Product Specifications 11.1. Servo Actuator Specifications Actuator MOdel SDA-□□□A2 Recommend Servo Motor Model SMA-□□□□ L010 L020 L040 M050 L075 M100 M150 M200 M350 SMA-□□□□ Corresponding Motor Power 100W 200W 400W 500W 750W 1.5KW 3.5KW Three-phase 200~230VAC 50/60Hz or Voltage / Frequency Three-phase 200~230VAC 50/60Hz or (Note 1) Single-phase 230VAC 50/60Hz...
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Actuator Model SDA-□□□A2 Recommend Servo Motor Model SMA-□□□□ L010 L020 L040 M050 L075 M100 M150 M200 M350 SMA-□□□□ Corresponding Motor Power 100W 200W 400W 500W 750W 1.5KW 3.5KW Speed Control Range Analogue speed command 1:2000; Internal speed command 1:5000 Command Control External analog voltage input / Interanl register setup Low-pass filter smoothing / Linear acceleration and desceleration curve Commend Smoothing...
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11.2. Actuator Appearance and Dimensions SDA-010A2 、 SDA-020A2 、 SDA-040A2 、 SDA-050A2 (100W~500W) Unit: mm PE terminal The company will not inform the clients for any dimension change of the machine.
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SDA-075A2 、 SDA-100A2 (750W 、 1KW) Unit: mm PE terminal The company will not inform the clients for any dimension change of the machine.
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SDA-150A2 、 SDA-200A2 、 SDA-350A2 (1.5KW~3KW) Unit: mm (80) wind direction FAN風向 PE terminal The company will not inform the clients for any dimension change of the machine.
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Low Inertia Servo Motor Standard Specifications SMA - 11.3. R30A Series Model: SMA- Power Device Capacity (kVA) Rated Output Capacity (W) Rated Torque ( N ‧ m) 0.32 0.64 1.27 Maximum Torque ( N ‧ m) 0.96 1.92 3.81 Rated Rotation Speed (r/min) 3000 Maximum Rotation Speed (r/min) 4500...
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Medium Inertia Servo Motor Standard Specifications SMA - 11.4. R20 Series Mode: SMA- Power Device Capacity (kVA) Rated Output Capacity (W) Rated Torque ( N ‧ m) 2.39 4.78 7.16 9.55 16.7 Maximum Torque ( N ‧ m) 7.16 14.4 21.6 28.5 50.1...
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11.5. Low Inertia Servo Motor Appearance and Dimension 【SMA-L010】 【SMA-L020】...
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【SMA-L040】 【SMA-L075】 11.6. Permissive Load of Low Inertia Servo Motor Outputted Axle Motor Model 【SMA-L010】【SMA-L020】【SMA-L040】 SMA-L075 L (mm) Permissive Radial Load N(kgf) 78(8) 216(22) 245(25) 432(44) Permissive Axial Load N(kgf) 34(3.5) 39(4) 68(7) 196(20) Radial Load 徑 向 負 荷 Axial Load 軸向負荷...
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11.7. Medium Inertia Servo Motor Appearance and Dimension 【SMA-L050】 【SMA-M100】...
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【SMA-M350】 Marks and dimension vary according to the design of the motor.Also, dimension of the electromagnetic brake would vary, too. The unit of machine dimension is mm. The company will not inform the clients for any change in the dimension of the machine.
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11.9. Axial Precision Precision level of motor shaft varies depending on the dimension such as the straight angle, the deflection degree, the concentricity, etc. The table below provides more details. Motor Mounting Flange Dimensions Precision (mm) Less than □100 □130 □176 The straight angle of flange ○...
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11.10. Electromagnetic Compatibility Filter (EMC Filter) It is recommended to employ the following filters for EMC command corresponding to EN specifications: Servo Actuator Power Recommended Filter SDA - 010A2 100W SDA - 020A2 200W FN3258-7-45 SDA - 040A2 400W SDA - 050A2 500W SDA -...
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Features 12.1. Low Inertia Torque Features 【SMA-L010】 【SMA-L020】 轉矩 VS 轉速 Torque vs. Roation speed Torque vs. Roation speed Short-term operation zone (Blue line) 短時間運轉區域 Short-term operation zone (Blue line) Continuous opearation zone (Pink line) 連續運轉區域 Continuous opearation zone (Pink line) 1000 2000 3000...
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12.2. Medium Inertia Torque Features 【SMA-M050】 【SMA-M100】 轉矩 VS 轉速 Torque vs. Roation speed 轉矩 VS 轉速 Torque vs. Roation speed 短時間運轉區域 Short-term operation zone (Blue line) 短時間運轉區域 Short-term operation zone (Blue line) Continuous opearation zone (Pink line) 連續運轉區域 連續運轉區 Continuous opearation zone (Pink line) 1000 1500...
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【SMA-M200】 【SMA-M350】 轉矩 VS 轉速 轉矩 VS 轉速 Torque vs. Roation speed Torque vs. Roation speed 短時間運轉區域 Short-term operation zone (Blue line) Short-term operation zone (Blue line) 短時間運轉區域 Continuous opearation zone (Pink line) 連續運轉區 Continuous opearation zone (Pink line) 連續運轉區域 1000 1500 2000...
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Low Inertia Motor [sec] 1000 Torque 轉矩[%]...
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When the load reaches 300%, the operation time will be 2.23 seconds. Medium Inertia Motor [sec] 1000 Torque 轉矩[%] When the load reaches 300%, the operation time will be 2.28 seconds.
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Production Application Examples 13.1. Internal positioning Mode Example Shihlin servo actuator provides eight sets of internal positioning function, which can be categorized into the relative type positionining and the absolute type positioning method for the users to select.Relevant parameter settings are listed below: Parameter Parameter Default...
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Parameter Parameter Default Control Name Set Range Unit Abbreviation Code Value Mode The setup of the number of position rotations of ± 30000 PO5H PA23 internal position command 5 The setup of the number of position pulses of ± 9999 PO5L PA24 pulse...
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Parameter Parameter Default Control Name Set Range Unit Abbreviation Code Value Mode The setup of the speed of internal position POV5 PA35 1~3000 1000 control 5 The setup of the speed of internal position POV6 PA36 1~3000 1000 control 6 The setup of the speed of internal position POV7...
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It can be found from the diagram above that positioning has to be conducted twice for one routine. One pitch of the screw shaft is one cm, and one rotation of the motor is exactly one pitch. Both the absolute type of positioning and the relative type of positioning can achieve this type of routine.
13.2. Return to Origin Parameters related to the return to origin: Z Pulse or ORGP (Outer sensor) can be used for the return to origin function.The users can also set the return to origin for forward and reverse rotation. Relevant parameter settings are listed below: Parameter Default...
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Description of the Zero Return Mode: u. Origin point triggering activation mode The code is set to determine whether to activate the return to origin function. The return to origin function can be categorized into two major classes: the automatic return to origin when starting the machine and the contact triggered return to origin.
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y=0: Return and search for the Z pulse after returned to the origin. When y is set to 0, the motor will search for the reference origin using the first level speed operation. Next, the motor will search for a nearby Z pulse using the second speed level to be the mechanical origin.
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forward search of the z pulse (y=1).If the users do not wish to be positioned at the z pulse, actions for positioning at ORGP can be done by setting y = 2. z=2: Forward rotation and directly search for the z pulse as the return origin. When z is set to 2, the servo motor will search for a nearby z pulse in forward rotation.
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Automatically execute the return to the origin function when the power supply is turned on (u = 1). When using the return to origin function, make one of the digital output DO pin (PD10 – PD 14) to be the HOME function (0 x 04). After the return to origin function is completed, high electrical potential will be outputted by HOME.
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Power switch 電源開關 Digital output connector 數位輸出接點 Digital input connector 數位輸入接點 Digital input connector 數位輸入接點 SHOM SHOM Return to origin 原點復歸 開始原點復歸 Start return to origin 數位輸出接點 Digital output connector HOME HOME The sequence diagram of the return to origin speed vs. position: The following sequence diagram of the return to origin triggered activation mode is set to have SHOM input contact triggering the return to origin function (u = 2).
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Speed spd1 Position 位置 spd2 Z Pulse ORGP SHOM SPD1 in the fiture is the set value of parameter PA08; SPD2 is the set value of parameter PA09. (2). y=0: Return and search for the Z pulse after returned to the origin. z=1: Return to the origin for reverse rotation;...
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(3) y = 1: Do not return but search for the Z pulse after returned to the origin. z=0: Return to the origin for forward rotation; take ORGP as the return origin. Speed spd1 spd2 Position 位置 Z Pulse ORGP SHOM (4) y = 1: Do not return but search for the Z pulse after returned to the origin.
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(5) y = 2: Position it at the detector origin or the z pulse after return to the origin. z=0: Return to the origin for forward rotation; take ORGP as the return origin. Speed spd1 Position 位置 spd2 ORGP SHOM (6) y = 2: Position it at the detector origin or the z pulse after return to the origin.
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(7) y = 2: Position it at the detector origin or the z pulse after return to the origin. z=2: Forward rotation and directly search for the z pulse as the return origin. Speed spd1 Position 位置 spd2 Z Pulse SHOM (8) y = 2: Position it at the detector origin or the z pulse after return to the origin.
Appendix A Accessories Encoder connectors Shihlin serial number: SDA-ENCNL (for low inertia motor) Shihlin serial number: SDA-ENCNM (for medium inertia motor) Encoder cable Shihlin serial number: SDA-ENLCBL2ML, SDA-ENLCBL5ML, SDA-ENLCBL10ML Types Serial Number Length (L, mm) Low inertia encoder cable 1 SDA-ENLCBL2ML 2000 ±...
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Shihlin serial number: SDA-ENLCBL2ML, SDA-ENLCBL5ML, SDA-ENLCBL10ML Types Serial Number Length (L, mm) 2000 ± 100 Medium inertia encoder cable 1 SDA-ENMCBL2ML 5000 ± 100 Medium inertia encoder cable 2 SDA-ENMCBL5ML 10000 ± 100 Medium inertia encoder cable 3 SDA-ENMCBL10ML Power connectors Shihlin serial number:...
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Power line SDA-PWCNL1-2.5M , SDA-PWCNL1-10M Shihlin serial number: Types Serial Number Length (mm) Low inertia power line 1 SDA-PWCNL1-2.5M 2500 ± 100 Low inertia power line 2 SDA-PWCNL1-10M 10000 ± 100 RS232/RS485 communication cable for the actuator and the computer. Shihlin serial number:...
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Regenerative resistor ABR100W100 , ABR200W100 , ABR400W100 , ABR500W100 , Shihlin serial number : ABR750W40 , ABR1000W40 , ABR1500W13 , ABR2000W13 , ABR3500W13 Built-in renegerataive resistor The smallest specification Recommended external permissive Actuator (w) resistor specifications electric resistor Resistor ( Ω) Volume (W) value 100W(ABR100W100)
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Human Machine Interface Temperature Controller Servo motor and drive Inverter Shihlin Electric & Engineering Corporation Head Office: Area Distributor 16F, No. 88, Sec. 6, ChungShan N. Rd.., Taipei, Taiwan, 111 TEL:+886-2-2834-2662 FAX:+886-2-2836-6187 HsinFun Factory (Taiwan): No.234, Chung Lun, Hsin Fun, HsinChu, Taiwan, 304...
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