歯FDA6000COP.PDF

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1 OPERATION MANUAL AC Servo Drive FDA6000COP [OPERATION UNIT] Ver 1.0 (Soft. Ver ~) FDA6000C Series Servo Drive OTIS LG

2 OPERATION UNIT FDA6000COP. UNIT, FDA6000COP,,, UP DOWN ENTER ST-- UP ENTER, UP ST- 01 ST- 02 ST- 10 P1-- UP ENTER, UP P1-01 P1-02 P1-13 ST-- UP ENTER, UP ST01 ST02 ST10 1

3 ENTER : /, :, UP, DOWN : ) Motor ID P1-- P1-01 P1-02 ENTER, UP 1. DOWN 1.. ENTER 12 ENTER 2

4 1.2 Position OPERATION UNIT. SET ) S - 1~6 D-1 D-2 D-3 D-4 IN4148 2) CONNECTOR [CN8] ( Connector : Molex A, Pin : 5263PDTL) ) 3

5 4) SET OP Unit 4

6 1.3 OPERATION UNIT,, (Status Window:ST--) St-01 St-02 St-03 St-04 St-05 St-06 St-07 St-08 St-09 St-10 USER USER USER [r/min] [%] [%] P2-27( ), OFF. 2. 5

7 ) (FDA6000COP) STOP /ALMRST ORG-COM ORG-DOG CCWJOG CWJOG COMSEL4 SVONEN START COMSEL3 COMSEL2 COMSEL1 COMSEL0 OP4 OP3 OP0 READY ORGOUT OP2 OP1 ALARM BRAKE COMSEL0 ORGOUT COMSEL1 RDY No Alarm, COMSEL 2 Position CMD BRAKE Brake COMSEL 3 ALARM No alarm COMSEL 4 /MPGEN OP0/ INPOS 0 START JOB OP1 1 SVONEN OP2 2 CCWJOG CCW OP3 3 CWJOG CW OP4 4 CCWLIM CWLIM ORG-DOG ORGCOM ALIMRST CCW CW Dog ORIGIN Disable Disable 6

8 2. (1) (Status Window : St--) St-01 CMD Position USER ~ St-02 Current Position USER ~ St-03 Position Error USER ~ St-04 Motor Speed[r/min] r/min ~ St-05 Limit Speed[r/min] r/min ~ St-06 Torque Limit[%] % 0 ~ St-07 Load Rate[%] % ~ St-08 Max Load Rate[%] % ~ St-09 Program Version St-10 I/O Status (2) (Motor Parameters : P1--) * P1-01 Motor ID ID 0 ~ 99 0 * P1-02 JM [gfcms2] gf-cmsec 0.01 ~ * P1-03 KT [kgfcm/a] kgf-cm/a 0.01 ~ * P1-04 Ls(Phase)[mH] mh 0.01 ~ * P1-05 Rs(Phase)[ohm] Ohm 0.01 ~ * P1-06 Is(Rated)[Arms] A (rms) 0.01 ~ * P1-07 SPD(Max)[ r/min] r/min 0.1 ~ * P1-08 SPD(Rated)[ r/min] r/min 0.1 ~ * P1-09 Pole Number 2 ~ 98 8 * P1-10 Power Amp Type 0 ~ 20 * P1-11 Encoder Type 0 ~ 9 0 * P1-12 Encoder PLS[PPR] PPR 1 ~ P1-13 Parameter Lock 0 ~ 1 0 (!) * -(Servo-ON). 7

9 (3) (Control Mode : P2--) P2-01 PC P Gain rad/sec 0 ~ P2-02 SC LOOP Gain rad/sec 0 ~ 5000 (1) P2-03 SC I TC [msec] msec 1 ~ (2) P2-04 TRQ LMT(+) [%] % 0 ~ P2-05 TRQ LMT(-) [%] % 0 ~ P2-06 Pulse Out Rate 1 ~ 16 1 P2-07 Current Offset 0, 1 0 P2-08 Brake SPD[r/min] r/min 0.0 ~ P2-09 Brake Time[ms] msec 0 ~ P2-10 Monitor1 Select 1 0 ~ 3 0 P2-11 Monitor1 ABS 1 0,1 0 P2-12 Monitor1 Scale 1 1 ~ 20 1 P2-13 Monitor1 offset 1 % -100 ~ P2-14 Monitor2 Select 2 0 ~ 3 1 P2-15 Monitor2 ABS 2 0,1 0 P2-16 Monitor2 Scale 2 1 ~ 20 1 P2-17 Monitor2 offset 2 % -100 ~ P2-18 Resonant FRQ[Hz] Hz 0 ~ P2-19 Resonant BW[Hz] Hz 0 ~ P2-20 De-Resonant ENB 0,1 0 P2-21 Inertia Ratio 1.0 ~ P2-22 Autotune Range 0 ~ 9 0 P2-23 Autotune ON/OFF ON/OFF ON/OFF OFF *P2-24 Parameter Init Currt/Dflt Currt *P2-25 Powerfail Mode (3) 0,1 P2-26 DB Control 0,1 1 P2-27 Display Select 1~11 1 P2-28 Zero SPD VIB RJT r/min 0.0~ P2-29 Conform ON/OFF ON/OFF ON/OFF ON (1) SC LOOP Gain : FDA6001C~04C: 500 FDA6005C~75C : 200 (2) SC I TC : FDA6001C~04C: 20 FDA6005C~75C : 50 (3) Power fail Mode : FDA6001C~04C: 0 FDA6005C~75C : 1 8

10 (!) * -(Servo-ON). (4) (Speed Mode : P3--) P3-01 GroupSPD0 [r/min] 0 r/min 0 ~ P3-02 Group SPD1 [r/min] 1 r/min 0 ~ P3-03 Group SPD2 [r/min] 2 r/min 0 ~ P3-04 Group SPD3 [r/min] 3 r/min 0 ~ P3-05 Group ACC0 0 msec 0 ~ P3-06 Group ACC1 1 msec 0 ~ P3-07 Group ACC2 2 msec 0 ~ P3-08 Group ACC3 3 msec 0 ~ P3-09 Origin ACC /Jog msec 0 ~ P3-10 Group DEC0 0 msec 0 ~ P3-11 Group DEC1 1 msec 0 ~ P3-12 Group DEC2 2 msec 0 ~ P3-13 Group DEC3 3 msec 0 ~ P3-14 Origin DEC /Jog msec 0 ~ * P3-15 FDELAY[100usec] msec 0.0 ~ * P V Speed[r/min] 10V r/min 0 ~ P3-17 Zero Clamp Mode 0 ~ 2 0 P3-18 Clamp VOLT[mV] mv ~ (!) * -(Servo-ON). (5) (Position Mode : P4--) P4-01 Feedforward[%] % 0 ~ P4-02 In Position USER ~ P4-03 Following Error USER ~ * P4-04 Pulse Logic 0 ~ 5 0 P4-05 FF FLT TC[ms] msec 0 ~ P4-06 S-Type TC[ms] msec 0 ~ (!) * -(Servo-ON). 9

11 (6) (POS Command Mode : P5--) P5-01 Position CMD0 0 USER ~ P5-02 Position CMD1 1 USER ~ P5-03 Position CMD2 2 USER ~ P5-04 Position CMD3 3 USER ~ P5-05 Position CMD4 4 USER ~ P5-06 Position CMD5 5 USER ~ P5-07 Position CMD6 6 USER ~ P5-08 Position CMD7 7 USER ~ P5-09 Position CMD8 8 USER ~ P5-10 Position CMD9 9 USER ~ P5-11 Position CMD10 10 USER ~ P5-12 Position CMD11 11 USER ~ P5-13 Position CMD12 12 USER ~ P5-14 Position CMD13 13 USER ~ P5-15 Position CMD14 14 USER ~ P5-16 Position CMD15 15 USER ~ P5-17 Position CMD16 16 USER ~ P5-18 Position CMD17 17 USER ~ P5-19 Position CMD18 18 USER ~ P5-20 Position CMD19 19 USER ~ P5-21 Position CMD20 20 USER ~ P5-22 Position CMD21 21 USER ~ P5-23 Position CMD22 22 USER ~ P5-24 Position CMD23 23 USER ~ P5-25 Position CMD24 24 USER ~ P5-26 Position CMD25 25 USER ~ P5-27 Position CMD26 26 USER ~ P5-28 Position CMD27 27 USER ~ P5-29 Position CMD28 28 USER ~ P5-30 Position CMD29 29 USER ~ P5-31 Position CMD30 30 USER ~ P5-32 Position CMD31 31 USER ~ (!) * -(Servo-ON). 10

12 (7) / (Jog/Origin Mode : P6--) P6-01 Origin SPD0[r/min] 0 r/min 0.0 ~ P6-02 Origin SPD1[r/min] 1 r/min 0.0 ~ P6-03 Origin Torque[%] Damper Origin % 0.0 ~ P6-04 Origin Offset USER ~ P6-05 Jog Speed0[r/min] 0 r/min 0.0 ~ P6-06 Jog Speed1[r/min] 1 r/min 0.0 ~ P6-07 INC Jog Value0 INC Jog 0 USER 0.0 ~ P6-08 INC Jog Value1 INC Jog 1 USER 0.0 ~ (!) * -(Servo-ON). (8) (Mechanical Mode : P7--) *P7-01 Move Motor USER 1 ~ *P7-02 Move Mechanical USER 1 ~ *P7-03 Move Polarity 0 ~ 1 1 *P7-04 Turret Cycle USER 0 ~ *P7-05 MPG Move[REV] REV 1 ~ *P7-06 MPG Pulse[PLS] MPG Pulse PLS 1 ~ *P7-07 Angle Division JOG USER 0 ~ (!) * -(Servo-ON). 11

13 (9) (Operation Mode : P8--) *P8-01 RUN_MODE 0 ~ 7 1 P8-02 STOP_TIME msec 0 ~ *P8-03 LIM_SEL Limit<->Jog<- >Lim,Jog 0 ~ 2 0 *P8-04 Soft Lim Enable Soft Limit 0~1 0 P8-05 Soft CCWLim Soft CCWLim ~ P8-06 Soft CWLim Soft CWLim ~ *P8-07 Dog Select 0~1 0 *P8-08 AUTO_ORG Origin 0 ~ 1 0 *P8-09 ORG_RULE 0 ~ 24 2 *P8-10 MPG_SEL MPG 0 ~ 1 0 *P8-11 ABS_ORG_SET 0 ~ 1 0 *P8-12 IN POSITION TYPE 0 ~ 1 1 *P8-13 STOP SELECT STOP 0~2 0 P8-14 Ias Offset Offset ~ P8-15 Ics Offset Offset ~ P8-16 Command ABS ~ DATA DATA P8-17 Current ABS ~ DATA DATA P8-18 ABS Counter2 ABS Encoder Data ~99999 P8-19 ABS Counter1 ABS Encoder Data ~99999 P8-20 ABS Counter0 ABS Encoder Data ~99999 (!) * -(Servo-ON). 12

14 (10) (Alarm Status : ALS--) ALS01 Alarm Display ALS02 Alarm Reset ALS03 Alarm History ALS04 Alarm Reset All (11) (Jog Status) Position CMD Mode Enter Key Jog Setting. JOG State0 Loader Jog ~ JOG State1 Loader Jog ~ IJOG State0 Loader I_Jog ~ IJOG State1 Loader I_Jog ~

MODBUS SERVO DRIVER( FDA7000 Series ) STANDARD PROTOCOL (Ver 1.00) 1

MODBUS SERVO DRIVER( FDA7000 Series ) STANDARD PROTOCOL (Ver 1.00) 1 SERVO DRIVER( FDA7000 Series ) STANDARD PROTOCOL (Ver 100) 1 Contents 1 INTRODUCTION 2 PROTOCOL FRAME OUTLINE 3 FUNCTION FIELD 4 DATA FIELD 5 CRC CHECK 6 FUNCTION EXAM 7 EXCEPTION RESPONSE 8 I/O STATUS

歯FDA6000COP.PDF

歯FDA6000COP.PDF