OPERATION MANUAL AC Servo Drive FDA6000COP [OPERATION UNIT] Ver 1.0 (Soft. Ver. 8.00 ~) FDA6000C Series Servo Drive OTIS LG
1. 1.1 OPERATION UNIT FDA6000COP. UNIT, FDA6000COP,,,. 1.1.1 UP DOWN ENTER 1.1.2 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
1.1.3. ENTER : /, :, UP, DOWN : ) Motor ID P1-- P1-01 P1-02 ENTER, 11 12 12. UP 1. DOWN 1.. ENTER 12 ENTER 2
1.2 Position OPERATION UNIT. SET. 1.2.1 5. 1) 6 5 4 3 2 1 1 2 4 8 S - 1~6 D-1 D-2 D-3 D-4 IN4148 2) CONNECTOR [CN8] ( Connector : Molex 5264-10A, Pin : 5263PDTL) 1 10 3) 3
4) 1.2.2 SET 1 2 1.2.3 OP Unit 4
1.3 OPERATION UNIT,,.. 1.3.1 (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] [%] [%] 1.3.2 1.3.1. P2-27( ), OFF. 2. 5
1.3.3 1) (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
2. (1) (Status Window : St--) St-01 CMD Position USER -99999~99999 0 St-02 Current Position USER -99999~99999 0 St-03 Position Error USER -99999~99999 0 St-04 Motor Speed[r/min] r/min -9999.9~9999.9 0 St-05 Limit Speed[r/min] r/min -9999.9~9999.9 0 St-06 Torque Limit[%] % 0 ~ 999 0 St-07 Load Rate[%] % -99999 ~ 99999 0 St-08 Max Load Rate[%] % -99999 ~ 99999 0 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 ~ 999.99 * P1-03 KT [kgfcm/a] kgf-cm/a 0.01 ~ 999.99 * P1-04 Ls(Phase)[mH] mh 0.01 ~ 999.99 * P1-05 Rs(Phase)[ohm] Ohm 0.01 ~ 999.99 * P1-06 Is(Rated)[Arms] A (rms) 0.01 ~ 999.99 * P1-07 SPD(Max)[ r/min] r/min 0.1 ~ 9999.9 * P1-08 SPD(Rated)[ r/min] r/min 0.1 ~ 9999.9 * 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 ~ 10000 2000 P1-13 Parameter Lock 0 ~ 1 0 (!) * -(Servo-ON). 7
(3) (Control Mode : P2--) P2-01 PC P Gain rad/sec 0 ~ 500 50 P2-02 SC LOOP Gain rad/sec 0 ~ 5000 (1) P2-03 SC I TC [msec] msec 1 ~ 10000 (2) P2-04 TRQ LMT(+) [%] % 0 ~ 300 300 P2-05 TRQ LMT(-) [%] % 0 ~ 300 300 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 ~ 9999.9 50.0 P2-09 Brake Time[ms] msec 0 ~ 10000 10 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 ~ 100 0 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 ~ 100 0 P2-18 Resonant FRQ[Hz] Hz 0 ~ 1000 300 P2-19 Resonant BW[Hz] Hz 0 ~ 1000 100 P2-20 De-Resonant ENB 0,1 0 P2-21 Inertia Ratio 1.0 ~ 500.0 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 0.0~100.0 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
(!) * -(Servo-ON). (4) (Speed Mode : P3--) P3-01 GroupSPD0 [r/min] 0 r/min 0 ~ 9999.9 100 P3-02 Group SPD1 [r/min] 1 r/min 0 ~ 9999.9 500 P3-03 Group SPD2 [r/min] 2 r/min 0 ~ 9999.9 1000 P3-04 Group SPD3 [r/min] 3 r/min 0 ~ 9999.9 1500 P3-05 Group ACC0 0 msec 0 ~ 10000 10 P3-06 Group ACC1 1 msec 0 ~ 10000 20 P3-07 Group ACC2 2 msec 0 ~ 10000 30 P3-08 Group ACC3 3 msec 0 ~ 10000 40 P3-09 Origin ACC /Jog msec 0 ~ 10000 10 P3-10 Group DEC0 0 msec 0 ~ 10000 10 P3-11 Group DEC1 1 msec 0 ~ 10000 20 P3-12 Group DEC2 2 msec 0 ~ 10000 30 P3-13 Group DEC3 3 msec 0 ~ 10000 40 P3-14 Origin DEC /Jog msec 0 ~ 10000 10 * P3-15 FDELAY[100usec] msec 0.0 ~ 100.0 0 * P3-16 10V Speed[r/min] 10V r/min 0 ~ 9999.9 0 P3-17 Zero Clamp Mode 0 ~ 2 0 P3-18 Clamp VOLT[mV] mv -1000 ~ 1000 0 (!) * -(Servo-ON). (5) (Position Mode : P4--) P4-01 Feedforward[%] % 0 ~ 100 0 P4-02 In Position USER 99.999~0.001 0.1 P4-03 Following Error USER - 99999~99999 90000 * P4-04 Pulse Logic 0 ~ 5 0 P4-05 FF FLT TC[ms] msec 0 ~ 10000 0 P4-06 S-Type TC[ms] msec 0 ~ 10000 0 (!) * -(Servo-ON). 9
(6) (POS Command Mode : P5--) P5-01 Position CMD0 0 USER -99999~99999 10 P5-02 Position CMD1 1 USER -99999~99999 20 P5-03 Position CMD2 2 USER -99999~99999 30 P5-04 Position CMD3 3 USER -99999~99999 40 P5-05 Position CMD4 4 USER -99999~99999 50 P5-06 Position CMD5 5 USER -99999~99999 60 P5-07 Position CMD6 6 USER -99999~99999 70 P5-08 Position CMD7 7 USER -99999~99999 80 P5-09 Position CMD8 8 USER -99999~99999 90 P5-10 Position CMD9 9 USER -99999~99999 100 P5-11 Position CMD10 10 USER -99999~99999 110 P5-12 Position CMD11 11 USER -99999~99999 120 P5-13 Position CMD12 12 USER -99999~99999 130 P5-14 Position CMD13 13 USER -99999~99999 140 P5-15 Position CMD14 14 USER -99999~99999 150 P5-16 Position CMD15 15 USER -99999~99999 160 P5-17 Position CMD16 16 USER -99999~99999 170 P5-18 Position CMD17 17 USER -99999~99999 180 P5-19 Position CMD18 18 USER -99999~99999 190 P5-20 Position CMD19 19 USER -99999~99999 200 P5-21 Position CMD20 20 USER -99999~99999 210 P5-22 Position CMD21 21 USER -99999~99999 220 P5-23 Position CMD22 22 USER -99999~99999 230 P5-24 Position CMD23 23 USER -99999~99999 240 P5-25 Position CMD24 24 USER -99999~99999 250 P5-26 Position CMD25 25 USER -99999~99999 260 P5-27 Position CMD26 26 USER -99999~99999 270 P5-28 Position CMD27 27 USER -99999~99999 280 P5-29 Position CMD28 28 USER -99999~99999 290 P5-30 Position CMD29 29 USER -99999~99999 300 P5-31 Position CMD30 30 USER -99999~99999 310 P5-32 Position CMD31 31 USER -99999~99999 320 (!) * -(Servo-ON). 10
(7) / (Jog/Origin Mode : P6--) P6-01 Origin SPD0[r/min] 0 r/min 0.0 ~ 9999.9 50 P6-02 Origin SPD1[r/min] 1 r/min 0.0 ~ 9999.9 10 P6-03 Origin Torque[%] Damper Origin % 0.0 ~ 300 50 P6-04 Origin Offset USER -9999.9 ~ 9999.9 0 P6-05 Jog Speed0[r/min] 0 r/min 0.0 ~ 9999.9 100 P6-06 Jog Speed1[r/min] 1 r/min 0.0 ~ 9999.9 200 P6-07 INC Jog Value0 INC Jog 0 USER 0.0 ~ 99999.9 50 P6-08 INC Jog Value1 INC Jog 1 USER 0.0 ~ 99999.9 100 (!) * -(Servo-ON). (8) (Mechanical Mode : P7--) *P7-01 Move Motor USER 1 ~ 10000 1 *P7-02 Move Mechanical USER 1 ~ 10000 100 *P7-03 Move Polarity 0 ~ 1 1 *P7-04 Turret Cycle USER 0 ~ 10000 0 *P7-05 MPG Move[REV] REV 1 ~ 10000 1 *P7-06 MPG Pulse[PLS] MPG Pulse PLS 1 ~ 100000 100 *P7-07 Angle Division JOG USER 0 ~ 1000 0 (!) * -(Servo-ON). 11
(9) (Operation Mode : P8--) *P8-01 RUN_MODE 0 ~ 7 1 P8-02 STOP_TIME msec 0 ~ 100000 100 *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 -99999~99999 99999 P8-06 Soft CWLim Soft CWLim -99999~99999-99999 *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 -99.999 ~ 99.999 P8-15 Ics Offset Offset -99.999 ~ 99.999 P8-16 Command ABS -100000 ~ DATA DATA 100000 P8-17 Current ABS -100000 ~ DATA DATA 100000 P8-18 ABS Counter2 ABS Encoder Data -99999~99999 P8-19 ABS Counter1 ABS Encoder Data -99999~99999 P8-20 ABS Counter0 ABS Encoder Data -99999~99999 (!) * -(Servo-ON). 12
(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 0-9999.9 ~ 9999.9 JOG State1 Loader Jog 1-9999.9 ~ 9999.9 IJOG State0 Loader I_Jog 0-99999.9 ~ 9999.9 IJOG State1 Loader I_Jog 1-99999.9 ~ 99999.9 13