DOOSAN AC SERVO MOTORDRIVE VISION DVSC TM Series

NO 300421-00003 DOOSAN AC SERVO MOTOR/DRIVE VISION DVSC - TM Series MODEL: 0.8KW/1.5KW/1.7KW/2.0KW/2.3KW/3.0KW/4.0KW Operation Manual REV B DOOSAN INFRACORE ▶ Version History Changed Contents Ver Ver B  Servo drive for Turret/Magazine  Modification of Servo motor in 1.1 Formal type designation (Page 1)  Modification of 1.6 Outside circuit connection diagram (Page 15)  Modification of 1.7 Layout of connector terminal CN1, CN2 (Page 18)  Modification of contents in 2.1 Automatic operation (Page 22)  Add 2.7 Switch of display mode, parameter and position compensation value setting method at the time an alarm occurs (Page 31)  Add 2.8 S-shaped acceleration/deceleration setting method (Page 33)  Add 2.9 Backlash compensation setting method (Page 34)  Add 2.10 Teaching function setting method (Page 36)  Add 2.11 Position signal output selection function (Page 39)  Modification of 3.2.2 Display Flowchart (Page 45)  Add 3.4.6 Teaching function setting (Page 52)  Add 3.4.7 Position signal output whole zone setting (Page 52)  Add 3.4.8 Angle setting by position signal section (Page 53)  Modification of 3.4.9 Drive itself JOG operation (Page 53)  Modification of 3.5.2 Drive operation at alarm occurrence (Page 58)  Modification of 3.6.2 User parameter list (Page 63)  Modification of parameter contents in 3.6.3 Detailed explanation of user parameter (Page 64)  Modification of parameter contents in 3.6.3 Detailed explanation of user parameter (Page 65)  Modification of parameter 31 contents in 3.6.3 Detailed explanation of user parameter (Page 68)  Modification of parameter 48 contents in 3.6.3 Detailed explanation of user parameter (Page 70)  Modification of parameter 50 contents in 3.6.3 Detailed explanation of user parameter (Page 70)  Modification of parameter 56 contents in 3.6.3 Detailed explanation of user parameter (Page 71)  Servo drive for ATC  Modification of 1.6 Outside circuit connection diagram (Page 78)  Modification of contents in 2.1 Automatic operation (Page 83) Changed Contents Ver Ver B  Servo drive for ATC  Add 2.5 Switch of display mode, parameter and position compensation value setting method at the time an alarm occurs (Page 90)  Add 2.6 S-shaped acceleration/deceleration setting method (Page 92)  Modification of 3.2.2 Display Flowchart (Page 95)  Modification of 3.4.6 Maker management items (Page 102)  Modification of 3.4.7 Drive itself JOG operation (Page 102)  Modification of 3.5.2 Drive operation at alarm occurrence (Page 106)  Modification of 3.6.2 User parameter list (Page 111)  Modification of parameter contents in 3.6.3 Detailed explanation of user parameter (Page 113) - CONTENTS WARNING i COMMON SUBJECT 1 Specifications and Composition 1.1 1.2 1.3 1.4 1.5 1.6 1.7 Formal type designation Specifications for Servo Motor Torque-Speed Characteristics of Servo Motor(2.0KW) Specifications for Servo Drive Coupling of the Servo Motor / Drive Inner structure of Servo Drive Rotation direction of the servo motor Dimensions of the servo motor / drive 2.1 Dimensions of the servo motor 2.2 Dimensions of the servo drive 10 Servo drive for Turret and Magazine 11 Installation and wiring 11 1.1 Designations 11 1.2 Environmental conditions 12 1.3 Installation method 12 1.4 Wiring 14 1.5 Noise treatment 14 1.6 Outside circuit connection diagram(example) 15 1.7 Layout of drive connector terminal 18 1.8 Signals for connector CN1 and their meanings 19 1.9 Signals for connector CN2 and their meanings 20 1.10 Structure of drive I/O circuit 21 Operation 22 2.1 Automatic operation 22 2.2 Jog operation and Usage of BRAKE Signal(Magazine Port move by the jog signal) 23 2.3 Parameter and Machine Origin setting method after replacement of the servo drive 24 2.4 Selective application of the position compensation value by external signal 28 2.5 Operation of servo drive in JOG mode by external signal 29 2.6 Machine Origin setting method by external signal 30 2.7 Switch of display mode, parameter and position compensation value setting 31 2.8 S-shaped acceleration/deceleration setting method 33 2.9 Backlash compensation setting method 34 2.10 Teaching function setting method 36 2.11 Position signal output selection function 39 Display/Setting part 43 3.1 3.2 3.3 3.4 3.5 3.6 Functions 43 Operating of the Display/Setting part and display flowchart 44 State display 46 Diagnosis display 49 Alarm history display 58 User Parameter setting and Detailed explanation 61 3.7 Position compensation value setting 72 Servo drive for ATC 74 Installation and wiring 74 1.1 Designations 74 1.2 Environmental conditions 75 1.3 Installation method 75 1.4 Wiring 77 1.5 Noise treatment 77 1.6 Outside circuit connection diagram(example) 78 1.7 Layout of drive connector terminal 79 1.8 Signals for connector CN1 and their meanings 80 1.9 Signals for connector CN2 and their meanings 81 1.10 Structure of drive I/O circuit 82 Operation 83 2.1 2.2 2.3 2.4 2.5 2.6 Automatic operation 83 Parameter and Machine Origin setting method after replacement of the servo drive 84 Operation of servo drive in JOG mode by external signal 88 Machine Origin setting method by external signal 89 Switch of display mode, parameter and position compensation value setting 90 S-shaped acceleration/deceleration setting method 92 Display/Setting part 93 3.1 3.2 3.3 3.4 3.5 3.6 Functions 93 Operating of the Display/Setting part and display flowchart 94 State display 96 Diagnosis display 99 Alarm history display 106 User Parameter setting and Detailed explanation 109 WARNING I Definition of Symbols for Warning 1) DANGER 2) ! DANGER Warning : This symbol means that there is possible of danger such as electric shock , if not handled properly Caution : This symbol means that there is possible of danger such as receiving a slight or serious injuries or machine damages, if not handled properly II Warning 1) Do not use in areas near corrosive, inflammable or explosive gas 2) Take appropriate measures of protection while the servo motor is in operation 3) While installing and wiring, turn the power switch off, in order to prevent electric shock 4) Ground the PE terminal block of the front panel terminal block L1(R), L2(S), L3(T) to one-point with the class (below 100Ω) ground circuit, in order to prevent electric shock or other malfunctions For PE terminal block, use wire 40mm2 thicker than the electric wire of the terminal L1, L2, L3 5) Connect the PE terminal block of the servo motor to the PE terminal block U, V, W of the servo drive in order to prevent electric shock To connect the wire, use wire 40mm2 thicker than the power line of U, V, W 6) Take precautions while mounting, dismantling, uninstalling and transferring the servo motor 7) Cover the terminal block while using the servo drive in order to prevent electric shock 8) Use the reinforcement wire SELV for maintenance brake power switch, input and output power switch and input and output signal in order to prevent electric shock 9) Do not dismantle the servo drive within minutes after shutting off the main power – Charged voltage may still remain inside the drive 10) This product uses batteries Take the following precautions while using the battery If used inappropriately, explosion or fire may occur The contents of the battery are harmful to the eye ① Do not heat above 100℃ and not open when there is fire ② Do not take it apart (The contents are harmful to the eye.) i ③ Do not recharge it 11) During emergency shutdown, stop the servo motor before shutting down the servo drive (terminal L1, L2, L3) III Caution 1) To avoid burns, not touch the heat protecting board or the regenerative resistor of the servo motor and drive while the servo motor is in operation or right after turning off the power switch Take appropriate measures of protection 2) Avoid the following to prevent damages to the servo motor and servo drive ① Do not connect the power directly to the U, V, W terminal block of the servo motor The servo motor will be damaged ② Avoid external impact such as hammering to the servo motor The encoder inside the servo motor will be damaged ③ Do not connect the power to the U, V, W terminal block of the servo drive ④ While doing the resisting pressure test or insulation voltage test, disconnect the terminal of the servo drive terminal block or all the connectors and avoid the test voltage from affecting the servo drive Also avoid the test voltage from affecting the encoder connector terminal of the servo motor ⑤ Do not install the servo motor and the servo drive differently than it should ⑥ Prevent water or oil from directly touching the servo motor Use in areas free of water or oil to prevent it from touching the main wire of the servo motor ⑦ Do not use the servo motor and drive differently other than stated in this manual ii DOOSAN TM SERVO OPERATION MANUAL COMMON SUBJECT Specifications and Composition 1.1 Formal type designation ◆ Servo Motor RH 20 T A – O O TYPE RH SERIES RG SERIES OIL SEAL O : OIL SEAL N : NON-OIL SEAL OUTPUT 08 15 17 20 23 28 30 40 : : : : : : : : 0.8KW 1.5KW 1.7KW 2.0KW 2.3KW 2.8KW 3.0KW 4.0KW BRAKE B : BRAKE O : NON BRAKE TAPER ENCODER T : 17BIT ABS ROTATOR & ENCODER TYPE A : SM-PMSM, Integrated Encoder B : IPM-PMSM, Integrated Encoder C : SM-PMSM, Separate Encoder D : IPM-PMSM, Separate Encoder E : Special : : : : : : : STRAIGHT KEY(OPEN TYPE) TAPER KEY(PARALLEL) STRAIGHT TAPER TAPER KEY(HALF-MOON) STRAIGHT KEY(ENCLOSED) GEAR ◆ Servo Drive DVSC-TM-14 D-01 COMPACT DRIVE SERIES TYPE TT : TURRET/MAG TA : ATC TX : AXIS TM: TURRET/MAG./ATC S/W VERSION NO : ~ H/W VERSION NO : A ~ Z Rated Current Capacity 14 : 14A (Bellow 2.0KW Motor) 28 : 28A (Bellow 4.0KW Motor) DOOSAN TM SERVO OPERATION MANUAL 1.2 Specifications for Servo Motor Items Specifications kWatt 0.8 1.5 2.0 3.0 4.0 kgf∙cm 25.98 73.08 97.44 146.16 194.88 N∙m 2.55 7.16 9.54 14.32 19.11 Continuous maximum torque kgf∙cm 77.95 219.24 292.32 438.48 584.64 N∙m 7.64 21.49 28.66 42.49 57.32 Rated speed RPM 2,000 Maximum speed RPM 3,000 Power rate kW/S Rated output Rated torque SERVO Rotor Inertia MOTOR ×10 -4 kg·m 23.64 13.28 42.29 90.94 34.78 2.8 39.4 22 23.02 107 Insulation class F Class Detector Multi-turn Absolute Encoder (17bits/1 rotation, rotation count :16bits) Protection, Cooling method Totally closed, self cooled Ambient temperature ~ 40°C Ambient humidity 20 ~ 80% Mounting structure Flange type Insulation resistance DC 500V 20 Mohm Insulation voltage AC 1,500V for one minute Vibration class V15 1.3 Torque-Speed Characteristics of Servo Motor(2.0KW) ※ Refer to Motor Specifications for details DOOSAN TM SERVO OPERATION MANUAL ⑤ In this state, the setting value will be applied with stopping blinking after pressing the SET key times SET times ※ All settings can be set under OFF state of the SVON signal, and if the parameter setting is completed, the drive power must be turned OFF and ON again to apply the changed parameter value 2) Turn the servo drive power OFF and ON again 3) Set the origin at the origin setting display of the diagnosis mode ① Press the MODE key to change the display to diagnosis mode, and then press the DOWN key once to change the display to origin setting display mode State display mode MODE Diagnosis display mode Once SET Origin setting display Once : Press the SET key for seconds or more to save the origin-related parameter : Parameters from No 34 to 46 are saved automatically : Return to the original display after saving the parameter up to 46 automatically 4) Turn the servo drive power OFF and ON again to complete the origin setting 105 DOOSAN TM SERVO OPERATION MANUAL 3.5 Alarm history display 3.5.1 Alarm history display The recent alarm records will be stored and displayed up to 20 times The records can be verified by pressing UP or DOWN key All records of the alarm will be cleared by pressing the SET key MODE times : Alarm history mode : One time alarm display ex) in case of battery alarm : Second time alarm display ex) in case of parameter error alarm : Third time alarm display : 20th time alarm display ◆ All records will be cleared when the SET key is pressed at the alarm record display mode : Alarm cleared SET 3.5.2 Drive operation at alarm occurrence When an alarm occurs, the photo coupler contact points between ALM and COM2 terminals of the CN2 connector will be OFF Then, SVRDY and BRAKE terminal will be OFF as well, and the motor will be on free run state The detected alarm item will be displayed on drive segments display Also the alarm number as binary code will be outputted to the NC through the position data output terminals 106 DOOSAN TM SERVO OPERATION MANUAL Even if an alarm occurs, it’s possible to change the display as state display mode, diagnosis display mode, parameter setting mode, origin setting mode and alarm history display mode since version DVSC-TM-14D-02 Also, even at alarm state, parameter or offset value setting is possible since that version ▶ Method of releasing the alarm state : Once the cause of the alarm is resolved, it is possible to operate the drive by turning the power OFF and ON again ▶ Detection time of over load : The operation time of the over load alarm detect circuit is as listed below 300% 275% 225% 200% 170% 150% 140% 130% 120% ~ ~ ~ ~ ~ ~ ~ ~ ~ ; ; ; ; ; ; ; ; ; 5.5sec 6.5sec 8sec 10sec 14sec 17.5sec 20sec 25sec 30sec 107 DOOSAN TM SERVO OPERATION MANUAL ▶ Display and contents of the drive alarm is as following NO LED display Alarm type Corrective actions Under voltage : occurs when the inside DC link voltage is below the standard value - check if the input power is low - check if the motor power cable is open - check if the input power is high - check if the operation frequency is above standard value - check if regenerative resistor is damaged - check if the heat sinking panel is over 100 degrees Celsius - check if the operation frequency is above the standard value - check if the encoder connection is correctly assembled - check if the encoder line is cut Over voltage : occurs when the inside DC link voltage is above the standard value Main circuit error : occurs when the IPM malfunctions Encoder signal error : occurs when encoder signal malfunctions Over speed : occurs when the motor speed exceeds the maximum rotating count - check if the encoder cable is missing or if correctly assembled CPU error : occurs when the CPU malfunctions or there is fault with the board - check if there is connection error in the motor power cable - check if the parameter is set correctly - turn OFF the power and ON again - check if the parameter is set correctly Parameter error : occurs when the set parameter is not within the range - check if the parameter is set correctly Excessive position deviation : occurs when the remaining pulse exceeds the setting value of parameter 19 during position control - check if the value of parameter 19 is set too low - check the encoder cable and the motor - check if the accel./decel parameter is set on too low value - check if the insulation resistor of the motor is correctly displayed - check if the encoder connection is correctly assembled - change the battery Over load : occurs when the over load state continuous for a long time exceeding the standard time Over current : occurs when the over current flows into the motor Encoder battery error : occurs when the backup battery of the encoder is discharged or disconnected ※ For detail contents, please refer to the maintenance documentation When an alarm occurs, the alarm number as binary code will be outputted to the NC through the position data output terminals Example) AL1-UV(under voltage) alarm Input number at NC : 108 POSO3 OFF POSO2 OFF POSO1 OFF POSO0 ON DOOSAN TM SERVO OPERATION MANUAL 3.6 User Parameter setting and Detailed explanation Some parameters must be set depending on driving and system configuration before the operation And the setting method is as following 3.6.1 Parameter setting method Ex) Change value of the parameter from 10 to 43 ① Press the MODE key twice to change the display to parameter setting mode State display mode MODE Parameter setting mode Twice ② Press the UP key times to change the two-digit address of the beginning as 06 times ③ The rightmost number will blink on and off after pressing the SET key once (Each time the SET key is pressed, the blinking number will shift to the left and after times the setting value will be applied with stopping blinking.) SET Once ④ In this state, if the value is 43, press the UP key times to change the rightmost number as And, press the SET key once to shift the blinking number to the left so the second number of the right is blinked Then, press the UP key times to change the second number as so the two digits are changed as 43 SET times Once times 109 DOOSAN TM SERVO OPERATION MANUAL ⑤ In this state, the setting value will be applied with stopping blinking after pressing the SET key times SET times ※ All settings can be set under OFF state of the SVON signal, and if the parameter setting is completed, the drive power must be turned OFF and ON again to apply the changed parameter value 110 DOOSAN TM SERVO OPERATION MANUAL 3.6.2 User Parameter list (Refer to the attached parameter sheet at the machine.) NO 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 Name Motor output capacity Motor rotation direction Reserved Reserved Encoder pulse per rotation Reserved Gear ratio - motor side Reserved Reserved Reserved Position loop proportional gain Speed loop proportional gain Speed loop integral gain SERVO READY ON delay time BRAKE OFF control delay time BRAKE ON delay time Reserved Reserved Positioning complete range Remaining pulse allowable range Deceleration time after stop signal S-shaped acceleration/deceleration time constant Positive torque limit Negative torque limit Positive torque limit Negative torque limit Speed limit Jog speed at origin setting Reserved Acceleration time Deceleration time Reserved Reserved Initial state display Encoder coordinates compensation value (lower) Encoder coordinates compensation value (upper) Machine origin setting value (lower) Machine origin setting value (upper) Current loop proportional gain Current loop integral gain Feedback pulse (lower) Feedback pulse (upper) Remaining value of deceleration ratio Compensation value for deceleration ratio remaining (lower) Compensation value for deceleration ratio remaining (upper) Servo drive function selection Speed table selection 1~9999 1~6000 0~5000 Initial value 0 2048 126 10 126 450 400 0 0 200 6000 0~100 0~300 0~300 0~300 0~300 0~3000 1~3000 0~10 290 290 290 290 1000 20 800 80 100 3000 1500 0~2048 0~2048 750 510 0~1 0~2 1 Range 0~40 0~1 1~9999 0~9999 0~9999 0~9999 0~1000 0~1000 0~1000 0~9999 0~9999 Unit Remarks Rotation 10 msec 10 msec 10 msec PULSE 100 PULSE mses % % % % rpm msec msec 0:Turret/Magazine 1:ATC 111 DOOSAN TM SERVO OPERATION MANUAL NO 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 112 Name Speed of section Speed of section Speed of section Speed of section Speed of section Speed of section Speed of section Speed of section Speed of section Speed of section 10 Speed of section 11 Speed of section 12 Speed of section 13 Speed of section 14 Speed of section 15 Speed of section 16 Speed of section 17 Speed of section 18 Speed of section 19 Speed of section 20 CLAMP signal UNCLAMP signal HEAVY TOOL CLAMP HEAVY TOOL UNCLAMP STEP JOG speed Proportion gain of STEP JOG speed Reserved Range 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 10~3000 1~360 1~360 1~360 1~360 10~200 0~1500 Initial value 1050 950 600 1200 1200 1200 1200 1200 1200 1200 1200 1050 400 300 600 300 450 600 600 450 277 25 284 39 130 800 Unit rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm rpm angle angle angle angle rpm Remarks DOOSAN TM SERVO OPERATION MANUAL 3.6.3 Detailed explanation of user parameter □ Motor output capacity This parameter sets of the applied motor capacity : 1.5kW : 0.8kW 17 : 1.7kW 20 : 2.0kW 23 : 2.3kW 30 : 3.0kW 40 : 4.0kW ※ Use 14A drive for motors under 3.0kW and 28A drive for motors more than 3.0kW If not applied properly, it may cause malfunction of the motor □ Motor rotation direction This parameter sets the rotation direction of the motor Please select according to the structure of the equipment : Selects when the rotation direction of the motor and the equipment is the same : Selects when the rotation direction of the motor and the equipment is different □ ~ □ Reserved □ Encoder pulse per rotation This parameter displays 1/4 value of encoder pulse count per rotation □ Reserved □ Gear ratio of motor side This parameter sets the motor rotation counts per rotation of machine Setting range : ~ 9999 □ ~ □ Reserved 10 □ Position loop proportional gain The proportional gain of the position loop is the parameter which determines the response of position control loop If the value increases, the mechanical response gets better However, mechanical impact on the machine may occur when the motor starts or stops If the value decreases, the mechanical response will get worse and position error increases by remaining pulse This also relates with the speed loop gain Setting range : ~ 9999 11 □ Speed loop proportional gain The proportional gain of speed loop is the parameter which determines the response of the speed control loop As external characteristics, it determines the degree of rigidity If the value of the proportional gain increases, the rigidity becomes better Thus the larger the setting value is the better, but too large setting may cause oscillations and hunting The value should be set as large as possible under a stable condition Setting range : ~ 9999 113 DOOSAN TM SERVO OPERATION MANUAL 12 □ Speed loop integral gain The integral gain of the speed loop is a compensatory factor which reduces normal state error and increases rigidity If the value of integral gain is increased, the rigidity will get better But too large setting may cause oscillations and the system may become unstable Setting range : ~ 9999 13 □ SERVO READY ON delay time This parameter sets the Servo Ready signal delay time to change as ON Setting range : ~ 1000 [x 10msec] 14 □ Brake OFF control delay time In case the motor has an inner brake, this parameter sets brake release delay time Setting range : ~ 1000 [x 10msec] 15 □ Brake ON delay time In case the motor has an inner brake, this parameter sets the time it takes for braking Set the value higher than actual time it takes for braking Setting range : ~ 1000 [x 10msec] 16 □ ~ □ 17 Reserved 18 □ Positioning complete range At position control, this parameter sets the positioning completion range If the deviation between the targeted position and the current position is within the setting range, the VPF terminal (no 16 of the CN1 connector) will be turned ON The numerical value unit means the encoder pulse and it is 8192 pulse per rotation of the motor Setting range : ~ 9999[Pulse] 19 □ Remaining pulse allowable range In position control, in each position control loop the difference between position command and position feedback is accumulated If this difference value exceeds the setting value, the position deviation excess alarm will be occurred The numerical value unit means the encoder pulse and presently it is 8192 pulse per rotation Setting range : ~ 6000 [x 100pulse] 20 □ Deceleration time after stop signal This parameter sets the deceleration time from rotation state until the motor stops When the setting value is as default, the motor under 3kW capacity will be stopped as 100 msec deceleration time And the motor more than 3kW will be stopped as 340 msec Setting range : ~ 5000 [msec] 114 DOOSAN TM SERVO OPERATION MANUAL 21 □ S-shaped acceleration/deceleration time constant This parameter sets the time constant to reduce the impact at the time of acceleration or deceleration Total acceleration time : acceleration time(parameter 29) + S-shaped acceleration/deceleration time constant Total deceleration time : deceleration time(parameter 30) + S-shaped acceleration/deceleration time constant Setting range : ~ 100 [msec] 22 □ Positive torque limit This parameter limits the torque output of the positive (+) polarity in areas except of positioning complete range If the value is set at 0%, positive torque will not occur If the value is set too low, hunting may occur when the motor starts or stops Setting range : ~ 300 [%] 23 □ Negative torque limit This parameter limits the torque output of the negative (-) polarity in areas except of positioning complete range If the value is set at 0%, negative torque will not occur If the value is set too low, hunting may occur when the motor starts or stops Setting range : ~ 300 [%] 24 □ Positive torque limit This parameter limits the torque output of the positive (+) polarity in areas within positioning complete range In purpose of applying continuous load with ON state of SVON signal after positioning completion, the overstrain on the equipment or the motor can be avoided by setting a low value Setting range : ~ 300 [%] 25 □ Negative torque limit This parameter limits the torque output of the negative (-) polarity in areas within positioning complete range In purpose of applying continuous load with ON state of SVON signal after positioning completion, the overstrain on the equipment or the motor can be avoided by setting a low value Setting range : ~ 300 [%] 26 □ Speed limit This parameter limits the maximum rotation speed Even when overshooting and such cases occur while accelerating, the rotation speed will be limited within the setting value Setting range : ~ 3000 [rpm] 115 DOOSAN TM SERVO OPERATION MANUAL 27 □ Jog speed at origin setting This parameter sets the motor speed of the internal jog operation And this parameter is different from the step jog speed Setting range : ~ 3000 [rpm] 28 □ Reserved 29 □ Acceleration time This parameter sets the time that takes to get to the setting speed of parameter 47 from speed If the value is set too low, speed overshooting may occur when accelerating Setting range : ~ 9999 [msec], 30 □ Default value : 80 Deceleration time This parameter sets the time that takes to get to speed from the setting speed of parameter 66 If the value is set too low, positioning completion time may be delayed due to hunting when the motor stops Setting range : ~ 9999 [msec], 31 □ ~ □ 32 Reserved 33 □ Initial state display Default value : 100 This parameter sets the initial display mode just after the power is ON Set value 00 01 02 03 04 05 34 □ Initial display contents Motor rotation speed Current POST number Absolute encoder rotation count Absolute encoder-one rotation Effective load factor Maximum load factor Set value 06 07 08 09 10 Initial display contents Accumulated value of remaining pulse Reserved Reserved Alarm display Motor rotation speed ~ □ 44 Automatic setting parameters or maker parameters for management These parameters are maker parameters for management or will be set automatically while setting the machine zero-point Please not set according to user’s purpose It may cause malfunction of the motor 45 □ Servo drive function selection Please set this parameter first before parameter initialization or parameter setting, because this parameter sets the servo drive function as Turret/Magazine or ATC Set value Function Turret/Magazine ATC ※ For normal operation of the servo drive, the drive power must be turned OFF and ON again, after setting parameter 45 116 DOOSAN TM SERVO OPERATION MANUAL 46 □ Speed table selection Select speed table for 20 section : The speed table from the number 47 to 66 can be set up by users : The speed table from the number 47 to 66 will be set up automatically Setting range : ~ 47 □ ~□ 66 Speed parameter of 20 sections These parameters set the motor rotation speed for each section while automatic operation Setting range : 10 ~ 3000 [rpm] 67 □ CLAMP signal The CLAMP signal will be outputted when the ATC is positioned in the setting angle of this parameter Setting range : ~ 360 68 UNCLAMP signal □ The UNCLAMP signal will be outputted when the ATC is positioned in the setting angle of this parameter Setting range : ~ 360 69 □ HEAVY TOOL CLAMP signal In heavy tool applied state, the CLAMP signal will be outputted when the ATC is positioned in the setting angle of this parameter Setting range : ~ 360 70 □ HEAVY TOOL UNCLAMP signal In heavy tool applied state, the UNCLAMP signal will be outputted when the ATC is positioned in the setting angle of this parameter Setting range : ~ 360 71 □ STEP JOG speed At the time of STEP JOG operation, this parameter sets the motor rotation speed Setting range : 10 ~ 200 72 □ Proportion gain of STEP JOG speed The proportion gain of speed loop is the parameter which determines the respond of speed control loop Setting range : ~ 1500 73 □ Reserved 117 DOOSAN TM SERVO OPERATION MANUAL ● Unauthorized copy of this book is prohibited ● The appearance and specification of this equipment can be changed to improve 118 DOOSAN TM SERVO OPERATION MANUAL DOOSAN AC SERVO MOTOR & TM SERIES SERVO DRIVE OPERATION MANUAL http://www.doosaninfracore.com Addr : 601-3, Namsan-Dong, Seongsan-gu, Changwon-si, Gyeongnam, S Korea Machine Tools Service Center Tel : 1600-4522 Fax : 055-281-6181 ※ The contents of this operation manual can be changed as modify of specifications 119