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================================================= DOOSAN AC SERVO MOTOR/DRIVER DASD - RH Series Model : 1.0/2.0/3.5 KW Maintenance manual For the prevention of electric shock ☞ Please make a wire work and inspection more than minute later after power is off, and the next work after checking the voltage by a tester because it may cause the electric shock ☞ Please make sure to ground the servo driver and servo motor ☞ Please make the wire work and inspection by an authorized expert ☞ Please make the wire work after setting up the servo driver and servo motor ☞ Please not touch the switch by wet hand to prevent the electric shock ☞ Please not damage and stress the cable ☞ Please not put the heavy goods on the cable because it may cause the electric shock For the fire prevention ☞ Please install the servo driver and servo motor to the noninflammble materials If you install it to the inflammble materials directly or near the inflammble materials, it may cause the fire ☞ In case the servo driver is broken, please turn off the power from the part of electric shock on the servo driver If the high electric current is flowed continuously, it may cause the fire For the injury prevention ☞ Please permit the correct voltage in the maintenance manual to each terminal only to prevent the breakage, damage and rupture ☞ Please not make a mistake when terminal connection it may cause the breakage and damage ☞ Please make sure the right pole( + , - ) to prevent the breakage and damage ☞ Please not touch the heat sink of servo driver and servo motor when power is on or a few moment after power is off because it is heated Do not touch the parts (cable, etc), it may cause the damage and burn ≪ Caution for safety operation ≫ ♣ Caution before installation ● Please keep the installation direction ● Please not throw down it and make an impact ● Please not install it at the place of water, corrosive gas, inflammble gas and materials ♣ Caution for the wire work ● Please use only AC 200 ~220V for the input power supply of servo driver ● Please connect the ground to the ground terminal ● Please not connect the main power supply to servo motor directly ● Please not connect the main power supply to output terminal U, V, W of servo driver directly ● Please use only the compression terminal with insulated tube when wiring the power terminal of servo driver ● Please wire the cable for power(U, V, W) and encoder cables of servo motor separately ♣ Caution for operation ● Please check and adjust each manu before operation ● Please not touch the shaft of motor rotation when operating motor ● Please not touch the heat sink when operating motor ● Please connect or disconnect the connecter of CN1,CN2 when power is off, ♣ General caution ● The contents of this manual may be changed according to the product modification and the standard change ♣ Caution when the first installation ● Please make sure the power voltage (AC200~220V) and the wire before power is on ● Please apply the first power when the servo is turned off ● First of all, please check the name of motor and the number of encoder pulse before power is on ● And then, set up the operation mode of servo driver by connecting with the upper numerical controller like the menu ● Please wire CN1 connector of servo driver according to each operation mode as referring to the system structure ♣Caution when the maintenance and inspection ● Please turn off l1,l2 of the control power and L1,L2,L3 of the main power, and check the state of power off after enough time passes After that, please the maintenance and inspection It is dangerous because the charged voltage in inner electrolytic condenser is remained ● Please not touch the terminal when power is on because high voltage flows It may cause the electric shock ● Please not repair, inspect, replace the components except for authorized expert and engineer ● Please not alter the products < CONTENTS > IMPORTANT Specifications of TURRET Servo Motor and Driver 1.1 Specifications of TURRET Servo Motor 1.2 Specifications of TURRET Servo Driver 1.3 Torque-Speed Characteristics of Servo Motor Explanation of Driver Structure and connection diagram 2.1 Explanation of CN1 Connector 2.2 Flow chart of CN1 connector terminal 2.3 Flow chart of CN2 connector terminal 2.4 Structure of driver Input/Output circuit 2.5 Connection diagram Operation 3.1 Automatic operation 3.2 Method of machine reset Explanation of each mode display 4.1 Status mode 4.2 Diagnosis mode 4.3 Parameter setting mode 4.4 Parameter list 4.5 Detailed explanation of parameter setting mode for user 4.6 Alarm record mode Maintenance and inspection 5.1 Maintenance and inspection 5.2 Trouble diagnosis and countermeasure IMPORTANT Ⅰ Definition of Symbols for Warning Warning : This symbol means of not handled properly, there is 1) possible danger such as electric shock Caution : This symbol means if not handled properly, there is possible 2) danger of acquiring mild to severe injuries or machine damages 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 30mm 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 driver in order to prevent electric shock To connect the wire, use wire 30mm 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 driver in order to prevent electric shock 8) Use 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 driver for another minutes after the main power is turned off-charged voltage may still remain inside the driver 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) ③ Do not recharge it 11) During emergency shut down, stop the servo motor before shutting down the servo driver (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 driver while the servo motor is in operation or right after the power switch is turned off Take appropriate measures of protection 2) Avoid the following to prevent damages to the servo motor and servo driver 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 driver ④ While doing the resisting pressure test or insulation voltage test, disconnect the terminal of the servo driver terminal block or all the connectors and avoid the test voltage from affecting the servo driver 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 driver 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 driver differently other than stated in this manual Specifications 1.1 Specifications of Turret Servo Motor Items Model DS-RH10ZA-1 DS-RH20ZA-1 DS-RH35ZA-1 1.0 2.0 3.5 kgfㆍcm 48.7 97.4 170.5 Nㆍm 4.7 9.5 16.6 kgfㆍcm 146.1 365.4 511.4 Nㆍm 14.2 37.3 49.8 Rated speed(RPM) 2000 2000 2000 Maximum speed(RPM) 3000 3000 3000 7.33 14.05 35.50 7.48 14.31 34.79 F Class F Class F Class Rated output(KWatt) Rated Torque Instant maximum Torque Rotor inertia GD² /4 gfㆍcmㆍs (kgㆍm² ×10 Insulation grade Detector −4 ) Multi-turn Absolute Encoder (17bits/1rotation) Protection, cooling method Totally closed, self cooled Ambient temperature ~ 40° C Ambient humidity 20 ~ 80 % Mounting structure Flange type Insulation resistance DC 500V 50 MΩ Insulation voltage AC 1500V one minute Vibration grade V15 1.2 Specifications of TURRET Servo Driver Items Model Rated current[Arms] DASD-RH10SPZA DASD-RH20SPZA DASD-RH35SPZB 6.5 12.3 19.8 Main input voltage Triple phase AC 200 ~ 220V, +10/-15%, 50/60Hz Control method IPM full wave rectified, sine wave PWM control Control mode Position, Speed, Torque control Control signal input Servo ON, Start, Stop, Jog, Sensor Position input 7bit pulse reference input Control signal output Alarm, Ready, Inposition, Unclamp Position output 7bit present position output Protection over voltage, under voltage, over current, over speed, over load, encoder error Mounting Dimension[mm] (W x H x D) Rack Mount Type 115 x 230 x 203 140 x 250 x 250 1.3 Torque-Speed Characteristics of Servo Motor DS-RH10ZA-1 DS-RH20ZA-1 DS-RH35ZA-1 Explanation of Driver Structure and connection diagram 2.1 Explanation of CN1 Connector 2.1.1 CN1 Connector Explanation of DASD-RH10SPZA, DASD-RH20SPZA Signal PIN No /SENSOR 21 /SVON 22 Description This signal judges an Unclamp or Clamp This signal makes the motor ready to start operation When this signal is off, the motor remains free According to the fixed value of parameter 3, there are types I/O Input Input of modes - fixed direction signal (fix value of parameter to "0") When the position is moving, the direction of the rotation can be fixed to one direction CCW signal is OFF : Direction of the rotation is automatically set by short distance CCW signal is ON : Direction of the rotation is fixed counterclock wise CW signal is ON : Direction of the rotation is fixed clock wise /JOG+(CCW) 20 /JOG-(CW) 23 CCW, CW is ON : Can not be defined Input - JOG Operation signal (fix value of parameter to "1") Used for manual jog operation signal JOG+ signal is ON : When the signal is on, the motor rotates counter-clock wise and when it is off, the motor stops at the nearest POST JOG- signal is ON : When the signal is on, the motor rotates clock wise, and when it is off, the motor stops at the nearest POST Rotation speed and Accel/Decel time is the same as when it is operated automatically, but ignore it during running by /STOP /SPARE COM1 /START automatic operation When the signal is ON, the motor stops When the motor starts according to input, and runs the rest of the distance This is spare signal COMMON terminal of sequence input signals (When DC 24V is input, the signal turns ON) When this signal is ON while SVON signal is ON, it moves toward the POST of position data input (POSI0~POSI6) of the motor /POSI0, /POSI1, 24, 25, Maintain the time it is ON at minimum 50msec Input POST to 7bit binary code to set the position data input /POSI2, /POSI3, 26, 27, signal /POSI4, /POSI5, 28, 6, Input data more than 10msec before the START signal is ON /POSI6 COM2 (minimum input data is '1'.) COMMON terminal(+24V) of START, POSI0~POSI6 signals Input Input Input Input Input Input However, the added impact for machine increases when the motor starts or stops If the value decreases, the mechanical response will be late, and the position error may increase due to the remaining pulse This is also related to the speed loop proportionality gain Setting range : ~ 2048, Outgoing value : 256 [12] No.11 : Speed loop proportionality gain The speed loop proportionality gain is the parameter that determines the response of speed control loop On the external characteristics, it determines the degree of rigidity If the value of the proportionality gain increases, the rigidity becomes strong Thus, it is good as large as possible, but if it is larger than any degree, it may cause the oscillation and hunting Accordingly, the value will be set as large as possible under stable condition Setting range : ~ 2048, Outgoing value : 250 [13] No.12 : Speed loop integral gain The speed loop integral gain is the compensatory factor that reduces the normal state error, and increases the rigidity If the value of integral gain is increased, the rigidity will get larger, but if it is increased too much, it may cause the oscillation, and the system may become unstable Setting range : ~ 2048, Outgoing value : [14] No.13 : Brake off delay time In case of the brake motor, this is the delay time until SVRDY signal is ON after the brake signal is ON Please set the value higher than the time releasing the actual brake The unit is 50msec Setting range : ~ 40 [x 50msec], Outgoing value : [15] No.14 : Brake off control delay time In case the brake motor, this is the delay time until BRAKE signal is ON after SVON signal is input After this delay, the brake signal turns OFF Setting range : ~ 40 [x 50msec], Outgoing value : [16] No.15 : Brake ON delay time In case the brake motor, this is the delay time until the gate of the power device is OFF after the brake signal turns OFF and the SVON signal turns OFF (Of course SVRDY signal is off as the same time) Please set the value higher than the time operating the actual brake Setting range : ~ 40 [x 50msec], Outcome value : [17] No.16 : Spare parameter [18] No.17 : Spare parameter [19] No.18 : Positioning decision completion range When position control, it is set the positioning decision completion range If the error between the target position and the current position is within the set range, the VPF terminal (Number 16 of CN1 connector) will turn ON Setting range : ~ 9999 [pulse], Outgoing value : 100 [20] No.19 : Remaining pulse allowance When position control, The difference of position command and position feedback per each position control loop is accumulated lf this difference value exceeds the set value, the overload alarm of position deviation will appear Setting range : ~ 6000 [x 100 pulse], Outgoing value : 6000 [21] No.20 : Position loop feed-forward gain This can be enable to have a response characteristic that shortens the position determine time by using the feed-forward control However, if the value is set too high, it may cause the oscillation in the machine Setting range : ~ 100 [%], Outgoing value : [22] No.21 : Feed-forward filter time constant This sets the time constant when the first delay filter is put in the feed-forward position command Setting range : ~ 500 [x 4msec], Outgoing value : [23] No.22 : Positive torque limit This limits the torque output of positive (+) polarity in the areas except the positioning decision completion range If the value is set at 0%, the positive torque will not occur If the value is set too low, the hunting may occur when the motor starts or stops Setting range : ~ 300 [%], Outgoing value : 250 [24] No.23 : Negative torque limit This limits the torque output of negative (-) polarity in the areas except the positioning decision completion range If the value is set at 0%, the negative torque will not occur If the value is set too low, the hunting may occur when the motor starts or stops Setting range : ~ 300 [%], Outgoing value : 250 [25] No.24 : Positive torque limit This limits the torque output of the positive (+) polarity in the areas within the positioning decision completion range After the position decision completes, if the low value is set on the use to provide the invariable load constantly under SVON signal of driver is ON, it can be avoided from the overstrain of the equipment or motor Setting range : ~ 300 [%], Outgoing value : 50 [26] No.25 : Negative torque limit This limits the torque output of the negative (-) polarity in the areas within the positioning decision completion range After the position decision completes, if the low value is set on the use to provide the invariable load constantly under SVON signal of driver is ON, it can be avoided from the overstrain of the equipment or motor Setting range : ~ 300 [%], Outgoing value : 50 [27] No.26 : Speed limit This limits the maximum operation speed Even when overshooting and such cases occur during the accelerating, the speed is limited within the set value Please set the value more than at least 50rpm as compared with parameter 28 (operating speed) Setting range : ~ 3000 [rpm] Outgoing value : 1850 [28] No.27 : Origin (Home) set jog speed This sets the speed of internal jog operation in order to move equipments of turret, magazine and so on to the right position of when the origin (zero-point) set This is discussed separately from the step jog speed Setting range : ~ 1000 [rpm], Outgoing value : 100 [29] No.28 : Operation speed This is the motor speed when automatic operation or when step jog operation Setting range : 10 ~ 3000 [rpm], Outgoing value : 1800 [30] No.29 : Acceleration time This sets the time that takes from zero movement (motor stops) to the fixed speed at parameter 28 If the value is set too low, the speed overshooting may occur when accelerating Setting range : ~ 500 [msec], Outgoing value : 50 [31] No.30 : Deceleration time This sets the time that takes from the fixed speed at parameter 28 to zero movement (motor stops) If the value is set too low, the position decision time may be delayed due to the hunting when the motor stops Setting range : ~ 500 [msec], Outgoing value : 80 [32] No.31 : UNCLAMP delay time Operate UNCLAMP for the transfer when inputs the start signal after SVON is ON and after NCLAMP SENSOR signal is ON, this is the delay time before the actual transfer Setting range : ~ 1000 [msec], Outgoing value : [33] No.32 : CLAMP delay time Operate CLAMP after the transfer and after turning off UNCLAMP SENSOR, this is the delay time before the completion signal is output Setting range : ~ 1000 [4msec], Outgoing value : [34] No.33 : Initial status display selection Please select the initial status display after the main power switch ON Set Initial display content Set Initial display content value 00 Accumulated value of command pulse (lower word) value 06 01 Accumulated value of command pulse (upper word) 07 Absolute encoder rotation 02 Current position (lower word) 08 Absolute encoder-one rotation 03 Current position (upper word) 09 Effective load ratio 04 Accumulated value of remaining pulse 10 Maximum load ratio 05 Current POST number Motor rotation speed Outgoing value : 06 (Motor rotation speed) [35] No.34 ~ No.45 : Automatic setting and parameter managed for the maker management (manufacturer) When setting the machine origin(zero-point), the parameter will be set automatically or it is for manufacturer's management use Please not set it according to then user's purpose It may not be operated normally if setting for user's purpose only 4.6 Alarm record mode It stores the recent alarm records till rotations Press UP or DOWN key for checking the previous alarm records All records of alarm will be cleared by pressing SET key at this mode : alarm record mode : time alarm display (ex in case of overload of time alarm) : times alarm display : times alarm display Maintenance and inspection 5.1 Maintenance & Inspection This chapter explains the servo motor, the maintenance and inspect method of driver, the trouble shooting and countermeasure 5.1.1 Notice ① When checking motor voltage : The wave of pulse shape is displayed as the voltage applied from the servo driver to the motor controls PWM Please use the exact voltmeter for correct measurement because measured value may occur big differences according to the types of meter ② When checking motor current : Please use to connect the ammeter to the motor directly because the pulse wave is smoothed as sine wave by the motor reactance ③ The other devices : please use not to contact the ground when using oscilloscope, digital volt meter Please use the input current less than mA as well 5.1.2 Checkpoint When you check, it is remained the charged voltage in inner smoothing condense, so the inspection after power off and wait about minute because it may be dangerous ① Inspection of servo motor Inspection item Inspection period Inspection and handling Vibration, noise Every month Sense of touch, hearing Remark Not bigger than normal condition According to External demage or appearance Cleanup with cloth or air - contamination Insulating Disconnect with driver, resistance Minimum 1/year measurement measure it by 500V mega If under 10MΩ, call to our if over 10MΩ, this is a service depart normal.(note1) Detach from the machine, and In case the motor with oil replace it seal Change oil seal Minimu 1/5000hr General Minium 1/20000hr or Call to service dept in Do not dismantle and clean inspection 1/5year company servo motor (note1) check between one of the servo motor power line U,V,W and FG ② Inspection of servo driver Please refer to the below inspection of servo driver Daily inspection is not necessary, but check it over 1/year Check part Clean main board and circuit board Loose screw Check time Inspection method Handling when trouble Minimum 1/year Remove dust, oil and etc Clean it with air or cloth Minimum 1/year Tighten connection terminal, connector screw Tighten Trouble of part defects on main board and circuit board Minimum 1/year Check changed color, damage and disconnection by overheat call to company 5.1.3 Period of part replace The parts age because of mechanical friction or as time passes, therefore it is necessary to check the regular inspection and replacement not only preventing the falling-off in quality and trouble but also keeping the prevention conservation ① Smoothing condenser : the characteristics age due to the affects of ripple current Sometimes the life time of condenser is affected by the surrounding temperature and use condition, but in case of continual operation under the condition of normal environment, 10 years are standard The inspection period is minimum per year (less than per year when left short life time) because the condenser aging is fast in a limited period sometimes ※ Check point as external appearance Case condition : the side and bottom of case are expanded Top plate condition : prominent expansion, extreme crack, break Condition of explosion sides : sides expansion, already operation Life time is the time that periodically the standard capacity of condenser is under 85% about the appearance, external crack, break, changed color, leak ② Relay kind : Contact faultiness may occur due to the contact abrasion by the switching current, so the standard life time is 100,000 times( accumulated switching number) because the relay is affected by the power capacity ③ Motor bearing : replaces it on the basis of the standard replace time is 2~30,000 hrs under rated speed, and load The motor bearing is affected by the operating conditions, so replace the motor bearing when abnormal noise or vibration is occurred ④ Battery : replaces it per years under rated speed and load [standard replacement period of parts] Part name Smoothing condenser Relay kind Standard replacement period Replacement method 10 year Switching(ON/OFF) No is 100,000 Replacement (decide after check) Decide after check Fuse 10 year Replacement Electrolytic condenser 10 year Decide after check Cooling fan year Replacement (over KW ) Motor bearing - Motor oil seal 5,000 hrs Replacement Battery year Replacement Decide after change 5.2 Trouble diagnosis and countermeasure Alarm signal example) ALP-UU is displayed on the window of loader display when trouble occurs during the operation In this case, please take the following steps If the trouble is not remedied by these steps, please call to service dept 5.2.1 Servo motor [Trouble reason , check method, handling] Phenomenon Reason Parameter setting error Not operated Check parameter like motor, capacity, Parameter reset (refer to chapter 4) Over load Check rotation condition Re-adjust machine Motor defective Check motor red terminal by tester Screw loosened Check connect part by drive Re-tighten loosed screw Check motor & encoder wiring Re-wire, and change cable Check output wave Change encoder disconnected cable Encoder defective defective connection unstable Check connection of motor lead terminal Low input voltage Check driver input voltage Over load Check machine condition rotation Ambient temp is high Motor point (should be lower than40℃) Check adhesion of residue on contamination motor surface Over load Magnet magnetism decrease Coupling defective noise Check motor ambient temp of setting Motor surface overheat Abnormal Handling encoder pulse value, control mode External wrong wirng, motor Check method Bearing defective normal voltage Repair defective part Change power supply Remove residue from rotator, and lubricating oil supply Change heat sink structure Clean motor surface Check load rate of driver Decrease load, increase Check ac/deceleration cycle ac/deceration time Check electromotive voltage and wave type of voltage Check screw tightness of the coupling & concentricity of joints Check vibration and abnormal noise Parameter setting error (motor/encoder Check parameter related to gain pulse value, gain) Replace motor in case of Replace motor Re-adjust coupling Call to company Refer to parameter setting method of chapter4 5.2.2 Servo drive When the alarm occurs, error signal out contact(ALARM) is turned off, and motor is stopped automatically [Alarm cord and inspection] Main OP panel LED LED display Alarm type Corrective method Lack voltage : occurs when voltage of inner - check the input power is low DC link is under standard value - check the short of motor power cable - check the input power is high Over voltage : occurs when voltage of inner - check the operation frequency is over DC link is over standard value the standard value - check regenerative resistor is damaged - check the temp of heat sink is over 100 Main circuit error : occurs in case of error of inner IPM device degrees - check the operation frequency is over the standard value Encoder I/F module error : occurs when assembly of inner encoder I/F module is not correct Encoder signal error : - check the assembly of encoder I/F module is correct A,B,Z signal error - check the encoder cable is pulled out or among signal of encoder signal line is disconnected Over speed : occurs when the motor speed - check the encoder cable is pulled out or exceeds the maximum rotation count wrong assembly - check the motor power cable is Over load : occurs when the over load disconnected status continues over the standard time - check if the parameter is set correctly CPU error : occurs when the CPU malfunctions or inner board is defective - check the parameter set is correct Parameter error : occurs when the save value of parameter is not within the setting - check the parameter set is correct range Excessive position deviation : occurs a case that the remaining pulse exceeds the fixed - check the value of parameter 18 is set value of parameter 19 when positioning too low control Unclamp solenoid error: occurs when operation of clamp solenoid no - check Unclamp and clamp Encoder battery error : occurs when the backup battery of inner encoder is discharged or pulled out - change the battery 5.2.3 detailed explaination of alarm code (1) ALP - UU : low voltage alarm NO Inspection item Inspection result Handling Under AC 150V Re-check the power Check the power voltage Do investigation and handling of Normal AC 220V investigation article Occurs alarm Re-check power capacity Occurs alarm intermittently when accelerating Occurs alarm when accelerating unconditionally Change the driver unit or PAB (2) ALP - OU : over voltage ; DC bus voltage exceeds over 400V NO Inspection item Secure regular power capacity Inspection result Power capacity lack Power capacity increase Do investigation and handling of No problem investigation article Check the voltage is over Under 170V 170V by tester Over 170V when decelerating motor Voltage difference Power capacity increase Do investigation and handling of investigation article between Check the voltage of line lines is over 10V R-S, S-T, T-R by tester No problem 1) Ground instability Check the wiring, setting circumstance 1) Is the ground right? 2) Easy to occur the alarm when some special machine is operate Handling Balance improvement on the power Do investigation and handling of investigation article Right set of ground Counter-plan execution for machine that makes a noise 2) Is a machine that makes a noise beside the unit? No problem Change the driver unit or PAB the (3) ALP - OH : power module trouble ; In case the trouble occurs in power module used for driver unit 1) operated the over current protect 2) downed the base power voltage 3) overheated NO Inspection item Inspection result Occurs Servo is OFF Inspect the occur area Check the setting value of oparameter NO.23, NO.24 Check the amount of load when transferring Check wiring between drive unit and motor U, V, M Occurs after servo ON No set of normal value Set of normal value Load capacity is over 100% Load capacity is under 100% Handling Replace the driver unit or PAB Do investigation and handling of investigation article Decrease load capacity Do investigation and handling of investigation article Decrease load capacity Do investigation and handling of investigation article 1) loosened Tighten it correctly 2) cut Change the cable 3) grounded Change the cable 1)Check the looseness of screw in terminal 2)Check the shorted wire 3)Check the grounded phase, No problem and open side of cable Do investigation and handling of investigation article when checking 2),3) Check the motor insulation Resistance value is under 1MΩ Replace the motor Measure the line and earth of motor by Mega Resistance value is over 1MΩ Sometimes voltage is under 170V Check the power voltage when ac/decelerating Always over 171V Check the wiring, setting 1) Ground instability circumstance 2) Easy to occur the alarm 1)Is the ground right? when some special machine 2) Is a machine that is operate Do investigation and handling of investigation article Re-check the power voltage Do investigation and handling of investigation article correct ground set Counter-plan execution for the machine that makes a noise makes a noise beside the unit? No problem Change the driver unit or PAB (4) ALP - CA : encoder signal trouble NO Inspection item Result Loosened Shake it by hand and check the Set it correctly detector connector(CN2) is Power off, and check the detector cable connection Do investigation and handling of Normal connected or disconnected Handling investigation article Connection faultiness Change the detector cable Normal connection Change the motor (5) ALP - OS : over speed NO Inspection item Shake it by hand and check Result Loosened the cnnector(CN2) of speed detector is connected or disconnected Normal 1) Ground instability Handling Set it correctly Change the detector cable Do investigation and handling of investigation article Correct ground set Check the wiring, setting circumstance 2) Easy to occur the alarm 1) Is the ground right? when some special machine is 2) Is a machine that makes a operate Counter-plan execution for the machine that makes a noise noise beside the unit? 3) Is the shield of speed/ positioning detector 3) Shield is not set correctly Correct Shield set cable correctly? No problem Change the driver unit or PAB (6) ALP - OL : over load ; due to the current flowed to the motor is the value exceeded the overload detection level, a case that time continues over the overload detection time NO Inspection item Check the setting value of parameter NO.23, NO.24 No set of normal value Set of normal value Handling Decrease load capacity Do investigation and handling of investigation article 1) Loosened Tighten it correctly and motor U, V, M 2) cut Change the cable 1)Check the looseness of screw 3) grounded Change the cable Check wiring between drive unit Result in terminal 2)Check the shorted wire 3)Check the grounded phase, and No problem open side of cable when Do investigation and handling of investigation article checking 2),3) Shake it by hand and check the Loosened cnnector(CN2) of speed detector is connected or disconnected Normal Connection faultiness or Power off, and check the detector disconnection cable connection by tester Normal Set it correctly Do investigation and handling of investigation article Change the detector cable Connect it correctly Do investigation and handling of investigation article Load capacity exceeds motor's Make load capacity within Check the motor load capacity rating No problem Motor is closed check the rotation of motor No problem [Overload characteristic curve of servo motor] motor's rating Do investigation and handling of investigation article Re-chech the machine Change PAB the driver unit or (7) ALP - SE : CPU trouble NO Inspection item Result Handling Always occurs when power on Change the driver unit or PAB Inspect the re-occur Occurs sometimes Check the wiring, setting 1) Ground instability circumstance 2) Easy to occur the alarm 1) Is the ground right? when some special machine 2) Is a machine that makes is operate a noise beside the unit? No problem Do investigation and handling of investigation article Correct ground set Counter-plan execution for the machine that makes a noise Change the driver unit or PAB (8) ALP - PE : parameter trouble NO Inspection item Result Always occurs when power on Change the driver unit or PAB Inspect the re-occur Occurs sometimes check the wiring, setting Handling 1) Ground instability circumstance 2) Easy to occur the alarm 1) Is the ground right? when some special machine is 2) Is a machine that makes operate a noise beside the unit? No problem Do investigation and handling of investigation article Correct ground set Counter-plan execution for the machine that makes a noise Change the driver unit or PAB (9) ALP - rP : speed gap exaggeration ; in case the speed order and current speed gab exceeds the setting value at parameter (NO.18) NO Inspection item Result Abnormal connection Check wiring between driver unit and motor U, V, M Normal connection Normal value is not set Check the setting value of parameter(NO.18) Abnormal value is set Load capacity is over 100% Check load capacity when transferring Load capacity is under 99% Shake it by hand and check Disconnected Handling Correct line wiring Do investigation and handling of investigation article Correct set Do investigation and handling of investigation article Decrease the load capacity Do investigation and handling of investigation article Correct set the cnnector(CN2) of speed detector is connected or Connected Do investigation and handling of disconnected investigation article Power off, and check the speed Connection faultiness or disconnection detector cable connection by Change the detector cable tester Change the driver unit Normal connection Make the correct connection (10) ALP - UC : solenoid trouble NO Inspection item Inspect the occurrence area Result Always occurs Check the clamp sensor when transferring check the solenoid Occurs sometimes Check the setting value of parameter(NO.31,NO.32) Check the wiring of solenoid and sensor Handling Normal value is set Normal value is not set Shorted or grounded Do investigation and handling of investigation article Do investigation and handling of investigation article Adjust the value of parameter (NO.31, NO.32) Change the cable Change the driver unit or PAB No problem change the sensor (11) ALP - En : battery trouble NO Inspection item Result Handling Check the battery voltage Battery voltage is under 3.0V Change the battery ... 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... MΩ Insulation voltage AC 1500V one minute Vibration grade V15 1.2 Specifications of TURRET Servo Driver Items Model Rated current[Arms] DASD- RH1 0SPZA DASD- RH2 0SPZA DASD- RH3 5SPZB 6.5 12.3 19.8... capacity exceeds motor'' s Make load capacity within Check the motor load capacity rating No problem Motor is closed check the rotation of motor No problem [Overload characteristic curve of servo