Doosan Vision DVSD-TA Series Manuale utente

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RD4TT017OMS08C101

DOOSAN AC SERVO

MOTOR / DRIVE

Vision

DVSD - TT, TA Series

Model : 0.8KW / 1.5 KW / 2.0KW / 4.0KW

Operation Manual

- Contents -

IMPORT NT

COMMON P RT

1.

Specifications and Structure

·····························································································

1

1.1.

Formal type designation

····································································································

1

1.2.

Specifications for Servo Motor

·······················································································

2

1.3. Characteristics Figure

··········································································································

2

1.4.

Specifications for Servo Drive

·························································································

3

1.5.

Coupling of the Servo Motor / Drive

···········································································

4

1.6.

Inner structure of Servo Drive

························································································

4

1.7.

Direction of the servo motor rotation

··········································································

5

2.

Dimensions of the servo motor / drive

····································································

6

2.1.

Dimensions of the servo motor

······················································································

6

2.2.

Dimensions of the servo drive

·······················································································

9

TT P RT(TURRET & M G ZINE)

1.

Installation and wiring

··········································································································

10

1.1.

Designations

·························································································································

10

1.2.

Environmental conditions

································································································

11

1.3.

Installation procedure

·······································································································

11

1.4.

Wiring

······································································································································

13

1.5.

Noise treatment

···················································································································

13

1.6.

Outside circuit connection (Sample)

···········································································

14

1.7.

Layout of driver connector terminal

···········································································

17

1.8.

Input signal for connector CN1 and its significance

···········································

18

1.9.

Output signal for connector CN2 and its significance

········································

19

1.10.

Structure of driver I/O circuit

······················································································

20

2.

Operation

········································································································································

21

2.1.

utomatic operation

··········································································································

21

2.2.

Usage of Jog and brake signal

····················································································

22

2.3.

Machine Home setting method

·····················································································

23

2.4. How to change offset value by outside signal optionally

········································

25

2.5. How to operate servo driver in JOG mode by outside signal

·······························

27

2.6. How to set machine home of servo driver by outside signal

······························

29

3.

Display / Setting switches

································································································

31

3.1.

Functions

·····························································································································

31

3.2.

Operating the display setting switches and display flowchart

·······················

32

3.3.

Status display

······················································································································

34

3.4.

On/Off Display (Diagnosis display)

·············································································

36

3.5.

larm history display

······································································································

42

3.6.

Setting parameter

···············································································································

44

3.7.

Setting position compensation

······················································································

53

T P RT( TC)

1.

Installation and wiring

··········································································································

55

1.1.

Designations

·························································································································

55

1.2.

Environmental conditions

································································································

56

1.3.

Installation procedure

·······································································································

56

1.4.

Wiring

······································································································································

58

1.5.

Noise treatment

···················································································································

58

1.6.

Outside circuit connection (Sample)

···········································································

59

1.7.

Layout of driver connector terminal

···········································································

60

1.8.

Input signal for connector CN1 and its significance

···········································

61

1.9. Out

put signal for connector CN2 and its significance

········································

62

1.10.

Structure of driver I/O circuit

······················································································

63

2.

Operation

········································································································································

64

2.1.

utomatic operation

··········································································································

64

2.2.

Machine Home setting method

·····················································································

65

3.

Display / Setting switches

································································································

66

3.1.

Functions

·····························································································································

66

3.2.

Operating the display setting switches and display flowchart

·······················

67

3.3.

Status display

······················································································································

69

3.4.

On/Off Display (Diagnosis display)

·············································································

71

3.5.

larm history display

······································································································

77

3.6.

Setting parameter

···············································································································

79

DANGER

DANGER

!

IMPORT NT

Ⅰ

. Definition of Symbols for Warning

1) Warning : This symbol means if not handled properly, there is possible

danger such as electric shock.

2) Caution : This symbol means if not handled properly, there is possible

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 3 (below 100

Ω

) ground circuit, in order to

prevent electric shock or other malfunctions. For PE terminal block, use wire

30mm2thicker 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 30mm2thicker 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 5 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 do 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, do 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) void 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

void 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. lso 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.

DOOSAN SERVO



1

COMMON SUBJECT

1. Specifications and Structure

1.1. Formal type designation

◆

Servo Motor

◆

Servo Driver

DOOSAN SERVO



2

1000 2000 30000

60

(6)

120

(12)

180

(18)

240

(24)

Torque [kg.cm (Nm)]

Speed [rpm]

Continuous Duty Zone

Intermittent Duty Zone

1.2 Specifications for Servo Motor

Items

Specifications

SERVO

MOTOR

Rated output

kWatt

.8

1.5

2.

4.

Rated torque

kgcm

25.98

73. 8

97.44

194.88

Nm

2.55

7.16

9.54

19.11

Continuous

maximum

torque

kgcm

77.95

219.24

292.32

584.64

Nm

7.64

21.49

28.66

57.32

Rated speed

RPM

2

Maximum

speed

RPM

3

Power rate

kW/S

23.64

13.28

42.29

34.78

Rotor Inertia

×1 ￣⁴ kg· ㎡

2.8

39.4

22

1 7

Insulatioin

F Class

Detector

Multi-turn Absolute Encoder

(17bits/1rotation, rotation rate :16bits)

Protection, Cooling method

Totally closed, self cooled

Ambient temperature

～ 4 °C

Ambient humidity

2 ～ 8 %

Mounting structure

Flange type

Insulation resistance

DC 5 V 2 Mohm

Insulation grade

AC 15 V 1분간

Vibration

V15

1.3 Torque-Speed Characteristics of Servo Motor(2.0KW)

※

Refer to Motor Specifications for details

DOOSAN SERVO



3

Specifications

Applied motor capacity

.8KW / 1.5KW / 2. KW

3. KW / 4. KW

Rated current

14A rms

28A rms

Maximum current

4 A peak

8 A peak

Rotation speed

2 rpm / 3 rpm (Rated / Maximum)

Main input voltage

3 phase 2 /22 V +1 % ～ -15%, 5 /6 HZ ±5%

Control period

125

μ

sec

Control method

IPM full wave rectified, transisterized PWM control

Control mode

position, speed, torque control

Control circuit

3 phase Voltage PWM Inverter Driving (IPM)

Full Digital Vector Control (Position detection by Pulse Encoder)

Encoder Spec.

Type

Absolute Encoder

Resolution

17bit (131 72)

I/O Terminal block

Input electric power (R, S, T), Ouput electric power (U, V, W), Ground (E)

Protection

Over voltage, under voltage, over current, over speed,

over load, encoder error and etc.

Functions

Setting Parameter, Diagnosis, Alarm Display, Status Display

Ambient temperature

～ 5

℃

,

Ambient humidity

Below 9 %RH (don't be covered with dew)

Preservation temperature

-2 ～ 85

℃

Altitude

Below 1 m

Vibrations

Below .5G

Mounting

Rack Mount

1.4 Specifications for Servo Driver

DOOSAN SERVO



4

1.5 Coupling of the Servo Motor / Drive

1.6 Inner structure of Servo Drive

PWM

Generator A/D

Pulse Counter

( Position,

Speed )

D/A

Monitor

DSP

&

MEMORY

IPM INVERTERAC/DC

Gate

Signal

Servo

Motor

3 Phase

200/230 V

AC

DISPLAY

&

SWITCH

Position/

Sequence

Input

Position/

Sequence

Outpt

NC (PLC Parts)

DOOSAN SERVO



5

1.7 Direction of the servo motor rotation

▶

 

Caution : The encoder of the servo motor is made of glass.

Take precautions in order to avoid damages to the encoder shaft of the servo motor.

▶

 

Caution : Make sure the rotation of the servo motor is turning in the right direction.

◆

The correct direction of the rotation is shown in the following picture.

Forward running (CCW)