LICHUAN LCDA-608S Manuale utente

Shenzhen Xin Lichuan Electric Co., LTD

Contact person: Annie Cheng

Sales manamger

Email: annie@xlichuan.com

Address:Floor 5th, building 9, Jiuxiangling industrial Zoon, xili Town, Nanshan

district, Shenzhen city, guangdong province, China

LCDA-608S

Digital DC Servo

Instruction Manual

LDCA608S Digital DC Servo Instruction Manual LDCA608S Digital DC Servo Instruction Manual

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Table of Contents

一、Installation .........................................................................................................2

1、Electrical index .............................................................................................. 2

2、Environmental indicators ............................................................................2

3、Installation dimension drawing ................................................................. 2

二、Wiring ..................................................................................................................3

1、Driver terminal description .........................................................................3

2、Control port wiring ........................................................................................4

3、Control signal timing diagram ................................................................... 5

三、Parameter settings ..........................................................................................5

1、Introduction to the debug panel ................................................................5

2、Data monitoring ............................................................................................. 6

3、Operating procedures .................................................................................. 7

4、Specific parameter description ................................................................. 8

一、Installation

1、Electrical index

·Voltage input range：DC : 36V~50V

·Maximum output current: 30A

· Pulse form: pulse + direction, CW / CCW

· Logic input current: 10 ~ 20mA

· Impulse response frequency: 0 ~ 200kHz

· Insulation resistance: 500M

2、Environmental indicators

· Storage temperature: -20 ℃ ～ 80 ℃

· Operating temperature: 0 ℃ ～ 55 ℃

· Humidity: 90% RH (non-condensing)

· Vibration frequency: less than 0.5G (4.9m / s 2) 10Hz ～60Hz

(not continuous operation)

3、Installation dimension drawing（mm）

P1 Driver installation dimensions

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二、Wiring

1、Driver terminal description

1）Definition of power terminals

No.

Symbol

Function definition

DC+

DC power supply terminal (36-50VDC)

400W recommended 48V

GND

External braking resistor

Motor power line terminal

See the label on the motor for the

wiring color

none

2）Driver control terminal definition (26 pin DB plug)

Terminal welding surface

Symbol

Definition

Symbol

Definition

PUL-

Pulse input negative

ALM-

Alarm output negative

PUL+

Pulse input positive

+5V

5V power output

DIR-

Direction input

negative

GND

Internal power ground

DIR+

Direction input positive

EA+

A phase differential

pulse feedback output

ENA+

Enable input positive

EA-

ENA-

Enable input negative

EB+

B-phase differential

C-pulse feedback

output

Pend+

Positioning completion

output is positive

EB-

Pend-

Positioning completion

output is negative

EZ+

Z-phase differential

pulse feedback output

ALM+

Alarm output is

positive

EZ-

3）Communication port pin definition (RJ45 network port)

Definition

GND

TXD

Communication line with computer

PC terminal

(9-pin female)

Drive end

(network port)

2（RXD）

5（TXD）

3（TXD）

7（RXD）

5（GND）

3（GND）

4）Definition of driver encoder terminals (15-pin DB plug)

Symbol

Color

Definition

EA+

yellow

Encoder A signal is positive

EB+

green

Encoder B signal is positive

GND

black

Encoder power ground

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EZ+

Brown

Encoder Z signal is positive

HW+

White

Encoder W signal is positive

HU+

gray

Encoder U signal is positive

HV+

Orange

Encoder V signal is positive

EZ-

Brown

black

Encoder Z signal negative

EA-

Yellow

black

Encoder A signal negative

EB-

Green

black

Encoder B signal negative

VCC

red

Encoder + 5V input

2、Control port wiring

P2 Common anode connection P3 Common cathode connection

P4 Differential signal input and output signal connection

Note: 1) When the control signal voltage VCC = 24V, the current limiting resistor

R = 1.5K;

2) When the control signal voltage VCC = 5V, the current limiting resistor

R = 0;

3、Control signal timing diagram

P5 Control signal timing diagram

Controller

Driver

Controller

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P6 Motor brake signaltiming diagram

Note: t1: Delay brake opening time

t2: Delay brake closing time

三、Parameter settings

This series of drivers can be set directly through the keypad of the driver. The

debugging panel and debugging steps are as follows：

1、Introduction to the debug panel

Key

Key Description

Input bit (blinking) shift left

Switch sub menus, increase values

Switch sub-menus, decrease values

Enter submenu, confirm input

Switchable between modes

2、Data monitoring

LED display

Description

The current position error is converted to the number

of code disk lines

Current speed feedback (rpm)

Current speed reference (rpm)

Number of pulses after 4 times the frequency of the

current position feedback code disc, calculated from

power-on initialization

Given the original number of pulses at the current

position, it is calculated from power-on initialization

Current current peak (mA)

Displays the current fault value.

3、Operating procedures

Power On

Display

Data monitoring mode

Display monitoring value

Parameter setting mode

Display

parameter

values

Modify

parameter

values

Accessibility mode

Parameter write in

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Restore factory settings：Press key change to“AF_Ini”，then press

key，display“InI -”，then press key，the setting is down when the

screen display “Finish”

Clear alarm log：Press key change to“AF_CLr”，then press key，

display “CLr -”，then press key，

the setting is down when the screen display

“Finish”。

Parameter write in：Press 键key change to “EE_SEt”，then press

key，display“EEP -”，then long press key for 5 seconds，the setting is

down when the screen display “Finish”。

4、Specific parameter description

Serial

number

Parameter name

Parameter

range

Defaults

Description

PA_000

Electronic gear molecule

1～32767

PA_001

Electronic Gear

Denominator

1～32767

PA_002

Input pulse filter cutoff

frequency

1～500

PA_003

Speed sampling filter

cutoff frequency

100～2000

800

PA_004

Current loop filter cutoff

frequency

350～2500

1100

PA_005

Single and double pulse

selection

0～1

0:PUL+DIR

1:CCW/CW

PA_006

Pulse active edge

selection

0～1

PA_007

Positive direction level

selection

0～1

PA_008

Control mode selection

1～3

1: external pulse

2: internal position

3: internal speed

PA_009

Current loop scale factor

200～32767

PA_010

Current loop integration

coefficient

0～32767

PA_011

Speed loop high-speed

proportionality factor

100～32767

3200

PA_012

Speed loop low speed

proportionality factor

100～32767

2900

PA_013

Speed loop integration

coefficient

0～32767

400

PA_014

Position loop high-speed

proportionality factor

10～32767

2700

PA_015

Position loop low speed

proportionality factor

10～32767

2200

PA_016

Speed feedforward

coefficient

0～1000

400

PA_017

Acceleration

feed-forward coefficient

0～32767

PA_018

Gravity compensation

coefficient

20～180

100

PA_019

Friction compensation

method

0～1

PA_020

Friction compensation

coefficient

20～180

100

PA_021

Peak current limit

100～19456

18432

PA_022

Continuous output current

35～8687

8687

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limit

PA_023

Maximum speed limit

1～100

100

PA_024

Number of motor pole

pairs(Do not change it)

2～30

PA_025

Yard line

1000～32768

1024

PA_026

Motor selection

(Divided into 4 pairs of

poles and 5 pairs of poles

motors)

1～100

12:200W(4 pairs)

13:400W(4 pairs)

14:200W(5 pairs)

15:400W(5 pairs)

PA_027

Manufacturer parameters

0～32767

PA_028

First notch point frequency

500～5000

5000

PA_029

First notch point depth

0～20

PA_030

Second notch point

frequency

500～5000

5000

PA_031

Second notch point depth

0～20

PA_032

Number of command

loops for the first segment

0～32767

PA_033

Low position of the first

position instruction

0～32767

PA_034

First speed

7000～13000

10600

PA_035

First period plus time

1～200

100

PA_036

Number of second

position command cycles

0～32767

PA_037

Low position of second

position instruction

0～32767

PA_038

Second speed

7000～13000

9400

PA_039

Second period plus time

1～200

100

PA_040

3rd position command

circle

0～32767

PA_041

The third position

instruction low

0～32767

PA_042

Third speed

7000～13000

11200

PA_043

Third period plus time

1～200

100

PA_044

The fourth stage position

command

0～32767

PA_045

Low position of fourth

position command

0～32767

PA_046

Fourth speed

7000～13000

8800

PA_047

Fourth period plus time

1～200

100

PA_048

Position tracking error

limit

0～32767

10000

PA_049

In-place output error limit

0～32767

四、Alarm processing

Alarm

code

Fault

description

Troubleshooting

ER_001

Overcurrent

alarm

1. Motor line power line short circuit or motor failure;

2. The current loop parameter of the driver is too large;

3. If there is no error in the above two check points, it

may be an internal failure of the driver, which needs to be

returned to the factory for testing.

ER_002

Over-voltage

alarm

1. The power supply voltage is too high or the voltage is

unstable. Check whether the transformer output voltage

is normal;

2. The internal fault of the driver needs to be returned to

the factory for testing.

ER_003

ER_010

Encoder

failure

1. The encoder cable is disconnected or has poor contact.

2. The drive encoder input circuit is damaged.

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ER_004

Overload

alarm

The motor is stalled or the load is too large.

ER_005

Phase

sequence error

1. The phase sequence of the motor line is wrong.

2. The encoder wire phase sequence is wrong or the

encoder is damaged.

ER_007

Excessive

position

deviation

1. The phase sequence of the motor power line is

reversed. Check the line sequence according to the

label on the motor.

2. Looseness, poor contact, or breakage of the motor

power line or encoder line will cause this failure. If

there is a spare cable, try the cable;

ER_008

Brake failure

1. The brake current of the driver is too large.

2. The brake circuit of the driver is damaged.

Appendix: DC servo motor parameters

400WDC servo motor parameter

Project

Parameter

Unit

Rated output power

400

Rated voltage

VDC

Rated speed

3000

rpm

Peak speed

3200

rpm

Rated torque

1.27

N.M

Peak torque

2.54

N.M

Rated current

11+/-10%

Ams

Peak current

22+/-10%

Ams

Torque coefficient

0.12+/-10%

N.m/Ams

Back EMF Constant

7.0+/-10%

V/KRPM

Line-to-line resistance

0.27+/-10%

Line-to-line

inductance

0.56+/-20%

Moment of inertia

0.58+/-10%

Kg.m2*10-4

Number of pole pairs

pairs of poles

Encoder

2500PPR

Incremental

Motor protection level

IP54

Brake holding torque

N.m

Brake holding voltage

No.

Insulation class

F class

Insulation resistor

>200mΩ

DC500V

Turn around

Seen from the motor shaft extension

end, it rotates counterclockwise

(CCW)

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