LiCHUAN LCDA-608S Digital DC Servo Instruction Manual
- June 9, 2024
- LiCHUAN
Table of Contents
LiCHUAN LCDA-608S Digital DC Servo
Installation
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
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)
Installation dimension drawing（mm）
P1 Driver installation dimensions
Wiring
Driver terminal description
Definition of power terminals
| No. | Symbol | Function definition |
|---|---|---|
| 1 | DC+ | DC power supply terminal (36-50VDC) 400W recommended 48V |
| 2 | GND | |
| 3 | BR | External braking resistor |
| 4 | U | Motor power line terminal See the label on the motor for the wiring |
color
5| V
6| W
7| none
Driver control terminal definition (26 pin DB plug)
Terminal welding surface
| Pin | Symbol | Definition | Pin | Symbol | Definition |
|---|---|---|---|---|---|
| 1 | PUL- | Pulse input negative | 18 | ALM- | Alarm output negative |
| 2 | PUL+ | Pulse input positive | 10 | +5V | 5V power output |
| 3 | DIR- | Direction input negative | 26 | GND | Internal power ground |
| 4 | DIR+ | Direction input positive | 20 | EA+ | A phase differential pulse |
feedback output
5| ENA+| Enable input positive| 21| EA-
6| ENA-| Enable input negative| 22| EB+| B-phase differential
7
|
Pend+
| Positioning completion output is positive|
23
|
EB-
| C-pulse feedback output
8| Pend-| Positioning completion output is negative| 24| EZ+| Z-phase
differential pulse feedback output
9| ALM+| Alarm output is positive| 25| EZ-|
Communication port pin definition (RJ45 network port)
| Pin | Definition |
|---|---|
| 3 | GND |
| 5 | TXD |
| 7 | 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） |
Definition of driver encoder terminals (15-pin DBplug)
| Pin | Symbol | Color | Definition |
|---|---|---|---|
| 1 | EA+ | yellow | Encoder A signal is positive |
| 2 | EB+ | green | Encoder B signal is positive |
| 3 | GND | black | Encoder power ground |
| 4 | EZ+ | Brown | Encoder Z signal is positive |
| 6 | HW+ | White | Encoder W signal is positive |
| 7 | HU+ | gray | Encoder U signal is positive |
| 8 | HV+ | Orange | Encoder V signal is positive |
| 10 | EZ- | Brown black | Encoder Z signal negative |
| 11 | EA- | Yellow black | Encoder A signal negative |
| 12 | EB- | Green black | Encoder B signal negative |
| 13 | VCC | red | Encoder + 5V input |
Control port wiring
P4 Differential signal input and output signal connection
Note:
- When the control signal voltage VCC = 24V, the current limiting resistor R = 1.5K;
- When the control signal voltage VCC = 5V, the current limiting resistor R = 0;
Control signal timing diagram
P6 Motor brake signaltiming diagram
Note:
- Delay brake opening time
- Delay brake closing time
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：
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 |
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.
Operating procedures
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 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”。
Specific parameter description
Serial number| Parameter name| Parameter range|
Defaults| Description
---|---|---|---|---
PA_000| Electronic gear molecule| 1～32767| 1|
PA_001| Electronic Gear Denominator| 1～32767| 1|
PA_002| Input pulse filter cutoff frequency| 1～500| ****
70
|
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| 0:PUL+DIR
1:CCW/CW
PA_006
| Pulse active edge selection| 0～1|
0
|
PA_007| Positive direction level selection| 0～1| 0|
PA_008| Control mode selection| 1～3| 1|
- external pulse
- internal position
- 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| 0|
PA_018| Gravity compensation coefficient| 20～180| 100|
PA_019| Friction compensation method| 0～1| 0|
PA_020| Friction compensation coefficient| 20～180| 100|
PA_021| Peak current limit| 100～19456| 18432|
PA_022| Continuous output current limit| 35～8687| 8687|
PA_023| Maximum speed limit| 1～100| 100|
---|---|---|---|---
PA_024
| Number of motor pole pairs(Do not change it)| 2～30| ****
4
|
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
| ****
13
| 12:200W(4 pairs) 13:400W(4 pairs) 14:200W(5 pairs)
15:400W(5 pairs)
PA_027| Manufacturer parameters| 0～32767| 40|
PA_028| First notch point frequency| 500～5000| 5000|
PA_029| First notch point depth| 0～20| 8|
PA_030
| Second notch point frequency| 500～5000| ****
5000
|
PA_031| Second notch point depth| 0～20| 8|
PA_032| Number of command loops for the first segment| 0～32767| 50|
PA_033| Low position of the first position instruction| 0～32767| 0|
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| ****
50
|
PA_037
| Low position of second position instruction| 0～32767| ****
0
|
PA_038| Second speed| 7000～13000| 9400|
PA_039| Second period plus time| 1～200| 100|
PA_040| 3rd position command circle| 0～32767| 50|
PA_041| The third position
instruction low
| 0～32767| 0|
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| 50|
PA_045| Low position of fourth
position command
| 0～32767| 0|
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| 4|
Alarm processing
| Alarm code | Fault description | Troubleshooting |
|---|---|---|
| ER_001 | Overcurrent alarm |
- Motor line power line short circuit or motor failure;
- The current loop parameter of the driver is too large;
- 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|
- The power supply voltage is too high or the voltage is unstable. Check whether the transformer output voltage is normal;
- The internal fault of the driver needs to be returned to the factory for testing.
ER_003 ER_010| Encoder failure|
- The encoder cable is disconnected or has poor contact.
- The drive encoder input circuit is damaged.
ER_004| Overload alarm| The motor is stalled or the load is too large.
ER_005| Phase sequence error|
- The phase sequence of the motor line is wrong.
- The encoder wire phase sequence is wrong or the encoder is damaged.
ER_007| Excessive position deviation|
- The phase sequence of the motor power line is reversed. Check the line sequence according to the label on the motor.
- 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|
- The brake current of the driver is too large.
- The brake circuit of the driver is damaged.
Appendix: DC servo motor parameters
400WDC servo motor parameter
| Project | Parameter | Unit | |
|---|---|---|---|
| Rated output power | 400 | W | |
| Rated voltage | 48 | 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% | Ω | |
| Line-to-line inductance | 0.56+/-20% | mH | |
| Moment of inertia | 0.58+/-10% | Kg.m2*10-4 | |
| Number of pole pairs | 5 | pairs of poles | |
| Encoder | 2500PPR | Incremental | |
| Motor protection level | IP54 | ||
| Brake holding torque | No | N.m | |
| Brake holding voltage | No. | DC | |
| 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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