LiCHUAN LCDA2260E Digital Hybrid Servo Instruction Manual
- June 9, 2024
- LiCHUAN
Table of Contents
LiCHUAN LCDA2260E Digital Hybrid Servo
Installation
Electrical index
- Voltage input range ：AC : 150V~230V (General connection 220V)
- Maximum output current：6A
- Pulse form: Pulse + direction· ： CW/CCW
- Logic input current · ：10~20mA
- Pulse corresponding frequency · ：0~200kHz
- insulation resistance· ：500MΩ
Environmental indicator
- Storage temperature · ：-20℃～80℃
- Service temperature · ： 0℃～55℃
- Use humidity · ：90%RH (No condensation)
- Vibration frequency less than· ： 0.5G（4.9 m/s 2 ）10Hz～60Hz (Discontinuous operation)
Installation dimension drawing (unit mm)
Connection
Drive terminal description
Power fragment definition
| Serial number | Symbol | Function definit ion |
|---|---|---|
| 1 | R | Main circuit, power supply te rminals, general wiring, AC AC220 V |
| 2 | S | |
| 3 | NC | |
| 4 | BR | The external braking resistor is connected between the BR and the P+ |
| 5 | P+ | |
| 6 | U | Motor power line terminal wirin g color see motor label |
| 7 | V | |
| 8 | W | |
| 9 | PE | Ground |
| 10 | r | Control power terminals, general AC AC220V |
| 11 | s |
Drive control terminal definition (44 pin DB plug)
| Pin | Symbol | Explain | Pin | Symbol | Explain |
|---|---|---|---|---|---|
| 3 | PUL+ | Pulse input positiv e | 8 | ALM- | Alarm output negat ive |
| 4 | PUL- | Pulse input negativ e | 9 | Pend+ | Location completed output positive |
| 5 | DIR+ | Directional input | 10 | Pend- | Location complete output negative |
| 6 | DIR- | Direction input negative | 11 | ENA+ | Enable input positive |
| 7 | ALM+ | Alarm output positive | 12 | ENA- | Enable input negative |
Driver encoder terminal definition (15 pin DB plug)
| Pin | Symbol | Colour | Explain |
|---|---|---|---|
| 1 | EA+ | Black | Encoder A signal positive |
| 2 | EB+ | Yello w | Encoder B signal positiv e |
| 3 | GND | Whit e | Encoder power groun d |
| 11 | EA- | Blue | Encoder A negative signa l |
| 12 | EB- | Gree n | Encoder B negative signa l |
| 13 | VCC | Red | Encoder +5V input |
Control port limit mode
Note: When the control signal voltage is VCC = 24V, the current limiting
resistor R = 3K;
When the control signal voltage is VCC = 5V, the current limiting resistor R =
0;
Sequence diagram of control signals
t1: Brake open delay time
t2: The closing time of the brake delay
Parameter setting
This series of drives allows you to set parameters directly through the button
panel of the drive.
The debug panel and debugging steps are as follows:
Debug panel presentation
| Key mark | Button description |
|---|---|
| The input bit (blinking) is shifted le ft | |
| Toggle submenu, add value | |
| Toggle submenu, reduce numeric value | |
| Enter the submenu and determine the input | |
| Switching between modes |
Data monitoring
| LED display | Explain |
|---|---|
| The current position error is converted to the code line number | |
| Current speed feedback (RPM) | |
| Current speed given (RPM) | |
| The number of pulses after the frequency doubling of the current position |
feedback encoder 4 starts from the initialization of the upper motor
| The number of raw pulses given at the current position starts from
initialization after power up
| Current peak (mA)
| Current fault value. 01: excessive current
02: Overvoltage ；04: The position error is over limit
Operation process
Restore factory settings: Press Key switch to ” A F_Ini”, Then press key, display ” I n I -“, Then Press key , Appear “F i n i S h” , Indicates that the settings are complete. Clear alarm record: Press Key switch to ” A F_C Lr”, Then press key , display ” C L r-“, Then Press key , Appear “F i n i S h” , Indicates that the settings are complete. Parameter write: Press Key switch to” E ES Et” , Then press key , display ” E E p ”, Then Press Key 5 seconds. Appear “F i n i S h” , Indicates that the settings are complete.
Specific parameter description
| Serial number | Name | Default value | Range | Remarks |
|---|---|---|---|---|
| 0 | The number of pulses per revolution of the motor | 4000 | 400-60000 | Pulse / |
turn
1| Number of pulses per revolution of the encoder| 4000| 1000-60000| Pulse /
turn
2| Standby current percentage| 40| 1-100| Percentage of standby current of
motor
3| Percentage of running current| 100| 1-100| Percentage of maximum running
current of motor
4| Input filtering enable| 0| 0-1| 0：Input pulse not filtered
1：Input pulse filtering
5| Input filtering time| 5000| 50-51200| Input pulse filtering time Company us
6| Fault output resistor setting| 0| 0-1| 0：Fault time coupling cutoff
1：Fault time coupled conduction
7| Open closed loop control mode setting| 1| 0-1| 0： Open-loop control
1： Closed-loop control
8| Self-tuning selection| 1| 0-1| 1：Automatic setting of motor current loop
parameters
9| Current loop Kp| 1000| 300-32767| The current loop proportional coefficient
(auto tuning of the effective parameter automatic gain)
10| Current loop Ki| 200| 10-32767| The integral coefficient of the current
loop ( auto tuning is valid and the parameter
is automatically acquired)
11| Manufacturer parameter 0| 512| | Manufactor
12| Position loop Kp| 1300| 300-32767| Coefficient of position loop ratio
13| Position loop Ki| 200| 20-32767| Integral coefficient of position loop
14| Position loop Kd| 200| 20-32767| Differential coefficient of position ring
15| Position loop compensation| 250| 20-32767| Retardation coefficient of
position loop
16| Low velocity vibration resistance coefficient| 0| 0—32767| Low speed
vibration elimination coefficient
17| Position error limit| 4000| 1-65535| Position tracking error alarm
threshold
18| Position integration delay time| 10| 0-10000| ms
19| Enable effective level| 1| 0-1| 0：Optically coupled to enable
1：The optocoupler is not turned on for enabling
20| Non enabled motor status| 0| 0-1| 0：Loose shaft of motor when not allowed
1：Lock shaft of motor without making time
21| Enable clear fault selection| 0| 0-1| 0：No clear fault is allowed
1：Allow
22| Manufacturer parameter 1| 0| 0-1| Manufacturer parameter
23| Manufacturer parameter 2| 0| 0-1| Manufacturer parameter
24| Manufacturer parameter 3| 0| 0-1| Manufacturer parameter
25| Single and double pulse selection| 0| 0-1| 0：Pulse direction control mode
1：Double pulse control mode
26| Pulse effective edge selection| 0| 0-1| 0：Pulse rising edge is valid
1：The pulse falling edge is valid
27| Positive direction level setting| 1| 0-1| 0：Directional level positive logic
1：Reverse direction level logic
28| Input pulse cutoff frequency setting| 0| 0-1| 0：200KHz；1：500KHz
29| Test run acceleration| 200| 1-2000| Rps/s
30| Maximum speed of test run| 100| 1-5000| 0.01rps
31| Trial run distance| 100| 1-65535| 0.01r
32| Test run times| 1| 1-65535| Run times
33| Starting speed of test run| 1| 0-1| 0： Reverse direction start
1： Positive start
34| Test run interval time| 100| 1-65535| The interval between multiple trial
runs Company ：ms
35| Does the trial run go back and forth| 1| 0-1| 0：One-way 1：Return
36| Start and stop test set| 0| 0-1| 1： Startup attempt run