3.4 Interface definitions and wiring of Driver

3.4.1 Wiring of Yaskawa ∑-V Servo-driver

3.4.1.1 System Structure

                                       Figure 3.12 Wiring of Yaskawa ∑-V Servo-driver

3.4.1.2 Typical wiring example of the main circuit

3.4.1.3 Situation of using multiple servo units

The alarm output of each servo unit "ALM" is all connected in series so that the alarm can detect the action from relay "1RY". The output transistor is OFF when the ALM output is in state of alarm. The circuit has a Circuit Breaker "QF" and a noise filter, and they can be used together. It is suggested to choose the proper Circuit Breaker and noise filter that suit for specifications for total power capacity of the multiple servo units (the load condition should be considered).

                                                                Figure 3.15 Wiring example of multiple servo units

Wiring example

3.4.2 Definitions and Wiring of HSHA servo-driver

                                                                                  Figure 3.16 HSHA servo-driver

The recommended models of cables

Servo-driver model

Size of the main circuit cable(min

Size of the control circuit cable

Others

HSHA-025-A

2.5mm2

 0.75 mm2

 

HSHA-050-A

2.5 mm2

 0.75 mm2

 

HSHA-075-A

5 mm2

0.75 mm2

 

Attention:

1.The size of cable means the size of copper core.

2. The size of ground protecting cable: the cable is recommended to use copper cable and have the size of lager or equal to 6 mm2.

3.4.2.2 Wiring of Main circuit and auxiliary power supply

Overview

Wiring of the main circuit

                                                             Figure3.18 Wiring of the main circuit

1. Surge absorption device should be added at both ends of the electromagnetic contactor.

2. Voltage range of the main power supply input: Three-phase AC323V ~ AC418V.

3. Voltage range of the auxiliary power supply input:DC24V±10%

Wiring of motor and braking resistor

                    Figure 3.19 Wiring of motor and braking resistor

1. The motor driving cables should be connected correctly to the driver output U, V, W according to the sequence of the servo motor cable phases, and wrong phase sequence will cause the malfunction of the driver.

2. External braking resistor must be connected, and please connect the correct braking resistor in accordance with the recommended values​​, or it may cause malfunction or damage of the drive.

3. There are no positive or negative poles about the electromagnetic brake (motor brake) control, and the schematic diagram above is just a example for the connection method.

4. It should have at least 30cm space between encoder cables and the motor cables, and between encoder cables and power supply cables.

5. Make sure that the servo driver is well grounded in order to avoid electrical injury.

3.4.2.3 Encoder wiring

Overview

                                              Figure 3.20 Requirements of encoder wiring

1. The length of servo motor cable should be no more than 20m;

2. It should have at least 30cm space between encoder cables and the motor cables, and between encoder cables and power supply cables; do not put them into the same pipeline, and do not band them together.

Servo driver encoder pin arrangement and signal definitions

Pin number

1

2

3

4

5

6

7

8

9

Definition

/QEPA

BAT-

DATA

/CLK

A

B

C

D

R

Pin number

10

11

12

13

14

15

16

17

18

Definition

GND

PTC

Vcc

GND-S

QEPA

BAT+

/DATA

CLK

/A

Pin number

19

20

21

22

23

24

25

 

 

Definition

/B

/C

/D

/R

GND

PTC-

Vcc-S

 

 

Table 3.12 Descriptions of encoder signals definition

Symbol

Pin number

Name

Function

/QEPA

1

SSI data

SSI encoder, data-

QEPA

14

SSI data

SSI encoder, data+

BAT-

2

Negative terminal of Battery

Negative terminal of the encoder backup battery (3.6V battery)

BAT+

15

Positive terminal of Battery

Positive terminal of the encoder backup battery (3.6V battery)

DATA

3

Serial Data

Suitable for Yaskawa encoder, serial data communication, the positive difference.

/DATA

16

Serial Data

Suitable for Yaskawa encoder, serial data communication, the negative difference.

/CLK

4

SSI clock

SSI encoder, clock-

CLK

17

SSI clock

SSI encoder, clock+

A

5

Phase A of Sine and cosine signal

Sine and cosine encoder, Phase A, the positive difference.

/A

18

Phase A of Sine and cosine signal

Sine and cosine encoder, Phase A, the negative difference.

B

6

Phase B of Sine and cosine signal

Sine and cosine encoder, Phase B, the positive difference.

/B

19

Phase B of Sine and cosine signal

Sine and cosine encoder, Phase B, the negative difference.

C

7

Phase C of Sine and cosine signal

Sine and cosine encoder, Phase C, the positive difference.

/C

20

Phase C of Sine and cosine signal

Sine and cosine encoder, Phase C, the negative difference.

D

8

Phase D of Sine and cosine signal

Sine and cosine encoder, Phase D, the positive difference.

/D

21

Phase D of Sine and cosine signal

Sine and cosine encoder, Phase D, the negative difference.

R

9

Phase R of Sine and cosine signal

Sine and cosine encoder, Phase R, the positive difference.

/R

22

Phase R of Sine and cosine signal

Sine and cosine encoder, Phase R, the negative difference.

PTC

11

Temperature detection

Motor built thermistor terminal

(Regardless of terminal sign)

/PTC

24

Temperature detection

Motor built thermistor terminal(Regardless of terminal sign)

GND

10,23

Encoder ground

Ground of encoder power supply

Vcc

12

Encoder power

Encoder power supply.

GND-S

13

Ground electrical level feedback

Feedback of encoder ground level, if there is no feedback from encoder; this pin must be shorted to Pin10 or Pin23.

Vcc-S

25

Power feedback

Power supply voltage feedback of encoder ground,if there is no feedback from encoder; This pin must be shorted to Pin10 or Pin12.

3.4.2.4 Input and output signal wiring

Overview

                                                 Figure 3.21Wiring Requirements of I/O Signal

1. The space between peripheral devices such as controllers and the servo-driver should be no more than

2. It should have at least 30cm space between the control cables and the power cables, and between the control cables and motor cables; do not put them into the same pipeline or band them together.

3. External 24V DC power supply is used for IO, and the capacity should be lager than 250mA.

4. The load on the switch input and output terminals should be NOT lager than 25V or lager than 50mA.

5. It is necessary that parallel freewheeling diode at the both ends of the load, when switch output signal directly drive inductive loads such as relays.

The output signal circuit wiring

                             Figure 3.22 The output signal circuit wiring

1. There are four digital outputs as shown above, and the circuit can be set into structure of open collector output. It can be used to drive relay or optocoupler load, and the loading capacity are as shown in figure.

2. When connected to an inductive load such as relay coil, wheeling diode relay must be installed as shown in figure, or the driver will be damaged.

Wiring of switch value signal input circuit

                                    Figure 3.23 Input signal wiring

Switch value signal input circuit can be set in the way of mechanical switch or the way of open-collector of transistor as shown above.

IO Interface (J2 port) pin arrangement and signal definitions

J2 port

J2 male back connection port

Table 3.13 Pin definitions of J2 port

Pin Number

Definition

Name

Input/Output

1、14

24V Output+

24V

External power supply

5

Enable

SON

Input

6

Positive Limit

CWL

Input

7

Negative limit

CCWL

Input

8

Zero set switch

HOME

Input

9、22

GND

GND

External power ground

10

Undefined

 

 

11

Undefined

 

 

12

Servo is in normal state

SRDY+

Output

13

Alarm

ALM+

Output

18

The serial Burn-process

SCI-PG

Input

19

Startup Mode

Pi-Pe

Input

20

Speed setting select(M)

SPD1

Input

21

Speed setting select(L)

SPD0

Input

23

Servo is in normal state

SRDY-

Output

24

Undefined

 

 

25

Alarm

ALM-

Output

26

Undefined

 

 

3.4.2.5 Electromagnetic brake wiring

Pin Number

1

2

3

4

5

6

7

8

Definition

24V

GND

NC

BZF

BZZ

NC

KTY

KTY-

3.4.2.6 Example of standard wiring

                                                         Figure 3.24 HSHA Servo-driver wiring

Before switching on the power, make sure the following is checked:

1、Wiring

1)Servo-driver power (R, S, T) must be correctly connected;

2)Output phases of Servo-driver (U, V, W) must match the servo motor cables phases;

3)There is no shorting connection between output of Servo-driver (U, V, W)and the input power (R, S, T);

4)All wirings must meet the standards of wiring shown in chapter 5.1.1;

5)Make sure the enable terminal (SON) of external servo is set to state OFF;

6)Servo-drivers and servo motor must be well grounded;

7)Voltage applied to J2 port can not exceed DC24V;

8)Stress that applied to the cables should be within the specified range.

2、Environment

There are no wires, metal chips and the other things that could cause the signal lines and power lines shorted in the environment.

3、The mechanical part

Do not let the motor running under the condition of negative load. The so-called negative load is that the torque direction of the motor output is opposite to the running direction of the motor.

Checking all above are correct before the power is switched on.

Attention

Do not have direct contact with electrical lines terminals, after the main circuit power supply is turned on, even when the servo is not turned on, because it may cause electric shock.

3.4.2.7 Wiring example of HSHA Driver

Figure 3.25 Wiring example of HSHA Driver

3.4.3 CTB Spindle driver

3.4.3.1 Overview

Figure 3.26 Wiring of CTB Spindle

Note:In practical application, the analog signal and the I/O input and output signals that connected to the CNC are in one cable and they are connected in the same port.

3.4.3.2 Connections of the main circuit ports

                                                                         Figure 3.27 The main circuit ports

Table 3.14 Descriptions and Functions of The main circuit ports

Name

Functions

Attentions

R S T

Three-phase AC input terminal 380~440V 50/60Hz

Protective circuit breaker is needed.

P P1

Positive electrode of DC power

P and N are used for connecting external Brake unit or DC power input

P2

DC reactor terminal

P1 and P2 are used for connecting external DC reactor

PB

Braking resistor terminal

P,P2 and PB are used for connecting external Braking resistor

N

Negative electrode of DC power

N and P are used for connecting external Brake unit or DC power input

U V W

Driver output terminal

Be consistent with the phase sequence of motor when wiring

E

Ground terminal

Grounding in mode C, and Grounding resistor value≤4Ω

                                                Figure 3.28 Wiring example of the input side of the main circuit

3.4.3.3 Related introduction of the Interfaces

GS driver is connected to the system by using high density plug, and the system analog signals, the output I / O interface singals and the encoder feedback command are combined together.

Example of the signal cable connection

Description of the signal function

TYPE

PIN Number

Functions

 

 

 

 

 

 

 

Control signal input

1

I1

Operation signal. ON: the motor is running, the speed and direction are under -10V ~ 10V analog control; OFF: The motor does not turn. If the signal is changed from ON to OFF when motor speed is not 0, the motor stops at the normal acceleration.

2

I2

Zero speed servo function. ON: Motor is at zero speed and locked.

3

I3

Exact stop. ON: begin and remain at this state; OFF: exact stop cancelled.

4

I4

Reserved

5

I5

External fault emergency stop. ON: motor is stopped at the maximum acceleration, Stop power supply when the motor is stop.

6

I6

Spindle swing signal. ON: motor swings at the setting torque and frequency.

7

ST

Enable Control.

8

RST

Pulse input is greater than 100ms, reset the driver.

Power Input

9

SV

External input power +24 V

Analog Input

16

FV

-10V ~ +10 V analog input, the input impedance: 20KΩ

15

SC

Analog input and digital input common interface

Control signal output

21

M0A

Reserved, Relay type Output.

14

M1A

Driver ready output, relay type output.

18

M2A

Exact stop (in place) output, relay type output.

17

M3A

Driver fault output, relay type output.

19

MC

Relay output common interface

Encoder Output

22

OA+

A phase of Encoder output.

23

OA-

25

OB+

B phase of Encoder output.

20

OB-

24

OZ+

Z phase of Encoder output.

26

OZ-

Wiring example

3.4.4 TDE Spindle driver

                                                           Figure 3.29 TDE Spindle driver

Wiring example

Attention:

All the informations in this manual about CTB, Yaskawa, TDE are extracted from the corresponding product manuals, these informations are for reference only. For more information, please consult the relevant product manuals.

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