A-TS TECHNOLOGY Pulse Series User manual

1
RT10 Pulse Series AC Servo Drive
User Manual
A-TS TECHNOLOGY CORPORATION LIMITED
www.a-ts.cn

www.a-ts.cn A-TS Technology RT10
2
DECLARATION
Without written permission, reprint or copy is strictly forbidden.
Unauthorized copying, dissemination or use of this document and its
contents is prohibited. Violators will be liable for compensation.
All rights, including the rights granted by patent rights and the registration
rights of application models or designs will be reserved.
The information provided in this publication will be updated regularly, and
any necessary corrections will be implemented in subsequent releases.
Suggestions for improvement are welcome at any time.
Version
Product
Release Date
Note
V-20-01
RT10
20.05.2020
N/A
V-21-01
RT10
19.04.2021
N/A

www.a-ts.cn A-TS Technology RT10
3
Forward
The RT10 series ac servo is provided by A-TS Technology Co., Ltd. in
China.
To have a thorough understanding, please read this manual carefully and
follow all safety precautions before moving, installing, operating and
maintaining the servo.
This manual provides guidance on safety precautions, product
specifications, installation and wiring, keyboard operation, parameter
settings, alarms, trouble-shooting, routine maintenance etc. It doesn’t
include all the security matters or considerations.
Local laws and regulations
All the local laws, regulations, and codes of practice should be obeyed first,
besides the instructions in the manual.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency
with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full
consistency. However, the information in this publication is reviewed
regularly and any necessary corrections are included in subsequent
editions.
Thank you for choosing A-TS.
A-TS, advanced technologies, at your services.

www.a-ts.cn A-TS Technology RT10
4
In this document, the following symbols may appear. The meaning they
represent is as follows.
Symbol
Instructions
DANGER
Attention, please! If there is improper operation, it may
cause serious consequences such as personal safety,
equipment safety or environmental safety.
WARNING
Be careful! If there is improper operation, it may cause
major accident, such as equipment damage or physical
injury.
ATTENTION
If there is misoperation, it may cause bad effects or cannot
be operated normally. Generally speaking, the issues
caused could be solved.
INSTRUCTIONS
It is widely used. It reminds the instructions and prompts.
EXAMPLE
For the better understanding of the users, to show a brief
example
NOTE
It offers small functions and tips unnoticeable that are very
convenient to use.

www.a-ts.cn A-TS Technology RT10
5
Contents
Forward.......................................................................................... 3
Contents......................................................................................... 5
1 Product Information..................................................................... 8
1.1 Product introduction.............................................................. 8
1.2 Naming rule .......................................................................... 8
1.3 Technical specifications ........................................................ 9
1.4 Adapted motor .................................................................... 12
2 Installation and Wiring............................................................... 13
2.1 Installation........................................................................... 13
2.1.1 Installation environment................................................ 13
2.1.2 Products appearance and dimensions.......................... 14
2.2 Wiring and terminals ........................................................... 17
2.2.1 Wiring diagram ............................................................. 17
2.2.2 Strong power terminals................................................. 18
2.2.3 Command terminal X1.................................................. 19
2.2.4 Encoder terminal X2 definition...................................... 23

www.a-ts.cn A-TS Technology RT10
6
2.2.5 USB debugging port X3 definition................................. 25
2.2.6 RS485 communication port X5A/X5B definition............ 26
2.2.7 Wiring of three control mode......................................... 27
3 Display and Keyboard Operation............................................... 30
3.1 Basic operation................................................................... 30
3.2 Menu level one.................................................................... 31
3.3 Menu level two.................................................................... 32
3.3.1 Monitoring..................................................................... 32
3.3.2 Parameter setting (Pa/Fn parameter) ........................... 34
3.3.3 Parameter management............................................... 35
4 Running..................................................................................... 37
4.1 Set motor type..................................................................... 37
4.2 JOG trial running................................................................. 39
4.3 Position control ................................................................... 40
4.3.1 Position control simple example ................................... 40
4.3.2 Position command........................................................ 40
4.3.3 Electronic gear setting.................................................. 42

www.a-ts.cn A-TS Technology RT10
7
4.4 Speed control...................................................................... 43
4.5 Inertia identification............................................................. 44
4.6 Automatic gain adjustment.................................................. 45
5 Parameters................................................................................ 47
5.1 Parameter list...................................................................... 47
5.1.1 PA parameters.............................................................. 47
5.1.2 Fn parameters.............................................................. 57
6 Fault Alarm................................................................................ 64
6.1 Alarm code list .................................................................... 64
The End..................................................................................... 67

www.a-ts.cn A-TS Technology RT10
8
1 Product Information
1.1 Product introduction
RT10 series servo is all digital ac servo drive, with high reliability,
performance and cost effectiveness.
Low voltage servo, working at single phase/three phase 220V AC,
with low voltage motor
Supports position control, speed control and torque control mode
Supports incremental encoder, ABZ incremental encoder, and
absolute encoder including Tamagawa, BISS, EnDat and Nikon
Support RS485 communication, standard Modbus protocol
Supports internal speed mode and demonstration running mode
1.2 Naming rule
Code Series
PB
PA
Pulse base type
Pulse higher type
Code Power voltage
L
H
Low voltage, single/
three-phase 220V
High voltage,
three-phase 380V
Code Increm
ental
E00
E01
E02
E03
ABZ
increm
ental BISS Tamag
awa Endat
Absolute Encoder type
●●×× ×
●××
●
××
×
×
×
×●
RT10 –PA 015 L –E00 –
Series Power level Encoder type
Voltage
RT10 series ac
servo drive OEM code
Max current
4.2A
12.0A
19.8A
39.6A
Code
005
015
030
050
6.6A010
××
Nikon
E04 ×
×
×
×●
×
×
×
×
×
● ●
Figure 1-1 RT10 seriesAC servo drive naming rule
INSTRUCTIONS

www.a-ts.cn A-TS Technology RT10
9
●Support this feature.
× Don’t support this feature.
1.3 Technical specifications
Table 1-1 RT10 series pulse series technical specification
Model
RT10 series ac servo drive
RT10-PA□□□L-E02
005
010
015
030
050
Power supply
Single/three-phase
AC220V, -15% - +10%,
50/60Hz
Three-phase
AC220V, -15% -
+10%, 50/60Hz
Rated current (rmsA)
1.6
2.8
5.5
11.6
21.0
Maximum current
(rmsA)
4.2
6.6
12.0
19.8
39.6
Peak current (o-pA)
5.9
9.3
16.9
28.0
56.0
Environ
ment
Temperature
Working 0 - 45℃(If the temperature is too
high, please make sure the surrounding air to
flow)
Storage -20℃- 65℃
Humidity
Working 40% - 80% (No condensation)
Storage Less than 93% ( No condensation)
Protection grade
IP20
Control method
PWM sine wave vector control
Regenerative braking
External
Optional, built-in or external

www.a-ts.cn A-TS Technology RT10
10
Feedback
ABZ incremental encoder, Standard
incremental encoder, and Absolute encoder
Control mode
Position / Speed / Torque
Control input
Up to 11 input terminals (optoelectronic
isolation).
Servo-enable, alarm clearance, CWL, CCWL,
forward torque limitation, reverse torque
limitation, zero speed clamp, internal speed
selection 1, internal speed selection 2, internal
torque selection 1, internal torque selection 2,
emergency stop, control mode switch, gain
switch, electronic gear selection 1, electronic
gear selection 2, position deviation clearance,
pulse input prohibition, origin return (homing)
trigger, origin return (homing) reference point
Control output
Up to 8 output terminals (optoelectronic
isolation).
Servo ready (S-RDY), alarm, zero speed,
positioning complete, speed reached, torque
reached, electromagnetic brake, servo in
operation, location nearby, positioning, torque
limitation, speed limitation, origin regression
complete.
Encoder
signal
output
Signal type
A, B, Z differential output , Z signal open
collector output
Frequency
dividing
ratio
It can be configured with parameter PA78
Position
Input
Low speed pulse command port, differential

www.a-ts.cn A-TS Technology RT10
11
frequency
input ≤500kpps, single-ended input ≤200kpps
High speed pulse command port, differential
input≤4Mpps
Command
mode
Direction + pulse sequence. CW+CCW pulse
sequence.
Two phase A/B orthogonal pulse
Internal position command
Electronic
gear ratio
Numerator, 1 - 32767
Denominator, 1 - 32767
Speed
Analog
command
input
Support -10V - +10V input
Command
ACC/DEC
Parameter setting
Command
source
Internal speed command, analog command
Torque
Analog
command
input
Support -10V - +10V input
Speed
limitation
Parameter setting
Command
source
Internal torque command, analog command
Special function
Origin return(homing), gain switching,
mechanical resonant trap filter
Monitoring function
Rotational speed, current position, positional
deviation, motor torque, motor current,

www.a-ts.cn A-TS Technology RT10
12
command pulse frequency, etc.
Protection function
Over speed, over voltage, over current, over
load, abnormal braking, abnormal encoder,
position exceeding tolerance, etc.
Features
Speed
frequency
response
≥1500Hz
Speed
fluctuation
ratio
≤±0.03% (Load 0 - 100%)
≤±0.02% (Power -15% - +10%)
Speed ratio
1:10000
1.4 Adapted motor
The RT10 series AC servo drive matches the RT series servo motor.
Please refer to the RT series servo motor selection guide, or contact A-TS
Company for service.

www.a-ts.cn A-TS Technology RT10
13
2 Installation and Wiring
2.1 Installation
When installing, operating and maintaining the RT series ac servo drive,
please follow the instructions in the manual.
2.1.1 Installation environment
Working temperature, 0 - 45℃
Working humidity, below 80% RH (no condensation)
Storage temperature, -20℃- 65℃
Storage humidity, below 80% RH (no condensation)
Vibration, below 4.9 m/s2
Install in a well-ventilated place with little humidity and dust
Install in the place without corrosive gas, flammable gas,
pyrophoric gas, oil gas, cutting fluid, cutting powder, or iron
powder etc.
WARNING
When in a vibration environment, to prevent transmitting vibration to the
servo drive, please install the anti-rattle device on the mounting surface
of the servo drive.
When it has to be used in a corrosive gas environment, please try to
keep corrosive gas out of the devices. The corrosive gas will cause the
aging of electronic components and circuit boards.

www.a-ts.cn A-TS Technology RT10
14
2.1.2 Products appearance and dimensions
Figure 2-1 RT10-□□005L Product appearance and dimensions (Unit, mm)
Figure 2-2 RT10-□□010L Product appearance and dimensions (Unit, mm)

www.a-ts.cn A-TS Technology RT10
15
Figure 2-3 RT10-□□015L Product appearance and dimensions (Unit, mm)
Figure 2-4 RT10-□□020L/RT10-□□030L Product appearance and dimensions (Unit,
mm)

www.a-ts.cn A-TS Technology RT10
16
Figure 2-5 RT10-□□050L Product appearance and dimensions (Unit, mm)

www.a-ts.cn A-TS Technology RT10
17
2.2 Wiring and terminals
2.2.1 Wiring diagram
CNC system, PLC or other
upper machine
When it is bus mode, can
be used as system I/O
Debugging
Cable
Cammand Cable
Motor Power Cable
Encoder Cable
Air Circuit Breaker
To protect the power circuit,
make sure to use a proper air
circuit breaker as the
protection device.
Noise Filter
Prevent external Interference,
and reduce the interference by
servo for other devices.
Magnetic Contactor
Turn the power supply on or
off. It works with the coil surge
absorbers.
Strictly prohibit to use the
magnetic contactor to operate
or stop the motor !
Power
cable
Power Supply
three- phase,AC220V
Three-phase
Transformer
AC380V-AC220V
Resistor
The braking resistor is optional.
By default, the B2 and B3 are shorted,
the internal resistor is used. When
the internal resistor is not big
enough, disconnect the B2 and B3,
and connect external resistor
between the B1 and B2.
Bus Interface
IN/OUT
X1
X2
X3
X5A X5B
XB
XA
RT10 AC Servo
A-TS Technology
A-TS Technology
Figure 2-6 RT10-PA/RT10-PB pulse series AC servo drive wiring diagram
INSTRUCTIONS
RT-STP is the Servo Tuning Program. It’s a tuning software provided
by the A-TS Technology. For more details, please contact with us at
www.a-ts.cn.

www.a-ts.cn A-TS Technology RT10
18
2.2.2 Strong power terminals
Table 2-1 RT10 series drive strong power terminals
Terminal
labels
Name
Specifications
L1C
Control power
input terminals
Connect to single phase 220V AC power.
L2C
L1
Main power
supply input
terminals
Connect to single / 3 phase 220V AC
power.
If is single-phase AC 220V, use L1 and
L2.
L2
L3
B1
Braking resistor
terminals
When using internal braking resistor,
short circuit B2 and B3.
When using external braking resistor,
disconnect B2 and B3, and connect the
braking resistor between B1 and B2.
Refer to 5.8 braking resistor setting for
the braking resistor selection and others ,
to prevent damage.
B2
B3
U
Motor power
line terminals
It must be connected with the U , V , W ,
PE terminals of the motor
V

www.a-ts.cn A-TS Technology RT10
19
W
correspondingly. (Note, PE is the terminal
for the metal heat sink on the drive)
PE
INSTRUCTIONS
Only when the drive is connected to single phase ac power, L1C&L1 and
L2C&L2 shall be shorted.
WARNING
So far, the 380V ac power shall not be used, or it will burn the drive out.
2.2.3 Command terminal X1
Pulse sequence command mode
RT10 command terminal X1 includes pulse and direction input pins,
digital input pins, digital output pins, and encoder feedback output pins. In
the pulse sequence command mode, the pins on the terminal X1 are as
shown below.
INSTRUCTIONS
It is recommended to use the original RT10 ac servo drive cable.
The command terminals are MDR/SCSI-50 pins plug. Please

www.a-ts.cn A-TS Technology RT10
20
confirm the pin sequence according to the solder side as the figure
above.
Table 2-2 Command Terminal X1 Definition
Signal name
Pin No.
Signal interpretation
Digital
input
signal
DI-COM
7
The digital input optocoupler common end.
According to the digital input low level or
high level (the active one), the 24V or 0V
external power supply shall be provided.
DI1(SRV-ON)
29
Digital input 1. The default function, servo
enable input
DI2(A-CLR)
31
Digital input 2. The default function, alarm
clearance input
DI3(POT)
9
Digital input 3. The default function,
positive drive inhibiting input
DI4(NOT)
8
Digital input 4. The default function,
reverse drive inhibiting input
DI5(M1-SEL)
30
Digital input 5. The default function, mode
switch 1 input
DI6(M2-SEL)
26
Digital input 6. The default function, mode
switch 2 input
DI7(P-ATL)
27
Digital input 7. The default function,
positive torque limiting input
DI8(N-ATL)
28
Digital input 8. The default function,
negative torque limiting input
DI9
33
Digital input 9