Doosan Vision DVSD-TA Series User manual

RD4TT017OMS08C101
DOOSAN AC SERVO
MOTOR / DRIVE
Vision
DVSD - TT, TA Series
Model : 0.8KW / 1.5 KW / 2.0KW / 4.0KW
Operation Manual

- Contents -
IMPORT NT
COMMON P RT
1. Specifications and Structure ····························································································· 1
1.1. Formal type designation ···································································································· 1
1.2. Specifications for Servo Motor ······················································································· 2
1.3. Characteristics Figure ·········································································································· 2
1.4. Specifications for Servo Drive ························································································· 3
1.5. Coupling of the Servo Motor / Drive ··········································································· 4
1.6. Inner structure of Servo Drive ························································································ 4
1.7. Direction of the servo motor rotation ·········································································· 5
2. Dimensions of the servo motor / drive ···································································· 6
2.1. Dimensions of the servo motor ······················································································ 6
2.2. Dimensions of the servo drive ······················································································· 9
TT P RT(TURRET & M G ZINE)
1. Installation and wiring ·········································································································· 10
1.1. Designations ························································································································· 10
1.2. Environmental conditions ································································································ 11
1.3. Installation procedure ······································································································· 11
1.4. Wiring ······································································································································ 13
1.5. Noise treatment ··················································································································· 13
1.6. Outside circuit connection (Sample) ··········································································· 14
1.7. Layout of driver connector terminal ··········································································· 17
1.8. Input signal for connector CN1 and its significance ··········································· 18
1.9. Output signal for connector CN2 and its significance ········································ 19
1.10. Structure of driver I/O circuit ······················································································ 20
2. Operation ········································································································································ 21
2.1. utomatic operation ·········································································································· 21
2.2. Usage of Jog and brake signal ···················································································· 22
2.3. Machine Home setting method ····················································································· 23
2.4. How to change offset value by outside signal optionally ········································ 25
2.5. How to operate servo driver in JOG mode by outside signal ······························· 27
2.6. How to set machine home of servo driver by outside signal ······························ 29
3. Display / Setting switches ································································································ 31
3.1. Functions ····························································································································· 31
3.2. Operating the display setting switches and display flowchart ······················· 32
3.3. Status display ······················································································································ 34
3.4. On/Off Display (Diagnosis display) ············································································· 36
3.5. larm history display ······································································································ 42
3.6. Setting parameter ··············································································································· 44
3.7. Setting position compensation ······················································································ 53

T P RT( TC)
1. Installation and wiring ·········································································································· 55
1.1. Designations ························································································································· 55
1.2. Environmental conditions ································································································ 56
1.3. Installation procedure ······································································································· 56
1.4. Wiring ······································································································································ 58
1.5. Noise treatment ··················································································································· 58
1.6. Outside circuit connection (Sample) ··········································································· 59
1.7. Layout of driver connector terminal ··········································································· 60
1.8. Input signal for connector CN1 and its significance ··········································· 61
1.9. Out put signal for connector CN2 and its significance ········································ 62
1.10. Structure of driver I/O circuit ······················································································ 63
2. Operation ········································································································································ 64
2.1. utomatic operation ·········································································································· 64
2.2. Machine Home setting method ····················································································· 65
3. Display / Setting switches ································································································ 66
3.1. Functions ····························································································································· 66
3.2. Operating the display setting switches and display flowchart ······················· 67
3.3. Status display ······················································································································ 69
3.4. On/Off Display (Diagnosis display) ············································································· 71
3.5. larm history display ······································································································ 77
3.6. Setting parameter ··············································································································· 79

DANGER
DANGER
!
IMPORT NT
Ⅰ . Definition of Symbols for Warning
1) Warning : This symbol means if not handled properly, there is possible
danger such as electric shock.
2) Caution : This symbol means if not handled properly, there is possible
danger of acquiring mild to severe injuries or machine damages.
Ⅱ . Warning
1) Do not use in areas near corrosive, inflammable or explosive gas.
2) Take appropriate measures of protection while the servo motor is in operation.
3) While installing and wiring, turn the power switch off, in order to prevent
electric shock.
4) Ground the PE terminal block of the front panel terminal block L1(R), L2(S),
L3(T) to one-point with the class 3 (below 100 Ω ) ground circuit, in order to
prevent electric shock or other malfunctions. For PE terminal block, use wire
30mm2thicker than the electric wire of the terminal L1, L2, L3.
5) Connect the PE terminal block of the servo motor to the PE terminal block U, V,
W of the servo driver in order to prevent electric shock. To connect the wire,
use wire 30mm2thicker than the power line of U, V, W.
6) Take precautions while mounting, dismantling, uninstalling and transferring the
servo motor.
7) Cover the terminal block while using the servo driver in order to prevent electric
shock.
8) Use SELV for maintenance brake power switch, input and output power switch
and input and output signal in order to prevent electric shock.
9) Do not dismantle the servo driver for another 5 minutes after the main power is
turned off - charged voltage may still remain inside the driver.

10) This product uses batteries. Take the following precautions while using the
battery. If used inappropriately, explosion or fire may occur. The contents of
the battery are harmful to the eye.
① Do not heat above 100 ℃ and do not open when there is fire.
② Do not take it apart. (The contents are harmful to the eye)
③ Do not recharge it.
11) During emergency shut down, stop the servo motor before shutting down the
servo driver (terminal L1, L2, L3).
Ⅲ . Caution
1) To avoid burns, do not touch the heat protecting board or the regenerative
resistor of the servo motor and driver while the servo motor is in operation or
right after the power switch is turned off. Take appropriate measures of
protection.
2) void the following to prevent damages to the servo motor and servo drive.
① Do not connect the power directly to the U, V, W terminal block of the servo
motor. The servo motor will be damaged.
② void external impact such as hammering to the servo motor. The encoder
inside the servo motor will be damaged.
③ Do not connect the power to the U, V, W terminal block of the servo drive.
④ While doing the resisting pressure test or insulation voltage test, disconnect
the terminal of the servo drive terminal block or all the connectors and avoid
the test voltage from affecting the servo drive. lso avoid the test voltage
from affecting the encoder connector terminal of the servo motor.
⑤ Do not install the servo motor and the servo driver differently than it should.
⑥ Prevent water or oil from directly touching the servo motor. Use in areas free
of water or oil to prevent it from touching the main wire of the servo motor.
⑦ Do not use the servo motor and driver differently other than stated in this
manual.

DOOSAN SERVO

1
COMMON SUBJECT
1. Specifications and Structure
1.1. Formal type designation
◆ Servo Motor
◆ Servo Driver

DOOSAN SERVO

2
1000 2000 30000
60
(6)
120
(12)
180
(18)
240
(24)
Torque [kg.cm (Nm)]
Speed [rpm]
Continuous Duty Zone
Intermittent Duty Zone
1.2 Specifications for Servo Motor
Items
Specifications
SERVO
MOTOR
Rated output
kWatt
.8
1.5
2.
4.
Rated torque
kgcm
25.98
73. 8
97.44
194.88
Nm
2.55
7.16
9.54
19.11
Continuous
maximum
torque
kgcm
77.95
219.24
292.32
584.64
Nm
7.64
21.49
28.66
57.32
Rated speed
RPM
2
Maximum
speed
RPM
3
Power rate
kW/S
23.64
13.28
42.29
34.78
Rotor Inertia
×1 ￣⁴ kg· ㎡
2.8
39.4
22
1 7
Insulatioin
F Class
Detector
Multi-turn Absolute Encoder
(17bits/1rotation, rotation rate :16bits)
Protection, Cooling method
Totally closed, self cooled
Ambient temperature
～ 4 °C
Ambient humidity
2 ～ 8 %
Mounting structure
Flange type
Insulation resistance
DC 5 V 2 Mohm
Insulation grade
AC 15 V 1분간
Vibration
V15
1.3 Torque-Speed Characteristics of Servo Motor(2.0KW)
※ Refer to Motor Specifications for details

DOOSAN SERVO
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3
Specifications
Applied motor capacity
.8KW / 1.5KW / 2. KW
3. KW / 4. KW
Rated current
14A rms
28A rms
Maximum current
4 A peak
8 A peak
Rotation speed
2 rpm / 3 rpm (Rated / Maximum)
Main input voltage
3 phase 2 /22 V +1 % ～ -15%, 5 /6 HZ ±5%
Control period
125 μ sec
Control method
IPM full wave rectified, transisterized PWM control
Control mode
position, speed, torque control
Control circuit
3 phase Voltage PWM Inverter Driving (IPM)
Full Digital Vector Control (Position detection by Pulse Encoder)
Encoder Spec.
Type
Absolute Encoder
Resolution
17bit (131 72)
I/O Terminal block
Input electric power (R, S, T), Ouput electric power (U, V, W), Ground (E)
Protection
Over voltage, under voltage, over current, over speed,
over load, encoder error and etc.
Functions
Setting Parameter, Diagnosis, Alarm Display, Status Display
Ambient temperature
～ 5 ℃ ,
Ambient humidity
Below 9 %RH (don't be covered with dew)
Preservation temperature
-2 ～ 85 ℃
Altitude
Below 1 m
Vibrations
Below .5G
Mounting
Rack Mount
1.4 Specifications for Servo Driver

DOOSAN SERVO
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4
1.5 Coupling of the Servo Motor / Drive
1.6 Inner structure of Servo Drive
PWM
Generator A/D
Pulse Counter
( Position,
Speed )
D/A
Monitor
DSP
&
MEMORY
IPM INVERTERAC/DC
Gate
Signal
Servo
Motor
3 Phase
200/230 V
AC
DISPLAY
&
SWITCH
Position/
Sequence
Input
Position/
Sequence
Outpt
NC (PLC Parts)

DOOSAN SERVO

5
1.7 Direction of the servo motor rotation
▶   Caution : The encoder of the servo motor is made of glass.
Take precautions in order to avoid damages to the encoder shaft of the servo motor.
▶   Caution : Make sure the rotation of the servo motor is turning in the right direction.
◆ The correct direction of the rotation is shown in the following picture.
Forward running (CCW)

DOOSAN SERVO

6
2. Dimensions of the servo motor / drive
2.1 Dimensions of the servo motor
■ 8 W

DOOSAN SERVO

7
■ 1.5KW / 2. KW

DOOSAN SERVO

8
■ 4. KW

DOOSAN SERVO

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2.2 Dimensions of the servo drive
■ 1.5kW/2. KW
Turret/Magazine : DVSC - TT14 - 09
TC : DVSD - T 14 - 03

DOOSAN SERVO

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TT P RT(TURRET & M G ZINE DRIVE)
1. Installation and wiring
1.1 Designations
Designations of DOOSAN AC Servo Motor and Drive are as follows.
1)Encoder Connector 2)Power Connector 3)Name Plate 4)Shaft 5)Flange 6)Frame 7)Encoder
1) Fan 2) Input Voltage Connector 3) Motor Power Connector 4) Controller Input Connector
5) Controller Output Connector 6) Encoder Connector 7) Battery

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1.2 Environmental conditions
This product was designed for indoor usage.
  Caution : If used in different circumstances and environment other than stated below, possible
damages may occur.
Please use under the following conditions.
SERVO MOTOR
SERVO DRIVE
Voltage
-
3phase AC 2 V ～ 23 V
+1 ～ -15%, 5 /6 Hz
Ambient
temperature
～ +4 ℃
～ +5 ℃
Storage
temperature
-25 ～ +8 ℃
-25 ～ +8 ℃
Humidity
below 8 % RH
below 95% RH
Environmental
conditions
(1) Use in areas free of corrosive and explosive gas.
(2) Use in areas that are well ventilated.
(3) Vibrations or tremors nearby may be the cause of poor connection of
the connector, electronic connector device and relay.
Waterproof /
Oilproof
(1) The protection level of the servo motor is IP-54.
Please put the cover on in areas where there is massive water and oil.
(2) While handling the servo motor connector, handle it as instructed.
Other
Please refer to chapter 2 while assembling and handling the wires.
1.3 Installation procedure
1.3.1 Assembling the servo motor
▷   Warning : While assembling the servo motor, avoid dropping it.
▷   Caution : While mounting the servo motor horizontally, the connector should be facing
downward.
▷ The servo motor can be mounted horizontally or vertically.
▷ To prevent vibrations, the motor shaft and the loading shaft should be precisely aligned which
will allow for the coupling and bearing life to last longer. Use flexible coupling when connecting
directly to the load.
① The outer part of the coupling should be measured at four equidistant points, each 9 ˚
degrees apart so that the gap between the maximum and the least readings should not
exceed . 3mm.
② The center point of the motor and the loading shaft should be precisely aligned.
▷ Avoid excessive radial and thrust load to the motor shaft and also avoid impact that is more
than 1 G when mounting the gear, coupling, pulley and etc. at the same time.
▷ A minus load means that while the motor is rotating according to the load, it is successively
operating while it is on regenerative brake. The capacity of the regenerative brake is short term
rating specification, thus it should not be used in minus load.

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▷ The admissible load inertia converted into the motor shaft is within 5 times the inertia of the
applied servo motor. If it exceeds this, during deceleration it may cause regenerative malfunction.
The following steps should be taken if the load inertia exceeds more than 5 times the inertia of
the servo motor.
- Reduce the current limit. - Slow down deceleration time.
- Lower the maximum speed in use.
1.3.2 Setting the servo drive
▷   Warning : Turn off the power while mounting or uninstalling.
▷ While installing the panel, take into consideration the size or the panel, cooling and wiring in
order to maintain a difference of temperature below 5 ℃ between the panel temperature and the
surrounding temperature.
▷ The surrounding temperature should be maintained below 55 ℃ at all cases. Proper ventilation
should be used.
▷ Should there be vibrations, the driver should be mounted on shock absorbing surface.
▷ Should the servo driver be exposed to corrosive gas for a long time, it may cause damages to
connecting devices, thus it should be avoided.
▷ Environmental conditions such as high temperature, high humidity, excessive dust and metal
particles should be avoided.
◆ Mounting method
▷ There should be a space wider than 1 ㎜ below and above the servo drive.
▷ There should be a space wider than 3 ㎜ on both sides of the servo drive.
▷ Mount the servo drive vertically. Do not use if it is mounted horizontally.

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1.4 Wiring
▶ For signal lines and encoder lines, use twisted lines or multi-core shielded twisted-pair lines.
The length for reference input lines should be a maximum of 3m, and the encoder line should
be a maximum of below 1 m.
Wiring must be done in shortest distance and the remaining length should be cut.
▶ The ground circuit should be a thick line. Usage of class 3 ground or above (ground resistance
1 Ω or less) is recommended. Also, make sure to ground at one-point grounding.
▶ The following precautions should be taken to avoid malfunction due to noise.
- The noise filter should be placed as near as possible.
- Mount a surge absorbing circuit to the coil of the relay, electromagnetic contacts, solenoids
and etc.
- The power line (AC input, motor input line) and the signal line should be placed 3 cm apart
or more. Do not run them in the same duct or in a bundle.
- When the same power source is used, as for an electric welder or electrical discharge
machine or when a high-frequency noise source is present, attach noise filter to the power or
the input circuits.
- The cable line for the signal line is only .2 ～ .3 mm 2, thus excessive force to the line
should be avoided to prevent damages.
1.5 Noise treatment
The effect of the switching noise depending on the wiring or the grounding method should be
reduced as much as possible. Outside noise should be reduced as much as possible.
▶ Grounding method
The servo driver supplies power to the motor according to the switching of the IPM device.
Thus the Cf dv/dt current flows from the power component to the floating capacity of the motor.
To prevent the effect of the switching noise, the motor frame terminal should be connected to
the PE terminal of the servo driver terminal block and the PE terminal of the servo driver
should be directly grounded to standard ground panel.
▶ Noise filter
Noise filter is used in order to prevent noise from the power line. Please refer to the following
conditions while installing.
(a) Separate the input and output wiring and do not bundle them together or run them in the
same duct.
(b) Do not bundle or run the ground wire with the filter output line or other signal lines in the
same duct.
(c) The ground lead should be wired singly to the ground panel.
(d) If the unit contains the filter, connect the filter and the equipment ground to the base of the
unit.
(e) Please use the following recommended noise filter.

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1.6 Outside circuit connection (Sample)

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