LICHUAN LCDA-608S User manual

Shenzhen Xin Lichuan Electric Co., LTD
Contact person: Annie Cheng
Sales manamger
Email: [e-mail]
Address:Floor 5th, building 9, Jiuxiangling industrial Zoon, xili Town, Nanshan
district, Shenzhen city, guangdong province, China
LCDA-608S
Digital DC Servo
Instruction Manual

LDCA608S Digital DC Servo Instruction Manual LDCA608S Digital DC Servo Instruction Manual
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Table of Contents
一、Installation .........................................................................................................2
1、Electrical index .............................................................................................. 2
2、Environmental indicators ............................................................................2
3、Installation dimension drawing ................................................................. 2
二、Wiring ..................................................................................................................3
1、Driver terminal description .........................................................................3
2、Control port wiring ........................................................................................4
3、Control signal timing diagram ................................................................... 5
三、Parameter settings ..........................................................................................5
1、Introduction to the debug panel ................................................................5
2、Data monitoring ............................................................................................. 6
3、Operating procedures .................................................................................. 7
4、Specific parameter description ................................................................. 8
一、Installation
1、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
2、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)
3、Installation dimension drawing（mm）
P1 Driver installation dimensions

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二、Wiring
1、Driver terminal description
1）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
2）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
C-pulse feedback
output
7
Pend+
Positioning completion
output is positive
23
EB-
8
Pend-
Positioning completion
output is negative
24
EZ+
Z-phase differential
pulse feedback output
9
ALM+
Alarm output is
positive
25
EZ-
3）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）
4）Definition of driver encoder terminals (15-pin DB plug)
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

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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
2、Control port wiring
P2 Common anode connection P3 Common cathode connection
P4 Differential signal input and output signal connection
Note: 1) When the control signal voltage VCC = 24V, the current limiting resistor
R = 1.5K;
2) When the control signal voltage VCC = 5V, the current limiting resistor
R = 0;
3、Control signal timing diagram
P5 Control signal timing diagram
Controller
Controller
Driver
Driver
Controller

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P6 Motor brake signaltiming diagram
Note: t1: Delay brake opening time
t2: Delay brake closing time
三、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：
1、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
2、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.
3、Operating procedures
Power On
Display
Data monitoring mode
Display monitoring value
Parameter setting mode
Display
parameter
values
Modify
parameter
values
Accessibility mode
Parameter write in

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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 键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”。
4、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
1: external pulse
2: internal position
3: 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
35～8687
8687

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limit
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
四、Alarm processing
Alarm
code
Fault
description
Troubleshooting
ER_001
Overcurrent
alarm
1. Motor line power line short circuit or motor failure;
2. The current loop parameter of the driver is too large;
3. 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
1. The power supply voltage is too high or the voltage is
unstable. Check whether the transformer output voltage
is normal;
2. The internal fault of the driver needs to be returned to
the factory for testing.
ER_003
ER_010
Encoder
failure
1. The encoder cable is disconnected or has poor contact.
2. The drive encoder input circuit is damaged.

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ER_004
Overload
alarm
The motor is stalled or the load is too large.
ER_005
Phase
sequence error
1. The phase sequence of the motor line is wrong.
2. The encoder wire phase sequence is wrong or the
encoder is damaged.
ER_007
Excessive
position
deviation
1. The phase sequence of the motor power line is
reversed. Check the line sequence according to the
label on the motor.
2. 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
1. The brake current of the driver is too large.
2. 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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