YAKO MS - L3P User manual

MS-LxP Series Hybrid Servo
Driver
All copyrights reserved. No reproduction by any means is allowed without
acknowledgement.
Contents
一、Product Introduction...........................................................................2
1、Description...........................................................................................2
2、Featurers..............................................................................................2
3、Applications..........................................................................................2
4、Naming rules........................................................................................2
二、Electrical, mechanical and environmental indicators.........................2
1．Electrical indicators..............................................................................2
2．Application environment and parameters............................................3
3．Installation size ....................................................................................3
4．Cooling way .........................................................................................3
三、Introduction of driver’s terminals and wiring......................................3
1. Wring .....................................................................................................3
2. Terminal Definition.................................................................................4
四、Menu Display......................................................................................5
1. Display Interface.................................................................................5
2. Menu Introduction..................................................................................5
1）Dp System Monitor............................................................................5
2）PA Parameter Setting........................................................................6
3）EE Parameter Management .............................................................8
4）Sr Test & Run ................................................................................9
5）Fault History.........................................................................................9
五、YAKO Product Warranty Terms..........................................................9

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一、Product Introduction
1、Description
MS-LxP series of high voltage hybrid servo drivers are YAKO’s latest fruit,
which apply 32 bits of DSP motor control and power-angle control technology
to conquer the problem “lose step” and improve machines’ processing
efficiency and precision, and reduce energy consumption. It’s in lower cost
than traditional AC servo.
2、Features
32 bits of motor control DSP IC;；
Analogue & digital hybrid and power-angle close-loop control
technology;
Intelligently adjust current by load;
Match motors in flange size of 86mm;
Photoelectricity isolation differential signal input;
Pulse frequency up to 200khz;
Micro step subdivision can be any value between 400-60000;
Protection of over-current, over-voltage, under voltage and trace error,
etc.
6 bits of digital tube display, which is easy to set parameters and monitor
motor’s running state.
3、Applications
Suitable for all kinds of automation equipments which require big holding
torque, such as robot, engraving machine, laser marking machine, cutting
machine, wire-stripping machine, pattern-sewing machine and automatic
assembly equipments and so on.
4、Naming Rules
MS- L 3 P-xx
①②③④⑤
①
Series symbol Hybrid Servo Driver MS Series
②
Power L: large power S: small power
③Motor Flange 3：86 Motor 4:110 Motor
5:130 Motor
④
P：Version No.
⑤
Customized
No. 1——99
二、Electrical, Mechanical and Environmental Indicators
1．Electrical Indicators
Parameter MS-LxP
Min.
value, Typical value, Max. value Unit
Continuous output current 0 - 7.0 A
Input power voltage 110 220 - Vac
Logic input current 7 10 20 mA
Pulse frequency 0 - 200 kHz
Insulation resistance 500 MΩ

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2．Application environment and parameters
Cooling way Natural cooling or radiator
Application
environment
workplace
Avoid dust, grease and
corrosive gas
Temperature 0℃－50℃
Humidity 40－90%RH
Vibration 5.9 m/s2Max
Save temperature -20℃－+80℃
Weight ≈1500 克
3．Installation size
4．Strengthen cooling ways
（1）The suitable temperature for driver is within 60℃, while the suitable
temperature for motor is 80℃;
（2）When installing the driver, please use vertical profiles, which can form
strong cross-ventilation; if necessary, install a fan near the driver to make
sure the driver works in suitable temperature.
三、Introduction of driver’s terminals and wiring
1. Terminals
Power input
terminal
Motor output
terminal
Display
Control signal
terminal
Encoder
feedback
terminal

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2. Terminal definition
1）．Power input terminal
Terminal
No Name Instruction Instruction
1 AC Power input terminal
Connect with 220V
AC
2 AC
3 NC NC Don’t connect
4 BRK-
Brake resistor
terminal
Externally connect
with brake resistor or
don’t connect
5 BRK+
2）Motor output terminals
The driver outputs power to motor through U, V, and W terminals. The
driver’s U,V and W can only connect with motor’s U,V,W resistance, cannot
connect with AC. And the motor’s U,V,W must connect with driver’s U,V,W
one by one, or the motor can’t work normally.
Cable color Terminal
name Instruction Instruction
Brown U
Driver output
Connect with motor’
s U, V,
W.
Blue V
Black W
NO PE GND terminal Don’t connect
PE
3）Encoder feedback terminal
Connect motor’s encoder with driver through encoder cable
4）Definition of control signal terminal
Connection of cables and signals as below:
Cable color
Terminal
No.
Terminal name
Terminal instruction Instruction
Orange 1 5DR＋Direction input 5+
Direction input
signal
Orange-white
5 DR－Negative direction input
Deep yellow 17 24DR＋Direction input 24V+
Purple 3 5PU+ Pulse input 5V+
Pulse input
signal
Purple-white 2 PU- Negative pulse input
Light purple 19 24PU+ Pulse input 24+
Deep brown 12 5MF+ Motor free 5V+
Motor free
input signal
Deep
brown-white 11 MF-
Negative motor free
input,
Deep blue 13 24MF+ Motor free 24V+
Black 10 5CLR_A+ over-
error alarm clear
input 5V+ Over-error
alarm clear
signal
Black-white 27 CLR_A- Negative over-
error
alarm clear input
Deep-green 29 24CLR_A+ Over-
error alarm clear
input 24V+
Deep grey 7 PEND+
Positive arrival signal
output
Arrival output
signal
Deep
grey-white 6 PEND-
Negative arrival signal
output
Red 9 ALM+
Positive alarm signal
output
Alarm output
signal
Red-white 8 ALM-
Negative alarm signal

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output
Green 15 NC NC NC
Green-white 14 NC
Pink 16 A+ Encoder A output+
Encoder pulse
differential
output signal
Light blue 18 A- Encoder A output-
White 35 B+ Encoder B output+
Light green 33 B- Encoder B output-
In order to avoid some mistake and deviation, PU,DR and MF should meet
requirements as below:
5）Communication terminal
Not open to users
6) Instruction
MS-LxP has one 6-bit digital tube display, the driver will stop work and
display the error code when the driver encounter some problem; and if
several errors happen at the same time, it will display one by one, and it can
save 10 latest errors in the driver’ EEPROM.
四、Menu display
1. Display interface
MS-LxP display interface has 4 keys, they are “up, down, move &cancel and
Enter. As following:
Key Name Function
▲Up Move up or add the value
▼Down Move down or reduce the value
◀
Move Short press this key means move
Cancel Long press this key means back or cancel
←Enter Enter next menu or confirm
2. Menu introduction
The system menu has 3 levels, level 1 menu includes 5 items, use key “Up”
and “Down” to shift those 5 items.
▼dP -
▼dE- ▲
▼Sr - ▲
▼EE- ▲
▼PA - ▲
dP - ▲
1）System Monitor dP –
There are 14 pcs of level 2 menus under Dp-, which can monitor system’s
11 kinds of status. Under level 1 menu, use “Up” and “Down” to choose Dp-,
and then press ←to enter in level 2 menus as below:
PU Stepper
pulse signal
DR Direction
control signal
MF
Motor free
signal

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Level
1
menu
Level 2
menu Meaning Remarks
dP -
dP – SPd Motor true speed（r/min）
dP – SPr rated speed (r/min)
dP – PoS
Current position low 4
bits(encoder pulse number)
dP –
PoS.
Current position high 4
bits(encoder pulse number)
dP – CPo Position order low 4 bits(order
pulse number)
dP –
CPo. Position order high 4 bits(order pulse number)
dP – EPo
Position deviation low 4
bits(encoder pulse number)
dP –
EPo.
Position deviation high 4
bits(encoder pulse number)
dP – I Motor current(mA)
dP – t Driver temperature (℃)
dP – rn Running state
dP – Cnt Current running mode
dP – Err alarm code
00——No alarm
01——
Memory read
error
02——Over-voltage
protection
03——Under-voltage
protection
04——Encoder error
05——IPM error
06——Driver’s
over-temperature
protection
07——Position
over-error protection
dP – VEr Software version
After entering level 2 menu, please press ▲and ▼to choose the items you
want to see, then press ←to display the content. And then long press key ◀
to back.
2）Parameter setting PA-
There are 77 pcs of level 2 menus under PA-, each menu points one
parameter. Among those parameters, 26 pcs can be adjusted. Press ▲and
▼to choose the parameter you want to set, press ←to enter the setting
interface.
When setting parameters, short press ◀means move, press ▲and ▼can
change the parameter value, and the new value won’t be used till you press
←. If you want to exit, please long press ◀, then you will be out of parameter
setting interface.
PA parameters:
No. Name Function Default
value
范围

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PA-0 set password
315 0~60000
PA-1 Motor coefficient
Different motor
different default
value. When use
function of restoring
default value, users
must make sure that
the parameter is
right.
0~3
PA-2 Running mode
0（Position control
mode）0 0~2
1（Self-test mode）
2（Open-loop mode
）
PA-4 Positioning done
scope
Set the pulse scope
when complete
positioning work
2
encoder
pulse 1~20
PA-5 Initial display status
0 Motor speed
0(hen
errors
happen, it
will
show“Err”
and the
errors’
code.
）
0~13
1Rated speed
2 Current
position(high 4 bits)
3 current
position(low 4 bits)
4 position order(high
4 bits)
5 position order(low
4 bits)
6 position
deviation(high 4
bits)
7 Position
deviation(low 4 bits)
8 motor current
9 driver temperature
10 Running state
11 current running
mode
12 error code
13 driver version
PA-6 Molecules of
electronic gear 4000 1~6000
0
PA-7
Denominator of
electronic
gear(pulse no per
ring)
When the molecules
of electronic gear is
4000, this value is
the motor’s
subdivision.
4000 1~6000
0
PA-8 Encoder resolution 4000 4000
~10000
PA-9 Trace error alarm 1000
0~6000
0
encoder
pulse
PA-10 Maintain the current
percentage 20 0~100
PA-11 Close-
loop current
percentage 30 0~100

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PA-12 Maintain time
10 0~200
PA-13
Choice of delete the
level signal of
tracing error alarm
1 0/1
PA-15 Choice of MF level
1 0/1
PA-16 alarm signal output
level 0 0/1
PA-17 Single and double
pulse choice
0 Pulse direction
mode 0 0/1
1 double pulse
mode
PA-18 Pulse effective
choice 0 0/1
PA-19 Choice of motor
rotation direction 1 0/1
PA-2
3 Position ratio
Set the proportion
of the position loop
controller gain, the
larger the value, the
bigger the stiffness.
5 0~10
PA-2
4 Feedforward
coefficient of speed
Set the position loop
feedforward gain,
the larger the value,
the bigger the
stiffness.
1000 0~1000
PA-7
1 speed section 1
In different speed
section, the
adjustments on
resonance
suppression help to
eliminate vibration.
942 0~60000
PA-7
2
resonance
suppression
coefficient 1 50 0~200
PA-7
3 speed section 2 5024 0~60000
PA-7
4
resonance
suppression
coefficient 2 50 0~200
PA-7
5 speed section 3 6280 0~60000
PA-7
6
resonance
suppression
coefficient 3 50 0~200
3）Parameter management EE-
There are 6 level 2 menus under EE as below:
Level 1 menu Level 2
menu Function
EE-（parameter
management）
EE-SEt
Parameter write-in, means write the
parameters of driver’s memory in EEPROM.
If users don’t do this operation, the
parameters you changed will restore.
EE-rd Parameter read-in, means read the
parameters of EEPROM in memory.
EE-bA Parameter backup, means write the
parameters of memory in EEPROM.

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EE-rS
Restore the backup, means read the data of
EEPROM’S backup zone in memory. This
operation doesn’t execute the action of
reading parameters in EEPROM. If users
want to use the data in backup of EEPROM,
you need to write-in once again.
EE-dEF To restore the default parameters, means reading all parameters default in memory
and write in EEPROM.
EE-ACL Clear fault history
When save parameters, you need to：
①Find out level 1 menu EE,
②Enter level 2 menu EE-SET,
③Long press ←, the screen will show StArt, 2 seconds later,
show “Finish”, which means save successfully.
Note: If you change parameter PA-2, PA-6 and PA-7, please save and
then restart the driver. For other parameters, don’t need to restart the
driver after changing.
4）Test & Run Sr-
You can only use this menu when parameter PA-2 is 1.
Level 1 menu Level 2
menu Function
Sr-(Test-run
mode）Sr-On Start to run, the motor moves in fixed speed.
Sr-Off Finish, the motor stop.
5）Fault history display dE-
Query for the latest 10 historical errors：
Level 1
menu Level 2 menu Function
dE-
（Historical
fault
query）
dE-1
dE-01 display the latest error code, dE-02
display the last second error code,De-03……
dE-2
dE-3
dE-4
dE-5
dE-6
dE-7
dE-8
dE-9
dE-10
五、YAKO Product Warranty Terms
1、One-year warranty
All YAKO products have one year warranty. In warranty period, we provide
free maintenance service for defective product.
2、oes not belong to the warranty as below:
Wrong wring
Change internal parts without agreement
Beyond the requirements on electrical and environment
The cooling environment is bad.