XCS2009/2011 Servo Amplifier

Operating Manual

Wuxi Tong
Tong Wei Machinery Automation Co., Ltd.

Wuxi Xuncheng Cont

Control
rol Technology
Technology Co., Ltd.

2012.6
 Specifications:

Model XCS2009A XCS2011A3

Input 2-phase or 3-phase AC220V , -15~+10% , 50/60HZ

Temperature Work: 0~40 C. Store: -40 C~50 C

Humidity 40%~80%
Control mode a. Position loop b. speed loop c. torque loop d. JOG run

Frequency 200HZ
response
Impulse <500KHz
frequency
Output power 3.0KW 1.5KW

Weight 4.0kg 2.8kg

1. Servo Driver Connection

1.1 Driver terminal connection

Pin Pin Pin name Description

No. lable
1 PE System Ground connection..
connection.. if the machine
machine does not reliable grouding ,
grounding please do not connect this pin.
2 R Main power Power input ：1-phase AC220V connect R S
3 S input ,1-phase 3-phase AC220V connect R S T
or 3-phase
4 T AC220V 50Hz
5 U Servo motor ouput terminal ：U----- 2 (motor side)
6 V Servo motor V----- 3 (motor side)

7 W output W---- 4 (motor side)

Attention: wire diameter must larger than 2.5 mm²,

The connection order must be right.

8 PE grounding Connect the motor outside casing ground PE---- 1 (motor side)

if the machine does not reliable grouding , please do not connect

connect
this pin.
9 B External External connect the brake resistor
10 P connect the Motor power ＜2KW connect 30Ω /200W
brake ≥2KW connect 30Ω /600W
resistor

At
A ttenti
nti on: I f the r unning
unni ng dir ect
ctii on of
of the motor i s wr
wr ong ple
plea
ase modi fy par ameter
PA-15 p ple
lea
ase don’t change the connection
 1.2 CN1 Control
Control signal
signal iinput
nput connection
No. Servo driver side CN1 termnial Controller side
1 18#、32#、34 # pin +12V
2 10 #pin 12GND
3 33 #pin CP impulse signal
4 35 #pin CW direction signal
5 14 #pin CL servo clear signal (not
necessarily need to connect)

1.3 CN2 encoder signal input terminal

Servo driver side description Motor side

1 encoder A+ input 4
2 encoder A- input 7
3 encoder B+ input 5
4 encoder B- input 8
5 encoder Z+ input 6
6 encoder Z- input 9
7 encoder U+ input 10
8 encoder U- input 13
9 encoder V+ input 11
10 encoder V- input 14
11 encoder W+ input 12

12 encoderpower
+5V W- input 15
2
14、15、16
19、20、21 0V comman power 3
ground
26 Shielding wire 1
protection ground

2. Display and pannel operate

01、power on display r 00
02、press ◀ display dp- Spd
03、again press ◀ display dp-
04、press ▲ select parameter setting PA PA-
05、press the confirm button Enter display PA- 0
06、press ▲ or ▼ to select the parameter want to modify
Press Enter ，display the current value PA- 0 PA0 ﹁ parameter PA0
press ▲ or▼ ，modify the value PA- 1 PA1 | parameter PA1
 pressEnter ,confirm and back ↓ ↑ | ▲
. . |→Enter → 100 Enter →
Change the other parameter . . | ▼ ↓
by the same way ↓ ↑ |← ← ← ← ← ← ← ← ← ←
PA- 97
97 PA97 | parameter PA97
PA- 98 PA98 」 parameter PA98

07、After finishing the parameter modify , display PA- **

08、Sa
Savve the par ameter mmoodifie
if ied
d value
press ◀ to back ,display PA-
Press ▲ ,display EE-
Press Enter ,display EE- SEt
Press Enteragain,get ready for saving,display StARt
PressEnteragain
PressEnter again to finish saving,display FInISh

09、r ese
esett the pa
parr am
amet
eter
er value to defaultt should be used with caution ）
defaul
If the parameters are modified chaotic ,and you need to r eset to d de
ef ault value
press ◀ to back ,display PA-
press ▲ ,display EE-
Press Enter display EE- SEt
press ▼ display EE- dEf
Press Enter to get ready for saving ,display StARt
Press Enter again to finish saving ,display FInISh
Power off , then power on , the parparam
ame ete
terr wi
will
ll be mo
modi
diffi ed to d
de
efault n
numb
umbe er .

3. Main parameter modify reference value

P. No. ： Value： Description：

0 318 password user password：315 model password：318
4 0 control mode select（position control）
0：position control mode 1：speed control
2：test run control 3：JOG control
4：encoder zero-settiong 5：open-loop run
5 330 Speed proportional gain. （Value larger，then stiffness larger.
larger. Generally the larger
larger
the Load’s inertia is ，the larger you need to set the value）
6 100 Speed integration time (the smaller the value is , the faster the integration speed is.
But too small will lead to Overshoot )
9 30 Position proportional gain（Value larger , the position lag will be smaller.
s maller.
But too large will lead to Overshoot and Oscillation.
12 10000 Electronic gear numerator
13 250 Electronic gear Denominator（Set the steps number when the motor runs a circle ）
15 0-1 Servo motor forward/backward setting
20 1 drive input forbid invalid（must set to 1）
91 2500 rated rotate speed 7520 motor rated current 6 A
92 matching rated current of motor -- input password 10020 motor rated current 8 A
 93 700 rated torque 318 to modify 15015 motor rated current 11 A

At nti on F i r st ste
A ttenti step
p ,you
,you need
need to
to se
sett P
PAA -92 ra
r ate
ted
d curr
cur r ent va
value
lue acco
accorr di ng to the
motor’s rated current value . You must not run if you haven’t set the
motor’s rated current right.

4.E
Error
rror and Solution

Alarm Alarm Running status reason solution

code name
Err 1 IPM module Display when power ●IPM module breakdown ●replace the driver
breakdown on
Display when motor ●supply voltage is too low ●check the power supply
running ●overheating ●improve the heat dissipation
●driver U、V、W short ●check the motor
circuit ●check the connection
●motor insulation ●reduce the start and
stop frequency
breakdown
●encounter interference
Err 2 Main circuit Display when power ● supply voltage is too ●check the power supply
overvoltage on high ●replace the driver
● Circuit board breakdown
● Power voltage wave
abnormal
Display when motor ●the capacity of brake ●reduce the start and
running loop is not enough stop frequency
●brake resistor ●measure if the
disconnection or value of brake resistor
open circuit equals to the norminal
number
●extend the time of
●extend
speed up/ down
●reduce the inertia of
the load
●decrease the limit
value of torque
●exchange more powerful
driver and motor
Err 3 Over-current Display when power ● U、V、W connection ●check the connection
on order wrong ●motor locked-rotor ，check
Display when motor ● Software over-current the mechanical drive
running ●check the motor
Err 4 Under Display when power ● Input power is too low ●check the supply power
voltage on, display when ● Internal power of the ●replace the driver
motor running driver breakdown ●replace the power wire
● Power wire is too thin ●when the Err 4 happen, you
must soon power off , and
wait for 10 minutes , then
power on
Err 5 Analog ●Analog channel A break ●replace the driver
channel A down
no current
Err 6 Analog ●Analog channel B break ●replace the driver
channel B down
no current
Err 7 Encoder err Display when power ●encodeer breakdown ●replace the motor
on ●connection wire of encoder ●replace encoder wire
Occasionally display bad contact or loose ●if happen only a few times ,
when runing change the PA64 to 70
Err 8 Over-speed Display when power ●control board break ●replace the driver

on ●encoder breakdown ●replace the motor

display when motor ●frequency of input ●set the right input impulse
runing command impulse is too
high
● the speed up/down ●enlarge the speed up/down
constant is too small , constant
cause the speed overshoot
●Electronic gear ratio too ●Setting rightly
large
●encoder breakdown ●change the motor
●encoder connection wire ●exchange the wire
breakdown ●If you allow overspeed，
please change PA85 value
to 1
●servo system ●set relevant gains again
unstalbe ,cause overshoot ●reduce load inertia
●enlarge the mechanical gear
ratio
Err 9 Position The motor do run ● Encoder breakdown ●exchange the motor
over-proof ● The position over-proof ●increase the postion over-
The motor do not run detection range is too proof detection range
small(occasionally
alarm)
● Torque not enough ●change more powerful servo
● Motor breakdown motor
Running motor by JOG
Err 10 Software ● Motor locked-rotor ●exchange the motor
over-current ● Motor breakdown
Err 11 Drive Display when power ●parameter setting abnormal ●change PA-20
PA-20 to “1”，to
prohibit on cancel ccw、cw input
abnormal prohibit
Err 13 Encorder ●encoder breakdown ●exchange the motor
breakdown ●encoder connection wire ●exchange the wire
breakdown
Err 15 Software ●exchange the driver ●exchange the driver
exception
Err 16 Brake ●brake resistor broken or ●replace the resistor , or
module has not connected connect the resistor
breakdown ●brake circuit broken
●exchange the driver
5. monitoring method
Power on ,display r 1000 motor speed 1000r/min
Press ◀ ,diplay dP- SPd motor speed，press ▼
Display in turn are:

dP- Is
Is display the maximum motor current value（with load）
maximum motor
Ic display the minimum motor current value（without load）
dP- Ic
dP- EP2 display the maximum position deviation value （3S refresh）
dP- SP2 display the
the maximum rotate speed
dP- rES reserved
dP- Cr forward direction feedback impulse feedback
dP- CCr backward direction feedback impulse feedback
dP- Err alarm code
dP- r n brake resistor releasing current time
dP- Cod encoder input signal
dP- oUt
oUt status of output terminal
dP- I n status of input terminal
dP- RPo rotor absolute
absolute location (impulse)
dP- C t torque command（％）
dP- C s speed command
command (r/min)
dP- Frq position command
command impulse frequency (KHz)
(KHz)
dP- Cnt current control
control mode
dP- LSP display the real feedback impulse number （impulse）
dP- I motor current at present（A）

dP- trq motor torque（％）

dP- EPo. High 5 bit of Position deviation （×100000 impulse）
bit of Position deviation （impulse）
dP- EPo low 5 bit
dP- CPo. High 5 bit of position command（×100000 impulse） receive
dP- CPo low 5 bit ofof position command（impulse）
position command receive
dP- Pos. High 5 bit of current position （×100000 impulse） feedback
bit of position command （ impulse）
dP- Pos low 5 bit feedback

dP- SPd motor speed

Wuxi Tong Wei Machinery Automation Co., Ltd.

Wuxi Xuncheng Control Technology

Technology Co., Ltd.
Ltd .