1. Introduction
This manual provides detailed instructions for the installation, operation, and maintenance of the YUN DUAN AC Servo Motor Driver Kit. This kit is designed for precision motion control applications, featuring a magnetic absolute encoder with 17 or 21 bits resolution and support for various communication protocols including Pulse, EtherCAT, and CANopen. The system offers high resolution, accuracy, strong anti-interference ability, and high response speed, making it suitable for a wide range of industrial automation tasks.
Image: YUN DUAN AC Servo Motor Driver Kit, showcasing different power ratings (0.1KW-1KW) and communication options (EtherCAT, CANopen, Modbus).
2. Package Contents
Upon opening the package, please verify that all the following components are included:
- 1x AC Servo Motor
- 1x AC Servo Driver
- 1x 3 Meter Power Cable
- 1x 3 Meter Encoder Cable
- 1x 1 Meter 5V/24V Pulse Cable (Included only with Pulse Driver models)
Note: Cable lengths can be customized. Please refer to your order details for specific configurations.
3. Key Features
The YUN DUAN AC Servo Motor Driver Kit (P Series) is engineered for high performance and reliability in industrial applications. Key features include:
- High Resolution and Accuracy: Ensures precise positioning and smooth motion control.
- Non-contact Work: Enhances durability and reduces wear.
- Strong Anti-interference Ability: Reliable operation in electrically noisy environments.
- Absolute Value Output: Provides absolute position feedback, eliminating the need for homing on power-up.
- High Response Speed: Quick and dynamic performance for demanding applications.
- Easy to Install and Maintain: Designed for straightforward integration and minimal upkeep.
- High Cost-effectiveness: Delivers premium performance without compromising budget.
- Compact Design: Small volume for space-constrained installations.
- Multifunctional: Supports various control modes and communication interfaces.
Image: Features of the Magnetic 17/21 bits Single-turn Absolute Encoder.
Image: Overview of the P Series AC servo system, highlighting small volume, high quality, multifunctional, and high precision.
4. Specifications
4.1. Motor Specifications
| Parameter | DB40-00330 (40mm Flange) | DB60-00630 (60mm Flange) | DB60-01330 (60mm Flange) | DB60-01930 (60mm Flange) | DB80-02430 (80mm Flange) | DB80-03230 (80mm Flange) |
|---|---|---|---|---|---|---|
| Rated Power (KW) | 0.1 | 0.2 | 0.4 | 0.6 | 0.75 | 1 |
| Rated Torque (N.m) | 0.318 | 0.64 | 1.27 | 1.91 | 2.39 | 3.18 |
| Instantaneous MAX Torque (N.m) | 0.954 | 1.91 | 3.81 | 5.73 | 7.17 | 9.54 |
| Rated Current (A) | 1.1 | 1.7 | 2.5 | 3.6 | 4.7 | 5.8 |
| Instantaneous MAX Current (A) | 3.5 | 5.7 | 7.5 | 11.2 | 14.5 | 18.1 |
| Reverse Electromotive Force (V/Krpm) | 23 | 23 | 31 | 35 | 33 | 34 |
| Torque Constant (N.m/A) | 0.29 | 0.38 | 0.51 | 0.53 | 0.51 | 0.55 |
| Line Resistance (Ohms) | 20.6 | 4.57 | 3.24 | 2.2 | 1.09 | 0.73 |
| Winding Inductance (mH) | 10.3 | 4.3 | 5.8 | 4.3 | 4.6 | 2.7 |
| Rotor Inertia (kg·m²) | 0.066x10⁻⁴ | 0.28x10⁻⁴ | 0.52x10⁻⁴ | 0.76x10⁻⁴ | 1.48x10⁻⁴ | 2.27x10⁻⁴ |
| Rated Voltage (V) | AC 220 | |||||
| Rated Speed (rpm) | 3000 | |||||
| Peak Speed (rpm) | 6000 | |||||
| Extreme Logarithm | 5 | |||||
| Insulation Level | F (155℃) | |||||
| Encoder Type | Single-turn 17 bits absolute encoder / Single-turn 21 bits absolute encoder (Optional) | |||||
4.2. Driver Specifications
| Parameter | P100S-40 (Pulse) | P100S-75 (Pulse) | P100E-40 (EtherCAT) | P100E-75 (EtherCAT) | P100S-40-CAN (CANopen) | P100S-75-CAN (CANopen) | |
|---|---|---|---|---|---|---|---|
| Output Power | 0.1KW~0.4KW | 0.75KW~1KW | 0.1KW~0.4KW | 0.75KW~1KW | 0.1KW~0.4KW | 0.75KW~1KW | |
| Type | Pulse | EtherCAT | CANopen | ||||
| Main Circuit Input Power Supply | Single phase AC220V -15%~+10% 50/60Hz | ||||||
| Protection Function | Overspeed, main power supply overvoltage/undervoltage, overcurrent, overload, encoder abnormality, control power supply abnormality, position deviation, etc. | ||||||
| Monitoring Function | Speed, current position, command pulse accumulation, position deviation, motor torque, motor current, operating status, etc. | ||||||
| Control Output | Servo ready, servo alarm, positioning completed, mechanical braking, etc. | ||||||
| Applicable Load | Less than 3 times the motor inertia | ||||||
| Display Operation | 5-digit LED digital display with 4 operation buttons | ||||||
| Communication Methods | RS485 | EtherCAT | CANopen | ||||
| Energy Consumption Braking | Supports both built-in and external | Internal/External | |||||
| Control Mode | Pulse Driver | 0: Position control method; 1: Speed control mode; 2: Torque control method; 3: Hybrid control method for position and speed; 4: Position torque hybrid control method; 5: Speed torque hybrid control method | Position control mode / Speed control mode / Trial operation control mode / JOG control mode / Torque control mode | ||||
| Bus Driver | N/A | Position control mode / Speed control mode / Trial operation control mode / JOG control mode / Torque control mode | |||||
| Control Input | Pulse Driver | 1: Servo enable, 2: Alarm clear, 3: CCW drive inhibit, 4: CW drive inhibit, 5: Deviation counter reset, 6: Command pulse inhibit, 7: CCW torque limit, 8: CW torque limit, etc. | 1: Negative limit, 2: Positive limit, 3: Origin signal, 4: CCW drive inhibit, 5: CW drive inhibit, 6: Deviation counter reset, 7: Command pulse inhibit, 8: CCW torque limit, 9: CW torque limit | ||||
| Bus Driver | N/A | Bus based communication | |||||
| Input and Output Signals | Input Signals | N/A | 8 DI signals can be used for signal allocation changes: servo enable, alarm clear, forward and reverse drive inhibit, zero speed box position, zero command, command reverse, speed selection, torque selection, pulse input inhibit, zero return signal, probe, forward limit, negative limit, etc. | ||||
| Digital Output Signals | N/A | 6 DO signals can be used for signal allocation changes: servo ready, alarm zero speed, positioning completed, and speed reached. Torque reached. Electromagnetic brake, servo operation in progress, positioning approach, torque limitation in progress, speed limitation in progress. | |||||
4.3. Dimensions
Image: Detailed dimension drawings for DB40 (100W 40mm Flange), DB60 (200W/400W 60mm Flange), and DB80 (750W/1000W 80mm Flange) servo motors, including body length with and without brake.
Image: Multiple views of the servo drive unit, illustrating its physical dimensions (e.g., 41mm, 158.5mm, 38mm).
5. Installation and Setup
5.1. System Wiring Example
Proper wiring is crucial for the safe and effective operation of the servo system. Refer to the diagram below for a typical system wiring example for the P100 Series.
Image: System Wiring Example for P100 Series, showing connections for Air Break, Noise Filter, Magnetic Transducer, External Resistance, RS485 Communication Interface, Signal Cable, Encoder Cable, Power Cable, and AC Servo Motor.
5.2. Drive Terminal Introduction
Familiarize yourself with the various terminals on the servo drive for correct connections.
Image: Drive Terminal Introduction for P100S/H Series, labeling CN3, CN4 (communication), CN1 (input/output), CN2 (encoder), L1, L2 (power supply), P, D, C, N (braking resistance), U, V, W (servo motor), PE (ground), and CHARGE (main power board indicator lamp).
5.3. CN1 Terminal Pinout
The CN1 terminal handles input and output signals. Consult the detailed pinout diagram for precise connections.
Image: CN1 terminal pinout diagram with detailed descriptions for each pin, including Digital Outputs (DO0-DO6), Digital Inputs (DI1-DI8), RS485 communication lines, Analog signals, 5V/24V Power Supply, and Instruction Pulse inputs.
6. Operation
The servo motor driver supports various control modes including Position, Speed, and Torque control, as well as hybrid modes. The operation can be monitored via a 5-digit LED digital display and controlled using 4 operation buttons. For bus-based drivers (EtherCAT, CANopen), control is primarily through the communication bus.
6.1. Control Modes
- Position Control: Precise control over the motor's angular position.
- Speed Control: Regulates the motor's rotational speed.
- Torque Control: Manages the motor's output torque.
- Hybrid Control: Combines aspects of position, speed, and torque control for complex applications.
- Trial Operation / JOG Control: For testing and manual movement.
6.2. Operational Demonstration
Watch this video for a demonstration of the servo motor and driver in action, showing the motor shaft rotating and the control panel displaying operational values.
Video: Demonstration of the servo motor and driver responding to commands from a control panel.
7. Application Areas
The YUN DUAN AC Servo Motor Driver Kit is versatile and can be applied in various industrial settings requiring precise and dynamic motion control. Common applications include:
- XY Platforms
- Indexing Rotation
- Multi-axis Control with Degrees of Freedom
- Torque Tension Control
- Multi-axis Differential Compensation Control
- Feeding Systems
Image: Visual examples of the servo system's application in XY platforms, indexing rotation, multi-axis control, torque tension control, multi-axis differential compensation control, and feeding.
8. Maintenance
To ensure the longevity and optimal performance of your YUN DUAN AC Servo Motor Driver Kit, follow these general maintenance guidelines:
- Regular Cleaning: Keep the motor and driver free from dust, debris, and moisture. Use a soft, dry cloth for cleaning.
- Environmental Conditions: Operate the unit within specified temperature and humidity ranges to prevent damage.
- Cable Inspection: Periodically check all cables (power, encoder, signal) for signs of wear, damage, or loose connections. Replace any damaged cables immediately.
- Ventilation: Ensure adequate airflow around the driver to prevent overheating. Keep ventilation openings clear.
- Firmware Updates: Check the manufacturer's website for any available firmware updates that may improve performance or address known issues.
9. Troubleshooting
This section provides solutions to common issues you might encounter. For more complex problems, refer to the detailed driver user manual or contact technical support.
- Motor Not Responding:
- Check power connections to both motor and driver.
- Verify control signal connections (pulse, communication bus).
- Ensure the servo enable signal is active.
- Check for any error codes on the driver's LED display.
- Motor Jitter or Instability:
- Review tuning parameters (gain settings) in the driver configuration.
- Check for mechanical issues or excessive load.
- Ensure encoder feedback is stable and correctly connected.
- Overload/Overcurrent Error:
- Reduce the mechanical load on the motor.
- Check for short circuits in motor wiring.
- Verify that the motor and driver are appropriately sized for the application.
- Communication Error:
- Check the physical connection of the communication cable (RS485, EtherCAT, CANopen).
- Verify communication settings (baud rate, address) match between the driver and controller.
- Ensure proper termination resistors are used for bus communication.
10. User Tips
- Modbus RS485 Control: For users planning to control the servo system via Modbus RS485, ensure your controller is configured to send appropriate commands and that the driver's communication settings (baud rate, slave ID) are correctly matched. The system is designed to be compatible with Modbus RS485 protocols.
- Cable Management: Always use the provided high-quality cables or equivalent. Proper cable routing and strain relief can prevent signal interference and extend cable life.
- Initial Setup: During initial setup, it is recommended to start with low speed and torque settings to safely verify connections and basic functionality before increasing operational parameters.
11. Warranty and Support
YUN DUAN products are manufactured to high-quality standards. For specific warranty terms and conditions, please refer to the documentation provided with your purchase or contact YUN DUAN customer service. Technical support is available to assist with any questions or issues you may encounter during the installation or operation of your servo motor driver kit.