YAKOTEC MS-S3, User Manual

Page 1: ...R MS S3 Digital Easy Servo User Manual Ver V2 1 Shenzhen YAKO Automation Technology Co Ltd www yankong com ...

Page 2: ... port 7 4 2 3 Control signal port 7 4 2 4 RS232 communication port 8 4 2 5 Status Indicator 8 4 2 6 Button X4 8 5 Menu Operation 9 5 1 Operation interface 9 5 2 Menu introduction 9 5 2 1 System monitor menu items dP 10 5 2 2Parameter setting menu PA 11 5 2 3 Parameter management menu EE 15 5 2 4 Internal test menu item Sr 16 5 2 5 History fault display dE 16 6 Matched Motor 17 6 1 Motor size 17 6 ...

Page 3: ...7 2 Fault analysis and solution 21 8 Warranty and after sales service 23 8 1 Warranty and after sales service 23 8 2 After sales service 23 ...

Page 4: ...nal safety from mechanical system threats Users are advised to consider safety precautions during use to prevent accidents caused by improper operation or product abnormalities Due to product improvements the contents of this manual are subject to change without notice Our company will not be responsible for any modification of the product by the user When reading please pay attention to the follo...

Page 5: ...The motor temperature rise is higher Position mode This mode is the default mode of the drive and is suitable for most occasions When the driver works in this mode the motor does not lose step the temperature is low and the high and low speed performance are better than the open loop mode The microstep setting can be any number between 400 60000 Protection functions such as overcurrent phase error...

Page 6: ...R www yankong com MS S3 V2 1 User Manual 3 03 06 2019 1 4 Product Naming Rules 混合伺服 系列 MS L M 大功率 中功率 S 小功率 1 57 2 电机 电机 60 3 86电机 M S S 3 MS series S Small power 3 86mm motor ...

Page 7: ...c Input Current 7 10 20 mA Logic Input Voltage 0 200 kHz Pulse Frequency 500 MΩ 2 2 Working Environment Cooling Method Natural cooling or external heat sink Working Environment Working occasion Keep away from other heating equipment as far as possible to avoid dust oil mist corrosive gas strong vibration flammable gas and conductive dust Temperature 0 C 50 C Humidity 40 90 RH Vibration 5 9 m s2 Ma...

Page 8: ...e drive with the upright side installation to create a strong air convection on the surface of the heat sink if necessary install a fan near the drive to force heat dissipation to ensure that the drive works within a reliable operating temperature range The reliable operating temperature of the drive is usually within 60 C and the motor operating temperature is within 80 C ...

Page 9: ...ed AC 80V 4 2 Port definition 4 2 1 Power input port and motor output port No Symbol Name Definition 1 AC Power input port Connect 30V 80V AC 2 AC 3 A Motor power port Connect motor red line 4 A Connect motor blue line 5 B Connect motor green line 6 B Connect motor black line Status indication interface Control signal port Button X4 Encoder feedback port RS232 communication port Power input port M...

Page 10: ...ulse negative input 19 24PU Pulse 24V positive input 5 5DR Direction 5V positive input Direction signal input signal 6 DR Direction negative input 21 24DR Direction 24V positive input 11 5MF Enable 5V positive input Enable signal input signal 12 MF Enable negative input 27 24MF Enable 24V positive input 13 5CLR_A Deviation clear 5V positive input Deviation clear signal input signal 14 CLR_A Deviat...

Page 11: ...U DR and MF should meet certain requirements as shown in the following figure 4 2 4 RS232 communication port Reserved 4 2 5 Status Indicator MS S3 has a 6 digit LED to display the status When the drive fails the drive will stop and show corresponding fault code the drive will save the latest fault in the EEPROM of the drive according to the queue form and the drive can save up to 10 latest history...

Page 12: ...down in the menus at the same level or decrease parameter value shifting Short press this key to shift in parameter set cancel Long press this key to return to the previous menu or cancel the operation confirm Enter the next menu or to confirm the operation 5 2 Menu introduction There are three levels for system menu Level 1 menu contains 5 item the menu items can be switched up and down by button...

Page 13: ...ed r min dP SPr Given speed r min dP PoS Current position low 4 bit Encoder pulse number dP PoS Current position high 4 bit Encoder pulse number dP CPo Position command low 4 bit Command pulse number dP CPo Position command high 4 bit Command pulse number dP EPo Position deviation low 4 bit Encoder pulse number dP EPo Position deviation high 4 bit Encoder pulse number dP I Motor current mA dP bUS ...

Page 14: ...PA Menu has 100 second level menu item each second level menu item corresponds to a system parameter By press and to select the parameter that you want to set then press to enter parameter setup interface In the process of setting parameters short press to shift by press and to modify the value the values displayed will not be applied immediately only after the user press button the values display...

Page 15: ...the number of pulses required for one round of the stepper motor microstep 1600 1 60000 PA 8 Encoder resolution 4000 4000 PA 9 Tracking error alarm threshold This value can be changed based on actual need 5000 0 65535 encoder pulses PA 10 Current loop Kp 1817 0 65535 PA 11 Current loop Ki 50 0 65535 PA 12 Current loop Kc 256 0 65535 PA 13 Alarm clear signal CLR A function selection 0 CLR A to clea...

Page 16: ...it is in position 1 No position command when the position deviation is less than the number of encoder pulses set by PA 23 it is in position 2 No position command and the position deviation is less than the number of encoder pulses set by PA 23 output in position signal until the time set in PA 24 in position hold time in milliseconds is passed After the holding time of the in position signl the s...

Page 17: ...otor rotates according to the parameters of PA 45 to PA 53 when the operation mode is self running or when the Sr ON internal test menu is executed 50 0 65535Hz PA 46 Acceleration time 50 0 65535ms PA 47 Deceleration time 50 0 65535ms PA 48 Target speed 1600 0 65535 Hz PA 49 Running pulse number high 2 bytes 0 0 20000 PA 50 Running pulse number low 2 bytes 1600 0 65535 pulse PA 51 Intermittent tim...

Page 18: ...eter area If you do not do this the drive will restore to previous value after re power EE rd Parameters read read EEPROM parameter data into memory EE bA Parameter backup write parameters from drive memory to EEPROM backup area EE rS Restore the backup to memory This operation does not write parameter to EEPROM parameter area If users want to permanently use EEPROM backup zone data you need to pe...

Page 19: ...rts running at the speed set by PA 45 PA 53 Sr Off The internal test ends and the motor stops running 5 2 5 History fault display dE To view the latest 10 history of faults saved in drive EEPROM Level 1 menu Level 2 menu Function dE History fault check dE 1 Displays the latest fault code in dE 01 Displays the second latest fault code in dE 02 dE 2 dE 3 dE 4 dE 5 dE 6 dE 7 dE 8 dE 9 dE 10 ...

Page 20: ...m MS S3 V2 1 User Manual 17 03 06 2019 6 Matched Motor MS S3 standard motor models are YK286EC80A1 YK286EC118A1 and YK286EC156A1 6 1 Motor size 86mm 2 Phase Close loop Motor unit mm Motor Wiring ENCODER CONNECTION B 向 ...

Page 21: ...2 Blue White EA 3 Orange EB 4 Orange White EB 5 Red 5VCC 6 Black EGND 6 3 Motor specifications Model Shaft Diameter mm Shaft Type mm Shaft Length L1 mm Lug boss diameter D1 mm YK286EC80A1 14 Flat key 5x5 x25 40 60 YK286EC118A1 14 Flat key 5x5 x25 40 60 YK286EC156A1 14 Flat key 5x5 x25 40 60 6 4 Technical Parameters Model Step Angle Rated Voltage v Motor Length mm Holding Torque N m Rated Current A...

Page 22: ...tor and encoder are wired correctly otherwise the motor will alarm for out of position deviation tolerance after receiving pulse When installing the motor it is strictly forbidden to strike the back cover of the motor to avoid damage to the encoder 0 1 2 3 4 5 6 7 8 9 10 11 12 13 1 10 100 1000 YK286EC80A1 YK286EC118A1 YK286EC156A1 loading torque N m speed r min Toque speed curve ...

Page 23: ...ing Does the LED display an error code Is the supply voltage within the voltage range required by the drive Is the power input connected Is the connection loose Is the connecting part loose disconnected broken or shorted Is the wiring correct Is the control signal port wiring correct Is the connecting part off disconnected or shorted Is the encoder feedback port loose or disconnected Is the connec...

Page 24: ...t circuit Verify that the motor current line is properly connected as required Check if the motor current line is shorted Err 4 Encoder error Encoder feedback interface is loose off line disconnected shorted The motor components are damaged Drive failure Check that the encoder feedback cable is correct and connected reliably Replace a new motor Replace a new drive Err 7 Tracking tolerance error pr...

Page 25: ...motor brake via the S OFF S OFF signals that come with the drive Err 1 Drive memory read error The drive is powered off before parameter save completed The data in the drive parameter save area is damaged Drive failure Execute EE dEF to restore the factory defaults of the drive and eliminate the fault Execute EE dEF to restore the factory defaults of the drive and eliminate the fault Replace a new...

Page 26: ...tal requirements Drive serial number is missing or unreadable Obviously damage of the shell Irresistible disaster 8 2 After sales service When you need product after sales service support please call the company s national toll free service hotline only Chinese 400 033 0069 Monday to Friday except for national holidays 8 30 17 30 YAKO headquarters address 6B building B3 Guangming Science and Techn...