12-Tapgggered Roller Bearings
12-Tapgggered Roller Bearings
12-Tapgggered Roller Bearings
Tel : 0086-2587156578
E-Mail:sales@stepperonline.com
Datasheet of the integrated easy servo motor
Contents
1. Overview............................................................................................ - 1 -
2. Features..............................................................................................- 1 -
3. Ports Introduction.............................................................................- 2 -
3.1 ALM signal output ports................................................................ - 2 -
3.2 Control Signal Input Ports.............................................................. - 2 -
3.3 Power Interface Ports..................................................................... - 3 -
4. Technological Index.......................................................................... .- 4 -
5. Connections to Control Signal...........................................................- 5 -
5.1 Connections to Common Anode.....................................................- 5 -
5.2 Connections to Common Cathode..................................................- 6 -
5.3 Connections to Differential Signal..................................................- 7 -
5.4 Connections to 232 Serial Communication Interface.....................- 8 -
5.5 Sequence Chart of Control Signals................................................. - 8 -
6. DIP Switch Setting.............................................................................. - 9 -
6.1 microsteps Setting............................................................................ - 9 -
6.2 Activate Edge Setting..................................................................... - 10-
6.3 Running Direction Setting..............................................................- 10 -
7. Faults alarm and LED flicker frequency.........................................- 10 -
8. Appearance and Installation Dimensions.......................................- 12 -
9. Parameter Setting.............................................................................- 13 -
10. Processing Methods to Common Problems and Faults.............. - 17 -
10.1 Power on power light off..............................................................- 17 -
10.2 Power on red alarm light on........................................................- 17 -
10.3 Red alarm light on after the motor running a small angle........ - 18 -
10.4 After input pulse signal but the motor not running................ ......- 18 -
Datasheet of the integrated easy servo motor
1. Overview
The ISS23-XX Integrated Stepper Servo Motor is merged the stepper servo
driver and motor together. This motor system integrates the servo control
technology into the digital stepper drive perfectly. And this product adopts an
optical encoder with high speed position sampling feedback of 50 μs, once
the position deviation appears, it will be fixed immediately. This product is
compatible the advantages of the stepper drive and the servo drive, such as
lower heat, less vibration, fast acceleration, and so on.
2. Features
Integrated compact size for saving mounting space
Without losing step, High accuracy in positioning
100% rated output torque
Variable current control technology, High current efficiency
Small vibration, Smooth and reliable moving at low speed
Accelerate and decelerate control inside, Great improvement in smoothness
of starting or stopping the motor
User-defined microsteps
No adjustment in general applications
Over current, over voltage and over position error protection
Green light means running while red light means protection or off line
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Datasheet of the integrated easy servo motor
3. Ports Introduction
3.1 ALM signal output ports
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Datasheet of the integrated easy servo motor
Symbol Name
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Datasheet of the integrated easy servo motor
4. Technological Index
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Datasheet of the integrated easy servo motor
Remark:
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Datasheet of the integrated easy servo motor
Remark:
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Datasheet of the integrated easy servo motor
Remark:
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Datasheet of the integrated easy servo motor
Definition Remark
NC Reserved
RX Receive Data
GND Power Ground
TX Transmit Data
+5V Power Supply to HISU
5.5 Sequence Chart of Control Signals
In order to avoid some fault operations and deviations, PUL, DIR and ENA should
abide by some rules, shown as following diagram:
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Datasheet of the integrated easy servo motor
Remark:
a. t1: ENA must be ahead of DIR by at least 5μs. Usually, ENA+ and ENA-
are NC (not connected).
b. t2: DIR must be ahead of PUL active edge by 6μs to ensure correct
direction;
c. t3: Pulse width not less than 2.5μs;
d. t4: Low level width not less than 2.5μs.
The microsteps setting is in the following table, while SW1,SW, SW, SW4 are
all on, the internal default microsteps inside is activate this ratio can be setting
through the HISU.
Dial switch
SW1 SW2 SW3 SW4
Microsteps
Default on on on on
800 off on on on
1600 on off on on
3200 off off on on
6400 on on off on
12800 off on off on
25600 on off off on
51200 off off off on
1000 on on on off
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Datasheet of the integrated easy servo motor
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Datasheet of the integrated easy servo motor
Flicker
Description to the Faults
Frequency
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Datasheet of the integrated easy servo motor
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Datasheet of the integrated easy servo motor
Model Length(mm)
ISS23-10 85
ISS23-20 106
9. Parameter Setting
The parameter setting method of ISS23-XX drive is to use a HISU adjuster
through the 232 serial communication ports, only in this way can we setting
the parameters we want. There are a set of best default parameters to the
corresponding motor which are carefully adjusted by our engineers, users
only need refer to the following table, specific condition and set the correct
parameters.
Actual value = Set value the corresponding dimension
Drive Defaule
Mode Definition Range Dimension
Restart Value
P11 Reserved
P15 Reserved
P17 Reserved
P18 Reserved
There are total 20 parameter configurations, use the HISU to download the
configured parameters to the drive, the detail descriptions to every parameter
configuration are as follows:
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Datasheet of the integrated easy servo motor
Item Description
Increase Kp to make current rise fast. Proportional
Current loop Kp Gain determines the response of the drive to setting
command. Low Proportional Gain provides a stable
system (doesn’t oscillate), has low stiffness, and the
current error, causing poor performances in tracking
current setting command in each step. Too large
proportional gain values will cause oscillations and
unstable system.
Adjust Ki to reduce the steady error. Integral Gain
Current loop Ki
helps the drive to overcome static current errors.
loworzerovalueforIntegralGainmayhavecurrentloworzer
A low or zero value for Integral Gain may have current
errors at rest. Increasing the integral gain can reduce the
error. If the Integral Gain is too large, the system may
coefficient
This parameter is used to change the damping
coefficient in case of the desired operating state is
under resonance frequency.
Position loop Kp The PI parameters of the position loop. The default values
Position loop Ki are suitable for most of the application, you don’t need
to change them. Contact us if you have any question.
The PI parameters of the speed loop. The default values
Speed loop Kp
are suitable for most of the application, you don’t need
Speed loop Ki
to change them. Contact us if you have any question.
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Datasheet of the integrated easy servo motor
Open loop
This parameter affects the dynamic torque of the
current
motor. (The actual current = open loop current +
Close loop
current close loop current)
Position error The limit of the position following error. When the actual
limit
position error exceeds this value, the drive will go into
error mode and the fault output will be activated. (The
actual value = the set value 10)
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Datasheet of the integrated easy servo motor
drive.
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Datasheet of the integrated easy servo motor
The stepper servo drive is over voltage or under voltage. Please lower or
increase the input voltage.
10.3 Red alarm light on after the motor running a small angle
Please check the motor phase wires if they are connected correctly,if not,
Please make sure the input pulse mode is corresponding with the real input
mode.
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