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GR2000T AC Servo Driver

GR-L_Series_Bus_AC_Servo_Drive_Unit_User_Manual.rar

 

GR2000T AC Servo Driver 

 

 

Specification of GR2000T Bus AC Servo Drive, including:

GR2030T-LP1 GR2050T-LP1 GR2075T-LP1 GR2100T-LP1
GR2030T-LB1 GR2050T-LB1 GR2075T-LB1 GR2100T-LB1
GR2030T-LA1 GR2050T-LA1 GR2075T-LA1 GR2100T-LA1

Out power (kW)

3-phase AC220V (85%~110%)50/60Hz

Rated power of matched

Servo motor

0.1kW—11.9kW

 

 

Communication interface

 

 

GSK-Link bus I

 

Minimum communication cycle: 200us

Length of communication data: 0~256 Byte

Bit error rate: 10-12

Control modes

 

 

Position control Speed control Speed trial operation Speed JOG operation

 

 

 

Control characteristics

 

 

 

Speed frequency reponse: 200Hz

Speed ratio: 5000:1

Speed fluctuation ratio < ±0.03 (load 0~100%);

<±0.02 [(Supply voltage 0.09%~+1.1%) (a value relative to the rated speed)

Period of least position command: 20us

Control input

 

 

Servo Enabled; Alarm cleared; Deviation Counter Zeroed signal; Command pulse

prohibit; Setting servo parameters; Position command; Speed command; CW/CCW Torque limit; speed selection; Zero return function input, ect.

Control output

 

Servo ready signal; Servo alarm output symbol; Positioning completion output;

Speed Arrival output; HOLD signal; Zero-speed output; Mask code feedback

signal;Zero return completion, ect.

 

Position control

 

 

 

 

 

 

Input means

Periodic data input by bus

Electronic gear ratio

 

Numerator of gear ratio: 1~32767

Denominator of gear ratio: 1~32767

Position command

Pulse frequency

Incremental servo motor: 500kHz

Absolute servo motor: 6554kHz

Feedback pulse

 

Incremental servo motor: 10000 pulse/rev

17bit absolute servo motor: 131072 pulse/rev

Speed control

 

Control command mode: external speed command internal speed command

Speed command range: ±6000r/min

Acceleration/deceleration

Function

Acceleration/deceleration setting time in speed control mode: 1ms~10000ms

(0~1000r/min)

 

Monitoring functions

 

 

 

Monitor speed, current position, command pulse accumulation, position deviation,                         motor torque, motor current, linear speed, absolute position of rotor, command pulse frequency, operating state, current control mode, rotor’s absolute position,                           encoder input signal by the CNC side and drive side.

 

Alarm functions

 

 

 

Overspeed, overvoltage and undervoltage of main power supple, overcurrent, overload, position out-of-tolerance, speed amplifier saturation, drive prohibit abnormality, position deviation counter overflow, encoder malfunction, undervoltage of control power supply, IPM module failure, overcurrent, motor’s overload, EEPROM error, Z pulse loss, bus communication fault, etc

 

Display function

 

 

Data is displayed on the drive unit or CNC

Parameter setting mode, parameter management mode, status monitor mode, speed trial-run mod, JOG run mode, encoder zeroing mode and so on

 

Parameter management

 

The parameters may be set, saved, backed up and recovered through the drive unit or CNC.

Bus function

1.      Use the encoder with high resolution to get stable run and smooth machine run

2.      Upload/download servo parameters online, feedback servo diagnosis messages and monitor servo alarms in bus communication mode

3.      High-efficient acceleration/deceleration compensa-

-tion of drive unit’s backlash

4. Power-down memory function of workpiece coordinate system and zero return function without stroke limit switch in bus communication mode

5. Debug rigid grade of the drive parameters and optimize parameters in bus communication mode to improve the whole response of matched machine tool

6. The communication period can be adjusted to apply to the bus CNC device with different interpolation period

7. Add the 2nd gain to meet different machining requirements.

     

 

 

GR2030T-LP1

59

110SJT-M040D(A)

1.0kW

4.5A

4N.m

2500r/min

2500-line

incremental

type

60

110SJT-M040E(A)

1.2kW

5A

4N.m

3000r/min

2500-line

incremental

type

GR2050T-LP1

61

110SJT-M060D(A)

1.5kW

7A

6N.m

2500r/min

2500-line

incremental

type

 

62

110SJT-M060E(A)

1.8kW

8A

6N.m

3000r/min

2500-line

incremental

type

GR2030T-LP1

63

130SJT-M040D (A)

1.0kW

4A

4N.m

2500r/min

2500-line

incremental

type

64

130SJT-M050D (A)

1.3kW

5A

5N.m

2500r/min

2500-line

incremental

type

GR2050T-LP1

65

130SJT-M050D (A)

1.5kW

6A

6N.m

2500r/min

2500-line

incremental

type

66

130SJT-M075D (A)

1.88kW

7.5A

7.5N.m

2500r/min

2500-line

incremental

type

67

130SJT-M100B (A)

1.5kW

6A

10N.m

1500r/min

2500-line

incremental

type

68

130SJT-M100D (A)

2.5kW

10A

10N.m

2500r/min

2500-line

incremental

type

GR2050T-LP1

69

130SJT-M150B (A)

2.3kW

8.5A

15N.m

1500r/min

2500-line

incremental

type

GR2075T-LP1

70

130SJT-M150D (A)

3.9kW

14.5A

15N.m

2500r/min

2500-line

incremental

type

71

175SJT-M150D (A)

3.1kW

14A

12N.m

2500r/min

2500-line

incremental

type

72

175SJT-M150D (A)

2.8kW

15A

18N.m

1500r/min

2500-line

incremental

type

GR2100T-LP1

73

175SJT-M180D (A)

3.8kW

16.5kW

14.5N.m

2500r/min

2500-line

incremental

type

74

175SJT-M220B

3.5kW

17.5A

22N.m

1500r/min

2500-line

incremental

type

75

175SJT-M220D

4.5kW

19A

17.6N.m

2500r/min

2500-line

incremental

type

76

175SJT-M300B

4.7kW

24A

30N.m

1500r/min

2500-line

incremental

type

77

175SJT-M300D

6.0kW

27.5A

24N.m

2500r/min

2500-line

incremental

type

78

175SJT-M380B

6.0kW

29A

38N.m

1500r/min

2500-line

incremental

type

 

Table 9-5-2 Example of types of SJT series of 5000-line incremental servomotor available for ordering

 

 

Drive Unit

Main specification of motor

Model No.

PA1

Motor Model No.

Rated

Power

Rated

current

Rated

torque

Rated

speed

Encoder

GR2030T-LP1

15

80SJT-M024C (A2)

0.5kW

3A

2.4N.m

2000r/min

5000-line

incremental

type

 

16

80SJT-M024E (A2)

0.75kW

4.8A

2.4N.m

3000r/min

5000-line

incremental

type

 

17

80SJT-M032C (A2)

0.66kW

5A

3.2N.m

2000r/min

5000-line

incremental

type

 

GR2030T-LP1

18

80SJT-M032E (A2)

1.0kW

6.2A

3.2N.m

3000r/min

5000-line

incremental

type

19

110SJT-M040D (A2)

1.0kW

4.5A

4N.m

2500r/min

5000-line

incremental

type

20

110SJT-M040E (A2)

1.2kW

5A

4N.m

3000r/min

5000-line

incremental

type

GR2050T-LP1

21

110SJT-M060D (A2)

1.5kW

7A

6N.m

2500r/min

5000-line

incremental

type

22

110SJT-M060E (A2)

1.8kW

8A

6N.m

3000r/min

5000-line

incremental

type

GR2030T-LP1

23

130SJT-M040D (A2)

1.0kW

4A

4N.m

2500r/min

5000-line

incremental

type

24

130SJT-M050D (A2)

1.3kW

5A

5N.m

2500r/min

5000-line

incremental

type

GR2050T-LP1

25

130SJT-M060D (A2)

1.5kW

6A

6N.m

2500r/min

5000-line

incremental

type

26

130SJT-M075D (A2)

1.88kW

7.5A

7.5N.m

2500r/min

5000-line

incremental

type

27

130SJT-M100B (A2)

1.5kW

6A

10N.m

1500r/min

5000-line

incremental

type

GR2050T-LP1

28

130SJT-M100D (A2)

2.5kW

10A

10N.m

2500r/min

5000-line

incremental

type

29

130SJT-M150B (A2)

2.3kW

8.5A

15N.m

1500r/min

5000-line

incremental

type

GR2075T-LP1

30

130SJT-M150D (A2)

3.9kW

14.5A

15N.m

2500r/min

5000-line

incremental

type

31

175SJT-M150D (A2)

3.1kW

14A

12N.m

2500r/min

5000-line

incremental

type

32

175SJT-M180B (A2)

2.8kW

15A

18N.m

1500r/min

5000-line

incremental

type

GR2100T-LP1

33

175SJT-M180D (A2)

3.8kW

16.5A

14.5N.m

2500r/min

5000-line

incremental

type

34

175SJT-M220B (A2)

3.5kW

17.5A

22N.m

1500r/min

5000-line

incremental

type

35

175SJT-M220D (A2)

4.5kW

19A

17.6N.m

2500r/min

5000-line

incremental

type

36

175SJT-M300B (A2)

4.7kW

24A

30N.m

1500r/min

5000-line

incremental

type

37

175SJT-M300D (A2)

6.0kW

27.5A

24N.m

2500r/min

5000-line

incremental

type

GR2100T-LP1

38

175SJT-M380B (A2)

6.0kW

29A

38N.m

1500r/min

5000-line

incremental

type

 

Table 9-5-3 Example of types of SJT series of Tamagawa 17-bit absolute servomotor available for ordering

 

Drive Unit

Main specification of motor

Model No.

PA1

Motor

Model No.

Rated

Power

Rated

current

Rated

torque

Rated

speed

Encoder

 

GR2030T-LB1

55

80SJT-M024C(A4)

0.5kW

3A

2.4N.m

2000r/min

131072-line

absolute

type

 

56

80SJT-M024E

0.75kW

4.8A

2.4N.m

3000r/min

131072-line

absolute

type

57

80SJT-M032C (A4)

0.66kW

5A

3.2N.m

2000r/min

131072-line

absolute

type

GR2030T-LB1

58

80SJT-M032E (A4)

1.0kW

6.2A

3.2N.m

3000r/min

131072-line

absolute

type

59

110SJT-M040D(A4)

1.0kW

4.5A

4N.m

2500r/min

131072-line

absolute

type

60

110SJT-M040E(A4)

1.2kW

5A

4N.m

3000r/min

131072-line

absolute

type

GR2050T-LB1

61

110SJT-M060D(A4)

1.5kW

7A

6N.m

2500r/min

131072-line

absolute

type

 

62

110SJT-M060E(A4)

1.8kW

8A

6N.m

3000r/min

131072-line

absolute

type

GR2030T-LB1

63

130SJT-M040D(A4)

1.0kW

4A

4N.m

2500r/min

131072-line

absolute

type

64

130SJT-M050D(A4)

1.3kW

5A

5N.m

2500r/min

131072-line

absolute

type

GR2050T-LB1

65

130SJT-M060D(A4)

1.5kW

6A

6N.m

2500r/min

131072-line

absolute

type

66

130SJT-M075D(A4)

1.88kW

7.5A

7.5N.m

2500r/min

131072-line

absolute

type

GR2050T-LB1

67

130SJT-M100B(A4)

1.5kW

6A

10N.m

1500r/min

131072-line

absolute

type

68

130SJT-M100D(A4)

2.5kW

10A

10N.m

2500r/min

131072-line

absolute

type

69

130SJT-M150B(A4)

2.3kW

8.5A

15N.m

1500r/min

131072-line

absolute

type

GR2075T-LB1

70

130SJT-M150D(A4)

3.9kW

14.5A

15N.m

2500r/min

131072-line

absolute

type

71

175SJT-M150D(A4)

3.1kW

14A

12N.m

2500r/min

131072-line

absolute

type

GR2075T-LB1

72

175SJT-M180B(A4)

2.8kW

15A

18N.m

1500r/min

131072-line

absolute

type

GR2100T-LB1

73

175SJT-M180D(A4)

3.8kW

16.5A

14.5N.m

2500r/min

131072-line

absolute

type

74

175SJT-M220B(A4)

3.5kW

17.5A

22N.m

1500r/min

131072-line

absolute

type

75

175SJT-M220D(A4)

4.5kW

19A

17.6N.m

2500r/min

131072-line

absolute

type

GR2100T-LB1

76

175SJT-M300B(A4)

4.7kW

24A

30N.m

1500r/min

131072-line

absolute

type

77

175SJT-M300D(A4)

6.0kW

27.5A

24N.m

2500r/min

131072-line

absolute

type

78

175SJT-M380B(A4)

6.0kW

29A

38N.m

1500r/min

131072-line

absolute

type

 

 

 

 

 

 

 

 

 


 

Table 9-5-4 Example of types of SJT series of Danaher 17-bit absolute servomotor available for ordering

 

Drive Unit

Main specification of motor

Model No.

PA1

Motor

Model No.

Rated

Power

Rated

current

Rated

torque

Rated

speed

Encoder

GR2030T-LA1

55

80SJT-M024C (A4I)

0.5kW

3A

2.4N.m

2000r/min

131072-line

absolute

type

56

80SJT-M024E (A4I)

0.75kW

4.8A

2.4N.m

3000r/min

131072-line

absolute

type

57

80SJT-M032C (A4I)

0.66kW

5A

3.2N.m

2000r/min

131072-line

absolute

type

58

80SJT-M032E (A4I)

1.0kW

6.2A

3.2N.m

3000r/min

131072-line

absolute

type

59

110SJT-M040D (A4I)

1.0kW

4.5A

4N.m

2500r/min

131072-line

absolute

type

60

110SJT-M040E(A4I)

1.2kW

5A

4N.m

3000r/min

131072-line

absolute

type

GR2050T-LA1

61

110SJT-M060D(A4I)

1.5kW

7A

6N.m

2500r/min

131072-line

absolute

type

62

110SJT-M060E(A4I)

1.8kW

8A

6N.m

3000r/min

131072-line

absolute

type

GR2030T-LA1

63

130SJT-M040D(A4I)

1.0kW

4A

4N.m

2500r/min

131072-line

absolute

type

64

130SJT-M050D(A4I)

1.3kW

5A

5N.m

2500r/min

131072-line

absolute

type

GR2050T-LA1

65

130SJT-M060D(A4I)

1.5kW

6A

6N.m

2500r/min

131072-line

absolute

type

66

130SJT-M075D(A4I)

1.88kW

7.5A

7.5N.m

2500r/min

131072-line

absolute

type

67

130SJT-M100B(A4I)

1.5kW

6A

10N.m

1500r/min

131072-line

absolute

type

68

130SJT-M100D(A4I)

2.5kW

10A

10N.m

2500r/min

131072-line

absolute

type

69

130SJT-M150B(A4I)

2.3kW

8.5A

15N.m

1500r/min

131072-line

absolute

type

GR2075T-LA1

70

130SJT-M150D(A4I)

3.9kW

14.5A

15N.m

2500r/min

131072-line

absolute

type

71

175SJT-M150D(A4I)

3.1kW

14A

12N.m

2500r/min

131072-line

absolute

type

72

175SJT-M180B(A4I)

2.8kW

15A

18N.m

1500r/min

131072-line

absolute

type

GR2100T-LA1

73

175SJT-M180D(A4I)

3.8kW

16.5A

14.5N.m

2500r/min

131072-line

absolute

type

74

175SJT-M220B(A4I)

3.5kW

17.5A

22N.m

1500r/min

131072-line

absolute

type

75

175SJT-M220D(A4I)

4.5kW

19A

17.6N.m

2500r/min

131072-line

absolute

type

76

175SJT-M300B(A4I)

4.7kW

24A

30N.m

1500r/min

131072-line

absolute

type

77

175SJT-M300D(A4I)

6kW

27.5A

24N.m

2500r/min

131072-line

absolute

type

78

175SJT-M380B(A4I)

6.0kW

29A

38N.m

1500r/min

131072-line

absolute

type

 


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