DORNA EPS B2 (single M1) Servo User Manual
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DORNA AC SERVO SYSTEMS EPS-B2 SERIES USER MANUAL (V1.05) http://en.dorna.com.cn 1 Contents HOW TO READ THE PARAMETERS? ............................................................................................. 6 SAFETY NOTICE .................................................................................................................................. 7 CHAPTER 1 PRODUCT INTRODUCTION .................................................................................... 11 1.1 PRODUCT INSPECTIONS ................................................................................................................ 11 1.2 PRODUCT MODEL IDENTIFICATIONS ............................................................................................. 12 1.2.1 Description of nameplate ...................................................................................................... 12 1.2.2 Model identifications ........................................................................................................... 13 1.3 SERVO DRIVE AND MOTOR MATCHING TABLE ................................................................................. 15 1.4 MAINTENANCE AND INSPECTIONS ................................................................................................. 16 1.5 NAME OF EACH PART OF THE SERVO DRIVER ................................................................................ 16 CHAPTER 2 INSTALLATIONS ............................................................................................................ 17 2.1 INSTALLATION DIRECTION AND SPACE ................................................................................................ 17 2.2 RECOMMENDED SPECIFICATIONS OF CIRCUIT-BREAKER AND FUSE .............................................. 18 2.3 COUNTERING NOISE INTERFERENCE AND HIGHER HARMONICS ...................................................... 18 2.3.1 Installation of EMI filter ....................................................................................................... 19 2.3.2 Connection of AC/DC reactor for suppression of higher harmonic ...................................... 19 2.4 SELECTION OF REGENERATIVE RESISTORS ..................................................................................... 20 CHAPTER 3 WIRINGS ...................................................................................................................... 21 3.1 SYSTEM STRUCTURE AND WIRING.................................................................................................. 21 3.1.1 Servo system structure ........................................................................................................... 21 3.1.2 Servo drive connectors & terminals ...................................................................................... 22 3.1.3 Main circuit wirings .............................................................................................................. 22 3.2 WIRINGS BETWEEN SERVO DRIVE & SERVO MOTOR ....................................................................... 24 3.2.1 Configurations & definitions of quick plug terminals ........................................................... 24 3.2.2 Configurations and definitions of aviation plug terminals .................................................... 24 3.3 WIRINGS OF CN1 (RS485 COMMUNICATION) ................................................................................ 25 3.4 WIRINGS OF CN2 (I/O SIGNALS) ................................................................................................... 25 3.4.1 Pin arrangement of CN2 connector ...................................................................................... 25 3.4.2 CN2 signal descriptions ........................................................................................................ 27 3.4.3 Allocation of I/O signals ....................................................................................................... 29 3.4.4 Examples of connection with upper controllers .................................................................... 36 3.5 WIRINGS OF CN3 (FEEDBACK FROM ENCODER TO SERVO DRIVE) .................................................. 40 3.5.1 Pin arrangement of CN3 connector ...................................................................................... 40 3.5.2 Examples of CN3 connections ............................................................................................... 41 3.6 STANDARD WIRING DIAGRAMS ...................................................................................................... 42 3.6.1 Position control ..................................................................................................................... 42 3.6.2 Speed/torque control ............................................................................................................. 43 CHAPTER 4 PANEL OPERATIONS................................................................................................. 44 4.1 PANEL OPERATOR .......................................................................................................................... 44 2 4.2 SWITCH BETWEEN DIFFERENT FUNCTIONS ..................................................................................... 44 4.3 STATUS CODE DISPLAY ................................................................................................................... 45 4.4 MONITORING DISPLAY MODE (DP □□) ....................................................................................... 46 4.4.1 Contents of monitoring display mode .................................................................................... 46 4.4.2 Example of operations at monitoring display mode (dP 00) ................................................. 46 4.5 PARAMETER MODE (PA □□□) .................................................................................................. 47 4.5.1 Remarks at parameter mode ................................................................................................. 47 4.5.2 Example of operations at parameter mode (PA100) ............................................................. 48 4.6 AUXILIARY FUNCTION MODE (AF □□) ....................................................................................... 49 4.6.1 Contents of auxiliary function mode ..................................................................................... 49 4.6.2 Example of operations at auxiliary function mode (AF 05) .................................................. 49 CHAPTER 5 MONITORING DISPLAY PARAMETERS ............................................................... 50 5.1 LIST OF MONITORING DISPLAY PARAMETERS ................................................................................. 50 5.2 INPUT SIGNAL MONITORING (DP 12) .............................................................................................. 52 5.2.1 Operations of entering dP 12 ................................................................................................ 52 5.2.2 Explanations of dP 12 LED displays ..................................................................................... 52 5.2.3 Examples of dP 12 LED displays .......................................................................................... 53 5.3 OUTPUT SIGNAL MONITORING (DP 13)........................................................................................... 54 5.3.1 Operations of entering dP 13 ................................................................................................ 54 5.3.2 Explanations of dP 13 LED displays ..................................................................................... 54 5.3.3 Examples of dP 13 LED displays .......................................................................................... 55 5.4 INITIAL MONITORING DISPLAY AT POWER ON ................................................................................. 55 5.5 DISPLAY RANGE OF DP 01~DP 06 .................................................................................................. 55 CHAPTER 6 AUXILIARY FUNCTIONS .......................................................................................... 56 6.1 LIST OF AUXILIARY FUNCTION PARAMETERS.................................................................................. 56 6.2 DISPLAY OF ERROR LOGGING (AF 00)............................................................................................ 57 6.3 POSITION ASSIGNMENT (AF 01)..................................................................................................... 58 6.4 JOG RUN (AF 02) .......................................................................................................................... 59 6.5 PANEL LOCK (AF 03)..................................................................................................................... 60 6.6 CLEARANCE OF ALARM LOGGING (AF 04) ..................................................................................... 61 6.7 PARAMETER INITIALIZATION (AF 05) ............................................................................................ 62 6.8 ANALOG INSTRUCTION AUTOMATIC OFFSET ADJUSTMENT (AF 06) ................................................ 63 6.9 SPEED INSTRUCTION MANUAL OFFSET ADJUSTMENT (AF 07) ........................................................ 64 6.10 TORQUE INSTRUCTION MANUAL OFFSET ADJUSTMENT (AF 08) ................................................... 65 6.11 OVERVIEW OF RELEVANT MOTOR PARAMETERS (AF 09) .............................................................. 66 6.12 DISPLAY OF MAIN SOFTWARE VERSION OF SERVO DRIVE (AF 10)................................................. 67 6.13 SETTING UP ABSOLUTE ENCODERS (AF 11).................................................................................. 68 6.14 MANUAL DETECTION OF LOAD INERTIA (AF 15) .......................................................................... 69 CHAPTER 7 JOG RUN ....................................................................................................................... 70 7.1 PREPARATIONS BEFORE JOG RUN .................................................................................................. 70 7.2 JOG RUN BY PANEL OPERATIONS ................................................................................................... 70 7.3 STAND-ALONE JOG RUN WITH UPPER CONTROLLERS .................................................................... 70 3 7.3.1 Wiring & status check of input signal circuit ........................................................................ 70 7.3.2 JOG run in position control mode ......................................................................................... 71 7.3.3 JOG run in speed control mode............................................................................................. 72 7.4 JOG RUN WITH MECHANICAL CONNECTIONS ................................................................................. 73 7.5 JOG RUN WITH A HOLDING BRAKE................................................................................................. 73 CHAPTER 8 SERVO OPERATIONS ................................................................................................ 74 8.1 CONTROL MODE SELECTIONS ........................................................................................................ 74 8.2 BASIC FUNCTION SETTINGS ........................................................................................................... 75 8.2.1 S-ON settings......................................................................................................................... 75 8.2.2 Switch of motor rotational directions .................................................................................... 76 8.2.3 Overtravel (OT) settings........................................................................................................ 77 8.2.4 Holding brake settings .......................................................................................................... 79 8.2.5 Selection of servo stop patterns at servo OFF ...................................................................... 83 8.2.6 Instantaneous power off settings ........................................................................................... 84 8.2.7 Analog voltage output ........................................................................................................... 85 8.3 USING ABSOLUTE ENCODERS ......................................................................................................... 86 8.3.1 Absolute encoder selection .................................................................................................... 86 8.3.2 Using battery for absolute encoder ....................................................................................... 86 8.3.3 Battery replacement .............................................................................................................. 87 8.3.4 Setting up absolute encoders (AF 11) .................................................................................... 87 8.4 POSITION CONTROL OPERATIONS ................................................................................................... 88 8.4.1 Parameter settings ................................................................................................................ 88 8.4.2 Electronic gear ...................................................................................................................... 89 8.4.3 Position instructions.............................................................................................................. 90 8.4.4 Smoothness ............................................................................................................................ 91 8.4.5 Positioning completed signal (COIN) ................................................................................... 92 8.4.6 Positioning near signal (NEAR) ............................................................................................ 93 8.4.7 Pulse input inhibited (INHIBIT) ............................................................................................ 93 8.5 SPEED CONTROL OPERATIONS ........................................................................................................ 94 8.5.1 Parameter settings ................................................................................................................ 94 8.5.2 Input signals .......................................................................................................................... 94 8.5.3 Instruction offset adjustment ................................................................................................. 96 8.5.4 Soft start ................................................................................................................................ 97 8.5.5 Speed instruction filter time constant .................................................................................... 97 8.5.6 Zero-speed clamp function .................................................................................................... 98 8.5.7 Encoder signal output ........................................................................................................... 99 8.5.8 Speed instruction reached (VCMP) ..................................................................................... 101 8.6 TORQUE CONTROL OPERATIONS ................................................................................................... 102 8.6.1 Parameter settings .............................................................................................................. 102 8.6.2 Input signals ........................................................................................................................ 103 8.6.3 Instruction offset adjustment ............................................................................................... 104 8.6.4 Speed limit in torque control mode ...................................................................................... 105 8.7 INTERNAL SPEED CONTROL.......................................................................................................... 106 8.7.1 Parameter settings .............................................................................................................. 107 4 8.7.2 Input signals ........................................................................................................................ 107 8.8 INTERNAL POSITION CONTROL ..................................................................................................... 108 8.8.1 Parameter settings .............................................................................................................. 109 8.8.2 Input signals ........................................................................................................................ 111 8.8.3 Output signals ..................................................................................................................... 114 8.9 HOMING FUNCTION ..................................................................................................................... 115 8.10 COMBINATION OF DIFFERENT CONTROL MODES ......................................................................... 121 8.10.1 Parameter settings ............................................................................................................ 121 8.10.2 Input signal ....................................................................................................................... 121 CHAPTER 9 FAULT DIAGNOSIS .................................................................................................. 122 9.1 ALARMS ...................................................................................................................................... 122 9.2 WARNINGS .................................................................................................................................. 126 CHAPTER 10 COMMUNICATIONS .............................................................................................. 127 10.1 COMMUNICATION TERMINALS ................................................................................................... 127 10.2 COMMUNICATION PARAMETERS................................................................................................. 127 10.3 COMMUNICATION PROTOCOL..................................................................................................... 128 10.3.1 Encoding definitions.......................................................................................................... 128 10.3.2 Byte structure .................................................................................................................... 129 10.3.3 Communication data structure .......................................................................................... 130 10.3.4 Communication troubleshooting ....................................................................................... 137 10.4 COMMUNICATION ADDRESS ....................................................................................................... 138 CHAPTER 11 PRODUCT SPECIFICATIONS ............................................................................... 140 11.1 SERVO DRIVE SPECIFICATIONS ................................................................................................... 140 11.1.1 Basic specifications ........................................................................................................... 140 11.1.2 Position/speed/torque control specifications ..................................................................... 141 11.1.3 Servo drive dimensions ...................................................................................................... 142 11.2 SERVO MOTOR SPECIFICATIONS & DIMENSIONS ......................................................................... 143 CHAPTER 12 APPENDIX ................................................................................................................ 146 12.1 LIST OF MONITORING DISPLAY FUNCTIONS ................................................................................ 146 12.2 LIST OF AUXILIARY FUNCTION PARAMETERS.............................................................................. 148 12.3 LIST OF PARAMETERS ................................................................................................................ 149 5 How to read the parameters? High place/Low place explanation Sometimes one parameter value is two parameter values combined together. For example, High place is 1234 and low place is 5678, then the combined value is 12345678. Also for hexadecimal data can be 16-bit or 32-bit. 32-bit data consists of two 16-bit data (two parameters, high/low place). For example, 0781H data is 0001H and 0782H data is 013AH; then absolute encoder single turn data is 0001013AH. Parameter 1/2/3/4 explanations Parameter Function Range Unit Default Effective PA200 Pos ition control switch d.0000～d.1232 － 0000 Restart 3 2 1 Remarks 0 d. Writing Meaning PA200.0 or d. PA200.1 or d. Setting range of each digit is 0~1 Setting range of each digit is 0~9 Setting range of each digit is 0~F 3 2 1 0 3 2 1 0 3 2 1 0 b. d. h. 6 × × Place 0 of PA200 Place 1 of PA200 PA200.2 or d. × Place 2 of PA200 PA200.3 or d.× Place 3 of PA200 Safety Notice This section will introduce the main instructions that users shall follow during the receiving, storage, handling, installation, wiring, operation, inspection and disposal of the products. DANGER Input power Input power of the servo drive is 220VAC (-15%~+10%) or 380VAC (15%~+15%). When installed to a machine, the servo motor shall be able to do emergency stop at any moment. Otherwise, there may be personnel injuries and mechanical failure. When the power is on, the power supply terminals must be properly housed. Otherwise, there may be electric shocks. After power off or voltage withstand test, when the charge indication light (CHARGE) is on, do not touch the power supply terminals. Otherwise, there may be electric shocks caused by residual voltage. Please do trial run (JOG) following the procedures and instructions of this user manual. Otherwise, there may be personnel injuries and mechanical failure. Do not make any alterations to this product. Only qualified/designated persons can configure, dismantle or repair this product. Otherwise, there may be personnel injuries, mechanical failure or fire. Please install stop mechanisms on the machine side to ensure safety. The holding brake of the servo motor is not a device designed to ensure safety. Otherwise, there may be injuries. Please ensure to connect the earth terminal of servo drive with the earth electrode (the earth resistance of servo drive for power input is below 100Ω). Otherwise, there may be electric shocks or fire. ATTENTION: STORING & TRANSPORTING The product shall not be stored or used in below environment: (Otherwise, there may be fire, electric shocks or machinery breakdown.) The place with direct sun light; The place where temperature exceeds the limits for storage and using; The place where the relative humidity exceeds the limits for storage and using; The place with corrosive or flammable gases; The place with too much dust, dirt, and too many saline matters and metal powders; The place prone to water, oil and chemicals splashes; The place where vibrations or shocks may affect the principal parts. Please do not transport the product by grasping the cables, motor shafts or encoders. Otherwise, there may be personnel injuries or machine breakdown. 7 ATTENTION: INSTALLATIONS Please do not block the air inlet and outlet, and prevent alien matters entering the product. Otherwise, the inner components may be aged and cause failure or fire. Please install at correct directions. Otherwise, there may be failure. During installation, please ensure there is enough space between the servo drive and internal surface of control cabinet and other electrical parts. Otherwise, there may be fire or machine breakdown. Please do not impose too big impacts. Otherwise, there may be machine breakdown. ATTENTION: WIRING Please connect wires correctly and reliably. Otherwise, there may be out-of-control of motor, personnel injuries or machine fault. Please DO NOT connect commercial power supply to the UVW terminals of the servo drive. Otherwise, there may be personnel injuries or fire. Please connect the UVW terminals with the servo motor firmly. Otherwise, there may be a fire. Please do not house the main circuit cables, input-output signal cables and encoder cables with the same bushing, or tie them together. During wiring, the main circuit cables shall be at least 30cm from the input-output signal cable. Cables for input-output signal and encoder shall be twin strands or multiplecore twinning bulk shielding strands. Maximum length of input-output signal cable: 3m; Maximum length of encoder cable: 30m. Even when the power is turned off, there may still be residual high voltage inside the servo drive, so when the charge indication light (CHARGE) is on, do not touch the power terminals. Please connect or check wirings after the charge indication light (CHARGE) is off. Please install circuit breakers to prevent external short-circuit. Otherwise, there may be a fire. When used in the following places, please take appropriate measures for shielding: When there may be interference of static electricity The place with strong electric field or high intensity field The place where there may be radioactive rays Otherwise, there may be machinery breakdown. When connecting to batteries, pay attention to the polarity. Otherwise, it may lead to the damage and explosion of batteries, servo drive and servo motor. 8 ATTENTION: OPERATIONS In order to prevent accidents, please conduct trial run (JOG) before connecting to mechanical parts. Otherwise, there may be injuries. Before running, please set the appropriate parameters. Otherwise, the machine may be out of control or have failure. Please do not turn on/off the power supply frequently. Because the power section of servo drive has capacitors, when the power is on, heavy charging current may flow through them. Therefore, if the power is frequently turned on/off, perseverance of the main circuit components inside the servo drive may decline. During JOG operation (AF 02) and manual load inertia detection (AF 15), please note that the emergency stop will become ineffective at over-travel. Otherwise, there may be machinery breakdown. When the servo motor is used on the vertical axis, please set a safety device, in case workpiece drops when there is alarm or over-travel. Besides, please set up zero-position fixation when there is over-travel. Otherwise, the workpiece may drop when there is over-travel. Extreme or alternative parameter settings may cause the servo system to be instable. Otherwise, there may be personnel injuries and machinery breakdown. When there are alarms, please reset the alarm after finding out the causes and ensure operation safety, and then start operation again. Otherwise, there may be machinery breakdown, fire or personnel injuries. The holding brake (optional) of the servo motor is designed for maintaining positions, NOT for servo motor braking at decelerations. Otherwise, there may be machine fault. The servo motor and servo drive shall be used in combinations as specified. Otherwise, there may be fire or machine breakdown. 9 ATTENTION: MAINTENANCE Please do not change the wiring when the power is on. Otherwise, there may be electric shocks or personnel injuries. When replacing the servo drive, please copy parameters to the new servo drive, and then start operation again. Otherwise, there may be machinery breakdown. ATTENTION: OTHERS In order to give explicit explanations, housing or safety protection devices are omitted in some drawings in this user manual. During real operations, please make sure to install the housing or safety protection devices according to the instructions of the user manual. Illustrations in this manual are representative graphic symbols, which may be different from the products that you receive. During the commissioning and use of servo drive, please install the relevant safety protection devices. Our company will not bear any liability for the special losses, indirect losses and other relevant losses caused by our products. This manual is general descriptions or characteristic which may not always be the case in practical use, or may not be completely applicable when the products are further improved. 10 Chapter 1 Product Introduction 1.1 Product inspections Please check the items listed in the table below carefully, in case there is negligence during the purchase and transport of the product. Items to inspect Whether the product received is the right one you intend to buy? Whether the motor shaft runs smoothly? Reference Check the product model on the motor and driver nameplate respectively. Please refer to the notes to model in following sections. Rotate the rotor shaft of the motor. If it can rotate smoothly, the rotor shaft is normal. Note that the motor with electro-magnetic brake (holding brake) cannot be rotated with hands! Check whether there are any appearance Check visually whether there are any appearance damages. damages? Whether there are loosened screws? Check whether the mounting screws of servo drive is loosened with a screw driver. Please contact your vendor if anything above occurs. A complete set of servo components shall include the following: No. Reference 1 Servo drive and its matching servo motor. 2 Motor power line: supplies power from servo drive to servo motor. 3 Motor encoder line: transmits signals from motor encoder to servo drive. 4 RJ45 plug for CN1: RS485 communication (optional) 5 50-PIN plug for CN2 (3M simulation product) (optional) 6 20-PIN plug for CN3 (A, B type case only) (3M simulation product) (optional) 7 8 5-PIN plug for servo drive (A, B type case only) input power supply: L1. L2. L3. L1C. L2C 5-PIN plug for external braking resistor and DC reactor (A, B type case only) : (P, D, C, -1, -2) 9 Two metal pieces for short-circuiting (except E type case) 10 One copy of user manual 11 1.2 Product model identifications 1.2.1 Description of nameplate Description of the nameplates of EPS-B2 series servo drives Input voltage Servo drive model AC SERVO DRIVE MODEL：EPS-B2-0D75AA- 0000 OUTPUT INPUT VOLTS 200~230V PHASE 1 or 3 PH HZ 50/60Hz VOLTS 0~210V PHASE 3 PH AMPS 4.0A 22G0D 7500157000004 DORNA TECHNOLOGY CO . LTD Manufacturing code MADE IN CHINA Rated output current 12 1.2.2 Model identifications Note: drive and motor models can be updated from time to time. Please contact our after-sales service for updated information. Description of the models of EPS-B2 servo drive 13 Description of the models of DORNA servo motors 14 1.3 Servo drive and motor matching table Please select correct servo drive according to servo motor model, rated voltage, encoder type etc. Servo drive Voltage Rated Class power 0.05KW 0.1KW 0.2KW 0.4KW 0.75KW 1KW 1KW 220V 1.2KW 1.2KW 1.5KW 1.5KW 1.8KW 2.2KW 3KW 2.2KW 380V 3KW 3KW Model EPS-B20D10AA EPS-B20D10AA EPS-B20D20AA EPS-B20D40AA EPS-B20D75AA EPS-B20001AA EPS-B20001AA EPS-B201D5AA EPS-B201D5AA EPS-B201D5AA EPS-B202D2AA EPS-B201D5AA EPS-B202D2AA EPS-B20003AA EPS-B202D2BA EPS-B20003BA EPS-B20003BA Servo motor PA012 Case Flange Value Type (mm) 1 A 40 1 A 40 2 A 60 3 A 80 12 B 80 13 B 80 33 B 130 25 B 110 34 B 130 35 B 130 41 C 130 29 B 110 42 C 130 45 C 130 42 C 130 45 C 130 70 C 180 15 Model 40DNMA20D05D 40DNMA20D10D 60DNMA20D20D 60DNMA20D40D 80DNMA20D75D 80DNMA20001D 130DNMA20001C 110DNMA201D2D 130DNMA201D2C 130DNMA201D5C 130DNMA201D5C 110DNMA201D8D 130DNMA202D2C 130DNMA20003C 130DNMB202D2C 130DNMB20003C 180DNMB20003B Rated Rated speed torque 3000rpm 3000rpm 3000rpm 3000rpm 3000rpm 3000rpm 0.16 N·M 0.32 N·M 0.64 N·M 1.27 N·M 2.37 N·M 3.2 N·M 2000rpm 5 N·M 3000rpm 4 N·M 2000rpm 6 N·M 2000rpm 2000rpm 3000rpm 2000rpm 2000rpm 2000rpm 2000rpm 1500rpm 7.2 N·M 7.2 N·M 6 N·M 10.5 N·M 14.33 N·M 10.5 N·M 14.33 N·M 19.1 N·M 1.4 Maintenance and inspections Please make regular maintenance and inspection of the drive and motor for safe and easy use. Routine and periodical inspections shall be carried out according to the following items Type Routine inspections Periodical inspections Period Daily Yearly Items Whether there are dirt and or substances. Whether there is abnormal vibration and sound Whether the input supply voltage is normal Whether there is abnormal smell Whether there are fiber stubs stuck to the ventilation opening Whether the front end of driver and the connector are clean Whether there the connection with control device and equipment motor is loose and whether the core feet deviates Whether there are foreign matters in the load part Whether the fastening parts are loose Whether it is superheated Whether the terminal is damaged or loose 1.5 Name of each part of the servo driver Power indication light Display area Main circuit input power terminals Control circuit input power terminals RS485 port PD: internal regenerative resistor PC: external regenerative resistor I/O terminals DC reactor terminals Motor encoder terminals UVW: motor power supply terminals Grounding 16 Chapter 2 Installations 2.1 Installation direction and space The installation direction must be in accordance with the regulations, otherwise it will cause malfunctions. In order to make a good cooling effect, the upper and lower, left and right with the adjacent items and baffle (wall) must have enough space, otherwise it will cause malfunctions. The AC servo drive’s suction, exhaust hole cannot be sealed, nor placed upside down, otherwise it will cause malfunctions. Correct In order to lower the wind resistance to the radiator fan and let heat discharge effectively, users shall follow the recommended installation spacing distance of one or several AC servo drivers (see the figure below). >50mm >20mm >20mm >50mm 17 2.2 Recommended specifications of circuit-breaker and fuse ■ 220V class Servo drive case type A B C Circuit-breaker 10A 20A 30A Fuse (class T) 20A 40A 80A Note: 1. Strongly recommended: the fuse and circuit-breaker must comply with UL/CSA standards. 2. When an earth leakage circuit breaker (ELCB) is added for leakage protections, please choose ELCB with sensitivity current over 200mA and action time over 0.1s. 2.3 Countering noise interference and higher harmonics The main circuit of servo drive uses a high-speed switching device, so the peripheral wiring and earthing of servo drive may be affected by the noise of the switching device. In order to prevent noise, the following measures can be taken: Please install EMI filter on the main power supply side; Connection of AC/DC reactor for suppression of higher harmonic; Please install the command input equipment (such as PLC) and EMI filter as close as possible to the servo drive; The power line (cable for power supply from servo drive to servo motor) shall be over 30cm from the input-output signal cable. Do not house them in the same bushing or tie them together. Do not use the same power supply with a welding machine or electro spark machine. When there is a high frequency generating device nearby, an EMI filter shall be connected to the input side of the main circuit cable. Ensure the earthing is appropriate. 18 2.3.1 Installation of EMI filter In order to ensure the EMI filter can fully suppress the interference, please note: Item 1 2 3 4 5 6 Reference Servo drives and EMI filters must be installed on the same metal surface. The wiring has to be as short as possible. The metal surface shall be well grounded. The metal housing or earthing of both servo drive and EMI filter shall be reliably fixed to the metal surface, with the contact area as big as possible. The motor power line shall have shielded (double shielding layer is preferred). Ground shielding copper with the shortest distance and maximum contact. 2.3.2 Connection of AC/DC reactor for suppression of higher harmonic An AC/DC reactor can be connected to the servo drive for suppression of higher harmonic. Please connect the reactor according to the figure below: AC Reactor DC Reactor Servo drive Power Servo drive AC Reactor DC reactor L1 L2 L3 1 2 19 2.4 Selection of regenerative resistors When the motor is outputting torque opposite to the rotating direction, energy is regenerated from the load to the drive. DC bus voltage will rise and at a certain level, the regenerated energy can only be consumed by the regenerative resistor. The drive contains an internal regenerative resistor, and users can also connect an external regenerative resistor. The table below shows the specifications of regenerative resistor contained in EPS-B2 series servo drives. Servo drive case type A B C Internal regenerative resistor specs Resistance (Ohm) 30 (220V) 30 (220V) \40 (380V) Capacity (Watt) 60 80 Minimum allowable resistance value (Ohm) 30 20 13 (220V) \30 (380V) When the regenerative capacity exceeds the disposable capacity of the internal regenerative resistor, an external regenerative resistor shall be connected. Please note: Item 1 2 3 4 Reference Please set the external resistor value and capacity correctly. The external resistance value shall not be smaller than the minimum allowable resistance value. If parallel connection is to be used to increase the power, please confirm whether the resistance value satisfies the limiting conditions. In natural environment, when the disposable regenerated capacity (mean value) of regenerative resistor is used within the limit of nominal capacity, the temperature of resistor will rise to be above 120℃ (under continual regeneration). In order to ensure safety, it is suggested to use a regenerative resistor with a thermo-switch. When external regenerative resistor is used, the resistor shall be connected to P, C end, and P, D end shall be open. External regenerative resistor shall follow the resistance value suggested in the table above. 20 Chapter 3 Wirings 3.1 System structure and wiring 3.1.1 Servo system structure Input power Circuit-breaker EMI filter Electromagnetic contactor EP S-B1 servo drive Computer CHARGE RS485 cable L1 C N 1 L2 Upper controller L3 L1C Control line: I/O signals L2C C N 2 P D 1 2 External regenerative resistor U V CAUTI ON WORNI NG C N 3 Battery box (for absolute encoders) Encoder line Power line 21 3.1.2 Servo drive connectors & terminals Markings L1, L2, L3 L1C, L2C P, D, C 1, 2 U, V, W Descriptions Main circuit input power terminals Control circuit input power terminals Reference Connect to 1/3 PH AC power supply. (Please choose correctly) Connect 1PH AC power supply. (Please choose correctly) Internal regenerative resistor: make PD short circuit, PC open. External regenerative resistor: connect PC to external resistor, PD open. Regenerative resistor terminals DC Reactor terminals Connect Servo motor power supply terminals Connect with the servo motor to DC reactor. Connect with input power supply & motor power supply earth terminals for grounding. RS-485 communication Connect with upper controller Connect with the motor encoder Earth terminal CN1 CN2 CN3 & RJ45 jack I/O connector Encoder connector 3.1.3 Main circuit wirings 1) Cable diameter requirement Mark L1, L2, L3 L1C, L2C U, V, W P, D, C Name Main circuit input power terminals Control circuit input power terminals Servo motor power supply terminals Regenerative resistor terminals Earth wire Cable diameter: mm2 (AWG) EPS-B10D20A 0D40A 0D75A 0001A 01D5A 1.25 (AWG-16) 2.0 (AWG-14) 1.25 (AWG-16) 1.25 (AWG-16) 2.0 (AWG-14) 1.25 (AWG-16) Above 2.0 (AWG-14) 2) Typical main circuit wiring example When the signal of ALM is active, power supply of the main circuit shall be OFF. Main circuit & control circuit shall be powered on at the same time, or the control circuit first. The main circuit shall be powered off before the control circuit. 22 1PH 220VAC: R T 1PH 200~230VAC +10% -15% (50/60 Hz) EMI Filter 1 Ry OFF PL 1 MC ON 1 Ry Peak voltage suppressor 1 MC 1 MC 1 MC 2 3 4 1 U V W L1 L2 L3 L1C L2C Encoder P G CN2 1 Ry +24V 4 ALM ~ Motor M 3 0V COM - 3PH 220VAC/380VAC: R S T 1PH 200~230VAC +10% -15% (50/60 Hz) EMI Filter 1 Ry OFF ON 1 MC 1 MC 1 MC 1 MC PL 1 MC 1 Ry Peak voltage suppressor 2 3 4 1 U V W L1 L2 L3 L1C L2C Encoder P G CN2 4 ALM ~ 3 1 Ry +24V 0V COM - 23 Motor M 3.2 Wirings between servo drive & servo motor 3.2.1 Configurations & definitions of quick plug terminals Encoder line Power line Line saving Communicational Resolver CABLE CODE DESCRIPTION DESCRIPTION DESCRIPTION 1 +5V +5V 2 0V 0V 3 PA PD+ 4 /PA PD- SIN- 5 PB BAT+ COS+ 6 /PB BAT- COS- CODE DESCRIPTION 7 PZ REF+ 1 U 8 /PZ REF- 2 V 9 FG FG 3 W 4 PE SIN+ FG Motor power（4P） 3.2.2 Configurations and definitions of aviation plug terminals CABLE CODE Line saving Communicational Resolver DESCRIPTION DESCRIPTION DESCRIPTION 1 FG FG FG 2 +5V +5V COS- 3 0V 0V SIN- 4 PA PD+ SIN+ 5 PB BAT+ 6 PZ 7 /PA PD- 8 /PB BAT- 9 /PZ 24 REF+ Motor power（4P） COS+ CODE DESCRIPTION REF- 1 PE 2 V 3 U 4 W 3.3 Wirings of CN1 (RS485 communication) 1) Terminal appearance 2) Signal definitions Mark 1, 9 2, 10 3, 11 4, 12 5, 13 6, 14 7, 15 8, 16 Housing Name RS485+ RS485GND NC NC GND CANH CANL FG Function RS485+ Signal RS485- Signal Ground Ground Shielding 3.4 Wirings of CN2 (I/O signals) 3.4.1 Pin arrangement of CN2 connector 44 31 30 16 1 15 25 1 DO4+ 2 DO3－ 3 DO3+ 4 DO2－ 5 DO2+ 6 DO1－ 7 DO1+ 8 DI4 9 Digital Output 4 (+) Digital Output 3 31 DI7 Digital Input 7 16 SG GND 32 DI6 Digital Input 6 17 +24V 24V Output (+) 33 DI5 Digital Input 5 18 T-REF 34 DI3 Digital Input 3 19 AGND 35 PL 20 V-REF 36 /HPULS 21 PAO Encoder output A+ 37 /SIGN Digital Input 4 22 /PAO Encoder output A- 38 HPULS DI1 Digital Input 1 23 /PBO Encoder output B- 39 SIGN 10 DI2 Digital Input 2 24 /PZO Encoder output Z- 40 / HSIGN 11 COM+ 25 PBO Encoder output B+ 41 /PULS 26 DO4－ Digital Output4 (-) 42 HSIGN 27 43 PULS Pulse input (+) 28 44 MON Analog output (-) Digital Output 3 (+) Digital Output 2 (-) Digital Output 2 (+) Digital Output 1 (-) Digital Output 1 (+) External 24V Input 12 13 PZO 14 24V-GND 15 Encoder output Z+ 24V Output (-) 29 AGND 30 DI8 Torque instruction Input (+) Torque instruction Input (-) Speed instruction Input (+) Open collector power input High speed pulse Input (-) Sign Input (-) High speed pulse Input (+) Sigh Input (+) High speed pulse Input (-) Pulse input (-) High speed sign Input (+) Speed instruction Input (-) Digital Input 8 Notes: 1) do not use vacant terminals. 2) Connect the shielding of control line (I/O cable) to the connector housing to achieve FG (frame grounding) 3) except for the CN2-6/7, all input and output pins can change signal allocations by parameters. 4) Maximum output current of internal 24V is 300mA. If internal 24V is used, internal 5V will lose power very quickly. Therefore, after editing parameters, saving has to be done in a special way. (First set PA006=0000, the edit the parameters, then set PA006=0080, PA006 will change to 0100 automatically). 26 3.4.2 CN2 signal descriptions Name and function of input signals (with default pin allocations) Mode Signal Pin No. Function S-ON 9 Servo ON: The motor is powered on. C-MOD 10 Control mode switch: Switch between two control modes. POT 34 Forward rotation prohibited NOT 8 Reverse rotation prohibited CLR 33 A-RESTART 32 Reset alarms INHIBIT 31 Pulse input inhibited ZEROSPD 30 Zero-speed clamp signal input COM+ 11 External 24VDC for I/O signals HPULS+ 38 High-speed channel pulse input HPULS- 36 * Sign+pulse train HSIGN+ 42 * CCW+CW Pulse train HSIGN- 40 * A + B Pulse train PULS+ 43 Low-speed channel pulse input level: PULS- 41 * Sign+pulse train SIGN+ 39 * CCW+CW Pulse train SIGN- 37 * A + B Pulse train PL 35 Open collector pulse signal terminal Speed V-REF 20 control AGND 29 Torque T-REF 18 control AGND 19 Overtravel prohibited: Stop operation of servo motor Universal Position control when it is on. Clear position deviation pulses counter during position control. Speed instruction voltage input Torque instruction voltage input 27 Name and function of output signals (with default pin allocations) Mode Universal Signal Pin Function No. PAO+ 21 PAO- 22 PBO+ 25 PBO- 23 PZO+ 13 PZO- 24 ALM+ 7 ALM- 6 COIN+ 5 Positioning completed: Under position control mode, when COIN- 4 deviation pulse is smaller than PA525, the signal is active. CZ+ 3 CZ- 2 BK+ 1 BK - 26 MON 44 SG 16 A phase signal B phase signal Z phase signal Two-phase pulse (A phase and B phase) encoder frequency dividing signal output Original point (Z phase) signal output Servo alarm: OFF when abnormal state is detected. Optocoupler Z phase pulse output External brake signal output Speed or torque analog output. Voltage range ±8V. 28 3.4.3 Allocation of I/O signals 1) Allocation of input signals Default input signal allocations PA Description Range 0~30 DI 1 input signal selection [0] Servo-on (S-ON) [1] Control mode switch (C-MODE) [2] Forward rotation prohibited (POT) [3] Reverse rotation prohibited (NOT) [4] Deviation counter clearance (CLR) [5] Alarm reset (A-RESTART) [6] Pulse input inhibited (INHIBIT) [7] Zero-speed clamp (ZEROSPD) [8] Forward torque limitation (PCL) [9] Reverse torque limitation (NCL) [10] Gain switch (GAIN) [11] Zero switch signal (ZPS) [12] Negation signal for internal position control & internal speed control (CMDINV) [13] Instruction division/ multiplication switch 0 (DIV0) PA500 [14] Instruction division/ multiplication switch 1 (DIV1) [15] Internal speed register 0 (INSPD0) [16] Internal speed register 1 (INSPD1) [17] Internal speed register 2 (INSPD2) [18] Internal position register 0 (INPOS0) [19] Internal position register 1 (INPOS1) [20] Internal position register 2 (INPOS2) [21] Internal position register 3 (INPOS3) [22] Internal position control trigger (PTRG) [23] Internal position control Forward JOG (P-POS) [24] Internal position control Reverse JOG (N-POS) [25] Internal position control homing start (SHOME) [26] Internal position control stop (PZERO) [28] Internal torque register 0 (INTor0) [29] Internal torque register 1 (INTor1) [30] Incremental/Absolute mode selection in internal position control mode (PAbs) 29 Unit Default 0 Effective Immediate PA501 DI 2 input signal selection 0~30 1 Immediate PA502 DI 3 input signal selection 0~30 2 Immediate PA503 DI 4 input signal selection 0~30 3 Immediate PA504 DI 5 input signal selection 0~30 4 Immediate PA505 DI 6 input signal selection 0~30 5 Immediate PA506 DI 7 input signal selection 0~30 6 Immediate PA507 DI 8 input signal selection 0~30 7 Immediate Default signals and corresponding pins of DI 1~ DI 8: Parameter No. Terminal name CN2 pin Default signal PA500 DI 1 9 S-ON PA501 DI 2 10 C-MOD PA502 DI 3 34 POT PA503 DI 4 8 NOT PA504 DI 5 33 CLR PA505 DI 6 32 A-RESTART PA506 DI 7 31 INHIBIT PA507 DI 8 30 ZEROSPD 30 Level selection of input signals PA Description Range Unit Default Effective Level selection of input signal 0 b.0001: DI 1 input signal level selection; [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) b.0010: DI 2 input signal level selection; [0] L level active (optocoupler conductive) PA508 [1] H level active (optocoupler not conductive) b.0100: DI 3 input signal level selection; b.0000 ~1111 b.0000 Immediate b.0000 Immediate [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) b. 1000: DI 4 input signal level selection; [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) Level selection of input signal 1 b.0001: DI 5 input signal level selection; [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) b.0010: DI 6 input signal level selection; [0] L level active (optocoupler conductive) PA509 [1] H level active (optocoupler not conductive) b.0100: DI 7 input signal level selection; [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) b. 1000: DI 8 input signal level selection; [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) 31 b.0000 ~1111 Change level selection of input signals When signals like S-ON, POT, NOT are used through "polarity inversion”, if there are abnormal states like breakage of signal line, it will cause movement deviating from the safety direction. If such setting has to be adopted, please confirm the action and ensure there are no safety problems. The typical circuit of input signal is as follows: Servo drive Servo drive DC24 V Above 50 mA + 24VIN 3.3K Ω DC24 V Above 50 mA PC /S- ON etc. + 24VIN 3.3K Ω PC /S- ON etc. Take the above figure as an example. When the optocoupler is conductive, S-ON signal is L level; when the optocoupler is not conductive, S-ON signal is H level. Parameter PA508 decides the active level of S-ON. When PA508.0=0, S-ON signal is L level active; when PA508.0=1, S-ON signal is H level active. Confirmation of input signal level selections The level selection of the input signal can be confirmed by the input signal monitoring (dP012). Multiple pins with same signal allocation If same signal has been allocated to multiple I/O pins, the highest grade pin prevails. For example, DI 0 and DI 1 are both set to 0 (S-ON), then S-ON is only determined by DI 1 (highest grade pin). 32 2) Allocation of output signals Default allocations of output signals PA Description Range Output signal selection h.0000 h.0001: DO 1 output signal selection ~DDDD [0] Alarm signal output (ALM) [1] Positioning completed (COIN): active when position pulse deviation is less than PA525. [2] Z pulse open-collector signal (CZ): can be negated by PA003.3 and expanded by PA201.3 & PA210. [3] Brake release signal (BK): can be adjusted by PA518. [4] Servo ready signal (S-RDY): active when servo is in proper status. [5] Speed instruction reached (VCMP) / (torque threshold): active when speed deviation is less than PA517. [6] Motor rotation detection (TGON): active when rotational speed exceeds PA516. [7] Torque limited signal (TLC): active when load torque reaches PA402/PA403. PA510 [8] Zero-speed detection signal (ZSP): active when rotational speed is less than PA515. [9] Warning output (WARN) [A] Internal position control homing completion signal (HOME) [B] Internal position control position instruction completion signal (CMD-OK) [C] Internal position control positioning & command completion signal (MC-OK) [D] Torque reached (TREACH): active when forward load torque exceeds PA404 or reverse load torque exceeds PA405. h.0010: DO 2 output signal selection same as DO 1 h.0100：DO 3 output signal selection same as DO 1 h.1000：DO 4 output signal selection same as DO 1 33 Unit Default h.3210 Effective Immediate PA511 Output signal level selection (negation) b.0001: DO 1 (ALM) output signal level selection [0] H level active (optocoupler not conductive) [1] L level active (optocoupler conductive) b.0010: DO 2 output signal level selection [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) b.0100: DO 3 output signal level selection [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) b.1000: DO 4 output signal level selection [0] L level active (optocoupler conductive) [1] H level active (optocoupler not conductive) b.0000 b.0000 Immediate ~1111 Default signals and corresponding pins of DO 1 to DO 4 Parameter No. Terminal name CN2 pin Default signal PA510.0 DO1 7, 6 ALM PA510.1 DO2 5, 4 COIN PA510.2 DO3 3, 2 CZ PA510.3 DO4 1, 26 BK 34 Change level selection of output signals If an output signal is not detected, then it is regarded as invalid. For example, COIN is invalid at speed control mode. Typical output signal circuit is shown in the following diagram: DC 5V~ 24V Relay Servo drive Opticalcoupler S-RDY+ S-RDY- 0V Maximum allowable voltage: DC 30V Maximum allowable current: DC 50mA Take above figure as an example, COIN level is determined by PA510. When PA510=0, L level (conductive) is active; when PA510=1, H level (nonconductive) is active. Notes: ALM, WARN: active means alarm; inactive means no alarm. CZ level status cannot be modified by PA511; If same signal has been allocated to multiple I/O pins, the highest grade pin prevails. For example, DO 2 and DO 3 are both set to 2 (CZ), then CZ is only determined by DO 3 (highest grade pin). 35 3.4.4 Examples of connection with upper controllers 1) Input signal connections Line driver, low speed pulse Upper controller Servo drive Optocoupler Line driver PULS / PULS SIGN / SIGN P 2CN- 43 150 2CN-41 P 2CN-39 2CN-37 150 FG Both ends grounding Line driver, high speed pulse (maximum voltage: 5VDC) Upper controller Servo drive Long line receiver Line driver HPULS /HPULS HSIGN /HSIGN P 2CN-38 2CN-36 P 2CN-42 2CN-40 390 390 FG Both ends grounding Compatible line driver: AM26LS31 (TI) or equivalent. Connect the grounding of both controller & servo drive together in order to improve the anti-interference ability of the high speed pulse input interface. 36 Open collector, option 1 (external 24VDC) Upper Controller Servo Drive Vcc i PL 2CN-35 2CN-41 / PULS 2K 2K 2CN-37 / SIGN FG Open collector, option 2 (external 5VDC, 12VDC or 24VDC) Upper controller Servo drive Optocoupler Vcc R1 i PULS / PULS P 2CN-43 150 2CN-41 P 1CN-39 1CN-37 Vcc R1 SIGN / SIGN 150 FG Both ends grounding Input current I = 10 ~ 15mA, thus R1 resistance: If 24VDC, R1=2K ; If 12VDC, R1=510 ; If 5VDC, R1=180 ; Normally, open collector pulses can be easily interfered. To reduce interference: Grounding: control line shielding shall connect to ground of upper controller power supply; on the drive side, the shielding shall hang in air; Modify PA201.0: the higher PA201.0, the higher filtering effect, the lower input chop frequency. 37 Analog input Servo drive Upper controller Above 1.8K (1/2W) V-REF or T-REF 12V 2CN- 18/19 Above 10K P AGND 2CN- 20/29 FG Both ends grounding Sequential control input Connected by a relay or an open collector transistor circuit. When using relay connections, select the micro current relay. If you do not use small current relay, it will cause bad contact. Servo drive Servo drive 24VDC Above 50mA +24VIN 24VDC Above 50mA 3.3KΩ /S-ON etc. +24VIN 3.3KΩ /S-ON etc. Relay Open collector transistor 38 2) Output signal connections Sequential control output ALM, S-RDY and other sequence of output signals are consisted of optocoupler. Please connect with relays. DC 5V～24V Relay Servo drive 0V Maximum DC voltage: 30VDC Maximum DC current: 50mA Line driver output Encoder serial data are inverted into differential signals. Please use line receiver to process the output signals: PAO, /PAO; PBO, /PBO; PZO, /PZO. Servo drive Controller 220 ～ 470 Compatible line receiver: SN75175 or equivalent Analog output Pin 44 (MON) & Pin 16 (SG) can be used to provide monitored analog data. For example, motor speed & current can be presented by analogy voltages. The servo drive provides one output channel for the user to monitor the data selected by PA021. This signal is referenced by GND and output voltage range is -8V~+8V. 39 3.5 Wirings of CN3 (feedback from encoder to servo drive) 3.5.1 Pin arrangement of CN3 connector 1) Quick plug CN3 plug Line saving Communicational Resolver CABLE CODE DESCRIPTION DESCRIPTION DESCRIPTION 1 +5V +5V 2 0V 0V 3 PA PD+ SIN+ 4 /PA PD- SIN- 5 PB BAT+ COS+ 6 /PB BAT- COS- 7 PZ REF+ 8 /PZ REF- 9 FG FG 20P CODE DESCRIPTION 1 /PA FG 2 PA 3 /PB 4 PB 5 /PZ 6 /PZ 7 +5V 8 +5V 9 0V 10 0V 11 SIN+ 12 SIN- 13 COS- 14 COS+ 15 REF+ 16 REF- 17 PD- 18 PD+ 19 20 Housing FG 2) Aviation plug CN3 plug 20P CODE DESCRIPTION 1 /PA 2 PA 3 /PB 4 PB 5 /PZ 6 /PZ 7 +5V 8 +5V 9 0V 10 0V SIN+ Line saving Communicational Resolver 11 CABLE CODE DESCRIPTION DESCRIPTION DESCRIPTION 12 SIN- 1 FG FG FG 13 COS- 2 +5V +5V COS- 14 COS+ 3 0V 0V SIN- 15 REF+ 4 PA PD+ SIN+ 16 REF- 5 PB BAT+ 6 PZ 7 /PA PD- 8 /PB BAT- 9 /PZ REF+ 17 PD- COS+ 18 PD+ REF- 19 20 Housing 40 FG 3.5.2 Examples of CN3 connections Line-saving incremental encoder Client Servo drive CN2 * P PAO+ 21 PAO- 22 PBO+ 25 PBO- 23 PZO+ 13 PZO- 24 Line-saving incremental encoder A phase pulse * CN3 P P Line receiver SN75175 etc. B phase pulse Z phase pulse 2 PA+ 1 PA- 4 PB+ 3 6 PBPZ+ P 5 PZ- P 7 PG5V 9 GND P PG Line driver AM26LS31 etc. PG5V PG0V FG Shielding cable P * Multi-strand shielding cable 17-bit serial encoder Client Servo drive CN2 * P P P Line receiver SN75175 etc. PAO+ 21 PAO- 22 PBO+ 25 PBO- 23 PZO+ 13 PZO- 24 A phase pulse B phase pulse 17-bit serial encoder * Z phase pulse CN3 18 PD+ 17 PD- P Line driver AM26LS31 etc. BAT+ PG5V PG0V 7 PG5V 9 GND PG BAT- FG Shield cable * 41 P Multi-strand shield cable BAT+, BAT- are used for absolute encoders only. 3.6 Standard wiring diagrams 3.6.1 Position control Servo drive MCCB MC MC MC AC220V/380V 50/60HZ L1 L2 L3 P L1C L2C D C 1 2 CN1 RS485+ 1，9 RS485GND 2，10 3，11 7，15 8，16 GND 6，14 U V W 35 2K PULS+ 43 41 150 Low speed pulse inputs SIGN HPULS High speed pulse inputs HSIGN P Multi-strand cables +24VIN 39 P SIGNHPULS+ 37 P HPULSHSIGN+ COM+ 11 S-ON Mode switch C-MOD 44 16 21 POT Reverse prohibited NOT Position deviation clearance CLR Alarm reset A-RST Input pulse prohibited Zero speed clamp 9 25 23 Forward prohibited INHIBIT ZEROSPD BAT- CN2 22 Servo ON BAT+ Handle shield cable ends properly 38 36 5V 0V PD+ PD- 150 42 40 P HSIGN- Brake Encoder 7，8 9，10 18 17 2K SIGN+ BK CN3 PL P PULS- Power 24V EMGS CN2 PULS External brake resistor 10 13 24 34 8 MON SG（GND） Analog output PAO /PAO A pulse output PBO /PBO B pulse output PZO /PZO Z pulse output 1 26 BK+ 3 2 CZ+ 32 5 4 COIN+ 31 7 6 ALM+ Feedback signal output BK- 33 30 External 24VDC should use double insulation FG Housing Connect shield cable with housing 42 CZ- COIN- ＋24V ALM0V Optocoupler output Maximum voltage: 30VDC Maximum current: 50mA 3.6.2 Speed/torque control Servo drive MCCB MC MC MC AC220V/380V 50/60HZ L1 L2 L3 P D C 1 2 L1C L2C U V W CN1 RS485+ 1，9 RS485GND 2，10 3，11 7，15 8，16 GND 6，14 ±10V ±10V 2KΩ 2KΩ 20 AGND 29 T-REF 18 AGND 19 COM+ +24VIN S-ON Mode switch C-MOD Forward prohibited POT Reverse prohibited NOT A-RST Zero speed clamp ZEROSPD Encoder 5V 0V PD+ PD- 7，8 9，10 18 17 BAT+ BAT- Handle shield cable ends properly LFC A/D LFC A/D CN2 44 16 21 11 9 25 23 Alarm reset Brake BK CN3 22 Servo ON Power 24V EMGS CN2 V-REF External brake resistor 10 13 24 34 8 MON SG（GND） Analog output PAO /PAO A pulse output PBO /PBO B pulse output PZO /PZO Z pulse output 1 26 BK+ 3 2 CZ+ 5 4 COIN+ 7 6 ALM+ Feedback signal output BK- 32 30 FG External 24VDC shall use double insulation Housing Connect shield cable with housig 43 CZ- COIN- ＋24V ALM0V Optocoupler output: Maximum voltage: 30VDC Maximum current: 50mA Chapter 4 Panel operations 4.1 Panel operator Panel operator consists of a panel display and operating keys. Panel operator is used for displaying status, performing auxiliary functions, setting parameters and monitoring servo drive’s movements. Hold & press ↑ & ← keys together can clear servo drive alarms. BUT please find out the cause of alarms first. MOD SET Key Function description MOD Switch between different modes or cancel ← ↑ Decimal point moves leftwards, in loops SET Increase or switches between + and– Equivalent to ENTER 4.2 Switch between different functions Power ON Status mode display M O D Monitor mode SET M O D SET Parameter setting M O D SET 按 键 M O D 44 Auxiliary functions 4.3 Status code display Status of servo drive is displayed by digits. Bit data 1 Abbreviations 5 6 10 2 3 4 7 8 9 11 Bit data No. 1 2 3 4 5 6 7 8 9 Definition Description in position control mode Description in speed, torque control mode On when the main circuit power is On when the main circuit Power supply ON; power is ON; ready Off when the main circuit power is Off when the main circuit OFF. power is OFF. Compatibility Positioning completed (COIN) Clear input On when there is CLR input. signals Off when there is no CLR input. Position Speed instruction reached (VCMP) On when there is CLR input. Off when there is no CLR input. Light on Light off Rotation When speed exceeds the set speed, the When speed exceeds the set detection light is on (TGON) speed, the light is on (TGON) control mode Instruction input Pulse input in progress Torque Torque instruction exceeds the set detection value (20% of nominal torque). Speed control mode Torque control mode Speed/torque control in progress Torque instruction exceeds the set value (20% of nominal torque). Light on if speed control is in Light off progress. Light on if torque control is Light off in progress. 45 Abbreviations 10 Limit : left limit. : left limit. : right limit : right limit & & alternately: left & right limits alternately: left & right limits 11 Run : motor is excited. : motor is excited. 4.4 Monitoring display mode (dP □□) At monitoring display mode, user can monitor the set values, I/O signal status and internal status of the servo drive. 4.4.1 Contents of monitoring display mode Please refer to Chapter 5.1. 4.4.2 Example of operations at monitoring display mode (dP 00) Step s Panel display Keys Operations 1 MOD SET 2 MOD SET SET SET Press SET or MOD to return to Step 1. 4 MOD 5 End of operations 46 If the panel display is not dP 00, press UP & LEFT until it is dP 00. Press SET to enter dP 00. This shows motor speed is 1600rpm. 3 MOD Press MOD key to choose monitoring display function. 4.5 Parameter mode (PA □□□) 4.5.1 Remarks at parameter mode ■ Storage setting status After parameter editing, press SET to store the setting, and the panel display will constantly display the set state symbol for one second according to the setting state. Panel display Remarks Correct setting value, saved (Saved) Parameter effective after power off, then power on again (Reset) Wrong setting value or input data out of range (Out of Range) Parameter protected by cryptograph, cannot be modified (No operation) ■ Data type Panel display Remarks Left-most digit is blank, meaning setting is on decimal base. When data is unsigned number, the setting range of left-most digit is 0~6, other digits are 0~9; When data is signed number, the left-most digit is the sign digit. The left-most digit is "b”, meaning that the parameter setting is on a binary base. Scope for each digit is 0 ~ 1. The left-most digit is "d”, meaning that the parameter setting is on a decimal base. Scope for each digit is 0 ~ 9. The left-most digit is "h”, meaning that the parameter setting is on a hexadecimal base. Scope for each digit is 0 ~ F. 47 4.5.2 Example of operations at parameter mode (PA100) Steps Panel display Keys Operations 1 MOD SET 2 MOD SET 3 MOD SET SET Press “↑” for 6 times and the value becomes “00”. SET Press “←” to move the digit, as shown in the left figure. SET Press “↑” for 2 times and the value becomes “200”. 6 MOD 7 MOD 8 MOD SET Press SET to set the value of PA100 to 200. In this case, the value becomes effective immediately. After about 1s, the display will return to the parameter editing interface. 9 10 Press MODE to exit MOD 11 Press SET to enter the parameter editing interface; it will show the left figure which means the current number is 40. SET 5 MOD If the panel display is not PA100, press ↑ & ← until it is PA100. Press “←” to make the digit 4 blink. 4 MOD Press MOD to choose parameter mode. SET End of operations 48 4.6 Auxiliary function mode (AF □□) Auxiliary functions are used to perform some additional setting & tuning of the servo drive. 4.6.1 Contents of auxiliary function mode Please refer to Chapter 6.1 4.6.2 Example of operations at auxiliary function mode (AF 05) Ste ps Panel display Keys Operations 1 MOD SET 2 Press MOD key to choose the auxiliary function. Press “↑” or “←” to show “AF005”. MOD SET 3 MOD SET If the servo is not running, press SET and the panel will display the left figure. If the servo is running or the panel lock (AF 03) is set, the panel will display the left figure. 4 Press and hold “↑” to show the left figure. MOD SET 5 Continue pressing it and the left figure means operation is completed. 6 Relieve the key and the panel displays the left figure. 7 Press MOD or SET to exit from the auxiliary function and return to the display in step 2. MOD 8 SET End of operations 49 Chapter 5 Monitoring display parameters 5.1 List of monitoring display parameters No. Function Unit dP 00 Motor speed Display the motor operating speed dP 01 Motor feedback pulse number (encoder unit, lower 4 digits) Display the lower 4 digits of the sum of motor encoder feedback pulse. dP 02 Motor feedback pulse number (encoder unit, higher 5 digits) Display the higher 5 digits of the sum of motor encoder feedback pulse. dP 03 Input pulse number before electronic gear (user unit, lower 4 digits) Lower 4 digits of the sum of input pulse number in position control mode. [1 input pulse] dP 04 Input pulse number before electronic gear (user unit, higher 5 digits) Higher 5 digits of the sum of input pulse number in position control mode. [[104 input pulses] dP 05 Deviation pulse number (encoder unit, lower 4 digits) Lower 4 digits of the sum of deviation pulse number in position control mode. [1 encoder pulse] dP 06 Deviation pulse number (encoder unit, higher 5 digits) Higher 5 digits of the sum of deviation pulse number in position control mode. [104 encoder pulses] dP 07 Speed instruction (analog voltage instruction) Voltage value of analog input in speed control mode, after correction of null shift. When the voltage exceeds ±10V, it cannot be displayed correctly. [0.1V] dP 08 Internal speed instruction Internal speed instruction under speed control and position control. [r/min] dP 09 Torque instruction (analog voltage instruction) Voltage value of analog input in torque control mode, after correction of null shift. When the voltage exceeds ±10V, it cannot be displayed correctly. [0.1V] dP 10 Internal torque instruction (value in relation to the rated torque) Internal torque instruction in torque / speed / position control modes. [%] [rpm] 50 [1 encoder pulse] [104 encoder pulses] dP 11 Torque feedback (value in relation to the rated torque) Torque feedback value in torque / speed / position control modes. dP 12 Input signal monitoring Input signal status of CN2 connector - dP 13 Output signal monitoring Output signal status of CN2 connector - dP 14 Instruction pulse frequency Instruction pulse frequency of the upper controller in position control. dP 15 DC bus voltage DC bus voltage after rectification dP 16 Total operation time of the servo drive If AF05 operation is implemented, the value will be reset. dP 17 Rotation angle Display the electric rotational angle of the motor. dP 18 Exact position of absolute encoder (single-turn or multi-turn) This displays the absolute position data of the encoder in one turn. dP 19 Number of encoder turns (only for multi-turn absolute encoders) This displays the number of turns of multi-turn absolute encoder. dP 20 Cumulative load factor (take rated cumulative load as 100%) Alarm grade during motor overload protection. [%] dP 21 Regeneration load factor (take rated regeneration load as 100%) Alarm grade during regeneration overload protection [%] dP 22 DB load factor (take rated DB load as 100%) Alarm grade during DB braking protection [%] dP 23 Load inertial ratio Display the ratio between load inertia and motor inertia. [%] dP 24 Effective gain monitoring 1: the first group of gains is effective 2: the second group of gains is effective - dP 30 Subsidiary software version (refer to AF 10 for main software version) - dP 34 External linear encoder feedback pulse counts low place dP 35 External linear encoder feedback pulse counts high place dP 38 Hybrid deviation low place dP 39 Hybrid deviation high place dP 40 Voltage class (refer to PA000.3 for voltage class setting) - dP 46 IGBT temperature ℃ [%] [0.1Khz] [V] [Hours] [deg] [2 Encoder pulse] [1 turn] [1 encoder pulse] [104 encoder pulses] [1 encoder pulse] [104 encoder pulses] 51 5.2 Input signal monitoring (dP 12) 5.2.1 Operations of entering dP 12 Steps Panel display Keys Operations Press MOD key to choose monitoring display function. 1 MOD SET 2 MOD If the panel display is not dP 12, press ↑ & ← until it is dP 12. SET 3 Press SET to enter dP 12. MOD SET MOD SET Press SET or MOD to exit to Step 1. 4 5 End of operations 5.2.2 Explanations of dP 12 LED displays Input signal status are shown by the LED displays. Upper: corresponding signal status Lower: level of corresponding signal 8 7 6 5 4 3 2 1 DI number Corresponding signal status o LED off: signal is inactive o LED on: signal is active Level of corresponding signal o LED off: high level (non-conductive) o LED on: low level (conductive) DI number Pin (CN2) Default signal 1 9 S-ON 2 10 C-MOD 3 34 POT 4 8 NOT 5 33 CLR 6 32 A-RESTART 7 31 INHIBIT 8 30 ZEROSPD Even without external signal inputs, by modifying PA 508 & PA509, user can still make corresponding signal active. 52 5.2.3 Examples of dP 12 LED displays PA508.0=0: S-ON is active, DI 1 is low level and low level is active. 8 6 5 4 3 2 1 PA508.0=1: S-ON is inactive; DI 1 is low level and high level is active. 8 7 7 6 5 4 3 2 1 PA508.0=1, S-ON is active; DI 1 is high level and high level is active. 8 7 6 5 4 3 2 1 53 5.3 Output signal monitoring (dP 13) 5.3.1 Operations of entering dP 13 Step s Panel display Keys Operations 1 MOD SET 2 MOD SET MOD SET 3 Press MOD key to choose monitoring display function. If the panel display is not dP 13, press ↑ & ← until it is dP 13. Press SET to enter dP 13. 4 MOD 5 SET Press SET or MOD to exit to Step 1. End of operations 5.3.2 Explanations of dP 13 LED displays Output signal status are shown by the LED displays. Upper: corresponding signal status Lower: level of corresponding signal DO number 4 3 2 1 Corresponding signal status o LED off: signal is inactive o LED on: signal is active Level of corresponding signal o LED off: high level (non-conductive) o LED on: low level (conductive) DO number Pin (CN2) Default signal 1 7, 6 ALM 2 5, 4 COIN 3 3, 2 CZ 4 1, 26 BK Even output signal is inactive, by modifying PA 511, user can still make corresponding signal active. dP13 is always off if the output signal is CZ. 54 5.3.3 Examples of dP 13 LED displays PA511.0=0: ALM is inactive; DO 1 is low level. 4 3 2 1 PA511.0=0: ALM is active; DO 1 is high level. 4 3 2 1 PA511.0=1: ALM is active; DO 1 is low level. 4 3 2 1 5.4 Initial monitoring display at power on If PA014 is not 50, then user can set which monitoring display parameter to display at power on. If PA014=50 (default), then status codes will be displayed at power on (refer to chapter 4.3) 5.5 Display range of dP 01~dP 06 Display range of dP 01, dP 03 and dP 05 is [-32767, 32767]. A left-most decimal point is used for displaying -32767. Number is negative. When the absolute value of motor feedback pulse number (dP 02*104+dP 01), input pulse number before electronic gear (dP 04*104+dP 03) and deviation pulse number (dP 06*104+dP 05) exceeds 327679999, the monitoring display will not be updated. 55 Chapter 6 Auxiliary functions 6.1 List of auxiliary function parameters No. Function Reference AF 00 Display of alarm logging 6.2 AF 01 Position assignment (only active in position control mode) 6.3 AF 02 JOG run 6.4 AF 03 Panel lock 6.5 AF 04 Clearance of alarm logging 6.6 AF 05 Parameter initialization 6.7 AF 06 Analog instruction (speed & torque) automatic offset adjustment 6.8 AF 07 Speed instruction manual offset adjustment 6.9 AF 08 Torque instruction manual offset adjustment 6.10 AF 09 Overview of relevant motor parameters 6.11 AF 10 Display of main software version of servo drive 6.12 AF 11 Setting up absolute encoders 6.13 AF 12 Clearance of error logging for absolute encoders 6.13 AF 15 Manual detection of load inertia 6.14 56 6.2 Display of error logging (AF 00) Up to 10 most recent alarms can be displayed. Steps Panel display Keys Operations 1 MOD SET 2 MOD SET MOD SET 3 If the panel display is not AF 00, press ↑ & ← until it is AF 00. Press SET to enter AF 00. 4 Alarm sequence Alarm code MOD SET MOD SET 5 6 Press MOD key to choose auxiliary function mode. Press “←” once and it will display one previous alarm. Press “↑” once and it will display a new alarm. The bigger the number on the left side, the older the alarm displayed. Press SET to exit to Step 2. End of operations. Notes: When there have been no alarms, the alarm No. is 0. The alarm logging can be deleted through Clearance of Alarm Logging (AF 04). A-RESTART or power off cannot clear the alarm loggings. 57 6.3 Position assignment (AF 01) With this function, motor feedback position & instruction pulse position is assigned by value of PA766 & PA767. This parameter will also reset the values in dP 01 ~ dP06. Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. MOD SET If the panel display is not AF 01, press ↑ & ← until it is AF 01. MOD SET 1 MOD 2 3 Press SET to enter AF 01. 4 Press and hold ↑. MOD SET 5 6 Release the key. 7 Press MOD or SET to exit to Step 2. MOD 8 SET End of operations. 58 6.4 JOG run (AF 02) JOG run is the function to confirm the servo motor action through speed control without connecting to the upper controller. During JOG run, the overtravel prevention function (POT, NOT) is inactive. User shall pay close attention to mechanical movement of the machinery caused by JOG run. 1) Preparing for JOG run Before JOG run, the following settings are necessary. When S-ON input signal is ON, please switch it to OFF. Please set the JOG speed after considering mechanical movement of the machinery. JOG speed can be set by PA306. Please take necessary safety measures and ensure it can stop at any emergency. In order to ensure safety, a stop device shall be set on the machine side. 2) JOG run procedures Steps Panel display Keys Operations 1 MOD SET 2 MOD SET MOD SET 3 If the panel display is not AF 02, press ↑ & ← until it is AF 02. Press SET to enter AF 02. This will show if the servo is running or panel is locked (AF 03). 4 5 Press MOD to enable the servo. MOD SET 6 MOD SET 7 MOD SET 8 Press ← to JOG forward or ↑ to JOG reversely. Press MOD (or SET) to stop enabling the servo. Press SET to exit to Step 2. MOD 9 Press MOD key to choose auxiliary function mode. SET End of operations. 59 6.5 Panel lock (AF 03) Password settings: When it is set to be 58, no parameters or functions can be operated. When it is set to be 315, all parameters and functions (even hidden) can be operated. When it is set to be any other value, only the parameters and functions listed in the user manual can be operated. Steps Panel display Keys Operations 1 MOD SET 2 MOD SET MOD SET MOD SET MOD SET 3 If the panel display is not AF 03, press ↑ & ← until it is AF 03. Press SET. 4 Press SET to enter AF 03 5 Press ↑ or ← to set the password. 6 MOD 7 Press MOD key to choose auxiliary function mode. SET End of operations. 60 Press SET to finish password setting and exit to Step 2. 6.6 Clearance of alarm logging (AF 04) Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. MOD SET If the panel display is not AF 04, press ↑ & ← until it is AF 04. MOD SET 1 MOD 2 3 Press SET. 4 Press and hold ↑. MOD SET 5 This shows the operation is done. 6 Release the key. 7 Press MOD or SET to exit to Step 2. MOD 8 SET End of operations. 61 6.7 Parameter initialization (AF 05) To achieve parameter initialization, servo must not be ON. Also, restart afterwards to make initialization effective. Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. MOD SET If the panel display is not AF 05, press ↑ & ← until it is AF 05. MOD SET 1 MOD 2 3 Press SET if the servo is not ON. This will show if the servo is running or panel is locked (AF 03). 4 5 Press and hold ↑. MOD SET 6 This shows the operation is done. 7 Release the key. 8 Press MOD or SET to exit to Step 2. MOD SET 9 Power off, then power on again. 10 End of operations. 62 6.8 Analog instruction automatic offset adjustment (AF 06) This is a method for self-regulation of the instruction voltage (speed instruction and torque instruction) after measuring the offset. The measured offset will be saved in the servo drive. Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. MOD SET If the panel display is not AF 06, press ↑ & ← until it is AF 06. MOD SET 1 MOD 2 3 Press SET. 4 Press and hold ↑. MOD SET 5 This shows the operation is done. 6 Release the key. 7 Press MOD or SET to exit to Step 2. MOD 8 SET End of operations. 63 6.9 Speed instruction manual offset adjustment (AF 07) This is the method to input the speed instruction offset directly for regulation. Steps Panel display Keys Operations 1 MOD SET 2 MOD SET MOD SET 3 Press MOD key to choose auxiliary function mode. If the panel display is not AF 07, press ↑ & ← until it is AF 07. Press SET. 4 This will show if the servo is ON. 5 Press SET to display current offset value. MOD SET MOD SET 6 Press ↑ or ← for adjustment. 7 MOD SET 8 MOD 9 SET End of operations. 64 Press SET, ‘SAVED’ will show and blink, then will exit to Step 2. Press MOD to exit to Step 2 without saving. 6.10 Torque instruction manual offset adjustment (AF 08) This is the method to input the torque instruction offset directly for regulation. Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. MOD SET If the panel display is not AF 08, press ↑ & ← until it is AF 08. MOD SET 1 MOD 2 3 Press SET. 4 This will show if the servo is ON. 5 Press SET to display current offset value. MOD SET 6 Press ↑ or ← for adjustment. MOD SET SET Press SET, ‘SAVED’ will show and blink, then will exit to Step 2. SET Press MOD to exit to Step 2 without saving. 7 MOD 8 MOD 9 End of operations. 65 6.11 Overview of relevant motor parameters (AF 09) Display the model, encoder type and motor phase of the servo motor connected to the servo drive. If the servo drive has special specifications, its serial number will also be displayed. Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. SET If the panel display is not AF 09, press ↑ & ← until it is AF 09. 1 MOD 2 MOD 3 MOD SET 4 MOD SET 5 MOD SET MOD SET 6 7 Press SET to show the left figure. It means the drive model is 0, and the first letter is identified as "d". Press “↑” to show the motor model, and the first letter is identified as “F”. Press “↑” to show the model of encoder. 0: multi-turn absolute encoder; 1: single-turn absolute encoder; 2: line-saving incremental encoder. The first letter is identified as "E". Press SET to exit to Step 2. End of operations. 66 6.12 Display of main software version of servo drive (AF 10) Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. SET If the panel display is not AF 10, press ↑ & ← until it is AF 10. 1 MOD 2 MOD 3 MOD SET 4 MOD SET 5 MOD 6 SET End of operations. 67 Press SET. ‘d 1.00’: DSP software version is 1.00. Press ↑. F 1.03: FPGA software version is 1.03. Press MOD or SET to exit to Step 2. 6.13 Setting up absolute encoders (AF 11) This function is used under the following conditions: Absolute encoder is used for the first time; There are alarms related to absolute encoders; User intends to set quantity of turns of a multi-turn encoder to 0. Notes: Servo must be OFF; A-RST cannot clear alarms related to absolute encoders; Power off and power on again after setting; This operation will set quantity of turns of a multi-turn encoder to 0 and clear all alarms related to absolute encoders Steps Panel display Keys Operations SET Press MOD key to auxiliary function mode. MOD SET If the panel display is not AF 11, press ↑ & ← until it is AF 11. MOD SET MOD SET 1 MOD 2 3 choose Press SET. 4 Press and hold ↑. 5 This shows the operation is done. 6 Press MOD or SET to exit to Step 2. MOD SET 7 Power off and power on again. 8 End of operations. 68 6.14 Manual detection of load inertia (AF 15) Overtravel prevention is inactive during the process of manual detection of load inertia. Preparations before operation Servo is OFF; Please set PA300.2 for running distance of the motor in this operation, after careful study of all related mechanical parts. Please take necessary safety measures, e.g. a stop device on the machine side, for emergency stops. Steps Panel display Keys Operations SET Press MOD key to choose auxiliary function mode. MOD SET If the panel display is not AF 15, press ↑ & ← until it is AF 15. MOD SET 1 MOD 2 3 Press SET. 4 This will show if the servo is running or panel is locked (AF 03). 5 SET Press MOD to run manual detection of load inertia. SET During operation, press SET for emergency stop. MOD 6 MOD Load inertia will display after 7 operation, unit: Kg*cm2 8 MOD 9 SET End of operations. 69 Press MOD or SET to exit to Step 2. Chapter 7 JOG run 7.1 Preparations before JOG run Please check the following items before JOG run: Item Servo motor Servo driver What to check Whether the motor has been released from load? Whether the wiring and connection are correct? Whether the fastening parts are loose? If the servo motor has a holding brake, whether the brake has been released (by separate 24VDC) in advance? Whether the wirings and connections are correct? Whether the input voltage to the servo drive is stable? 7.2 JOG run by panel operations Please refer to Chapter 6.4 7.3 Stand-alone JOG run with upper controllers Please check the following items before JOG run by instructions from upper controllers: Item What to check 1 Whether I/O signals are correctly set? Whether the connections between upper controller and servo drive is correct and whether the polarities are set correctly? Whether the instructions are correctly set? 2 3 7.3.1 Wiring & status check of input signal circuit Steps Operations Reference 1 Please make sure following signals are connected to CN2: S-ON POT & NOT 2 Connect servo drive to upper controller. 3 Power on. Check status of dP 12. 4.3 4 Input S-ON to enable the servo. 4.3 5 End of preparations for JOG run. - 70 3.3 - 7.3.2 JOG run in position control mode Steps Operations Reference 1 Reconfirm the power supply and input signal circuit and then switch on the control power supply of servo drive. 2 Use PA200.0 to set the input pulse form. 8.4.1 3 Use PA205 and PA206 to set the electronic gear ratio; Use PA210 to set encoder divided frequency pulse number. 8.4.2 8.5.7 4 Power on again. - 5 Input S-ON to enable the servo. - 6 Output low speed pulse instruction from the upper controller with easily confirmed motor rotation (such as: 1 turn). - 7 Monitor the input pulse number (dP 03 & dP 04). 5.1 8 Monitor feedback pulse number (dP 01 and dP 02). 5.1 9 10 11 Confirm whether the servo motor rotates in the direction given by the instruction. Check whether the number of feedback pulse corresponds with the expected number. Feedback pulse number = (dP 01*104+dP 02) *PA210*4/ encoder resolution Stop the pulse instruction and make the servo OFF. 71 3.1 - 5.1 - 7.3.3 JOG run in speed control mode Steps Operations Reference 1 Reconfirm the power supply and input signal circuit and then switch on the control power supply of servo drive. 3.1 2 Adjust speed instruction input gain by PA301. 8.5 3 Power on. - 4 Confirm the speed instruction input (voltage between V- REF and AGND) is 0 V, and then switch on the servo ON (S-ON) input signal. - 5 Increase speed instruction input voltage (voltage between V-REF and AGND) from 0V slowly. - 6 Confirm the speed instruction value (voltage) through the speed instruction monitoring (dP 07). 5.1 7 Confirm the motor speed (rotating speed) through motor speed monitoring (dP 00). 5.1 8 Confirm the values in procedures 6 and 7 (dP07 and dP00) are consistent according to the conversion relation. 5.1 9 Confirm whether the servo motor rotates in the direction given by the instruction. - 10 Return speed instruction input to 0V, and make the servo OFF. Then the speed test run is finished. - 72 7.4 JOG run with mechanical connections After stand-alone JOG run, user can then proceed to JOG run with mechanical connections. Steps Items Operations Reference chapter 1 Parameter setting 1 Power on and conduct the setting related to the safety functions, overtravel and brake protection functions. 3.1 8.2 2 Parameter setting 2 Set the necessary parameters according to the control mode used. - 3 Installation Power OFF and connect the servo motor with the mechanical parts. - Check Power on upper controller but keep the servo OFF, and then confirm whether the protection functions set in Step 1 function normally. - Operation Conduct JOG run same way as Chapter 7.3. Confirm the JOG run result is up to expectations with mechanical connections. 7.3 6 Adjustment Adjust the servo gains (if necessary) to improve the response characteristic of servo motor. During the JOG run, the servo motor may not adapt to the machine well at the beginning. Please conduct fine tune to make them adapt to each other. - 7 Finish Then, the JOG run is finished. - 4 5 7.5 JOG run with a holding brake Item Remarks 1 When conducting JOG run of the servo motor with a brake, before confirming the action of brake, measures to prevent the natural fall or vibration due to external force of the machine shall be taken. 2 When conducting the JOG run of servo motor with a brake, please first of all confirm the action of servo motor and holding brake before connecting the servo motor with the machine. If there are no problems, conduct the JOG run again by connecting the servo motor with the machine. 3 Please control the action of the holding brake BK signal. 73 Chapter 8 Servo operations 8.1 Control mode selections Control mode Refere nce h.□□0□ Position control (pulse train instruction) The position of servo motor is controlled through the pulse train position instruction. The position is controlled through the pulse number inputted, and speed is controlled through the frequency of input pulse. It is used when the action needs to be positioned. 8.4 h.□□1□ Speed control (analog voltage instruction) Use this under the following occasions: To control the rotating speed; Use the encoder pulse output of servo drive and establish the position loop through the upper controller for position control. 8.5 h.□□2□ Torque control (analog voltage instruction) Use the analog voltage torque instruction to control the output torque of servo motor. 8.6 h.□□3□ Internal speed control Use 3 input signals, INSPD0, INSPD1 and INSPD2, for speed control through the 8 preset speeds in the servo drive. When this control mode is used, the analog instruction is not needed. 8.7 h.□□4□ Internal speed control Position control 8.10 h.□□5□ Internal speed control Speed control 8.10 h.□□6□ Internal speed control Torque control 8.10 h.□□7□ Position control Speed control 8.10 h.□□8□ Position control Torque control 8.10 h.□□9□ Torque control Speed control 8.10 h.□□A□ Internal position control System positions will be controlled without the upper controller. 8.8 h.□□B□ Internal position control Position control 8.10 h.□□C□ Reserved h.□□D□ Fully closed loop control Parameter PA000.1 74 8.11 8.2 Basic function settings 8.2.1 S-ON settings S-ON is the instruction for servo motor on/off Type Signal Input S-ON Status Level Remarks ON 2CN-9: Low Servo is ON & ready for operations. OFF 2CN-9: High Servo is OFF. Selection of S-ON level Parameter PA508 Remarks b.□□□0 L level active (optocoupler conductive) (default) b.□□□1 H level active (optocoupler not conductive) 75 8.2.2 Switch of motor rotational directions The servo drive can enable the servo motor to rotate reversely (negative rotation mode) without changing the wiring of servo motor. The positive direction is counter clockwise rotation (CCW). Negative mode only changes the rotational direction of the motor and positive direction becomes clockwise rotation (CW), and encoder pulse output polarity remains unchanged. Parameter Instructions & rotational directions Overtravel (OT) ■ Rotational direction at positive instruction Speed Encoder pulse output PAO POT Time PBO h.□□□0 CCW ■ Rotational direction at negative instruction Speed Encoder pulse output PAO NOT Time PBO CW PA000 ■ Rotational direction at positive instruction Speed Encoder pulse output PAO NOT Time PBO h.□□□1 CW ■ Rotational direction at negative instruction Speed Encoder pulse output PAO Time PBO CCW 76 POT 8.2.3 Overtravel (OT) settings Overtravel refers to the safety function which can make the limit switch function (ON) and force the servo motor to stop when the moving parts of a machine go beyond the movable area. Attention Installation of limit switches Limit switches must be installed in applications such as linear motions. When the limit switch has bad contacts or broken wires, please use ‘normally closed nods’ to ensure the motor moves to the safer side. Use of servo motors in vertical axis Work piece might fall when overtravel. To prevent this, please set the servo into zero-speed clamp when overtravel. (1) Wiring for overtravel Type Signal Pin Setting Meaning Input POT CN2-34 (default) ON=L level Can forward run OFF=H level Forward run prohibited (positive overtravel) Input NOT CN2-8 (default) ON=L level Can reverse run OFF=H level Reverse run prohibited (negative overtravel) When in overtravel, servo can still move in the opposite direction. Positive direction Servo motor Limit switch Limit switch Servo drive CN1 POT NOT 42 43 Important There might be position deviation pulse residual at overtravel in position control. To clear the residual, use CLR signal. POT, NOT can be allocated to other Pins. To use POT, NOT, please set PA003.0 & PA003.1 to 0. 77 (2) Selection of servo stop patterns at overtravel Parameter PA001 During stop d.□□0□ After stop DB state d.□□□0 Meaning DB to stop and maintain DB state after stop. DB to stop d.□□0□ DB to stop and enter free state (power off) after stop. d.□□□1 d.□□0□ d.□□□2 Free state Coast to stop d.□□1□ Decelerate to stop d.□□2□ Coast to stop and enter free state (power off) after stop. Zero-speed clamp state Use emergency stop torque (PA406) to decelerate and enter zero-speed clamp state after stop. Free state Use emergency stop torque (PA406) to decelerate and enter free state (power off) after stop. Please restart the servo drive after modifying this parameter. If the servo receives S-ON signal during coast to stop, the servo motor can only be controlled after the speed has decelerated to 0. Definitions: o DB: dynamic brake (internal short-circuit of servo drive). This feature is optional. o Coast to stop: stop using natural frictions. o Zero-speed clamp: the state when position instruction is 0 and position deviation is cleared. (3) Enable overtravel signal Parameter PA003 Description b. 0 Forward rotation prohibited (POT) valid b. 1 Forward rotation prohibited (POT) invalid (default) b. 0 Reverse rotation prohibited (NOT) valid b. 1 Reverse rotation prohibited (NOT) invalid (default) (4) Stop torque setting during overtravel Emergency Stop Torque PA406 Range Unit Default Effective 0 ~ 300 1% 300 Immediately • Set the torque for motor stop when the overtravel signals (POT, NOT) are valid. • The setting unit is the % of the rated torque. (the rated torque is 100%) • When the emergency stop torque exceeds the maximum running torque of the motor, the actual emergency stop torque output is the motor's maximum running torque; When the emergency stop torque is too small, there may be E.28 alarm during deceleration. 78 8.2.4 Holding brake settings The holding brake is often used when the motor is used in the vertical axis. When the power of servo drive is OFF, the servo motor with a brake can keep the moving parts from moving due to gravity. (Please refer to Chapter 7.5 JOG run with a holding brake) Vertical axis Horizontal axis Servo motor Mechanical moving part Holding brake Holding brake External force To prevent movement due to gravity at power off Mechanical moving part To prevent movement due to external force at power off The holding brake can only be used to maintain the halt state, not braking, of the servo motor. The brake torque is 70% or above of the rated torque of servo motor. If only the speed loop is used to activate the servo motor, when the brake functions, set the servo OFF and input instruction to be "0V". When setting the position loop, because the servo motor is under servo locked state at stop, the mechanical brake shall not function. (1) Example of connection The sequential output signal of servo drive (BK) and brake power supply forms the ON/OFF of the brake. Standard connection of a circuit is illustrated as follows. Servo motor with brake Servo drive U V W L1C L2C U V W FG 电机 M FG +24V +24V BK-RY BK+ 1 BK- 26 0V BK Encoder 2CN Switching power supply PG BK-RY +24V AC DC 0V Notes: 1. BK-RY: the relay for brake control 2. The current provided by switching power supply shall be determined by the brake; different brakes have different working currents. Normally, the DC24V of switching power supply shall be provide the current >1A; 3. DC24V input of the brake is not restricted by direction 79 The brake has delay action time; please refer to the figure below for the order of ON and OFF of the action. OFF OFF S-RDY ON OFF OFF S-ON ON OFF OFF BK ON Holding Holding Holing brake status Brake release *1 *2 *1. The time from BK signal active to brake release is different for different types of brakes. *2. PA518 value (2) BK signal output Type Signal name Pin Output BK Need allocation Setting Meaning ON=L level Brake release ON=H level Brake holding Use of the servo motor with a brake needs to control the output signal of brake. In addition, the output signal is not available in factory default setting. Therefore, it is necessary to allocate the output signal (setting of PA510). Do not connect with it when the motor without a brake is used. Important When overtravel, even the servo motor is powered off, no BK signal can output. (3) Allocation of BK signal Brake signal (BK) is allocated to DO4 (CN2-25, CN2-26) by default, but can also be allocated freely. Parameter PA510 Pin Meaning + - h.□□3□ CN2-4 CN2-5 BK signal output from CN2-4, CN2-5 h.□3□□ CN2-3 CN2-2 BK signal output from CN2-3, CN2-2 h.3□□□ CN2-1 CN2-26 BK signal output from CN2-1, CN2-26 Please refer to Chapter 3.4.3 ‘Allocation of I/O signals’ 80 (4) BK signal hysteresis time after Servo-OFF BK signal is normally OFF when servo OFF, but users can change the BK signal hysteresis time after Servo-OFF. BK signal hysteresis time after Servo-OFF PA518 Range Unit Default Effective 0~500 ms 100 Immed When used on a vertical axis, moving parts of the machine sometimes may move slightly due to deadweight or external force. The slight movement may be eliminated by using the user parameter to delay the actions after the servo OFF. S-ON ON OFF BK ON OFF Power off Motor status Power on PA518 When an alarm is given out, the servo motor will be immediately powered off, and the setting of this parameter becomes irrelevant. Owing to the deadweight of machine moving parts or the external force, the machine sometimes may move before the brake functions (5) Setting of BK signal timing during the rotation of servo motor When a halt instruction is given to the rotating servo motor during servo OFF or an alarm, the output conditions of BK signal can be changed according to the following user parameters. BK signal speed limit PA519 Range Unit Default Effective 0~1000 rpm 100 Immed BK signal waiting time at Servo-OFF PA520 Range Unit Default Effective 100~1000 1ms 500 Immed 81 BK signal will be OFF (H level, nonconductive) in following situations: • The motor speed is below PA519 after servo OFF • The waiting time exceeds PA520 after servo OFF S-ON OFF ON Motor speed BK PA519 ON OFF ON Brake status OFF PA520 Even PA519 is set to be above the maximum speed of the servo motor, the servo motor will be restricted by its own maximum speed. 82 8.2.5 Selection of servo stop patterns at servo OFF Parameter PA001 During stop d.□□□0 After stop DB state DB to stop and maintain DB state after stop. Free state DB to stop and enter free state (power off) after stop. Free state Coast to stop and enter free state (power off) after stop. DB state Decelerate at rate of PA522, & stay in DB state when speed is lower than PA523. Free state Decelerate at rate of PA522, & coast to stop when speed is lower than PA523. DB to stop d.□□□1 d.□□□2 Coast to stop d.□□□3 Decelerate to stop d.□□□4 Meaning This parameter is valid in following situations: o When S-ON signal is OFF; o When there is an alarm output; o When main power (L1, L2, L3) is off. In the above setting "DB state maintenance after DB stops" of "d.□□□0", if the servo motor stops or rotates at a very low speed, no brake force will be generated. Definitions: o DB: dynamic brake (internal short-circuit of servo drive). This feature is optional. o Coast to stop: stop using natural frictions. Dynamic brake (DB) can be used for emergency stop. When the servo motor is frequently started and stopped through the power ON/OFF or servo ON signal (S-ON), DB circuit will also repeat ON and OFF frequently, which is the main cause for the aging of the interior components of the servo drive. Please start and stop the servo motor through the speed input instruction and position control instruction. 83 8.2.6 Instantaneous power off settings This is to set when the main power supply is OFF instantly, whether the motor shall go on operating or set to be servo OFF Instantaneous power off holding time PA521 Range Unit Default Effective 40~800 1ms 60 Immed If the OFF→ON resetting time is below the setting value of this parameter, the servo will keep on operating. But under the following circumstances, the setting of this parameter will not become effective: • The load of servo motor is too big, which causes "under voltage warning (A.96)" during instantaneous power off; • When the control power supply is out of control (the same to the usual power OFF operation) during the period of instantaneous power off. Instantaneous power off Main power Power off time: t Servo OFF Keep on running S-ON PA521>t Stop running Servo OFF S-ON PA5213us t 1.0us t6 T Forward t1 500Kbps. Open-collector: 200Kbps t1,t2 t1 t2 SIGN Reverse 50%<(t/T) 100% T CCW t1,t2 0.1us t3 ＞ 3us t 1.0us t t2 CW t3 Forward Reverse 50%<(t/T) 100% t1 t2 t1,t2 A phase+ B phase 200Kbps. Open-collector: 150Kbps 0.1us A phase B phase t 1.0us t 50%<(t/T) 100% T Forward Reverse A phase ahead of B phase by π/2 B phase ahead of A phase by π/2 2) Connection examples Refer to Chapter 3.4.4 8.4.4 Smoothness The servo drive can filter pulse instructions within certain frequency ranges. PA214 PA215 PA216 Position instruction acceleration/deceleration time constant 1 Range Unit Default Effective 0~1000 0.1ms 0 Immed Position instruction acceleration/deceleration time constant 2 Range Unit Default Effective 0~1000 0.1ms 0 Immed Position instruction average-moving filter Range Unit Default Effective 0~500 0.1ms 0 Immed If position instruction acceleration/deceleration time constants (PA214, PA215) are changed, the changed value takes effect only if there’s no simultaneous pulse input. In order to truly reflect the set value, please input CLR signal to prohibit pulse instructions. Even in the following cases, motor can operate smoothly. Also this setting has no 91 effect on movement amount (instruction pulse count). The upper controller that sends the instructions can’t accelerate or decelerate. The frequency of instruction pulse is low The electronic gear ratio is relatively high (more than 10 times) Effects of PA214, PA215, PA216 are shown as below: Position instruction acceleration/deceleration time constants (PA214, PA215) Position instruction average-moving filter (PA216) Before Before PA216 After After 100% 100% 63.2% 36.8% PA216 PA214/PA215 Before PA216 After 100% PA216 8.4.5 Positioning completed signal (COIN) This signal means that servo motor positioning is completed at position control. Type Output PA525 Signal COIN Pin Level Name CN2-5, 4 (default) ON= L level Positioning completed OFF=H level Positioning not completed COIN signal width Range Unit Default Effective 0~65535 1pulse 10 Immed If the difference between the upper controller’s instruction pulse input count and the servo motor’s movement amount (deviation pulse) is lower than the set value of this use parameter, then the COIN signal will output; this also depends on the electronic gear setting. If the set value of PA525 is too high and servo is running in low speed, COIN signal may still output even though positioning is not completed. Please pay close attention to this. 92 Setting of this user parameter does not affect the final positioning precision. Please refer to 3.4.3 Allocation of I/O signals. 8.4.6 Positioning near signal (NEAR) 8.4.7 Pulse input inhibited (INHIBIT) This is a function that stops (inhibits) instruction pulse input counting in case of position control. It is in servo locking (clamping) state when this function is used. + OFF Pulse instruction – ON INHIBIT Type Input Deviation counter Pulse feedback Signal Pin Level Name INHIBIT CN2-31 (default) ON=L level INHIBIT is ON OFF=H level INHIBIT is OFF INHIBIT is only valid in position control mode. 93 8.5 Speed control operations 8.5.1 Parameter settings Parameter PA000 Meaning h.□□1□ Control mode selection: speed control When PA000.1 = 1, 5, 7, 9, speed control is being used. PA301 Speed instruction gain Range Unit Default Effective 150~3000 0.01V/ rated speed 600 - This parameter is for setting the instruction voltage (V-REF) at motor rated speed. Rated s peed Default -12 -8 -4 4 8 12 Input voltage (V) Rated s peed The gradient is set by PA301 Input voltage range: DC±2V ~ ±10V / rated speed Examples: PA301=600 means that with 6V input, the motor will at the rated speed (default) ; PA301=1000 means that with 10V input, the motor will at the rated speed. 8.5.2 Input signals 1) Speed instruction input If speed instruction is sent to the servo drive, servo motor will run at a speed proportional to input voltage. Type Input Signal Pin Name V-REF CN2-20 Speed instruction input AGND CN2-29 GND for speed instruction input Please use multi-strand twisted wire to prevent interferences. Servo drive CN2 V-REF ±10V 2KΩ AGND 94 20 29 Programmable controller and so on are used for connection with the instruction controller's speed instruction output terminal in case of position control by Servo drive Upper controller CN2 V-REF Speed instruction input AGND PAO /PAO PBO Feedback pulse output /PBO PZO /PZO 5 6 33 34 35 36 19 20 multi-strand twisted wire 2) Proportional action instruction signal (P-CON) Type Signal Pin Input P-CON To be allocate d Level Name ON=L level Operate the servo drive in proportional (P) mode; OFF=H level Operate the servo drive in proportional & integral (PI) mode P-CON signal is a signal in respect of which speed control mode is selected from PI (proportional and integral) or P (proportional) control. If it’s set to P, then control can relieve motor rotation and slight vibration caused by speed instruction input drifting. Input instruction: It can progressively reduce servo motor rotation caused by drifting at 0V, but servo rigidity (support strength) decreases at stop. This signal is temporarily unavailable. 95 8.5.3 Instruction offset adjustment When in speed control mode, even with 0V instruction, the motor may still rotate at a slight speed. This happens when instruction voltage of upper controller or external circuit has slight (mV unit) deviation (offset). In this case, instruction offset can be adjusted automatically or manually by using the panel operator. Please use automatic or manual offset adjust by referring to Chapter 6.8 & 6.9. Automatic offset adjustment is the function of offset measuring and automatic voltage adjustment. When the voltage instruction of upper controller and external circuit is deviated, the servo drive will adjust the offset automatically as follows: Instruction voltage Instruction voltage Deviation range: ±2046 Deviation Speed instruction Speed instruction Automatic offset adjustment Internal adjustment value inside servo drive 1) Analog instruction automatic offset adjustment (AF 06) Please refer to Chapter 6.8. 2) Speed instruction manual offset adjustment (AF 07) Use AF 07 in following situations (Please refer to Chapter 6.9) : When servo is locked and deviation pulse is set to 0, AF 06 can’t be used. When user wants to set offset to a certain value; When the offset value is confirmed by AF 06. Offset adjustment range Instruction voltage Offset adjustment range: ±2046 Speed instruction: ±750mV Offset adjustment unit Speed instruction: 1= 0.05mV Offset adjustment unit Speed instruction 96 8.5.4 Soft start Soft start is the function that phase step speed instruction input is transformed to instruction with certain acceleration and deceleration curves inside servo drive, thus to achieve smooth operations. PA303 PA304 Soft start acceleration time Range Unit Default Effective 0~5000 1ms 0 Immed Range Unit Default Effective 0~5000 1ms 0 Immed Soft start deceleration time PA303: Acceleration time from 0rpm to 1000rpm; PA304: Deceleration time from 1000rpm to 0rpm. After soft start PA303 PA304 8.5.5 Speed instruction filter time constant PA302 Speed instruction filter time constant Range Unit Default Effective 0~1000 0.01ms 40 Immed Analog speed instruction (V-REF) is input through 1-time relay filter to smooth speed instruction. The responsiveness will be reduced if the set value is too large. 97 8.5.6 Zero-speed clamp function This is a function used when upper controller is not configured with position loop in case of speed control. If zero-speed clamp (ZEROSPD) (PA300.3=0) signal is set to be ON, or input voltage of speed instruction (V-REF) (PA300.3 = 1) is below PA316 (zero-speed clamp grade), servo drive is configured with position loop inside, and speed instruction is ignored and servo motor is stopped in the servo locking state. The servo motor is clamped to within ±1 pulse at the position where zero-speed clamp is effective, and it will return to the zero-speed clamp position even if turned by external force. Parameter Meaning Speed control switch 1: speed dead zone control PA300.3=0: use input signal ZEROSPD PA300 PA300.3=1: automatic, use PA316 setting Servo drive CN2 V-REF 5 AGND 6 ZEROSPD V-REF Speed Zero-speed clamp grade PA316 Time Zero-speed clamp action OFF ON PA316 OFF ON ZERPSPD signal input ON OFF ON Zero-speed clamp grade Range Unit Default Effective 1~2000 1rpm 30 Immed This is to set the motor into automatic zero-speed clamp state when speed is lower than PA316 setting. PA316 should be lower than maximum motor speed. Type Input Signal Pin ZERPSPD To be allocated Level Name ON=L level Zero-speed clamp function ON OFF=H level Zero-speed clamp function OFF Please refer to 3.4.3 Allocation of I/O signals. 98 8.5.7 Encoder signal output Pulse feedbacks from the encoder are processed inside the servo drive before outputting to the upper controller. Type Signal Output Output Output Pin Name PAO CN2-21 Encoder Output A Phase /PAO CN2-22 Encoder Output /A Phase PBO CN2-25 Encoder Output B Phase /PBO CN2-23 Encoder Output /B Phase PZO CN2-13 Encoder Output Z Phase (reference point) /PZO CN2-24 Encoder Output /Z Phase (reference point) Servo drive Encoder Upper controller CN2 CN3 A phase（PAO） Data PG B phase（PBO） Frequency division Z phase（PZO） Output phase status Positive rotation (B phase is π/2 ahead of A phase) Negative rotation (A phase is π/2 ahead of B phase) 90。 90。 A phase A phase B phase B phase Z phase Z phase t t Please make servo drive rotate by two turns before using servo drive’s Z phase pulse output for mechanical reference point reset action. If this can’t be done due to the structure of the mechanical system, please implement reference point reset action at speed below 600rpm (calculated according to servo motor’s rotating speed). 99 Frequency division This is a transformation process of the encoder pulse feedbacks by changing the density of pulses. The parameter is PA210. Encoder resolution (frequency-division) setting PA210 Encoder resolution (frequency-division) setting Range Unit Default Effective 16~16384 1Pulse/ rev 16384 Immed The setting range is dependent on the encoder resolution. Encoder specification Resolution Pulse per revolution Range Line-saving encoder 20000 5000ppr 16~5000 17-bit 131072 32768ppr 16~16384 Example: PA210=16 PA 210 Value: 16 PAO PBO 1 revoluion 100 8.5.8 Speed instruction reached (VCMP) When motor rotation speed is same as speed instruction, VCMP will output Type Output Signal VCMP Pin Level Name To be allocated ON=L level Same speed OFF=H level Not same speed VCMP needs to be allocated by PA510. Please refer to 3.4.3 Allocation of I/O signals. PA517 VCMP signal detection width Range Unit Default Effective 0~100 rpm 10 Immed If the difference between motor speed and instruction speed is less than PA517 value, VCMP will output. Motor speed PA517 Speed instruction VCMP will output in this range For example, PA517=100, speed instruction is 200rpm, if motor speed is within 1900rpm to 2100rpm, VCMP will be ON. 101 8.6 Torque control operations 8.6.1 Parameter settings When using analog instructions for torque control, following parameters need to be set: Parameter h.□□2□ PA000 PA400 Meaning Control mode selection: torque control Torque instruction gain Range Unit Default Effective 10~100 0.1V/ rated torque 30 Immed This parameter is for setting the instruction voltage (T-REF) at motor rated torque. Torque instruction PA400 Instruction voltage (V) Examples PA400=30: Input 3VDC will output rated torque (Default) PA400=100: Input 10VDC will output rated torque PA400= 20: Input 2VDC will output rated torque 102 8.6.2 Input signals If speed instruction is sent to the servo drive, servo motor will run at a speed proportional to input voltage. Type Input Signal Pin Name T-REF CN2-18 Torque instruction input AGND CN2-19 GND for torque instruction input When PA000.1 = 2, 6, 8, 9, torque control is being used. Input voltage range: DC±2V ~ ±10V / rated torque Torque instruction (%) 300 Defaul t -12 -8 -4 200 100 -1004 -200 8 12 Input voltage (V) -300 Servo drive CN2 T-REF ±10V 2KΩ AGND 9 10 dP 10 is for Internal torque instruction (value in relation to the rated torque) display in internal torque instruction in torque / speed / position control modes. 103 8.6.3 Instruction offset adjustment When in torque control mode, even with 0V instruction, the motor may still output at a slight torque. This happens when instruction voltage of upper controller or external circuit has slight (mV unit) deviation (offset). In this case, instruction offset can be adjusted automatically or manually by using the panel operator. Please use automatic or manual offset adjust by referring to Chapter 6.8 & 6.10. Automatic offset adjustment is the function of offset measuring and automatic voltage adjustment. When the voltage instruction of upper controller and external circuit is deviated, the servo drive will adjust the offset automatically as follows: Instruction voltage Instruction voltage Deviation range: ±2046 Deviation Torque instruction Torque instruction Automatic offset adjustment Internal adjustment value inside servo drive 1) Analog instruction automatic offset adjustment (AF 06) Please refer to Chapter 6.8. 2) Torque instruction manual offset adjustment (AF 08) Use AF 08 in following situations (Please refer to Chapter 6.10) : When servo is locked and deviation pulse is set to 0, AF 06 can’t be used. When user wants to set offset to a certain value; When the offset value is confirmed by AF 06. Offset adjustment range Instruction voltage Offset adjustment range: ±2046 Torque instruction: ±750mV Offset adjustment unit Torque instruction: 1= 0.05mV Offset adjustment unit Torque instruction 104 8.6.4 Speed limit in torque control mode When servo motor needs to be output torque following torque instructions, motor's rotating speed is not controlled. If instruction torque is too large due to the load torque at mechanical side, motor's rotating speed may increase too much. As a protection measure at mechanical side, servo motor's rotating speed needs to have limits in torque control mode. With no speed limit Motor speed (rpm) With speed limit Motor speed (rpm) Over mechanical speed limit, may cause damage! Won t be over mechanical speed limit! Maximum speed Speed limit t t Speed limit in torque control mode selection Parameter PA002 Meaning d.□□0□ Use PA407 as speed limit (internal speed limit) d.□□1□ Use V-REF & PA301 setting as speed limit (external speed limit) Speed limit in torque control mode PA407 Speed limit in torque control mode Range Unit Default Effective 0~5000 rpm 1500 Immed When PA002.1=0, settings of this parameter is effective. Value of PA407 shall not exceed maximum motor speed. External speed limit Type Input Signal Pin Name V-REF CN2-5 External speed limit AGND CN2-6 GND for external speed limit PA301 setting has no polarity. PA301 Speed instruction gain Range Unit Default Effective 150~3000 0.01 V/rated speed 600 Immed Output signal when speed is in limit Type Output Signal Pin Level Name VLT+ To be allocated ON=L level In speed limit status VLT－ To be allocated OFF=H level Not in speed limit status This signal is temporarily unavailable. 105 8.7 Internal speed control Internal speed control is to set 8 speeds beforehand through parameters inside servo drive and to select among them by using external input signals INSPD2, INSPD1 and INSPD0. It’s unnecessary to configure speed generator or pulse generator outside. Servo drive V-REF AGND AD External analog Internal speed register SPEED0 PA307 SPEED1 PA308 SPEED2 PA309 SPEED3 PA310 SPEED4 PA311 SPEED5 PA312 SPEED6 PA313 SPEED7 PA314 INSPD0 INSPD1 INSPD2 PA315.0 Speed instruction INSPD2 INSPD1 INSPD0 Internal speed selection 0 (Invalid) 0 (Invalid) 0 (Invalid) Internal speed 0 (PA307) 0 (Invalid) 0 (Invalid) 1 (Valid) Internal speed 1 (PA308) 0 (Invalid) 1 (Valid) 0 (Invalid) Internal speed 2 (PA309) 0 (Invalid) 1 (Valid) 1 (Valid) Internal speed 3 (PA310) 1 (Valid) 0 (Invalid) 0 (Invalid) Internal speed 4 (PA311) 1 (Valid) 0 (Invalid) 1 (Valid) Internal speed 5 (PA312) 1 (Valid) 1 (Valid) 0 (Invalid) Internal speed 6 (PA313) 1 (Valid) 1 (Valid) 1 (Valid) Internal speed 7 (PA314) 106 8.7.1 Parameter settings Parameter Meaning h. □□3□ Control mode selection: internal speed control PA000 PA307 Internal speed 0 Range Unit Default Effective rpm 100 Immed －5000~5000 PA308 Internal speed 1 Range Unit Default Effective rpm 200 Immed －5000~5000 PA309 Internal speed 2 Range Unit Default Effective rpm 300 Immed －5000~5000 PA310 Internal speed 3 Range Unit Default Effective rpm 400 Immed －5000~5000 PA311 Internal speed 4 Range Unit Default Effective rpm 500 Immed －5000~5000 PA312 Internal speed 5 Range Unit Default Effective rpm 600 Immed －5000~5000 PA313 Internal speed 6 Range Unit Default Effective rpm 700 Immed －5000~5000 PA314 Internal speed 7 Range Unit Default Effective rpm 800 Immed －5000~5000 PA307~PA314 settings should not exceed maximum motor speed. 8.7.2 Input signals Type Input Signal Pin Definitions INSPD0 To be allocated Internal speed register 0 INSPD1 To be allocated Internal speed register 1 INSPD2 To be allocated Internal speed register 2 Please refer to 3.4.3 Allocation of I/O signals. 107 8.8 Internal position control When PA000.1=A, servo drive is in internal position mode and can perform simple single-axis motions without upper controllers. Up to 16 positions can be set. Each position can set its own distance, speed, acceleration/deceleration time, stop (dead zone) time etc. This internal position control mode also has homing function (look for zero point). Internal position control switches & selections (PA700, PA770) 1) Use external INPOS0, INPOS1, INPOS2, INPOS3 to choose certain positions. Triggers can be set by PA770.1: external I/O (PTRG) or INPOS0, INPOS1, INPOS2, INPOS3. 2) Use external I/O (PTRG) to trigger cycle run. Cycle begins with PA700.2 and ends with PA700.3. 3) Internal position runs in cycles at internal timing. Cycle begins with PA700.2 and ends with PA700.3. ■ Internal position distance settings (PA701 to PA732) Each distance is set by two parameters in pairs, for example, PA701 & PA702, PA703 & PA704 etc. Values in these paired parameters are hexadecimal, with symbols and combine to a 32-bit position data. For example, PA702 is 0x 0007, PA701 is 0x A120, then position data is 0x0007A120, means 500000 pulses. For a 5000-line encoder, each turn creates 20,000 pulses. Thus the position data means 25 turns. Notes: 1) Setting range is [0x0000, 0xFFFF]. 2) Electronic gear ratio settings will have counter-effect on distance. 3) These parameters can also be set by communications. (Refer to Chapter 10) ■ Internal position speeds (PA733 to PA748) Electronic gear ratio will have counter-effect on speeds. ■ Internal position acceleration/deceleration time (PA749 to PA764) For settings please refer to Chapter 8.4.4. ■ Internal position stop (dead zone) time (PA765) This parameter is only valid when PA700.0＝2. (Internal position runs in cycles at internal timing) This is time between CMD_OK (internal position control position instruction completion signal output) and the execution of next action. 108 8.8.1 Parameter settings Parameter PA000 Meaning h.□□A□ Control mode selection: internal position control Parameter PA700 PA701 PA702 Meaning h.□□□0 INPOS selects internal position section. h.□□□1 PTRG triggers internal position run and in cycle. h.□□□2 Internal position runs in cycles at internal timing. h.□□0□ Incremental position h.□□1□ Absolute position h.□X□□ Cycle run starting position h.X□□□ Cycle run ending position Internal position 0 distance low place Range Unit Default Effective 0x0000~0xFFFF pulse 0x4E20 Immed Internal position 0 distance high place Range Unit Default Effective 0x0000~0xFFFF pulse 0x0000 Immed ~~ PA731 PA732 PA733 Internal position 15 distance low place Range Unit Default Effective 0x0000~0xFFFF pulse 0xE200 Immed Internal position 15 distance high place Range Unit Default Effective 0x0000~0xFFFF pulse 0x0004 Immed Range Unit Default Effective 0~5000 rpm 100 Immed Internal position 0 speed ~~ PA748 PA749 Internal position 15 speed Range Unit Default Effective 0~5000 rpm 100 Immed Internal position 0 acceleration/deceleration time Range Unit Default Effective 0~500 ms 0 Immed ~~ PA764 Internal position 15 acceleration/deceleration time Range Unit Default Effective 0~500 ms 0 Immed 109 PA765 PA768 Internal position dead zone time Range Unit Default Effective 0~65335 ms 100 Immed JOG speed in internal position control mode Range Unit Default Effective 0~5000 rpm 100 Immed Value of PA733~PA748 shall not exceed maximum motor speed. Parameter PA770 Meaning Internal position control switch 2 3 2 1 0 b. Trigger signal selection 0 Use PTRG 1 Use internal position selection signals: INPOS0、INPOS1、INPOS2、INPOS3 Trigger time sequence selection 0 Only receive new trigger signal when current position is completed (CMD-OK) 1 Can receive new trigger even though current position is not completed PZERO function selection 0 Stop. 1 Pause. Software position limit enabling 0 No enabling. 1 Can enable. PA756, PA757 are positive limits; PA758, PA759 are negative limits. 110 8.8.2 Input signals Type Input Signal ZPS Pin Level Meaning To be allocated ON=L level External zero switch signal ON OFF=H level External zero switch signal OFF To be allocated ON=L level Internal position control stops: valid OFF=H level Internal position control stops: invalid To be allocated ON=L level INPOS0 signal valid OFF=H level INPOS0 signal invalid To be allocated ON=L level INPOS1 signal valid OFF=H level INPOS1 signal invalid To be allocated ON=L level INPOS2 signal valid OFF=H level INPOS2 signal invalid To be allocated ON=L level INPOS3 signal valid OFF=H level INPOS3 signal invalid PTRG To be allocated OFF (H level) to ON (L level) PTRG signal valid P-POS To be allocated ON=L level P-POS signal valid OFF=H level P-POS signal invalid To be allocated ON=L level N-POS signal valid OFF=H level N-POS signal invalid To be allocated OFF (H level) to ON (L level) SHOME signal valid PZERO INPOS0 INPOS1 INPOS2 INPOS3 N-POS SHOME Please refer to 3.4.3 Allocation of I/O signals. ■ External zero switch signal (ZPS) Used for homing functions only. Please refer to Chapter 8.9. ■ Internal position control stops (PZERO) When PZERO is valid in internal position control, the motor stops and stays in clamping status. PA770.2 can select whether this is a stop or pause. If PA770.2=0 (stop), homing process needs to restart after PZERO becomes invalid again. If PA770.2=1 (pause), homing process will continue after PZERO becomes invalid again. 111 ■ Internal position register (INPOS0、INPOS1、INPOS2、INPOS3) INPOS0, INPOS1, INPOS2, INPOS3 combines to achieve 16-position control INPOS3 INPOS2 INPOS1 INPOS0 Internal position selection 0 (invalid) 0 (invalid) 0 (invalid) 0 (invalid) Position 0 (PA702&PA701) 0 (invalid) 0 (invalid) 0 (invalid) 1 (valid) Position 1 (PA704&PA703) 0 (invalid) 0 (invalid) 1 (valid) 0 (invalid) Position 2 (PA706&PA705) 0 (invalid) 0 (invalid) 1 (valid) 1 (valid) Position 3 (PA708&PA707) 0 (invalid) 1 (valid) 0 (invalid) 0 (invalid) Position 4 (PA710&PA709) 0 (invalid) 1 (valid) 0 (invalid) 1 (valid) Position 5 (PA712&PA711) 0 (invalid) 1 (valid) 1 (valid) 0 (invalid) Position 6 (PA714&PA713) 0 (invalid) 1 (valid) 1 (valid) 1 (valid) Position 7 (PA716&PA715) 1 (valid) 0 (invalid) 0 (invalid) 0 (invalid) Position 8 (PA718&PA717) 1 (valid) 0 (invalid) 0 (invalid) 1 (valid) Position 9 (PA720&PA719) 1 (valid) 0 (invalid) 1 (valid) 0 (invalid) Position 10 (PA722&PA721) 1 (valid) 0 (invalid) 1 (valid) 1 (valid) Position 11 (PA724&PA723) 1 (valid) 1 (valid) 0 (invalid) 0 (invalid) Position 12 (PA726&PA725) 1 (valid) 1 (valid) 0 (invalid) 1 (valid) Position 13 (PA728&PA727) 1 (valid) 1 (valid) 1 (valid) 0 (invalid) Position 14 (PA730&PA729) 1 (valid) 1 (valid) 1 (valid) 1 (valid) Position 15 (PA732&PA731) This is illustrated as below: Servo drive Internal position register INPOS0 INPOS1 INPOS2 INPOS3 Parameters related to position 0 Parameters related to position 1 PA701 PA733 PA765 PA703 PA734 PA765 PA702 PA749 PA704 PA750 Parameters PA731 PA732 related to PA748 PA764 position 15 PA765 112 Position instruction ■ Internal position control trigger (PTRG) When PA700.0=0 or 1, and PA770.1=0 in internal positon control mode, the rising edge is valid. Time sequence of PTRG is illustrated below: Target position Position X Null Position Y ON OFF Null CMD_OK OFF COIN OFF ON ON MC_OK OFF ON ON Trigger signal: （PTRG or INPOS） Rising edge Position Z Rising edge ■ Internal position control Forward JOG (P-POS) In internal position control mode, even during homing or internal position sections, when P-POS signal becomes valid, position instruction will cut to forward JOG immediately and all current running instructions will be canceled and the cycle run will restart to starting point. PA768 is JOG speed in internal position control mode. ■ Internal position control Reverse JOG (N-POS) ■ Internal position control homing start (SHOME) In internal position control mode, when SHOME signal becomes valid, all current running instructions will be canceled to cut into homing operations. The rising edge of this signal is valid. 113 8.8.3 Output signals Type Output Signal HOME CMD-OK MC-OK Pin Status Meaning To be allocated Valid Internal position control homing completed Invalid Internal position control homing not completed To be allocated Valid Internal position control instruction completed Invalid Internal position control instruction not completed To be allocated Valid Internal position control positioning & command completed Invalid Internal position control positioning & command not completed Please refer to 3.4.3 Allocation of I/O signals. ■ Internal position control homing completion signal (HOME) When homing is completed, and position coordinates are valid, and position counter is valid, this signal is ON. This signal is OFF at power on; When homing is completed, this signal is ON; After running one position section, this signal is OFF; When SHOME triggers, this signal is OFF; When homing is completed again, this signal is ON; When inputting PZERO to stop homing, this signal is OFF. ■ Internal position control instruction completion signal (CMD-OK) When entering internal position control mode, this signal is ON; When during instruction executing, this signal is OFF; When position instructions finish executing, this signal is ON. This signal only means the completion of instructions, not necessarily actual motor positioning. ■ Internal position control positioning & command completion (MC-OK) This signal means both the completion of positioning & commands. When CMD-OK & COIN are both ON, this signal is ON; otherwise OFF. 114 8.9 Homing function Normally there should be a reference point (zero) switch on working tables and is used to determine coordinate system zero position for point-to-point controls. Homing is needed when power-on or after each processing for next movement. In internal position control mode, upper controller gives homing start (SHOME) signal and the servo drive will execute homing functions automatically. Homing modes, homing speeds and offset can all be set through PA771, PA775, PA776, PA777, and PA778. ■ Homing mode selections Parameter Meaning PA771 3 2 1 0 d. Homing rotational direction 0 Forward rotation 1 Reverse rotation Homing pattern selection 0 After contacting zero switch, look for Z pulse by rotating backward 1 After contacting zero switch, look for Z pulse by rotating forward 2 After contacting zero switch, rotate backward, not look for Z pulse 3 After contacting zero point switch, rotate forward, not look for Z pulse Homing completion operation 0 Clear all position data 1 Not clear all position data Homing signal selection 0 Use ZPS 1 Use Z pulse ■ Other homing parameters PA775 PA776 PA777 PA778 Homing speed before contacting zero signal Range Unit Default Effective 0~3000 rpm 500 Immed Homing speed after contacting zero signal Range Unit Default Effective 0~500 rpm 30 Immed Zero switch offset low place Range Unit Default Effective 0x0000~0xFFFF pulse 0 Immed Zero switch offset high place Range Unit Default Effective 0x0000~0x1FFF pulse 0 Immed 115 Important When PA775, PA776 settings exceed maximum speed of the servo motor, actual value is still restricted as servo motor’s maximum speed. Zero position offset directions are determined by homing directions. Homing functions are suitable for internal position control (junction instruction) and position control (pulse instruction). During homing, servo drive does not receive pulse commands. ■ Description of the homing process When SHOME rising edge is detected, motor runs at direction set by PA771.0 and speed set by PA772. When zero switch (reference point) signal ZPS is detected active, motor runs at speed set by PA775 after finding Z pulse according to PA771.1 setting. When ZPS is inactive, also after detected Z pulse, motor runs at speed set by PA776 and starts calculating zero switch offset pulse numbers. When zero switch offset pulse number is reached, motor stops and outputs HOME signal. Normally set PA775 at high speed and PA776 at low speed. Note that if PA776 is set too high, homing accuracy will be affected. 116 PA771.1=0: After contacting zero switch, look for Z pulse by rotating backward. Motor speed (rpm) PA775 0 Zero-switch offset (PA777 & PA778) PA776 SHOME Rising edge ZPS Valid Inva lid Inva lid Z pulse After ZPS is invalid, the first Z pulse to start calculating offset Zero switch Motor decelerates and moves ba ckward Z pulse After ZPS is invalid, the first Z pulse to start calculating offset Valid ZPS Inva lid SHOME Rising edge 117 Inva lid PA771.1=1: After contacting zero switch, look for Z pulse by rotating forward. PA775 Motor speed (rpm) PA776 0 Zero-switch offset (PA777 & PA778) SHOME Rising edge ZPS Valid Inva lid Inva lid Z pulse After ZPS is invalid, the first Z pulse to start calculating offset Zero swtich Move forward to look for Z pulse After ZPS is invalid, the first Z pulse to start calculating offset Motor decelerates Z pulse Valid ZPS Inva lid Inva lid SHOME Rising edge 118 PA771.1=2: After contacting zero switch, rotate backward, not look for Z pulse. Motor speed (rpm) PA775 Zero switch offset (PA777 & PA778) 0 PA776 SHOME Rising edge ZPS Valid Inva lid Valid After ZPS is invalid, start calculating offset. Zero swtich Motor decelerates and moves ba ckward Afte r ZP S is invalid, start c alculating off set. Valid ZPS Inva lid SHOME Rising edge 119 Inva lid PA771.1=3: After contacting zero switch, rotate forward, not look for Z pulse. Motor speed (rpm) PA775 Zero switch offset (PA777 & PA778) PA776 0 SHOME Rising edge ZPS Valid Inva lid Inva lid Afte r ZPS is invalid, start calculating offset. Zero switch Afte r ZPS is inva lid, start c alculating off set. Motor decelerates and moves for war d Valid ZPS Inva lid SHOME Rising edge 120 Inva lid 8.10 Combination of different control modes The servo can select two control modes and switch between them. Settings are as below: 8.10.1 Parameter settings Parameter PA000 Control mode combinations h.□□4□ Internal speed control ←→ Position control h.□□5□ Internal speed control ←→ Speed control h.□□6□ Internal speed control ←→ Torque control h.□□7□ Position control ←→ Speed control h.□□8□ Position control ←→ Torque control h.□□9□ Torque control ←→ Speed control h.□□B□ Internal position control ←→ Position control 8.10.2 Input signal When C-MODE is invalid, first control mode is selected; When C-MODE is valid, second control mode is selected C-MODE Invalid First control mode Valid Invalid Second control mode First control mode Above 10ms no instruction input 121 Chapter 9 Fault diagnosis 9.1 Alarms Code Symptom/Cause E.03 Wrong parameters verifications E.04 Wrong format Clear Solutions & No AF 05: parameter initialization. data No AF 05: parameter initialization. E.05 Abnormal internal circuit of current detection channel 1 No Power off, then power on again after 1 minute. E.06 Abnormal internal circuit of current detection channel 2 No Power off, then power on again after 1 minute. E.08 Servo drive internal communication error No 1) 2) Power off, then power on again after 1 minute; Check motor earthing and whether next to interference source. E.10 Broken encode line No 1) 2) Check encoder line; Check if PA002.3 matches encoder type. E.11 Encoder A/B pulse loss No 1) 2) Check encoder line; Check grounding of both servo drive and motor; Check shielding cable connections; Separate encoder line from power supply cables. parameter 3) 4) E.12 Encoder Z pulse loss No Check encoder line. E.13 Encoder UVW error No Check encoder line. E.14 Encoder status error No Check encoder line. E.15 Main power supply wiring error No 1) 2) 3) Check if there is input phase loss; Check if input voltage is correct; Set PA001.2=1. E.16 Regenerative circuit error No 1) 2) Check if input voltage is too low; Set PA009.0=1 to disable this alarm. E.17 Regenerative resistor error No 1) 2) 3) Check if input voltage is too low; Set PA009.0=1 to disable this alarm; Check if regenerative resistor is already connector or if has error. E.18 (Main circuit DC bus) under-voltage No 1) 2) 3) Check if input voltage is correct; Check if the relay works properly (should have sound when power on) ; Increase value of PA512. 1) Check if input voltage is correct; E.19 (Main circuit DC bus) No 122 over-voltage 2) 3) Check regenerative resistor; Reduce the value of PA512. E.20 IGBT alarm No 1) 2) 3) Check if drive matches motor (PA012) ; Reduce the value of PA402 & PA403; Increase the value of PA104. E.21 Motor overload Yes 1) 2) Increase the value of PA010.3; Increase acceleration/deceleration time (Position control: reduce PA100, increase PA214, PA215, PA216. Speed control: increase PA302, PA303, PA304) ; Reduce the value of PA402 & PA403; Change to a higher power servo. 3) 4) E.22 Regenerative overload Yes 2) 3) Increase acceleration/deceleration time (Position control: reduce PA100, increase PA214, PA215, PA216. Speed control: increase PA302, PA303, PA304) ; Increase PA010.2 if the resistor can withstand; Increase value of PA512. 1) E.23 DB overload Yes E.25 Deviation counter overflow (exceeds 256*65536) Yes 1) 2) 3) 4) Check if motor can JOG properly; Check electronic gear ratio settings; Check if torque limit is correct; Check if there is limit switch. E.26 Position deviation exceeds setting value of PA528 Yes 1) 2) 3) 4) Check if motor can JOG properly; Check electronic gear ratio settings; Increase PA528; Check if there is limit switch. E.27 Motor speed exceeds maximum speed*1.2 Yes 1) 2) Check if motor UVW wirings are correct; Check if the PID parameters are correct or if load inertia is too high; Increase acceleration/deceleration time (Position control: reduce PA100, increase PA214, PA215, PA216. Speed control: increase PA302, PA303, PA304). 3) E.28 Motor speed out of control Yes 1) 2) 3) Check if motor UVW wirings are correct; Check PID settings for responsiveness; Increase PA530 (if too high will disable the protection function). E.29 Motor out of control Yes 1) 2) 3) 4) Check if motor UVW wirings are correct; Check if encoder type is correct (PA002.3) ; Check if drive matches motor (PA012) ; Reduce servo gains properly, such as increase filter (PA215, PA216). E.30 Electronic gear ratio value Yes 1) Check electronic gear ratio settings; 123 too high 2) Check input pulse frequency. E.31 Internal data value too high: calculation is over 32-bit Yes 1) 2) Check electronic gear ratio settings; Check input pulse frequency. E.35 Input inhabitation Yes 1) 2) Check if there is limit switch signal input; Set PA003.2=1 to disable this alarm. E.36 Fully closed loop deviation too large Yes E.44 Servo drive reset error No 1) Time interval between power off & power on again shall be greater than 5 seconds; Check if there is any interference source nearby. 2) E.45 Servo drive internal error 1 No E.46 Servo drive internal error 2 No E.47 Servo drive internal error 3 No E.50 17-bit serial encoder communicational error No 1) 2) 3) Check if PA002.3 matches encoder type; Check encoder line; Replace the servo motor. E.51 17-bit serial encoder ODD/EVEN place, stop place verification error Yes 1) 2) Check encoder line; Check if there is any interference source nearby; Check shielding wire connections; Replace the servo motor; 3) 4) E.52 17-bit serial encoder data verification error Yes Same as above. E.53 17-bit serial encoder status domain stop place error Yes Same as above. E.54 17-bit serial encoder SFOME stop place error Yes Same as above. E.55 17-bit serial encoder overspeed Yes 1) 2) 3) E.56 17-bit serial encoder absolute status error Yes 1) 2) E.57 17-bit serial encoder counter error Yes 1) 2) E.58 E.59 17-bit serial encoder multiturn data overflow (exceeds 65535 turns) Yes 17-bit serial encoder overheat Yes Check if motor axis displaced during power off; Execute AF 12; Check if absolute encoder has battery. Check if there is any interference source nearby; Execute AF 11. Check if there is any interference source nearby; Execute AF 11. 2) Check if there is any interference source nearby; Execute AF 11. 1) 2) Check motor temperature; Execute AF 12. 1) 124 E.60 17-bit serial encoder multiturn data error Yes 1) 2) Check battery voltage; Execute AF 11. E.61 17-bit serial encoder battery voltage less than 3.1V Yes 1) 2) Replace battery; Execute AF 12 E.62 17-bit serial encoder battery voltage less than 2.5V No Same as above E.63 17-bit serial encoder data not initialized Yes 1) 2) E.64 17-bit serial encoder data & verification error Yes Same as above E.67 Servo drive does not match the servo motor Yes 1) 2) 3) Check if PA002.3 matches encoder type; Initialize 17-bit serial encoder. Modify PA012 setting; Disable this alarm by PA007.3 but may degrade motor performance or cause E.29; Replace the servo drive or motor. E.68 Same as above Yes Same as above E.69 Same as above Yes Same as above E.70 Absolute encoder data error Yes E.76 IGBT over-heat Yes 1) 2) 3) Check servo drive fan; Check ventilation; Set PA009.2=0 to disable this alarm. E.77 Software limit switch alarm Yes 1) 2) Check if PA779~PA782 are correct; Set PA770.3=0 to disable this alarm. 125 9.2 Warnings Code Symptom/Cause Solutions A.90 Position deviation (residual pulse) too much 1) 2) 3) Check electronic gear ratio settings; Increase PA527; Check if there is limit switch. A.91 Overload 1) 2) 3) 4) 5) Increase acceleration/deceleration time; Increase stop/start times; Increase PA010.3; Reduce load; Replace with a higher power servo. A.92 Regenerative overload 1) 2) 3) 4) Increase acceleration/deceleration time; Increase stop/start times; Increase PA010.2; Use a regenerative resistor with higher power but lower resistance A.95 Over-voltage warning 1) 2) 3) 4) Increase acceleration/deceleration time; Increase stop/start times; Reduce regenerative resistance; Reduce PA512. A.96 Under-voltage warning 1) 2) Check input voltage; Increase PA512. A.97 17-bit serial encoder battery voltage less than 3.1V 1) 2) Check battery voltage and wiring; Replace battery. 126 Chapter 10 Communications 10.1 Communication terminals Please refer to chapter 3.3 for wirings of CN1. 1) If upper controller only connects to one servo drive, connect RJ45 (1) to upper controller and RJ45 (2) to a 120Ω resistor. 2) If upper controller connects to multiple servo drives, connect RJ45 (1) of first servo drive to upper controller and RJ45 (2) of first servo drive to RJ45 (1) of second servo drive. Connect all servo drives in this way and connect RJ45 (2) of last servo drive to a 120Ω resistor. 3) Do not connect pin 4 or pin 5 of RJ45. 10.2 Communication parameters Parameter PA015 Name Range RS485 communication address RS485 communication function selection 3 2 1 Unit Default 1~31 1 Immed d.0000~0095 d.0095 Immed 0 d. RS485 bit rate 0 2400bps 1 4800bps 2 9600bps 3 19200bps 4 38400bps 5 57600bps 6 115200bps Communicational protocal PA016 0 8，N，1 (Modbus protocol, RTU mode) 1 8，N，2 (Modbus protocol, RTU mode) 2 8，E，1 (Modbus protocol, RTU mode) 3 8，O，1 (Modbus protocol, RTU mode) 4 7，N，2 (Modbus protocol, ASCII mode) 5 7，E，1 (Modbus protocol, ASCII mode) 6 7，O，1 (Modbus protocol, ASCII mode) 7 8，N，2 (Modbus protocol, ASCII mode) 8 8，E，1 (Modbus protocol, ASCII mode) 9 8，O，1 (Modbus protocol, ASCII mode) Reserved Communicational data equivalent 0 Internal speed: 1rpm; internal torque: 1% rated torque. 1 Internal speed: 0.1rpm; internal torque: 0.1% rated torque. 127 Effective 10.3 Communication protocol When using RS-485 for serial communications, each servo drive must set its own axis number (PA015). There are two MODBUS modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal Unit). 10.3.1 Encoding definitions ASCII mode: Every 8-bit data consists of two ASCII bytes. Byte symbol ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’ ASCII code 31H 32H 33H 34H 35H 36H 37H Byte symbol ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’ ASCII code 39H 41H 42H 43H 44H 45H 46H 30H 38H RTU mode: Every 8-bits data consists of two 4-bits hexadecimal bytes. 128 10.3.2 Byte structure 10-bits byte box (used for 7-bits data) 7，N，2（Modbus，ASCII） Start bit 0 1 2 3 4 5 6 Stop bit Stop bit 6 Even parity Stop bit 6 Odd parity Stop bit 7-data bits 10- bits character frame 7，E，1（Modbus，ASCII） Start bit 0 1 2 3 4 5 7-data bits 10- bits character frame 7，O，1（Modbus，ASCII） Start bit 0 1 2 3 4 5 7-data bits 10- bits character frame 11-bits byte box (used for 8-bits data) 8，N，2（Modbus，ASCII / RTU） Start bit 0 1 2 3 4 5 6 7 Stop bit Stop bit 8-data bits 11- bits character frame 8，E，1（Modbus，ASCII / RTU） Start bit 0 1 2 3 4 5 6 Even parity 7 Stop bit 8-data bits 11- bits character frame 8，O，1（Modbus，ASCII / RTU） Start bit 0 1 2 3 4 5 8-data bits 11- bits character frame 129 6 7 Odd parity Stop bit 10.3.3 Communication data structure ASCII mode: STX Communication starting byte: ‘:’ (3AH) ADR Communication address: 1-byte contains 2 ASCII codes CMD Command code: 1-byte contains 2 ASCII codes DATA (n-1) Data content (n≤12): Word number=n; Byte number=2n; ASCII code number=4n; ……. DATA (0) LRC Command code: 1-byte contains 2 ASCII codes End 1 End code 1: (0DH) (CR) End 0 End code 0: (0AH) (LF) RTU mode STX Static time exceeding 3.5 bytes ADR Communication address: 1-byte CMD Command code: 1-byte DATA (n-1) Data content (n≤12): Word number=n; Byte number=2n; ……. DATA (0) CRC Command code: 1-byte End 1 Static time exceeding 3.5 bytes Detailed explanations are as below: STX (Communication starting) ASCII mode:’:’ byte (3AH). RTU mode：Static time exceeding 3.5 bytes under current communication speed. ADR (communication address) Valid communication address is between 1 and 127. For example: to communicate with servo drive of Axis 16 (hexadecimal: 10H): ASCII mode: ADR=’1’, ’0’=> ‘1’=31H, ’0’=30H RTU mode: ADR = 10H CMD (command code) & DATA (data content) DATA format is determined by CMD. Common CMD listed below: Command Meaning Remarks 03H Read N words, N≤29 Standard command 03 06H Write 1 word Standard command 06 10H Write N words, N≤29 Standard command 10 130 1) CMD：03H (Read N words, N≤29) For example, to continuously read 2 words from starting address 0200H of servo drive Axis 01H: ASCII mode: Command STX ADR CMD Response ‘:’ STX ‘0’ ADR ‘1’ ‘0’ CMD ‘3’ ‘0’ Starting address (high to low) Data quantity (bytes) ‘2’ ‘0’ Starting address 0200H (high to low) ‘0’ ‘1’ ‘0’ ‘3’ ‘0’ ‘4' ‘0’ ‘B’ ‘0’ ‘1’ ‘0’ ‘1’ ‘2’ LRC Check (high to low) ‘F’ ‘8’ End 1 (0DH) (CR) (0AH) End 0 ‘0’ ‘0’ ‘0’ Data quantity (WORD) ‘:’ Second address 0200H (high to low) LRC Check (high to low) (LF) ‘F’ ‘4’ ‘0’ ‘E’ ‘8’ End 1 (0DH) (CR) End 0 (0AH) (LF) RTU mode： Command Response ADR 01H ADR 01H CMD 03H CMD 03H Starting address (high to low) 02H Data quantity (bytes) 04H 00H 00H Data byte number (high to low) 00H Starting address 0200H (high to low) CRC check low CRC check high 02H B1H 1FH C5H Second address 0200H (high to low) B3H CRC check low A3H CRC check high D4H 131 40H 132 2) CMD: 06H (write one word) For example, write 100 (0064H) to starting address 0200H of servo drive Axis 01H: ASCII mode: Command STX ADR CMD Response ‘:’ ‘:’ STX ‘0’ ‘0’ ADR ‘1’ ‘0’ ‘1’ ‘0’ CMD ‘6’ ‘6’ ‘0’ Starting address (high to low) Data content (high to low) ‘0’ ‘2’ Starting address 0200H (high to low) ‘0’ ‘0’ ‘0’ ‘0’ ‘0’ ‘0’ ‘0’ ‘0’ Data content (high to low) ‘6’ ‘6’ ‘4’ LRC Check (high to low) ‘2’ ‘4’ ‘9’ ‘9’ LRC Check (high to low) ‘3’ ‘3’ End 1 (0DH) (CR) End 1 (0DH) (CR) End 0 (0AH) (LF) End 0 (0AH) (LF) RTU mode: Command Response ADR 01H ADR 01H CMD 06H CMD 06H Starting address (high to low) 02H Starting address (high to low) 02H Data content (high to low) CRC check low CRC check high 00H 00H Data content (high to low) 64H 89H 99H CRC check low CRC check high 133 00H 00H 64H 89H 99H 3) CMD: 10H (write N words, N≤29) For example, write 100 (0064H), 102 (0066H) to starting address 0200H of servo drive Axis 01H: ASCII mode: Command STX ADR CMD Response ‘:’ STX ‘0’ ADR ‘1’ ‘1’ CMD ‘0’ ‘0’ Starting address (high to low) ‘:’ ‘0’ ‘1’ ‘1’ ‘0’ ‘0’ ‘2’ Starting address (high to low) ‘0’ ‘2' ‘0’ ‘0’ ‘0’ Data word number (high place) ‘0’ ‘0’ Data word number (low place) ‘0’ Data byte number Data 1 content (high to low) ‘0’ Data word number (high to low) ‘2’ ‘0’ LRC Check (high to low) ‘4’ ‘9’ ‘3’ ‘0’ End 1 (0DH) (CR) ‘0’ End 0 (0AH) (LF) ‘6’ ‘0’ ‘0’ ‘6’ ‘6’ LRC Check (high to low) ‘0’ ‘2’ ‘4’ Data 2 content (high to low) ‘0’ ‘1’ ‘D’ End 1 (0DH) (CR) End 0 (0AH) (LF) 134 RTU mode: Command Response ADR 01H ADR 01H CMD 10H CMD 10H Starting address (high to low) 02H Starting address (high to low) 02H Data word number (high to low) 00H 00H 02H Data word number (high to low) Data byte number 04H CRC check low 40H 00H CRC check high 70H Data 1 content Data 2 content CRC check low CRC check high 00H 64H 00H 66H 50H 11H 135 00H 02H LRC (ASCII mode) & CRC (RTU mode) detected error value calculation ASCII mode： ASCII mode uses LRC (Longitudinal Redundancy Check) to detect error value. LRC detected error value is the sum from ADR to last data content and use 256 as unit to remove excess part (for example: sum is 128H, then only use 28H), and then calculate supplement number of 2. RTU mode： RTU mode uses CRC (Cyclical Redundancy Check) detected error value. Step 1: CRC register is a 16-bits register whose content is FFFFH; Step 2: Exclusive OR compute first byte of command & low place byte of 16-bits CRC register and store the result back to CRC register. Step 3: Check lowest place (LSB) of CRC register. If this place is 0, then move to the right by 1 place；If this place is 1, then CRC register value move to the right by 1 place and Exclusive OR compute with A001H. Step 4: Go back to Step 3 until Step 3 has been executed 8 times; then to Step 5. Step 5: Repeat Step 2 to Step 4 for next byte of the CMD until all bytes have been processed. At this point, CRC register content is CRC detected error value. Notes: After calculated CRC detected error value, in command, shall first fill in CRC low place, then CRC high place. 3) End1、End0 (communication end) ASCII mode： (0DH) i.e. byte as’\r’ (carriage return) & (0AH) i.e. byte as ‘\n’ (new line), means communication end. RTU mode： Static time exceeding 3.5 bytes in current communication speed. 136 10.3.4 Communication troubleshooting Common error causes are: When reading-writing parameters, data address is wrong； When writing parameters, data exceeds upper/lower limit of this parameter； Communication is interfered, data transmission error or verification error. When above communication error occurs, the servo drive will continue running, meanwhile will send back an error frame. Error frame format: Upper controller data frame: Start Slave address Command Data address Verification Servo drive feedback error frame: Start Slave address Response code Error code Verification Error frame response code = command + 80H Error code＝00H: communication normal； ＝01H: servo drive cannot recognize the request; ＝02H: data address of the request does not exist in the servo drive; ＝03H: data of the request is not allowed (exceeding upper/lower limit) ; ＝04H: servo drive started to execute the request but failed； For example: servo drive Axis number is 03H, write data 06H to parameter PA004. As both upper/lower limit of PA004 is 0, data cannot be written. Servo drive will send back an error frame; error code is 03H (exceeding upper/lower limit). Structure is as below. Upper controller data frame: Start Slave address Command Data address 03H 06H 0004H, 0006H Verification Servo drive feedback error frame: Start Slave address Response code Error code 03H 86H 03H Verification If slave address is 00H, this is broadcast data and the servo drive will send no feedback. 137 10.4 Communication address Notes: W/R: writable/readable (R: readable only; W: writable only) Address Meaning Unit Data type W/R Parameters in Chapter 12.3. 0000~03E7H Examples: Unassigned hexadecimal PA005: 0005H Assigned hexadecimal PA101: 0065H Assigned 32-bit W/R PA307: 0133H 0600~0628H: Monitoring display parameters. 0600H 0601H 0602H 0603H 0604H 0605H 0606H 0607H 0608H 0609H 060AH 060BH Motor speed (dP 00) Motor feedback pulse number (encoder unit, lower 4 digits) (dP 01) Motor feedback pulse number (encoder unit, higher 5 digits) (dP 02) Input pulse number before electronic gear (user unit, lower 4 digits) (dP 03) Input pulse number before electronic gear (user unit, higher 5 digits) (dP 04) Deviation pulse number (encoder unit, lower 4 digits) (dP 05) Deviation pulse number (encoder unit, higher 5 digits) (dP 06) Speed instruction (analog voltage instruction) (dP 07) Internal speed instruction (dP 08) Torque instruction (analog voltage instruction) (dP 09) Internal torque instruction (value in relation to the rated torque) (dP 10) Torque feedback (value in relation to the rated torque) (dP 11) rpm Assigned hexadecimal R pulse Assigned hexadecimal R pulse Assigned hexadecimal R pulse Assigned hexadecimal R pulse Assigned hexadecimal R pulse Assigned hexadecimal R pulse Assigned hexadecimal R 0.01V Unassigned hexadecimal R rpm Assigned hexadecimal R 0.01V Unassigned hexadecimal R % Assigned hexadecimal R % Assigned hexadecimal R 060CH Input signal monitoring (dP 12) Unassigned hexadecimal R 060DH Output signal monitoring (dP 13) Unassigned hexadecimal R 060EH Instruction pulse frequency (dP 14) 0.1Khz Assigned hexadecimal R 060FH DC bus voltage (dP 15) V Unassigned hexadecimal R 0610H Total operation time (dP 16) H Unassigned hexadecimal R 0611H Rotation angle (dP 17) Unassigned hexadecimal R 2 pulses Unassigned hexadecimal R turn Unassigned hexadecimal R 0612H 0613H Exact position of absolute encoder (single-turn or multi-turn) (dP 18) Number of encoder turns (only effective for multi-turn absolute encoders) (dP 19) 138 0614H Cumulative load factor (take the rated cumulative load as 100%) (dP 20) % Unassigned hexadecimal R % Unassigned hexadecimal R 0617H Load inertial ratio (dP 23) 0618H Effective gain monitoring (dP 24) Unassigned hexadecimal R 0630H Current alarm code Unassigned hexadecimal R 0631H Current warning code Unassigned hexadecimal R 0780H Absolute encoder multi-turn data Unassigned hexadecimal R 0781H 0782H turn Absolute encoder single turn data high place Absolute encoder single turn data low place pulse R Unassigned 32-bit pulse 0783H Motor feedback position low place pulse 0784H Motor feedback position high place pulse 0785H Motor reference position low place pulse 0786H Motor reference position high place pulse R Assigned 32-bit Assigned 32-bit R R R R Notes: All data is displayed in hexadecimal (16-bit or 32-bit). 32-bit data consists of two 16bit data. For example, 0781H data is 0001H and 0782H data is 013AH; then absolute encoder single turn data is 0001013AH. 139 Chapter 11 Product specifications 11.1 Servo drive specifications 11.1.1 Basic specifications Input voltage 220VAC Singe/Three Phase 220VAC -15%~+10%, 50/60Hz 380VAC Three Phase 380VAC -15%~+15%, 50/60Hz Control mechanism Feedback devices Ambient temperature Use IGBT PWM control, sine-wave current control 5000-LINE LINE-SAVING (GAIN) 17-BIT SERIAL (ABSOLUTE) 20-BIT SERIAL (GAIN) Use temperature: 0~+45℃ Storage temperature: -20~55℃ Below 90%RH (no freezing or condensing) Vibration 4.9 m/s2~19.6 m/s2 Protection class: IP10; Cleanness: 2. But should be: Protection class/cleanness Altitude Load Speed fluctuation rate ·With no corrosive or combustible gas ·With no water, oil or drug splashing ·With little dust, ash, salt or metallic powder Below 1000m Speed control precision fluctuation Voltage fluctuation Temperature fluctuation Torque control precision Soft start time Input/output Single/Three phase full wave rectification Humidity conditions Performance 1:5000 0 ~100% load: below ±0.01% (at rated speed) Rated voltage ±10%：0.001% (at rated speed) 25 ±25℃: below ±0.1% (at rated speed) ±3% (repeatable) 0~5s (acceleration or deceleration) 5000 line-saving encoder: 16~5000; Encoder pulse output (A 17-bit serial encoder:16~16384; phase, B phase, Z phase) 20-bit serial encoder: 16~1,048,576. signals Sequential input signals Sequential output signals Pin number 8 Functions S-ON, C-MODE, POT, NOT, etc. Pin number 4 140 Functions 1: N Communicati RS485 on functions ALM, COIN, CZ, BK-OFF, S-RDY, etc. With relay, maximum N=31 Address By parameter setting Devices PC, upper controller Display/keypad 7 LED X 5 bit, 4 buttons At Servo OFF, forward/backward rotation inhibition, Dynamic brake (DB) (optional) power OFF, or stop due to failure. Regenerative functions Internal or external Over-travel (OT) protections POT, NOT. DB, deceleration to stop, coast to stop. Over-current, over-voltage, under-voltage, over-load, Protection functions regenerative fault, etc. 11.1.2 Position/speed/torque control specifications Feedforward compensation 0~100% (Unit：1%) Position completion width 0~65535 Encoder unit Pulse form PULS+SIGN, CW+CCW, A+B Pulse status Support line-driver, open collector Position Input Maximum control signals input pulse frequency Clearance Internal Position position selection Soft start time Instruction Speed control Input voltage signals Input resistance Internal Speed speed selection Instruction Torque Input voltage control signals Input resistance PULS+SIGN CW+CCW A+B Long line-driver 4Mbps 4 Mbps 1 Mbps Line-driver 500Kbps 500Kbps 125Kbps Open-collector 200Kbps 200Kbps 200Kbps Clear deviation pulses External input signals 0~5s ±10 V Approximately 9kΩ External input signals ±10 V Approximately 9kΩ 141 11.1.3 Servo drive dimensions A type case: B type case: 142 C type case: Notes: Unit is mm. Dimensions are subject to changes without prior notice. 11.2 Servo motor specifications & dimensions General specifications Working system: S1 continuous Heat resistance class: B Vibration: 5G Insulation voltage class: AC1500V, 1 minute Insulation resistance: DC500V, above 10MΩ Installation mode: Flange Working temperature: 0~40℃ (no freezing) Operating humidity: 20%~80% (no dewing) Altitude: Below 1000m Protections: Full-enclosed IP65 (except the shaft-through part) 143 60/80 Series 60 series Servo Motor series Servo Motor model 80 Series 60DNMA2- 60DNMA2- 0D20D 0D40D Input voltage Inertia Medium Rated power (W) 200 400 Rated torque (N*m) 0.64 1.27 Rated current (A) 1.4 2.5 Maximum current (A) 4.2 80DNMA10D75D 220VAC Medium 220VAC Medium 80DNMA10001D Medium 220VAC 750 1000 220VAC 2.39 3.18 4.1 5.5 7.5 12.5 15.1 Rated speed (rpm) 3000 3000 3000 3000 Maximum speed (rpm) 5000 5000 5000 5000 Torque constant (N*m/Amp) 0.45 0.508 0.58 0.43 Back EMF constant (V/Krpm) 29 33 40 40 Rotary inertia (with brake) (10-4Kg*m2) 0.14 (0.16) 0.67 (0.68) 0.88 (0.92) 1.12 (1.15) Resistance (line-line) (Ω) 8.4 4.28 1.5 1.21 Inductance (line-line) (mH) 26.5 15.4 7.9 6.2 Mass (with brake) (kg) 1.03 (1.53) 1.59 (2.05) 2.66 (3.76) 3.12 (4.22) LL (with brake) (mm) 105(140) 140(175) 129.7(168.9) 144.7(183.9) LR (mm) 30 30 35 35 LE (mm) 3 3 3 3 LG (mm) 8 8 8 8 S (mm) 14 14 19 19 LJ1 (mm) 0 0 0 0 LJ (mm) 11 11 15.5 15.5 J (mm) 20 20 25 25 LF1 (mm) 5 5 6 6 LF2 (mm) 5 5 6 6 LM (mm) M4 deep 15 M4 deep 15 M5 deep 20 M5 deep 20 LA (mm) 70 70 90 90 LB (mm) 50 50 70 70 LC (mm) 60 60 80 80 LZ (mm) 5.5 5.5 6.5 6.5 144 130 Series (220V class) 130 Series Servo Motor series Servo Motor model 130DNMA2- 130DNMA2- 130DNMA2- 130DNMA2- 0001C 01D5C 0002C 0003C 220VAC Input voltage Rated power (KW) 1 1.5 2.2 3 Rated torque (N*m) 4.77 7.16 9.55 14.33 Maximum torque (N*m) 5 8.4 10.3 13.5 Rated current (A) 15 25.2 30.1 40.5 Maximum current (A) 2000 2000 2000 2000 Rated speed (rpm) 3000 3000 3000 3000 Maximum speed (rpm) 0.95N.m/Arms 0.85N.m/Arms 0.93N.m/Arms 1.07N.m/Arms Torque constant (N*m/Amp) 66V/Krpm 59.8V/Krpm 72.6V/Krpm 76V/Krpm Back EMF constant (V/Krpm) 7.1 (7.5) 10.6 (11.1) 13.8 (14.3) 20.4 (20.9) Rotary inertia (w/brake) (10-4Kg*m2) 1.08 0.543 0.52 0.32 Resistance (line-line) (Ω) 12.8 6.3 6.8 4.7 Inductance (line-line) (mH) 6.5 (8.8) 8 (10.5) 9.6 (11.9) 12.6 (14.9) Mass (with brake) (kg) 154 (198) 173 (217) 192 (236) 230 (274) LL (with brake) (mm) 58 58 58 58 LR (mm) 6 6 6 6 LE (mm) 12 12 12 12 LG (mm) 22 22 22 22 S (mm) 0 0 0 0 LJ1 (mm) 18 18 18 18 LJ (mm) 36 36 36 36 J (mm) 7 7 7 7 LF1 (mm) 8 8 8 8 LF2 (mm) M6 deep 15 M6 deep 15 M6 deep 15 M6 deep 15 LM (mm) 145 145 145 145 LA (mm) 110 110 110 110 LB (mm) 130 130 130 130 LC (mm) 9.5 9.5 9.5 9.5 LZ (mm) 4.77 7.16 9.55 14.33 145 Chapter 12 Appendix 12.1 List of monitoring display functions No. Function Unit dP 00 Motor speed Display the motor operating speed dP 01 Motor feedback pulse number (encoder unit, lower 4 digits) Display the lower 4 digits of the sum of motor encoder feedback pulse. dP 02 Motor feedback pulse number (encoder unit, higher 5 digits) Display the higher 5 digits of the sum of motor encoder feedback pulse. dP 03 Input pulse number before electronic gear (user unit, lower 4 digits) Lower 4 digits of the sum of input pulse number in position control mode. [1 input pulse] dP 04 Input pulse number before electronic gear (user unit, higher 5 digits) Higher 5 digits of the sum of input pulse number in position control mode. [[104 input pulses] dP 05 Deviation pulse number (encoder unit, lower 4 digits) Lower 4 digits of the sum of deviation pulse number in position control mode. [1 encoder pulse] dP 06 Deviation pulse number (encoder unit, higher 5 digits) Higher 5 digits of the sum of deviation pulse number in position control mode. [104 encoder pulses] dP 07 Speed instruction (analog voltage instruction) Voltage value of analog input in speed control mode, after correction of null shift. When the voltage exceeds ±10V, it cannot be displayed correctly. [0.1V] dP 08 Internal speed instruction Internal speed instruction under speed control and position control. [r/min] dP 09 Torque instruction (analog voltage instruction) Voltage value of analog input in torque control mode, after correction of null shift. When the voltage exceeds ±10V, it cannot be displayed correctly. [0.1V] dP 10 Internal torque instruction (value in relation to the rated torque) Internal torque instruction in torque / speed / position control modes. [%] dP 11 Torque feedback (value in relation to the rated torque) Torque feedback value in torque / speed / position control modes. [%] [rpm] 146 [1 encoder pulse] [104 encoder pulses] dP 12 Input signal monitoring Input signal status of CN2 connector - dP 13 Output signal monitoring Output signal status of CN2 connector - dP 14 Instruction pulse frequency Instruction pulse frequency of the upper controller in position control. dP 15 DC bus voltage DC bus voltage after rectification dP 16 Total operation time of the servo drive If AF05 operation is implemented, the value will be reset. dP 17 Rotation angle Display the electric rotational angle of the motor. dP 18 Exact position of absolute encoder (single-turn or multi-turn) This displays the absolute position data of the encoder in one turn. dP 19 Number of encoder turns (only for multi-turn absolute encoders) This displays the number of turns of multi-turn absolute encoder. dP 20 Cumulative load factor (take rated cumulative load as 100%) Alarm grade during motor overload protection. [%] dP 21 Regeneration load factor (take rated regeneration load as 100%) Alarm grade during regeneration overload protection [%] dP 22 DB load factor (take rated DB load as 100%) Alarm grade during DB braking protection [%] dP 23 Load inertial ratio Display the ratio between load inertia and motor inertia. [%] dP 24 Effective gain monitoring 1: the first group of gains is effective 2: the second group of gains is effective - dP 30 Subsidiary software version (refer to AF 10 for main software version) - dP 34 External linear encoder feedback pulse counts low place dP 35 External linear encoder feedback pulse counts high place dP 38 Hybrid deviation low place dP 39 Hybrid deviation high place dP 40 Voltage class (refer to PA000.3 for voltage class setting) - dP 46 IGBT temperature ℃ [0.1Khz] [V] [Hours] [deg] [2 Encoder pulse] [1 turn] [1 encoder pulse] [104 encoder pulses] [1 encoder pulse] [104 encoder pulses] 147 12.2 List of auxiliary function parameters No. Function Reference AF 00 Display of alarm logging 6.2 AF 01 Position assignment (only active in position control mode) 6.3 AF 02 JOG run 6.4 AF 03 Panel lock 6.5 AF 04 Clearance of alarm logging 6.6 AF 05 Parameter initialization 6.7 AF 06 Analog instruction (speed & torque) automatic offset adjustment 6.8 AF 07 Speed instruction manual offset adjustment 6.9 AF 08 Torque instruction manual offset adjustment 6.10 AF 09 Overview of relevant motor parameters 6.11 AF 10 Display of main software version of servo drive 6.12 AF 11 Setting up absolute encoders 6.13 AF 12 Clearance of error logging for absolute encoders 6.13 AF 15 Manual detection of load inertia 6.14 148 12.3 List of parameters Legends: P: Parameter number. Descriptions: Parameter detailed descriptions. Range: Parameter setting range. Unit: Parameter unit. Defau: Parameter factory default setting value. Effective: Parameter effective time. Immed: Parameter to be effective immediately. Restart: Parameter to be effective after restart the servo drive. R: Remarks P Descriptions Range PA000 h.0000~01D1 Basic function selection 1 3 2 1 Unit 0 h. Direction selection 0 Positive mode 1 Negative mode Control mode selection 0 Position control (pulse train) 1 Speed control (analog instruction) 2 Torque control (analog instruction) 3 Internal speed control 4 Internal speed control Position control 5 Internal speed control Speed control 6 Internal speed control 7 Position control 8 Position control 9 Torque control A Internal position control B Internal position control C Reserved D Fully closed loop control Torque control Speed control Torque control Speed control Position control Reserved Input voltage of servo drive 0 220V class 1 380V class Notes: 220V class: PA000.3=0; 380V class: PA000.3=1; Execute AF 05 (parameter initialization) after modifying PA000.3. 149 Defau Effective h.0000 Restart R P Descriptions Range PA001 d.0000~0264 Basic function selection 2 3 2 1 Unit Defau Effective d.0000 Restart 0 d. Servo stop patterns at servo OFF or alarms 0 DB (dynamic brake) to stop 1 DB (dynamic brake) to stop, then release DB 2 Coast to stop, DB not used 3 Decelerate at rate of PA522, & stay in DB state when speed is lower than PA523 4 Decelerate at rate of PA522, & coast to stop when speed is lower than PA523 Servo stop patterns at OT (Overtravel) 0 DB or coast to stop, same as PA001.0 (1~2) 1 Stop by torque set in PA406, then enter lock state 2 Stop by torque set in PA406, then coast to stop 3 Stop by torque set in PA406, after fully stopped, then enter DB state 4 Stop by torque set in PA406, decelerate at rate of PA522, then enter lock state 5 Stop by torque set in PA406, decelerate at rate of PA522, then coast to stop 6 Stop by torque set in PA406, decelerate at rate of PA522, then enter DB state AC/DC input power selection 0 AC input: Single phase 220VAC among L1, L2, L3 1 AC input: Three phase 220VAC among L1, L2, L3 2 DC input: 310VDC between P+, (-) Enabling selection 0 External enable from I/O or communication 1 Internal enable 150 R P Descriptions Range PA002 d.0000~8112 Basic function selection 3 3 2 1 Unit Defau Effective d.0000 Restart 0 b. Torque limit in position control & speed control modes selection 0 Invalid 1 Use T-REF as external analog torque limit input 2 Use PCL, NCL as external analog torque limit input Speed limit in torque control mode selection 0 Use PA407 as speed limit (internal speed limit) 1 Use V-REF & PA301 setting as speed limit (external speed limit) Use of absolute encoders 0 Use absolute encoders as incremental encoders 1 Use absolute encoders as absolute encoders Encoder type selection 0 Absolute encoder (single-turn 17-bit, multi-turn 16-bit) 1 Single-turn absolute encoder (single-turn 17-bit, resolution 131072) 2 Line-saving encoder (5000ppr, resolution 20000ppr) PA003 b.0000~0111 Basic function selection 4 3 2 1 b.0011 Restart b.0001 Restart 0 b. Forward rotation prohibited (POT) (OT) 0 Valid 1 Invalid Reverse rotation prohibited (NOT) (OT) 0 Valid 1 Invalid OT alarm selection 0 No alarm at POT/NOT input 1 E.35 alarm at POT/NOT input Z pulse signal negation 0 Not negated 1 Negated PA004 b.0000~0011 Reserved 151 R P Descriptions Range PA005 d.0000~0044 Basic function selection 6 3 2 1 Unit Defau Effective d.1022 Immed R 0 d. Speed instruction responsive grade 0～4 The higher this value, the less responsive to speed instructions Speed feedback responsive grade 0～4 The higher this value, the less responsive to speed feedbacks Reserved E.29 alarm grade 0～5 The higher this value, the less sensitive to E.29. When the value is 5, E.29 is disabled. PA007 d.0000~1211 Basic function selection 8 3 2 1 b.0000 Restart 0 d. Battery voltage alarm/warning selection 0 E.61 if battery voltage is less than 3.1V 1 A.97 if battery voltage is less than 3.1V Multi-turn data overflow alarm (E.58) 0 1 Multi-turn data overflows will output E.58 (default). Multi-turn data overflows will not output E.58. Warning detection selection 0 Warning can be detected but will not affect motor running until alarm is detected. 1 Warning cannot be detected. 2 Detected warning will stop the motor at enabled state and output warning signal (Position control mode only) Reserved 152 P Descriptions Range PA009 b.0000~0011 Basic function selection 10 3 2 1 Unit Defau Effective b.0000 Restart 0 b. Regenerative circuit detection 0 Detect. E.17 will output if there are problems. 1 Not detect. Regenerative resistor selection 0 Use internal resistor 1 Use external resistor. Make sure to set PA537, PA538 correctly. IGBT temperature detection 0 Not detect. 1 Detect (only valid for 380V class models). Motor temperature detection 0 Not detect. 1 Detect (only applicable to certain models). PA010 d.0000~9953 Basic function selection 11 3 2 1 d.0021 Immed 0 d. Speed detection filter grade 0～3 The la rger this va lue, the longer detec tion time. Sometim es this par ameter ca n increase gain and reduce vibrations. Analog instruction input delay 0～5 The la rger this va lue, the more delay of analog instruc tion sampling, but the more accurate the measur ement is. Regenerative resistor load ratio selection 0～9 The larger this value, the longer overload time. Motor overload grade 0～9 The larger this value, the longer overload time. PA011 Reserved PA012 0~5 2 Restart 0~135 12 Restart 0~50 50 Restart Motor model selection Please refer to chapter 1.3 for correct matching parameter. After modifying this parameter, AF05 must be executed. PA013 P A 01 4 Reserved Status code display 153 R P Descriptions Range Unit Defau Effective 1~31 1 Immed d.0000~1096 d.0095 Immed Please refer to chapter 4.3 & 5.4 for details. PA015 RS485 communication address PA016 RS485 communication function selection 3 2 1 0 d. RS485 bit rate 0 2400bps 1 4800bps 2 9600bps 3 19200bps 4 38400bps 5 57600bps 6 115200bps Communicational protocal 0 8，N，1 (Modbus protocol, RTU mode) 1 8，N，2 (Modbus protocol, RTU mode) 2 8，E，1 (Modbus protocol, RTU mode) 3 8，O，1 (Modbus protocol, RTU mode) 4 7，N，2 (Modbus protocol, ASCII mode) 5 7，E，1 (Modbus protocol, ASCII mode) 6 7，O，1 (Modbus protocol, ASCII mode) 7 8，N，2 (Modbus protocol, ASCII mode) 8 8，E，1 (Modbus protocol, ASCII mode) 9 8，O，1 (Modbus protocol, ASCII mode) Reserved Communicational data equivalent 0 Internal speed: 1rpm; internal torque: 1% rated torque. 1 Internal speed: 0.1rpm; internal torque: 0.1% rated torque. PA017 Reserved 1~127 1 PA018 Reserved d.0000~0006 d.0003 PA019 Reserved PA020 Reserved 154 R P Descriptions Range PA021 Analog output signal selection 3 2 1 Unit Defau Effective d.0000~0015 d.0000 Immed 0~65535 0 Immed 0 d. Analog output signal selection 0 Motor speed feedback 1 Motor torque feedback Output voltage negation 0 Not negated 1 Negated Reserved Reserved PA022 Reserved PA023 Analog voltage output gain The corresponding relations are as below: PA023 Analog output data: speed When PA023≠0: 0 500rpm = 1V, -1000rpm = -2V 500 500rpm = 1V 1000 1000rpm = 1V 250 500rpm = 2V PA023 Analog output data: torque 0 100% torque = 3V, -100% torque = -3V 333 100% torque = 3V, -100% torque = -3V 222 100% torque = 4.5V, -50%% torque = -2.25V 666 100% torque = 1.5V, -200%% torque = -3V Output voltage = motor speed PA023 When PA023≠0: PA024 Analog voltage output zero calibration -8000~8000 Output voltage = mV PA024 is to calibrate zero voltage between voltage output & setting value. 155 torque×1000 0 PA023 Immed R P Descriptions Range PA025 d.0000~0012 Basic function selection 12 3 2 1 Unit Defau Effective d.0000 Immed 0 d. Main circuit input power alarm selection 0 If there is no high voltage (220VAC or 380VAC) input, no alarm will output, S-RDY invalid. 1 If there is no high voltage input within 1 second after power on, an alarm will output. 2 If there is high voltage input after power on, but power is lost with 1 second during operation , an alarm will output. Reserved Reserved Reserved PA100 1~1000 First position loop proportional gain 1/s 40 Immed This parameter determines the responsiveness of position control systems. The higher this value, the shorter positioning time. But if this value is set too high, vibrations can be caused. PA101 1~3000 First speed loop proportional gain Hz 40 Immed This parameter determines the responsiveness of speed control loops. If PA100 is increased, PA101 also has to be increased accordingly. But if this value is set too high, vibrations can be caused. PA102 1~2000 First speed loop integral time constant 0.1 ms 200 Immed The lower this value, the stronger integral effects & counter-interference effects. But if this value is set too high, vibrations can be caused. PA103 0~1000 First speed detection filter 0.01ms 10 Immed This is the time constant of low pass filter. The higher this value, the higher time constant. This can reduce motor noise but will also reduce system responsiveness. PA104 0~1000 First torque filter 0.01ms 30 Immed This is to set the first grade hysteresis filter time constant of the torque instructions and can regulate vibrations caused by distorted resonance. The higher this value, the higher time constant. This can reduce motor noise but will also reduce system responsiveness. 1~1000 1/s 40 Immed PA106 Second speed loop proportional gain 1~3000 Hz 80 Immed PA107 Second speed loop integral time constant 1~2000 0.1 ms 10 Immed Second speed detection filter 0~1000 0.01ms 5 Immed PA108 PA105 Second position loop proportional gain 156 R P Descriptions PA109 PA 110 Range Unit Defau Effective Second torque filter 0~1000 0.01ms 20 Immed Speed feedforward gain 0~100 % 0 Immed The combination of the value of speed control instruction processed from position control, and the value of speed control instruction processed from internal position control multiplying this parameter. PA 111 0~1000 Speed feedforward filter 0.1ms 0 Immed This is to set the first grade hysteresis filter time constant of the speed feedforward. 0~1000 0.1% 0 Immed PA 115 Friction compensation smoothness constant 0~1000 0.1% 0 Immed PA 116 Friction compensation threshold speed 0~3000 0.1rpm 100 Immed Load inertia ratio 0~5000 1% 200 Immed 0~32767 0.1ms 0 PA 118 PA 114 Friction compensation gain The ratio of load inertia to rotor inertia of the servo motor. PA118 = (load inertia/rotor inertia) ×100% This parameter is invalid at automatic gain tuning. PA 119 Reserved PA120 Gain switchover selection 1 3 2 1 d.0000~0034 0 d. Mode switching condition selections 0 Use internal torque instructions PA121 1 Use speed instructions PA122 2 Use accelerations PA123 3 Use position deviations PA124 4 No mode switching. Reserved Reserved Reserved 157 d.0000 Immed R Range Unit Defau Effective PA121 Mode switch (internal torque instructions) 0~300 1% 200 Immed PA122 Mode switch (speed instructions) 0~3000 1min-1 0 Immed PA123 Mode switch (accelerations) 0~65535 10rpm 0 Immed PA124 Mode switch (position deviations) 0~65535 1 pulse 0 Immed PA125 P Descriptions Gain switchover selection 2 d.0000 Immed 3 2 1 d.0000~0092 0 d. Gain switchover selections 0 No gain switchover 1 Manual gain switchover 2 Automatic gain switchover: When gain switch condition A is valid, switch from 1st gain to 2nd gain. When gain switch condition A is invalid, switch from 2nd gain to 1st gain Gain switchover condition A 0 COIN is ON 1 COIN is OFF 2 NEAR is ON 3 NEAR is OFF 4 Position instruction filter output is 0 and instruction pulse input OFF 5 Position instruction pulse input ON 6 Torque instruction value is greater than PA126 7 Speed instruction value is greater than PA127 8 Speed instruction variation value is greater than PA128 9 Position deviation value is greater than PA129 Reserved Reserved 0~300 1% 200 Immed PA127 Gain switchover grade (speed instruction) 0~3000 1 min-1 100 Immed 0~65535 10rpm/s 10000 Immed 0~65535 1pulse 100 Immed PA128 PA126 Gain switchover grade (torque instruction) Gain switchover grade (speed instruction variation) PA129 Gain switchover grade (position deviation) 158 R P Descriptions Range Unit Defau Effective PA130 Gain switchover time 1 0~10000 0.1ms 10 Immed PA131 Gain switchover time 2 0~10000 0.1ms 10 Immed PA132 Gain switchover waiting time 1 0~10000 0.1ms 10 Immed PA133 Gain switchover waiting time 2 0~10000 0.1ms 10 Immed PA134 Reserved 0~10000 0 PA137 Reserved 0~500 50 PA138 Reserved 0~5000 0 PA139 Reserved 0~10 0 PA140 Reserved 0~5000 0 PA200 Position control switch 1 d.0000~1232 d.0000 3 2 1 0 d. Input pulse form 0 PULS + SIGN 1 CW + CCW 2 A phase + B phase (quadruple frequency) Pulse (PULS+SIGN) negations 0 Neither negates 1 PULS not negates, SIGN negates 2 PULS negates, SIGN not negates 3 Both negate Position deviation clearance 0 Clear position deviation when S-ON is off, power is off or by CLR signal. 1 Clear position deviation only by CLR. CLR also clears OT lock. 2 Clear position deviation only when servo has alarm or by CLR signal. Input pulse channel 0 Low speed channel (Pin 7/8, 11/12) 1 High speed channel (Pin 16/17, 23/24) 159 Restart R P Descriptions Range PA201 d.0000~3177 Position control switch 2 3 2 1 Unit Defau Effective d.0000 Restart 0 d. Low speed (pulse input) channel filter grade 0～7 The higher this value, the longer filter time, the lower chop frequency. 0 means no filter. High speed (pulse input) channel filter grade 0～7 The higher this value, the longer filter time, the lower chop frequency. 0 means no filter. AB pulse output negation 0 Not negate. 1 Negate. Z pulse output expansion 0 1 No expansion. (Communicational type) encoder Z pulse width is defined by one A pulse width, i.e. the smaller the value of PA210, the wider Z pulse width. Expand. (Non-communicational type) encoder Z pulse is A pulse width. Relations between value of PA210.0 & I/O chop frequency 【PA201.0】 Chop frequency (KHz) 0 500 1 340 2 170 3 80 4 40 5 20 6 10 7 5 Remarks frequency by dP 14; PA202 2 1 Set value PA201.0 (not too) higher than dP 14. d.0000~9112 Position control switch 3 3 Check instruction pulse d.0000 Immed 0 d. Positioning completion (COIN) signal output condition 0 When position deviation is less than PA525. 1 When position deviation is less than PA525 AND position instruction is 0 after filtering. 2 When position deviation is less than PA525 and position instruction is 0. External linear encoder signal negation in fully closed loop mode 0 Not negate. 1 Negate. Switchover between internal & external loops in fully closed loop mode 0 C-MOD (0: external; 1: internal) 1 When electronic gear switch.(1:external; others:internal) Pulse residual in fully closed loop mode 0~9 When pulse residual is less than this value, fully closed loop control is finished. 160 R P Descriptions Range PA203 PA204 Reserved PA205 First electronic gear ratio numerator PA2 Electronic gear ratio denominator PA207 Second electronic gear ratio numerator PA208 Third electronic gear ratio numerator PA209 Fourth electronic gear ratio numerator PA210 06 Position control switch 4：Reserved Encoder resolution (frequency-division) setting Unit Defau Effective d.0000~0022 d.0000 Restart 0~65535 1 Immed 0~65535 1 Immed 0~65535 1 Immed 0~65535 1 Immed 0~65535 1 Immed 16~16384 16384 Restart 1 Pulse /Rev Encoder resolution is determined by number of OA or OB pulse output per revolution (multiplied by four). For example, if PA210=1000, when motor rotates 1 revolution, number of OA pulse output is 1000 and number of OB pulse output is also 1000. When value of PA210 exceeds number of encoder structural lines, this value becomes invalid and the actual number of encoder structure lines will be used. For example, if a 5000-line incremental encoder is used, and PA210 is set to 6000, the valid value is still 5000. For communicational encoders, Z pulse width is set to be the width of one A pulse. Thus the smaller PA210 value, the wider Z pulse given the same speed settings. PA214 Position instruction acceleration/deceleration PA215 Position instruction acceleration/deceleration time constant 1 time constant 2 0.1 ms 0 Immed 0~1000 0.1 ms 0 Immed 0~500 0.1 ms 0 Immed PA216 0~1000 Position instruction average-moving filter 161 R P Descriptions Range PA300 d.0000~1333 Speed control switch 1 PA300 3 2 1 Unit Defau Effective d.0200 Restart 0 d. Speed instruction filter selection 0 Linear filter 1 S-curve 2 First grade filter Reserved Manual load inertia detection operating distance 0 1 turn 1 2 turns 2 4 turns 3 8 turns Speed dead zone control 0 Use input signal: ZEROSPD 1 Automatic: use PA316 setting PA302 Speed instruction filter time constant 0~1000 0.1 ms 0 Immed PA303 Soft start acceleration time 0~5000 1ms 0 Immed PA304 Soft start deceleration time 0~5000 1ms 0 Immed 0~5000 1ms 0 Immed PA306 JOG speed 0~5000 1 min-1 500 Immed PA307 Internal speed 0 -5000~ 5000 1 min-1 100 Immed PA308 Internal speed 1 -5000~ 5000 1 min-1 200 Immed PA309 Internal speed 2 -5000~ 5000 1 min-1 300 Immed PA310 Internal speed 3 -5000~ 5000 1 min-1 400 Immed PA311 Internal speed 4 -5000~ 5000 1 min-1 500 Immed PA312 Internal speed 5 -5000~ 5000 1 min-1 600 Immed PA305 PA301 Speed instruction gain 150~30000 Speed instruction S-curve linear acceleration/deceleration time 162 0.01 V 60 /Rated speed 0 Immed R P Descriptions Range Unit Defau Effective PA313 Internal speed 6 -5000~ 5000 1 min-1 700 Immed PA314 Internal speed 7 -5000~ 5000 1 min-1 800 Immed PA315 Speed control switch 2 0000~0012 0 Immed 3 2 1 R 0 d. Zero-speed clamp selection 0 After the zero-speed clamp signal is active based on PA300.3, speed instruction is forced to be 0 1 After the zero-speed clamp signal is active based on PA300.3, speed instruction is forced to be 0 and when motor speed is below PA316, switch to position control mode and lock the servo in this position. When ZEROSPD signal is inactive or control mode is switched, exit this zero-speed clamp status. 2 After the zero-speed clamp signal is active based on PA300.3, decelerate at rate of PA522 and when motor speed is below PA316, switch to position control mode and lock the servo in this position. When ZEROSPD signal is inactive or control mode is switched, exit this zero-speed clamp status. This stop pattern is only suitable when PA300.0=0. Instruction source selection when INSPD2=INSPD1=INSPD0=0 in internal speed control 0 PA307 setting 1 External analog input Reserved Reserved PA316 Zero-speed clamp grade PA317 Reserved PA318 Reserved PA400 Torque instruction gain PA401 Torque instruction filter time constant PA402 Forward rotation torque limit PA403 Reverse rotation torque limit 1~2000 10~1000 163 rpm 0.1V /rated torque 30 Immed 30 Immed 0~1000 0.1ms 0 Immed 0~300 1% 250 Immed 0~300 1% 250 Immed Unit Defau Effective Forward rotation external torque limit 0~100 1% 100 Immed PA405 Reverse rotation external torque limit 0~100 1% 100 Immed PA406 Emergency stop torque 0~300 1% 250 Immed PA407 Speed limit in torque control mode 0~5000 1 min-1 1500 Immed PA408 Reserved PA409 Torque instruction reached (VCMP) 0~100 1% 2 Immed PA410 Grade 1 notch filter frequency 50~2000 1 Hz 2000 Immed PA411 Grade 1 notch filter attenuation rate 0~32 db 0 Immed PA412 Grade 2 notch filter frequency 50~2000 1 Hz 2000 Immed PA413 Grade 2 notch filter attenuation rate 0~32 db 0 Immed -3000~3000 1% 0 Immed PA414 Range PA404 P Descriptions Internal torque register 0 In torque control mode, when external I/O signals are INTor1 or INTor0, torque output will follow table below: INTor1 INTor0 Torque control instruction Invalid Invalid External analog input Invalid Valid Internal torque register 0 Valid Invalid Internal torque register 1 Valid Valid Internal torque register 2 If PA016.3=1, the unit of PA414 is 0.1%, i.e. when PA414=100, corresponding internal torque is 10% of rated torque. 164 R P Descriptions Range Unit Defau Effective PA415 Internal torque register 1 -3000~3000 1% 0 Immed PA416 Internal torque register 2 -3000~3000 1% 0 Immed PA417 Reserved PA418 Torque control switch 1 d.0000 Immed 3 2 1 d.0000~0011 0 d. Deceleration control of speed limit in torque control mode 0 No deceleration control 1 Use PA522 setting Torque compensation 0 1 No torque compensation Torque compensation in position or speed control mode. Compensation value is in accordance with torque instruction. (Analog input or internal torque registers) Reserved Reserved PA500 0~50 DI 1 input signal selection [0] Servo-on (S-ON) [1] Control mode switch (C-MODE) [2] Forward rotation prohibited (POT) [3] Reverse rotation prohibited (NOT) [4] Deviation counter clearance (CLR) [5] Alarm reset (A-RESTART) [6] Pulse input inhibited (INHIBIT) [7] Zero-speed clamp (ZEROSPD) [8] Forward torque limitation (PCL) [9] Reverse torque limitation (NCL) [10] Gain switch (GAIN) [11] Zero switch signal (ZPS) [12] Negation signal for internal position control & internal speed control (CMDINV) [13] Instruction frequency division/ multiplication switch 0 (DIV0) [14] Instruction frequency division/ multiplication switch 1 (DIV1) [15] Internal speed register 0 (INSPD0) [16] Internal speed register 1 (INSPD1) [17] Internal speed register 2 (INSPD2) 165 0 Immed R P Descriptions Range Unit Defau Effective [18] Internal position register 0 (INPOS0) [19] Internal position register 1 (INPOS1) [20] Internal position register 2 (INPOS2) [21] Internal position register 3 (INPOS3) [22] Internal position control trigger (PTRG) [23] Internal position control Forward JOG (P-POS) [24] Internal position control Reverse JOG (N-POS) [25] Internal position control homing start (SHOME) [26] Internal position control stops (PZERO) [28] Internal torque register 0 (INTor0) [29] Internal torque register 1 (INTor1) [30] Incremental/Absolute mode selection in internal position control mode (PAbs) [OTHER] invalid PA501 DI 2 input signal selection (same as PA500) 0~50 1 Immed PA502 DI 3 input signal selection (same as PA500) 0~50 2 Immed PA503 DI 4 input signal selection (same as PA500) 0~50 3 Immed PA504 DI 5 input signal selection (same as PA500) 0~50 4 Immed PA505 DI 6 input signal selection (same as PA500) 0~50 5 Immed PA506 DI 7 input signal selection (same as PA500) 0~50 6 Immed PA507 DI 8 input signal selection (same as PA500) 0~50 7 Immed PA508 Input signal level selection 1 b.0000~1111 b.0000 Immed 166 R P Descriptions 3 2 1 Range Unit Defau Effective b.0000 Immed h.3210 Immed 0 b. DI 1 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) DI 2 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) DI 3 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) DI 4 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) PA509 b.0000~1111 Input signal level selection 2 3 2 1 0 b. DI 5 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) DI 6 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) DI 7 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) DI 8 input signal level selection 0 1 L level active (optocoupler conductive) H level active (optocoupler not conductive) PA510 h.0000~DDD Output signal selection D 167 R P Descriptions 3 2 1 Range Unit Defau Effective 0 h. DO 1 output signal selection 0 Alarm signal output (ALM) 1 Positioning completed (COIN): position deviation is less than PA525. 2 Z pulse open-collector signal (CZ) 3 Brake release signal (BK): can be adjusted by PA518. 4 Servo ready signal (S-RDY): active when servo is in proper status. 5 Speed instruction reached (VCMP): speed deviation is less than PA517. 6 Motor rotation detection (TGON): active when rotational speed exceeds PA516. 7 Torque limited signal (TLC): active when load torque reaches PA402/PA403. 8 Zero-speed detection signal (ZSP): active when rotational speed is less than PA515. 9 Warning output (WARN) A Internal position control homing completion signal (HOME) B Internal position control position instruction completion signal (CMD-OK) C Internal position control positioning & command completion signal (MC-OK) D Torque reached (TREACH): load torque exceeds PA404 or PA405. DO 2 output signal selection 0～D same allocation method as DO 1 DO 3 output signal selection 0～D same allocation method as DO 1 DO 4 output signal selection 0～D same allocation method as DO 1 PA511 b.0000~1111 Output signal level selection 3 2 1 b.0000 Immed 0 b. DO 1 output signal level selection 0 H level active (optocoupler not conductive) 1 L level active (optocoupler conductive) DO 2 output signal level selection 0 L level active (optocoupler conductive) 1 H level active (optocoupler not conductive) DO 3 output signal level selection 0 L level active (optocoupler conductive) 1 H level active (optocoupler not conductive) DO 4 output signal level selection 0 L level active (optocoupler conductive) 1 H level active (optocoupler not conductive) PA512 Input signal filter time (DC bus voltage compensation) PA513 Serial encoder communicational alarm time 168 1~1000 1ms 10 Immed 1~100 0.1ms 5 Immed R P Descriptions Range Unit Defau Effective PA515 Zero position fixed value 0~3000 1 min-1 10 Immed PA516 Rotation detection value 1~3000 1 min-1 20 Immed PA517 VCMP signal detection width 1~100 1 min-1 10 Immed PA518 BK signal hysteresis time after Servo-OFF 0~500 1 ms 100 Immed PA519 BK signal speed limit 0~1000 1 min-1 100 Immed PA520 BK signal waiting time at Servo-OFF 100~1000 1 ms 500 Immed PA521 Instantaneous power off holding time 40~800 1ms 60 Immed 0~5000 1ms 100 Immed PA523 Servo OFF stop threshold 20~2000 rpm 50 Immed PA525 COIN signal width 0~65535 pulse 10 Immed PA526 NEAR signal width 0~65535 4 pulses 100 Immed 1~65535 0.01r 200 Immed PA522 PA514 Reserved Deceleration at Servo OFF PA522=1000: deceleration time for motor from 1000rpm to 0rpm is 1000ms PA522=200: deceleration time for motor from 200rpm to 0rpm is 400ms (200ms*2) PA527 Position over-deviation WARN threshold at SON Encoder resolution shall be taken into calculations. For example, if the encoder resolution is 20,000ppr, the unit of this value is 200 pulses (20000*0.01) and by default, the WARN value is 200*200=40000 pulses. PA528 Position over-deviation ERR threshold at S-ON 1~65535 0.01r 500 Immed PA529 Speed deviation ERR detection time 20~2000 1ms 300 Immed 169 R P Descriptions Range Unit PA530 0~10 Speed deviation ERR threshold grade Defau Effective 5 Immed If speed deviation exceeds this threshold, E.28 will output. If PA530=10, speed deviation ERR is disabled. PA531 Overload WARN threshold 5~100 % 50 Immed PA532 Speed increment threshold 0~1000 rpm 0 Immed PA533 ALM clearance input setting 0 Immed PA534 Main power off detection time 100 Immed b.0000 Immed 0~3 100~2000 1ms This is the detection time when main power off status continues. If PA534=2000, main power off detection is disabled. PA535 b.0000~1111 Special switch 1 3 2 1 0 b. ADC detection at power on 0 Detect. 1 Not detect. Torque limit at stop 0 Invalid. 1 Torque limit at stop is PA404 & PA405. Reserved Reserved PA536 High voltage compensation of pumping process -20~20 V -5 Immed PA537 Resistance of external regenerative resistor 5~200 Ohm 30 Restart PA538 Capacity of external regenerative resistor 20~3000 Watt 60 Restart PA542 Low voltage compensation of pumping process -20~20 V 5 Immed PA543 IGBT temperature adjustment amplitude -20~20 ℃ 0 Immed 170 R P Descriptions Range PA544 Dynamic brake (DB) start time PA545 S-RDY time PA600 Adjustment switch 1 3 2 1 Unit Defau Effective 0~1000 0.1ms 500 Immed 0~1000 1ms 10 Immed h.0220 Restart h.0000~03F6 0 d. Auto-tuning selection 0 Invalid 1 Valid Load inertia estimation pace at auto-tuning 0～F The larger this value, the faster auto-tuning pace but the less accurate. Load inertia estimation pattern selection 0 Invalid. 1 Minor change. When load inertia changes, respond with minute instructions. 2 Small change. When load inertia changes, respond with second instructions. 3 Drastic change. When load inertia changes, respond with the fastest instructions. Reserved PA601 Reserved 0000~0512 0000 PA602 Reserved 0000~1111 0000 PA603 Adjustment switch 4 b.0000~1111 b.0010 3 2 1 0 b. PA118 (load inertia ratio) adjustment after load inertia detection 0 Automatic adjustment 1 Manual adjustment Load inertia value at auto-tuning 0 Use estimated value 1 Use PA118 value Reserved Reserved PA604 0000~1111 Reserved 171 0000 Immed R P Descriptions PA605 Reserved PA606 Inertia stabilization criteria Range Unit Defau 0000~0003 0000 0~100 2 Effective Immed When estimated inertia is less than [PA606*motor inertia] and this lasts for a certain period of time, user can determine end of inertia estimation. PA608 Reserved 0~100 1% 0 PA609 Reserved 0~1000 0.01ms 100 PA610 Bandwidth setting at auto-tuning 1~1000 Hz 40 Immed The larger this value, the faster the response and the greater the rigidity, but the higher possibility of vibration. PA612 Reserved 0~9 PA613 Reserved 0~1000 PA700 Internal position control switch 1 3 2 1 0 0.1ms h.0000~FF02 10 h.1002 Immed 0 h. Internal position running pattern 0 INPOS selects internal position section; PTRG trigger. 1 Internal position runs in cycles but each position needs PTRG signal. (Step by step) 2 Internal position runs in cycles at internal timing automatically. Incremental or absolute position selection 0 Incremental position 1 Absolute position 2 PAbs selects incremental or absolute position. Cycle run starting position 0～F To select the starting position Cycle run ending position 0～F To select the ending position PA701 h.0000~FFFF Internal position 0 distance low place 172 pulse h.4E20 Immed R P Descriptions Range PA702 Internal position 0 distance high place h.0000~FFFF PA703 Internal position 1 distance low place h.0000~FFFF PA704 Internal position 1 distance high place h.0000~FFFF PA705 Internal position 2 distance low place h.0000~FFFF PA706 Internal position 2 distance high place h.0000~FFFF PA707 Internal position 3 distance low place h.0000~FFFF PA708 Internal position 3 distance high place h.0000~FFFF PA709 Internal position 4 distance low place h.0000~FFFF PA710 Internal position 4 distance high place h.0000~FFFF PA711 Internal position 5 distance low place h.0000~FFFF PA712 Internal position 5 distance high place h.0000~FFFF PA713 Internal position 6 distance low place h.0000~FFFF PA714 Internal position 6 distance high place h.0000~FFFF PA715 Internal position 7 distance low place h.0000~FFFF PA716 Internal position 7 distance high place h.0000~FFFF PA717 Internal position 8 distance low place h.0000~FFFF PA718 Internal position 8 distance high place h.0000~FFFF 173 Unit pulse pulse pulse pulse pulse pulse pulse pulse Defau Effective h.0000 Immed h.9C40 Immed h.0000 Immed h.EA60 Immed h.0000 Immed h.3880 Immed h.0001 Immed h.86A0 Immed h.0001 Immed h.D4C0 Immed h.0001 Immed h.22E0 Immed h.0002 Immed h.7100 Immed h.0002 Immed h.BF20 Immed h.0002 Immed R P Descriptions Range PA721 Internal position 10 distance low place h.0000~FFFF PA722 Internal position 10 distance high place h.0000~FFFF PA723 Internal position 11 distance low place h.0000~FFFF PA724 Internal position 11 distance high place h.0000~FFFF PA725 Internal position 12 distance low place h.0000~FFFF PA726 Internal position 12 distance high place h.0000~FFFF PA727 Internal position 13 distance low place h.0000~FFFF PA728 Internal position 13 distance high place h.0000~FFFF PA729 Internal position 14 distance low place h.0000~FFFF PA730 Internal position 14 distance high place h.0000~FFFF PA731 Internal position 15 distance low place h.0000~FFFF h.0000~FFFF h.0D40 Immed h.0003 Immed h.5B60 Immed h.0003 Immed h.A980 Immed h.0003 Immed h.F7A0 Immed h.0003 Immed h.45C0 Immed h.0004 Immed h.93E0 Immed h.0004 Immed h.E200 Immed h.0004 Immed pulse pulse pulse pulse pulse pulse Internal position 15 distance high place Internal position 0 speed 0~5000 1 min-1 100 Immed Internal position 1 speed 0~5000 1 min-1 100 Immed PA735 h.0000~FFFF pulse PA734 PA720 Internal position 9 distance high place Effective PA733 h.0000~FFFF Defau PA732 PA719 Internal position 9 distance low place Unit Internal position 2 speed 0~5000 1 min-1 100 Immed 174 R P Descriptions Range Unit Defau Effective Immed PA737 Internal position 4 speed 0~5000 1 min-1 100 Immed PA738 Internal position 5 speed 0~5000 1 min-1 100 Immed PA739 Internal position 6 speed 0~5000 1 min-1 100 Immed PA740 Internal position 7 speed 0~5000 1 min-1 100 Immed PA741 Internal position 8 speed 0~5000 1 min-1 100 Immed PA742 Internal position 9 speed 0~5000 1 min-1 100 Immed PA743 Internal position 10 speed 0~5000 1 min-1 100 Immed PA744 Internal position 11 speed 0~5000 1 min-1 100 Immed PA745 Internal position 12 speed 0~5000 1 min-1 100 Immed PA746 Internal position 13 speed 0~5000 1 min-1 100 Immed PA747 Internal position 14 speed 0~5000 1 min-1 100 Immed PA748 Internal position 15 speed 0~5000 1 min-1 100 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed Internal position 0 acceleration/deceleration Internal position 1 acceleration/deceleration Internal position 2 acceleration/deceleration PA752 100 PA751 1 min-1 PA750 0~5000 PA749 PA736 Internal position 3 speed Internal position 3 acceleration/deceleration time time time time 175 R 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed 0~500 ms 0 Immed Internal position dead zone time 0~65535 ms 100 Immed Position demonstration low place h.0000~FFFF pulse 0 Immed PA767 Position demonstration high place h.0000~FFFF 0 Immed PA768 JOG speed in internal position control mode Internal position 6 acceleration/deceleration Internal position 7 acceleration/deceleration Internal position 8 acceleration/deceleration Internal position 9 acceleration/deceleration Internal position 10 acceleration/deceleration Internal position 11 acceleration/deceleration Internal position 12 acceleration/deceleration Internal position 13 acceleration/deceleration Internal position 14 acceleration/deceleration PA764 Immed PA763 0 PA762 ms PA761 0~500 Internal position 5 acceleration/deceleration PA760 Immed PA759 0 PA758 ms PA757 0~500 Internal position 4 acceleration/deceleration PA756 Effective PA755 Defau PA754 Unit PA766 Descriptions PA753 Range PA765 P Internal position 15 acceleration/deceleration time time time time time time time time time time time time PA769 Switch of incremental/absolute position in internal position control mode 176 0~5000 rpm 100 Immed 0~65535 -- 0 Immed R P Descriptions Range Unit Defau Effective Incremental/absolute positions are determined by corresponding binary data: Pos ition 15 Pos ition 14 Pos ition 2 Pos ition 1 Pos ition 0 BIT15 BIT14 BIT2 BIT1 BIT0 If the corresponding binary data is 0, this position is incremental If the corresponding binary data is 1, this position is absolute. For example, PA769=4, in binary this is 0000, 0000, 0000, 0100. Only BIT2 is 1, thus position 2 is absolute and all other positions are incremental. To use this parameter, PA700.1 must be set to 0 and PAbs signal shall not be used. PA770 b.0000~1111 Internal position control switch 2 3 2 1 b.0000 Immed 0 b. Trigger signal selection 0 Use PTRG 1 Use internal position selection signals: INPOS0、INPOS1、INPOS2、INPOS3 Trigger time sequence selection 0 Only receive new trigger signal when current position is completed (CMD-OK) 1 Can receive new trigger even though current position is not completed PZERO function selection 0 Stop. 1 Pause. Software limit switch selection 0 Invalid. No software limit switch. 1 Valid. PA756, PA757 are positive limits; PA758, PA759 are negative limits. PA771 d.0000~1131 Internal position control switch 3 3 2 1 b.0000 Immed b.0000 Immed 0 d. Homing rotational direction 0 Forward rotation 1 Reverse rotation Homing pattern selection 0 After contacting zero switch, look for Z pulse by rotating backward 1 After contacting zero switch, look for Z pulse by rotating forward 2 After contacting zero switch, rotate backward, not look for Z pulse 3 After contacting zero point switch, rotate forward, not look for Z pulse Homing completion operation 0 Clear all position data 1 Not clear all position data Homing signal selection 0 Use ZPS 1 Use Z pulse PA772 b.0000~1111 Internal position control switch 4 177 R P Descriptions 3 2 1 Range Unit Defau Effective 0 b. Calculating absolute positions 0 Use feedback position 1 Use reference position Reserved Use of electronic gear for communication position feedback 0 Feedback data 0x0783, 0x0784 as data after electronic gear. 1 Feedback data 0x0783, 0x0784 as motor feedback data to be used with dP 00 and dP 01. High/low switchover 0 Same as user manual, 32-bit data not negate 1 Contrary to user manual, 32-bit data negate PA773 b.0000~1111 Internal position control switch 5 3 2 1 b.0000 Immed 0 b. CLR signal function 0 Only clear position deviation. 1 Clear all position data Homing position limit 0 Valid 1 Invalid. Only valid when homing completed after run backwards and find zero point. Reserved Reserved PA774 Reserved PA775 Homing speed before contacting zero signal 0~3000 rpm 500 Immed PA776 Homing speed after contacting zero signal 0~500 rpm 30 Immed PA777 Zero switch offset low place 0 Immed 0 Immed h.0000 Immed h.0000~FFFF Pulse PA778 Zero switch offset high place h.0000~1FFF PA779 Positive software limit switch low place h.0000~FFFF 178 Pulse R P Descriptions Range Unit Defau Effective PA780 Positive software limit switch high place h.0000~FFFF h.1000 Immed PA781 Negative software limit switch low place h.0000~FFFF h.0000 Immed h.E000 Immed Pulse PA782 h.0000~FFFF Negative software limit switch high place 179 R
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