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5.6 Speed and torque control

Speed control is applied where precise speed control is required. It

’s can

also be configured by the upper device.

Speed

command

source and

direction

Speed

command

ramp function

Speed

command

limit

Speed

command

filtering

Speed loop

control

Current

loop control

Torque feed

forward

Speed

calculation

Input speed

command

Motor

Encoder

feedback

Figure 5-8 Speed control diagram

Parameters related to the speed commands

Table 5-7 The parameters related to the speed commands

Parameter

Name

Set value

Description

PA4

Control mode

Set as speed control

PA15

Speed command

direction setting

Set as the negation of

00010

PA22

Speed command

source selection

Set speed command

source

Fn50

Analog AI1 filter time

constant

Appropriate

value

Suppress command

fluctuations

Fn51

Analog AI1 zero drift

Appropriate

value

Zero drift

compensation (mV)

Fn52

Analog AI1 offset

Appropriate

value

Offset (mV)

Fn53

Analog AI1 dead time

Appropriate

value

Enforcement in the

dead time is 0

Summary of Contents for RT20

Page 1: ...1 RT20 Pulse Series AC Servo Drive User Manual A TS TECHNOLOGY CORPORATION LIMITED www a ts cn ...

Page 2: ...be liable for compensation All rights including the rights granted by patent rights and the registration rights of application models or designs will be reserved The information provided in this publication will be updated regularly and any necessary corrections will be implemented in subsequent releases Suggestions for improvement are welcome at any time Version Product Release Date Note V 23 01 ...

Page 3: ...e maintenance etc It doesn t include all the security matters or considerations Local laws and regulations All the local laws regulations and codes of practice should be obeyed first besides the instructions in the manual Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described Since variance cannot be precluded entire...

Page 4: ...ty WARNING Be careful If there is improper operation it may cause major accident such as equipment damage or physical injury ATTENTION If there is misoperation it may cause bad effects or cannot be operated normally Generally speaking the issues caused could be solved INSTRUCTIONS It is widely used It reminds the instructions and prompts EXAMPLE For the better understanding of the users to show a ...

Page 5: ...ion direction 15 3 1 4 Installation space 15 3 2 Wiring and terminals 17 3 2 1 Wiring diagram 17 3 2 2 Strong power terminals 18 3 2 3 Command terminal CN3 21 3 2 4 Encoder terminal CN4 CN5 definition 25 3 2 5 USB debugging port CN1 definition 29 3 2 6 RS485 communication port CN2A CN2B definition 30 3 2 7 Wiring of three control mode 31 4 Display and Keyboard Operation 34 4 1 Basic operation 34 4...

Page 6: ...e example 49 5 5 2 Position command 50 5 5 3 Electronic gear setting 52 5 6 Speed and torque control 53 5 7 RS485 control setting 54 6 Adjustment 58 6 1 Summary 58 6 2 Inertia identification 58 6 3 Automatic gain adjustment 60 6 4 Manual gain adjustment 61 6 5 Resonance suppression 61 7 Parameters 63 7 1 Parameter list 63 7 1 1 PA parameters 63 7 1 2 Fn parameters 70 7 1 3 Bn parameters 73 8 Fault...

Page 7: ...he safety precautions It doesn t include all the security matters or considerations For any injury or loss caused by improper operation the A TS technology will not take the responsibility The A TS technology is not legally bound in any manner either Basic installation requirement Only qualified or strictly trained engineers are allowed to install operate and maintain equipment Only qualified prof...

Page 8: ...ipment shall be grounded always Before operating make sure the electrical connection is fine and reliable Equipment safety Before operation the equipment should be fixed in the electric cabinet or on other stable objects firmly such as the table or floor When the system is running make sure the air vent is unobstructed When installing the equipment to tighten the screws use the tool After complete...

Page 9: ...cluding Tamagawa BISS and Nikon and Magnetoelectricity encoder ME Supports RS485 communication standard Modbus protocol Supports internal speed mode and demonstration running mode 2 2 Order number Code Series Code Voltage level H High voltage three phase 380V Code Increm ental E00 E01 E02 E03 ABZ increm ental BISS Tamag awa ME Absolute encoder type RT20 PA 050 H E02 Series Power level Encoder type...

Page 10: ...nt o pA 9 5 14 3 23 8 33 3 47 5 71 3 Environm ent Temperature Working 0 55 C If the ambient temperature is between 45 C and 55 C the average load should not exceed 80 of the rated load Storage 20 C 65 C Humidity Working 40 80 No condensation Storage Less than 93 No condensation Protection grade IP20 Control method PWM sine wave vector control Regenerative braking Optional built in or external Feed...

Page 11: ... S RDY alarm zero speed positioning complete speed reached torque reached electromagnetic brake servo in operation location nearby positioning torque in limitation speed in limitation origin return homing complete Encoder signal output Signal type A B Z differential output Z signal open collector output Frequency dividing ratio It can be configured with parameter PA78 Position Command source Inter...

Page 12: ...og command Special function Origin return homing gain switch mechanical resonance notch filter Monitoring function Rotation speed current position position deviation motor torque motor current command pulse frequency etc Protection function Over speed over voltage over current over load braking abnormal encoder abnormal position out of tolerance etc Features Speed frequency response 1500Hz Speed f...

Page 13: ...ow 4 9 m s2 Altitude below 2000m Install in a well ventilated place with little humidity and dust Install in the place without corrosive gas flammable gas pyrophoric gas oil gas cutting fluid cutting powder or iron powder etc WARNING When in a vibration environment to prevent transmitting vibration to the servo drive please install the anti rattle device on the mounting surface of the servo drive ...

Page 14: ...e and dimensions 64 75 183 155 5 166 Figure 3 1 RT20 PA010 015H Appearance and dimensions Unit mm 155 5 84 95 183 166 Figure 3 2 RT20 PA025 035H Appearance and dimensions Unit mm 104 115 210 260 249 5 Figure 3 3 RT20 PA050 075H Appearance and dimensions Unit mm ...

Page 15: ...rflow Airflow Figure 3 4 RT20 series AC servo drive installation direction Unit mm INSTRUCTIONS The drive should be mounted vertically on the base Use natural convection or fan to cool the drive Use M4 screws for the installation 3 1 4 Installation space Reserve enough space as shown in Figure 3 5 Make sure that the air flows from bottom to top good for heat dissipation ...

Page 16: ... 45 please place the drive in the place with good ventilation If it is installed in an electric cabinet make sure that the size and ventilation is good enough inside the cabinet to avoid overheating Make sure to ground the terminals otherwise it may cause electric shock or interference that may cause danger due to misoperation When wiring the drive please route the cable downwards to prevent liqui...

Page 17: ... the coil surge absorbers Strictly prohibit to use the magnetic contactor to operate or stop the motor Power cable Power Supply three phase AC380V Resistor The braking resistor is optional By default the B2 and B3 are shorted the internal resistor is used When the internal resistor is not big enough disconnect the B2 and B3 and connect external resistor between the B1 and B2 RS485 interface IN OUT...

Page 18: ...ecifications and installation methods of external wiring must be complied with all the local regulations Make sure to ground the entire system ATTENTION Please wire correctly and carefully otherwise it will cause abnormal operation of the servo motor and may cause injury Do not make mistakes in the connection terminals otherwise it may cause cracks and damage INSTRUCTIONS RT STP is the Servo Tunin...

Page 19: ...V 15 440V 10 L2 L3 B1 P Braking resistor terminals common DC bus terminal When using internal braking resistor short circuit B2 and B3 When using external braking resistor disconnect B2 and B3 and connect the braking resistor between P and B2 When using a common DC bus P N terminals are connected to positive negative voltage respectively B2 B3 N U Motor power terminals It must be connected with th...

Page 20: ... L2 2 RT20 PA050 75 strong electricity terminals Table 3 2 RT20 EA050 75 servo drive strong power terminals Terminal labels Name Specifications L1C Control power input terminals Connect to single phase 380V AC power 380V 15 440V 10 L2C L1 Main power supply input terminals Connect to three phase 380V AC power 380V 15 440V 10 L2 L3 B1 P Braking resistor When using internal braking resistor short ...

Page 21: ...ted with the U V W PE terminals of the motor correspondingly Note the PE is the terminal on the metal heat sink of the drive V W PE WARNING L1 L2 L3 cannot be connected to single phase 380V but must be connected to three phase 380V Short circuit L1C and L1 L2C and L2 3 2 3 Command terminal CN3 Pulse sequence command mode RT20 command terminal CN3 includes pulse and direction input pins digital inp...

Page 22: ...mmand Terminal CN3 Definition Signal name Pin No Signal Description Digital input signal DI COM 7 The digital input optocoupler common end According to the digital input low level or high level the active one the 24V or 0V external power supply shall be provided DI1 SRV ON 29 Digital input 1 The default function servo enable input DI2 A CLR 31 Digital input 2 The default function alarm clearance i...

Page 23: ... negative torque limiting input Digital output signal DO1 S RDY 35 Digital output 1 The default function servo ready output DO1 S RDY 34 DO2 ALM 37 Digital output 2 The default function servo alarm output DO2 ALM 36 DO3 AT POS 40 Digital output 3 The default function position reached output DO3 AT POS 41 DO4 BRKOFF 11 Digital output 4 The default function the motor brake release output DO4 BRKOFF ...

Page 24: ... input AI1 13 Analog command channel 1 input AI1 14 AGND 15 Analog reference ground AI2 16 Analog command channel 2 input AI2 20 AGND 17 Analog reference ground Encoder signal output OA 21 Encoder frequency division output Phase A OA 22 OB 48 Encoder frequency division output Phase B OB 49 OZ 23 Encoder frequency division output Phase Z OZ 24 CZ 19 Encoder frequency division output Phase Z open co...

Page 25: ...ording to the actual situation or the encoder failure alarm may appear 1 CN4 definition This terminal is used to input the servo motor encoder signal It can be connected to absolute encoders only Table 3 4 The absolute encoder terminal definition Pin No Signal Name Description 1 EC 5V Encoder power output 5V 5 2 EC GND Encoder power signal ground 0V 3 CLK Serial clock used when connecting to Nikon...

Page 26: ...ed CLK signal Nikon Biss and Endat encoder need CLK signal The shield layer must be grounded safely Figure 3 9 the absolute encoder input signal interface circuit 2 CN5 definition This terminal is used to input the servo motor encoder signal It can be connected to standard incremental encoder and ABZ incremental encoder only The schematic diagram of encoder terminal pins is below It is recommended...

Page 27: ... output 5V 5 2 EC GND Encoder power signal ground 0V 7 A Encoder phase A signal input 8 A 9 B Encoder phase B signal input 10 B 19 Z Encoder phase Z signal input 20 Z 13 U Encoder phase U signal input Don t connect it when using the ABZ incremental encoder 14 U 15 V Encoder phase V signal input Don t connect it when using the ABZ incremental encoder 16 V 17 W Encoder phase W signal input Don t con...

Page 28: ...ABZ incremental encoder When the encoder cable is longer than 10 meters and the signal cable diameter is not greater than 24AWG two power signal cables must be connected in parallel The standard incremental encoder signal reference circuit RT20 servo drive Incremental encoder AM26LS31 A B Z U V W AM26C32 GND GND R A B Z U V W PE VDD VDD Figure 3 10 the incremental encoder input signal interface ci...

Page 29: ...ce circuit RT20 servo drive ABZ incremental encoder AM26LS31 A B Z AM26C32 GND GND R A B Z PE VDD VDD Figure 3 11 the ABZ incremental encoder input signal interface circuit 3 2 5 USB debugging port CN1 definition This port is mainly used for the upper machine software communication debugging and MCU firmware updating Doing the MCU firmware updating it uses the USB communication by the standard USB...

Page 30: ... 2 USB_D USB data 3 USB_D USB data 4 5 DGND USB power signal ground 0V WARNING When updating the program do not connect USB3 0 cable to the drive directly or it may cause damage to the drive or PC port 3 2 6 RS485 communication port CN2A CN2B definition This terminal is the standard RJ45 interface for RS485 bus communication The RT20 series AC servo drive communicates with the controller through R...

Page 31: ...ned as below Pin No Signal Name Description Port Definition 1 CAN CAN bus data positive reserved 2 CAN CAN bus data negative reserved 3 RS485 RS485 Data 4 DGND Reference ground 5 DGND Reference ground 6 RS485 RS485 Data 7 NC N A 8 NC N A 3 2 7 Wiring of three control mode The position control mode wiring sample graph ...

Page 32: ...lse position command DI COM 7 DI1 SRV ON 29 D2 A CLR 31 DI4 NOT 8 DI3 POT 9 24V Servo enable Alarm clearance CW drive prohibit CCW drive prohibit 3 3kΩ DI5 M1 SEL 30 DI7 P ATL 27 DI6 M1 SEL 26 Mode select 1 input Positive torque limit input DI9 33 DI8 N ATL 28 Negative torque limit input Digital input 9 DI11 38 DI10 32 2kΩ 2kΩ 470Ω 470Ω 50 Mode select 2 input Digital input 10 Digital input 11 Phas...

Page 33: ...F AGND 17 AGND 15 Note When it is single ended short circuit the negative end AS AT to AGND AD RT20 Servo Drive Three phase AC 380V Alarm clearance CW drive prohibit CCW drive prohibit Mode select 1 input Mode select 2 input Positive torque limit input Negative torque limit input Digital input 9 Digital input 10 Digital input 11 Servo ready to output Servo alarm output Position reached output Moto...

Page 34: ... of the rightmost eight segment LED flashes there is alarm Numeric display It adopts 5 LED tubes to display numeric values Some display items have prefix characters If the displayed value is negative the decimal point of the displayed value will be lit up And when the decimal value is greater than 10000 the highest digit displays a negative sign For example indicates positive number 12345 indicate...

Page 35: ... the increase or decrease is EXAMPLE If you need to modify a parameter from 0 to 3000 please follow steps below Step one keep pressing the page up key The value increases from 0 continuously Step two the value increases continuously until the value reaches near the 3000 releasing the page up key Step three press the page up or page down key discontinuously to adjust the value until it reaches 3000...

Page 36: ...vel one Access the corresponding menu level two through a different menu level This section introduces the monitoring mode monitoring motor parameter jog run run test parameter management auxiliary function and parameter setting etc 4 3 1 Monitoring Select in the menu level one press the Enter key to enter the monitoring mode Press the Page up or Page down key to select the parameters that need to...

Page 37: ...ing status Alarm symbol Load inertia ratio Out of range parameter number Software version Reserved Bus voltage Encoder null offset Reserve Reserve Reserve Average load rate Motor speed r min Current position pulse System position command pulse Position deviation pulse low five bit Motor torque Motor phase current Arms Reserved Control mode Position command pulse frequency kHz Speed command r min T...

Page 38: ...he rightmost digital tube is lit and press the Enter key to set the modified value valid At this time the lit decimal point will go out Then pressing the Page up or Page down Key to continue to modify parameters To cancel the modification don t press the Enter key and press the Return key The parameter will not be modified and the menu returns back to the previous menu There are many PA parameters...

Page 39: ...ton to switch between the three parameter management options Press and hold the Enter key for more than 3 seconds to complete the parameter management command Press the return key to return Parameter save Write the parameters in the parameter table to the EEPROM parameter zone When the parameter is modified it only changes the parameter values in the parameter table If the servo is powered off and...

Page 40: ...off and power it on again After the parameter modification usually the drive needs to be restarted There are two ways to restart the drive One is to power off and restart directly The second is soft reset Which way to choose it depends on the situation Parameter management mainly includes parameter save restoring factory value and system soft reset Each parameter management performs read write ope...

Page 41: ...ge the PA0 value to 0 4 3 4 Speed test run Set the control mode PA4 to 2 save and restart After the restart change the PA53 to 1 In the menu level one select and press the Enter key to go to the speed test run mode The prompt of speed test run is and the numeric unit is r min The system is in the speed control mode The speed command is provided by the keys and changed by the Page up and Page down ...

Page 42: ...nd the motor runs at the speed set by PA21 Release the key and motor stops Press Page down key and hold and the motor reverse runs at the speed set by PA21 Release the key motor stops When it is in the Speed test run or JOG running please do keep the motor in no load condition If we don t know whether the drive and motor matches or not please use a slow speed when doing the speed trial operation a...

Page 43: ...Wiring and inspection Before power on please check the motor No load on the motor or motor shaft Please disconnect the couplings if it is already installed on the machine The motor must be fixed or the ACC DEC will move the motor Do the wiring as per the following diagram and check the following before power on Is the wiring correct Especially whether the L1 L2 L3 wiring and U V W have the one to ...

Page 44: ...rameter PA1 value and find the motor type corresponding to this parameter in the Motor selection guide Check whether the motor type connected to the drive is in accord with the one above If they are the same go to the next step If not the same please modify the motor type INSTRUCTIONS The RT20 series servo drive can identify motor parameters for some motors from several manufacturers automatically...

Page 45: ...1 to the corresponding motor code Set PA61 to the corresponding encoder model ATTENTION Set PA61 to the corresponding encoder type 0 is incremental 1 is ABZ incremental 2 is absolute Commissioning steps for user defined parameters Set PA0 to 310 or 385 Set PA1 to U dEF Set PA18 to 00001 Set PA61 to the corresponding encoder model Save the settings and restart Set PA0 to 310 or 385 Fill in the moto...

Page 46: ... change parameter PA1 to Save the modified parameters in Select in the menu level two and press the Enter key Keep pressing the Enter key for more than 3 seconds and it will display which indicates that the parameter is being written to the EEPROM Then wait 1 2 seconds if the operation is successful it will display otherwise display 5 3 Speed trial running 1 Power on After the power is up the PWR ...

Page 47: ... Drive enable 3 Running First confirm there is no alarm or any abnormal condition The motor is enabled at zero speed Select in the menu level one and press the Enter key to go to the speed trial running mode The prompt of speed trial running is the unit value is r min The speed commands are provided by the keyboard and use the Page up key or Page down key to change the commands The motor runs at t...

Page 48: ...d off Figure 5 2 JOG trial running block diagram Parameter Name Set value Factory value Parameter description PA4 Control mode 5 0 JOG control PA21 JOG running speed Appropriate value 300 JOG speed PA53 Lower 5 digit input terminal forced ON 00001 00000 Drive enable 3 Running First confirm there is no alarm or any abnormal condition The motor is enabled at zero speed Select in the menu level one a...

Page 49: ...direction Electronic gear ratio Position command filtering Deviation counter Position loop gain Speed loop control Current loop control Speed feed forward Speed calculation Encoder frequency division output M Position command input Frequency division output Motor Encoder feedback Figure 5 3 Position control block diagram 5 5 1 Position control simple example Wiring diagram for PLC Control COM 7 SR...

Page 50: ...ielded ground Note1 The X1 DI DO port function can be defined by t h e Fn paramete r I n this diagram the default values are used and they can be changed by user Note 2 X2 is the encoder interface If the encoder type is different the wiring is different Please refer to Section 3 2 4 Figure 5 5 CNC control wiring diagram ATTENTION Command cables must be shielded with two legs One set of twisted pai...

Page 51: ...CCW 2 A B orthogonal PA15 Position command input pulse direction negation NOT 0 Set as the negation of 00001 PA19 Position command pulse signal filter time constant Appropriate value Filter the command pulse PA52 Position command smoothing time constant 0 0 Position command smoothing time PA81 Lower 5 bits of the command pulse number for each rotation of the motor Appropriate value Pulses per moto...

Page 52: ...se mode Input pin filtering PA19 PA24 Figure 5 6 Instruction pulse transmission path 5 5 3 Electronic gear setting In the drive if the encoder is 10000 pulses revolution the needed pulse equivalent can be set by the electronic gear parameters PA12 PA13 or PA81 PA84 Table 5 5 The relationship between the input pulse number and revolution The input pulse number Electronic gear numerator Electronic g...

Page 53: ... 5 8 Speed control diagram Parameters related to the speed commands Table 5 7 The parameters related to the speed commands Parameter Name Set value Description PA4 Control mode 9 Set as speed control PA15 Speed command direction setting 0 Set as the negation of 00010 PA22 Speed command source selection 2 Set speed command source Fn50 Analog AI1 filter time constant Appropriate value Suppress comma...

Page 54: ...zone Gain Fn50 Fn51 Fn52 Fn53 Fn54 ACC DE C time PA40 41 Figure 5 9 Speed command transmission path 5 7 RS485 control setting Table 5 10 Parameters related to RS485 communication Parameter Name Set value Description Fn21 RS485 communication protocol selection Appropriate value 0 Yaskawa protocol 1 Panasonic protocol 2 Modbus RTU PA76 RS485 response frame delay time Appropriate value Set the respon...

Page 55: ...segment number Parameter sequence number Read write attribute PA parameters 0x00 0 88 Read write Fn parameters 0x00 100 0 79 Read write dJ parameters 0x01 0 15 Read write dP parameters 0x03 0 35 Read only The internal state parameters of the servo drive can be read through the RS 485 communication port but they can t be written The state quantity is stored in 16BIT data and the value accurate to t...

Page 56: ...x030C speed command in unit rpm consistent with dp12 0x030F input terminal DI state consistent with dp15 0x0310 output terminal DO state consistent with dp16 0x0313 alarm code 0x0318 bus voltage in unit V consistent with dp24 0x031B absolute position of the rotor pulse 16 bits low 0x031C absolute position of the rotor pulse 16 bits high 0x031D average load rate in unit consistent with dp29 0x031E ...

Page 57: ... are switched over RS485 and the motor runs at a given speed The steps are as follows Set PA20 to 00010 allow online switching of control modes Set PA4 to 9 Speed mode Set PA22 to 1 speed command source The speed value is given by PA27 to realize the motor running ...

Page 58: ... balance of each parameter value into the consideration The general procedure for adjusting the servo gain is as follows Begin Inertia identification Automatic gain adjustment Meet the requirement Manual gain adjustment End No YES Figure 6 1 Gain adjustment flowchart 6 2 Inertia identification Load inertia ratio Total rotational inertia of mechanical load Motor rotational inertia The load inertia ...

Page 59: ... otherwise normal servo operation will be affected After the inertia recognition the drive can recognize the field condition better However the gain parameters cannot be generated automatically so the rigidity class PA33 or gain parameters such as PA5 and PA6 need to be set The dP 20Jr value is generally set to be about 300 If the value is too large such as over 1000 or is negative with a decimal ...

Page 60: ...llowing experience values are for reference Table 6 1 Rigidity grade reference Recommended stiffness grade Load mechanism type Grades 4 to 8 Large machinery and equipment Grades 8 to 15 Machines with low stiffness such as belts Grades 15 to 20 Machines with strong stiffness such as ball screws and linear ATTENTION Before using the automatic gain adjustment function make sure to acquire the load in...

Page 61: ...loops position loop speed loop current loop the more inner the loop is the more need to improve its responsiveness If the principle is not followed it will cause poor responsiveness or vibration 2 Gain adjustment method Increase the current loop gain as much as possible as long as there is no motor squeal As long as the machine does not vibrate increase the speed loop gain PA5 as much as possible ...

Page 62: ...level setting of the notch filter the default value is usually adopted When the notch depth level is 0 the input at the center frequency is completely suppressed When the depth level of the notch filter is 100 the input at the center frequency is completely passable Therefore the larger the parameter is the smaller the notch depth is and the weaker the effect of suppressing mechanical vibration is...

Page 63: ...es that after modification the parameter needs to be saved to will be effective after the power cycle Parameter number without indicates that after modification the parameter will be effective at once Parameter value plus means the factory default may be different if the drive model is different 7 1 1 PA parameters No Name Parameter range Factory default Unit Applica bility PA0 Parameter password ...

Page 64: ...0 200 0 P PA12 Position command pulse frequency division numerator 1 32767 1 P PA13 Position command pulse frequency division denominator 1 32767 1 P PA14 Position command pulse input mode 0 4 0 0 pulse direction 1 CW CCW 2 AB orthogonal 3 bus instruction 4 internal location P PA15 Command direction NOT logical reverse setting 00000b 111 11b 00000b Bit0 Position command direction NOT Bit1 Speed co...

Page 65: ... mode 00000b 111 11b 00101b Bit0 whether to use the battery Bit1 ABS source Bit2 Motor parameter automatic identification Bit3 rsv ALL PA19 Position command pulse signal filter time constant 0 0 20 0 0 0 microsecond us P PA20 Servo control auxiliary switch 00000b 111 11b 00000b Bit1 Control mode switch allowed Bit2 IO jog function allowed Bit3 rsv ALL PA21 JOG running speed 0 3000 300 rpm S ...

Page 66: ...quency setting 0 3000 0 Hz S PA27 Internal speed command 1 9000 9000 0 rpm S PA29 Load rotation inertia ratio 0 8000 200 P S PA30 Motor torque overload alarm value 10 300 160 ALL PA33 Rigidity level 0 31 0 ALL PA38 DP menu dynamic display items 0 300 ALL PA39 RT STP serial communication speed 0 15 0 T PA40 Acceleration time constant 0 10000 20 ms 0 to max speed time S PA41 Deceleration time consta...

Page 67: ...ling disconnection when the motor is stationary 0 5000 0 ms ALL PA48 The waiting time for electromagnetic brakes to brake while the motor is running 0 5000 50 ms ALL PA49 Brake action speed when the motor is running 0 3000 100 rpm ALL PA50 The delay of the brake opening when the motor is enabled 0 3000 20 ms ALL PA51 Braking resistor selection switch 0 1 0 ALL PA52 Position command smoothing time ...

Page 68: ...ry ALL PA56 Higher 5 bits input terminal NOT logical reverse 00000b 111 11b 00000b Binary ALL PA57 Output terminal NOT logical reverse 00000b 111 11b 00000b Binary ALL PA61 Motor encoder type setting 1 7 2 1 Motor default setting 0 Incremental 1 ABZ incremental 2 Tamagawa protocol 3 Reserved 4 Nikon protocol 5 Panasonic protocol 6 BissC protocol 7 Increment without HALL 9 Sankyo protocol ALL ...

Page 69: ...PA69 External braking resistor value 0 750 50 Ω ALL PA70 External braking resistor power 0 10000 50 W ALL PA74 Internal current command 300 300 0 T PA78 The output pulses per motor revolution 1 32767 2500 x4 pulses ALL PA79 System feedback pulse output NOT logical reverse 0 1 0 ALL PA80 Absolute encoder reset setting 00000b 111 11b 00000b ALL PA81 The low bits of command pulses per motor revolutio...

Page 70: ...g 0 1 0 ALL PA94 System feedback Z pulse width setting 0 15 4 ALL PA97 Alarm shield setting bits 00000b 111 11b 00000b ALL PA98 Origin position confirmation range 0 30 0 ALL 7 1 2 Fn parameters No Name Parameter range Factory default Unit Applicability Fn0 Digital input DI1 function 0 31 1 ALL Fn1 Digital input DI2 function 0 31 2 ALL Fn2 Digital input DI3 function 0 31 3 ALL Fn3 Digital input DI4...

Page 71: ...ble below No Symbol DI function No Symbol DI function 0 NULL NULL 1 SON Servo enabled 2 ALM_RST Alarm clear 3 FSTP CCWL 4 RSTP CWL 5 M1_SEL Mode switch1 6 M2_SEL Mode switch2 7 RSV Reserved 8 RSV Reserved 9 CLE Position deviation clear 10 ZEROSPD Zero speed clamp 11 SENS Yaskawa protocol feedback trigger 12 SPD_SEL1 Internal speed selection 1 13 SPD_SEL2 Internal speed selection 2 14 RSV Reserved ...

Page 72: ... origin setting No Name Parameter range Factory default Unit Applica bility Fn10 Digital output DO1 function 0 15 1 ALL Fn11 Digital output DO2 function 0 15 2 ALL Fn12 Digital output DO3 function 0 15 3 ALL Fn13 Digital output DO4 function 0 15 4 ALL Fn14 Digital output DO5 function 0 15 5 ALL Set the corresponding point function of digital IO output The function code is shown in the following ta...

Page 73: ... Home Origin Home position arrival ATTENTION The same DI function can t be assigned to 2 or more IO input terminals otherwise the alarm Err26 occurs IO input terminal function configuration error 7 1 3 Bn parameters No Name Parameter range Factory default Unit Applic ability Bn1 Emergency stop acceleration and deceleration time 0 1000 100 ms ALL Bn9 Alarm shielding setting bits 00000 1111 1b 00000...

Page 74: ...ist Alarm code Alarm name Description 0 Normal No alarm Err 1 Over speed Servo motor speed exceeds the set value PA23 Err 2 Main circuit over voltage Main circuit power supply voltage is too high Err 3 Vibration detected The vibration has been detected that exceeds the set threshold Err 4 Position out of tolerance The positional deviation counter value exceeds the set value PA17 Err 5 Motor averag...

Page 75: ...coder communication error Err 19 Absolute encoder battery failure Battery voltage is lower than 2 5V multi turn position information has been lost Err 20 EEPROM error EEPROM error Err 21 Phase A current sampling error Phase A current sampling error Err 22 Parameter values out of range Some servo parameter values are out of the specified range Err 23 Phase B current sampling error Phase B current s...

Page 76: ...ation error Err 34 Flash reads CRC error Flash reads CRC error Err 35 Motor adaptation error The motor is not adapted Err 36 Watchdog error Internal watchdog error Err 37 Motor initial zero lock error Zero position lock error Err 38 External braking resistance value is incorrect The resistance value of external braking resistance is less than the minimum allowed value Err 51 Multi turn value excee...

Page 77: ...oltage The voltage supplied to the control board is less than 5 V Err 62 Motor speed out of control There is large difference between command speed and actual speed Err 63 ABZ incremental encoder UVW abnormal ABZ incremental encoder UVW signal is abnormal The End ...

Page 78: ...cn service a ts cn For users or end customers please contact your local supplier or A TS company service directly The information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions The contents of this document are to be updated without notice Please contact us to get the latest version A TS Technology Copyright All rights reserved Published...

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