Astor AS63MTB20C2-A Operation Manual Download Page 108

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SRV-63 series AC servo drives Detailed parameter description

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There are two groups of parameters respectively for position gain, speed gain and speed integral

time constant, speed detection filter and torque filter.

The definition of the function and content are the same with those of 1

group.

The user can select or switch between 1

gain and 2

gain as needed. Please refer to the

detailed information of P2.20 and P2.34.

P2.05

Data size

16bit

Data format

DEC

Modbus address

1410,1411

CANopen address

0x2205,0x00

P2.06

Data size

16bit

Data format

DEC

Modbus address

1412,1413

CANopen address

0x2206,0x00

P2.07

Data size

16bit

Data format

DEC

Modbus address

1414,1415

CANopen address

0x2207,0x00

P2.08

Data size

16bit

Data format

DEC

Modbus address

1416,1417

CANopen address

0x2208,0x00

P2.09

Data size

16bit

Data format

DEC

Modbus address

1418,1419

CANopen address

0x2209,0x00

P2.10

Speed feed-forward gain

Setting range

Default

Unit

Available mode

0.0~100.0

0.0

This parameter is used to set the speed feed-forward gain. When the parameter is 100%, the retention

pulse running at a certain speed will be almost zero; sudden ACC/DEC will enlarge overshooting.

P2.10

Data size

16bit

Data format

DEC

Modbus address

1420,1421

CANopen address

0x220A, 0x00

P2.11

Speed feed-forward filter

time

Setting range

Default

Unit

Available mode

0.00~64.00

0.50

This parameter is used to set the speed feed-forward filter time.

P2.11

Data size

16bit

Data format

DEC

Modbus address

1422,1423

CANopen address

0x220B,0x00

P2.12

Torque feed-forward gain

Setting range

Default

Unit

Available mode

0.0~100.0

0.0

This parameter is used to set the torque feed-forward gain. After the torque command calculated

according to speed control command multiplies the rate of the parameter, add to the torque

command from speed control step.

Increasing torque feed-forward gain can improve response performance in ACC/DEC and reduce

position deviation.

P2.12

Data size

16bit

Data format

DEC

Modbus address

1424,1425

CANopen address

0x220C, 0x00

Summary of Contents for AS63MTB20C2-A

Page 1: ... 1 Operation Manual The owner of Astraada brand is ASTOR Sp z o o Astraada SRV 63 AC Servo drives ...

Page 2: ...ectromagnetic compatibility design to ensure strong anti electromagnetic interference capacity while realizing low noise and weakening electromagnetic interference in the application sites This manual presents installation and configuration parameters setup fault diagnoses and daily maintenance and relative precautions to customers Please read this manual carefully before installation to ensure SR...

Page 3: ...age may occur De couple the motor load and run the motor independently before operation to avoid accidents Please ensure the drive can be disconnected from the power supply by E switch before any operation Set the corresponding parameters before operation otherwise the drive may run abnormally or beyond the expectation because of the load Only qualified electrical engineers can carry out the wirin...

Page 4: ...rgency device and ensure the normal usage after wiring otherwise electric shock hurt and fire may occur The leakage current may exceed 3 5mA during the drive running Do ground with proper techniques and ensure the grounding resistor is less than 10Ω The conductivity of PE earth conductor is the same as the phase conductor with the same cross area The components inside the drive contain heavy metal...

Page 5: ...tor power cables 29 3 4 Control I O CN1 terminal layout 30 3 5 Wiring of encoder CN2 terminals 31 3 6 Wiring of 485 CAN CN3 terminals 33 3 7 Wiring of USB CN4 terminals 34 3 8 Encoder and STO CN5 terminal wiring 34 3 9 Wiring of PROFIBUS DP terminals 35 Chapter 4 Control mode applications 36 4 1 Standard wiring of the position mode 36 4 2 Standard wiring of the speed mode 37 4 3 Standard wiring of...

Page 6: ...l resonance 213 7 4 Gain switching function 214 Chapter 8 Communication 217 8 1 Overview 217 8 2 RS485 communication protocol 217 8 3 CANopen communication protocol 222 8 4 PROFIBUS DP communication protocol 227 8 5 Upper PC software 231 Chapter 9 Faults and solutions 236 9 1 Meanings of the fault alarm code and countermeasures 236 9 2 CANopen communication fault code and countermeasures 243 9 3 P...

Page 7: ...rameters Analog value Input 3 inputs for standard type one 16 bit two 12 bit analog inputs 2 inputs for others two 12 bit analog inputs Output 2 outputs analog output Pulse signal Input 1 group mode open collector input or differential input Output 1 group differential outputs A A B B Z Z or open collector outputs A B Z 2nd encoder Input Incremental encoder interface 2nd encoder or linear encoder ...

Page 8: ...erform clockwise counterclockwise torque limit Vibration control Control 5 200Hz forward and whole machine vibration Pulse output 1 Can perform arbitrary frequency division settings under the encoder resolution 2 B phase reverse function Speed control Control input 1 Internal command speed 1 2 Internal command speed 2 3 Internal command speed 3 4 Zero speed clamp etc Control output Speed reaching ...

Page 9: ...rence with 4 88mV precision Internal position plan Plan bits 128 bits internal position planning the positioning can be controlled through communication Route setting 1 Position 2 Speed 3 ACC time 4 DEC time 5 Stop timer 6 Various state output 7 Operational mode Homing 1 LS signal 2 Z phase signal 3 LS signal Z phase signal 4 Torque limit signal Protection Hardware protection Overvoltage undervolt...

Page 10: ...CAN 485 communication CN1 I O control CN2 Encoder CN5 2nd encoder and STO S1 STO selection CN4 USB port of upper PC Models which carry extension cards with DP function CHARGE MODE L3 L1C L2 L1 C N 3 C N 1 C N 2 B2 B3 U V W SE T L2C C N 4 CHARGE light Power supply of main circuit Power supply of control circuit Motor Grounding Regenerative resistor Operation panel LED display CN3 CAN 485 communicat...

Page 11: ...00W 0C7 750W 1C0 1 0kW 2C0 2 0kW 5C5 5 5kW D Machine type S Standard C CANopen bus P PROFIBUS DP bus E EtherCAT bus Function difference between different machine types Code Type Pulse input 16bit analog Full closed loop STO RS485 CAN open PROFIBUS DP Ether CAT Motion Net ECAM S Standard C CAN P PROFIBUS DP E EtherCAT Note In above table means this function is available means this function is unava...

Page 12: ...V20C2 Single Three phase 220 1 8 0 8 0 2 1 8 A AS63SRV20C4 Single Three phase 220 3 6 1 5 0 4 2 8 A AS63SRV20C7 Single Three phase 220 6 8 2 8 0 75 4 5 B AS63SRV21C0 Single Three phase 220 9 1 3 7 1 0 5 B AS63SRV41C5 Three phase 400 3 1 1 5 4 5 B AS63SRV42C0 Three phase 400 4 1 2 0 6 5 C AS63SRV43C0 Three phase 400 6 2 3 0 8 5 C AS63SRV44C4 Three phase 400 9 1 4 4 12 D AS63SRV45C5 Three phase 400 ...

Page 13: ...er 5 2 1 8 otherwise the servo system may not operate normally and major fault may occur to the drive and motor 1 2 2 Naming of the servo motor AS63 MTR 2 0C2 I A B C D E Key No Description Example Product A Astraada SRV 63 Brake B MTR without brake MTB with brake Voltage degree C Voltage degree 2 230VAC 4 400VAC Power Load Speed D Rated power C02 200W 0C4 400W 0C7 750W 1C0 1 0kW 1C5 1 5kW 3C0 3 0...

Page 14: ...ey No Description Example Product A Manufacturer Astraada SRV 63 Power cable B Power cable CBL Power cable Coil diameter C Coil diameter 07 0 75mm2 10 1 0mm2 15 1 5mm2 25 2 5mm2 Length D Cable length 03 3 meters 05 5 meters 10 10 meters 20 20 meters Pin for motors E Pin for motors A 4PIN plastic pin B 4PIN general aviation pin YD28 C 4PIN metal pin ...

Page 15: ...rer Astraada SRV 63 Encoder cable B Encoder cable CBE Encoder cable Cable core C Core 06 6 core cable 09 9 core cable 15 15 core cable Length D Cable length 03 3 meters 05 5 meters 10 10 meters 20 20 meters Pin for motors E Pin for motors A 15PIN DB pin B 15PIN general aviation pin YD28 C 9PIN metal pin Options F Cable options Null without battery D with battery ...

Page 16: ... Drive model Embedded braking resistor Min resistance of external braking resistors AS63SRV20C2 60Ω AS63SRV20C4 60Ω AS63SRV20C7 30Ω 60W 30Ω AS63SRV21C0 30Ω 60W 30Ω AS63SRV41C5 60Ω 60W 60Ω AS63SRV42C0 60Ω 60W 40Ω AS63SRV43C0 60Ω 60W 30Ω AS63SRV44C4 30Ω 120W 30Ω AS63SRV45C5 30Ω 120W 30Ω ...

Page 17: ...lume and dimension diagram Volume Model External dimension Installation dimension Installation hole mm H mm W mm D mm A mm B1 mm B2 mm W1 mm A AS63SRV20C2 170 45 170 33 162 185 22 5 M4 Φ5 AS63SRV20C4 B AS63SRV20C7 170 67 180 54 162 185 25 M4 Φ5 AS63SRV21C0 AS63SRV41C5 C AS63SRV42C0 170 84 180 71 162 185 42 M4 Φ5 AS63SRV43C0 D AS63SRV44C4 245 92 190 79 237 260 45 M4 Φ5 AS63SRV45C5 ...

Page 18: ...there is a Φ5 installation hole at the lower left corner and upper right corner of the rear board respectively CHARGE MODE SET L3 L1C L2C L2 L1 C N 4 C N 3 C N 1 C N 2 B2 B3 U V W 2 Bracket installation the installation bracket is optional CHA RGE MODE SET L3 L1C L2C L2 L1 C N 4 C N 3 C N 1 C N 2 B2 B3 U V W Partition bracket ...

Page 19: ...ervo drive vertically and keep enough installation space for good ventilation Install fans if necessary to ensure the temperature inside the control cabinet is lower than 45 1 Single drive installation 100mm 100mm 20mm 20mm 40mm Up Down 2 Multiple drives installation 20mm 20mm Up Down 20mm FAN FAN 20mm 20mm 20mm 20mm ...

Page 20: ...70 5 5 45 60 14 h6 30 5 5 22 5 11 25 114 5 41 38 5 45 5 M5 D10 AS63MTR20C4 I 50 h7 3 6 5 70 5 5 45 60 14 h6 30 5 5 22 5 11 25 138 5 65 38 5 45 5 M5 D10 AS63MTR20C7 I 70 h7 3 10 90 7 45 80 19 h6 35 6 6 22 15 5 25 140 68 48 5 55 5 M5 D10 AS63MTR21C0 I 70 h7 3 10 90 7 45 80 19 h6 35 6 6 22 15 5 25 183 68 48 5 55 5 M5 D10 AS63MTB20C2 A 50 h7 3 6 5 70 5 5 45 60 14 h6 30 5 5 22 5 11 25 151 5 41 38 5 45 ...

Page 21: ... 155 83 114 5 AS63MTR41C5 I 110 h7 6 12 145 9 45 165 130 22 h6 55 6h9 7 41 18 45 195 143 106 163 83 114 5 AS63MTR42C0 I 110 h7 6 12 145 9 45 165 130 22 h6 55 6h9 7 41 18 45 175 131 100 155 83 114 5 AS63MTB21C0 A 110 h7 6 12 145 9 45 165 130 22 h6 55 6h9 7 41 18 45 185 141 68 165 83 114 5 AS63MTB42C0 A 110 h7 6 12 145 9 45 165 130 22 h6 55 6h9 7 41 18 45 217 173 100 197 83 114 5 AS63MTB41C5 I 110 h...

Page 22: ... 65 54 18 35 h7 10 h9 38 180 5 233 200 13 5 138 5 AS63MTB43C0 A 114 3 h7 304 3 2 65 54 18 35 h7 10 h9 38 180 5 233 200 13 5 138 5 AS63MTB44C4 A 114 3 h7 334 3 2 65 54 18 35 h7 10 h9 38 180 5 233 200 13 5 138 5 AS63MTB45C5 A 114 3 h7 364 3 2 65 54 18 35 h7 10 h9 38 180 5 233 200 13 5 138 5 AS63MTB43C0 I 114 3 h7 304 3 2 65 54 18 35 h7 10 h9 38 180 5 233 200 13 5 138 5 AS63MTB44C4 I 114 3 h7 334 3 2...

Page 23: ...AS63MTR21C0 A AS63MTR21C0 I AS63MTR21C0 AS63MTR21C0 I Rated Power 0 2 kW 0 4 kW 0 75 kW 1 kW Rated torque 0 64 Nm 1 27 Nm 2 4 Nm 4 78 Nm 4 Nm Max Torque 1 92 Nm 3 8 Nm 7 2 Nm 14 3 Nm 12 Nm Rated speed 3000 rpm 3000 rpm 3000 rpm 2000 rpm 2500 rpm Max speed 6000 rpm 6000 rpm 6000 rpm 3000 rpm Rated current 1 5 A 2 8 A 4 5 A 4 8 A 4 4 A Max current 4 5 A 8 4 A 13 5 A 14 4 A 13 2 A Motor inertia 0 21 ...

Page 24: ... Nm 19 Nm 27 Nm 35 Nm Max Torque 22 Nm 28 6 Nm 47 Nm 67 Nm 70 Nm Rated speed 2500 rpm 2000 rpm 1500 rpm 1500 rpm 1500 rpm Max speed 3000 rpm 3000 rpm 2000 rpm 2000 rpm 2000 rpm Rated current 4 5 A 5 5 A 7 5 A 10 A 12 A Max current 13 5 A 16 5 A 18 75 A 25 A 30 A Motor inertia 12 6 kg cm2 12 16 kg cm2 38 kg cm2 61 kg cm2 86 kg cm2 Isolation class Klasa F 155 Klasa F 155 Klasa F 155 Klasa F 155 Klas...

Page 25: ...r connection cable Main circuit cable of motor Servo motor Battery unit when absolute encoder is used Brake power DC24V provided by the user Regenerative brake resistor Noise filter Prevent the noise outside the power cable Used to cut off the circuit when power cable flows through overcurrent Check to ensure the input power supply indicated on the name plate is the same as that of the grid before...

Page 26: ... phase conductor use the same material which will help reduce grounding resistor to improve impedance continuity In order to suppress the emission and transmission of RF the conductivity of shielded cable must be at least 1 10 of phase conductor conductivity The coverage rate of shielded layer must be above 85 at least 3 1 2 Requirements on control cable All the analog control cables and the cable...

Page 27: ... 75 4 M2 5 0 3 0 6 AS63SRV20C4 AS63SRV20C7 AS63SRV21C0 1 5 1 5 0 75 1 5 4 1 5 4 1 5 4 M2 5 0 3 0 6 AS63SRV41C5 AS63SRV42C0 AS63SRV43C0 AS63SRV44C4 2 5 2 5 0 75 2 5 6 2 5 6 2 5 6 M4 1 2 1 5 AS63SRV45C5 3 1 4 EMI filter Drive model EMI filter model AS63SRV20C2 AS20FLI4006 AS63SRV20C4 AS63SRV20C7 AS63SRV41C5 AS63SRV21C0 AS20FLI4016 AS63SRV42C0 AS63SRV43C0 AS63SRV44C4 AS20FLI4032 AS63SRV45C5 Note The ...

Page 28: ...oid accident of electrical shock The electromagnetic brake uses 24V power supply which should be provided by the user Moreover it must be isolated from the DC12 24V power supply which is used by the control signal Pay attention to the connection of the freewheeling diode Reversed polarity may damage the drive The user is required to make this emergency stop protection circuit Add surge absorbing d...

Page 29: ...o the phase sequence of the motor cable of the servo motor Wrong phase sequence will cause drive fault Be sure to ground the servo drive to avoid accident of electrical shock The electromagnetic brake uses 24V power supply which should be provided by the user Moreover it must be isolated with the DC12 24V power supply which is used by the control signal Pay attention to the connection of the freew...

Page 30: ...een X1 4 X1 3 Short connect with X1 2 X1 2 Short connect with X1 3 X1 1 3 3 2 17 bit or 23 bit 60 80 base 200W 750W motor power cable X2 X1 1 2 3 4 6 7 5 A direction view PE W V U A 1 2 3 4 Wiring relation Definition X1 X2 Core wire color W X1 7 X2 1 Brown V X1 6 X2 3 Red U X1 5 X2 4 Blue PE Ground terminal X2 2 Yellow green X1 4 X1 3 Short connect with X1 2 X1 2 Short connect with X1 3 X1 1 3 3 3...

Page 31: ... color W X2 4 Brown V X2 3 Red U X2 2 Blue PE X2 1 Yellow green 3 4 Control I O CN1 terminal layout CN1 plug pin layout CN1 plug signal layout 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 15 14 13 12 11 10 9 8 7 6 5 4 3 2 16 1 OA OA OB OB 24V DI4 OCP DI2 OCA GND DI5 SIGN SIGN OCS OCB DO4 OZ OZ OCZ AO2 PULS PULS DI10 AO1 AD2 GND DI9 DI6 DO2 DO1 DO6 COM DO3 DI3...

Page 32: ...l encoder V Serial encoder data 8 W Signal of parallel encoder W 9 B Signal of parallel encoder B 10 B Signal of parallel encoder B 11 U Signal of parallel encoder U 12 GND Power ground 13 Z Signal of parallel encoder Z 14 Z Signal of parallel encoder Z 15 Unused 3 5 2 60 80 base absolute value encoder cable 1 11 15 5 X2 B B dire ction view 1 11 15 5 6 10 X1 A 6 10 A dire ction view Wiring relatio...

Page 33: ... Twisted pair W X1 8 X2 15 A X1 3 X2 7 Twisted pair A X1 4 X2 4 U X1 6 X2 10 Twisted pair U X1 11 X2 13 B X1 9 X2 8 Twisted pair B X1 10 X2 5 Z X1 13 X2 9 Twisted pair Z X1 14 X2 6 5V X1 5 X2 2 Twisted pair GND X1 12 X2 3 PE Steel casing Steel casing 3 5 4 60 80 base incremental encoder cable B 7 6 5 4 3 2 1 8 9 X2 B direction view A dire ction view 1 11 15 5 6 10 X1 A Wiring relation Signal X1 X2...

Page 34: ... Twisted pair VB GND X2 7 PE Steel casing X2 1 Weaving 3 6 Wiring of 485 CAN CN3 terminals Pin8 Pin1 CN3 terminal function Pin Name Function Remark 1 GND_CAN CAN chip power GND 485 and CAN use the same interface and each signal has two pins for multiple networking 2 GND_485 485 chip power GND 4 RS485 RS485 data 5 RS485 RS485 data 7 CAN_L CAN data 8 CAN_H CAN data 3 6 Unused Note EtherCAT bus type ...

Page 35: ...terface and definition 5 4 3 2 1 10 9 8 7 6 15 14 13 12 11 CN5 port function Pin Name Function Remark 1 HWBB1 Safety input 1 Connect with linear encoder or 2nd encoder 2 HWBB2 Safety input 2 3 EXA Linear encoder 2nd encoder A 4 EXA Linear encoder 2nd encoder A 5 EX5V Power supply 5V 6 EDM Safety monitoring output 7 HWBB1 Safety input 1 8 HWBB2 Safety input 2 9 EXB Linear encoder 2nd encoder B 10 E...

Page 36: ...3 9 Wiring of PROFIBUS DP terminals DP plug pin layout DP plug signal layout GND_BUS RTS B_Line A_Line 5V_BUS 5 4 3 2 1 9 8 7 6 DP terminal function Pin Name Function Remark 3 B Line Data DP standard terminals and pin connection this terminal is on extension card 4 RTS Request sending 5 GND_BUS Isolation ground 6 5V_BUS Isolation of 5V power supply 8 A Line Data 1 2 7 9 Unused ...

Page 37: ... OA 41 OB 42 OB FG 26 OCZ 30 OCB AD2 20 GND 19 AD3 7 GND 8 FG 21 AO1 5 GND 25 AO2 6 GND FG Torque monitoring output Speed monitoring output AM26LS32 or equivalent chip Note User supplied power Vcc DC30V Fault Servo ready Speed zero Positioning finished Torque limiting Brake release Differential command pulse input max 4Mpps PULS 23 PULS 24 OCP 38 2kΩ SIGN 32 SIGN 33 OCS 31 2kΩ FG PULS 23 PULS 24 S...

Page 38: ...dy Speed zero Speed matching Torque limiting Brake release Speed command input 10V 10V AD1 1 GND 5 When non standard model is selected AD1 channel is invalid Please use AD3 channel and confirm P3 70 is speed command AD2 20 GND 19 AD3 7 GND 8 Analog torque limit of positive direction 0V 10V Analog torque limit of negative direction 10V 0V Note User supplied power DC12 24V Note User supplied power V...

Page 39: ...M 9 BRK AD2 20 GND 19 AD3 7 GND 8 FG 21 AO1 5 GND 25 AO2 6 GND FG Torque monitoring output Speed monitoring output Fault Servo ready Speed zero Torque reaching Torque limiting Brake release Ref Max load capacity of output terminal is DC30V 50mA Note User supplied power DC12 24V Note User supplied power Vcc DC30V Frequency divider 36 OCA External controller 44 OA 43 OA 41 OB 42 OB FG 26 OCZ 30 OCB ...

Page 40: ...put of Z phase 6 GND Analog signal ground 28 OZ Differential output of Z phase 7 AD3 Analog input 3 29 DO4 Digital output 4 8 GND Analog signal ground 30 OCB Open collector output of B phase 9 DO5 Digital output 5 31 OCS Open collector command direction 10 DI3 Digital input 3 32 SIGN Differential command direction 11 DO3 Digital output 3 33 SIGN Differential command direction 12 COM DO output comm...

Page 41: ...s used power 0V is connected to this terminal FG Enclosure Enclosure ground The enclosure of CN1 terminal is connected with the enclosure of the drive 4 4 4 Configuration table for different digital modes Symbol Pin no Name Position fully closed loop mode Speed mode Default value Mark Function name Default value Mark Function name DI1 16 Digital input 1 0x003 SON Servo enabling 0x003 SON Servo ena...

Page 42: ...orque limiting 0x00E LM Torque limiting Symbol Pin no Name Torque mode MotionNet mode Default value Mark Function name Default value Mark Function name DI1 16 Digital input 1 0x003 SON Servo enabling 0x000 OFF Invalid DI2 37 Digital input 2 0x00D ZRS Zero speed clamp 0x000 OFF Invalid DI3 10 Digital input 3 0x004 CLA Alarm clearing 0x000 OFF Invalid DI4 39 Digital input 4 0x016 EMG Emergency stop ...

Page 43: ...set to 0 and positive direction input is disabled the motor stops at the current position only negative direction command input can be accepted If the negative direction drive input is disabled the motor stops at the current position only positive direction command input can be accepted P3 40 is 1 the function is invalid P3 40 is 2 and prohibition of positive negative drive input is valid the driv...

Page 44: ...ation is relative to the setting of P3 44 P3 44 is 0 the function is valid and when P3 44 is 1 the function is invalid Signal name Sign Function number Available mode Torque limit switching TLC 0x09 P S F This function is the control signal of 1st and 2nd torque limit switching Please refer to the instruction of P0 09 Signal name Sign Function number Available mode Internal speed command 1 SPD1 0x...

Page 45: ...P Internal position command 3 POS3 0x12 P Internal position command 4 POS4 0x13 P Internal position command 5 POS5 0x20 P Internal position command 6 POS6 0x21 P Internal position command 7 POS7 0x22 P These functions are the selections of 0 127 in the PTP point to point control mode It has the same function with P5 20 and is valid when P0 20 is 2 The combination of 7 digital inputs is used to sel...

Page 46: ...unction number Available mode HOME switch input HOME 0x17 P This function is the input signal of HOME SWITCH When the drive carries out HOME action in some HOME mode if the digital input is detected to be valid HOME is finished Refer to P5 10 for information Signal name Sign Function number Available mode HOME trigger HTRG 0x18 P This function is the trigger control signal of HOME function and the...

Page 47: ...ation state before stop Signal name Sign Function number Available mode PTP control stop PTP ST 0x1E P This function is the control signal of stopping PTP operation in the PTP control mode In the bus control mode it has the same function with P5 20 when it is 100 Signal name Sign Function number Available mode Absolute position clearing PCLR 0x1F P This function is used to clear the multi turn abs...

Page 48: ...ing relay will be closed Signal name Sign Function number Available mode Manual and automatic switching of turret DAT 0x31 P When this digital input is valid the turret is manual mode Signal name Sign Function number Available mode Forward jogging of turret DFJ 0x32 P When this digital input is valid the turret is forward jogging Signal name Sign Function number Available mode Reverse jogging of t...

Page 49: ...ame Sign Function number Available mode Control mode switching MCHS 0x08 P S T This function is the state signal during control mode switching in output compound control mode When it is valid control mode 1 is switched to mode 2 if the function output is invalid the control mode 2 is switched back to mode 1 Signal name Sign Function number Available mode Speed matching COIN 0x09 P S T F The functi...

Page 50: ...ero position successfully Signal name Sign Function number Available mode Torque reaching TRCH 0x10 T The function is the state signal of output torque reaching When it is valid the deviation between current torque output and torque command will be in the setting range of P3 59 there is 5 detection retention Signal name Sign Function number Available mode PTP arrival PTPF 0x16 P This function is o...

Page 51: ...osition control mode act as the position command input terminal In other control mode the terminal is invalid Allowed Max input pulse frequency 4MHz in differential motion mode 200kHz in open collector mode PULS 23 PULS 24 OCS 31 Position command pulse input 2 SIGN 32 SIGN 33 4 4 6 Analog input signals and functions Sign Pin no Name Defaul t value Function name Function AD1 1 Analog input 1 0x00 I...

Page 52: ...llector signal of phase A without isolation OCB 30 B phase output Output the open collector signal of phase B without isolation OCZ 26 Z phase output Output the open collector signal of phase Z without isolation 4 4 8 Analog output signals and functions Sign Pin no Name Function AO1 21 Analog output 1 Its output function definition can be set and the range and offset settings can be set AO2 25 Ana...

Page 53: ...llector connection mode of triode NPN type and PNP type mixed use of these two types is not allowed Users can use either the 24V power supply carried by the servo drive it only can provide 100mA current or 12V 24V power supply provided by the user 4 5 2 Wiring of the pulse input circuit Connect mode 1 Differential mode Control module side Shielded cable Drive side 23 PULS 24 PULS 33 SIGN FG PULS S...

Page 54: ... Y1 Y0 PULS SIGN 31 OCS Shielded cable Twisted pair DC24V The max input pulse frequency is 200kHz if the local 24V power supply it only can provide 100mA current or the 24V power supply provided by the user is used there is no need to connect to current limit resistor Generally most of Japanese PLC is NPN module while most of European PLC is PNP module Connection mode 3 Open collector mode 2 The c...

Page 55: ... 3W For all the 3 methods shielded twisted pair must be used and the length should be less than 3m 4 5 3 Wiring of the analog input circuit 0 0 0 1 AD1 5 GND 20 AD2 A D C FG Please connect shielded cable according to the device requirement Twisted pair 19 GND 0 0 0 Drive side Control module side There are three analog input circuits AD1 AD2 and AD3 precision of AD1 is 16 bit optional for standard ...

Page 56: ...al 30V 50mA Drive side DO1 14 COM 12 Max load capacity of each output terminal 30V 50mA RY connect to relay coil connect to optical coupler DO1 14 COM 12 Users must connect to current limit resistor when connecting to optical coupler Drive side 24V 40 24V 40 There are 6 digital output circuits in total and all of them adopt the open collector output as shown in the figure They can be used to drive...

Page 57: ...rrent 50mA OCZ 26 Please select optical coupler Twisted pair Drive side Control module side OCA 36 OCB 30 GND 5 Vcc 30V GND Phase A B and Z all provide differential output and open collector output signals For differential output signal it is recommended to use AM26C32 or equivalent differential receiving chip and be sure to fit a terminal matching resistor of about 230Ω For the phase A B Z signal...

Page 58: ...speed when servo drive is power off The wiring diagram is DC12 24V external power COM 12 BRK 9 Connect the dotted lines in the diagram when local 24V power is used and remove the external power Motor Brake winding Surge absorber Fuse 5A E stop button RY DC24V power specific for brake winding 24V 40 Note Brake winding must use specific 24V power and it cannot be used in common with control power or...

Page 59: ...l signal is valid at the same time HWBB1 1 HWBB1 7 HWBB2 2 HWBB2 8 S1 STO switch 5 EX5V 12 EX0V EX0V EX5V Safety terminal signal is active low Safety terminal signal is active high CN5 6 EDM 11 EDM Safety output signal is active high Safety output signal is active low 6 EDM 11 EDM Note 1 is shielded twisted pair 2 is power source DC12 24V which is prepared by the user Connection mode 2 Open collec...

Page 60: ... local 24V power of SRV 63 only 100mA power is available or the 24V power provided by the user is used there is no need to connect current limit resistor Generally PLC of Japanese brands mainly adopts NPN type while PLC under European brands mainly adopts PNP type Connection mode 3 Open collector mode 2 Control module is NPN type common cathode Control module side Drive side 1 EXA 2 EXA FG Y0 3 EX...

Page 61: ...ed pair Y2 R R R DC12 24V EXA EXB EXZ Max input pulse frequency is 200kHz if the local 24V power of SRV 63 only 100mA power is available or the 24V power provided by the user is used it is required to connect to current limit resistor R VDC 1 5 R 68 10 mA VDC R parameter 12V 1kΩ 1 4W 24V 2kΩ 1 3W These three connection modes all require shielded twisted pair whose length should be less than 3m ...

Page 62: ...nt There are no foreign objections such as metal and other wire lead which can cause short connection of signal and power wires 3 Mechanical parts The installation of the servo motor and the connection of shafts and mechanics are reliable The servo motor and the machines are available to run Do not run the motor at negative load the direction of the output torque of the motor is contrary to the mo...

Page 63: ...are intact and conduct preliminary debugging of the system including the servo drive servo motor and peripheral equipment Run the servo motor by JOG operation after ensuring that the wiring is correct and there is no fault alarm and no abnormal running See chapter 5 2 5 for detailed instructions Before jog running ensure The motor isn t in running state If the motor is running JOG operation is inv...

Page 64: ...he instruction of P0 22 P0 25 and P0 26 5 1 4 Running at the speed control mode Simple connection SON 16 COM 2 DC 12 24V AD1 1 GND 5 Servo drive CN1 Speed command for upper analog 0 10V Steps 1 Complete the connection between the drive and the servo motor 2 Set P0 03 to 1 the speed control mode 3 It is necessary to disconnect the control power supply after saving the modified value of P0 03 And it...

Page 65: ... the torque mode please adjust the speed limit and set P0 46 to the required value Please refer to the detailed instruction of P0 46 5 1 6 Parameter setting before running the servo Parameter setting must be conducted before running the servo Relevant parameters can be set via the panel PC software or communication to meet the function and performance requirements of the site application See chapt...

Page 66: ...en servo enabling If no alarm occurs the panel will display the default monitoring parameters The fan starts to run In position fully closed loop mode if there is no pulse command input the servo is in locked state In the speed mode the servo motor runs at the given speed In the torque mode if no torque is applied externally the servo motor accelerates from zero speed to the limit speed If the ext...

Page 67: ...g If braking overload fault alarm occurred please connect with proper external braking resistor If the travellimit switch block function is invalid parameter P3 40 0 and digital input terminal signal configured as travel limit POT NOT is set to ON P0 55 and P0 57 of the servo motor will immediately decelerate to stop based on the set value of P0 55 and P0 57 it will be in locked state after stop I...

Page 68: ... DC voltage is less than 170V 310V 220V series 400V series Er13 1 alarm will occur The time interval from the readiness of servo and enabling of servo can be controlled by users Note 3 The servo enable signal can become valid only when RDY output signal is valid Note 4 The actual electric level corresponding to the IO valid state can be set via P3 00 P3 15 Position speed torque command input About...

Page 69: ...me valid Note 4 The actual level corresponding to input output valid state can be set by P3 00 P3 15 Note 1 Control circuit power disconnection Main circuit power loss Program stops running Servo has output Motor brake Motor brake release Servo has no output Fan signal Fan stops running Fan running Note 2 Note 3 Valid Invalid Program running Note 4 5 1 9 3 Servo OFF sequence in a locked state Dyna...

Page 70: ...tor brake Motor brake release Servo has no output Dynamic brake switches on Note 1 Note 2 Enable Disabled Valid Dynamic brake switches off Note 3 5 1 9 5 Sequence of fault alarm Dynamic brake state PWM output Electromagnetic brake signal output BRK Servo ready output RDY Servo fault output ALM Note 1 The switch on off of the dynamic brake can be controlled by P4 30 Note 2 The electromagnetic brake...

Page 71: ...lay SET SHIFT key UP key DOWN key USB port LED display character reference table LED display character Corresponding symbol LED display character Corresponding symbol LED display character Corresponding symbol LED display character Corresponding symbol 0 1 2 3 4 5 6 7 8 9 a b c d e f g h i j k l m n o p q r s t u v w x y z ...

Page 72: ...Auxiliary function mode Fault mode STO mode as a cycle mode If no fault or no STO input the fault mode and STO mode can be ignored 2 If new fault occurs it will switch to Fault mode by pressing MODE key If no key is pressed in 20 seconds it will switch to Fault mode automatically 3 In General monitoring mode UP DOWN key can be used to switch monitoring parameters The name of parameters will displa...

Page 73: ...details The monitoring parameters displayed by default can be set via P0 15 If no operation is carried out under interfaces other than parameter value display interface it will return to the monitoring parameter interface in 20 seconds Operation flowchart Delay 2 5s or SET UP DOWN DOWN DOWN UP UP MODE MODE MODE Delay 2 5s or SET Delay 2 5s or SET 5 2 3 Monitoring mode MODE key can be used to switc...

Page 74: ...it can be used to select the parameter number quickly After finding the target SET key can be used to view the current value and SHIFT key to the parameters setting In the setting interface UP DOWN key can be used to set the value SHIFT key can be used to select the setting bit After setting press SET key to save the parameters After finishing the screen will display for storage parameters and P0 ...

Page 75: ...ill display the current speed of the motor Press UP key the motor will rotate to the setting speed anticlockwise and stops when releasing the key Press DOWN key the motor will rotate to the setting speed clockwise and stops when releasing the key MODE SET UP press down UP release DOWN press down DOWN release 5 2 5 3 Operation flowchart of restoring the factory parameter Press MODE key to switch to...

Page 76: ...e motor direction is counterclockwise it can be started by UP key If the motor direction is clockwise it can be started by DOWN key After starting the interface will display the current speed SET MODE SHIFT SHIFT UP DOWN SHIFT MODE MODE 5 2 5 5 Operation flowchart of inertia identification Press MODE key to the auxiliary function mode Press UP DOWN key to the menu and press SET key to the interfac...

Page 77: ... Alarm display When the servo drive runs abnormally it will perform fault alarm and stop automatically At this time the panel will display the fault alarm warning sign The format is ErXX X of which XX is the master code and X is the sub code Please refer to appendix 10 4 for the meanings of the alarm or warning identifiers 5 2 7 Alarm clearing For those faults that can be cleared online if the fau...

Page 78: ...nication address is decimal the address of PROFIBUS DP is the same with Modbus CANopen communication address is hex and the length of 16 bit is the primary code and the length of 8 bit is the sub code 6 1 Basic control P0 group parameters 6 1 1 Basic setting P0 001 Motor model Setting range Default Unit Available mode 0 9999999 236 1 P S T F The parameter is standard motor model by default Users m...

Page 79: ...nt motors correspond to different types of encoders 2 Refer to chapter 1 2 2 3 When the multi turn encoders are used it is necessary to change the battery when the drive is power on to prevent losing absolute position The standard battery is 2000mAh and the replacement cycle is 1 5 2 years P0 011 Data size 16bit Data format DEC Modbus address 1002 1003 CANopen address 0x2001 0x00 P0 021 Forward ro...

Page 80: ...tor speed Mode switching signal MCH Note For switching from position mode to speed mode there are two kinds of switching methods which can be selected via P0 92 When switching from speed mode to position mode the motor will stop at the reference position of P0 91 before switching to position mode 4 P T Position torque mode The position mode and torque mode can be switched with the control mode swi...

Page 81: ... 0x2003 0x00 P0 04 Internal enabling command Setting range Default Unit Available mode 0 1 0 P S T F This parameter is used to control the operation state of the servo drive The relation between internal enable instruction and external terminal enable instruction is shown below Setting value External terminal command state Working state of servo drive 0 0 internal optical coupler which corresponds...

Page 82: ... pulse output signal terminals OA OA OB and OB pin 44 43 41 and 42 Number of drive output pulse P0 06 P0 07 X encoder resolution Note 1 In the position control mode if the encoder output signal of the preceding stage servo motor is used as the position pulse command input of the succeeding stage servo drive i e as start stop type master slave follow up in order to ensure high positioning accuracy ...

Page 83: ...0 Max torque limit 2 P0 11 3 TLC OFF Max torque limit 1 P0 10 TLC ON Max torque limit 2 P0 11 4 Analog input 3 0V 10V Analog torque command 0V 10V 5 Analog input 3 0 10V 6 Analog torque command 0V 10V If analog input 3 is the speed input non torque limit the meaning of the parameter is as below Setting value Forward direction Reverse direction 0 0 Analog torque command 10V 0V 1 Max torque limit 1 ...

Page 84: ...ode 0 5000 200 W P S T F P0 141 Resistance of the external braking resistor Setting range Default Unit Available mode 1 1000 60 Ω P S T F When an external braking resistor is connected this group of parameters should be set with the values equal to the resistance and power of the external braking resistor Note Braking overload detection should be used in combination with P4 34 when P4 34 is set to...

Page 85: ...e limit 13 Encoder feedback value pulse 14 Rotor position to Z pulse pulse 15 Load inertia ratio 16 Output power 17 Motor load rate 18 Molecule of actual electronic gear 19 Denominator of actual electronic gear 20 Pulse speed command r min 21 Instant speed r min 22 PTP state P0 15 Data size 16bit Data format DEC Modbus address 1030 1031 CANopen address 0x200F 0x00 P0 16 Parameter modification oper...

Page 86: ...012 0x00 6 1 2 Position control P0 201 Position command selection Setting range Default Unit Available mode 0 4 0 P F This parameter is used to select the position command source Setting value Position command source 0 Pulse input 1 Communication bus input 2 PTP point to point control 3 Factory use 4 The second encoder input P0 201 Data size 16bit Data format DEC Modbus address 1040 1041 CANopen a...

Page 87: ...be reversed At this time the actual output speed direction of the servo drive is opposite to the direction indicated by the pulse input form in P0 23 Setting value Pulse input 0 Pulse input direction does not change 1 Pulse input direction is opposite to the original input direction P0 241 Data size 16bit Data format DEC Modbus address 1048 1049 CANopen address 0x2018 0x00 P0 25 Numerator of 1st e...

Page 88: ...solution of the servo motor encoder 10000 At this time calculate the electronic gear ratio 3 0 0 1 10000 50 10 10 2 3 5 10 3 g Pt Pt g S n Pb In the formula 0 Feed rate corresponding to each pulse mm pulse S Feed rate corresponding to each rotation of the motor mm rot i e in this example g1 50 g2 3 Set P0 25 to 50 and P0 26 to 3 The servo drive has 4 groups of electric gear ratio P0 25 P0 26 P0 27...

Page 89: ...is parameter is used to set the time constant of the low pass filter of the corresponding position and reduce the mechanical shock when the input pulse commands frequency changes It is shown as the figure below Position before filtering Speed P0 33 P0 33 Time Position after filtering Vc Position after filtering 0 632Vc 0 368Vc P0 332 Data size 16bit Data format DEC Modbus address 1066 1067 CANopen...

Page 90: ...han P0 35 P0 36 Data size 32bit Data format DEC Modbus address 1072 1073 CANopen address 0x2024 0x00 P0 37 Position command mode Setting range Default Unit Available mode 0 1 0 P F This parameter is used to set the position command mode when P0 20 is set to 1 and it is invalid for other modes Setting value Position command mode 0 Incremental the position command input is the variation relative to ...

Page 91: ...instruction of P4 10 and P4 13 3 Factory use 4 2nd encoder input The speed is the speed calculated via P0 22 of 2nd encoder pulse 5 High resolution internal speed High resolution internal speed precision 0 1r min P0 40 Data size 16bit Data format DEC Modbus address 1080 1081 CANopen address 0x2028 0x00 P0 41 Setting of speed command direction Setting range Default Unit Available mode 0 1 0 S This ...

Page 92: ... lot 4 The voltage above 10 10V cannot be applied between AD1 and GND otherwise the drive may be damaged P0 42 Data size 32bit Data format DEC Modbus address 1084 1085 CANopen address 0x202A 0x00 P0 43 Analog input 1 reverse Setting range Default Unit Available mode 0 1 0 S Suppose the analog input 1 function selection is speed command This parameter is used to set the voltage polarity of the anal...

Page 93: ...internal speed commands and 4 internal speed limits Control mode P0 40 Setting value SPD3 SPD2 SPD1 Parameters and setting value Speed mode 0 0 0 0 P0 46 internal speed 1 0 0 1 P0 47 internal speed 2 0 1 0 P0 48 internal speed 3 0 1 1 P0 49 internal speed 4 1 0 0 P0 50 internal speed 5 1 0 1 P0 51 internal speed 6 1 1 0 P0 52 internal speed 7 1 1 1 P0 53 internal speed 8 Torque mode 0 0 0 0 P0 46 ...

Page 94: ...30000 0 ms S ACC DEC time is the time needed from 0r min to the rated 3000r min by default speed under the reference command When the reference speed is higher than or less than the rated speed the actual ACC DEC time will be accounted according to the percentage If the speed is negative the absolute value will be used to count the time Example If the reference speed is 2000r min the rated speed i...

Page 95: ...ta size 16bit Data format DEC Modbus address 1112 1113 CANopen address 0x2038 0x00 P0 57 Data size 16bit Data format DEC Modbus address 1114 1115 CANopen address 0x2039 0x00 P0 58 Zero speed clamp mode Setting range Default Unit Available mode 0 3 0 S T This parameter is used to set the zero speed clamp mode Setting value Position command mode 0 Invalid 1 If the control signal is valid the speed c...

Page 96: ...ge between 10V and 10V on the analog torque input terminals AD2 GND and pin 20 and 19 By factory default the positive value means forward and negative value means reverse The direction of analog torque command can be changed via P0 61 Please refer to the detailed instruction of P0 61 2 Bus input The torque command can be received by the communication bus interface When P4 10 is 1 the motor torque ...

Page 97: ...e V P0 62 10 V P0 62 5 V 50 50 10 0V Rated torque Note 1 The default is the input signal from analog input terminal 1 of CN1 AD1 GND and pin 20 19 2 Set the parameter correctly after confirming the motor operation if the setting is too large the motor torque will fluctuate a lot P0 62 Data size 32bit Data format DEC Modbus address 1124 1125 CANopen address 0x203E 0x00 P0 63 Analog input 2 reverse ...

Page 98: ...g Setting range Default Unit Available mode 0 1 1 T In the torque control mode this parameter is used to set the speed limit mode Setting value Designated method 0 Select the analog input as the speed limit It is necessary to configure analog input 3 as the speed limit function set P3 70 to 1 and refer to P0 42 P0 45 for the marking mode 1 Select the internal speed limit and anyone of P0 46 P0 49 ...

Page 99: ... will remain unchanged however the absolute position feedback of the system will be cleared Note When using multi turn absolute encoder after machinery installation is done please clear the absolute encoder after detecting absolute zero position of the mechanic system at initial power up P0 71 Data size 16bit Data format DEC Modbus address 1142 1143 CANopen address 0x2047 0x00 6 1 4 Control mode s...

Page 100: ...and is invalid P0 92 Data size 32bit Data format DEC Modbus address 1184 1185 CANopen address 0x205C 0x00 6 2 Autotuning control parameters P1 6 2 1 Inertia identification Automatic gain P1 00 Inertia online automatic estimation Setting range Default Unit Available mode 0 1 0 P S T F This parameter is used to set whether to adjust the inertia ratio and adjust the gain automatically Setting value M...

Page 101: ...DEC Modbus address 1206 1207 CANopen address 0x2103 0x00 P1 04 Inertia offline automatic estimation Setting range Default Unit Available mode 0 1 0 P S T F The load inertial ratio of motor rotation inertia can be gained by setting this parameter After setting the inertia identification the motor will run 6 cycles to carry out the inertia identification In each cycle the motor will run at the mode ...

Page 102: ...be set to a large value to avoid the overload alarm P1 07 Data size 16bit Data format DEC Modbus address 1214 1215 CANopen address 0x2107 0x00 P1 08 Speed level of inertia identification Setting range Default Unit Available mode 0 3 1 P S T F This parameter is used to set the speed level of inertia identification The larger the setting value the faster the response and larger fluctuation of the pr...

Page 103: ...updated according to the self adaptive result 3 Resonance frequency test mode Detect mechanical resonance frequency automatically but does not set the parameters related to notch filter 4 Notch filter parameters clear Restore to the default values 5 3rd notch filter 1st notch filter Copy the parameters of 3rd notch filter to 1st notch filter and then restore the parameter of 3rd notch filter to th...

Page 104: ...ing range Default Unit Available mode 0 50 16 00 1 00 P S T F This parameter is used to set the Q value quality factor of 1st notch filter Q Center frequency of 1st notch filter bandwidth of the notch Generally this parameter should remain in default value P1 24 Data size 16bit Data format DEC Modbus address 1248 1249 CANopen address 0x2118 0x00 P1 25 1st notch filter depth selection Setting range...

Page 105: ...en address 0x211F 0x00 P1 32 4th notch filter frequency Setting range Default Unit Available mode 50 5000 5000 Hz P S T F P1 33 4th notch filter Q value Setting range Default Unit Available mode 0 50 16 00 1 00 P S T F P1 34 4th notch filter depth selection Setting range Default Unit Available mode 0 100 0 P S T F Refer to P1 23 P1 24 and P1 25 for detailed parameters setting P1 32 Data size 16bit...

Page 106: ...ation control filter P1 37 Data size 16bit Data format DEC Modbus address 1274 1275 CANopen address 0x2125 0x00 P1 38 2nd vibration control frequency Setting range Default Unit Available mode 0 0 200 0 0 0 Hz P F P1 39 2nd vibration control filter factor Setting range Default Unit Available mode 0 00 1 00 1 00 P F Please refer to P1 36 and P1 37 for the detailed information P1 38 Data size 16bit D...

Page 107: ...2202 0x00 P2 03 1st speed detection filter Setting range Default Unit Available mode 100 5000 5000 Hz P S T F This parameter is used to set 1st speed detection filter Note 5000 means there is no filter Setting this parameter to a small value may reduce motor noise and speed fluctuation but it also lower down the responsiveness P2 03 Data size 16bit Data format DEC Modbus address 1406 1407 CANopen ...

Page 108: ... Setting range Default Unit Available mode 0 0 100 0 0 0 P F This parameter is used to set the speed feed forward gain When the parameter is 100 the retention pulse running at a certain speed will be almost zero sudden ACC DEC will enlarge overshooting P2 10 Data size 16bit Data format DEC Modbus address 1420 1421 CANopen address 0x220A 0x00 P2 11 Speed feed forward filter time Setting range Defau...

Page 109: ... This parameter is used to set 2nd IPPI coefficient Note IP control will be applied when it is set to 0 and PI control will be applied when it is set to 100 P2 15 Data size 16bit Data format DEC Modbus address 1430 1431 CANopen address 0x220F 0x00 6 3 2 Gain switching P2 20 2nd gain setting Setting range Default Unit Available mode 0 1 1 P S T F This parameter is used to set the right adjustment S...

Page 110: ...eeps below level delay pulse and such state in the delay time it will return to 1st gain Note The unit of level and lag pulse acts as encoder resolution unit during position control and as linear encoder resolution unit during fully closed loop control 6 With position command In the previous 1st gain if the position command is not 0 it will switch to 2nd gain In the previous 2nd gain if the 0 posi...

Page 111: ...us address 1448 1449 CANopen address 0x2218 0x00 P2 25 Switching delay of position control Setting range Default Unit Available mode 0 20000 0 Based on mode P F In the position control if set P2 22 to 3 5 8 9 it is necessary to set switching conditions The unit will vary with the switching mode and setting Note Please set the level the delay in the actual internal application the delay the level P...

Page 112: ...t gain if the absolute value of the speed command exceed level delay r min s it will switch to 2nd gain In the previous 2nd gain if the absolute value of the speed command keeps below level delay r min s and in the delay time it will return to 1st gain Note The parameter is invalid for the position gain The actual position gain is always 1st gain P2 27 Data size 16bit Data format DEC Modbus addres...

Page 113: ...e torque command exceed level delay 0 1 it will switch to 2nd gain In the previous 2nd gain if the absolute value of the torque command keeps below level delay and such state in the delay time it will return to 1st gain Note The parameter is invalid for the position gain The actual position gain is 1st gain P2 31 Data size 16bit Data format DEC Modbus address 1462 1463 CANopen address 0x221F 0x00 ...

Page 114: ...his parameter is used to set the compensation gain of disturbance torque Increasing the gain may improve the effect of suppressing disturbance impact but the noise may enhanced it is necessary to use with P2 43 to find the best setting point After setting P2 43 please increase the set value of P2 42 P2 42 Data size 16bit Data format DEC Modbus address 1484 1485 CANopen address 0x222A 0x00 P2 43 Di...

Page 115: ... 0x2233 0x00 P2 52 Fully loop vibration suppressor compensation gain Setting range Default Unit Available mode 0 1000 0 F This parameter is used to set the compensation gain of fully closed loop vibration suppressor P2 52 Data size 16bit Data format DEC Modbus address 1504 1505 CANopen address 0x2234 0x00 P2 602 Speed observer valid Setting range Default Unit Available mode 0 2 0 P S T F Set wheth...

Page 116: ... 0 0 0 0 10 r min P S F Set friction compensation value added to the torque command when receiving negative position command or speed command P2 72 Data size 16bit Data format DEC Modbus address 1544 1545 CANopen address 0x2248 0x00 P2 73 Friction compensation valid Setting range Default Unit Available mode 0 1 0 P S F Set whether friction compensation is valid by this parameter Setting value Func...

Page 117: ... 0x00E S Torque command sign T SIGN 0x10F 0x00F T Internal position command 1 POS1 0x110 0x010 P Internal position command 2 POS2 0x111 0x011 P Internal position command 3 POS3 0x112 0x012 P Internal position command 4 POS4 0x113 0x013 P External fault EXT 0x114 0x014 P S T F Inertia ratio switching JC 0x115 0x015 P S T F Emergency stop EMG 0x116 0x016 P S T F HOME switch input HOME 0x117 0x017 P ...

Page 118: ...ailable mode 0x000 0x133 0x00D P S T F P3 021 Input configuration of digital 3 Setting range Default Unit Available mode 0x000 0x133 0x004 P S T F P3 031 Input configuration of digital 4 Setting range Default Unit Available mode 0x000 0x133 0x016 P S T F P3 041 Input configuration of digital 5 Setting range Default Unit Available mode 0x000 0x133 0x019 P S T F P3 051 Input configuration of digital...

Page 119: ...616 1617 CANopen address 0x2308 0x00 P3 091 Data size 16bit Data format HEX Modbus address 1618 1619 CANopen address 0x2309 0x00 P3 101 Output configuration of digital 1 Setting range Default Unit Available mode 0x000 0x11F 0x001 P S T F This parameter is used to select the configuration of the digital value 1 output function It is a hex number 0x means valid mode 0 optical coupler conduction vali...

Page 120: ...default value is the function selection corresponds to position mode P3 101 Data size 16bit Data format HEX Modbus address 1620 1621 CANopen address 0x230A 0x00 P3 111 Output configuration of digital 2 Setting range Default Unit Available mode 0x000 0x11F 0x003 P S T F P3 121 Output configuration of digital 3 Setting range Default Unit Available mode 0x000 0x11F 0x007 P S T F P3 131 Output configu...

Page 121: ...sponds to capture port DI1 DI10 Others are invalid state bit8 9 bit8 1 bit9 0 capture only on DI port falling edge bit8 0 bit9 1 capture only on DI port rising edge bit8 1 bit9 1 capture on both DI port rising edge and falling edge P3 16 Data size 16bit Data format DEC Modbus address 1632 1633 CANopen address 0x2310 0x00 6 4 2 Analog input output adjustment P3 20 Offset of analog input 1 Setting r...

Page 122: ...ilter corresponds to analog input 1 Setting this parameter can smooth the command changing when the analog input changes violently Please refer to the figure below Command before filtering AD1 P3 21 P3 21 Time Command after filtering Vc Command after filtering 0 632Vc 0 368Vc P3 21 Data size 16bit Data format DEC Modbus address 1642 1643 CANopen address 0x2315 0x00 P3 22 Voltage protection of anal...

Page 123: ...x00 P3 25 Voltage protection of analog input 2 Setting range Default Unit Available mode 0 000 10 000 0 000 V P S T F This parameter is used to set the overvoltage protection value of analog input 2 Note 1 The default value 0 means no overvoltage protection 2 The input voltage should be no more than 10V otherwise damage may occur to the drive P3 25 Data size 32bit Data format DEC Modbus address 16...

Page 124: ...s 1658 1659 CANopen address 0x231D 0x00 P3 301 analog output 1 selection Setting range Default Unit Available mode 0 19 0 P S T F P3 321 analog output 2 selection Setting range Default Unit Available mode 0 19 0 P S T F This group of parameters is used to select the monitoring parameters to be outputted in analog form Setting value Definition Unit 0 Invalid 1 Motor speed r min 2 Speed of position ...

Page 125: ...is relative to P3 30 and P3 32 Example Suppose the actual speed is outputted from the AO1 terminal 10V corresponds to a speed of 3000r min and 0V corresponds to 0 Then set P3 30 1 P3 31 300 the relation between the actual speed reference and output voltage is shown as below 10 00V 3000r min AO1 output voltage V Speed r min P3 31 300 P3 31 100 1000r min Note 1 If the actual output speed is more tha...

Page 126: ...input output settings P3 401 Travel limit switch shield Setting range Default Unit Available mode 0 2 1 P S T F This parameter is used to set whether the digital input configured as forward drive disabling 0x001 or 0x101 and reverse drive disabling 0x002 or 0x102 is valid or not If the function of the travel limit switch needs to be shielded this parameter can do the trick Setting value Function 0...

Page 127: ... size 16bit Data format DEC Modbus address 1686 1687 CANopen address 0x232B 0x00 P3 44 Command pulse input invalid setting disabled Setting range Default Unit Available mode 0 1 0 P F This parameter can set whether the digital input configured as command pulse disabling 0x008 or x0108 among P3 00 P3 09 is valid or not If command pulse disabling function needs to be blocked this parameter will do t...

Page 128: ... position command and the position deviation 4 Output is valid when transiting from position command to no position command while position deviation is within P3 50 Thereafter the valid state of output continues until passing the set time by P3 52 P3 51 Data size 16bit Data format DEC Modbus address 1702 1703 CANopen address 0x2333 0x00 P3 52 Hold time of position arrival output terminal Setting r...

Page 129: ...nit Available mode 0 1000 50 ms P S T F This parameter is used to set the locked time of the servo after braking in the locked state The servo is OFF in the locked state the digital output state configured as BRK 0x005 or 0x105 is invalid At this time the servo will continue to be locked for a period of time so that the motor will not rotate during the action of the relay P3 56 Data size 16bit Dat...

Page 130: ...value Definition Unit 0 Invalid 1 Speed limit r min V 2 Torque limit 1 0 1 V 3 Speed command 2 r min V 4 Torque command 0 1 V 5 Speed compensation r min V 6 Torque compensation 0 1 V 7 Negative direction torque limit 0 1 V Note 1 If P3 70 is 2 and P0 09 is 0 or 4 the analog input 3 corresponds to the positive torque limit internally and P0 62 P0 65 P3 23 P3 25 correspond to the negative torque lim...

Page 131: ...S T F This parameter is used to set the voltage polarity of analog input 3 Setting value Detection result 0 Positive polarity voltage positive voltage negative 1 Negative polarity voltage negative voltage positive P3 74 Data size 16bit Data format DEC Modbus address 1748 1749 CANopen address 0x234A 0x00 P3 75 Voltage protection of analog input 3 Setting range Default Unit Available mode 0 000 10 0...

Page 132: ...e Default Unit Available mode 0 7 2 P S T F This parameter is used to set filter time of the pulse input Setting value Width of pulse input 0 400kHz 1 500kHz 2 1MHz 3 2MHz 4 4MHz 5 4MHz 6 200kHz 7 100kHz P3 90 Data size 16bit Data format DEC Modbus address 1780 1781 CANopen address 0x235A 0x00 6 5 Extension and application P4 6 5 1 Communication setting P4 011 485 local communication address Setti...

Page 133: ... 1 19200bps 2 38400bps 3 57600bps P4 031 Data size 16bit Data format DEC Modbus address 1806 1807 CANopen address 0x2403 0x00 P4 041 485 communication parity mode Setting range Default Unit Available mode 0 5 0 P S T F This parameter is used to set the 485 communication parity mode and it only supports RTU mode Setting value Baud rate 0 None N 8 1 1 Even E 8 1 2 Odd O 8 1 3 None N 8 2 4 Even E 8 2...

Page 134: ...EtherCAT communication Setting value Meaning 0 250us 1 500us 2 1ms 3 2ms P4 071 Data size 16bit Data format DEC Modbus address 1814 1815 CANopen address 0x2407 0x00 P4 081 EtherCAT synchronous type Setting range Default Unit Available mode 0 2 0 P S T F Set the synchronous mode between master station and slave station of EtherCAT communication Setting value Meaning 0 Free run 2 DC mode sync0 P4 08...

Page 135: ... parameter Setting value Function 0 Disabled 1 Enabled Note If the drive is enabled by P0 04 the drive can be disabled if P4 11 is from state 1 to state 0 P4 11 Data size 16bit Data format DEC Modbus address 1822 1823 CANopen address 0x240B 0x00 P4 12 Bus position command Setting range Default Unit Available mode 231 1 231 1 0 reference unit P F If P4 10 is 1 the drive position command can be set ...

Page 136: ...his parameter can be used to set the gain switching command When P2 22 P2 27 P2 31 is 2 the actual controlled gain setting can be switched Setting value Function Actual gain 0 Disabled 1st gain setting 1 Enabled 2nd gain setting P4 16 Data size 16bit Data format DEC Modbus address 1832 1833 CANopen address 0x2410 0x00 P4 17 Switching command of electronic gear ratio Setting range Default Unit Avai...

Page 137: ...dbus address 1838 1839 CANopen address 0x2413 0x00 P4 20 Retention pulse clearing Setting range Default Unit Available mode 0 1 0 P F If P4 10 is 1 this parameter can be used to set the retention pulse clearing The detailed mode is determined by P3 45 and after clearing R0 04 is 0 Setting value Function 0 Disabled 1 Enabled P4 20 Data size 16bit Data format DEC Modbus address 1840 1841 CANopen add...

Page 138: ...ive Setting value Function 0 Disabled 1 Enabled P4 24 Data size 16bit Data format DEC Modbus address 1848 1849 CANopen address 0x2418 0x00 6 5 3 Extension and application P4 30 Stop mode Setting range Default Unit Available mode 0 3 0 P S T F When the servo is turned OFF and when fault alarm occurs this parameter is used to set whether the dynamic brake works or not and the state of the servo moto...

Page 139: ...able mode 0 20000 6000 r min P S T F This parameter is used to set the overspeed level of the servo motor When the rotation speed of the motor exceeds this setting speed overspeed fault alarm will be reported Note The default value of this parameter is related to the power level of the drive P4 32 Data size 16bit Data format DEC Modbus address 1864 1865 CANopen address 0x2420 0x00 P4 33 Pulse rang...

Page 140: ...nge Default Unit Available mode 0 20000 0 r min P S F This parameter is used to set the detection condition of the speed error If the absolute value of the minus of actual speed command and motor speed is larger than this value and lasts for more than 100ms it will report speed error alarm Note If it is set to 0 the speed error will not be detected P4 39 Data size 16bit Data format DEC Modbus addr...

Page 141: ...rst torque limit to the second torque limit P4 51 Data size 16bit Data format DEC Modbus address 1902 1903 CANopen address 0x2433 0x00 P4 52 Switching time 2 of torque limit Setting range Default Unit Available mode 0 4000 0 ms 100 P S F This parameter is used to set the transition time between switching from the second torque limit to the first torque limit P4 52 Data size 16bit Data format DEC M...

Page 142: ...sed to set the direction reversal of external linear encoder feedback counting Setting value Function 0 Use the counting value of the linear encoder directly 1 Use after the reversing of the counting value of the linear encoder P4 621 Data size 16bit Data format DEC Modbus address 1924 1925 CANopen address 0x243E 0x00 P4 641 Large mixed deviation setting Setting range Default Unit Available mode 1...

Page 143: ...l source of frequency division output Setting value Pulse feedback signal source 0 Normal frequency division output 1 2nd encoder Bypass 2 AB quadrature pulse input Bypass 3 Internal virtual spindle P4 691 Data size 32bit Data format DEC Modbus address 1938 1939 CANopen address 0x2445 0x00 P4 701 External linear encoder 2nd encoder Z signal type Setting range Default Unit Available mode 0 3 0 P S ...

Page 144: ...orresponds to the reserved parameters P4 80 Data size 16bit Data format DEC Modbus address 1960 1961 CANopen address 0x2450 0x00 P4 81 Configuration of PZD setting parameter 2 Setting range Default Unit Available mode 1000 3999 1998 P S T F This parameter is used to set the mapping content of setting parameter 2 in PROFIBUS DP communication 1998 corresponds to the reserved parameters P4 81 Data si...

Page 145: ... corresponds to R0 14 P4 85 Data size 16bit Data format DEC Modbus address 1970 1971 CANopen address 0x2455 0x00 P4 86 PPO type of DP communication Setting range Default Unit Available mode 5 5 P S T F This parameter is used to set the frame type of PROFIBUS DP communication 0 1 2 3 4 5 6 7 8 9 10 11 CW SW Down Up SPD_REF POS_REF TRQ_REF SPD_FBK POS_FBK TRQ_FBK RSV RSV PZD1 PZD2 PZD3 PZD1 PZD2 PZD...

Page 146: ...ult Unit Available mode 0 1 0 P S T F This parameter can be set by upper PC via communication mode to clear drive fault Setting value Function 0 Disabled 1 Enabled Note 1 If the fault restore command is enabled and the servo drive is disabled if the fault cannot happen the fault can be restored automatically But other faults cannot be cleared online but be cleared at re power on 2 The user can cle...

Page 147: ...x245D 0x00 P4 94 Clearing enable of fault record Setting range Default Unit Available mode 0 1 0 P S T F This parameter can set the enabling of clearing the fault record Setting value Function 0 Disabled 1 Enabled P4 94 Data size 16bit Data format DEC Modbus address 1988 1989 CANopen address 0x245E 0x00 P4 95 Group number of fault record Setting range Default Unit Available mode 0 9 0 P S T F This...

Page 148: ...P4 98 Data size 16bit Data format DEC Modbus address 1996 1997 CANopen address 0x2462 0x00 6 6 Program JOG homing and PTP control P5 6 6 1 Program JOG P5 00 JOG mode Setting range Default Unit Available mode 0 6 0 P This parameter is used to set the JOG operation mode Mode Start key Function 0 waiting time P5 04 forward moving P5 01 cycle time P5 05 P5 02 Speed 0 P5 04 P5 03 P5 04 P5 04 P5 05 P5 0...

Page 149: ...movement amount of JOG P5 01 Data size 32bit Data format DEC Modbus address 2002 2003 CANopen address 0x2501 0x00 P5 02 JOG speed setting Setting range Default Unit Available mode 1 5000 500 r min P This parameter is used to set the highest running speed of JOG P5 02 Data size 16bit Data format DEC Modbus address 2004 2005 CANopen address 0x2502 0x00 P5 03 JOG ACC DEC time Setting range Default Un...

Page 150: ... Z as the home Z 1 define the point of finding Z as the home Z 2 not finding Z define the returning point as the home M 0 forward rotation the forward limit switch is the returning point T Invalid M 1 reverse rotation the reverse limit switch is the returning point To the limit T 0 report the exceeding fault T 1 direction reverse M 2 forward rotation the rising edge of the home switch is the retur...

Page 151: ...agram P5 12 P5 13 Forward limit switch Z P5 12 P5 13 Forward limit switch Z P5 12 Data size 16bit Data format DEC Modbus address 2024 2025 CANopen address 0x250C 0x00 P5 13 Low speed of 2nd step of homing Setting range Default Unit Available mode 0 60 20 r min P This parameter is used to set the low speed of 2nd step of homing See details at P5 12 P5 13 Data size 16bit Data format DEC Modbus addre...

Page 152: ...ACC DEC time to designated target after homing Setting range Default Unit Available mode 0 32767 300 ms P This function is used to set the ACC DEC time of reaching the target after homing The setting value corresponds to the time needed to accelerate from zero speed to rated speed For instance the target speed is to accelerate from zero speed to 50 rated speed then time of reaching the target spee...

Page 153: ...speed Setting range Default Unit Available mode 0 6000 300 r min P P5 26 05 target speed Setting range Default Unit Available mode 0 6000 500 r min P P5 27 06 target speed Setting range Default Unit Available mode 0 6000 600 r min P P5 28 07 target speed Setting range Default Unit Available mode 0 6000 800 r min P P5 29 08 target speed Setting range Default Unit Available mode 0 6000 1000 r min P ...

Page 154: ...054 2055 CANopen address 0x251B 0x00 P5 28 Data size 16bit Data format DEC Modbus address 2056 2057 CANopen address 0x251C 0x00 P5 29 Data size 16bit Data format DEC Modbus address 2058 2059 CANopen address 0x251D 0x00 P5 30 Data size 16bit Data format DEC Modbus address 2060 2061 CANopen address 0x251E 0x00 P5 31 Data size 16bit Data format DEC Modbus address 2062 2063 CANopen address 0x251F 0x00...

Page 155: ...nit Available mode 0 32767 2500 ms P P5 48 11 ACC DEC time Setting range Default Unit Available mode 0 32767 3000 ms P P5 49 12 ACC DEC time Setting range Default Unit Available mode 0 32767 5000 ms P P5 50 13 ACC DEC time Setting range Default Unit Available mode 0 32767 8000 ms P P5 51 14 ACC DEC time Setting range Default Unit Available mode 0 32767 50 ms P P5 52 15 ACC DEC time Setting range D...

Page 156: ...ddress 2098 2099 CANopen address 0x2531 0x00 P5 50 Data size 16bit Data format DEC Modbus address 2100 2101 CANopen address 0x2532 0x00 P5 51 Data size 16bit Data format DEC Modbus address 2102 2103 CANopen address 0x2533 0x00 P5 52 Data size 16bit Data format DEC Modbus address 2104 2105 CANopen address 0x2534 0x00 P5 53 00 delay time Setting range Default Unit Available mode 0 32767 0 ms P P5 54...

Page 157: ...e 16bit Data format DEC Modbus address 2106 2107 CANopen address 0x2535 0x00 P5 54 Data size 16bit Data format DEC Modbus address 2108 2109 CANopen address 0x2536 0x00 P5 55 Data size 16bit Data format DEC Modbus address 2110 2111 CANopen address 0x2537 0x00 P5 56 Data size 16bit Data format DEC Modbus address 2112 2113 CANopen address 0x2538 0x00 P5 57 Data size 16bit Data format DEC Modbus addre...

Page 158: ...the disk Setting range Default Unit Available mode 231 1 231 1 10000 pulse P The resolution of the disk at single turn driven by the motor P5 70 Data size 32bit Data format DEC Modbus address 2140 2141 CANopen address 0x2546 0x00 P5 71 Zero returning switch of disk Setting range Default Unit Available mode 0 3 0 P This function is used to set the mode for zero returning switch of the disk P5 71 Da...

Page 159: ...ng which is triggered by forward jogging terminal and switching terminal of high low jogging speed P6 00 Data size 16bit Data format DEC Modbus address 2200 2201 CANopen address 0x2600 0x00 P6 01 Reverse low JOG speed Setting range Default Unit Available mode 6000 0 5 r min P This parameter is used to set the speed of slow reverse jogging which is triggered by reverse jogging terminal and switchin...

Page 160: ...0x00 P6 05 Reverse high JOG speed Setting range Default Unit Available mode 6000 0 60 r min P This parameter is used to set the speed of fast reverse jogging which is triggered by reverse jogging terminal and switching terminal of high low jogging speed P6 05 Data size 16bit Data format DEC Modbus address 2210 2211 CANopen address 0x2605 0x00 P6 06 Terminal JOG valid Setting range Default Unit Ava...

Page 161: ...n address 0x2617 0x00 P6 301 Gantry synchronization function switch Setting range Default Unit Available mode 0 1 0 P This parameter is used to set the gantry synchronization switch Setting value Function 0 Disabled 1 Enabled P6 301 Data size 16bit Data format DEC Modbus address 2260 2261 CANopen address 0x261E 0x00 P6 31 Gantry synchronous speed control gain Setting range Default Unit Available m...

Page 162: ... DEC Modbus address 2270 2271 CANopen address 0x2623 0x00 P6 36 Gantry synchronous control bandwidth ratio Setting range Default Unit Available mode 0 0 1000 0 0 0 P This parameter is used to set the gantry synchronous control bandwidth ratio bandwidth ratio servo bandwidth servo bandwidth synchronous bandwidth P6 36 Data size 16bit Data format DEC Modbus address 2272 2273 CANopen address 0x2624 0...

Page 163: ...ss 2280 2281 CANopen address 0x2628 0x00 P6 41 Gantry alignment direction Setting range Default Unit Available mode 0 1 0 P Gantry alignment direction can be set via this parameter Setting value Instruction 0 Forward 1 Reverse P6 41 Data size 16bit Data format DEC Modbus address 2282 2283 CANopen address 0x2629 0x00 6 8 PTP point to point control PtP0 PtP1 PtP2 PtP0 00 00th control word Setting ra...

Page 164: ...position 1 absolute position INS Instruction Position command 1 MODE 0 Position command 2 MODE 0 Position command 1 MODE 0 Position command 2 MODE 0 INS OVLP DLY INS OVLP DLY INS OVLP DLY INS OVLP DLY t Speed t Speed OVLP instruction Position command 1 MODE 0 Position command 2 MODE 0 Position command 1 MODE 0 Position command 2 MODE 0 INS OVLP DLY INS OVLP DLY INS OVLP DLY INS OVLP DLY t Speed t ...

Page 165: ...lable mode 0 0x7FFFFFFF 0x00000000 P PtP0 04 02nd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 06 03rd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 08 04th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 10 05th control word Setting range Default Unit Available mode 0 0x7FFFFFFF ...

Page 166: ...vailable mode 0 0x7FFFFFFF 0x00000000 P PtP0 44 22nd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 46 23rd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 48 24th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 50 25th control word Setting range Default Unit Available mode 0 0x7FFFFF...

Page 167: ...de 0 0x7FFFFFFF 0x00000000 P PtP0 84 42nd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 86 43rd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 88 44th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP0 90 45th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x000000...

Page 168: ...ss 3244 3245 CANopen address 0x2B16 0x00 PtP0 24 Data size 32bit Data format HEX Modbus address 3248 3249 CANopen address 0x2B18 0x00 PtP0 26 Data size 32bit Data format HEX Modbus address 3252 3253 CANopen address 0x2B1A 0x00 PtP0 28 Data size 32bit Data format HEX Modbus address 3256 3257 CANopen address 0x2B1C 0x00 PtP0 30 Data size 32bit Data format HEX Modbus address 3260 3261 CANopen address...

Page 169: ...ss 3324 3325 CANopen address 0x2B3E 0x00 PtP0 64 Data size 32bit Data format HEX Modbus address 3328 3329 CANopen address 0x2B40 0x00 PtP0 66 Data size 32bit Data format HEX Modbus address 3332 3333 CANopen address 0x2B42 0x00 PtP0 68 Data size 32bit Data format HEX Modbus address 3336 3337 CANopen address 0x2B44 0x00 PtP0 70 Data size 32bit Data format HEX Modbus address 3340 3341 CANopen address...

Page 170: ...ition Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 07 03rd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 09 04th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 11 05th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 13 06th position Setting range ...

Page 171: ...le mode 231 1 231 1 0 reference unit P PtP0 45 22nd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 47 23rd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 49 24th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 51 25th position Setting range Default Unit Available mode 231 1 231 1 ...

Page 172: ...31 1 231 1 0 reference unit P PtP0 85 42nd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 87 43rd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 89 44th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP0 91 45th position Setting range Default Unit Available mode 231 1 231 1 0 referen...

Page 173: ...address 3246 3247 CANopen address 0x2B17 0x00 PtP0 25 Data 32bit Data format DEC Modbus address 3250 3251 CANopen address 0x2B19 0x00 PtP0 27 Data 32bit Data format DEC Modbus address 3254 3255 CANopen address 0x2B1B 0x00 PtP0 29 Data 32bit Data format DEC Modbus address 3258 3259 CANopen address 0x2B1D 0x00 PtP0 31 Data 32bit Data format DEC Modbus address 3262 3263 CANopen address 0x2B1F 0x00 Pt...

Page 174: ...address 3326 3327 CANopen address 0x2B3F 0x00 PtP0 65 Data 32bit Data format DEC Modbus address 3330 3331 CANopen address 0x2B41 0x00 PtP0 67 Data 32bit Data format DEC Modbus address 3334 3335 CANopen address 0x2B43 0x00 PtP0 69 Data 32bit Data format DEC Modbus address 3338 3339 CANopen address 0x2B45 0x00 PtP0 71 Data 32bit Data format DEC Modbus address 3342 3343 CANopen address 0x2B47 0x00 Pt...

Page 175: ...tting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 04 52nd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 06 53rd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 08 54th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 10 55th control word Setting range Default Unit...

Page 176: ...vailable mode 0 0x7FFFFFFF 0x00000000 P PtP1 42 71st control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 44 72nd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 46 73rd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 48 74th control word Setting range Default Unit Available mode 0 0x7FFFFF...

Page 177: ... mode 0 0x7FFFFFFF 0x00000000 P PtP1 82 91st control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 84 92nd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 86 93rd control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP1 88 94th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x000...

Page 178: ...ss 3436 3437 CANopen address 0x2C12 0x00 PtP1 20 Data size 32bit Data format HEX Modbus address 3440 3441 CANopen address 0x2C14 0x00 PtP1 22 Data size 32bit Data format HEX Modbus address 3444 3445 CANopen address 0x2C16 0x00 PtP1 24 Data size 32bit Data format HEX Modbus address 3448 3449 CANopen address 0x2C18 0x00 PtP1 26 Data size 32bit Data format HEX Modbus address 3452 3453 CANopen address...

Page 179: ...ss 3516 3517 CANopen address 0x2C3A 0x00 PtP1 60 Data size 32bit Data format HEX Modbus address 3520 3521 CANopen address 0x2C3C 0x00 PtP1 62 Data size 32bit Data format HEX Modbus address 3524 3525 CANopen address 0x2C3E 0x00 PtP1 64 Data size 32bit Data format HEX Modbus address 3528 3529 CANopen address 0x2C40 0x00 PtP1 66 Data size 32bit Data format HEX Modbus address 3532 3533 CANopen address...

Page 180: ...e 32bit Data format HEX Modbus address 3596 3597 CANopen address 0x2C62 0x00 PtP1 01 50th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 03 51st position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 05 52nd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 07 53rd position Setting range De...

Page 181: ...le mode 231 1 231 1 0 reference unit P PtP1 39 69th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 41 70th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 43 71st position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 45 72nd position Setting range Default Unit Available mode 231 1 231 1 ...

Page 182: ...le mode 231 1 231 1 0 reference unit P PtP1 79 89th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 81 90th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 83 91st position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP1 85 92nd position Setting range Default Unit Available mode 231 1 231 1 ...

Page 183: ...mat DEC Modbus address 3430 3431 CANopen address 0x2C0F 0x00 PtP1 17 Data size 32bit Data format DEC Modbus address 3434 3435 CANopen address 0x2C11 0x00 PtP1 19 Data size 32bit Data format DEC Modbus address 3438 3439 CANopen address 0x2C13 0x00 PtP1 21 Data size 32bit Data format DEC Modbus address 3442 3443 CANopen address 0x2C15 0x00 PtP1 23 Data size 32bit Data format DEC Modbus address 3446 ...

Page 184: ...ss 3510 3511 CANopen address 0x2C37 0x00 PtP1 57 Data size 32bit Data format DEC Modbus address 3514 3515 CANopen address 0x2C39 0x00 PtP1 59 Data size 32bit Data format DEC Modbus address 3518 3519 CANopen address 0x2C3B 0x00 PtP1 61 Data size 32bit Data format DEC Modbus address 3522 3523 CANopen address 0x2C3D 0x00 PtP1 63 Data size 32bit Data format DEC Modbus address 3526 3527 CANopen address...

Page 185: ...ize 32bit Data format DEC Modbus address 3590 3591 CANopen address 0x2C5F 0x00 PtP1 97 Data size 32bit Data format DEC Modbus address 3594 3595 CANopen address 0x2C61 0x00 PtP1 99 Data size 32bit Data format DEC Modbus address 3598 3599 CANopen address 0x2C63 0x00 PtP2 00 100th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP2 02 101st control word Setting range...

Page 186: ...ailable mode 0 0x7FFFFFFF 0x00000000 P PtP2 34 117th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP2 36 118th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP2 38 119th control word Setting range Default Unit Available mode 0 0x7FFFFFFF 0x00000000 P PtP2 40 120th control word Setting range Default Unit Available mode 0 0x7FF...

Page 187: ...bus address 3628 3629 CANopen address 0x2D0E 0x00 PtP2 16 Data size 32bit Data format HEX Modbus address 3632 3633 CANopen address 0x2D10 0x00 PtP2 18 Data size 32bit Data format HEX Modbus address 3636 3637 CANopen address 0x2D12 0x00 PtP2 20 Data size 32bit Data format HEX Modbus address 3640 3641 CANopen address 0x2D14 0x00 PtP2 22 Data size 32bit Data format HEX Modbus address 3644 3645 CANope...

Page 188: ...it Data format HEX Modbus address 3708 3709 CANopen address 0x2D36 0x00 PtP2 01 100th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP2 03 101st position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP2 05 102nd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP2 07 103rd position Setting range Def...

Page 189: ...0 reference unit P PtP2 39 119th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP2 41 120th position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP2 43 121st position Setting range Default Unit Available mode 231 1 231 1 0 reference unit P PtP2 45 122nd position Setting range Default Unit Available mode 231 1 231 1 0 reference unit...

Page 190: ...ss 3638 3639 CANopen address 0x2D13 0x00 PtP2 21 Data size 32bit Data format DEC Modbus address 3642 3643 CANopen address 0x2D15 0x00 PtP2 23 Data size 32bit Data format DEC Modbus address 3646 3647 CANopen address 0x2D17 0x00 PtP2 25 Data size 32bit Data format DEC Modbus address 3650 3651 CANopen address 0x2D19 0x00 PtP2 27 Data size 32bit Data format DEC Modbus address 3654 3655 CANopen address...

Page 191: ...9 1 User monitoring parameters R0 group R0 00 Motor speed Display range Precision Unit 9999 9 9999 9 0 1 r min Display the actual speed of the servo motor Note This parameter is processed with filtering when displaying R0 00 Data size 32bit Data format DEC Modbus address 4000 4001 CANopen address 0x3000 0x00 R0 01 Speed command Display range Precision Unit 9999 9 9999 9 0 1 r min Display the curre...

Page 192: ...g feedback position in fully closed up mode With sign and the unit is the user unit R0 05 Data size 32bit Data format DEC Modbus address 4014 4015 CANopen address 0x3005 0x00 R0 06 Current torque Display range Precision Unit 500 0 500 0 0 1 Display the actual torque at present If the rated torque of servo motor is 100 0 the actual value will be converted to percentage value to be displayed R0 06 D...

Page 193: ...ll be converted to percentage value to be displayed R0 12 Data size 16bit Data format DEC Modbus address 4028 4029 CANopen address 0x300C 0x00 R0 13 Encoder feedback value Display range Precision Unit 0 220 1 1 pulse Display the current encoder feedback value R0 13 Data size 32bit Data format DEC Modbus address 4030 4031 CANopen address 0x300D 0x00 R0 14 Rotor relative to Z pulse position Display ...

Page 194: ...00 R0 18 Molecule of actual electric gear ratio Display range Precision Unit 0 231 1 1 Display the molecule coefficient of actual electric gear ratio R0 18 Data size 32bit Data format DEC Modbus address 4040 4041 CANopen address 0x3012 0x00 R0 19 Denominator of actual electric gear ratio Display range Precision Unit 1 231 1 1 Display the denominator coefficient of actual electric gear ratio R0 19 ...

Page 195: ...R0 24 Encoder EEPROM data state Display range Precision Unit 0 3 Display the EEPROM state when EEPROM has no motor data or the data is not normal the system will use the internal motor parameters Setting value State 0 No EEPROM 1 EEPROM no data 2 EEPROM data error 3 EEPROM data normal R0 24 Data size 16bit Data format DEC Modbus address 4052 4053 CANopen address 0x3018 0x00 R0 25 Circles of multi ...

Page 196: ...nge Precision Unit 0 18 The current state of CANopen state machine in CAN communication and the state of CoE CANopen over EtherCAT state machine in EtherCAT communication Setting value Communication mode State 0 Invalid 1 CAN Init 2 Pre Op 5 Stop 8 Op Operational 11 EtherCAT Init 12 Pre Op 14 Safe Op 18 Op Operational R0 28 Data size 16bit Data format DEC Modbus address 4060 4061 CANopen address 0...

Page 197: ...etting value State 0 Off 1 On R0 31 Data size 16bit Data format DEC Modbus address 4066 4067 CANopen address 0x301F 0x00 R0 32 Current mode Display range Precision Unit 0 2 Display the current control mode Setting value State 0 Position mode 1 Speed mode 2 Torque mode R0 32 Data size 16bit Data format DEC Modbus address 4068 4069 CANopen address 0x3020 0x00 R0 33 Power on time Display range Precis...

Page 198: ...dress 0x3024 0x00 R0 37 Communication card software version Display range Precision Unit 0 00 10 00 0 01 Display the communication card software version R0 37 Data size 16bit Data format DEC Modbus address 4078 4079 CANopen address 0x3025 0x00 R0 38 Drive serial No 1 Display range Precision Unit 0 65535 1 Display the drive serial No 1 R0 38 Data size 16bit Data format DEC Modbus address 4080 4081 ...

Page 199: ...e Display range Precision Unit 0 223 1 pulse Display the feedback value of absolute position of linear encoder 2nd encoder in single circle R0 44 Data size 32bit Data format DEC Modbus address 4092 4093 CANopen address 0x302C 0x00 R0 45 Speed feedback of 2nd encoder Display range Precision Unit 9999 9 9999 9 0 1 r min Display the actual speed of the servo motor R0 45 Data size 32bit Data format DE...

Page 200: ...coder 2nd encoder position feedback accumulation 32 bit number Display range Precision Unit 231 1 231 1 1 pulse Linear encoder 2nd encoder position feedback accumulation 32 bit number fast reading speed If the data range exceeds 32 bit use R0 57 R0 52 Data size 32bit Data format DEC Modbus address 4108 4109 CANopen address 0x3034 0x00 R0 53 Gantry synchronization position deviation Display range P...

Page 201: ...ens and ones are sub fault codes R0 99 Data size 16bit Data format DEC Modbus address 4198 4199 CANopen address 0x3063 0x00 6 9 2 IO monitoring parameters R1 R1 00 Digital input state Display range Precision Unit 0x000 0x3FF R1 01 Digital output state Display range Precision Unit 0x00 0x3F This value is arranged in digital order and indicates the hex number of digital terminal state When a termina...

Page 202: ...ginal voltage of analog input 3 Display range Precision Unit 10 000 10 000 0 001 V Display the original voltage value of analog input channel 3 R1 04 Data size 32bit Data format DEC Modbus address 4208 4209 CANopen address 0x3104 0x00 R1 05 Voltage of analog input 1 Display range Precision Unit 10 000 10 000 0 001 V Display the calibrated voltage value of analog input channel 1 R1 05 Data size 32b...

Page 203: ...pen address 0x310A 0x00 R1 11 Cumulative value of pulse input Display range Precision Unit 231 1 231 1 1 reference unit Accumulate and display the received pulse number from external pulse input R1 11 Data size 32bit Data format DEC Modbus address 4222 4223 CANopen address 0x310B 0x00 R1 12 Pulse position command Display range Precision Unit 231 1 231 1 1 reference unit Display the position comman...

Page 204: ...t record R3 01 Power on time when fault occurs Display range Precision Unit 0 231 1 1 s Display the power on time when fault occurs R3 02 Operation time when fault occurs Display range Precision Unit 0 231 1 1 s Display the operation time when fault occurs R3 03 Motor speed when fault occurs Display range Precision Unit 20000 20000 1 r min Display the motor speed when fault occurs R3 04 Speed comm...

Page 205: ...e valid value of the output voltage when fault occurs R3 11 Output current when fault occurs Display range Precision Unit 0 00 1000 00 0 01 Arms Display the valid value of the output current when fault occurs R3 20 Latest fault record Display range Precision Unit Displays the fault record of the previous fault R3 21 Latest 2 fault record Display range Precision Unit Display the fault record of the...

Page 206: ...Unit Display the fault record of the latest 7 fault R3 27 Latest 8 fault record Display range Precision Unit Display the fault record of the latest 8 fault R3 28 Latest 9 fault record Display range Precision Unit Display the fault record of the latest 9 fault R3 29 Latest 10 fault record Display range Precision Unit Display the fault record of the latest 10 fault ...

Page 207: ...ed by P1 00 and P1 08 Before executing the auxiliary function of EF JId set P1 05 according to the operation mode of the motor set P1 06 according to the rotating cycle and set P1 07 according to the mechanical rigidity The stronger the mechanical rigidity the smaller the ACC DEC time constant Set P1 05 to 1 or 2 The smaller the value of P1 06 and P1 07 is the more correct the identification resul...

Page 208: ...s the mechanical system may resonate generating vibration noise in sharp tone At this time filtering via notch filter must be performed to eliminate resonance Gain of the position loop the response of the servo system is determined by the gain of the position loop When the gain of the position loop is set to a high value the response speed will increase and the time required for positioning will b...

Page 209: ...e of the speed loop Gain of the speed loop is relatively high In this case the motor speed will fluctuate The influence is the same as the case when the speed loop integration time is too short Both of them must keep coordinated While increasing the gain of the speed loop the speed loop integration time must also be increased Otherwise the servo system will oscillate Gain of the speed loop is too ...

Page 210: ...eedforward Speed controller Speed feedforward P2 00 P2 01 P1 02 P1 01 P2 06 P2 05 Disturbance control Speed detection filter P0 06 P0 07 P0 08 Frequency division output Position command vibration control Position smoothing filter Position controller Electronic gear Motor The general procedures for parameter adjustment in the position mode are 1 Initial setting of the parameters The defaults of the...

Page 211: ... P2 04 P1 31 P1 32 P2 03 P2 00 P2 01 P1 33 P1 34 P2 09 P2 08 Torque feedforward P2 12 P2 13 P0 06 P0 07 P0 08 P2 42 P2 43 P1 23 P1 24 P1 25 P1 26 P1 27 P1 28 P1 19 P1 20 Friction compensation Gain switching P2 20 P2 27 P2 71 P2 72 P2 73 P2 29 P2 30 P2 28 P0 09 P0 10 P0 11 P0 45 P3 20 P3 21 P0 42 P0 43 P0 50 P0 51 P0 52 P0 53 P4 10 P4 13 P0 54 P0 55 P0 56 P0 57 P0 41 P0 40 P3 22 P4 53 P4 51 P4 52 P...

Page 212: ...orward gain P2 12 and torque forward feedback filter time P2 13 to improve the speed follow up performance It should be noted however that too large torque feed forward gain may affect the stability of the system 8 Adjustment of speed filter The performance of the speed loop can be improved by adjusting P2 04 P2 09 and P2 03 P2 08 9 Adjustment of notch filtering Refer to chapter 7 3 10 Frequency d...

Page 213: ...que command Analog torque command Communication bus torque command P3 73 P3 74 P3 75 P3 76 P1 02 P1 01 P2 06 The general procedures for parameter adjustment in the torque mode are 1 Initial setting of the parameters The defaults of the parameters can be recovered by the default parameter recovering operation see chapter 5 2 5 3 for details 2 Adjustment of the torque smoothing filter In the case th...

Page 214: ...ly suppressed by setting the parameters of the notch filters The notch filters achieve the goal of suppressing mechanical resonance by decreasing the gain of certain frequency We can set the frequency to be suppressed as well as the suppression extent with relevant parameters This servo drive is equipped with four notch filters which can be set by 1st notch filter parameter P1 23 P1 24 P1 25 2nd n...

Page 215: ...gher gain to shorten the positioning time in the state the motor is stop 3 Can switch to high gain to obtain better command follow up performance in the state when the motor is running 4 Can switch between different gain settings through external signal according to the conditions of load equipment and so on Position control and fully closed loop control valid invalid Condition setting of gain swi...

Page 216: ... Speed command 3 r min r min Torque control mode Condition setting of gain switching Parameters setting of torque control mode P2 31 Switch to 2nd gain Figure Delay time 1 Level Lag 2 P2 32 P2 33 P2 34 0 Fixed on 1st gain 1 Fixed on 2nd gain 2 Gain switch input 3 Torque command 1 0 1 0 1 1 Delay time P2 23 P2 28 P2 32 is only valid when 2nd gain to 1st gain 2 The definition of lag P2 25 P2 30 P2 3...

Page 217: ...e 4 2nd gain Retention pulse Level Figure 3 1st 1st 1st 1st Delay Command speed Figure 5 图7 停止时第1增益 Stopping 1st gain Close to stopping Speed integral 2nd gain Other 1st gain Stable 2nd gain Acting 2nd gain With command pulse Without command pulse xP2 23 delay time Actual speed P2 24 level Figure 7 Speed Figure 6 COIN Actual speed P2 24 level P2 25 lag Actual speed P2 24 level P2 25 lag 1st 1st 2...

Page 218: ...l the operating state and fault information of the inverter and so on to adapt specific application requirements 8 2 1 Protocol content The Modbus serial communication protocol defines the frame content and usage format in asynchronous transmission which includes master polling and the format of the broadcast frame and the slave answering frame The frame of the master includes the slave address or...

Page 219: ...rval time more than 1 5 bytes before the completion of the frame the receiving device will renew the uncompleted message and suppose the next byte as the address field of the new message As such if the new message follows the previous one within the interval time of 3 5 bytes the receiving device will deal with it as the same with the previous message If these two phenomena all happen during the t...

Page 220: ...xample write 300 0000012CH into address 03F2H slave device address 01H And then the structure of the frame is Table 8 4 The master device request command START T1 T2 T3 T4 transmission time of 3 5 bytes ADDR 01H CMD 10H High bit of data address 03H Low bit of data address F2H High bit of data number 00H Low bit of data number 02H Byte number 04H High bit of 1st word of data content 01H Low bit of ...

Page 221: ...ansmission is odd number or even number When it is odd the check byte is 0 otherwise the check byte is 1 This method is used to stabilize the parity of the data For example when transmitting 11001110 there are five 1 in the data If the even checkout is applied the even check bit is 1 if the odd checkout is applied the odd check bit is 0 The even and odd check bit is calculated on the check bit pos...

Page 222: ...he master sends a message to the slave requiring it to read a group of address data of servo device function codes there will be following function codes 0 0 0 0 0 0 1 1 Hex 03H For normal responses the slave responds the same codes while for objection responses it will return 1 0 0 0 0 0 1 1 Hex 83H Besides the function codes modification for the objection fault the slave will respond a byte of a...

Page 223: ... node 3 In order to avoid interference CAN cable is shielded twisted pair cable 4 The longer connection needs higher drive ability of the CAN chip 8 3 3 CANopen software configuration Configure following three parameters before the application of CANopen 1 Set P0 03 through LED panel or Astraada CFG SRV software to 7 CANopen mode 2 Set P4 02 through LED panel or Astraada CFG SRV software 0 1Mbps 1...

Page 224: ...Y vl velocity min max UNSIGNED32 RW Y 6048h RECORD vl velocity acceleration UNSIGNED32 RW Y 6049h RECORD vl velocity deceleration UNSIGNED32 RW Y 6060h VAR Mode of operation INTEGER8 RW Y 6061h VAR Mode of operation display INTEGER8 RO Y 6062h VAR Position demand value INTEGER32 RO Y 6063h VAR Position actual value INTEGER32 RO Y 6064h VAR Position actual value INTEGER32 RO Y 6065h VAR Following e...

Page 225: ...h RECORD Interpolation time period INTEGER8 RW Y 60F4h VAR Following error actual value INTEGER32 RO Y 60F8h VAR Max slippage INTEGER32 RW Y 60FAh VAR Control effort INTEGER32 RO Y 60FCh VAR Position demand value INTEGER32 RO Y 60FDh VAR Digital inputs UNSIGNED32 RO Y 60FEh ARRAY Digital outputs UNSIGNED32 RO Y 60FFh VAR Target velocity INTEGER32 RW Y Table 8 8 CANopen fault code Display Fault nam...

Page 226: ...rvoltage fault Analog input 3 5442 0801h Er08 2 Analog input overvoltage fault Analog input 3 5443 0802h Er09 0 EEPROM fault Read write fault 5530 0900h Er09 1 EEPROM fault data check fault 5530 0901h Er10 0 Hardware fault FPGA fault 5544 0A00h Er10 1 Hardware fault Communication card fault 5544 0A01h Er10 2 Hardware fault Grounding short circuit fault 5544 0A02h Er10 3 Hardware fault External inp...

Page 227: ...s are read only 8100 1802h Er24 3 PROFIBUS DP fault PZD Configuration parameter does not exist 8100 1803h Er24 4 PROFIBUS DP fault PZD Configuration parameter attributes do not match 8100 1804h Er25 4 Application fault Encoder offset angle test overtime FF01 1904h Er25 5 Application fault Encoder offset angle test failure FF01 1905h Er25 6 Application fault Offside of homing FF01 1906h Er25 7 Appl...

Page 228: ...te of each module by the standard or diagnostic function 8 4 2 PROFIBUS DP hardware configuration The front side of PROFIBUS DP communication card is as the figure below Scope of PROFIBUS DP communication rate is from 9 6Kbps to 1 5Mbps which corresponds to the transmission distance range from 1200m to 200m the corresponding relation is shown below Name Meaning S2 PROFIBUS DP communication termina...

Page 229: ... ohm Rd 390 ohm 5V_BUS Pin 6 B Line Pin 3 A Line Pin 8 GND_BUS Pin 5 4 The bus transmission baud rate can be identified automatically after the power on of PROFIBUS DP communication card 8 4 3 PROFIBUS DP software configuration Master slave mode is available between the data transmission between the main control module and slave control module and SRV 63 servo drive is always the slave In real tim...

Page 230: ...or response identification ID SPM reserved as 0 Reserved AK task ID Master station slave station Slave station Master station Task ID Function Positive response ID Negative response ID 0 No task 0 0 1 Read parameters 1 2 7 2 Write parameters single word 1 7 3 Write parameters double word 2 7 13 Write parameters single word save EE 1 7 14 Write parameters double word save EE 2 7 PZD message format ...

Page 231: ...ed POT POSITIVE_LIMIT 13 Negative direction drive disabled NOT NAGETIVE_LIMIT 14 HOME switch signal HOME_SINGAL 15 HOME trigger HOME_TRIGGER 1 When Bit8 is set to 0 the internal software of the drive will use digital input as the source of the corresponding function when it is 1 the digital input is shielded and the corresponding control bit is used as the function source The meaning of each bit i...

Page 232: ... PC software 8 5 1 Astraada CFG SRV upper pc software Astraada CFG SRV V4 0 is the PC monitoring and commissioning software of SRV 63 servo drive with following functions 1 Real time monitoring to the state parameters 2 Online modification of the parameters setting 3 To support USB 4 channel waveform monitoring the minimum resolution is 0 125ms 4 Bulk parameters saved to folders and downloaded to ...

Page 233: ...ges Ensure the software and hardware configuration of the computer meets the requirements in 8 5 2 and 8 5 3 before using The USB device drive program of the drive is in the drive folder in the directory of software installation path AstraadaCFGSRV Drive USB drive If necessary the operation procedures for installing drive program in manual are as follows My computer Hardware device manager Update ...

Page 234: ...function of the entrance 2 Condition monitoring page on the left of main interface is used to monitor real time feedback of status parameters 3 The parameter settings page on the right of main interface is used to modify the setting parameters 4 Display the current communication mode communication condition fault status and the information such as user permissions ...

Page 235: ...e by two methods a Press carriage return at the edition window b Click the sending button 8 5 8 Help file The software has the help file of chm format including the operation instruction and detailed parameter information for the corresponding help The main window has the access to general documentation and the help button of each window can lead the user to relative chapter 8 5 9 Oscilloscope The...

Page 236: ...he displaying of the cursor zero and trigger threshold b Page replay interface Be used in the USB trigger mode and waveform file restoring mode including the function of starting stopping and moving and position selection c File operations interface Saving and restoring of csv waveform file and the figures 4 Communication control area Control the starting and stopping of the oscilloscope communica...

Page 237: ... 3 One of U V W A B Z phase cables is broken 4 Reversed A B phase of the encoder 5 Communication break or abnormal data caused by noise 6 Normal encoder communication but abnormal communication data 7 FPGA communication overtime 8 The drive does not support the encoder type 1 Check the encoder connector or replace the encoder cable if the cable is disconnected 2 Detect whether encoder power voltag...

Page 238: ...If the motor is used with communication encoder and when the drive updates the data to encoder EEPROM there is communication transmission error or data check error 1 Check the encoder connection and reduce the interference to encoder communication 2 Write in for several times or change the motor Er02 c Encoder fault EEPROM no data If the motor is used with communication encoder and when read encod...

Page 239: ...r equal to the setting value of P0 36 Reset P0 35 and P0 36 Er05 4 Setting fault return to homing mode setting fault Mode of P5 10 is set incorrectly Set P5 10 according to the instructions Er05 5 Setting fault Point control travel overflow fault The signal increment of idle travel of the bit exceeds 231 1 The single travel cannot exceed 231 1 in the absolute position mode Er07 0 Regeneration of d...

Page 240: ...occurs for many times change the communication card Er10 2 Hardware fault Ground short circuit fault During the earth test after power on one of motor cables V W is short circuited to the ground 1 Check the connection of the motor cables 2 Change the motor cable or test whether the motor insulation aging or not Er10 3 Hardware fault External input fault This fault occurs when the digital terminal ...

Page 241: ...o short during the stopping 4 The internal DC voltage test circuit is damaged 1 Check whether the grid input voltage exceeds the allowed value 2 Check whether the internal braking resistor is loose or damaged check whether external braking resistor is damaged 3 Enlarge the setting value of ACC DEC time 4 Monitor R0 07 when the drive is disabled if it is abnormal and does not match with grid input ...

Page 242: ...W phases of the motor are connected reversely 2 Incorrect setting of the electronic gear ratio or motor speed loop control parameters 3 The setting value of P4 32 is less than the setting value of P4 31 max speed limit 4 Interference to the encoder feedback signal 1 Check the electronic gear ratio 2 Check the setting of speed loop control parameters 3 Check that the phase sequence of the motor cab...

Page 243: ...d feedback pulse exceeds P0 35 1 Check whether FWD limit switch signal is correct 2 Check whether P0 35 is set properly Er21 1 Position overtravel REV overtravel Under position mode or fully closed loop mode the FWD limit switch is touched or the accumulated feedback pulse exceeds P0 36 1 Check whether REV limit switch signal is correct 2 Check whether P0 36 is set properly Er22 0 Hybrid control d...

Page 244: ...dback wave fluctuate violently during encoder offset angle test Reduce P4 53 parameter setting then repower on and carry out Er25 6 Application fault Offside of homing Encounter the limit switch or software limit during homing Modify the setting of P5 10 repower on and carry out Er25 7 Application fault Inertia identification failed 1 Vibration in stopping exceeds 3 5s 2 Too short ACC time 3 The i...

Page 245: ...ceed 64 bit Check the mapping length of PDO Er26 7 PDO mapping data does not exist PDO mapping data cannot be found in the object dictionary Check PDO mapping data in the object dictionary Er26 8 PDO not allowed to be changed in the operating Modify the PDO mapping during operation Switch CANOpen state to pre workbench and then modify PDO mapping Er26 9 PDO not allow the mapping Map the parameters...

Page 246: ...ponding parameter Er24 2 Read only PWK parameter PWK parameter performs write operation to read only parameters Read the manual ensure the parameter can be read and written Er24 3 PZD configuration parameter does not exist The selected ID is not right Read the manual ensure the ID corresponds to the corresponding parameter ID Er24 4 PZD configuration parameter does not matching The parameter is no...

Page 247: ...r is running improperly mode of network cable is top in and bottom out Check interferences Check whether EtherCAT master can work properly Er24 c PDO data loss fault No PDO data is received after the drive is enabled for a period of time Check whether EtherCAT master works properly Check whether interference causes data loss ...

Page 248: ...P0 011 Encoder type 1 12 4 PSTF P0 021 Forward rotation of motor 0 1 0 PSTF P0 031 Control mode selection 0 9 0 PSTF P0 04 Internal enabling command 0 1 0 PSTF P0 05 JOG speed r min 0 1000 200 PSTF P0 061 Numerator of frequency division output coefficient 0 231 1 10000 PSTF P0 071 Denominator of frequency division output coefficient 1 231 1 131072 PSTF P0 081 Reverse of frequency division output 0...

Page 249: ...42 FIR filtering of position command ms 0 0 1000 0 0 0 PF P0 35 Software limit of forward position control reference unit 231 1 231 1 0 PF P0 36 Software limit of reverse position control reference unit 231 1 231 1 0 PF P0 37 Position command mode 0 1 0 PF P0 40 Speed command selection 0 5 1 S P0 41 Setting of speed command direction 0 1 0 S P0 42 Analog input 1 gain r min V 10 2000 100 S P0 43 An...

Page 250: ...nput 2 V 0 000 3 000 0 000 PSTF P0 66 Internal torque command 500 0 500 0 0 0 T P0 67 Speed limit mode setting 0 1 0 T P0 68 RAMP time of torque command ms 0 10000 0 T P0 69 DEC time of fast stop ms 0 10000 500 PSTF P0 70 Absolute encoder mode setting 0 1 0 PSTF P0 71 Absolute encoder multi turn zeroing 0 1 0 PSTF P0 90 Max speed limit of control mode switching r min 0 1000 100 PST P0 91 Positioni...

Page 251: ...otch filter depth selection 0 100 0 PSTF P1 29 3rd notch filter frequency Hz 50 5000 5000 PSTF P1 30 3rd notch filter Q value 0 50 16 00 1 00 PSTF P1 31 3rd notch filter depth selection 0 100 0 PSTF P1 32 4th notch filter frequency Q value Hz 50 5000 5000 PSTF P1 33 4th notch filter Q value 0 50 16 00 1 00 PSTF P1 34 4th notch filter depth selection 0 100 0 PSTF P1 35 Vibration control mode of pos...

Page 252: ...ime of position control switching ms 0 10000 0 PF P2 24 Switching level of position control 0 20000 0 PF P2 25 Switching delay of position control 0 20000 0 PF P2 26 Switching time of position gain ms 0 10000 0 PF P2 27 Switching mode of speed control 0 5 0 S P2 28 Delay time of speed control switching ms 0 10000 0 S P2 29 Switching level of speed control 0 20000 0 S P2 30 Switching delay of speed...

Page 253: ... configuration of digital 5 0x000 0x133 0x019 PSTF P3 051 Input configuration of digital 6 0x000 0x133 0x01A PSTF P3 061 Input configuration of digital 7 0x000 0x133 0x001 PSTF P3 071 Input configuration of digital 8 0x000 0x133 0x002 PSTF P3 081 Input configuration of digital 9 0x000 0x133 0x007 PSTF P3 091 Input configuration of digital 10 0x000 0x133 0x008 PSTF P3 101 Output configuration of di...

Page 254: ...3 361 Analog output monitor setting 0 2 0 PSTF P3 401 Travel limit switch shield 0 2 1 PSTF P3 411 Emergency stop switch shield 0 1 1 PSTF P3 431 Digital input filter 0 125ms 1 800 1 PSTF P3 44 Command pulse input invalid setting disabled 0 1 0 PF P3 451 Clearing mode of retention pulse 0 1 1 PF P3 50 Range of position arrival reference unit 0 218 100 PF P3 51 Output mode of position arrival 0 4 0...

Page 255: ... 1 127 1 PSTF P4 06 485 communication fault clearing mode 0 1 1 PSTF P4 071 EtherCAT synchronous cycle 0 3 2 PSTF P4 081 EtherCAT synchronous type 0 2 0 PSTF P4 091 EtherCAT fault detection time ms 0 1000 100 PSTF P4 101 Upper PC type 0 1 0 PSTF P4 11 Bus servo enabling 0 1 0 PSTF P4 12 Bus position command reference unit 231 1 231 1 0 PF P4 13 Bus speed command r min 20000 20000 0 S P4 14 Bus tor...

Page 256: ...set of encoder Z phase pulse 0 220 1 0 PSTF P4 51 Switching time 1 of torque limit ms 100 0 4000 0 PSF P4 52 Switching time 2 of torque limit ms 100 0 4000 0 PSF P4 53 Current loop response adjustment 10 0 200 0 100 0 PSTF P4 541 Initialization time after power on ms 0 200000 0 PSTF P4 601 Frequency division molecular of external linear encoder 0 223 0 F P4 611 Frequency division denominator of ex...

Page 257: ...beat cycle ms 0 32767 1000 PSTF P4 89 Automatic stop at CANopen disconnection 0 1 0 PSTF P4 90 Fault restore 0 1 0 PSTF P4 91 Parameters saving 0 1 0 PSTF P4 92 Restore to factory value 0 1 0 PSTF P4 93 Reading enable of fault record 0 1 0 PSTF P4 94 Clearing enable of fault record 0 1 0 PSTF P4 95 Group number of fault record 0 9 0 PSTF P4 96 Factory parameters 0 PSTF P4 97 EEPROM operation of co...

Page 258: ...n 0 6000 50 P P5 23 02 target speed r min 0 6000 100 P P5 24 03 target speed r min 0 6000 200 P P5 25 04 target speed r min 0 6000 300 P P5 26 05 target speed r min 0 6000 500 P P5 27 06 target speed r min 0 6000 600 P P5 28 07 target speed r min 0 6000 800 P P5 29 08 target speed r min 0 6000 1000 P P5 30 09 target speed r min 0 6000 1300 P P5 31 10 target speed r min 0 6000 1500 P P5 32 11 targe...

Page 259: ...7 1000 P P5 60 07 delay time ms 0 32767 1500 P P5 61 08 delay time ms 0 32767 2000 P P5 62 09 delay time ms 0 32767 2500 P P5 63 10 delay time ms 0 32767 3000 P P5 64 11 delay time ms 0 32767 3500 P P5 65 12 delay time ms 0 32767 4000 P P5 66 13 delay time ms 0 32767 4500 P P5 67 14 delay time ms 0 32767 5000 P P5 68 15 delay time ms 0 32767 5500 P P5 69 PTP trigger buffer switch 0 1 0 P P5 70 Sin...

Page 260: ...ter ms 0 00 64 00 0 00 P P6 36 Gantry synchronization control bandwidth ratio 0 1000 0 P P6 37 Gantry synchronization master slave selection 0 1 0 P P6 38 Gantry synchronization alignment retreat distance reference unit 231 2 231 2 10000 P P6 39 Gantry synchronization alignment retreat speed r min 1 200 60 P P6 40 Gantry synchronization alignment approaching speed r min 1 60 5 P P6 41 Gantry align...

Page 261: ...12th position reference unit 231 1 231 1 0 P PtP0 26 13th control word 0 0x7FFFFFFF 0x00000000 P PtP0 27 13th position reference unit 231 1 231 1 0 P PtP0 28 14th control word 0 0x7FFFFFFF 0x00000000 P PtP0 29 14th position reference unit 231 1 231 1 0 P PtP0 30 15th control word 0 0x7FFFFFFF 0x00000000 P PtP0 31 15th position reference unit 231 1 231 1 0 P PtP0 32 16th control word 0 0x7FFFFFFF 0...

Page 262: ...31st position reference unit 231 1 231 1 0 P PtP0 64 32nd control word 0 0x7FFFFFFF 0x00000000 P PtP0 65 32nd position reference unit 231 1 231 1 0 P PtP0 66 33rd control word 0 0x7FFFFFFF 0x00000000 P PtP0 67 33rd position reference unit 231 1 231 1 0 P PtP0 68 34th control word 0 0x7FFFFFFF 0x00000000 P PtP0 69 34th position reference unit 231 1 231 1 0 P PtP0 70 35th control word 0 0x7FFFFFFF 0...

Page 263: ...0 0x7FFFFFFF 0x00000000 P PtP1 01 50th position reference unit 231 1 231 1 0 P PtP1 02 51st control word 0 0x7FFFFFFF 0x00000000 P PtP1 03 51st position reference unit 231 1 231 1 0 P PtP1 04 52nd control word 0 0x7FFFFFFF 0x00000000 P PtP1 05 52nd position reference unit 231 1 231 1 0 P PtP1 06 53rd control word 0 0x7FFFFFFF 0x00000000 P PtP1 07 53rd position reference unit 231 1 231 1 0 P PtP1 0...

Page 264: ...69th control word 0 0x7FFFFFFF 0x00000000 P PtP1 39 69th position reference unit 231 1 231 1 0 P PtP1 40 70th control word 0 0x7FFFFFFF 0x00000000 P PtP1 41 70th position reference unit 231 1 231 1 0 P PtP1 42 71st control word 0 0x7FFFFFFF 0x00000000 P PtP1 43 71st position reference unit 231 1 231 1 0 P PtP1 44 72nd control word 0 0x7FFFFFFF 0x00000000 P PtP1 45 72nd position reference unit 231 ...

Page 265: ...88th control word 0 0x7FFFFFFF 0x00000000 P PtP1 77 88th position reference unit 231 1 231 1 0 P PtP1 78 89th control word 0 0x7FFFFFFF 0x00000000 P PtP1 79 89th position reference unit 231 1 231 1 0 P PtP1 80 90th control word 0 0x7FFFFFFF 0x00000000 P PtP1 81 90th position reference unit 231 1 231 1 0 P PtP1 82 91st control word 0 0x7FFFFFFF 0x00000000 P PtP1 83 91st position reference unit 231 ...

Page 266: ...e unit 231 1 231 1 0 P PtP2 14 107th control word 0 0x7FFFFFFF 0x00000000 P PtP2 15 107th position reference unit 231 1 231 1 0 P PtP2 16 108th control word 0 0x7FFFFFFF 0x00000000 P PtP2 17 108th position reference unit 231 1 231 1 0 P PtP2 18 109th control word 0 0x7FFFFFFF 0x00000000 P PtP2 19 109th position reference unit 231 1 231 1 0 P PtP2 20 110th control word 0 0x7FFFFFFF 0x00000000 P PtP...

Page 267: ...F 0x00000000 P PtP2 43 121st position reference unit 231 1 231 1 0 P PtP2 44 122nd control word 0 0x7FFFFFFF 0x00000000 P PtP2 45 122nd position reference unit 231 1 231 1 0 P PtP2 46 123rd control word 0 0x7FFFFFFF 0x00000000 P PtP2 47 123rd position reference unit 231 1 231 1 0 P PtP2 48 124th control word 0 0x7FFFFFFF 0x00000000 P PtP2 49 124th position reference unit 231 1 231 1 0 P PtP2 50 12...

Page 268: ...0 12 Torque limit 500 0 500 0 PSTF R0 13 Encoder feedback value pulse 0 220 1 PSTF R0 14 Rotor relative to Z pulse position pulse 0 220 1 PSTF R0 15 Inertia ratio of load 0 10000 PSTF R0 16 Output power 500 0 500 0 PSTF R0 17 Motor load ratio 0 500 PSTF R0 18 Molecule of actual electric gear ratio 0 231 1 PF R0 19 Denominator of actual electric gear ratio 1 231 1 PF R0 20 Position command speed r ...

Page 269: ...d inertia ratio in real time 0 10000 PSTF R0 52 Linear encoder 2nd encoder position feedback accumulation 32 bit number pulse 231 1 231 1 PSTF R0 53 Gantry synchronization position deviation reference unit 231 1 231 1 PSTF R0 54 Linear encoder 2nd encoder position feedback value Pulse 0 223 PSTF R0 55 Encoder circle number offset after clearing multi turn position 231 1 231 1 PSTF R0 56 Encoder fe...

Page 270: ... 1 PSTF R3 03 Motor speed when fault occurs r min 20000 20000 PSTF R3 04 Speed command when fault occurs r min 20000 20000 PSTF R3 05 Feedback pulse accumulation when fault occurs reference unit 263 1 263 1 PF R3 06 Command pulse accumulation when fault occurs reference unit 263 1 263 1 PF R3 07 Stranded pulse when fault occurs reference unit 231 1 231 1 PF R3 08 Current torque when fault occurs 5...

Page 271: ...deviation reference unit R0 05 6 Current torque R0 06 7 Main circuit DC voltage V R0 07 8 Voltage of control power V R0 08 9 Output voltage Vrms R0 09 10 Output current Arms R0 10 11 Drive temperature R0 11 12 Torque limit R0 12 13 Encoder feedback value pulse R0 13 14 Rotor position relative to Z pulse pulse R0 14 15 Load inertia ratio R0 15 16 Output power R0 16 17 Motor load rate R0 17 18 Molec...

Page 272: ...t Undervoltage alarm of the encoder Er02 a Encoder fault Encoder over temperature Er02 b Encoder fault EEPROM write error Er02 c Encoder fault EEPROM no data Er02 d Encoder fault EEPROM data check error Er03 0 Current sensor fault U phase current sensor fault Er03 1 Current sensor fault V phase current sensor fault Er03 2 Current sensor fault W phase current sensor fault Er04 0 System initializati...

Page 273: ...ut distribution Er12 2 IO fault Pulse input frequency is too high Er13 0 Main circuit overvoltage fault Er13 1 Main circuit undervoltage fault Er14 0 Undervoltage fault of control power Er17 0 Drive overload fault Er18 0 Motor overload fault Er18 1 Motor overtemp fault Er19 0 Speed fault Overspeed fault Er19 1 Speed fault FWD overspeed fault Er19 2 Speed fault REV overspeed fault Er19 3 Speed faul...

Page 274: ...gle test failure Er25 6 Application fault Offside of homing Er25 7 Application fault Inertia identification failure Er26 0 CANopen fault CANopen disconnection Er26 1 CANopen fault SDO index does not exist Er26 2 CANopen fault SDO sub index does not exist Er26 3 CANopen fault SDO data length error Er26 4 CANopen fault SDO W data exceeds the scope Er26 5 CANopen fault Read only cannot be modified Er...

Page 275: ...SRV 63 series AC servo drives Appendix 274 10 5 Record table of parameter setting Parameter Default Drive 1 Drive 2 Drive 3 Modified by Date Remark ...

Page 276: ...moleńsk 29 31 112 Kraków Poland www astor com pl produkty astor com pl Version 2 0 05 2018 All rights reserved No part of this manual covered by copyrights hereon may be reproduced or transmitted in any form by any means without prior permission of ASTOR Sp z o o ...

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