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AS64 series AC servo drive Commissioning

-249-

Command

speed

Figure 5

图

停止时

第

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

2nd gain

1st

Delay

Note:

The preceding figures do not illustrate the gain-switching timing sequence offset caused by lag

parameters P2.25, P2.30, and P2.34.

Summary of Contents for SRV-64

Page 1: ...The owner of Astraada brand is ASTOR Sp z o o Operation Manual Astraada SRV 64 AC Servo drives ...

Page 2: ...ders and 16 bit analog input The electromagnetic compatibility design enables AS64 drive to provide strong anti electromagnetic interference capacity but also achieve low noise and electromagnetic interference weakening in the application sites This manual describes the installation wiring parameter setting fault diagnosis and daily maintenance Read this manual carefully before installing AS64 dri...

Page 3: ...t any insulation and voltage withstand test to the drive directly and do not test the control circuit of the drive by megameter Connect the drive and motor in the correct phase sequence Otherwise drive faults or damages may be caused To avoid accidents disconnect the motor from the drive before trial operation and then run the motor independently Ensure that the drive can be disconnected from the ...

Page 4: ...urns may result due to high temperature Install the overcurrent protector leakage current protector and emergency brake and ensure the normal usage after wiring Otherwise electric shock body injuries or fire may result The leakage current may exceed 3 5mA during the drive running Ground with proper techniques Ensure that the grounding resistance is less than 10Ω and the PE earth conductor and the ...

Page 5: ... I O terminal CN1 26 3 5 Wiring for encoder terminal CN2 26 3 6 Wiring for RS485 CAN terminal CN3 28 3 7 Wiring for USB terminal CN4 29 3 8 Wiring for second encoder terminal CN5 29 3 9 Wiring for STO terminal CN11 30 4 Control modes 31 4 1 Standard wiring diagram for position control 32 4 2 Standard wiring diagram for speed control 33 4 3 Standard wiring diagram for torque control 34 4 4 Function...

Page 6: ...ertia 238 7 2 General methods for adjusting parameters 239 7 3 Mechanical resonance suppressing 245 7 4 Gains switching 246 8 Communication 250 8 1 General description 251 8 2 RS485 251 8 3 CANopen 256 8 5 Upper computer software 262 9 Fault handling 266 9 1 Servo drive faults and workarounds 267 9 2 CANopen communication faults and workarounds 279 10 Appendix 282 10 1 Parameters about settings 28...

Page 7: ...1 3 Drive naming 7 1 1 4 Drive nameplate 8 1 1 5 Drive ratings and frame sizes 8 1 2 Servo motor 8 1 2 1 Motor nameplate 8 1 2 2 Motor naming 9 1 3 Cables 9 1 3 1 Cable nameplate 9 1 3 2 Power cable naming 10 1 3 3 Encoder cable naming 10 1 3 4 Encoder cable with battery box naming 11 1 4 Brake resistor specifications 11 ...

Page 8: ...1 group of open collector input or differential input Output 1 group of differential outputs A A B B Z Z Encoder 2 Input Incremental encoder or grating ruler interface or serial communication interface Communi cation USB 1 1 communication upper computer software preconfigured RS485 1 n communication preconfigured CANopen 1 n communication optional EtherCAT 1 n communication optional Safety termina...

Page 9: ... 2 FIR filter Analog input Torque limit command input This allows independent CW or CCW torque limit Vibration control This can suppress 5Hz 200Hz front end vibration and entire machine vibration Pulse output 1 This allows arbitrary frequency division settings under the encoder resolution 2 This supports phase B reserving Speed control Control input 1 Internal command speed 1 2 Internal command sp...

Page 10: ...ro drift suppression on external interference accurate to 0 3mV Torque control Control input Such as zero drift clamping input Control output Such as speed reaching Analog input Torque command input This allows gain and polarity settings based on analog voltage accurate to 4 88mV Speed limit input This allows analog speed limits Speed limit Speeds can be limited through parameter settings Torque c...

Page 11: ...overload brake resistor overload drive overheating encoder fault power phase loss regenerative brake exception and fan fault For software Such as protection against ROM fault initialization fault I O distribution exception and excessive position deviation Fault recording 1 Ten faults can be recorded 2 Key parameters can be recorded when a fault occurs Environment Working temperature 0 45 C Storage...

Page 12: ...co d er CN1 1 STO CN1 I O con trol CN3 CA N RS4 85 co m mu n ica tio n CN4 Up pe r co mp uter LE D disp la y Ope ratio n pa ne l Mo to r Grou nd ing Re ge n erativ e re sisto r Co ntro l circu it p owe r sup ply Ma in circuit po wer sup ply Ch arg e in dica to r CN5 Fu lly clo sed lo op ...

Page 13: ...0VAC 4 3 x 400VAC Power class 0C2 200W 0C4 400W 0C7 750W 1C0 1 0kW 1C5 1 5kW 2C0 2kW Servo type S Standard E Using EtherCAT Function difference between different drive types Drive type Symbol Pulse input 16 bit AI Encoder 2 STO RS485 CANopen EtherCAT Photoelectric encoder Standard S EtherCAT E Note In this table indicates this function is available while means unavailable ...

Page 14: ...0C7 S 1PH 3PH 220 6 8 2 8 0 75 5 2 B AS64SRV21C0 S 1PH 3PH 220 9 1 3 7 1 0 6 B AS64SRV21C5 S 3PH 220 5 6 1 5 7 6 C AS64SRV22C0 S 3PH 220 7 5 2 10 C 1 2 Servo motor 1 2 1 Motor nameplate Note No 3010004 in the nameplate indicates the motor model code motor code for short Enter this code to the servo parameter P0 00 which is a long parameter and can be set through the keypad For details see Step 8 S...

Page 15: ...the drive and motor 1 2 2 Motor naming No Description Example Product series AS64 AS64 series Product category MT servo motor Brake R No brake B Permant magnet brake Voltage class 2 1 x 220VAC 4 3 x 400VAC Power class 0C2 200W 0C4 400W 0C7 750W 1C0 1 0kW 1C5 1 5kW 2C0 2kW Encoder type I incremental A absolute 1 3 Cables 1 3 1 Cable nameplate ...

Page 16: ... 750W 1C0 1 0kW 2C0 from 1 5kW to 2kW Cable length L03 3 meters L05 5 meters L10 10 meters L15 15 meters L20 20 meters Encoder type I incremental A absolute 1 3 3 Encoder cable naming No Description Example Product series AS64 AS64 series Product category CB servo motor Cable type E Encoder cable Voltage class 2 1 x 220VAC 4 3 x 400VAC Power class 0C7 up to 750W 2C0 from 1 0kW to 2kW Cable length ...

Page 17: ...s 2 1 x 220VAC 4 3 x 400VAC Power class 0C7 up to 750W 1C0 or 2C0 from 1 0kW to 2kW Cable length L03 3 meters L05 5 meters L10 10 meters L15 15 meters L20 20 meters Encoder type I incremental A absolute BT absolute with battery box 1 4 Brake resistor specifications Drive model Specification of built in brake resistor Min resistance of external brake resistor AS64SRV20C2 x 60Ω AS64SRV20C4 x 60Ω AS6...

Page 18: ... size C 13 2 1 3 Models and dimensions 14 2 2 Drive installing 14 2 2 1 Installation mode 14 2 2 2 Installation directions and clearances 15 2 3 Motor outline and mounting dimensions 16 2 3 1 For base 60 motors 16 2 3 2 For base 80 motors 16 2 3 3 For base 130 motors 17 2 4 Motor installing 17 2 5 Servo motor technical parameters 17 2 5 1 For motors using multiturn absolute encoders 17 ...

Page 19: ...AS64 series AC servo drive Installation instructions 13 2 1 Drive dimensions 2 1 1 Dimension drawing for frame size A B 2 1 2 Dimension drawing for frame size C ...

Page 20: ...W mm D mm A mm B mm A AS64SRV20C2 S 160 42 141 32 150 M4 Φ5 AS64SRV20C4 S B AS64SRV20C7 S 160 50 141 40 150 M4 Φ5 AS64SRV21C0 S C AS64SRV21C5 S 170 67 180 54 162 M4 Φ5 AS64SRV22C0 S 2 2 Drive installing 2 2 1 Installation mode Base installation mode There is a Φ5 installation hole at the lower left corner and one at the upper right corner of the rear panel ...

Page 21: ...ll the servo drive vertically and keep enough space for good ventilation If necessary install a fan to ensure the temperature inside the control cabinet is lower than 45 C Installing one drive 100mm 100mm 20mm 20mm 40mm Up Down Installing multiple drives 100mm 100mm Up Down 40mm FAN 20mm 40mm 20mm 20mm FAN ...

Page 22: ... 2 3 1 For base 60 motors µ 70 M5 10 2 µ 16 6 µ 14 0 0 011 h6 5 0 0 03 h9 5 11 R5 25 20 4 µ 5 5 Equally spaced Through hole 45 45 5 60 L 30 3 µ 5 0 0 0 025 h7 Motor model with multiturn absolute encoder L mm Without brake With permanent magnet brake AS64MT 20C2 A 115 152 AS64MT 20C4 A 139 176 2 3 2 For base 80 motors M5 10 6 0 0 03 h9 15 5 6 2 µ 19 5 µ 19 0 0 013 h6 R10 µ 7 0 0 0 03 h7 22 55 5 µ 9...

Page 23: ...d Wipe the anti rust oil from the motor shaft before use 2 5 Servo motor technical parameters 2 5 1 For motors using multiturn absolute encoders Motor model Rated power kW Rated current A Max transient current A Rated torque Nm Max transient torque Nm Rated RPM Max RPM Rotation inertia permanent magnet brake kg cm Voltage V Weight without with brake kg ML series with small inertia AS64MT 20C2 A 0 ...

Page 24: ...AS64 series AC servo drive Installation instructions 18 Insulation class Class F 155 C IP rating IP65 Application environment Temperature 20 C 40 C non frozen RH below 90 no condensation ...

Page 25: ...ower cable for incremental base 40 60 80 motors 25 3 3 2 Power cable for absolute base 40 60 80 motors 25 3 3 3 Power cable for base 110 130 motors 25 3 4 Wiring for control I O terminal CN1 26 3 5 Wiring for encoder terminal CN2 26 3 5 1 Terminal CN2 26 3 5 2 Incremental base 40 60 80 encoder cable 26 3 5 3 Absolute base 40 60 80 encoder cable 27 3 5 4 Incremental base 110 130 encoder cable 27 3 ...

Page 26: ... it if p ow e r ca ble o ve r cu rr en t oc cu rs To pr e ve nt e xte rn a l no is e o f th e p o we r ca ble Noise filter Electro magn etic co ntactor Breaker L1 L2 L3 Po wer Before turning on the drive input power ensure that the input power supply specifications indicated on the nameplate are consistent with those of the grid The electromagnetic contactor is used to switch on or off the main ci...

Page 27: ...tor must be the same in cross sectional area which helps reduce grounding resistance to improve impedance continuity To suppress the emission and transmission of RF the conductivity of the shielded cable must be at least 1 10 of phase conductor conductivity The shielded layer coverage rate must be at least 85 3 1 2 Control power cable requirements All analog control cables and cables used for freq...

Page 28: ...VW PE L1C L2C L1 L2 L3 UVW B2 B3 PE AS64SRV20C2 S 0 75 0 75 0 75 0 75 4 0 75 4 0 75 4 M2 5 0 3 0 6 AS64SRV20C4 S AS64SRV20C7 S AS64SRV21C0 S 1 5 1 5 0 75 1 5 4 1 5 4 1 5 4 M2 5 0 3 0 6 AS64SRV21C5 S AS64SRV22C0 S 3 1 4 EMI filter models Drive model EMI filter model AS64SRV20C2 x AS20FLI4006 AS64SRV20C4 x AS64SRV20C7 x AS64SRV21C0 x AS20FLI4016 AS64SRV21C5 x AS64SRV22C0 x Note The EMI filter models...

Page 29: ...C power for electromagnetic braking by yourself and isolate it from the DC12 24V power for signal control Pay attention to free wheeling diode connection Reversed polarity may cause drive damage Employ this emergency stop circuit Add a surge absorber to each end of the electromagnetic contactor coil Input voltage of power AC220V 15 Connect the main circuit to terminals L1 and L2 Yellow Green Surge...

Page 30: ...gnal control Pay attention to free wheeling diode connection Reversed polarity may cause drive damage Employ this emergency stop circuit Add a surge absorber to each end of the electromagnetic contactor coil Yellow Green Surge absorber Fuse Breaker MC MC ALM CN1 Emergency stop button RY EMI filter DC 12 24V 10 DC 24V 10 OFF ALM ON Motor L1 L2 L3 L1C L2C B3 B2 U V W DO DO Do not remove the short co...

Page 31: ...Yellow Green shield 3 3 2 Power cable for absolute base 40 60 80 motors 3 2 1 PE 4 3 2 1 A A View in direction A X2 X1 U V W Wiring mapping Definition X1 X2 Core wire color U X1 1 X2 4 Blue V X1 2 X2 3 Red W X1 3 X2 1 Brown PE Ground terminal X2 2 Yellow Green shield 3 3 3 Power cable for base 110 130 motors PE W V U X1 X2 4 2 1 3 1 2 3 View in dire ctio n A A Wiring mapping Definition X1 X2 Core ...

Page 32: ... for the standard model For details about the terminal functions and applications see chapter 4 Control modes 3 5 Wiring for encoder terminal CN2 3 5 1 Terminal CN2 1 3 5 2 4 6 CN2 functions Pin Name Function Remarks 1 SD Serial encoder data Different cables must be used for different types of encoder 2 SD Serial encoder data 3 Unused 4 Unused 5 5V 5V power 6 GND Power ground 3 5 2 Incremental bas...

Page 33: ...l case Woven 3 5 3 Absolute base 40 60 80 encoder cable X1 B B X2 Vie w in d ire ctio n B Vie w in d ire ctio n A 6 9 5 4 3 2 1 7 8 2 4 6 1 3 5 Wiring mapping Signal X1 X2 Core wire color Core wire structure SD X1 1 X2 1 Blue Twisted SD X1 2 X2 2 Blue Black 5V X1 5 X2 3 Red Twisted GND X1 6 X2 4 Red White CLK X1 3 X2 5 Black Twisted CLK X1 4 X2 6 Black White Shield Steel case Housing Woven 3 5 4 I...

Page 34: ...2 9 Green Twisted Z X1 14 X2 6 Green Black 5V X1 5 X2 2 Brown Twisted GND X1 12 X2 3 Brown Black PE Steel case Steel case Woven 3 5 5 Absolute base 110 130 encoder cable View in direction B X1 View in direction A 2 4 6 1 3 5 X2 1 2 3 5 6 10 11 13 14 15 B Wiring mapping Signal X1 X2 Core wire color Core wire structure SD X1 1 X2 2 Blue Twisted SD X1 2 X2 3 Blue White 5V X1 5 X2 4 Orange Twisted GND...

Page 35: ...t which indicates that pin 1 pin 2 pin 3 and pin 6 correspond to Tx Tx Rx and Rx respectively 3 7 Wiring for USB terminal CN4 Pin5 Pin1 CN4 functions Pin Name Function Remarks 2 D Data The standard cable for converting mini USB to USB A can be used 3 D Data 5 GND Signal ground 1 4 Unused 3 8 Wiring for second encoder terminal CN5 5 4 3 2 1 10 9 8 7 6 15 14 13 12 11 Pin Name Function Remarks 1 EXV ...

Page 36: ... to the internal GND 13 EXZ Parallel or second encoder signal Z 14 EXZ Parallel or second encoder signal Z 15 VBAT MT External powering signal due to ARM power off Motor overtemperature signal 3 9 Wiring for STO terminal CN11 4 2 6 8 7 5 3 1 STO terminal functions Pin Name Function Remarks 1 12V 12V power 2 12V 12V power 3 HWBB1 Safety input signal 1 4 HWBB1 Safety input signal 1 5 HWBB2 Safety in...

Page 37: ... 5 Pulse input signals and functions 49 4 4 6 Analog input signals and functions 50 4 4 7 Encoder output signals and functions 50 4 4 8 Analog output signals and functions 50 4 5 Wiring description for CN1 51 4 5 1 Digital input circuit wiring 51 4 5 2 Pulse input circuit wiring 51 4 5 3 Analog input circuit wiring 54 4 5 4 Digital output circuit wiring 54 4 5 5 Frequency division output circuit w...

Page 38: ...pps PULS 23 PULS 24 OCP 38 2kΩ SIGN 32 SIGN 33 OCS 31 2kΩ FG PULS 23 PULS 24 FG 24V power with a built in current limit resistor 12 24V power with an external current limit resistor V DC 12 24V OCP 38 PULS 24 FG V DC 24V R V DC 1 5 R 68 10mA Note The max open collector input is 200kpps 12V 1kΩ 1 4W 24V 2kΩ 1 3W V DC Resistor reference Ref Max load capability for each output terminal DC30V 50mA 1 i...

Page 39: ...O2 6 GND FG Torque monitoring output Speed monitoring output Speed command input 10V 10V AD1 20 GND 6 AD2 7 GND 6 Negative analog torque limit 10V 0V Ref Frequency divider External controller 44 OA 43 OA 41 OB 42 OB FG AM26LS32 or equivalent chip 28 OZ 27 OZ CN1 1 is shielded twisted cable 2 is user provided power Output voltage DC 10V 10V Max output current 3mA DI common terminal Note user provid...

Page 40: ...D2 7 GND 6 FG 21 AO1 6 GND 25 AO2 6 GND FG Torque monitoring output Speed monitoring output Ref Max load capability for each output terminal DC30V 50mA Note user provided DC12 24V Frequency divider External controller 44 OA 43 OA 41 OB 42 OB FG AM26LS32 or equivalent chip 28 OZ 27 OZ CN1 1 is shielded twisted cable 2 is user provided power Output voltage DC 10V 10V Max output current 3mA DI common...

Page 41: ...tial output 6 GND Signal ground 28 OZ Phase Z differential output 7 AD2 Analog input 2 29 DO4 Digital output 4 8 DO3 Digital output 3 30 DO6 Digital output 6 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 Unused 34 DI5 Digital input 5 13 DO6 Digital output...

Page 42: ...1 16 Digital input 1 0x003 SON Enabling servo 0x003 SON Enabling servo DI2 37 Digital input 2 0x00D ZRS Zero speed clamp 0x00D ZRS Zero speed clamp DI3 10 Digital input 3 0x004 CLA Clearing alarms 0x004 CLA Clearing alarms DI4 39 Digital input 4 0x016 EMG Emergency stop 0x016 EMG Emergency stop DI5 34 Digital input 5 0x019 SC1 Numerator selection 1 for electronic gear ratio 0x00A SPD1 Internal spe...

Page 43: ...37 Digital input 2 0x00D ZRS Zero speed clamp DI3 10 Digital input 3 0x004 CLA Clearing alarms DI4 39 Digital input 4 0x016 EMG Emergency stop DI5 34 Digital input 5 0x00A SPD1 Internal speed command selection 1 DI6 17 Digital input 6 0x00B SPD2 Internal speed command selection 2 DI7 3 Digital input 7 0x001 POT Disabling forward drive DI8 4 Digital input 8 0x002 NOT Disabling reverse drive DO1 14 ...

Page 44: ...ive alarms Signal Symbol Function Applicable mode Enabling servo SON 0x03 P S T Signal of controlling whether to enable servo If it is valid the drive powers on the motor If it is invalid the drive powers off the motor Signal Symbol Function Applicable mode Clearing alarms CLA 0x04 P S T Signal of controlling whether to clear an alarm after the drive reports the alarm It may not be used to clear s...

Page 45: ...and pulses PLL 0x08 P Signal of controlling whether to suspend receiving command pulse input The detailed action is associated with the setting of P3 44 Disable command pulse inhibition If P3 44 is set to 0 the function takes effect When the digital input is valid the drive suspends receiving command pulse input If P3 44 is set to 0 the function is invalid Signal Symbol Function Applicable mode Sw...

Page 46: ...d clamp The detailed action is associated with the setting of P0 58 Zero speed clamp mode For details see the description for P0 58 Signal Symbol Function Applicable mode Speed command sign S SIGN 0x0E S Signal of selecting the sign for speed command input in speed mode If P0 41 Speed command direction setting is set to 1 this digital input takes effect If P0 41 is set to 0 it does not take effect...

Page 47: ...ay time of P5 21 P5 68 Control mode POS7 POS6 POS5 POS4 POS3 POS2 POS1 Associated parameter and setting Position 0 0 0 0 0 0 0 PtP0 01 Position of segment 00 0 0 0 0 0 0 1 PtP0 03 Position of segment 01 0 0 0 0 0 1 0 PtP0 05 Position of segment 02 0 0 0 0 0 1 1 PtP0 07 Position of segment 03 0 0 0 0 1 0 0 PtP0 09 Position of segment 04 0 0 0 0 1 0 1 PtP0 11 Position of segment 05 0 0 0 0 1 1 0 PtP...

Page 48: ...mbol Function Applicable mode Emergency stop EMG 0x16 P S T Signal of controlling emergency stop If P3 41 Disable emergency stop is set to 0 and this digital input is valid the drive stops and report the alarm Er10 4 Signal Symbol Function Applicable mode Home switch input HOME 0x17 P Input signal of the Home switch When the drive executes the homing action in some homing mode the drive completes ...

Page 49: ...ion Applicable mode PTP control trigger TRIG 0x1B P In PTP control mode it works with the position commands 1 4 to trigger target position switching It is valid in the rising edge During the use the target position is selected through the internal position commands 1 4 and then the rising edge of this digital input triggers the switching Signal Symbol Function Applicable mode Vibration control swi...

Page 50: ...bsolute position PCLR 0x1F P Signal of clearing the multiturn absolute encoder If this digital input is valid the multiturn data is clear while the single turn data remains unchanged but the absolute position in the feedback is cleared Signal Symbol Function Applicable mode Forward jogging FJOG 0x23 P If this digital input is valid the motor executes forward jogging Signal Symbol Function Applicab...

Page 51: ...gnment sensor GSS 0x2F P Signal is used by the slave gantry synchronization alignment sensor Signal Symbol Function Applicable mode Dynamic brake relay feedback DBS 0x30 P S T If this digital input is valid the dynamic brake relay is closed Signal Symbol Function Applicable mode Auto manually switching turrets DAT 0x31 P If this digital input is valid the turret runs in manual mode Signal Symbol F...

Page 52: ... This signal indicates that the drive is enabled If it is valid the motor is powered on Signal Symbol Function Applicable mode Fault output ALM 0x03 P S T This signal indicates that the drive reports a fault alarm If it is valid the drive encounters a fault Signal Symbol Function Applicable mode Electromagnetic brake release BRK 0x05 P S T This signal outputs the release of the electromagnetic bra...

Page 53: ...valid the speed difference between the current speed feedback and speed command falls in the setting of P3 53 Speed consistency range Signal Symbol Function Applicable mode Speed reaching SR 0x0A P S T It is the status signal which outputs that the speed is reached If it is valid the current speed feedback reaches the setting of P3 54 Speed reaching range Signal Symbol Function Applicable mode Spe...

Page 54: ...signal outputs homing is completed If it is valid the homing led by the drive is completed Signal Symbol Function Applicable mode Torque reaching TRCH 0x10 T This signal outputs torque reaching If it is valid the difference between the current torque output and torque command falls in the setting of P3 59 Torque reaching range The detection may lag by 5 Signal Symbol Function Applicable mode PTP r...

Page 55: ...ol Function Applicable mode PTP output 6 PTPO6 0x1C P It is the signal of PTP output 6 Signal Symbol Function Applicable mode PTP output 7 PTPO7 0x1D P It is the signal of PTP output 7 Signal Symbol Function Applicable mode Gantry synchronization cancellation output GSC 0x1E P It is the output signal of gantry synchronization cancellation Signal Symbol Function Applicable mode Dynamic brake relay ...

Page 56: ...ernal analog input terminals the input impedance is 10kΩ and the input voltage ranges from 10V to 10V If the voltage is 11V less or greater the drive may be damaged The range offset and function definition are configurable AD2 7 Analog input 2 0x04 Torque command GND 6 Signal ground 4 4 7 Encoder output signals and functions Sign Pin Signal Function OA 44 Phase A output The encoder signal that is ...

Page 57: ... supports mechanical switch connection and open collector connection using NPN or PNP triodes disallowing the hybrid of the two types 4 5 2 Pulse input circuit wiring Differential connection Control module side Drive side 23 PULS 24 PULS 33 SIGN FG PULS SIGN 32 SIGN 18 CLR 22 CLR CLR Shielded cable Twisted pair The differential pulse input signal voltage is 5V and maximum frequency is 4 MHz This s...

Page 58: ... side Drive side 38 OCP 24 PULS 33 SIGN FG Y1 Y0 PULS SIGN 31 OCS Shielded cable Twisted pair DC24V 18 CLR Y2 CLR 36 OCC The maximum input pulse frequency is 200 kHz If the 24V power is provided by yourself no current limit resistor is needed Generally the PLC from a Japanese manufacturer uses the NPN type while that from a European manufacturer uses the PNP type Open collector connection 2 Contro...

Page 59: ...PULS 33 SIGN FG Y1 Y0 PULS SIGN 32 SIGN Current limit resistor R Current limit resistor R Shielded cable Twisted pair DC12 24V 18 CLR Y2 CLR 22 CLR Current limit resistor R The maximum input pulse frequency is 200 kHz If the 24V power is provided by yourself current limit resistors must be connected externally Select current limit resistors according to the following VDC 1 5 R 68 10 mA VDC R specs...

Page 60: ...onnect a free wheeling diode if an inductive load is connected Max load capacity of each output terminal 30V 50mA DC 12 24V Drive side DO1 5 Max load capacity of each output terminal 30V 50mA RY DC 12 24V Connecting to a relay coil Connecting to an optical coupler DO1 5 Connect to a current limit resistor if an optical coupler is connected Drive side DO1 14 DO1 14 There are six digital output circ...

Page 61: ... about 220Ω No isolation is made for any output circuit 4 5 6 Analog output circuit wiring Measuring instrument or external circuit Shielded cable Connect the shielded cable according to device requirements Servo drive Twisted pair GND GND AI1 AI2 AO1 21 AO2 25 GND 6 GND 6 FG There are two analog output circuits in all The output voltage range is 10V 10V The maximum output current is 3 mA 4 5 7 El...

Page 62: ...h cannot use the signal control power In the figure RY indicates relay coil Pay attention to the diode direction The electromagnetic brake is used for holding but not for common stop Though the electromagnetic brake can prevent the falling of heavy objects or keep the falling speed you must install an external brake device 4 6 Wiring description for CN5 Wiring for the second encoder terminal circu...

Page 63: ...s motor current cut off through hardware To be specific the independent circuits for input signals in two channels are used to prevent the drive signal from the power module that controls motor current and thus the power module cuts off the motor current If the input optical couplers corresponding to HWBB1 and HWBB2 are both connected the system runs properly and the safety output signal EDM is in...

Page 64: ...control mode 62 5 1 5 Running in the torque control mode 63 5 1 6 Setting parameters before servo running 63 5 1 7 Servo enabling 64 5 1 8 Servo stop and running stop 64 5 1 9 Timing sequence 66 5 2 Display and operating 69 5 2 1 Display 69 5 2 2 Common monitoring mode 71 5 2 3 Monitoring mode 72 5 2 4 Parameter setting mode 72 5 2 5 Auxiliary function mode 73 5 2 6 Alarm reporting 76 5 2 7 Alarm ...

Page 65: ...hin the allowed ranges Environment There are no foreign materials such as wire leads and metal filings which can cause short connection between signal and power cables Mechanical parts The installation of the servo motor and the connection between shafts and machines are reliable The servo motor and connected machines are operational Do not run the motor with a negative load which indicates the mo...

Page 66: ...enabling the motor set the parameter P0 00 according to the motor code on the motor nameplate Otherwise the motor cannot run properly or it runs in the reverse direction which may cause safety risks 5 1 2 Trial run by jogging Trial jogging can be used to check whether the servo drive and the servo motor are in good condition and to commission the system including the servo drive servo motor and pe...

Page 67: ...to the drive and power on Ensure that SON and COM are connected The motor enters the locking state 6 Wait the upper controller to send the low frequency pulse command The motor rotates at a low speed 7 Check whether the motor rotation direction is consistent with the design If not change the direction through the upper controller or perform the reverse operation through P0 24 8 Ensure the input pu...

Page 68: ...ommand source is external analog 5 Set P3 26 to 3 which indicates that analog input 1 is a speed command 6 Set P0 42 as required See the description for P0 42 for details 7 Connect the plug terminals for CN1 8 Connect the plug of CN1 to the drive switch on the power and ensure that SON and COM are connected The servo enters the locking state 9 The motor shaft may rotate at a low speed if there is ...

Page 69: ... the drive switch on the power and ensure that SON and COM are connected The servo enters the locking state 10 The motor shaft may rotate at a low speed if there is no upper command voltage It is necessary to adjust P3 23 See the description for P3 23 for details 11 In torque control mode adjust P0 46 which indicates the speed limit See the description for P0 46 for details 5 1 6 Setting parameter...

Page 70: ...t command In torque mode the applicable command can be the internal torque command external analog torque command internal speed limit command or external analog speed limit command 5 1 7 Servo enabling You can enable the servo through the external servo enabling terminal SON or P0 04 When the servo is enabled If no alarm is reported the servo panel displays the default monitoring parameters The f...

Page 71: ...motor stops running immediately Such stopping process may cause regenerative braking If a braking overload fault alarm occurred connect a proper external brake resistor If the travel limit switch function is invalid that is P3 40 0 and the digital input terminal signal of travel limit POT NOT is set to ON the motor decelerates to stop running based on the settings of P0 55 and P0 57 and it enters ...

Page 72: ... DC voltage is less than 170V 310V for 220V 400V series the Er13 1 alarm is reported The time interval from servo readiness to servo enabling can be user controlled Note 3 The servo enabling signal can be valid only when the RDY output signal is valid Note 4 The actual electric levels corresponding to valid I O states can be set by P3 00 P3 15 Position speed torque command input About 1 2s Note 3 ...

Page 73: ...ote 4 The actual electrical levels corresponding to valid I O states can be set by P3 00 P3 15 Note 1 Control circuit power disconnected Main circuit power lost Program stopped running Servo with output Motor brake closed Motor brake released Servo without output Fan signal Fan stopped running Fan running Note 2 Note 3 Valid Invalid Program running Note 4 5 1 9 3 Timing sequence for servo turning ...

Page 74: ...rake released Servo without output Dynamic brake switched on Note 1 Note 2 Enabled Disabled Valid Dynamic brake switched off Note 3 5 1 9 5 Timing sequence for fault alarm reporting Dynamic brake state PWM output Electromagnetic brake release signal output BRK Servo ready output RDY Servo fault output ALM Note 1 Whether to immediately enable the dynamic brake can be set by P4 30 Note 2 The output ...

Page 75: ...d operating 5 2 1 Display Keypad diagram MODE key Display SET SHIFT key UP key DOWN key MODE SET LED characters and meanings Character Meaning Character Meaning Character Meaning Character Meaning 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 76: ...ode STO mode Parameter mode Monitoring mode Auxiliary function mode MODE PTP mode Common monitoring mode MODE MODE MODE MODE MODE MODE After the drive is powered on the panel displays about 1 second and then about 1 second After that the common monitoring mode is entered 1 Press MODE to circularly switch between different modes in the sequence of Common monitoring mode Monitoring mode Parameter mo...

Page 77: ...WN SET UP DOWN SHIFT UP DOWN SHIFT SET SHIFT UP DOWN SET MODE 5 2 2 Common monitoring mode After the drive is powered on the LED panel enters the common monitoring mode by default It displays the names of monitoring parameters for 2 5 seconds and then the values You can press MODE to return to the parameter name display screen Then you can press UP DOWN to switch between monitoring parameters For ...

Page 78: ...conds the current parameter display screen is hold Operation flowchart SHIFT SHIFT SHIFT UP DOWN UP UP SET MODE DOWN DOWN SET MODE UP UP DOWN DOWN 5 2 4 Parameter setting mode You can press MODE to switch to the parameter setting mode You can press SHIFT to select group codes for parameters circularly in on way You can press UP DOWN to select codes for parameters in a group or press and hold UP DO...

Page 79: ...aring for analog input 3 Inertia identifying Absolute encoder clearing Note All auxiliary functions can be executed only when the servo is disabled The auxiliary function menu is inaccessible when the servo is enabled 5 2 5 2 Jogging test You can press MODE to switch to the auxiliary function mode You can press UP DOWN to enter the menu and press SET to enter the jogging test screen displaying the...

Page 80: ...r the run parameters P5 00 P5 05 are set you can press MODE to switch to the auxiliary function mode Then you can press UP DOWN to enter the menu and press SET to enter the program jogging screen displaying Then you can press SHIFT to switch between and to enable and disable program jogging On the screen you can press UP or DOWN to start program jogging The use of the UP or DOWN key is associated ...

Page 81: ... to the parameter setting menu automatically after displaying about two seconds SET SET 3s delay 2s delay MODE MODE 5 2 5 6 Absolute encoder clearing If a multiturn absolute encoder is used the homing operation for the mechanical system must be performed after the first power on You can press UP DOWN to enter the menu and press SET to enter the absolute encoder clearing menu which displays Then yo...

Page 82: ...ils see section 10 4 Fault codes 5 2 7 Alarm clearing For the fault alarms that can be cleared online if there no are fault trigger conditions the fault alarms can be cleared by short connecting the digital input fault clearing terminal that is parameters P3 00 P3 07 are set to 0x004 or 0x104 to COM If the servo still has enabling command input the drive cannot clear the faults automatically You c...

Page 83: ... 128 6 4 1 Digital input output 128 6 4 2 Analog input output 135 6 4 3 Digital input output associated settings 141 6 5 Extension and application group P4 146 6 5 1 Communication 146 6 5 2 Servo types and communication control commands 149 6 5 3 Extension and application 153 6 5 4 Frequency division output and second encoder settings 158 6 5 5 Special commands 162 6 6 Program Jog homing and PTP c...

Page 84: ...the superscript the parameter settings are not stored after the drive is powered off For communication addresses They are in decimal format when Modbus is used They are in hexadecimal format when CANopen is used The code with16 bits is the main code and the code with 8 bits is the sub code 6 1 Basic control group P0 6 1 1 Basic settings P0 001 Motor model Setting range Default Unit Applicable mode...

Page 85: ...absolute encoder 4 4 17 bit multiturn absolute encoder 3 9 10 23 bit multiturn absolute encoder 3 Other Reserved 1 The encoder type varies with the motor type 2 See No 8 in the table in section 1 2 2 Motor naming for encoder types 3 If you use a multiturn encoder change the battery only when the drive power is on which prevents the absolute position from being lost The standard battery is 2000 mAh...

Page 86: ...witched through the control mode switching terminal Speed mode Position mode Position mode Motor speed Mode switching signal MCH ON OFF P0 90 P0 92 0 Switching after positioning completion P0 91 P0 92 1 Direct switching Note There are two methods specified by P0 92 to switch from the position mode to the speed mode In the process of switching from the speed mode to the position mode the motor stop...

Page 87: ...e command Load torque Note The switching is not limited by the current working condition 6 Reserved 7 CANopen CANopen mode supported by the CANopen servo 8 EtherCAT EtherCAT mode supported by the EtherCAT servo Remarks If P0 03 is set parameters P3 00 P3 07 are automatically switched according to the current control mode The input settings of P3 00 P3 07 are described as follows 0 Off The internal...

Page 88: ...d ON Note If P0 04 is set to 1 but the external terminal command status is changed from 1 to 0 the drive is disabled that is P0 04 is changed to 0 automatically The method for setting this parameter on the LED panel is different from that for setting other parameters You can use only the SET key to switch between 0 and 1 The UP DOWN key is invalid on the screen for setting this parameter P0 04 Dat...

Page 89: ... position control mode if the encoder output signal of the upper level servo motor is used as the position pulse command input of the current level servo drive that is executing the master slave follow up of the start stop type in order to ensure high positioning accuracy of the current level servo drive the frequency division coefficient must be 1 1 Otherwise the accuracy of master slave position...

Page 90: ... limit mode Setting range Default Unit Applicable mode 0 6 1 P S This parameter specifies the torque limit mode Setting Forward direction Reverse direction 0 Torque limit analog input 0V 10V Torque limit analog input 10V 0V 1 Maximum torque limit 1 P0 10 2 Maximum torque limit 1 P0 10 Maximum torque limit 2 P0 11 3 TLC OFF Maximum torque limit 1 P0 10 TLC ON Maximum torque limit 2 P0 11 4 Forward ...

Page 91: ...setting is a percentage of the rated torque If the absolute value of the torque command is great than the setting the actual output torque is limited by the setting Note This group of parameter is used with P0 09 In torque mode the torque limit is determined by P0 10 P0 10 Data size 16bit Data format DEC Modbus address 1020 1021 CANopen address 0x200A 0x00 P0 11 Data size 16bit Data format DEC Mod...

Page 92: ...y be burnt down The regenerative brake overload protection time of the external brake resistor is in direct proportion to the two parameters and is in inverse proportion to the brake rate during actual running The two parameters are invalid when P4 34 is not 2 P0 131 Data size 16bit Data format DEC Modbus address 1026 1027 CANopen address 0x200D 0x00 P0 141 Data size 16bit Data format DEC Modbus a...

Page 93: ...k the function of modifying parameters excluding P0 16 and parameters that are not be saved after power off preventing maloperation Setting Through the panel Through communication 0 Unlock the function Unlock the function 1 Lock the function Lock the function P0 16 Data size 16bit Data format DEC Modbus address 1032 1033 CANopen address 0x2010 0x00 P0 17 Mode for writing to EEPROM Setting range De...

Page 94: ... 0x2013 0x00 6 1 2 Position control P0 201 Position command source Setting range Default Unit Applicable mode 0 4 0 P This parameter specifies the position command source in the position fully closed loop and hybrid position control modes Setting Meaning 0 Pulse input 1 Communication bus input 2 PTP control 3 Reserved 4 Second encoder input P0 201 Data size 16bit Data format DEC Modbus address 104...

Page 95: ...pecified by this parameter can be reversed by P0 241 See P0 241 for details P0 231 Data size 16bit Data format DEC Modbus address 1046 1047 CANopen address 0x2017 0x00 P0 241 Reverse pulse input direction Setting range Default Unit Applicable mode 0 1 0 P By setting this parameter the input pulse direction can be reversed At this time the actual output speed direction of the servo drive is opposit...

Page 96: ...e actually received by the drive can be changed by multiplying a certain coefficient This coefficient is electronic gear ratio It can be divided into two parts numerator and denominator Electronic gear ratio g1 g2 Of which g1 indicates the numerator of the electronic gear ratio g2 indicates the denominator of the electronic gear ratio The following is the schematic diagram for the electronic gear ...

Page 97: ...y when P0 221 is 0 If SC1 and SC2 are used for electronic gear ratio switching P4 10 must be set to 0 P0 25 Data size 32bit Data format DEC Modbus address 1050 1051 CANopen address 0x2019 0x00 P0 26 Data size 32bit Data format DEC Modbus address 1052 1053 CANopen address 0x201A 0x00 P0 27 Data size 32bit Data format DEC Modbus address 1054 1055 CANopen address 0x201B 0x00 P0 28 Data size 32bit Dat...

Page 98: ...es See the following figure Position before filtering Speed Time Position after filtering Vc Position after filtering P0 34 P0 34 Note If this parameter is modified during servo running the modification takes effect after stop P0 342 Data size 16bit Data format DEC Modbus address 1068 1069 CANopen address 0x2022 0x00 P0 35 Software limit in CCW position control Setting range Default Unit Applicabl...

Page 99: ...e position command input is the variation relative to the current position 1 Absolute The position command input is the target position P0 37 Data size 16bit Data format DEC Modbus address 1074 1075 CANopen address 0x2025 0x00 P0 38 Fully closed loop enabling Setting range Default Unit 适用模式 0 2 0 P This parameter is used to enable the fully closed loop function When this parameter is set to 2 user...

Page 100: ...8 See the descriptions for P0 46 P0 53 1 Analog input You need to set either P3 26 Function of AI 1 or P3 27 Function of AI 2 to 3 Speed command and set associated parameters according to the actual situation 2 Bus input The communication bus interface can be used to receive speed commands from the upper computer If P4 10 is 1 Bus input the motor speed can be changed by P4 13 Bus speed command See...

Page 101: ...CN1 plug The voltage only in the 10V 10V range can be applied to the connection between AD1 and GND Otherwise the drive may be damaged Application example 1 The function of analog input 1 is speed command 2 The voltage of analog input 1 corresponds to the conversion gain of the motor command speed 3 P0 40 is set to 1 4 The relationship between the voltage of analog input 1 and speed command is as ...

Page 102: ...T If the absolute voltage value of analog input 1 falls in the range of this parameter the corresponding command value is 0 P0 45 Data size 16bit Data format DEC Modbus address 1090 1091 CANopen address 0x202D 0x00 P0 46 Internal speed 1 speed limit 1 Setting range Default Unit Applicable mode 20000 20000 100 r min S T P0 47 Internal speed 2 speed limit 2 Setting range Default Unit Applicable mode...

Page 103: ...imit 2 0 1 0 P0 48 Speed limit 3 0 1 1 P0 49 Speed limit 4 Note SPD1 SPD2 SPD3 are the digital inputs of internal speed commands 1 2 and 3 corresponding to 0x00A 0x00B and 0x00C 0 OFF The internal optical coupler corresponding to the input is not conducted 1 ON The internal optical coupler corresponding to the input is conducted The speed limits depend on the absolute values of the parameters and ...

Page 104: ...is not equal to the rated speed the actual ACC DEC time is the set ACC DEC time multiplied by the ratio of the given speed to the rated speed If the speed command is negative the absolute value is used to calculate the ACC DEC time Example If the given speed is 2000 r min the rated speed is 3000 r min and the ACC DEC time P0 54 P0 55 is set to 1500 then the actual ACC time t1 is 1500 2000 3000 100...

Page 105: ...If the setting of P0 55 is less than that of P0 57 and P0 57 is not 0 P0 55 is equal to P0 57 during the actual running P0 56 Data 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 Applicable mode 0 3 0 S T This parameter sp...

Page 106: ...fault Unit Applicable mode 10 20000 30 r min S This parameter specifies the speed threshold for switching to position control when P0 58 is 2 or 3 When P0 58 is 3 there is a 10 r min delay detected P0 59 Data size 16bit Data format DEC Modbus address 1118 1119 CANopen address 0x203B 0x00 P0 60 Torque command source Setting range Default Unit Applicable mode 0 3 1 T This parameter specifies the com...

Page 107: ...ANopen address 0x203D 0x00 P0 62 Gain of AI 2 Setting range Defaul t Unit Applicable mode 0 2000 100 P3 27 unit V P S T This parameter specifies the gain of analog input 2 The gain unit is associated with P3 27 Note Analog input 2 indicates the signal input from the analog speed speed limit terminals AD2 and GND corresponding to pin 20 and pin 19 of the CN1 plug Application example 1 The function ...

Page 108: ... Applicable mode 0 000 3 000 0 000 V P S T If the absolute voltage value of analog input 2 falls in the range of this parameter the corresponding command value is 0 P0 65 Data size 16bit Data format DEC Modbus address 1130 1131 CANopen address 0x2041 0x00 P0 66 Internal torque command Setting range Default Unit Applicable mode 500 0 500 0 0 0 T This parameter specifies the internal torque referenc...

Page 109: ... indicates the time taken to rise from 0 to 100 of the rated torque P0 68 Data size 16bit Data format DEC Modbus address 1136 1137 CANopen address 0x2044 0x00 P0 69 DEC time for quick stop Setting range Default Unit Applicable mode 0 10000 500 ms P S T This parameter specifies the DEC time for quick stop It indicates the time taken to decelerate from 100 of the rated speed to 0 P0 69 Data size 16b...

Page 110: ...position and speed or the hybrid of position and torque is used P0 90 Data size 16bit Data format DEC Modbus address 1180 1181 CANopen address 0x205A 0x00 P0 91 Positioning reference of control mode switching Setting range Default Unit Applicable mode 1 231 1 1 pulse P S T This parameter specifies the motor position R0 14 Rotor position relative to pulse Z after the control mode is switched The sw...

Page 111: ...ult Unit Applicable mode 1 31 1 P S T The parameter is used to set the FIR filter level displayed by R0 00 motor speed When it is set to 1 default value there is no filter The larger the set value the smoother the speed display P0 99 Data size 16bit Data format DEC Modbus address 1198 1199 CANopen address 0x2063 0x00 P0 92 Position mode switching exiting method Setting range Default Unit Applicabl...

Page 112: ... Load inertia Motor rotation inertia x 100 If P1 01 is set correctly the setting unit of P2 00 and P2 05 is Hz If P1 01 is greater than the actual value the speed loop gain unit will increase and if it is smaller than the actual value the speed loop gain unit will decrease If online automatic tuning is valid the inertia ratio is updated to P1 01 in real time and written to the EEPROM every 30 minu...

Page 113: ...licable mode 0 1 0 P S T This parameter is used to obtain the load inertial ratio of the motor rotation inertia After inertia identifying is enabled the motor runs six cycles to identify inertia In each cycle the motor runs at the mode specified by P1 05 Inertia identifying mode The maximum rotation number of the motor is determined by P1 06 Max rotations by inertia identifying and the ACC command...

Page 114: ... 0x2106 0x00 P1 07 ACC time for inertia identifying Setting range Default Unit Applicable mode 2 1000 200 ms P S T This parameter specifies the motor ACC time during inertia identifying If the load inertia is heavy the ACC time can be set to a greater value preventing overload alarms P1 07 Data size 16bit Data format DEC Modbus address 1214 1215 CANopen address 0x2107 0x00 P1 08 Inertia identifyin...

Page 115: ...1 and P1 22 to eliminate the mechanical resonance Note You are recommended to disable the function after the gain adjustment is complete Setting Function Meaning 0 Invalid All parameters associated with the notch filter remain unchanged 1 One notch filter valid The parameters associated with the third notch filter are updated according to the self adaptive result 2 Two notch filters valid The para...

Page 116: ...nce point is found P1 21 Data size 16bit Data format DEC Modbus address 1242 1243 CANopen address 0x2115 0x00 P1 22 Data size 16bit Data format DEC Modbus address 1244 1245 CANopen address 0x2116 0x00 P1 23 Frequency of notch filter 1 Setting range Default Unit Applicable mode 50 5000 5000 Hz P S T This parameter specifies the frequency of notch filter 1 for suppressing resonance The notch filter ...

Page 117: ... These parameters specify characteristics of notch filer 2 similar to P1 23 P1 24 and P1 25 P1 26 Data size 16bit Data format DEC Modbus address 1252 1253 CANopen address 0x211A 0x00 P1 27 Data size 16bit Data format DEC Modbus address 1254 1255 CANopen address 0x211B 0x00 P1 28 Data size 16bit Data format DEC Modbus address 1256 1257 CANopen address 0x211C 0x00 P1 29 Frequency of notch filter 3 S...

Page 118: ... Data format DEC Modbus address 1266 1267 CANopen address 0x2121 0x00 P1 34 Data size 16bit Data format DEC Modbus address 1268 1269 CANopen address 0x2122 0x00 P1 35 Vibration control mode in position command Setting range Default Unit Applicable mode 0 2 0 P This parameter specifies the filter switching mode for vibration control Setting Meaning 0 Vibration control by filter 1 is valid 1 Filter ...

Page 119: ...nge Default Unit Applicable mode 0 0 200 0 0 0 Hz P P1 39 Coefficient of vibration control filter 2 Setting range Default Unit Applicable mode 0 00 1 00 1 00 P This group of parameter specifies the characteristics of the second vibration control filter They are similar to P1 36 and P1 37 P1 38 Data size 16bit Data format DEC Modbus address 1276 1277 CANopen address 0x2126 0x00 P1 39 Data size 16bi...

Page 120: ...etermined by the position gain Asmaller value of this parameter indicates quicker response but it increases the possibility to cause vibration and noise P2 02 Data size 16bit Data format DEC Modbus address 1404 1405 CANopen address 0x2202 0x00 P2 03 Speed detection filter 1 Setting range Default Unit Applicable mode 100 5000 5000 Hz P S T This parameter specifies the first speed detection filter N...

Page 121: ...select from gain 1 and gain 2 or switch between them For details see the descriptions for P2 20 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 Dat...

Page 122: ...ion deviation P2 12 Data size 16bit Data format DEC Modbus address 1424 1425 CANopen address 0x220C 0x00 P2 13 Torque feed forward filter time Setting range Default Unit Applicable mode 0 00 64 00 0 00 ms P S This parameter specifies the torque feed forward filter time P2 13 Data size 16bit Data format DEC Modbus address 1426 1427 CANopen address 0x220D 0x00 P2 14 IPPI coefficient 1 Setting range ...

Page 123: ...s 1440 1441 CANopen address 0x2214 0x00 P2 22 Switching trigger in position control Setting range Default Unit Applicable mode 0 9 0 P This parameter specifies the trigger of gain switching in position control or fully closed loop control Setting Trigger Description 0 Fixed to gain 1 Gain parameters are fixed to the first gain parameters P2 00 P2 04 1 Fixed to gain 2 Gain parameters are fixed to t...

Page 124: ...0 and this state keeps in the delay time the second gain is switched to the first gain 7 Positioning incomplete When the first gain is used if positioning is not complete the first gain is switched to the second gain When the second gain is used if positioning is complete and this state keeps in the delay time the second gain is switched to the first gain 8 Actual speed too high Whenthe first gain...

Page 125: ...ng lag in position control Setting range Default Unit Applicable mode 0 20000 0 Mode based P In position control if P2 22 is in the range of 3 5 or set to 8 or 9 the trigger of gain switching must be set to determine the lag The unit varies with the switching mode and associated settings Note If the level is set to be less than the lag the setting is changed to the level being equal to the lag dur...

Page 126: ...n the speed command exceeds level lag 10 r min s the first gain is switched to the second gain When the second gain is used if the absolute value in the speed command does not reach level lag 10 r min s and this state keeps in the delay time the second gain is switched to the first gain 5 Speed command When the first gain is used if the absolute value in the speed command exceeds level lag r min t...

Page 127: ...1461 CANopen address 0x221E 0x00 P2 31 Switching trigger in torque control Setting range Default Unit Applicable mode 0 3 0 T This parameter specifies the trigger of gain switching in torque control Setting Trigger Description 0 Fixed to gain 1 Gain parameters are fixed to the first gain parameters P2 00 P2 04 1 Fixed to gain 2 Gain parameters are fixed to the second gain parameters P2 05 P2 06 P2...

Page 128: ...ize 16bit Data format DEC Modbus address 1466 1467 CANopen address 0x2221 0x00 P2 34 Switching lag in torque control Setting range Default Unit Applicable mode 0 20000 0 Mode based T In torque control if P2 31 is set to 3 the trigger of gain switching must be set to determine the lag The unit varies with the switching mode and associated settings Note If the level is set to be less than the lag th...

Page 129: ...meter may decrease noise while increasing the setting may decrease the disturbance torque compensation delay This parameter needs to be used with P2 42 P2 43 Data size 16bit Data format DEC Modbus address 1486 1487 CANopen address 0x222B 0x00 P2 44 Torque command offset Setting range Default Unit Applicable mode 500 0 500 0 0 0 P S T This parameter specifies the changeable load compensation which ...

Page 130: ...etting range Default Unit Applicable mode 0 1 0 P S T This parameter specifies whether the medium frequency vibration control is valid Setting Meaning 0 Invalid 1 Valid P2 53 Data size 16bit Data format DEC Modbus address 1506 1507 CANopen address 0x2235 0x00 P2 54 Vibration control frequency Setting range Default Unit Applicable mode 1 2000 100 Hz P S T This parameter specifies the frequency for ...

Page 131: ...ibration control Filter time 1 for medium frequency vibration control is automatically calculated based on P2 54 P2 57 Data size 16bit Data format DEC Modbus address 1514 1515 CANopen address 0x2239 0x00 P2 58 Adjustment on filter time 2 Setting range Default Unit Applicable mode 10 10 0 0 01ms P S T This parameter specifies the adjustment on filter time 2 for medium frequency vibration control Fi...

Page 132: ...able mode 0 0 100 0 0 0 10r min P S This parameter specifies the friction compensation value added to the torque command when a CCW position command or speed command is received P2 71 Data size 16bit Data format DEC Modbus address 1542 1543 CANopen address 0x2247 0x00 P2 72 CW torque coefficient of friction compensation Setting range Default Unit Applicable mode 100 0 0 0 0 0 10r min P S This para...

Page 133: ...he unbiased control gain The greater the gain the smaller the position tracking error but noise will be introduced Note When you try out this function please set P2 85 to 1 that is position command feedforward P2 91 Data size 16bit Data format DEC Modbus address 1582 1583 CANopen address 0x225B 0x00 P2 92 Unbiased control attenuation coefficient Setting range Default Unit Applicable mode 50 0 200 ...

Page 134: ...ameter specifies the input of digital 1 It is in the hexadecimal format In the expression of 0x indicates the valid mode the value 0 indicates the input is valid when the optical coupler is conductive while the value 1 indicates the input is valid when the optical coupler is not conductive In the expression of 0x indicate the function settings The detailed function settings are listed in the follo...

Page 135: ...S T Internal speed command 2 SPD2 0x10B 0x00B S T Internal speed command 3 SPD3 0x10C 0x00C S Zero speed clamp ZRS 0x10D 0x00D S T Speed command sign S SIGN 0x10E 0x00E S Torque command sign T SIGN 0x10F 0x00F T Internal position command 1 OS1 0x110 0x010 P Internal position command 2 OS2 0x111 0x011 P Internal position command 3 POS3 0x112 0x012 P Internal position command 4 POS4 0x113 0x013 P Ex...

Page 136: ... 0x029 Reserved 0x12A 0x02 Reserved 0x12B 0x02B Enabling terminal jogging DJOG 0x12C 0x02C P Gantry synchronization cancellation input GIN 0x12D 0x02D P Master gantry synchronization alignment sensor GSM 0x12E 0x02E P Slave gantry synchronization alignment sensor GSS 0x12F 0x02F P Dynamic brake relay feedback DBS 0x130 0x030 P T Auto manually switching turrets DAT 0x131 0x031 P Turret forward jogg...

Page 137: ...tting range Default Unit Applicable mode 0x000 0x136 0x001 P S T P3 071 Input of digital 8 Setting range Default Unit Applicable mode 0x000 0x136 0x002 P S T P3 081 Input of digital 9 Setting range Default Unit Applicable mode 0x000 0x136 0x007 P S T P3 091 Input of digital 10 Setting range Default Unit Applicable mode 0x000 0x136 0x008 P S T This group of parameter specifies input functions for d...

Page 138: ...612 1613 CANopen address 0x2306 0x00 P3 071 Data size 16bit Data format HEX Modbus address 1614 1615 CANopen address 0x2307 0x00 P3 101 Output of digital 1 Setting range Default Unit Applicable mode 0x000 0x11F 0x001 P S T This parameter specifies the output of digital 1 It is in the hexadecimal format In the expression of 0x indicates the valid mode the value 0 indicates the input is valid when t...

Page 139: ...Speed command existence SCMD 0x10C 0x00C S Zero speed output ZSO 0x10D 0x00D P S T Torque being limited LM 0x10E 0x00E P S T Homing completion HEND 0x10F 0x00F P Torque reaching TRCH 0x110 0x010 T Reserved 0x111 0x011 Reserved 0x112 0x012 Reserved 0x113 0x013 Reserved 0x114 0x014 Reserved 0x115 0x015 PTP reaching PTPF 0x116 0x016 P PTP output 1 PTPO1 0x117 0x017 P PTP output 2 PTPO2 0x118 0x018 P ...

Page 140: ...utput functions for digitals 2 to 6 These parameters are in the hexadecimal format The setting method is similar to that for P3 10 Note The default values indicate the functions applied in position mode P3 111 Data size 16bit Data format HEX Modbus address 1622 1623 CANopen address 0x230B 0x00 P3 121 Data size 16bit Data format HEX Modbus address 1624 1625 CANopen address 0x230C 0x00 P3 131 Data s...

Page 141: ...to improve the effective accuracy of the AI Due to reasons such as the zero drift of analog input devices or induced voltage in the ambient environment the actual analog input value may deviate from the expected value and such deviation can be eliminated by setting the offset of AI See the following figure for the analog input offset voltage 10V 10V Actual voltage V Sampling voltage V After settin...

Page 142: ...old of AI 1 Setting range Default Unit Applicable mode 0 000 10 000 0 000 V P S T This parameter specifies the overvoltage OV protection threshold of analog input 1 If the absolute value of R1 05 exceeds the setting of this parameter the system reports a fault Note The default value 0 indicates OV protection is not used The setting of this parameter cannot be greater than 10V Otherwise the drive m...

Page 143: ...368Vc P3 24 Data size 16bit Data format DEC Modbus address 1648 1649 CANopen address 0x2318 0x00 P3 25 OV protection threshold of AI 2 Setting range Default Unit Applicable mode 0 000 10 000 0 000 V P S T This parameter specifies the OV protection value of analog input 2 Note The default value 0 indicates OV protection is not used The setting of this parameter cannot be greater than 10V Otherwise ...

Page 144: ...dress 0x231B 0x00 P3 28 Analog speed compensation gain Setting range Default Unit Applicable mode 0 0 100 0 0 0 P This parameter specifies the analog speed compensation gain P3 28 Data size 16bit Data format DEC Modbus address 1656 1657 CANopen address 0x231C 0x00 P3 29 Analog torque compensation gain Setting range Default Unit Applicable mode 0 0 100 0 0 0 P S T This parameter specifies the analo...

Page 145: ...imit 0 1 14 Speed limit r min 15 Inertia ratio 16 Analog input 1 V 17 Analog input 2 V 18 Analog input 3 V 19 Drive temperature C Note If P3 31 and P3 33 are set to 1000 analog input 1 analog input 2 and analog input 3 automatically output the voltage that is input from analog input terminals P3 301 Data size 16bit Data format DEC Modbus address 1660 1661 CANopen address 0x231E 0x00 P3 321 Data si...

Page 146: ...milar P3 31 Data size 32bit Data format DEC Modbus address 1662 1663 CANopen address 0x231F 0x00 P3 33 Data size 32bit Data format DEC Modbus address 1666 1667 CANopen address 0x2321 0x00 P3 34 Offset voltage of AO 1 Setting range Default Unit Applicable mode 10 000 10 000 0 000 V P S T P3 35 Offset voltage of AO 2 Setting range Default Unit Applicable mode 10 000 10 000 0 000 V P S T This group o...

Page 147: ...ameter Setting Meaning 0 The travel limit switch is valid 1 The travel limit switch is invalid 2 A limit exceeding fault occurs Note If the travel limit switch is enabled and the digital input of disabling forward drive is valid the motor stops immediately and does not run forward but it can receive reverse running commands P3 401 Data size 16bit Data format DEC Modbus address 1680 1681 CANopen ad...

Page 148: ... Default Unit Applicable mode 0 1 0 P This parameter specifies whether the command pulse inhibition 0x008 or 0x108 digital inputs in P3 00 P3 07 are valid You can disable the command pulse inhibition function by setting this parameter 0 The command pulse inhibition function is valid 1 The command pulse inhibition function is invalid P3 44 Data size 16bit Data format DEC Modbus address 1688 1689 CA...

Page 149: ...command and the position deviation is in the range of P3 50 Subsequently the system continuously outputs the valid state within the time specified by P3 52 Then the system updates the output status of position arrival based on the position command and position deviation 4 The output is valid when there is a transition from with a position command to without a position command and the position devi...

Page 150: ...xceeds the setting of this parameter the output is valid The detection finds a lag of 10 r min P3 54 Data size 16bit Data format DEC Modbus address 1708 1709 CANopen address 0x2336 0x00 P3 55 Zero speed range Setting range Default Unit Applicable mode 10 20000 50 r min P S T This parameter specifies the condition for detecting zero speed output When the absolute value of the motor speed is within ...

Page 151: ...when the brake is released P3 581 Data size 16bit Data format DEC Modbus address 1716 1717 CANopen address 0x233A 0x00 P3 59 Torque reaching range Setting range Default Unit Applicable mode 5 0 300 0 50 0 T This parameter specifies the condition for detecting torque reaching output If the motor torque feedback exceeds the setting of this parameter the output of torque reaching 0x010 or 0x110 is va...

Page 152: ...ddress 0x235A 0x00 P3 92 Pulse feedback filter time Setting range Default Unit Applicable mode P S T This parameter specifies the filter time for detecting pulse feedback of the incremental encoder P3 92 Data size 16bit Data format DEC Modbus address 1784 1785 CANopen address 0x235C 0x00 6 5 Extension and application group P4 6 5 1 Communication P4 001 Local EtherCAT address Setting range Default ...

Page 153: ...baud rate Setting Meaning 0 1000kbps 1 500kbps 2 250kbps 3 125kbps 4 50kbps 5 20kbps P4 021 Data size 16bit Data format DEC Modbus address 1804 1805 CANopen address 0x2402 0x00 P4 031 RS485 baud rate Setting range Default Unit Applicable mode 0 3 1 P S T This parameter specifies the RS485 communication baud rate Setting Meaning 0 9600bps 1 19200bps 2 38400bps 3 57600bps P4 031 Data size 16bit Data...

Page 154: ... format DEC Modbus address 1810 1811 CANopen address 0x2405 0x00 P4 06 RS485 fault clearing mode Setting range Default Unit Applicable mode 0 1 1 P S T This parameter specifies the mode for handling a fault that occurs in RS485 communication Setting Meaning 0 The fault is not cleared 1 The fault is cleared automatically P4 06 Data size 16bit Data format DEC Modbus address 1812 1813 CANopen address...

Page 155: ...he value 0 indicates EtherCAT faults are not detected P4 091 Data size 16bit Data format DEC Modbus address 1818 1819 CANopen address 0x2409 0x00 6 5 2 Servo types and communication control commands P4 101 Upper computer type Setting range Default Unit Applicable mode 0 1 0 P S T This parameter specifies the upper computer type which is identified by the drive control interface type of the upper c...

Page 156: ...is set to 1 P4 12 Data size 32bit Data format DEC Modbus address 1824 1825 CANopen address 0x240C 0x00 P4 13 Bus speed command Setting range Default Unit Applicable mode 6000 0 6000 0 0 0 r min S This parameter specifies the speed command for the drive when P4 10 is set to 1 P4 13 Data size 32bit Data format DEC Modbus address 1826 1827 CANopen address 0x240D 0x00 P4 14 Bus torque command Setting ...

Page 157: ...able gain switching for the drive When P2 22 P2 27 and P2 31 are set to 2 the actual gain settings are used for switching Setting Meaning Actual gain 0 Disable Set by the first gain 1 Enable Set by the second gain P4 16 Data size 16bit Data format DEC Modbus address 1832 1833 CANopen address 0x2410 0x00 P4 17 Electronic gear ratio switching command Setting range Default Unit Applicable mode 0 3 0 ...

Page 158: ...3 0x00 P4 20 Clearing residual pulses Setting range Default Unit Applicable mode 0 1 0 P This parameter specifies whether to enable residual pulse clearing for the drive P3 45 specifies the mode for clearing residual pulses If residual pulses are cleared R0 04 is changed to 0 Setting Meaning 0 Disable 1 Enable P4 20 Data size 16bit Data format DEC Modbus address 1840 1841 CANopen address 0x2414 0x...

Page 159: ...0x2417 0x00 P4 24 Vibration control switching command Setting range Default Unit Applicable mode 0 1 0 P This parameter specifies whether to enable vibration control switching for the drive Setting Meaning 0 Disable 1 Enable 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 Applicabl...

Page 160: ... servo motor If the absolute value of the speed command is greater than the setting of this parameter the actually set speed is limited by this parameter and the actual direction is the same as that in the original speed command This parameter is valid in all modes Note The default value and setting range of this parameter are associated with the drive power class P4 31 Data size 16bit Data format...

Page 161: ... P4 341 Data size 16bit Data format DEC Modbus address 1868 1869 CANopen address 0x2422 0x00 P4 35 Out of control speed detection enabling Setting range Default Unit Applicable mode 0 1 1 P S T The parameter is used to enable or disable the detection on out of control speed Setting Function 0 Disable 1 Enable P4 35 Data size 16bit Data format DEC Modbus address 1870 1871 CANopen address 0x2423 0x0...

Page 162: ...1877 CANopen address 0x2426 0x00 P4 39 Speed deviation threshold Setting range Default Unit Applicable mode 0 20000 0 r min P S This parameter specifies the condition for detecting the speed deviation fault If the absolute value of the actual speed command minus the motor speed is greater than the setting of this parameter and the deviation lasts more than 100ms a speed deviation alarm is reported...

Page 163: ...arameter specifies speed threshold for out of control protection The smaller set value the more sensitive P4 43 Data size 32bit Data format DEC Modbus address 1886 1887 CANopen address 0x242B 0x00 P4 45 OT threshold of medium power motor Setting range Default Unit Applicable mode 0 200 0 C P S T Temperature sampling from temperature resistor KTY84 130 is supported If the temperature exceeds the se...

Page 164: ...nt Setting range Default Unit Applicable mode 10 0 200 0 100 0 P S T This parameter specifies the adjustment coefficient of automatic current regulator response width P4 53 Data size 16bit Data format DEC Modbus address 1906 1907 CANopen address 0x2435 0x00 P4 541 Delay after power on initialization Setting range Default Unit Applicable mode 0 200000 0 ms P S T This parameter specifies the delay t...

Page 165: ...Modbus address 1924 1925 CANopen address 0x243E 0x00 P4 641 Hybrid control deviation limit Setting range Defaul t Unit Applicable mode 1 227 160000 reference unit P In fully closed loop control there is a tolerance between the reference unit corresponding to the encoder feedback position and user reference unit corresponding to the grating ruler feedback position The tolerance is called hybrid con...

Page 166: ...ivision output source Setting range Default Unit Applicable mode 0 4 0 P S T This parameter specifies the signal source of frequency division output Setting Meaning 0 Normal frequency division output 1 Second encoder 2 Input from quadrature pulses in phases A and B 3 Internal virtual shaft 4 First encoder valid only for incremental encoders P4 691 Data size 32bit Data format DEC Modbus address 193...

Page 167: ...1 2500 PPR standard incremental type 2 2500 PPR economical incremental type 3 17 bit single turn absolute type 4 17 bit multiturn absolute type 3 10 23 bit multiturn absolute type 3 Other Reserved P4 71 Data size 16bit Data format DEC Modbus address 1942 1943 CANopen address 0x2447 0x00 P4 72 Cascading mode of encoder 2 Setting range Default Unit Applicable mode 1 12 0 P S T This parameter specifi...

Page 168: ...ange Default Unit Applicable mode 0 1 0 P S T This parameter specifies whether to enable automatic stop when CANopen communication is disconnected Setting Meaning 0 Disable 1 Enable P4 89 Data size 16bit Data format DEC Modbus address 1978 1979 CANopen address 0x2459 0x00 6 5 5 Special commands P4 90 Fault recovery Setting range Default Unit Applicable mode 0 1 0 P S T This parameter specifies whe...

Page 169: ...range Default Unit Applicable mode 0 1 0 P S T This parameter specifies whether to enable the function of restoring factory settings If the function is enabled all user parameters from group P0 to group P6 are restored to factory settings Setting Meaning 0 Disable 1 Enable P4 92 Data size 16bit Data format DEC Modbus address 1984 1985 CANopen address 0x245C 0x00 P4 93 Read fault records Setting ra...

Page 170: ...and the faults have occurred most recently The value 9 indicates the fault records in group 10 are read and the faults have occurred earliest P4 95 Data size 16bit Data format DEC Modbus address 1990 1991 CANopen address 0x245F 0x00 P4 96 Reserved Setting range Default Unit Applicable mode P S T This parameter cannot be modified P4 96 Data size 16bit Data format DEC Modbus address 1992 1993 CANope...

Page 171: ...trol group P5 6 6 1 Program Jog settings P5 00 Jog mode Setting range Default Unit Applicable mode 0 6 0 P This parameter specifies the program Jog mode Mode Key Function 0 Wait time P5 04 Forward moving P5 01 Cycles P5 05 P5 02 Speed 0 P5 04 P5 03 P5 04 P5 04 P5 05 P5 01 P5 01 P5 01 1 Wait time P5 04 Forward moving P5 01 Cycles P5 05 P5 02 Speed 0 P5 04 P5 04 P5 05 P5 01 P5 01 P5 01 P5 03 P5 04 2...

Page 172: ...ncrement Setting range Defaul t Unit Applicable mode 1 230 50000 reference unit P This parameter specifies the increment of the position movement at jogging P5 01 Data size 32bit Data format DEC Modbus address 2002 2003 CANopen address 0x2501 0x00 P5 02 Jogging speed Setting range Default Unit Applicable mode 1 5000 500 r min P This parameter specifies the maximum running speed at jogging P5 02 Da...

Page 173: ...jogging The setting of this parameter corresponds to the time from jogging starting to the actual running or to the time taken to wait for next displacement after the current displacement P5 04 Data size 16bit Data format DEC Modbus address 2008 2009 CANopen address 0x2504 0x00 P5 05 Jogging cycles Setting range Default Unit Applicable mode 0 10000 1 P This parameter specifies the number of joggin...

Page 174: ... 0 Report an offside fault T 1 Reverse the direction M 2 Forward rotation The rising edge of the home switch is the recurrent point M 3 Reverse rotation The rising edge of the reverse limit switch is the recurrent point Z Invalid M 4 Forward rotation The first phase Z signal is the recurrent point Z Invalid M 5 Reverse rotation The first phase Z signal is the recurrent point Z 0 Returning to locat...

Page 175: ... step 1 Setting range Default Unit Applicable mode 0 2000 100 r min P This parameter specifies the high speed at step 1 of homing Diagram 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 at homing step 2 Setting range Default Unit Applicable mode 0 60 20 r min P This para...

Page 176: ...rive goes to the target position without homing P5 16 Data size 16bit Data format DEC Modbus address 2032 2033 CANopen address 0x2510 0x00 P5 17 Target speed after homing Setting range Default Unit Applicable mode 1 5000 100 r min P This parameter specifies the target speed after homing The change takes effect before homing P5 17 Data size 16bit Data format DEC Modbus address 2034 2035 CANopen add...

Page 177: ...egment If data is written PTP is triggered and the internal buffer can receive 8 trigger signals at most Setting Meaning 1 Invalid 0 127 It triggers PTP control for PTPs 0 127 which equals the digital input of TRIG POSn 128 2047 Invalid 2048 Forcible stop Example If segment signal 3 is written segment program 3 is triggered P5 20 Data size 16bit Data format DEC Modbus address 2040 2041 CANopen add...

Page 178: ...ed 09 Setting range Default Unit Applicable mode 0 6000 1300 r min P P5 31 Target speed 10 Setting range Default Unit Applicable mode 0 6000 1500 r min P P5 32 Target speed 11 Setting range Default Unit Applicable mode 0 6000 1800 r min P P5 33 Target speed 12 Setting range Default Unit Applicable mode 0 6000 2000 r min P P5 34 Target speed 13 Setting range Default Unit Applicable mode 0 6000 2300...

Page 179: ...057 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 P5 32 Data size 16bit Data format DEC Modbus address 2064 2065 CANopen address 0x2520 0x00 P5 3...

Page 180: ... Default Unit Applicable mode 0 32767 1000 ms P P5 44 ACC DEC time 07 Setting range Default Unit Applicable mode 0 32767 1200 ms P P5 45 ACC DEC time 08 Setting range Default Unit Applicable mode 0 32767 1500 ms P P5 46 ACC DEC time 09 Setting range Default Unit Applicable mode 0 32767 2000 ms P P5 47 ACC DEC time 10 Setting range Default Unit Applicable mode 0 32767 2500 ms P P5 48 ACC DEC time 1...

Page 181: ...00 P5 42 Data size 16bit Data format DEC Modbus address 2084 2085 CANopen address 0x252A 0x00 P5 43 Data size 16bit Data format DEC Modbus address 2086 2087 CANopen address 0x252B 0x00 P5 44 Data size 16bit Data format DEC Modbus address 2088 2089 CANopen address 0x252C 0x00 P5 45 Data size 16bit Data format DEC Modbus address 2090 2091 CANopen address 0x252D 0x00 P5 46 Data size 16bit Data format...

Page 182: ...t Applicable mode 0 32767 500 ms P P5 58 Delay time 05 Setting range Default Unit Applicable mode 0 32767 800 ms P P5 59 Delay time 06 Setting range Default Unit Applicable mode 0 32767 1000 ms P P5 60 Delay time 07 Setting range Default Unit Applicable mode 0 32767 1500 ms P P5 61 Delay time 08 Setting range Default Unit Applicable mode 0 32767 2000 ms P P5 62 Delay time 09 Setting range Default ...

Page 183: ...at DEC Modbus address 2112 2113 CANopen address 0x2538 0x00 P5 57 Data size 16bit Data format DEC Modbus address 2114 2115 CANopen address 0x2539 0x00 P5 58 Data size 16bit Data format DEC Modbus address 2116 2117 CANopen address 0x253A 0x00 P5 59 Data size 16bit Data format DEC Modbus address 2118 2119 CANopen address 0x253B 0x00 P5 60 Data size 16bit Data format DEC Modbus address 2120 2121 CANo...

Page 184: ...le mode 231 1 231 1 10000 pulse P This parameter specifies the single turn resolution of the disk that the motor drives P5 70 Data size 32bit Data format DEC Modbus address 2140 2141 CANopen address 0x2546 0x00 P5 71 Disk homing switch Setting range Default Unit Applicable mode 0 3 0 P This parameter specifies the homing mode of the disk P5 71 Data size 16bit Data format DEC Modbus address 2142 21...

Page 185: ... word in the absolute position supported P5 74 Data size 16bit Data format DEC Modbus address 2148 2149 CANopen address 0x254A 0x00 P5 75 Suspend PTP control Setting range Default Unit Applicable mode 0 1 0 P This parameter specifies whether to suspend PTP control The value 1 indicates PTP control is suspended P5 75 Data size 16bit Data format DEC Modbus address 2150 2151 CANopen address 0x254B 0x...

Page 186: ...h time the terminal is latched However frequent latching may cause EEPROM damage Setting Meaning 0 Disable 1 Enable P6 021 Data size 16bit Data format DEC Modbus address 2204 2205 CANopen address 0x2602 0x00 P6 03 Save position latching Setting range Default Unit Applicable mode 0 1 0 P This parameter specifies whether to save position latching Setting Meaning 0 Not save 1 Save P6 03 Data size 16b...

Page 187: ...ging Setting Meaning 0 Disable 1 Enable P6 06 Data size 16bit Data format DEC Modbus address 2212 2213 CANopen address 0x2606 0x00 P6 201 Turret switch Setting range Default Unit Applicable mode 0 1 0 P This parameter specifies whether to enable the turret switch Setting Meaning 0 Disable 1 Enable P6 201 Data size 16bit Data format DEC Modbus address 2240 2241 CANopen address 0x2614 0x00 P6 21 Kni...

Page 188: ...tting Meaning 0 Disable 1 Enable P6 301 Data size 16bit Data format DEC Modbus address 2260 2261 CANopen address 0x261E 0x00 P6 31 Speed control gain for gantry synchronization Setting range Default Unit Applicable mode 0 0 3276 7 0 0 Hz P This parameter specifies the speed control gain for gantry synchronization P6 31 Data size 16bit Data format DEC Modbus address 2262 2263 CANopen address 0x261F...

Page 189: ...ompensation Setting range Default Unit Applicable mode 0 00 64 00 0 00 ms P This parameter specifies the speed filter time constant for gantry synchronization compensation P6 35 Data size 16bit Data format DEC Modbus address 2270 2271 CANopen address 0x2623 0x00 P6 36 Bandwidth ratio for gantry synchronization control Setting range Default Unit Applicable mode 0 0 1000 0 0 0 P This parameter speci...

Page 190: ...is parameter specifies the speed at which the servo retreats after contacting the two alignment sensors P6 39 Data size 16bit Data format DEC Modbus address 2278 2279 CANopen address 0x2627 0x00 P6 40 Approaching speed for gantry synchronization alignment Setting range Default Unit Applicable mode 1 60 5 r min P This parameter specifies the speed at which the servo approaches the alignment sensors...

Page 191: ...nt Description for MODE Setting Meaning 0 The program stops after the current segment is executed 1 The program jumps to the next segment after the current segment is executed 2 The program stops after circular execution If CMD is 1 the circulation is invalid 3 The program jumps to the next segment after circular execution If CMD is 1 the circulation is invalid Description for OPT Data bit Name Fu...

Page 192: ...de 0 INS OVLP DLY INS OVLP DLY INS OVLP DLY INS OVLP DLY t Speed t Speed Description for OVLP INS OVLP INS OVLP Relationship between INS and OVLP Segment 1 Segment 2 Note INS indicates the current segment has execution priority over the previous one while OVLP indicates the current segment is executed after the overlap with the next one is checked INS takes priority over OVLP For example if both O...

Page 193: ...PtP0 06 Control word of segment 03 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 08 Control word of segment 04 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 10 Control word of segment 05 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 12 Control word of segment 06 Setting range Default Unit Applicable mode 0 0x7FFFFF...

Page 194: ...d of segment 17 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 36 Control word of segment 18 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 38 Control word of segment 19 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 40 Control word of segment 20 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP...

Page 195: ...30 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 62 Control word of segment 31 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 64 Control word of segment 32 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 66 Control word of segment 33 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 68 Control ...

Page 196: ...tP0 88 Control word of segment 44 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 90 Control word of segment 45 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 92 Control word of segment 46 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP0 94 Control word of segment 47 Setting range Default Unit Applicable mode 0 0x7FFFFFF...

Page 197: ...ata size 32bit Data format HEX Modbus address 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 H...

Page 198: ...ata size 32bit Data format HEX Modbus address 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 H...

Page 199: ...EX Modbus address 3396 3397 CANopen address 0x2B62 0x00 PtP0 03 Position of segment 01 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 05 Position of segment 02 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 07 Position of segment 03 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 09 Position of segment 0...

Page 200: ...tting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 31 Position of segment 15 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 33 Position of segment 16 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 35 Position of segment 17 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 37 Posit...

Page 201: ...tting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 57 Position of segment 28 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 59 Position of segment 29 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 61 Position of segment 30 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 63 Posit...

Page 202: ...tting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 83 Position of segment 41 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 85 Position of segment 42 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 87 Position of segment 43 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP0 89 Posit...

Page 203: ...222 3223 CANopen address 0x2B0B 0x00 PtP0 13 Data size 32bit Data format DEC Modbus address 3226 3227 CANopen address 0x2B0D 0x00 PtP0 15 Data size 32bit Data format DEC Modbus address 3230 3231 CANopen address 0x2B0F 0x00 PtP0 17 Data size 32bit Data format DEC Modbus address 3234 3235 CANopen address 0x2B11 0x00 PtP0 19 Data size 32bit Data format DEC Modbus address 3238 3239 CANopen address 0x2...

Page 204: ...03 CANopen address 0x2B33 0x00 PtP0 53 Data size 32bit Data format DEC Modbus address 3306 3307 CANopen address 0x2B35 0x00 PtP0 55 Data size 32bit Data format DEC Modbus address 3310 3311 CANopen address 0x2B37 0x00 PtP0 57 Data size 32bit Data format DEC Modbus address 3314 3315 CANopen address 0x2B39 0x00 PtP0 59 Data size 32bit Data format DEC Modbus address 3318 3319 CANopen address 0x2B3B 0x...

Page 205: ...ress 0x2B59 0x00 PtP0 91 Data size 32bit Data format DEC Modbus address 3382 3383 CANopen address 0x2B5B 0x00 PtP0 93 Data size 32bit Data format DEC Modbus address 3386 3387 CANopen address 0x2B5D 0x00 PtP0 95 Data size 32bit Data format DEC Modbus address 3390 3391 CANopen address 0x2B5F 0x00 PtP0 97 Data size 32bit Data format DEC Modbus address 3394 3395 CANopen address 0x2B61 0x00 PtP0 99 Dat...

Page 206: ...d of segment 60 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 22 Control word of segment 61 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 24 Control word of segment 62 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 26 Control word of segment 63 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP...

Page 207: ...73 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 48 Control word of segment 74 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 50 Control word of segment 75 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 52 Control word of segment 76 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 54 Control ...

Page 208: ...86 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 74 Control word of segment 87 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 76 Control word of segment 88 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 78 Control word of segment 89 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP1 80 Control ...

Page 209: ...e the description for PtP0 00 PtP1 00 Data size 32bit Data format HEX Modbus address 3400 3401 CANopen address 0x2C00 0x00 PtP1 02 Data size 32bit Data format HEX Modbus address 3404 3405 CANopen address 0x2C02 0x00 PtP1 04 Data size 32bit Data format HEX Modbus address 3408 3409 CANopen address 0x2C04 0x00 PtP1 06 Data size 32bit Data format HEX Modbus address 3412 3413 CANopen address 0x2C06 0x0...

Page 210: ...73 CANopen address 0x2C24 0x00 PtP1 38 Data size 32bit Data format HEX Modbus address 3476 3477 CANopen address 0x2C26 0x00 PtP1 40 Data size 32bit Data format HEX Modbus address 3480 3481 CANopen address 0x2C28 0x00 PtP1 42 Data size 32bit Data format HEX Modbus address 3484 3485 CANopen address 0x2C2A 0x00 PtP1 44 Data size 32bit Data format HEX Modbus address 3488 3489 CANopen address 0x2C2C 0x...

Page 211: ...53 CANopen address 0x2C4C 0x00 PtP1 78 Data size 32bit Data format HEX Modbus address 3556 3557 CANopen address 0x2C4E 0x00 PtP1 80 Data size 32bit Data format HEX Modbus address 3560 3561 CANopen address 0x2C50 0x00 PtP1 82 Data size 32bit Data format HEX Modbus address 3564 3565 CANopen address 0x2C52 0x00 PtP1 84 Data size 32bit Data format HEX Modbus address 3568 3569 CANopen address 0x2C54 0x...

Page 212: ...ode 231 1 231 1 0 reference unit P PtP1 13 Position of segment 56 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 15 Position of segment 57 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 17 Position of segment 58 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 19 Position of segment 59 Setting range Defau...

Page 213: ...f segment 69 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 41 Position of segment 70 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 43 Position of segment 71 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 45 Position of segment 72 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit ...

Page 214: ...ode 231 1 231 1 0 reference unit P PtP1 67 Position of segment 83 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 69 Position of segment 84 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 71 Position of segment 85 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 73 Position of segment 86 Setting range Defau...

Page 215: ...ge Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 97 Position of segment 98 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP1 99 Position of segment 99 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P This group of parameter specifies the positions of segments 50 to 99 The CMD attribute determines the position command mode of ...

Page 216: ...ata size 32bit Data format DEC Modbus address 3458 3459 CANopen address 0x2C1D 0x00 PtP1 31 Data size 32bit Data format DEC Modbus address 3462 3463 CANopen address 0x2C1F 0x00 PtP1 33 Data size 32bit Data format DEC Modbus address 3466 3467 CANopen address 0x2C21 0x00 PtP1 35 Data size 32bit Data format DEC Modbus address 3470 3471 CANopen address 0x2C23 0x00 PtP1 37 Data size 32bit Data format D...

Page 217: ...ata size 32bit Data format DEC Modbus address 3538 3539 CANopen address 0x2C45 0x00 PtP1 71 Data size 32bit Data format DEC Modbus address 3542 3543 CANopen address 0x2C47 0x00 PtP1 73 Data size 32bit Data format DEC Modbus address 3546 3547 CANopen address 0x2C49 0x00 PtP1 75 Data size 32bit Data format DEC Modbus address 3550 3551 CANopen address 0x2C4B 0x00 PtP1 77 Data size 32bit Data format D...

Page 218: ...7FFFFFFF 0x00000000 P PtP2 04 Control word of segment 102 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP2 06 Control word of segment 103 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP2 08 Control word of segment 104 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP2 10 Control word of segment 105 Setting range Default Unit ...

Page 219: ...15 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP2 32 Control word of segment 116 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP2 34 Control word of segment 117 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP2 36 Control word of segment 118 Setting range Default Unit Applicable mode 0 0x7FFFFFFF 0x00000000 P PtP2 38 Contr...

Page 220: ...2bit Data format HEX Modbus address 3604 3605 CANopen address 0x2D02 0x00 PtP2 04 Data size 32bit Data format HEX Modbus address 3608 3609 CANopen address 0x2D04 0x00 PtP2 06 Data size 32bit Data format HEX Modbus address 3612 3613 CANopen address 0x2D06 0x00 PtP2 08 Data size 32bit Data format HEX Modbus address 3616 3617 CANopen address 0x2D08 0x00 PtP2 10 Data size 32bit Data format HEX Modbus ...

Page 221: ...2bit Data format HEX Modbus address 3680 3681 CANopen address 0x2D28 0x00 PtP2 42 Data size 32bit Data format HEX Modbus address 3684 3685 CANopen address 0x2D2A 0x00 PtP2 44 Data size 32bit Data format HEX Modbus address 3688 3689 CANopen address 0x2D2C 0x00 PtP2 46 Data size 32bit Data format HEX Modbus address 3692 3693 CANopen address 0x2D2E 0x00 PtP2 48 Data size 32bit Data format HEX Modbus ...

Page 222: ...t Applicable mode 231 1 231 1 0 reference unit P PtP2 19 Position of segment 109 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP2 21 Position of segment 110 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP2 23 Position of segment 111 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP2 25 Position of segment 112 S...

Page 223: ...le mode 231 1 231 1 0 reference unit P PtP2 47 Position of segment 123 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP2 49 Position of segment 124 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP2 51 Position of segment 125 Setting range Default Unit Applicable mode 231 1 231 1 0 reference unit P PtP2 53 Position of segment 126 Setting ran...

Page 224: ...ata 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 0x2D1B 0x00 PtP2 29 Data size 32bit Data format D...

Page 225: ...Unit 9999 9 9999 9 0 1 r min This parameter displays the actual oration speed of the motor Note Filtering is executed for the display R0 00 Data size 32bit Data format DEC Modbus address 4000 4001 CANopen address 0x3000 0x00 R0 01 Speed command Setting range Accuracy Unit 9999 9 9999 9 0 1 r min This parameter displays the current speed command of the servo motor Note If the ACC DEC time function ...

Page 226: ...vo drive Function codes 220 This parameter accumulates and displays the position command pulses with signs R0 03 Data size 64bit Data format DEC Modbus address 4008 4009 4010 4011 CANopen address 0x3003 0x00 0x3003 0x01 ...

Page 227: ...it 500 0 500 0 0 1 This parameter displays the current torque which is expressed in percentage assuming the servo motor rated torque is 100 0 R0 06 Data size 16bit Data format DEC Modbus address 4016 4017 CANopen address 0x3006 0x00 R0 07 Main circuit DC voltage Setting range Accuracy Unit 0 0 1000 0 0 1 V This parameter displays the DC bus voltage of the main circuit power R0 07 Data size 16bit D...

Page 228: ...bit Data format DEC Modbus address 4030 4031 CANopen address 0x300D 0x00 R0 14 Rotor position relative to pulse Z Setting range Accuracy Unit 0 231 1 1 pulse This parameter displays the absolute mechanical position of the motor in one encoder rotation cycle The unit is encoder resolution R0 14 Data size 32bit Data format DEC Modbus address 4032 4033 CANopen address 0x300E 0x00 R0 15 Load inertia r...

Page 229: ...ANopen address 0x3012 0x00 R0 19 Denominator of actual electronic gear ratio Setting range Accuracy Unit 1 231 1 1 This parameter displays the denominator of actual electronic gear ratio R0 19 Data size 32bit Data format DEC Modbus address 4042 4043 CANopen address 0x3013 0x00 R0 20 Position command speed Setting range Accuracy Unit 9999 9 9999 9 0 1 r min This parameter displays the speed corresp...

Page 230: ...0 24 Encoder EEPROM status Setting range Accuracy Unit 0 3 This parameter displays the EEPROM status of the absolute encoder If motor parameter data is not found in EEPROM or incorrect the system uses the internal motor parameters of the drive Setting Meaning 0 No EEPROM 1 No data found in the EEPROM 2 EEPROM data error 3 Data in the EEPROM is valid R0 24 Data size 16bit Data format DEC Modbus add...

Page 231: ...a format DEC Modbus address 4058 4059 CANopen address 0x301B 0x00 R0 28 CANopen status machine Setting range Accuracy Unit 0 18 This parameter displays the current status of the internal CANopen status machine when CAN is used for communication or that of the CANopen over EtherCAT CoE status machine when EtherCAT is used for communication Setting Protocol Status 0 Invalid 1 CAN Init 2 Pre Op 5 Sto...

Page 232: ...lays the IGBT status Setting Meaning 0 Closed 1 Open R0 31 Data size 16bit Data format DEC Modbus address 4066 4067 CANopen address 0x301F 0x00 R0 32 Current mode Setting range Accuracy Unit 0 2 This parameter displays the control mode that the drive uses currently Setting Meaning 0 Position mode 1 Speed mode 2 Torque mode R0 32 Data size 16bit Data format DEC Modbus address 4068 4069 CANopen addr...

Page 233: ...00 0 01 This parameter displays the current FPGA version number R0 36 Data size 16bit Data format DEC Modbus address 4076 4077 CANopen address 0x3024 0x00 R0 38 Drive SN 1 Setting range Accuracy Unit 0 65535 1 This parameter displays drive series number 1 R0 38 Data size 16bit Data format DEC Modbus address 4080 4081 CANopen address 0x3026 0x00 R0 39 Drive SN 2 Setting range Accuracy Unit 0 65535 ...

Page 234: ... 0x302B 0x00 R0 44 Absolute position in single grating ruler or encoder 2 turn Setting range Accuracy Unit 0 231 1 1 pulse This parameter displays the feedback of the absolute position in a single turn of the grating ruler or second encoder R0 44 Data size 32bit Data format DEC Modbus address 4092 4093 CANopen address 0x302C 0x00 R0 45 Speed feedback from encoder 2 Setting range Accuracy Unit 9999...

Page 235: ...999 9 0 1 r min This parameter displays the compensation from the fully closed loop vibration suppressor R0 49 Data size 32bit Data format DEC Modbus address 4102 4103 CANopen address 0x3031 0x00 R0 51 Real time load inertia ratio Setting range Accuracy Unit 0 10000 1 This parameter displays the load inertia ratio observed in real time R0 51 Data size 16bit Data format DEC Modbus address 4106 4107...

Page 236: ...nge Accuracy Unit 231 1 231 1 1 This parameter displays the encoder turn deviation after multiturn positions are cleared R0 55 Data size 32bit Data format DEC Modbus address 4114 4115 CANopen address 0x3037 0x00 R0 56 Encoder feedback deviation after multiturn position cleared Setting range Accuracy Unit 231 1 231 1 1 pulse This parameter displays the encoder feedback deviation after multiturn pos...

Page 237: ...nes digits are the sub fault code R0 99 Data size 16bit Data format DEC Modbus address 4198 4199 CANopen address 0x3063 0x00 6 9 2 I O monitoring group R1 R1 00 Digital input status Setting range Accuracy Unit 0x000 0x3FF R1 01 Digital output status Setting range Accuracy Unit 0x00 0x3F Each of the parameters is a hexadecimal number indicating the status of all digital terminals in sequence The te...

Page 238: ...Data format DEC Modbus address 4206 4207 CANopen address 0x3103 0x00 R1 05 Corrected voltage of AI 1 Setting range Accuracy Unit 10 000 10 000 0 001 V This parameter displays the corrected voltage of the analog input channel 1 R1 05 Data size 32bit Data format DEC Modbus address 4210 4211 CANopen address 0x3105 0x00 R1 06 Corrected voltage of AI 2 Setting range Accuracy Unit 10 000 10 000 0 001 V ...

Page 239: ... 12 Data size 32bit Data format DEC Modbus address 4224 4225 CANopen address 0x310C 0x00 R1 13 Pulse corresponded speed command Setting range Accuracy Unit 10000 0 10000 0 0 1 r min This parameter displays the speed command corresponding to the pulse position command R1 13 Data size 32bit Data format DEC Modbus address 4226 4227 CANopen address 0x310D 0x00 R1 14 Analog compensation speed Setting r...

Page 240: ...lt occurred R3 03 Motor speed before fault Setting range Accuracy Unit 20000 20000 1 r min This parameter displays the motor speed before the currently read fault occurred R3 04 Speed command before fault Setting range Accuracy Unit 20000 20000 1 r min This parameter displays the speed command before the fault occurred R3 05 Accumulated feedback pulses before fault Setting range Accuracy Unit 263 ...

Page 241: ...tting range Accuracy Unit 0 00 1000 00 0 01 Arms This parameter displays the drive output line current before the currently read fault occurred R3 20 Last fault code Setting range Accuracy Unit This parameter displays the code of the last fault R3 21 2nd last fault code Setting range Accuracy Unit This parameter displays the code of the second last fault R3 22 3rd last fault code Setting range Acc...

Page 242: ...h last fault R3 27 8th last fault code Setting range Accuracy Unit This parameter displays the code of the eighth last fault R3 28 9th last fault code Setting range Accuracy Unit This parameter displays the code of the ninth last fault R3 29 10th last fault code Setting range Accuracy Unit This parameter displays the code of the tenth last fault ...

Page 243: ...uctions on identifying inertia 238 7 2 General methods for adjusting parameters 239 7 2 1 Adjusting gains in position mode 241 7 2 2 Adjusting gains in speed mode 243 7 2 3 Adjusting gains in torque mode 244 7 3 Mechanical resonance suppressing 245 7 4 Gains switching 246 ...

Page 244: ...fline inertia identifying is not affected by P1 00 Tune inertia online and P1 08 Inertia identifying class Before enabling the auxiliary function EF JId set P1 05 based on the motor allowed running mode P1 06 based on the motor allowed rotations and P1 07 based on the mechanical rigidity Strong mechanical rigidity allows you to set a small ACC DEC time constant P1 05 can be set to 1 indicating for...

Page 245: ... Speed loop gain It determines the response speed of the speed loop If the mechanical system has no vibration a greater speed loop gain indicates a quicker response speed Speed loop integral time constant The speed loop contains the integral component which can respond to minor input The integral component may delay servo system jobs A greater time constant indicates slower response increasing pos...

Page 246: ...rates the speed loop stableness Therefore the running is unstable Speed loop integral time constant too large The difference from the case of appropriate parameter settings is not noticeable The speed loop integral has no significant impact when the speed follows up the position command but the response time of the speed loop is impacted if the speed loop integral time constant is too large Speed ...

Page 247: ...e adjustable gain parameters in this control mode Current controller Position command P2 10 P2 11 P2 02 P2 07 P1 29 P1 30 P2 04 P1 31 P1 32 P2 03 P1 33 P1 34 P2 09 P2 08 P2 12 P2 13 P2 42 P2 43 P1 23 P1 24 P1 25 P1 26 P1 27 P1 28 P1 19 P1 20 P2 20 P2 22 P2 71 P2 72 P2 73 P2 24 P2 25 P2 23 P2 26 P0 09 P0 10 P0 11 P4 53 P4 51 P4 52 P0 27 P0 28 P0 29 P0 33 P0 34 P1 35 P1 36 P0 25 P0 26 P0 22 P1 37 P1...

Page 248: ...ain If the servo motor runs with default settings but the system vibrates with buzzes decrease the position loop gain that is P2 02 or P2 07 or increase it when the system rigidity is low 3 Adjust the position smoothing filter In position control if the input frequency changes of position pulse commands are noticeable huge surges may be caused You need to adjust the P0 33 Position command smooth f...

Page 249: ...eters in speed mode is as follows 1 Restore default settings For details see section 5 2 5 3 Factory parameter restoring 2 Adjust the speed loop gain If the servo motor runs with default settings but the system vibrates with buzzes you need to decrease the speed loop gain that is P2 00 or P2 05 or increase it when the system rigidity is low or the speed fluctuates sharply 3 Adjust the speed integr...

Page 250: ...uce the impact by external disturbance so as to improve speed loop performance 12 Adjust friction compensation If the speed follow up performance is poor in the process of the motor changing the direction for forward or reverse rotating you can adjust P2 71 CCW torque coefficient of friction compensation and P2 72 CW torque coefficient of friction compensation to improve speed loop performance in ...

Page 251: ...notch filter parameters to suppress the resonant frequency width and depth so as for the system to obtain higher gains or reduce vibration The servo drive has been equipped with four notch filters which are specified by the first notch filter parameters P1 23 P1 24 and P1 25 second notch filter parameters P1 26 P1 27 and P1 28 third notch filter parameters P1 29 P1 30 and P1 31 and fourth notch fi...

Page 252: ...itioning time if the gain is increased during stop Improve command follow up and speed if the gain is increased during working Control gain switching through external signals based on external status of device In the following tables of switching gains in different modes indicates the parameter is valid while indicates the parameter is invalid Position control and fully closed loop control Trigger...

Page 253: ... 3 r min r min 9 Position command actual speed 7 r min 5 r min 5 Speed control Trigger Settings for speed control P2 27 To switch to gain 2 Figure Delay time 1 Level Lag 2 P2 28 P2 29 P2 30 0 Fixed to gain 1 1 Fixed to gain 2 2 With gain switching input 3 Torque command input 1 0 1 0 1 4 Torque command variable input 2 4 10 r min s 4 10 r min s 5 Speed command 3 r min r min Torque control Trigger ...

Page 254: ...uler is specified through the control mode 4 The setting is 1 if a speed change of 10 r min occurs within 1s 5 When P2 22 is set to 9 the meanings of delay time level and lag are different to the common ones Lag Level P2 24 P2 29 P2 33 0 L H P2 25 P2 30 P2 34 Speed Figure 1 1st 2nd 1st gain 1st 2nd Level Speed command Figure 2 1st 2nd 1st gain 1st 2nd Delay Level ΔS Delay Switching level Switching...

Page 255: ...ing 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 2nd gain 2nd gain 1st 1st Delay Delay Note The preceding figures do not illustrate the gain switching timing sequence offset caused by lag parameters P2 25 P2 30 and P2 34 ...

Page 256: ...errors 254 8 2 6 Responding to errors 255 8 3 CANopen 256 8 3 1 Protocol description 256 8 3 2 Hardware configuration 256 8 3 3 Software configuration 256 8 3 4 Supported functions 257 8 5 Upper computer software 262 8 5 1 Astraada DRIVE Studio 262 8 5 2 Hardware 262 8 5 3 Software 262 8 5 4 Communication connection 262 8 5 5 Installing and running 263 8 5 6 Program interface 264 8 5 7 Setting par...

Page 257: ... commands running frequency function codes and working status and monitoring fault information 8 2 1 Modbus protocol description The Modbus serial communication protocol defines the frame content and formats asynchronously transferred The formats include those for master node polling broadcast frames and slave node response frames The content of a frame sent from the master node includes the slave...

Page 258: ...vice decodes the subsequent transmission characters The message ends only when there is a time gap with a minimum length of 3 5 characters An entire RTU message frame must be transmitted as a continuous flow If a receiver detects a time gap with a minimum length of 1 5 characters before the frame ends the receiver refreshes the incomplete message and assumes that the next byte is the address domai...

Page 259: ...ds n 2 Example If the command is to write 300 0000012CH to the address 03F2H of the servo drive with the slave node address 01H the command frame structure is as follows Table 8 4 Master node command message START T1 T2 T3 T4 3 5 byte transmission time ADDR 01H CMD 10H Write MSB of data address 03H Write LSB of data address F2H MSB of data count in word 00H LSB of data count in word 02H Byte count...

Page 260: ... placed in the parity check position after calculation 8 2 5 2 Cyclical Redundancy Check CRC An RTU frame includes the domain for checking for errors in the entire frame using the CRC method This CRC domain consists of two bytes including 16 bit hexadecimals It is added to the frame after being calculated by the sender The receiver recalculates the CRC in the received frame and compares it with th...

Page 261: ...1 1 Hexadecimal 83H In addition to the function code that is modified due to the error the slave node returns an error code indicating the error cause After receiving the abnormal response the master node resends a message which is typical processing or it changes the command based on the error Table 8 6 Error codes Modbus error codes Code Function Meaning 01H Invalid function The function code th...

Page 262: ... default 100m 250kbit s 250m 125kbit s 500m 50kbit s 1000m 20kbit s 2500m Note The CANL and CANH pins of all slave nodes can be directly connected in serial model but not star model A 120 ohms resistor must be connected between the master node and final node of the slave node Shielded twisted pairs are recommended as CAN connection cables for anti interference A longer connection cable indicates a...

Page 263: ...rts the NMT Module Control service that needs no confirmation and broadcast of SYNC objects Table 8 7 CiA 402 protocol parameters supported by the servo drive Index Object type Name Data type Access Mappable 6040h VAR Control word UNSIGNED16 RW Y 6041h VAR Status word UNSIGNED16 RO Y 6042h VAR vl target velocity INTEGER16 RW Y 6043h VAR vl velocity demand INTEGER16 RO Y 6044h VAR vl control effort...

Page 264: ... Y 6084h VAR Profile deceleration UNSIGNED32 RW Y 6085h VAR Quick stop deceleration UNSIGNED32 RW Y 6086h VAR Motion profile type INTEGER16 RO Y 6087h VAR Torque slope UNSIGNED32 RW Y 6088h VAR Torque profile type INTEGER16 RO Y 6093h ARRAY Position factor UNSIGNED32 RW Y 6098h VAR Homing method INTEGER8 RW Y 6099h ARRAY Homing speeds UNSIGNED32 RW Y 60C0h VAR Interpolation sub mode select INTEGER...

Page 265: ...r fault Encoder EEPROM writing error 7300 020bh Er02 c Encoder fault No data in encoder EEPROM 7300 020ch Er02 d Encoder fault Encoder EEPROM data check error 7300 020dh Er03 0 Current sensor fault Phase U current sensor fault 7200 0300h Er03 1 Current sensor fault Phase V current sensor fault 7200 0301h Er03 2 Current sensor fault Phase W current sensor fault 7200 0302h Er04 0 System initializati...

Page 266: ...tware fault Motor control task re entry 6100 0B00h Er11 1 Software fault Periodic task re entry 6100 0B01h Er11 2 Software fault Illegal operation 6100 0B02h Er12 0 I O fault Duplicate digital input assignment FF01 0C00h Er12 2 I O fault Pulse input frequency too high 5430 1202h Er13 0 Main circuit overvoltage 3110 1300h Er13 1 Main circuit undervoltage 3120 1301h Er17 0 Drive overload 3230 1700h ...

Page 267: ...9h Er25 a Application fault Out of range in magnetic pole check ff00 250ah Er26 0 CANopen fault CANopen offline 8100 2600h Er26 1 CANopen fault SDO index not exist 8100 2601h Er26 2 CANopen fault SDO sub index not exist 8100 2602h Er26 3 CANopen fault Incorrect SDO data length 8100 2603h Er26 4 CANopen fault SDO data out of range 8100 2604h Er26 5 CANopen fault Modification not allowed for read on...

Page 268: ...o drive in batches Display and read faults Provide independent function application interfaces such as for frequency feature testing inertia identifying jogging and electronic cams 8 5 2 Hardware CPU Pentium 4 or later Memory 1G or greater Hard disk 512M or greater Screen resolution 1024 768 or higher Communication interface USB1 1 8 5 3 Software Operating system Windows XP Vista Windows7 Windows1...

Page 269: ...are configuration on your computer meets the requirements in 8 5 2 Hardware and 8 5 3 Software The USB drive program is located under the software installation directory relative path ServoPlorer Drive USB drive If the drive program needs to be installed manually perform the following steps 1 Double click My computer choose Hardware device manager Update drive program locate the directory for stor...

Page 270: ...r setting area on the right locate the row where the parameter resides 2 Double click the value of the parameter If you have the permission enter or select a proper value in the modification box 3 Use either of the following methods to send the modification to the servo drive Press Enter in the editing window Click the sending button on the toolbar 8 5 8 Using the help manual Servo Plorer is embed...

Page 271: ...iable internal address Display control area Operation tab enables you to start and stop the drawing of waveforms forward reverse zoom in and zoom out the oscilloscope control the cursor and display trigger thresholds Playback tab enables you to start stop forward and reverse the playback and select positions in waveform file restore mode File operation tab enables you to save and restore csv wavef...

Page 272: ...AS64 series AC servo drive Fault handling 266 9 Fault handling 9 1 Servo drive faults and workarounds 267 9 2 CANopen communication faults and workarounds 279 ...

Page 273: ... and P0 11 to reduce the maximum output torque 4 Commission the loop parameters for system stabilizing and reduce the setting of P0 12 5 Increase the ACC DEC time 6 Replace the drive with a new one with greater power 7 Replace the motor Er01 5 IPM fault The drive actual output current exceeds the specified value 1 Drive fault such as drive circuit or IGBT fault 2 Drive cables U V and W are short c...

Page 274: ... proper 5 Eliminate the conditions that disturb encoder cables Route encoder cables and motor cables separately 6 Connect the shielded cables for the encoder to the FG 7 If an encoder disconnection fault is reported during power on check the setting of P0 01 and then ensure the encoder type supported by the drive is the same as the actual encoder type Er02 1 Encoder fault Encoder feedback deviatio...

Page 275: ... data check error occurs when the drive updates data to the encoder EEPROM 1 Ensure encoder cables are connected properly and eliminate the conditions that disturbs encoder communication 2 Make multiple writing tries If the fault is reported repeatedly replace the motor Er02 c Encoder fault No data in encoder EEPROM If the motor is used with a communication encoder no data is found in the encoder ...

Page 276: ...initialization is complete 1 Perform repower on 2 If the fault occurs repeatedly replace the drive Er05 1 Setting fault Motor model not exist P0 00 is set incorrectly 1 Ensure the motor model is set correctly 2 Ensure the motor parameter model matches the drive power class Er05 2 Setting fault Motor and drive model not match Er05 3 Setting fault Incorrect software limits Software limits are set in...

Page 277: ... damaged in the data storage area when the drive reads data from the EEPROM 2 Writing data to the EEPROM is disturbed 1 Try again after repower on 2 If the fault occurs repeatedly replace the drive Er09 1 EEPROM fault Data check error 1 The data read from EEPROM during power on is different from the data that is written 2 The drive DSP version is updated 1 Set all parameters again 2 If the fault o...

Page 278: ...ult Fan fault The fan built in the servo stops running Check whether there is a foreign material If the alarm persists after the foreign material is found and removed replace the drive Er10 8 Hardware fault Regenerative transistor fault The external regenerative brake resistor is connected improperly or disconnected 1 Check the connections B2 and B3 when the regenerative brake resistor is built in...

Page 279: ...The grid voltage is too high 2 No brake resistor or pipe is connected during braking or the brake resistor is damaged 3 The DEC time in the stop process is too short 4 The internal DC voltage detection circuit of the drive is damaged 1 Ensure the grid input voltage is within the allowed range 2 Ensure the internal brake resistor is not loose or damaged Ensure the external brake resistor is not dam...

Page 280: ...erval of restarting is more than two minutes after sufficient cooling is conducted Er17 1 Drive overload 2 The drive load is too heavy 1 The drive is overloaded due to heavy load 2 Ensure there is no phase dislocation or phase loss to the UVW wiring of the motor and the encoder is correct Er18 0 Motor overload 1 Run above the rated torque for a long time 2 Run at the maximum torque for a short tim...

Page 281: ...ed 4 Three phases inside the motor are imbalanced Replace the servo motor 5 Reduce the gain 6 Ensure the multi shaft cables are not cross connected If it occurs it is necessary to correct it 7 Replace the servo drive Er18 1 Motor overtemperature The motor temperature is higher than the temperature threshold for protection against overheating Replace the motor with greater power Er19 0 Speed fault ...

Page 282: ... is out of control due to the incorrect motor power cable connection or wrong motor code setting 1 Ensure the encoder is connected reliably 2 Ensure the phase sequence of the power cable is correct 3 Ensure the motor code is correct 4 Set P4 35 to 0 Er20 0 Speed deviation fault In non torque mode the deviation between the motor speed and speed command exceeds the setting of P4 39 1 The motor phase...

Page 283: ...slow Therefore the residual pulses exceed the setting of P4 33 2 The motor load is too heavy which causes motor stalling 3 Pulse input frequency is too high exceeding the maximum motor speed 4 The step variable in the position command input exceeds the setting of P4 33 1 Check whether the conveyer belt or chain is too tight or the workbench reaches the boundary or encounters obstacles If yes resol...

Page 284: ...t angle test failed There is great fluctuation in current feedback in the encoder offset angle test Reduce the setting of P4 53 and then carry out the test after repower on Er25 6 Application fault Homing offside The limit switch or software limit is enabled during homing Modify the setting of P5 10 and then execute homing after repower on Er25 7 Application fault Inertia identifying failed 1 Duri...

Page 285: ...rval of the signal generation source is correct Er22 4 Full position command buffer CANopen PTP position command buffer is full Increase the time interval for sending PTP control position commands Er26 0 CANopen offline The master node does not receive heartbeat packets from a slave node within a period of time Check communication connection Er26 1 SDO index not exist When the SDO reads or writes ...

Page 286: ...tion not allowed in operational state There are attempts to modify PDO mappings Switch the CANopen status machine to pre operational and then modify PDO mappings Er26 9 PDO mapping not allowed There are attempts to map parameters that disallow mapping to the PDO Ensure there are no read only PDO parameters that are mapped to the RPDO Er26 a Synchronization signal too fast In synchronization workin...

Page 287: ... slave node exceeds the range supported by the baud rate 1 Modify the time interval for the master node to send data frames 2 Modify the mode for the slave node to send TPDOs 3 Change the baud rate Er26 f Incorrect parameter modification status The SDO attempts to modify parameters in a state that disallows modification Adjust the CANopen status machine to the Pre OP or OP state and then try to mo...

Page 288: ...ies AC servo drive Appendix 282 10 Appendix 10 1 Parameters about settings 283 10 2 Parameters about monitoring 309 10 3 Common monitoring parameters 312 10 4 Fault codes 314 10 5 Parameter setting history 318 ...

Page 289: ... off Function code Parameter Unit Setting range Default Applicable mode P0 Basic control P0 001 Motor model 0 9999999 1010104 PST P0 011 Encoder type 1 12 4 PST P0 021 Forward direction of motor rotating 0 1 0 PST P0 031 Control mode 0 9 0 PST P0 04 Internal enabling command 0 1 0 PST P0 05 Jogging speed r min 0 1000 200 PST P0 061 Numerator of frequency division output coefficient 0 231 1 10000 P...

Page 290: ... 1 10000 P P0 231 Pulse input mode 0 2 0 P P0 241 Reverse pulse input direction 0 1 0 P P0 25 Numerator of electronic gear ratio 1 0 231 1 0 P P0 262 Denominator of electronic gear ratio 1 231 1 10000 P P0 27 Numerator of electronic gear ratio 2 0 231 1 0 P P0 28 Numerator of electronic gear ratio 3 0 231 1 0 P P0 29 Numerator of electronic gear ratio 4 0 231 1 0 P P0 332 Position command smooth f...

Page 291: ...it 4 r min 20000 20000 0 ST P0 50 Internal speed 5 r min 20000 20000 0 S P0 51 Internal speed 6 r min 20000 20000 0 S P0 52 Internal speed 7 r min 20000 20000 0 S P0 53 Internal speed 8 r min 20000 20000 0 S P0 54 ACC time ms 0 30000 0 S P0 55 DEC time ms 0 30000 0 S P0 56 S curve ACC time ms 0 1000 0 S P0 57 S curve DEC time ms 0 1000 0 S P0 58 Zero speed clamp mode 0 3 0 ST P0 59 Zero speed clam...

Page 292: ...filter level of speed detection 1 31 1 PST P1 Autotuning control P1 00 Tune inertia online 0 1 0 PST P1 01 Inertia ratio 1 0 10000 250 PST P1 02 Inertia ratio 2 0 10000 250 PST P1 03 Mechanical rigidity 0 31 13 PST P1 04 Tune inertia offline 0 1 0 PST P1 05 Inertia identifying mode 0 3 0 PST P1 06 Max rotations by inertia identifying r 0 2 20 0 2 0 PST P1 07 ACC time for inertia identifying ms 2 1...

Page 293: ...T P1 35 Vibration control mode in position command 0 2 0 P P1 36 Vibration control frequency 1 Hz 0 0 200 0 0 0 P P1 37 Coefficient of vibration control filter 1 0 00 1 00 1 00 P P1 38 Vibration control frequency 2 Hz 0 0 200 0 0 0 P P1 39 Coefficient of vibration control filter 2 0 00 1 00 1 00 P P2 Motor control P2 00 Speed gain 1 Hz 0 0 3276 7 27 0 PST P2 01 Speed integral time constant 1 ms 0 ...

Page 294: ...ching delay in position control ms 0 10000 0 P P2 24 Switching level in position control 0 20000 0 P P2 25 Switching lag in position control 0 20000 0 P P2 26 Position gain switching time ms 0 10000 0 P P2 27 Switching trigger in speed control 0 5 0 S P2 28 Switching delay in speed control ms 0 10000 0 S P2 29 Switching level in speed control 0 20000 0 S P2 30 Switching lag in speed control 0 2000...

Page 295: ...trol frequency Hz 1 2000 100 PST P2 55 Inertia adjustment 1 1000 100 PST P2 56 Attenuation gain 0 1000 0 PST P2 57 Adjustment on filter time 1 0 01ms 10 10 0 PST P2 58 Adjustment on filter time 2 0 01ms 10 10 0 PST P2 602 Speed observer 0 2 0 PST P2 61 Speed observer gain Hz 1 1000 100 PST P2 70 Friction compensation cut off speed r min 0 1000 20 PST P2 71 CCW torque coefficient of friction compen...

Page 296: ...x005 PST P3 151 Output of digital 6 0x000 0x11F 0x00E PST P3 16 DI based encoder capturing 0 778 0 PST P3 20 Offset of AI 1 V 10 000 10 000 0 000 PST P3 21 Filter of AI 1 ms 0 0 1000 0 1 0 PST P3 22 OV protection threshold of AI 1 V 0 000 10 000 0 000 PST P3 23 Offset of AI 2 V 10 000 10 000 0 000 PST P3 24 Filter of AI 2 ms 0 0 1000 0 0 0 PST P3 25 OV protection threshold of AI 2 V 0 000 10 000 0...

Page 297: ...y threshold r min 10 20000 50 PST P3 54 Speed reaching range r min 10 20000 1000 PST P3 55 Zero speed range r min 10 20000 50 PST P3 56 Servo lock time after braking ms 0 1000 50 PST P3 57 Electromagnetic brake closing delay ms 0 30000 500 PST P3 581 Motor speed threshold at brake release r min 0 1000 30 PST P3 59 Torque reaching range 5 0 300 0 50 0 T P3 77 AI dead zone mode 0 1 0 PST P3 90 Pulse...

Page 298: ...P4 15 Control mode switching command 0 1 0 PST P4 16 Gain switching command 0 1 0 PST P4 17 Electronic gear ratio switching command 0 3 0 P P4 18 Inertia ratio switching command 0 1 0 PST P4 19 Zero speed clamp command 0 1 0 ST P4 20 Clearing residual pulses 0 1 0 P P4 21 Torque limit switching command 0 1 0 PST P4 22 External fault reporting command 0 1 0 PST P4 23 Emergency stop command 0 1 0 PS...

Page 299: ...P4 43 Out of control speed threshold r min 0 2000 0 30 0 PST P4 45 OT threshold of medium power motor C 0 200 0 PST P4 501 Encoder phase Z offset pulse 0 220 1 0 PST P4 51 Torque limit switching time 1 ms 100 0 4000 0 PS P4 52 Torque limit switching time 2 ms 100 0 4000 0 PS P4 53 ACR response adjustment 10 0 200 0 100 0 PST P4 541 Delay after power on initialization ms 0 200000 0 PST P4 601 Frequ...

Page 300: ...open heartbeat cycle ms 0 32767 1000 PST P4 89 Auto stop on CANopen disconnection 0 1 0 PST P4 90 Fault recovery 0 1 0 PST P4 91 Parameter saving 0 1 0 PST P4 92 Factory restore 0 1 0 PST P4 93 Read fault records 0 1 0 PST P4 94 Clear fault records 0 1 0 PST P4 95 Fault record group no 0 9 0 PST P4 96 Reserved PST P4 97 Write to encoder EEPROM 0 1 0 PST P4 98 Mask encoder EEPROM data faults 0 1 1 ...

Page 301: ...00 20 P P5 22 Target speed 01 r min 0 6000 50 P P5 23 Target speed 02 r min 0 6000 100 P P5 24 Target speed 03 r min 0 6000 200 P P5 25 Target speed 04 r min 0 6000 300 P P5 26 Target speed 05 r min 0 6000 500 P P5 27 Target speed 06 r min 0 6000 600 P P5 28 Target speed 07 r min 0 6000 800 P P5 29 Target speed 08 r min 0 6000 1000 P P5 30 Target speed 09 r min 0 6000 1300 P P5 31 Target speed 10 ...

Page 302: ...767 100 P P5 55 Delay time 02 ms 0 32767 200 P P5 56 Delay time 03 ms 0 32767 400 P P5 57 Delay time 04 ms 0 32767 500 P P5 58 Delay time 05 ms 0 32767 800 P P5 59 Delay time 06 ms 0 32767 1000 P P5 60 Delay time 07 ms 0 32767 1500 P P5 61 Delay time 08 ms 0 32767 2000 P P5 62 Delay time 09 ms 0 32767 2500 P P5 63 Delay time 10 ms 0 32767 3000 P P5 64 Delay time 11 ms 0 32767 3500 P P5 65 Delay ti...

Page 303: ...6 21 Knives per turret 1 128 16 P P6 22 Pulses per turret rotation reference unit 2 231 1 10000 P P6 23 Turret start point reference unit 231 2 231 2 0 P P6 30 Gantry synchronization switch 0 1 0 P P6 31 Speed control gain for gantry synchronization Hz 0 0 3276 7 0 P P6 32 Speed control integral for gantry synchronization ms 0 1 1000 1000 P P6 33 Position control gain for gantry synchronization 1 ...

Page 304: ...eference unit 231 1 231 1 0 P PtP0 04 Control word of segment 02 0 0x7FFFFFFF 0x00000000 P PtP0 05 Position of segment 02 reference unit 231 1 231 1 0 P PtP0 06 Control word of segment 03 0 0x7FFFFFFF 0x00000000 P PtP0 07 Position of segment 03 reference unit 231 1 231 1 0 P PtP0 08 Control word of segment 04 0 0x7FFFFFFF 0x00000000 P PtP0 09 Position of segment 04 reference unit 231 1 231 1 0 P P...

Page 305: ...nt 13 0 0x7FFFFFFF 0x00000000 P PtP0 27 Position of segment 13 reference unit 231 1 231 1 0 P PtP0 28 Control word of segment 14 0 0x7FFFFFFF 0x00000000 P PtP0 29 Position of segment 14 reference unit 231 1 231 1 0 P PtP0 30 Control word of segment 15 0 0x7FFFFFFF 0x00000000 P PtP0 31 Position of segment 15 reference unit 231 1 231 1 0 P PtP0 32 Control word of segment 16 0 0x7FFFFFFF 0x00000000 P...

Page 306: ...nt 25 0 0x7FFFFFFF 0x00000000 P PtP0 51 Position of segment 25 reference unit 231 1 231 1 0 P PtP0 52 Control word of segment 26 0 0x7FFFFFFF 0x00000000 P PtP0 53 Position of segment 26 reference unit 231 1 231 1 0 P PtP0 54 Control word of segment 27 0 0x7FFFFFFF 0x00000000 P PtP0 55 Position of segment 27 reference unit 231 1 231 1 0 P PtP0 56 Control word of segment 28 0 0x7FFFFFFF 0x00000000 P...

Page 307: ...nt 37 0 0x7FFFFFFF 0x00000000 P PtP0 75 Position of segment 37 reference unit 231 1 231 1 0 P PtP0 76 Control word of segment 38 0 0x7FFFFFFF 0x00000000 P PtP0 77 Position of segment 38 reference unit 231 1 231 1 0 P PtP0 78 Control word of segment 39 0 0x7FFFFFFF 0x00000000 P PtP0 79 Position of segment 39 reference unit 231 1 231 1 0 P PtP0 80 Control word of segment 40 0 0x7FFFFFFF 0x00000000 P...

Page 308: ... Control word of segment 49 0 0x7FFFFFFF 0x00000000 P PtP0 99 Position of segment 49 reference unit 231 1 231 1 0 P PtP1 PTP control PtP1 00 Control word of segment 50 0 0x7FFFFFFF 0x00000000 P PtP1 01 Position of segment 50 reference unit 231 1 231 1 0 P PtP1 02 Control word of segment 51 0 0x7FFFFFFF 0x00000000 P PtP1 03 Position of segment 51 reference unit 231 1 231 1 0 P PtP1 04 Control word ...

Page 309: ... reference unit 231 1 231 1 0 P PtP1 22 Control word of segment 61 0 0x7FFFFFFF 0x00000000 P PtP1 23 Position of segment 61 reference unit 231 1 231 1 0 P PtP1 24 Control word of segment 62 0 0x7FFFFFFF 0x00000000 P PtP1 25 Position of segment 62 reference unit 231 1 231 1 0 P PtP1 26 Control word of segment 63 0 0x7FFFFFFF 0x00000000 P PtP1 27 Position of segment 63 reference unit 231 1 231 1 0 P...

Page 310: ... reference unit 231 1 231 1 0 P PtP1 46 Control word of segment 73 0 0x7FFFFFFF 0x00000000 P PtP1 47 Position of segment 73 reference unit 231 1 231 1 0 P PtP1 48 Control word of segment 74 0 0x7FFFFFFF 0x00000000 P PtP1 49 Position of segment 74 reference unit 231 1 231 1 0 P PtP1 50 Control word of segment 75 0 0x7FFFFFFF 0x00000000 P PtP1 51 Position of segment 75 reference unit 231 1 231 1 0 P...

Page 311: ... reference unit 231 1 231 1 0 P PtP1 70 Control word of segment 85 0 0x7FFFFFFF 0x00000000 P PtP1 71 Position of segment 85 reference unit 231 1 231 1 0 P PtP1 72 Control word of segment 86 0 0x7FFFFFFF 0x00000000 P PtP1 73 Position of segment 86 reference unit 231 1 231 1 0 P PtP1 74 Control word of segment 87 0 0x7FFFFFFF 0x00000000 P PtP1 75 Position of segment 87 reference unit 231 1 231 1 0 P...

Page 312: ...ition of segment 96 reference unit 231 1 231 1 0 P PtP1 94 Control word of segment 97 0 0x7FFFFFFF 0x00000000 P PtP1 95 Position of segment 97 reference unit 231 1 231 1 0 P PtP1 96 Control word of segment 98 0 0x7FFFFFFF 0x00000000 P PtP1 97 Position of segment 98 reference unit 231 1 231 1 0 P PtP1 98 Control word of segment 99 0 0x7FFFFFFF 0x00000000 P PtP1 99 Position of segment 99 reference u...

Page 313: ...108 0 0x7FFFFFFF 0x00000000 P PtP2 17 Position of segment 108 reference unit 231 1 231 1 0 P PtP2 18 Control word of segment 109 0 0x7FFFFFFF 0x00000000 P PtP2 19 Position of segment 109 reference unit 231 1 231 1 0 P PtP2 20 Control word of segment 110 0 0x7FFFFFFF 0x00000000 P PtP2 21 Position of segment 110 reference unit 231 1 231 1 0 P PtP2 22 Control word of segment 111 0 0x7FFFFFFF 0x000000...

Page 314: ...120 0 0x7FFFFFFF 0x00000000 P PtP2 41 Position of segment 120 reference unit 231 1 231 1 0 P PtP2 42 Control word of segment 121 0 0x7FFFFFFF 0x00000000 P PtP2 43 Position of segment 121 reference unit 231 1 231 1 0 P PtP2 44 Control word of segment 122 0 0x7FFFFFFF 0x00000000 P PtP2 45 Position of segment 122 reference unit 231 1 231 1 0 P PtP2 46 Control word of segment 123 0 0x7FFFFFFF 0x000000...

Page 315: ... P R0 06 Current torque 500 0 500 0 PST R0 07 Main circuit DC voltage V 0 0 1000 0 PST R0 09 Output voltage Vrms 0 0 1000 0 PST R0 10 Output current Arms 0 00 1000 00 PST R0 11 Drive temperature C 55 0 180 0 PST R0 12 Torque limit 500 0 500 0 PST R0 13 Encoder feedback value pulse 0 232 1 PST R0 14 Rotor position relative to pulse Z pulse 0 231 1 PST R0 15 Load inertia ratio 0 10000 PST R0 16 Outp...

Page 316: ...ngle grating ruler or encoder 2 turn pulse 0 231 1 PST R0 45 Speed feedback from encoder 2 r min 9999 9 9999 9 PST R0 46 Speed observer detection r min 9999 9 9999 9 PST R0 47 Speed observer feedback r min 9999 9 9999 9 PST R0 48 Torque from disturbance observer 1000 0 1000 0 PST R0 49 Fully closed loop vibration suppressor compensation r min 9999 9 9999 9 PST R0 51 Real time load inertia ratio 0 ...

Page 317: ...ference unit 231 1 231 1 PST R1 12 Pulse position command reference unit 231 1 231 1 PST R1 13 Pulse corresponded speed command r min 10000 0 10000 0 PST R1 14 Analog compensation speed r min 10000 0 10000 0 PST R1 15 Analog compensation torque 1000 0 1000 0 PST R1 16 DI captured encoder value pulse 231 1 231 1 PST R3 Fault recording R3 00 Fault code PST R3 01 Power on time before fault h 0 231 1 ...

Page 318: ...9 10th last fault code PST 10 3 Common monitoring parameters P0 15 Meaning Display Unit Corresponding to 0 Motor speed r min R0 00 1 Speed command r min R0 01 2 Accumulated feedback pulses reference unit R0 02 3 Accumulated command pulses reference unit R0 03 4 Residual pulses reference unit R0 04 5 Hybrid control deviation reference unit R0 05 6 Current torque R0 06 7 Main circuit DC voltage V R0...

Page 319: ...nit Corresponding to 15 Output power R0 16 16 Motor load ratio R0 17 17 Numerator of actual electronic gear ratio R0 18 18 Denominator of actual electronic gear ratio R0 19 19 Position command speed r min R0 20 20 Instantaneous speed r min R0 21 21 PTP status R0 22 ...

Page 320: ...tion too large Er02 2 Encoder fault Parity error Er02 3 Encoder fault CRC error Er02 4 Encoder fault Frame error Er02 5 Encoder fault Short frame error Er02 6 Encoder fault Encoder exception Er02 7 Encoder fault Second encoder timeout Er02 8 Encoder fault Encoder battery low voltage alarm Er02 9 Encoder fault Encoder battery undervoltage Er02 a Encoder fault Encoder overheating Er02 b Encoder faul...

Page 321: ... 1 Er08 1 AI overvoltage fault AI 2 Er09 0 EEPROM fault Read write error Er09 1 EEPROM fault Data check error Er10 0 Hardware fault FPGA fault Er10 1 Hardware fault Communication card fault Er10 2 Hardware fault Ground short connection fault Er10 3 Hardware fault External input fault Er10 4 Hardware fault Emergency stop fault Er10 5 Hardware fault RS485 communication fault Er10 6 Hardware fault AC...

Page 322: ...peed fault Overspeed Er19 1 Speed fault CCW overspeed Er19 2 Speed fault CW overspeed Er19 3 Speed fault Overspeed parameter set incorrectly Er19 4 Speed fault Out of control fault Er20 0 Speed deviation fault Er21 0 Position overtravel CCW Er21 1 Position overtravel CW Er22 0 Position deviation fault Er22 1 Hybrid control deviation too large Er22 2 Position increment overflow Er22 3 CANopen Synch...

Page 323: ...b index not exist Er26 3 CANopen fault Incorrect SDO data length Er26 4 CANopen fault SDO data out of range Er26 5 CANopen fault Modification not allowed for read only Er26 6 CANopen fault Incorrect PDO mapping length Er26 7 CANopen fault PDO mapping data not exist Er26 8 CANopen fault PDO modification not allowed in operational state Er26 9 CANopen fault PDO mapping not allowed Er26 a CANopen fau...

Page 324: ...AS64 series AC servo drive Appendix 318 10 5 Parameter setting history Parameter Default Drive 1 Drive 2 Drive 3 Changed by Changed on Remarks ...

Page 325: ...oleńsk 29 31 112 Kraków Poland www astor com pl produkty astor com pl Version 1 0 07 2021 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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