BONMET SDL10A User Manual Download Page 80

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BONMET motion GmbH/www.bonmet.com/www.bonmet.de

Error Check (CRC)

––

Response

The normal response returns the slave address, function code, starting address, and quantity of registers preset.

Here is an example of a response to the query shown above.

RESPONSE

Example

Field Name

(Hex)

Slave Address

Function

Starting Address Hi

Starting Address Lo

No. of Registers Hi

No. of Registers Lo

Error Check (CRC)

––

Chapter 7 Protective Function

8.1

Alarm List

Alarm code

Protective function

Normal state

System error

Z phase error protection

Hall(U/V/W phase) signal error protection

A/B phase signal error protection

Encoder counter missing error

Overcurrent protection of power module

Main circuit relay disconnected

Overvoltage

Undervoltage

Motor (IR

) overheat protection

Motor phase current gain error

EEPROM operation error

Drive overheat protection

Over-regeneration load protection

(NOT SUPPORT)

Over-travel inhibition error

Excessive deviation

Reservation

Torque overload alarm

Summary of Contents for SDL10A

Page 1: ...User Manual For SD Series Smart Accurate ...

Page 2: ...uration and wiring Trial run steps Control functions and adjusting methods of DC servo drives Parameter settings Inspection and maintenance Troubleshooting Application examples Before using the product please read this manual to ensure correct use Users should thoroughly understand all safety precautions DANGERS and WARNINGS before proceeding with the installation wiring and operation If you still...

Page 3: ...bustibles Otherwise a fire may cause When the servo drive has become faulty switch off the main power Continuous flow of a large current may cause a fire When there is a signal faulty as a regenerative brake resistor is used please switch the main power off Otherwise a regenerative brake transistor fault may overheat the regenerative brake resistor and cause a fire Wiring Precautions CAUTION Wire ...

Page 4: ...t com www bonmet de CONTENTS Chapter 1 Model and Specifications Chapter 2 Installation Chapter 3 Wiring Chapter 4 Display and Operation Chapter 5 Operation Chapter 6 Parameters Chapter 7 Communication Chapter 8 Protective Functions ...

Page 5: ...t Inspect the unit to insure it was not damaged during shipment If any items are damaged or incorrect please inform the distributor whom you purchased the product from or your local BONMET sales representative 1 2 Model Explanation Nameplate Explanation Figure 1 1 Nameplate explanation Model Explanation SD L 10 A XX 1 2 3 4 5 1 Product type S SD Series DC servo drive 2 Power supply 48 80VDC 3 Nomi...

Page 6: ...Command Smoothing Method Position command filter Electronic Gear 1 30000 1 300000 Recommended value 50 1 50 Torque Limit Set by parameters CCW CW 16 speed command set by parameters Controlled by analog command Speed Control Comma nd mode Internal Command 16 speed command set by parameters Analog Command 0 10VDC Default 10VDC corresponds 3000rpm Pulse Command 0 500KHz Default 500KHz corresponds 300...

Page 7: ...nder 0 5G 4 9m s2 Please install the servo system in the place without direct sunlight Interferential equipment nearby would take great effects to the power wire and control wire which will cause miss operation For normal operation a noise filter or any other anti jamming measures is necessary to be carried out Leakage current would increase after installing a noise filter therefore an isolation t...

Page 8: ... well poor contact or disconnection could lead to accidents In order to prevent error movement caused by noise please install isolation transformers and noise filter The equipment must be grounded Do not put power lines and signal lines in a same conduit or their binding them together the distance between power lines and signal lines should be 30cm at least otherwise it may cause interference Plea...

Page 9: ...oder CSL input CSL Type7 Connect with the electro optic encoder CSL 2 Encoder CSH input CSH Connect with the electro optic encoder CSH 6 Encoder CLKL input CLKL Type7 Connect with the electro optic encoder CLKL 1 Encoder CLKH input CLKH Connect with the electro optic encoder CLKH 8 Encoder DOL input DOL Type7 Connect with the electro optic encoder DOL 3 Encoder DOH input DOH Connect with the elect...

Page 10: ... Note pulse type is selected by parameter PN52 PN52 0 command pulse signal mode default state PN52 1 CCW CW command pulse mode PN52 2 2 phase command pulse mode 11 PulseInv 1 Command pulse SIGN input SignInv Type3 P 10 SignInv 24 Analog command input ASPEED ATORQUE Type4 S T Command input terminal for external analog torque speed difference mode the impedance is 10kΩ the voltage is 10V 10V 25 ASPE...

Page 11: ...AT of approx 1V at transistor ON due to the Darlington connection of the output or Note that normal TTL IC cannot be directly connected since it does not meet VIL 3 6 3 Wiring of Pulse Input There are two kinds of pulse inputs line drive input and open collector input The max input pulse frequency is 500kpps BONMET servo drive support three kind of pulse mode Set by Pn 52 Pulse Direction CW CCW pu...

Page 12: ... and shielded to prevent from signal interference caused by noise The max input pulse frequency is 500kpps the relationship between pulse frequency and speed is a proportional relationship as 500 kHz corresponds to 3000rpm Parameters Differential drive input Single ended drive input tck 2μS 5μS th 1μS 2 5μS tl 1μS 2 5μS trh 0 2μS 0 3μS trl 0 2μS 0 3μS ts 1μS 2 5μS tqck 8μS 10μS tqh 4μS 5μS tql 4μS...

Page 13: ...ts A B and Z phase in differential through each line driver 2 Customer can use a line receiver like AM26LV32 Install a terminal resistor approx 330Ω between line receiver inputs without fail And connect EGND to the ground 0V of the receiver 3 Customer can use a optocoupler to receive the signals 4 These outputs are not insulated 3 4 Servo drive AO AO Host controler AGND 10KΩ AO AO Adjust voltage b...

Page 14: ... shaft in a non connection state do not connect the motor with mechanical system for servo action confirmation at first Chapter 2 Wiring Connect servo drive with power and peripheral device Chapter 3 Preparation before operation Please confirm all the necessary items before turn on the power And check if there is any alarm Chapter 4 Action confirmation Operate in speed mode to test the servo drive...

Page 15: ... power line U V W must be properly connected to the terminal block Checking the servo motor The Encoder Cable must be securely connected to the Encoder Connector at the motor side The power lines at the servo motor must be securely connected Checking the Control Connectors The Control Cable must be securely connected to the I O Control Connector CN2 The ServoEn command must be OFF 4 2 Software Ser...

Page 16: ...on Load Default Restore default parameters equal with EE Def in panel operation Save to EEPROM Save the current parameters to EEPROM Parameters Setting Parameter setting Parameters Upload Upload the parameters from servo drive to PC please name the parameter file as xx par otherwise the operation would be invalid Parameters Download Download the parameters from PC to servo drive please DO NOT use ...

Page 17: ...ion RPM Speed command Position Pulse Feedback pulse Posiotn Instruction Pulse Pulse command Position Erro Pulse Position deviation pulse command minus feedback pulse Speed Erro Pulse Speed deviation this is a real time value Alarm Number Alarm code 0 means no alarm Mother Line DC Vlot V Mother line DC voltage Drive Temperature The temperature of the heat sink inside part Physical port status monit...

Page 18: ... OFF please refer to chapter 3 for details of I O connector Logical port status monitoring function The Logic State item under the Monitor menu is for the logical port status monitoring function Function Monitor the logical input status green light indicates ON and grey light indicates OFF please refer to chapter 3 section 3 7 for details of logical input 4 2 4 Oscillation control and running curv...

Page 19: ...sic Information and the following dialog will appear Fill in the basic data please don t fill in other parameters Item Function Rated Current A Motor nominal current Rs ohm Phase resistance Ls mH Phase inductance Ke V Krpm Back EMF Note This operation must be carried out by electrical engineer and the above parameters must be effective otherwise it would cause mistake or damage Adaption Click Auto...

Page 20: ...the adaption is successful please save the parameters to EEPROM and power off then power on again If adption is not successful maybe there is something wrong with the operation please contact with out technical staff 2 Mapping function Click Logic I O Config and the follow dialog will appear ...

Page 21: ...valid 1 indicates ON or valid Please refer to chapter 3 for each logic input signal definition Please confirm that the mapping method is unique otherwise it would cause abnormal conditions 4 3 Position Control Mode Three type optional input pulse command pulse direction pulse CCW CW pulse A B phase pulse Two types of input signal optional open collector signal differential signal Optional electric...

Page 22: ... much small value may cause system oscillation It can be switched with the second low pass filter bandwidth of torque command automatically or manually refer to chapter 5 section 4 8 Pn 36 The second speed loop proportional gain The value is determined by the type of servo and the load condition In general larger load inertia needs larger value It can be switched with the first speed loop proporti...

Page 23: ...it is ms Filter would not lose input pulse but may lead to delay The filter works in the follow conditions Host controller has not acceleration and deceleration function Larger electronic gear ratio 10 Lower command frequency Motor running with jumps or other unstable conditions Filter is inactive as set to 0 Pn 66 The second Position loop proportional gain Higher gain results in greater mechanica...

Page 24: ...minator of electric gear Numerator of electric gear Po The required pulse number per round P Encoder resolution G Electronic gear ratio For example the encoder resolution of SM110 050 30LFB is 10000ppr if you want count 1000pulse per round G P Po 10000 1000 10 Then you should set Pn 49 to 10 and Pn 48 to 1 Figure 5 4 Electronic function Set Pn 51 to 1 to enable dynamic electronic gear function cus...

Page 25: ...rection inversion of analog speed input Set the rotation direction Effective in analog speed mode Pn 21 Low pass bandwidth of analog speed input Set the response time of speed analog input Pn 34 Acceleration time constant Set the acceleration time constant Pn 35 Deceleration time constant Set the deceleration time constant Pn 40 Command type of speed control Select command type Value 1 Pn 30 The f...

Page 26: ... switched with the first low pass bandwidth of speed loop automatically or manually refer to chapter 5 section 4 8 Pn 39 The second low pass filter bandwidth of torque command Normally smaller value results in slower and smoother speed response But too much small value may cause system oscillation It can be switched with the first low pass filter bandwidth of torque command automatically or manual...

Page 27: ...tor speed by the drive monitor functions adjust the value of the parameter Pn 19 to compensate As the zero drift speed is a positive value the parameter should be set a positive value while the zero drift speed is a negative value the parameter should be set a negative value 3 Acceleration deceleration time setting Related parameters Pn 34 Pn 35 In case of overloading it is suggested to set the ac...

Page 28: ... 1 Pn 34 Acceleration time constant Set the acceleration time constant Pn 35 Deceleration time constant Set the deceleration time constant Pn 40 Command type of speed control Select command type Value 0 Pn 88 Pn 103 Internal speed command 1 16 Set the speed command the unit is rpm Pn 30 The first speed loop proportional gain The value is determined by the type of servo and the load condition In ge...

Page 29: ...ally smaller value results in slower and smoother speed response But too much small value may cause system oscillation It can be switched with the second low pass filter bandwidth of torque command automatically or manually refer to chapter 5 section 4 8 Pn 36 The second speed loop proportional gain The value is determined by the type of servo and the load condition In general larger load inertia ...

Page 30: ...eous large current to avoid error or failure Set the value of Pn 34 for acceleration time constant while Pn 35 for deceleration time constant the unit is ms 4 6 Pulse Speed Control Mode Three type optional input pulse command pulse direction pulse CCW CW pulse A phase B phase pulse Two types of input signal optional open collector signal differential signal Optional electric gears Speed limitation...

Page 31: ...ion 4 8 Pn 33 The first low pass filter bandwidth of torque command Normally smaller value results in slower and smoother speed response But too much small value may cause system oscillation It can be switched with the second low pass filter bandwidth of torque command automatically or manually refer to chapter 5 section 4 8 Pn 36 The second speed loop proportional gain The value is determined by ...

Page 32: ... rotation direction Host sends pulse command for a trial operation Select speed control mode Select pulse command as speed command by Pn 40 Select input pulse command type support pulse direction pulse CCW CW pulse A phase B phase pulse by Pn 52 Select rotation direction by Pn 53 In no load conition leave the motor shaft free send pulse command for forward reverse acceleration deceleration and oth...

Page 33: ...arameter Function Pn 4 Motor control mode Select torque control mode Value 0 Pn 15 Gain of analog torque command input Set the ratio between the input voltage of analog torque and actual motor torque Pn 16 Analog input drift compensation The zero bias compensation for the analog torque input Pn 17 Direction inversion of analog speed input Set the rotation direction Effective in analog torque mode ...

Page 34: ...he relationship between analog voltage and torque command 100 output torque according to 10V for default Select rotation direction by Pn 17 or switch the direction by digital input Logic_STOrder_Invert Set the speed limit in torque control mode by Pn 42 Analog input drift compensation Set parameter Pn 16 to clear the analog input drift Host sends pulse command for a trial operation In no load coni...

Page 35: ...Gain Adjustment The purpose of adjusting the servo system is to minimize the level of inaccuracy of the servo motor when operating under instructions and also shorten the time of travel Doing so needs to adjust gain parameter and compensation parameter The wrong parameter settings may lead to equipment failure and accidents users should confirm the correctness of the parameters before operation It...

Page 36: ...n 33 Pn 39 Normally smaller value results in slower and smoother speed response But too much small value may cause system oscillation Position loop proportional gain KP_P Related parameters Pn 44 Pn 66 Higher gain results in greater mechanical stiffness and less position tracking error Too large value may cause overshoot or oscillation The value is determined by the type and the load of servo driv...

Page 37: ...LFP_C Pn33 the value of LFP_C Pn33 should be larger than LFP_S Pn32 The out put torque is not enough or motor runs sometimes fast and sometimes slow Motor runs with vibration could trigger the alarm ERR 6 ERR 10 ERR 13 Runs with noise Rise KP_P Pn44 NO Motor overshoot occurs positioning vibration a n d i t is still unable to meet the needs of system response the overshoot may trigger the alarm ERR...

Page 38: ...are valid while as Logic_PID_Sel is ON the second set of PID parameters are valid Switch the PID parameters by position deviation Set Pn 64 to 3 for switch mode and set the trigger value by Pn 65 As the position deviation value position deviation value pulse commands feedback pulse the unit is pulse is less than trigger value the first set of PID parameters are valid while as the position deviatio...

Page 39: ...int control mode D means for the parameter is valid for demo mode No Control mode Parameter No Control mode Parameter 0 ALL Firmware version 25 ALL Internal torque limit in negative CW direction 1 ALL Motor type code 26 ALL Internal torque limit in positive CCW direction 2 ALL User constants protection code 27 ALL Torque limit mode 3 ALL Drive status Front Panel Display 28 ALL Notch function 4 ALL...

Page 40: ...sition feed forward filter PID1 22 ALL Threshold value of torque overload alarm 47 P Constant of position command filter 23 ALL Testing time of torque over load alarm 48 P S Denominator of electric gear ratio 24 ALL Internal brake resistor temperature alarm function NOT SUPPORT 49 P S Numerator 1 of electric gear ratio 50 P S Numerator 2 of electric gear ratio 81 D Internal torque command 10 51 P ...

Page 41: ... torque command 9 111 SP D Speed of internal position command 2 112 SP D Acceleration deceleration of internal position command 2 143 SP D Peak torque of internal position command 8 113 SP D Peak torque of internal position command 2 144 SP D High bit of internal position command 9 114 SP D High bit of internal position command 3 145 SP D Low bit of internal position command 9 115 SP D Low bit of ...

Page 42: ...9 SP D High bit of internal position command 14 139 SP D High bit of internal position command 8 170 SP D Low bit of internal position command 14 140 SP D Low bit of internal position command 8 171 SP D Speed of internal position command 14 141 SP D Speed of internal position command 8 172 SP D Acceleration deceleration of internal position command 14 142 SP D Acceleration deceleration of internal...

Page 43: ... object Attrib RO Control mode All Details Firmware verion of servo drive can not be modified Pn 1 Parameter Motor type code Modbus address 0x1240 Unit Range 0 21 Default CANbus object 0x2240 0 Attrib R W Control mode All Details Motor type ccode customers must ensure the motor type code is correct when restore the default parameters Code Motor model Code Motor model Code Motor model 0 Factory par...

Page 44: ...t of position command pulse 16 High 6 bit of digital input status 7 High 5 bit of position command pulse 17 Digital output status 8 Motor current Amp 18 Encoder input status 9 Absolute rotor position pulse Example The default value of Pn 3 is 0 it indicates the display will show the motor output torque Set Pn 3 to 1 now the display will show motor speed rpm Pn 4 Parameter Motor control mode Modbus...

Page 45: ...ntrol mode All Details Customers can set up time from when detecting the off of Servo ON input signal Logic_Servo_Enable is to when external brake release signal BRK OFF turns off while the motor turns to servo off during the motor in motion The actual time is the minimum value between PN5 and the time speed falls to PN6 Pn 7 Parameter Threshold speed of current turn off delay time Modbus address ...

Page 46: ... Details This parameter is expressed by a 4 bit binary number It is used for anti control of high 4 bit digital input 0 indicates original state and 1 indicates anti control for this signal Note This function is used for physical port anti control operation please refer to chapter 3 section 3 7 2 and chapter 5 section 5 16 5 for details of digital input output function and mapping function Please ...

Page 47: ...nction is used for physical port force ON control operation please refer to chapter 3 section 3 7 2 and chapter 5 section 5 16 5 for details of digital input output function and mapping function Example As the physical port status of ServoEn signal is OFF Item Initial state Anti control operation Parameter setting Signal status OFF ON Pn 12 Parameter Force ON of high 2 bit digital input Modbus add...

Page 48: ...control of low 3 bit digital output Modbus address 0x124D Unit Range 0 7 Default 0 CANbus object 0x224D 0 Attrib R W Control mode All Details This parameter is expressed by a 3 bit binary number It is used for anti control of of digital output 0 indicates original state and 1 indicates anti control for this signal Pn 15 Parameter Gain of analog torque command input Modbus address 0x124E Unit Range...

Page 49: ...default value is 100 which means 10Vsupport speed command of 3000rpm Example Please refer to chapter 5 section 5 4 4 for details Pn 19 Parameter Analog input drift compensationof speed command Modbus address 0x1252 Unit mV Range 30000 30000 Default 0 CANbus object 0x2252 0 Attrib R W Control mode Speed control mode Details This function is used to adjust the analog input drift compensation As the ...

Page 50: ... torque limit in positive direction and negative direction the motor output torque will be limited under the parameter value Example If customer want 2 times overload for the motor which indicates that the max peak output will be 200 of motor norminal torque customer needs to set Pn 25 and Pn 26 to 200 Pn 27 Parameter Torque limit mode Modbus address 0x125A Unit Range 0 2 Default 0 CANbus object 0...

Page 51: ... motor the default value is different Pn 32 Parameter The first low pass bandwidth of speed loop PID1 Modbus address 0x125F Unit Hz Range 1 1500 Default 400 CANbus object 0x225F 0 Attrib R W Control mode All Details This parameter is used to set the first low pass bandwidth of speed loop customers can switch it from the second speed loop proportional gain please refer to chapter 5 section 5 8for g...

Page 52: ...fault value is different Pn 38 Parameter The second low pass bandwidth of speed loop PID2 Modbus address 0x1265 Unit Hz Range 1 1500 Default 400 CANbus object 0x2265 0 Attrib R W Control mode All Details This parameter is used to set the second low pass bandwidth of speed loop customers can switch it from the first speed loop proportional gain please refer to chapter 5 section 5 8 for gain switchi...

Page 53: ...n switching function Higher gain results in greater mechanical stiffness and less position tracking error Too large value may cause overshoot or oscillation Note For different motor the default value is different Pn 45 Parameter The first position loop differential proportional gain PID1 Modbus address 0x126C Unit Range 0 300 Default 0 CANbus object 0x226C 0 Attrib R W Control mode Position contro...

Page 54: ...x2271 0 Attrib R W Pn 51 Parameter Electric gear ratio switching function Modbus address 0x1272 Unit Range 0 1 Default 0 CANbus object 0x2272 0 Attrib R W Control mode Position control mode Speed control mode Details These parameters are used for the electric gear ratio function in position control mode or external speed control mode by Pn 48 Pn 49 Pn 50 Note Please refer to chapter 5 section 5 2 ...

Page 55: ... value to 0 the position error detection function is valid while set the parameter value to 1 the position error detection function is invalid Pn 57 Parameter Encoder output ratio Modbus address 0x1278 Unit Range 1 1023 Default 33 CANbus object 0x2278 0 Attrib R W NOT SUPPORT Pn 58 Parameter Homing mode Modbus address 0x1279 Unit Range 0 2 Default 0 CANbus object 0x2279 0 Attrib R W NOT SUPPORT Pn...

Page 56: ...sed to set the gain parameter switching mode Value Switching mode 0 Fixed to the first set of PID parameters 1 Fixed to the second set of PID parameters 2 NOT SUPPORT 3 Switch the PID parameters by position deviation 4 Switch the PID parameters by speed deviation 5 Switch the PID parameters by motor speed 6 Switch the PID parameters by motor output torque Note Please refer to chapter 5 section 5 1...

Page 57: ...used to increase the stability of compound position control Pn 69 Parameter Enhancement of torque loop response function Modbus address 0x1284 Unit Range 0 1 Default 0 CANbus object 0x2284 0 Attrib R W Control mode All Details This parameter is used to enable the enhancement of torque loop response function As set the parameter value to 1 the torque loop response will be enhanced but it may cause ...

Page 58: ...nge 400 400 Default 40 CANbus object 0x228D 0 Attrib R W Control mode Demo mode Details Internal torque command 7 the parameter value indicates the percentage of the nominal torque the unit is Pn 79 Parameter Internal torque command 8 Modbus address 0x128E Unit Range 400 400 Default 40 CANbus object 0x228E 0 Attrib R W Control mode Demo mode Details Internal torque command 8 the parameter value in...

Page 59: ...he parameter value indicates the percentage of the nominal torque the unit is Pn 87 Parameter Internal torque command 16 Modbus address 0x1296 Unit Range 400 400 Default 80 CANbus object 0x2296 0 Attrib R W Control mode Demo mode Details Internal torque command 16 the parameter value indicates the percentage of the nominal torque the unit is Pn 88 Parameter Internal speed command 1 Modbus address ...

Page 60: ...al speed command 8 the unit is rpm Pn 96 Parameter Internal speed command 9 Modbus address 0x129F Unit rpm Range 6000 6000 Default 10 CANbus object 0x229F 0 Attrib R W Control mode Speed control mode Demo mode Details Internal speed command 9 the unit is rpm Pn 97 Parameter Internal speed command 10 Modbus address 0x12A0 Unit rpm Range 6000 6000 Default 20 CANbus object 0x22A0 0 Attrib R W Control...

Page 61: ...e 9999 9999 Default 0 CANbus object 0x22A8 0 Attrib R W Control mode Point to point control mode Demo mode Details Set position command 1 in point to point control mode or demo mode the unit is pulse The position command high bit part 10000 low bit part Pn 106 Parameter Speed of internal position command 1 Modbus address 0x12A9 Unit rpm Range 1 6000 Default 2000 CANbus object 0x22A9 0 Attrib R W C...

Page 62: ...e Point to point control mode Demo mode Details Set the torque limit of internal position command 2 the unit is Pn 114 Parameter High bit of internal position command 3 Modbus address 0x12B1 Unit pulse Range 30000 30000 Default 90 CANbus object 0x22B1 0 Attrib R W Pn 115 Parameter Low bit of internal position command 3 Modbus address 0x12B2 Unit pulse Range 9999 9999 Default 0 CANbus object 0x22B2...

Page 63: ...2B9 Unit R S2 Range 1 1000 Default 25 CANbus object 0x22B9 0 Attrib R W Control mode Point to point control mode Demo mode Details Set the acceleration and deceleration of internal position command 4 Pn 123 Parameter Peak torque of internal position command 4 Modbus address 0x12BA Unit Range 0 400 Default 125 CANbus object 0x22BA 0 Attrib R W Control mode Point to point control mode Demo mode Deta...

Page 64: ...1 Parameter Speed of internal position command 6 Modbus address 0x12C2 Unit rpm Range 1 6000 Default 2000 CANbus object 0x22C2 0 Attrib R W Control mode Point to point control mode Demo mode Details Set the motor speed of internal position 6 the unit is rpm Pn 132 Parameter Acceleration deceleration of internal position command 6 Modbus address 0x12C3 Unit R S2 Range 1 1000 Default 25 CANbus objec...

Page 65: ...ommand 8 Modbus address 0x12CB Unit pulse Range 9999 9999 Default 0 CANbus object 0x22CB 0 Attrib R W Control mode Point to point control mode Demo mode Details Set position command 8 in point to point control mode or demo mode the unit is pulse The position command high bit part 10000 low bit part Pn 141 Parameter Speed of internal position command 8 Modbus address 0x12CC Unit rpm Range 1 6000 De...

Page 66: ...it of internal position command 9 the unit is Pn 149 Parameter High bit of internal position command 10 Modbus address 0x12D4 Unit pulse Range 30000 30000 Default 80 CANbus object 0x22D4 0 Attrib R W Pn 150 Parameter Low bit of internal position command 10 Modbus address 0x12D5 Unit pulse Range 9999 9999 Default 0 CANbus object 0x22D5 0 Attrib R W Control mode Point to point control mode Demo mode...

Page 67: ...arameter Peak torque of internal position command 11 Modbus address 0x12DD Unit Range 0 400 Default 125 CANbus object 0x22DD 0 Attrib R W Control mode Point to point control mode Demo mode Details Set the torque limit of internal position command 11 the unit is Pn 159 Parameter High bit of internal position command 12 Modbus address 0x12DE Unit pulse Range 30000 30000 Default 60 CANbus object 0x22...

Page 68: ...eleration deceleration of internal position command 13 Modbus address 0x12E6 Unit R S2 Range 1 1000 Default 25 CANbus object 0x22E6 0 Attrib R W Control mode Point to point control mode Demo mode Details Set the acceleration and deceleration of internal position command 13 Pn 168 Parameter Peak torque of internal position command 13 Modbus address 0x12E7 Unit Range 0 400 Default 125 CANbus object ...

Page 69: ...6 Parameter Speed of internal position command 15 Modbus address 0x12EF Unit rpm Range 1 6000 Default 2000 CANbus object 0x22EF 0 Attrib R W Control mode Point to point control mode Demo mode Details Set the motor speed of internal position 15 the unit is rpm Pn 177 Parameter Acceleration deceleration of internal position command 15 Modbus address 0x12F0 Unit R S2 Range 1 1000 Default 25 CANbus ob...

Page 70: ...bus address 0x12F7 Unit Range 0 3 Default 0 CANbus object Attrib R W Control mode All Details Choose fieldbus interface between the following Value fieldbus interface 0 Modbus RS232 interface 1 Modbus RS485 interface 2 NOT SUPPORT 3 NOT SUPPORT Pn 185 Parameter Modbus address Modbus address 0x12F8 Unit Range 1 247 Default 1 CANbus object Attrib R W Control mode All Details Set the servo fieldbus a...

Page 71: ...hers No effects R 2 Parameter Operation command for EEPROM Modbus address 0x1C53 Unit Range Default CANbus object 0x2C53 0 Attrib WC Control mode All Details This parameter is used to adjust EEPROM when dealing with user parameters Value Function 0 Termination current EEPROM operation 1 Read the data from EEPROM 2 Read the data from the backup area of EEPROM 3 Write the data into EEPROM 4 Write th...

Page 72: ...antity of data is speed the unit is rpm Note This parameter is valid in synchronous speed control mode when modbus synchronous command is valid and set Synchronous command enable ON R 6 Parameter High bit of synchronous position command Modbus address 0x1C2A Unit Pulse Range 65535 65535 Default 0 CANbus object Attrib R W R 7 Parameter Low bit of synchronous position command Modbus address 0x1C2B U...

Page 73: ... signal of encoder R 12 Parameter Index reset encoder counts Modbus address 0x1C66 Unit Range Default CANbus object Attrib RO Control mode All Details This parameter is used to latch encoder count value when index reset operation carried out The hardware carries out latch operation during home position reset operation the parameter is used to guarantee the coherence of pulse counting R 13 Paramete...

Page 74: ...ib RO Control mode All Details This parameter indicates the actual input voltage of analog input port A torque the unit is mV R 18 Parameter The analog voltage of analog input port B Modbus address 0x1C6C Unit mV Range Default CANbus object Attrib RO Control mode All Details This parameter indicates the actual input voltage of analog input port B speed The unit is mV R 19 Parameter DC bus voltage ...

Page 75: ...he difference between torque command and actual torque Q axis current the units is Amps Data format is _IQ7 R 25 Parameter Speed error value Modbus address 0x1C74 Unit 2 2 Rpm Range Default CANbus object Attrib RO Control mode All Details The corresponding physical quantities of data is the difference between speed command and actual speed the units is 2 2 Rpm Data format is _IQ2 R 26 Parameter Hi...

Page 76: ...ode All Details BootRom version number is stored in this parameter for application inquiry R 34 Parameter Software version Modbus address 0x1C7D Unit Range Default CANbus object Attrib RO Control mode All Details Software version number is stored in this parameter for application inquiry Chapter6 Communication 6 1 Communication Hardware Interface Bonmet SA Series servo drives have three communicat...

Page 77: ...sed device Following the last transmitted character a similar interval of at least 3 5 character times marks the end of the message A new message can begin after this interval The entire message frame must be transmitted as a continuous stream If a silent interval of more than 1 5 character times occurs before completion of the frame the receiving device flushes the incomplete message and assumes ...

Page 78: ...irst followed by the high order byte In ladder logic the CKSM function calculates a CRC from the message contents For applications using host computers a detailed example of CRC generation is contained in Appendix C 6 1 4Communication Parameter Write in and Read out 03 0x03 Read Holding Registers Description Reads the binary contents of holding registers 4X references in the slave Broadcast is not...

Page 79: ...otect state The preset values will remain valid in the registers until the controller s logic next solves the register contents The register values will remain if they are not programmed in the controller s logic Appendix B lists the maximum parameters supported by various controller models Query The query message specifies the register references to be preset Registers are addressed starting at z...

Page 80: ...Chapter 7 Protective Function 8 1 Alarm List Alarm code Protective function 0 Normal state 1 System error 2 Z phase error protection 3 Hall U V W phase signal error protection 4 A B phase signal error protection 5 Encoder counter missing error 6 Overcurrent protection of power module 7 Main circuit relay disconnected 8 Overvoltage 9 Undervoltage 10 Motor IR2 overheat protection 11 Motor phase curr...

Page 81: ...ck if the encoder is connected or not Connect the encoder with drive Wrong motor parameter Restores the default parameter of the motor Wiring error Check the wiring Rewiring according to operation manual Failure of encoder cable Check the encoder cable according to the wiring diagram Repair or replace the cable with a new one Communication error caused by interference Separate the encoder cable an...

Page 82: ... to the operation manual Machine failure Check the mechanical connection Improve the mechanical transmission parts Overloaded Check if the motor output torque is too large Increase the capacity of the driver and motor Set up longer acceleration deceleration time Lower the load Power capacity is not enough Check power specifications Use three phase power supply Input command error caused by interfe...

Page 83: ...er off Use a regulator Failure of servo drive Repair or replace the servo drive with a new one 8 2 10 Err 10_ Motor IR2 overheat protection Probable causes Conforming method Measures Wrong wiring of the power cable U V W PE Check the wiring Rewiring according to operation manual Wrong wiring of the encoder cable Check the wiring Rewiring according to operation manual Failure of encoder cable Check...

Page 84: ... of encoder cable Check the encoder cable according to the wiring diagram Repair or replace the cable with a new one Wrong motor parameter Restores the default parameter of the motor Incorrect gain parameters setting Restores the default parameter of the motor and adjusts gain parameters according to the operation manual Machine failure Check the mechanical connection Improve the mechanical transm...

Page 85: ...ion parts Input pulse command over frequency Check the input pulse frequency whether it is over 500kHz Reduce the pulse frequency Incorrect electric gear ratio setting Check the input pulse frequency whether it is over 500kHz after set the electric gear ratio Reduce the ratio 8 2 17 Err 18_ Torque overload alarm Probable causes Conforming method Measures Maximum overload testing parameter setting ...

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