CNCPROM 110ST-M06030 Technical Manual Download Page 6

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CHAPTER 7

MODBUS COMMUNICATION

FUNCTION

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7.1

M M

ODBUS COMMUNICATION INTRODUCTION

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100

7.2

OMMUNICATION PROTOCOL STRUCTURE

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103

7.4

HE SERVO PARAMETERS

THE STATE INFORMATION COMMUNICATION ADDRESS

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115

THE APPENDIX

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116

APPENDIX A

AIN SWITCH

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116

PPENDIX

CONTROL MODE SWITCH

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116

PPENDIX

SERVO DRIVER WORK SEQUENCE

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120

PPENDIX

ELECTROMAGNETIC BRAKE

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122

PPENDIX

ORIGIN POINT

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123

APPENDIX

INTERNAL POSITION CONTROL

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131

Summary of Contents for 110ST-M06030

Page 1: ...CNCPROM Vitkovets CNC http cnc prom ua 380 096 665 71 06 380 098 821 25 90 cncprom ukr net Technical manual 110ST M06030 130ST M07725 130ST M15015 130ST M10025...

Page 2: ...abide by Matters needing attention during installation Warning It is forbidden to install will happen in the damp and corrosion environment a flammable gas environment and near combustible dust and me...

Page 3: ...nd the equipment will be damaged Before operating you must set right parameters and applications that meet the needs of users or may be hurt damage to equipment Before operating confirm whether the me...

Page 4: ...LOGY SPECIFICATIONS 4 1 5 SERVO MOTOR INSTALLATION 5 1 6 THE MOTOR DIRECTION OF ROTATION 6 1 7 THE KRS SERIES DRIVE AND MOTOR MODEL ADAPTATION 7 CHAPTER 2 WIRING 8 2 1 THE SYSTEM COMPOSITION AND WIRIN...

Page 5: ...R 4FUNCTION PARAMETERS 31 4 1 PARAMETER SETTINGS PANEL 31 4 2 PARAMETER LIST 32 4 3 PARAMETERS 44 4 4 PORT FUNCTIONS 87 CHAPTER 5 MONITORING PARAMETERS AND OPERATION 92 5 1 MONITOR PANEL OPERATION 92...

Page 6: ...CODE 103 7 4 THE SERVO PARAMETERS THE STATE INFORMATION COMMUNICATION ADDRESS 115 THE APPENDIX 116 APPENDIX A GAIN SWITCH 116 APPENDIX B CONTROL MODE SWITCH 116 APPENDIX C SERVO DRIVER WORK SEQUENCE...

Page 7: ...vo motor type with the same whether order model Check the appearance of the servo drive and servo motor whether there is any damage and scratches phenomenon If there is any damage during the shipment...

Page 8: ...30A AC220V 50 60HZ 30A 1 3 The front panel Model Voltage Output Current Danager Please install connection using as manual Please don t install or un install the driver when it is connected to the powe...

Page 9: ...ion of AC servo motor driver Five Number LED Screen Four Number Button Signal Port Control Port Encoder Interface Ground Single Three Phase AC220V Input Power Output Of Driver External regenerative br...

Page 10: ...torque model Control input servo enables alarm reset Forward driving is prohibited Reverse driving i s prohibited External forward torque is limited external reverse torque is limited Emergency stop Z...

Page 11: ...tion command Control the output Alarm detection Servo ready Emergency stop checked out Positioning to complete Speed to reach Reach the predetermined torque Zero speed detection Servo motor current El...

Page 12: ...tion with reduction unit must pay attention to and prevent reducer in mark through the motor shaft into the motor internal The motor shaft out quantity must be thoroughly if insufficient out to motor...

Page 13: ...520 8 2000 3 5 730 90st_m04025 9 2500 4 1000 110st_m02030 10 3000 2 600 110st_m04020 11 2000 4 800 110st_m04030 12 3000 4 1200 110st_m05030 13 3000 5 1500 110st_m06020 14 2000 6 1200 110st_m06030 15 3...

Page 14: ...00 27 5500 180st_m17215 31 1500 17 2 2700 180st_m19015 32 1500 19 3000 180st_m21520 33 2000 21 5 4500 180st_m27010 34 1000 27 2900 220st_m67010 35 1000 67 1000 Chapter 2 wiring 2 1 The system composit...

Page 15: ...2 Wiring instructions Wiring matters needing attention The wire material should be in accordance with the wire specification In general It need a transfer to offer the 3phase 220v power like the right...

Page 16: ...nding into the output signal of the relay the absorption of the direction of the diode to connected correctly otherwise it will cause failure cannot output signal in order to prevent noise caused by t...

Page 17: ...r three phase220VAC 15 10 50 60Hz Motor terminals U The output to motor U phase power V The output to motor V phase power W The output to motor W phase power Earthing terminal Motor shell earthing ter...

Page 18: ...me the most connected and table servo drive 485 network terminals separately by one euro 120 resistance terminal resistances If want to connect more equipment must use Repeaters to expand the connecti...

Page 19: ...3 1 CN2 port numbers 25 24 23 22 21 20 13 12 11 10 9 8 7 6 5 4 3 2 1 19 18 17 16 15 14 2 3 2 CN2 port instructions pin interface number name function DC12 24V COM 9 10 The control signal of power sup...

Page 20: ...power Instruction pulse can be three different ways to input 1 Instruction direction and pulse input 2 Clockwise or counterclockwise pulse input 3 Phase difference 90 degrees of orthogonal input PA P...

Page 21: ...nterface Output circuit adopts darlington photoelectric coupler but with relay photoelectric coupler Note External power supply by users but must pay attention to if the power polarity meet back may c...

Page 22: ...drive connection Connection appropriate USES twisted pair cable In the differential input mode it is recommended AM26LS31 similar line drive In order to make the transfer of pulse data has good anti i...

Page 23: ...oller signal ground connection In the photoelectric coupler receiving upper controller using high speed photoelectric coupler such as 6 n137 current limiting resistor R1 value about 220 5 Encoder Z si...

Page 24: ...eed photoelectric coupler receiving VCC peak voltage 30 V output current maximum 50mA 2 4 CN3 Encoder interface Connect the servo motor encoder signal to CN3 of the servo driver pin CN3 number 5v 8 GN...

Page 25: ...c t o re l e c t r o d eo p e no u t p u t Z c o l l e c t o re l e c t r o d eo p e no u t p u t Z c o l l e c t o re l e c t r o d eo p e no u t p u t i n p u tp o we rs u p p l y 2 4 v i n p u tp o...

Page 26: ...u t V o l t a g ei n s t r u c t i o n V o l t a g ei n s t r u c t i o n V o l t a g ei n s t r u c t i o n V o l t a g ei n s t r u c t i o n V o l t a g ei n s t r u c t i o n s p e e d r o t o rt...

Page 27: ...rease number long press has the effect of repeat Digital reduce key reduce number long press has the effect of repeat SET 1 Digital shift 2 Determine the set long by 1 second 3 End set parameters long...

Page 28: ...se the mode key is as the function of returnning to the upper directory 3 3 Monitoring mode operation Example see dn015 monitoring parameters sigOut1 port at this time as the low level sigOut2 sigOut3...

Page 29: ...clear the current detection alarm Fn004 The parameters of the parameter in the table Pn000 Pn219 according to the setting of Pn000 restore to factory default Fn005 Zero position deviation Fn006 SigOut...

Page 30: ...rm after the reboot 3 4 4 Fn002 Trial operation 0 Inching mode MODE MODE MODE SET MODE SET MODE long time to press long time to press long time to press long time to press Release Release Release Rele...

Page 31: ...deceleration time 5 10000 100 ms 1 Into speed control mode Fn002 SET MODE 2 Exit speed control mode Fn002 MODE SET MODE operation mode instruction 0 Inching mode Press or button the motor will be cloc...

Page 32: ...l run before operation the motor must be in a non working state when commissioning the control interface of the servo drive don t be connected to any control lines 2 Servo driver alarm has occurred an...

Page 33: ...bnormal AL 15 driving ban Abnormal AL 16 Brake average power overload 3 4 6 Fn004 Initialization parameters MODE MODE SET MODE MODE SET MODE Instructions 1 if the last operation display the possible r...

Page 34: ...high 2 all sigoutall ports are forced low 3 4 9 Fn007 Simulation of torque command voltage correction SET MODE Long time to press Long time to press Long time to press Release Release Release Reset co...

Page 35: ...when making correction measurement drive input ac voltage input to this operation 3 4 12 Fn010 The temperature calibration SET MODE Note 1 before the operation the temperature sensor is replaced with...

Page 36: ...al or external can make the motor the motor will turn a few laps and then lock the zero When the display number of pulse bias of 0 the motor has been aimed at zero Note 1 if the motor heating cooling...

Page 37: ...ve operation Fn001 immortalised after the next to electricity Pn025 parameters still for 100 Chapter 4 function parameters 4 1 Parameter Settings panel operation As shown in the third chapter of user...

Page 38: ...for the position control Must set parameters carefully If setting undeserved may cause the motor running is not stable 4 2 1 System parameters number name Value range The default value unit apply Pn0...

Page 39: ...ms All Pn015 Overload 2 testing time 0 150 40 100ms All Pn016 DA The molecular DA of encoder divider output 1 63 1 All Pn017 DB The denominator DB of encoder divider output 1 63 1 All Pn018 Take the e...

Page 40: ...0 2000 0 Ms All Pn031 The motor electromagnetic brake waiting time during operation 0 2000 500 ms All Pn032 The motor speed of electromagnetic brake action during operation 0 3000 30 r min All Pn033 T...

Page 41: ...ch delay time 0 20000 20 0 1ms All Pn049 Gain switch time 1 0 15000 0 0 1ms All Pn050 Gain switch time 2 0 15000 50 0 1ms All Pn051 The motor running top speed limit 0 5000 3000 All Pn052 SigIn1 port...

Page 42: ...l Pn069 Input function control mode select register 2 0 4095 0 All Pn070 Input function logic state set register 1 0 32767 32691 All Pn071 Input function logic state set register 2 0 4095 4095 All Pn0...

Page 43: ...2 2 Position control parameters number name Value range The default value unit apply Pn096 The command pulse input mode 0 2 0 P Pn097 Instruction selection logic pulse input direction 0 1 0 P Pn098 Pu...

Page 44: ...lose to the poor set back 0 32767 30 pilse P Pn108 Position deviation clear way 0 1 1 P Pn109 Position command deceleration mode 0 2 1 P Pn110 Position command a filtering time constant 5 1750 50 ms P...

Page 45: ...e 0 10000 50 P Pn120 Internal position 0 high pulse number set up 9999 9999 0 ten thous and pulse P Pn121 Internal position instruction 0 pulse number low set 9999 9999 0 a P Pn122 Internal position i...

Page 46: ...Internal position command zero speed 0 3000 100 r min P Pn129 Internal position command 1 speed 0 3000 100 r min Pn130 Internal position command 2speed 0 3000 100 r min P Pn131 Internal position comma...

Page 47: ...ant 5 30000 80 ms S Pn151 Linear deceleration time constant 5 30000 80 ms S Pn152 Speed detection filter time constant 1 380 10 0 1ms All Pn153 The speed regulator proportional gain 1 5 2000 100 All P...

Page 48: ...leration time 5 10000 50 ms S Pn167 Internal position controller gain 5 2000 100 All Pn168 speed instruction source select 0 1 0 S Pn169 Internal speed reference 1 5000 5000 0 R min S Pn170 internal s...

Page 49: ...ction l inear deceleration time constant 1 30000 1 ms T Pn188 Analog torque instruction smooth filtering time 1 500 1 0 1ms T Pn189 Analog torque instruction gain 1 300 30 V T Pn190 Analog torque inst...

Page 50: ...00 0 T Pn201 The internal torque 2 300 300 0 T Pn202 The internal torque 3 300 300 0 T Pn203 The internal torque 4 300 300 0 T Pn204 Torque command source 0 1 0 T Pn205 D shaft torque regulator propor...

Page 51: ...eters number name value range default value unit apply Pn001 Motor code 3 12 3 All Must set up the right motor type code the motor can work normally Drive model and motor model fit the table below Mot...

Page 52: ...130st_m15015 24 1500 15 2300 130st_m15025 25 2500 15 3800 150st_m15025 26 2500 15 3800 150st_m15020 27 2000 15 3000 150st_m18020 28 2000 18 3600 150st_m23020 29 2000 23 4700 150st_m27020 30 2000 27 55...

Page 53: ...e number name value range the default value unit apply Pn003 Servo enabled mode 0 1 0 All 0 By the input port of the SigIn SON can drive 1 After power on can automatically make the drive number name v...

Page 54: ...nal effectively again the motor will slow down to zero number name value range the default value unit apply Pn006 With without positive driving is prohibited 0 3 0 All Set this parameter values you ca...

Page 55: ...the CW 300 0 300 All Pn010 External around are torque limit CCW 0 300 300 All Pn011 Around outside the torque limit the CW 300 0 300 All Set the CCW the CW direction of motor torque limit Internal and...

Page 56: ...ill perform overload 2 protection If the overload level sets is greater than the corresponding internal external torque limit overload conditions may not be met the protection will not work number nam...

Page 57: ...ositive and negative torque limit setting parameter values If set incorrectly the motor will not be able to run properly According to the code of different types and motor drive can achieve the larges...

Page 58: ...tive negative were detected 1 Testing only forward speed Inversion the signal is OFF 2 Only detect reverse speed Forward the signal is OFF number name value range the default value unit apply Pn024 re...

Page 59: ...ON otherwise to OFF number name value range the default value unit apply Pn029 Motorelectromagnetic brake testing point zero speed 0 1000 5 r min All Only when using electromagnetic brake function st...

Page 60: ...ger 2 By the input port of the SigIn GOH rising along the trigger 3 Power on automatically See the appendix F origin point execution way number name value range the default value unit apply Pn034 The...

Page 61: ...gin number name value range the default value unit apply Pn038 The origin back to the first speed 1 3000 200 R min All Pn039 The origin back to the second speed 1 3000 50 R min All Perform operation o...

Page 62: ...ruction execution mode 0 1 0 All 0 After the completion of the origin waiting for the HOME signal into OFF to receive and executes instructions 1 The origin return immediately after the completion of...

Page 63: ...t value unit apply Pn048 Gain switch delay time 0 20000 20 0 1ms All Gain switching conditions meet the delay time to start switch If detected in delayed phase switching conditions are not met then ca...

Page 64: ...reference SigIn function a table 2 1 27 function number is1 27 corresponding negative logic function function is the same the effective level instead Parameter values SigIn input level SigIn correspon...

Page 65: ...4 All Pn063 SigOut4port functional allocation 14 14 7 All Specific functional allocation reference to SigOut function a table Parameter values Corresponding function SigOut output positive values ON...

Page 66: ...t value unit apply Pn067 Communication mode setting 0 8 8 All Parameter values are defined as follows table seechapter 7 of the Modbus communication function set instructions 0 7 N 2 Modbus ASCII 1 7...

Page 67: ...1 The default value 0 0 0 0 0 0 0 0 BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT9 BIT8 keep keep keep keep pstop ptriger Pos2 Pos1 0 0 0 0 0 0 0 0 When the communication control determine the above functio...

Page 68: ...T3 BIT2 BIT1 BIT0 function ZeroLock EMG TCW TCCW CWL CCWL Alarmrst Son The default value 1 0 1 1 0 0 1 1 BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT9 BIT8 keep Cgain Cmode TR2 TR1 Sp3 Sp2 Sp1 0 1 1 1 1 1...

Page 69: ...range the default value unit apply Pn076 Emergency stop reset EMG 0 1 0 All Lift its state of EMG OFF after the removal of EMG AL 14 alarm conditions 0 Must be under the servo can make OFF by manual o...

Page 70: ...ture of the heat sink 8 The current motor speed 9 Effective input command pulse accumulative total value is low 10 Effective input command pulse accumulative total value is high 11 Position control ef...

Page 71: ...value unit apply Pn082 SigOut port output 0 0 255 All Mandatory SigOut port output fixed level By setting the parameters the force output port level keep SigOut4 SigOut3 SigOut2 SigOut1 bit BIT15 BIT8...

Page 72: ...ll When the bus voltage is higher than the amplitude immediately issued a warning in order to protect the internal electronic components Input power supply voltage should be within the specifications...

Page 73: ...P Pn097 Instruction selection logic pulse input direction 0 1 0 P Command pulse input mode in the following table Pn096 Forward command reverse command 0 Pulse direction L H PP PP PD PD 1 Forward rev...

Page 74: ...olecules to choose in the following table GN2 GN1 Electronic gear than N OFF OFF Molecular 1 OFF ON Molecular 2 ON OFF Molecular 3 ON ON Molecular 4 number name value range the default value unit appl...

Page 75: ...ameters setting output port SigOut Pnear signal is ON or OFF number name value range the default value unit apply Pn108 Position deviation clear way 0 1 1 P Position control can use SigIn Pclear funct...

Page 76: ...delay In instruction pulse frequency step change have the effect of smooth running motor The filter has no effect on instruction pulse number Filtering time T Ta Ts Ta straight line part of the time t...

Page 77: ...ion rate shorten the positioning time number name value range the default value unit apply Pn117 Position command source selection 0 1 0 P 0 The external input pulse 1 Internal location instructions s...

Page 78: ...set up 9999 9999 0 ten thousand pulse P Pn123 Internal position 0 low pulse number set up 9999 9999 0 P Pn124 Internal position 2 high pulse number set up 9999 9999 0 ten thousand pulse P Pn125 Inter...

Page 79: ...r can run number name value range the default value unit apply Pn132 Torque speed control switch to the position control 0 1 0 P Control mode from the speed torque mode conversion to position control...

Page 80: ...rnal positionloop this parameter must be set to 0 number name value range the default value unit apply Pn147 Speed instruction S curve and deceleration time constant Ts 5 1500 80 ms S Pn148 Speed inst...

Page 81: ...ed as the speed instruction from zero to rated speed Pn150 Pn151 number name value range the default value unit apply Pn152 Speed detection filter time constant 1 380 10 0 1ms All The smooth the speed...

Page 82: ...the speed control error increase rigidity Is too small easy to cause vibration and noise number name value range the default value unit apply Pn157 Simulation speed instruction smoothing filtering tim...

Page 83: ...ernal zero potential access to the analog input port 2This parameter is zero the monitor dn17 shows the value of the model 3 If observed values are not zero negative observation value to the input par...

Page 84: ...0 10mv S Input speed instruction lies between floor and ceiling forced to 0 V input instructions 0 10V 10V When the input voltage is after adjusting for PN159 offset of the input voltage Through the...

Page 85: ...n164 is set to 1 and the speed instruction below this parameter value the lock on the motor shaft Example this parameter is set to 10 r min if the analog speed instruction 10 r min 10 r min within the...

Page 86: ...ed reference 4 5000 5000 0 R min S Pn173 Internal speed reference 5 5000 5000 0 R min S Pn174 Internal speed reference 6 5000 5000 0 R min S Pn175 Internal speed reference 7 5000 5000 0 R min S Pn176...

Page 87: ...et the speed of the motor running and the deceleration time 4 3 4 Torque control parameters number name value range the default value unit apply Pn186 Torque command deceleration mode 0 1 0 T 0 Do not...

Page 88: ...t value unit apply Pn189 Analog gain torque instruction 1 300 30 V T Analog torque command input and the ratio between the actual output torque The range of input voltage 10 10 v The default input vol...

Page 89: ...Increase the proportional gain can make the Q axis current response speed Reduce the integral time constant can reduce the Q axis current control error number name value range the default value unit a...

Page 90: ...can be restricted by analog voltage speed command All the above speed limit both positive and negative multipl e speed limit restricted to the minimum speed If this parameter is set to 1 restricted b...

Page 91: ...means OFF 1 is ON Note 2 if the SigIn port doesn t specify TR2 TR1 functions is OFF by default number name value range the default value unit apply Pn204 Torque command source 0 1 0 T 0 external analo...

Page 92: ...ly Pn208 track torqueinstruction judgment error range1 0 300 5 T Pn209 track torqueinstruction judgment error range 2 0 300 2 T To make SigOut effective TCMDreach signal output port must meet the foll...

Page 93: ...the alarm can be clear the input signal OFF to ON the delay to clear the alarm 3 CCWL Forward driving ban OFF Motor forward is prohibited ON Allow the motor forward Note 1 if you want to use forward...

Page 94: ...Lock Zero speed clamp Speed control OFF Don t lock the motor shaft ON Lock the motor shaft 9 SP1 Internal speed command option 1 When a drive control mode in speed control mode the speed reference so...

Page 95: ...ntrol mode switch Parameter Pn002 for 3 4 5 control mode can be switched 15 Cgain Gain switch When the parameter Pn045 is 2 through Cgain switch gain combination OFF The first gain ON The second gain...

Page 96: ...ontrol OFF Speed loop PI control ON Speed loop P control 22 GOH The See the appendix F 23 REF The origin return reference point 24 Pos1 Pos1 internal location choice See the appendix G 25 Pos2 Pos2 in...

Page 97: ...021 set value ON Speed is greater than or equal to Pn021 set value 6 Treach reach the predetermined torque OFF Torque is less than Pn024 set value ON The value of torque is greater than or equal to Pn...

Page 98: ...wasn t up to the limiting value ON Motor speed has reached the limit Look Pn198 Pn199 instructions 14 TCMDreach In torque control OFF Motor torque did not reach the upper machine set torque instructi...

Page 99: ...total value high 5000 5000 unit m pulse accumulative total value high more than 5000 the h igh position 0 low today to count dn 11 Effective feedback position control the encoder pulse accumulative to...

Page 100: ...gister SigOut port state of logic namely each Bit position shown in the table below Bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 function Run Zero Speed Treach Sreach Preach Emg Ready Alarm Bit Bit15 B...

Page 101: ...h an external voltage if the difference is too big the internal components damaged replace the servo amplifier 3 Motor start too fast large load which leads to the internal bus voltage is lower If it...

Page 102: ...rn the power off half an hour electricity again if the alarm is still there may be internal power module is damaged please replace the servo amplifier 3 Speed loop and current loop pid p arameter Sett...

Page 103: ...of input instructions or adjust the electronic gear ratio 3 Improper speed loop pid parameter adjustment readjust AL 08 reset Servo amplifier heat sink overheating actual temperature has more than 70...

Page 104: ...W and encoder line is normal Position command smoothing time constant set is too large 3 Increase the position loop gain to speed up the response speed of the machine 4 Using the monitor model check...

Page 105: ...e average power overload The input voltage is too high or braking load rate above 85 1 Using the monitoring mode to see if the input voltage is beyond the normal range 2 Reduce the start stop frequenc...

Page 106: ...communication modes ASCII American Standard Code for information interchange mode and the RTU Remote Terminal Unit model Before communication you must first set up good communication related parameter...

Page 107: ...xadecimal data namely the general number of hexadecimal For example decimal in 1 120 byte RTU data representation for 78 H 7 1 3The data structure 10 bit character mode for 7 bit data 11 bit character...

Page 108: ...two ASCII Commonly used commands 3 h read registers 6 h reading a single register 8 h diagnostic function 10 h write multiple register DATA n 1 The data content N 2 N word bytes 4 N ASCII N 8 DATA 0 L...

Page 109: ...ta content Word N 2 N bytes N 9 DATA 0 CRC Check code 1 byte End 1 The end The rest time to at least 3 5 bytes transmission time 7 3 Commonly used command code 7 3 1 Reading a multiple register 03H Re...

Page 110: ...0 low bit 3 END1 CR 0DH 0 2 END0 LF 0AH 0 Address 0014 h content high bit 0 2 0 LRC E low bit 0 7 A END1 CR 0DH LRC B END0 LF 0AH C END1 CR 0DH END0 LF 0AH 2 RTU PC drive Response PC OK Response PC E...

Page 111: ...rite a single register 06H Write a single register Description write a word to the register For example drive station number of 01 write data initial address is 0013 h write data 100 64 h 1 ASCII MODE...

Page 112: ...sponse PC OK Response PC Error Address 01H Address 01H Address 01H CMD 06H CMD 06H CMD 86H Data source address high bit 00H Data source address high bit 00H Abnormal code 03H low bit 13H low bit 13H C...

Page 113: ...1 ASCII PC drive Response PC OK Response PC Error start start start Address 0 Address 0 Address 0 1 1 1 cmd 0 cmd 0 cmd 8 8 8 8 Subroutine code high bit 0 Subroutine code high bit 0 Abnormal code 0 0...

Page 114: ...t 86H word The data content word format high bit 86H CRC high bit 01H low bit 31H low bit 31H CRC low bit 43H CRC low bit 43H CRC high bit BFH CRC high bit BFH 7 3 4 Write multiple register 10H Write...

Page 115: ...ta source address high bit 0 Data source address high bit 0 Abnormal code 0 0 0 3 low bit 1 low bit 1 LRC 6 3 3 C Write the register number 0 Write the register number high bit 0 END1 CR 0DH 0 0 END0...

Page 116: ...esponse PC Error Address 01H Address 01H Address 01H CMD 10H CMD 10H CMD 90H Data source address high bit 00H Data source address high bit 00H Abnormal code 03H low bit 13H low bit 13H CRC low bit 0CH...

Page 117: ...mand 3 Dn 13 100 Note 3 read the Dn 13 parameters the actual voltage value value read 100 7 3 5 Check code to calculate 1 LRC LRC England check ASCII LRC Longitudinal Redundancy Check LRC Address CMD...

Page 118: ...nto two bytes containing a binary 16 bit value Attached to the message behind the CRC value calculated by the transmitting device When receiving device on the receiving message to recalculate the CRC...

Page 119: ...the full operation of eight bytes 6 For the next byte of message repeat steps 2 to 5 this operation until all message being processed 7 CRC CRC register the final content for CRC value 8 When the CRC...

Page 120: ...ned int crc_reg oxFFFF While length Crc_ reg data for j 0 j 8 j If crc_reg 0x01 crc_reg crc_reg 1 0xA001 else crc_reg crc_reg 1 return crc_reg 7 3 6 Abnormal code In the process of communication may c...

Page 121: ...dress illegal request 03 H Request the data given in the servo driver does not allow read and write data number more than drive to allow maximum or write data value is beyond the scope of parameter va...

Page 122: ...l gain is 2 Pn193 Q 1 Q shaft torque regulator integral time constant of 1 Pn195 Q 2 Q shaft torque regulator integral time constant of 2 Pn196 Q 1Torque Q axis filter time constant of 1 Pn197 Q 2Torq...

Page 123: ...o the speed control mode the trapped pulse will be cleared Before the machine can make please make sure to enter the control mode state of cmode pin Motor can make there are two main ways to switch se...

Page 124: ...h But to be on the safe side please switch with the servo motor stopped From the position control mode switch to the torque control mode the trapped pulse will be cleared Motor can make there are two...

Page 125: ...the torque control mode switching cmode Cmode relationship with control mode is shown below Cmode control mode OFF position control mode ON Torque control mode Positon torque control mode changed Posi...

Page 126: ...OFF Pn030 OFF 1 Pn004 2 Note 1 when using electromagnetic brake function servo broken way can make Pn004 must be set to 2 2 Pn029 Note 2 when Pn029 motor speed is lower than the argument the electroma...

Page 127: ...igOut BRK Pn032 Pn031 SigOut Alarm ON OFF 0r min Pn032 Pn031 1 Pn005 2 Note 1 when using electromagnetic brake function servo broken way can make Pn005 must be set to 2 D Appendix D electromagnetic br...

Page 128: ...ilter capacitor but too much renewable electricity filter capacitance cannot afford regenerative resistor must be used to burn off excess renewable electricity When there is a renewable energy is too...

Page 129: ...WL CWL Z After start origin regression function looking for reference point at the origin and return to the first rate can use SigIn input terminals REF CCWL or cwl as a reference point can also be Z...

Page 130: ...l HOME ON Until GOH is OFF is HOME to OFF Pn044 0 HOME OFF Pn044 1 When Pn044 0 origin wait for after the completion of the HOME after the signal into a OFF again executes instructions waiting for the...

Page 131: ...on execution Pn044 0 Pn044 1 SigOut HOME SigIn GOH SigOut ready OFF OFF OFF OFF ON ON ON ON OFF OFF Pn033 2 Pn043 Pn042 Pn033 3 Electricity automatically perform Pn033 3 GOH This function only in elec...

Page 132: ...Inversion to find cwl falling edge trigger for reference 4 Z Forward looking for Z pulse as a reference point 5 Z Pulse inversion for Z as a reference point 0 5 0 Pn035 The origin back to the origin m...

Page 133: ...Z pulse to return to the second speed as the origin REF CCWL OFF ON OFF ON OFF ON B Pn034 1 3 Pn035 0 parameter set instruction Pn034 1 3 REF CWL Origin starts to return to the first speed inversion...

Page 134: ...point Pn035 1 Z Arrived at the reference point to return to the second speed forward looking for Z pulse as the origin REF OFF OFF ON D Pn034 1 Pn035 1 parameter set instruction Pn034 1 REF Origin st...

Page 135: ...Pn035 2 parameter set instruction Pn034 0 REF Origin starts to return to the first speed forward looking for REF rising along the trigger as a reference point Pn035 2 Arriving at reference points the...

Page 136: ...e direct reference point as the origin REF OFF OFF ON G Pn034 4 Pn035 2 parameter set instruction Pn034 4 Z Origin starts to return to the first speed forward looking for Z pulse as a reference point...

Page 137: ...set up corresponding operation parameters SigIn port pos1 pos2 choose internal position command N Pos2 Pos1 internal location instructions N 1 1 1 0 0 1 0 0 When using internal position control make...

Page 138: ...e again the drive will be based on the current pos1 pos2 state execute the position of the corresponding instructions please refer to the following sequence diagram pluse pos2 pos1 ptriger pstop P0 P1...

Page 139: ...133 pluse pos2 pos1 ptriger pstop P0 P1 P3 P3 p0 20 p1 18 p3 17 20 38 55 3...

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