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C100E EtherCAT AC Servo Drive

www.coolmay.com

28

11

90-04025

12

110-02030

13

110-04020

14

110-04030

15

Recover default values

Address

Name

Read/

Write

Default

Value

Range

Introductio

n

Address

603Fh

Recent

error code

R

TPDO

0

Unsigned

16 bits

The last error code.

6040h

Control

word

RW

RPDO

0

Unsigned

16 bits

Control word

6041h

Status word

R

TPDO

0

Unsigned

16 bits

Status word

605Ah

Quick stop

code

RW

NO

1

Signed 16

bits

1:It enters the

unenabling state after

the slope stops.

2:Stops quickly and

enters into the

unenbaling state.

5:Slope shutdown

completed and

maintained in a fast

stop state.

6:The fast stop is

completed and

maintained in the fast

stop state.

Other: invalid

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Summary of Contents for C100E

Page 1: ...C100E EtherCAT AC Servo Drive Shenzhen Coolmay Technology Co Ltd V22 11 ...

Page 2: ...cause damage malfunction to the products 1 Service Conditions Danger Do not expose the product in moisture caustic gas and ignitable gas situation Otherwise can cause an electric shock or fire Do not use the product in direct sunlight dust salinity and metal powder places Do not use the product in the places that has water oil and drugs drops 2 Wiring Danger Connect the earth terminal PE to earth ...

Page 3: ... avoid unnecessary losses Do not turn on and off the power frequently otherwise it will cause overheating inside the drive 4 Running Stop When the motor is running it is forbidden to touch any rotating parts otherwise it will cause casualties When the equipment is running it is forbidden to touch the driver and motor otherwise it will cause electric shock or burns When the equipment is running it ...

Page 4: ... turned on otherwise it will cause electric shock 6 Scope of use Caution The products involved in this manual are for general industrial use and should not be used on devices that may directly endanger personal safety Thank you very much for purchasing the products of Gumei Technology Please read this manual carefully before use and use the product correctly Please keep this manual properly ...

Page 5: ...ting 5 3 3 State Indicator 5 3 4 State Monitoring 6 Chapter 4 System Wiring 8 4 1 System Wiring 8 4 1 1 Wiring 8 4 1 2 Wiring Introduction 8 4 1 3 Electric Wire Specifications 9 4 2 Servo driver terminals Introduction 10 4 2 1 Drive Terminal Definition 10 4 2 2 CN1 Terminal 11 4 2 3 Encoder Terminal 15 4 2 4 EtherCAT Network Communication Terminal 15 4 2 5 Main Circuit Terminal 16 4 3 1 Communicat...

Page 6: ... 4 Profile Position Mode PP 64 5 4 1 Related Object 64 5 4 2 Position Curve Generator 67 5 4 3 Recommended configuration 69 5 5 Profile Velocity Mode PV 69 5 5 1 Related Objects 69 5 5 2 Recommended Configuration 70 5 6 Profile Torque Mode PT 71 5 6 1 Related Objects 71 5 6 2 Recommended configuration 72 5 7 Homing Mode HM 73 5 8 Probe function 80 5 8 1 Set probe function 0x60B8 80 5 8 2 Read prob...

Page 7: ...h the traditional pulse servo drives this kind of drives is especially suitable for long distance or multi axis linkage applications Meanwhile it can greatly reduce wiring and enhance the reliability of drive operation 1 2 Feature Voltage AC220V 10 1phase 3phases and 50 60Hz EtherCAT communication protocol and addresses are automatically assigned through the master station 8 single terminal common...

Page 8: ...gases dust oil magnetic field Ambient Temperature 0 50 Humidity 40 90 RH Storage Temperature 20 65 Weight 1 3Kgs 1 6 Cooling Method The drive working environment temperature is recommended less than 50 and the motor working temperature is less than 120 Please install the drive with vertical side in order to make the heat sink and air form a stronger convection Please install a fan near the drive i...

Page 9: ...C100E EtherCAT AC Servo Drive www coolmay com 3 necessary which forces heat cooling and ensure the drive can work in the reliable working temperature range ...

Page 10: ...r error power supply problem over positioning and etc Control Input 1 servo on 2 alarm clearance 3 CCW drive inhibition 4 CW drive inhibition 5 deviation counter zeroing 6 instruction pulse inhibition 7 CCW torque limitation 8 CW torque limitation Regenerat ion Brake built in built out Max Load less than 3 times of motor torque Control Output servo ready servo alarm positioning completion mechanic...

Page 11: ...maintain it you would get a duplicate result and stay longer the repetition rate is higher 3 2 Parameter Setting Please firstly select PA and press SET button to enter the status of parameter setting mode And use or to choose parameters and SET button to display the parameter s value You can modify the parameter s value with or Press or button one time the parameter increases or decreases by 1 Pre...

Page 12: ...on returns to the main menu from the second layer Pic 3 2 Operation Display Layer In the first layer please select DP and press the SET button to enter into monitoring mode There are 16 displays in total Users select the desired display mode with or button and then press SET button to enter into the specific states Monitoring Operation Example Definition SET Motor speed 1000r min The current posit...

Page 13: ...C100E EtherCAT AC Servo Drive www coolmay com 7 Control mode 0 position control Absolute position of the rotor 3265 Input terminal Output terminal Encoder signal Working state No 9 alarm ...

Page 14: ...lmay com 8 Chapter 4 System Wiring 4 1 System Wiring 4 1 1 Servo drive wiring diagram Pic 4 1 System Wring 4 1 2 Wiring Introduction Wiring Notes The control cable length should be less than 3 meters and the encoder cable length 20 meters ...

Page 15: ...other can cause the output circuit breakdown In order to protect the servo driver from noise interference that can cause malfunction please use an insulation transformer and noise filter on the power lines Wiring the power lines power supply line main circuit lines etc at a distance above 30cm from the control signal wires do not lay them in one conduit Install a non fuse circuit breaker that can ...

Page 16: ...d Regenerative Resistors Terminals P D P C 1 5 4mm2 4 2 Servo driver terminals Introduction 4 2 1 Drive Terminal Definition Pic 4 2 C100E Drive Terminals Must use a twisted pair wire cable for the encoder signal wiring If the encoder signal cable is too long 20m in which the encoder power supply can be insufficient may use multi wire or thick wire for the power supply wiring ...

Page 17: ...terminals and 6 output terminals The definition values of input and output can be changed by P3 group parameters and all kinds of input and output definitions can be completed low level of input Terminal Introduction CN1 Digital input and output terminal CN2 Encoder connection terminal CN3 EtherCAT input terminal CN4 EtherCAT output terminal ...

Page 18: ... high speed input terminals 1 and 2 Definition Symbol Function 33 NEGLIM forward limit signal 34 POSLIM negative limit signal 35 HOME homing signal 36 QUICK STOP emergency stop 37 PROBE1 probe 1 38 PROBE2 probe 2 When the defined function number is between 18 and 33 the bit0 bit15 of the DigitalOutputs object of 0x60fe object in the dictionary is mapped to the corresponding port in the order of th...

Page 19: ...C100E EtherCAT AC Servo Drive www coolmay com 13 B For external 24V power supply 2 When the upper device is collector open output A For internal 24V power supply B For external 24V power supply ...

Page 20: ...elay input 2 When the upper device is optocoupler input Do not support PNP mixed with NPN input Be sure to connect a continuation diode when the upper device is a relay otherwise it may damage DO ports or cause strong signal interference The maximum allowable voltage and current capacity of the optocoupler output circuit in the servo drive are as follows Voltage DC30V Current DC50mA ...

Page 21: ...res or thick wires for power line and ground line 0V 6 Absolute encoder communication positive end SD 1 Absolute encoder communication positive end Absolute encoder communication negative end SD 2 Absolute encoder communication negative end Null NC 3 Reserve Null NC 4 Reserve Shielded layer Metal cover Connect to the shielded layer of the encoder cable 4 2 4 EtherCAT Network Communication Terminal...

Page 22: ... 10 50 60Hz NC Null data transmission 3 11 E_RX EtherCAT data receiving positive end 4 12 5 13 6 14 E_RX EtherCAT data receiving negative end 7 15 8 16 Connector cover PE shield grounded Remark 1 LED1 shows the state of Link Activity IN and the color is orange 2 LED3 shows the state of Link Activity OUT and the color is orange 3 LED2 and LED4 are the state of RUN and the color is green ...

Page 23: ...ical Layer 100BASE TX Communication Connector RJ45 2 terminal CN3A IN CN3B OUT Network Topology Field bus type Baud Rate 2 100 Mbps full duplex Frame Data Length 1484 bytes max Synchronization Manager SM0 mailbox reception master to slave SM1 mailbox sending slave to master SM2 process data output master to slave SM3 process data input slave to master Synchronous Mode DC Synchronization SYNC0 Free...

Page 24: ...rque mode CST Profile position mode PP Profile velocity mode PV Profile torque mode PT Homing mode HM Name Color State Description RUN Green OFF Initial state Blinking Pre operational state Single flash Safe operational state ON Operational state L A IN Orange OFF Physical layer link not established ON Physical layer link establishment Flickering Interactive data after link establishment L A OUT O...

Page 25: ...ddress Name Read Write Default Value Range Introduction 1000h device type R 0x00040192 1001h wrong register R 0 1008h device name DSX00E 1009h Hardware version V1 0 100Ah software release V1 0 1018h 01 Manufacturer ID R 0x00445653 1018h 02 Product code R 0x00000001 1018h 03 Modified coding R 0x00000001 1018h 04 serial number R 0x00000001 1600h RXPDO mapping object0 RW It can configure the number a...

Page 26: ...0020 0x60B80010 0x60FE0120 1702h RXPDO mapping object259 R 0x60400010 0x607A0020 0x60FF0020 0x60710010 0x60600008 0x60B80010 0x607F0020 1703h RXPDO mapping object 260 R 0x60400010 0x607A0020 0x60FF0020 0x60600008 0x60B80010 0x60E00010 0x60E10010 1704h RXPDO mapping object261 R 0x60400010 0x607A0020 0x60FF0020 0x60710010 0x60600008 0x60B80010 0x607F0020 0x60E00010 ...

Page 27: ...A0020 0x60FF0020 0x60600008 0x60B80010 0x60E00010 0x60E10010 0x60B20010 1A00h TXPDO mapping object0 RW It can configure the number and content of TPDO 1B01h TXPDO mapping object258 R 0x603F0010 0x60410010 0x60640020 0x60770010 0x60F40020 0x60B90010 0x60BA0020 0x60BC0020 0x60FD0020 1B02h TXPDO mapping object259 R 0x603F0010 0x60410010 0x60640020 0x60770010 0x60610008 ...

Page 28: ... 0x60FD0020 1B03h TXPDO mapping object260 R 0x603F0010 0x60410010 0x60640020 0x60770010 0x60F40020 0x60610008 0x60B90010 0x60BA0020 0x60BC0020 0x60FD0020 1B04h TXPDO mapping object261 R 0x603F0010 0x60410010 0x60640020 0x60770010 0x60610008 0x60F40020 0x60B90010 0x60BA0020 0x60BC0020 0x606C0020 1C12h RXPDO distribution RW 0 0x1600 0x1701 ...

Page 29: ...splay RW 17 0 23 2000h 2 Action setting in motor stopping RW 0 0 200 2000h 3 Actuator action setting RW 0 0 200 2000h 4 The speed of mechanical brake when the motor is running RW 100 0 3000 2000h 5 Speed limit in torque control RW 3000 0 5000 2000h 6 The delay time of servo on to close RW 0 0 3000 0 2000h 7 Input terminal effective level control word RW 0 0 31 2000h 8 Output terminal effective lev...

Page 30: ... 2000h 11 Encoder resolution RW 23 0 32 Select the number of motor encoder lines 23 bits as default 2000h 12 Motor poles RW 4 1 360 4 poles as default 2000h 13 PWM duty cycle RW 50 5 90 2001h PID adjustment 2001h 1 Position proportional coefficient RW 40 1 1000 2001h 2 Velocity proportional coefficient RW 150 5 2000 2001h 3 Velocity integral constant RW 75 1 1000 2001h 4 Position command smoothing...

Page 31: ...meter 2002h 1 Communication virtual input RW 0 0 1 2002h 2 Communication virtual output RW 0 0 1 2002h 3 fixed address RW 0 0 3276 7 2003h Function number of input teminals 2003h 1 Digital input DI1 function RW 1 0 99 2003h 2 Digital input DI2 function RW 2 0 99 2003h 3 Digital input DI3 function RW 3 0 99 2003h 4 Digital input DI4 function RW 4 0 99 2003h 5 Digital input DI5 function RW 5 0 99 20...

Page 32: ...tput DO1 function RW 18 0 48 2004h 2 Digital output DO2 function RW 19 0 48 2004h 3 Digital output DO3 function RW 2 0 48 2004h 4 Digital output DO4 function RW 3 0 48 2004h 5 Digital output DO5 function RW 5 0 48 2004h 6 Digital output DO6 function RW 8 0 48 2005h Auxiliary function parameters 2005h 1 Fault reset RW 0 0 1 2005h 2 Whether the soft limit is on or not RW 0 0 1 2005h 3 Whether the pa...

Page 33: ...006h 3 Busbar voltage RO 2007h Servo motor parameters 2007h 1 Motor type RW 1 The corresponding motors to each index are as follow table 2008h Step mode parameter 2008h 1 Locking current RW 2008h 2 Running current RW C100E Series Motor Table 0 40 00130 1 40 00330 2 60 00630 3 60 01330 4 60 01930 5 80 01330 6 80 02430 as default 7 80 03520 8 80 04025 9 90 02430 10 90 03520 ...

Page 34: ... bits The last error code 6040h Control word RW RPDO 0 Unsigned 16 bits Control word 6041h Status word R TPDO 0 Unsigned 16 bits Status word 605Ah Quick stop code RW NO 1 Signed 16 bits 1 It enters the unenabling state after the slope stops 2 Stops quickly and enters into the unenbaling state 5 Slope shutdown completed and maintained in a fast stop state 6 The fast stop is completed and maintained...

Page 35: ...de 6061h Code check R TPDO 0 Unsigned 8 bits Display the working state of the drive 6062h Position instruction R TPDO 0 Signed 32 bits Instruction unit 6063h position feedback R TPDO 0 Signed 32 bits Actual position of motor encoder unit 6064h physical location R TPDO 0 Signed 32 bits Display the actual motor position instruction unit 6067h Position arrival threshold RW RPDO 130 Unsigned 32 bits E...

Page 36: ...DO 0 Signed 32 bits Origin offset 607Dh 01 Min position limit RW RPDO 2000 00000 0 Signed 32 bits Reverse limit 607Dh 02 Max position limit RW RPDO 20000 00000 Signed 32 bits Forward limit 607Fh Max speed RW RPDO 60000 0 Signed 32 bits The max running speed 6081h Ladder velocity RW RPDO 25000 0 Unsigned 32 bits Speed value in uniform speed stage of profile position mode inc s 6083h Ladder accelera...

Page 37: ... a rotate 6098h Homing mode RW RPDO 17 Signed 8 bits Look for origin mode support for 17 and 18 forward and reverse limit switches 6099h 01 Homing mode high speed RW RPDO 15000 0 Unsigned 32 bits Search for the velocity value of the origin signal in high speed instruction s 6099h 02 Homing mode low speed RW RPDO 10000 Unsigned 32 bits Search for the velocity value of the Origin signal in low speed...

Page 38: ...0BAh Probe 1 rising along latch position R TPDO 0 Signed 32 bits Probe 1 rising along latch position 60BBh Probe 1 falling down latch position R TPDO 0 Signed 32 bits Probe 1 falling down latch position 60BCh Probe 2 rising along latch position R TPDO 0 Signed 32 bits Probe 2 rising along latch position 60BDh Probe 2 falling down latch position R TPDO 0 Signed 32 bits Probe 2 falling down latch po...

Page 39: ...s R TPDO Unsigned 32 bits bit0 origin signal bit1 forward limit bit2 negative limit bit3 emergency stop bit4 probe1 function High speed input port1 bit5 probe2 function High speed input port2 60FE 01 Physical output RW RPDO 0 Unsigned 32 bits 60FEh 02 Physical output enable RW NO Unsigned 32 bits Not used 60FFh Target speed RW RPDO Signed 32 bits Target speed in speed mode instruction unit s 6502h...

Page 40: ...st set the password PA0 to 385 and then to modify this parameter 4 The default value is80 02430 40 180 2 Software version The software version can be read but can t be modified 3 Initial display status 0 Display motor speed 1 Display the current position is 5 bit low 2 Display the current position is 5 bit high 3 Display position command command pulse accumulation is 5 bit low 4 Display position c...

Page 41: ...e position of the rotor in a roll is 5 bit high 15 Display input terminal state 16 Display output terminal state 17 Display encoder input signal 18 Display voltage value of main line of main circuit 19 Display alarming code 20 Display logic chip version number 21 Display the actuation state of the relay 22 Display external voltage state 23 Display external voltage state 4 Control mode selection To...

Page 42: ...e load inertia the bigger the value 3 Please set a little high value if the system condition does not generate oscillation 5 2000 Hz 200 6 Speed integral constant 1 To set the integral time constant of the speed loop regulator 2 The value is smaller the integral speed is faster and the servo rigidity is stronger But if it is too small it will happen over controlling 1 1000 ms 75 7 Torque filter 1 ...

Page 43: ...of speed detection filter 2 The value is smaller the cut off frequency is lower and noise from the motor is smaller If the load inertia is great reducing the setting value is recommended If the value is too small it would lead to low response which would result in shaking 3 The value is bigger the cut off frequency is higher and the response frequency is quicker If you need higher torque response ...

Page 44: ...or of electronic gear for position command pulses PA13 denominator of electronic gear for position command pulses are valid 0 30000 1000 0 11 1st numerator of electronic gear for position command pulse 1 Set the electric gear ratio for position command pulse 2 In position control mode it is convenient to match all kinds of pulse source through set the parameter PA12 and PA13 which helps to reach i...

Page 45: ... set to 5 PA13 should be set to 3 5 The numerator of electronic gear for command pulse is decided by Gear1 and Gear2 The denominator is decided by PA13 The details as following DI Signal Denominator Gear 2 Gear 1 0 0 1st Numerator PA12 0 1 2nd Numerator PA77 1 0 3rd Numerator PA78 1 1 4th Numerator PA79 Remark 0 OFF 1 ON 13 Denominator of position command pulse Refers to parameter PA12 1 32767 100...

Page 46: ...5 Direction of command pulses 0 Normal direction 1 Reverse position command pulse 0 1 0 16 The rang of positioning completion 1 Setting the pulse range of positioning completion in position control mode 2 The drive judges whether it has finished positioning completion based on this parameter When the rest pulses in position deviation counter are less than or equal with the setting value the COIN p...

Page 47: ...tion and the value represents the time constant 2 The filter does not lose input pulses but would occur command delay 3 The filter applies in 1 PC controller without acceleration and deceleration function 2 The electronic gear frequency is a little big 10 3 The command frequency is a little low 4 When the motor runs there are step jumps and unsmooth 4 When set to value 0 the filter does not work 0...

Page 48: ...ion is CCW or CW drive is allowed Meanwhile if the switches of CCW and CW drive inhibition are OFF it will still not alarm 21 JOG speed Set the running speed of JOG operating 0 6000 r min 100 22 The source of speed command In speed control mode it sets the source of speed command It means 0 Analog Terminal AS AS input analog speed command 1 Internal speed command is decided by SP1 and SP2 of digit...

Page 49: ...Command 0 1 Internal Speed2 PA25 1 0 Internal Speed2 PA26 1 1 Internal Speed2 PA27 3 JOG speed command if carries out JOG operation it is needed to set 4 Keyboard speed c ommand if carries out Sr operation it needs to set the parameter 5 IO terminal controls JOG operation 23 Highest speed limit Set the highest speed of the ac motor 1 It doesn t matter with rotating direction 2 If the setting value...

Page 50: ...0 6 000 r min 500 26 Internal speed selection 3 1 Set the internal speed 3 2 In speed control mode PA22 0 when SC1 is OFF while SC2 is ON internal speed 3 is the speed command 6000 6 000 r min 1000 27 Internal speed selection 4 1 Set the internal speed 4 2 In speed control mode PA22 0 when SC1 and SC2 are ON internal speed 4 is the speed command 6000 6 000 r min 2000 28 Speed arrival 1 Set the det...

Page 51: ...while it means if the input voltage is 3V it would generate 100 rated torque 10 100 0 1v 10 0 30 30 The alarm value of torque overload 1 The value is the percentage of rated torque The limit is independent to direction and CW or CCW direction is protected 2 When PA31 9 motor torque PA30 and duration PA31 the drive alarms and the code is Err 29 The motor stops working It must repower on after clear...

Page 52: ...nal AS and AS 1 Internal torque command it is decided by TRO1 and TRQ2 of digital input DI DI Signal Torque Command TRQ2 TRQ1 0 0 Internal Torque1 PA64 0 1 Internal Torque2 PA65 1 0 Internal Torque3 PA66 1 1 Internal Torque4 PA67 Note 0 OFF 1 ON 2 Analog torque command internal torque command DI Signal Torque Command TRQ2 TRQ1 0 0 Analog Torque Command 0 1 Internal Torque2 PA65 1 0 Internal Torque...

Page 53: ...pacity that is permitted 0 300 300 35 Internal CW torque limit 1 The setting value is the percentage of rated torque For example it is set to 2 times of the rated torque the value is 200 2 At any time this restriction is valid 3 If the setting value is over than the max overload capacity the actual torque limit is the max overload capacity that is permitted 300 0 300 36 External CCW torque limit 1...

Page 54: ...he Minimum value of max overload capacity internal CCW torque limit and external CCW torque limit 300 0 100 39 Zerooffset compensationof analogtorque command Make an offset adjustment for analog torque command with this parameter 2000 2 000 0 40 Acceleration time constant The value means the motor of acceleration time from 0r min to 1000r min 1 Linear acceleration and deceleration characteristics ...

Page 55: ... speed command Set the proportion for analog speed input voltage and actual motor running speed 10 3000 r min v 300 44 Direction of analog speed command Reverse the input polarity of analog speed 1 Set to 0 and analog speed command is positive the speed direction is CCW 2 Set to 1 and analog speed command is positive the speed direction is CW 0 1 0 45 Zerooffset compensationof analogspeed command ...

Page 56: ... the time it takes to drop from PA48 or current motor speed to PA49 and taking the minimum value 0 200 1 0ms 50 49 The working speed of the mechanical brake when the motor rotates 1 It defines the speed value from motor current cut off to mechanical brake action output terminal BRK from ON to OFF during motor working 2 The actual action time is the time it takes to drop from PA48 or current motor ...

Page 57: ...ts If it is 0 it means the input terminal dose not reverse While it is 1 it means the terminal reverses The binary digit represents the input terminals as following 3 2 1 0 DI4 DI3 DI2 DI1 0 high level is active 1 low level is active 0000 11 11 0000 57 Effective level control word of output terminals 1 To reverse the output terminals For reversed terminals the definitions of breaking over and cut ...

Page 58: ...performance of input terminal is better but the response frequency becomes slow 1 20ms 2 59 Effective command pulse edge Set to 0 the rising edge is effective 1 the falling edge is effective 0 1 0 60 Soft reset Set to 0 Soft reset is invalid 1 Soft reset is effective and the system will restart 0 1 0 61 System alarm clear Set to 0 System alarm clear is invalid 1 System alarm clear is effective 0 1...

Page 59: ... as the torque command 300 300 0 67 Internal Torque 4 In torque control mode PA4 2 when TRQ1 ON TRQ2 ON internal torque 4 is as the torque command 300 300 0 71 Search for an fixed address The slave address used for fixed addressing 1 10000 1 72 High speed IO port filtering settings Set the high speed IO port filter time coefficient 1 1000 50us 40 74 The limit signal is valid 0 No limit signal is e...

Page 60: ...coincidence is ON otherwise OFF 0 1000 r min 10 77 2nd numerator of electronic gear for position command pulse Refers to parameter PA12 0 32767 0 78 3rd numerator of electronic gear for position command pulse Refers to parameter PA12 0 32767 0 79 4th numerator of electronic gear for position command pulse Refers to parameter PA12 0 32767 0 80 Effective level of command direction signal Set to 0 Hi...

Page 61: ...o filtering the input SIGN signal 2 The default value is the max pulse input frequency 500KHz kpps The value is bigger the max input frequency is slower 3 To filter the noise from the signal line in order to avoid incorrect counting happening If it goes wrong due to the incorrect counting you can increase the value of this parameter properly 4 After edited this parameter must save it and recharge ...

Page 62: ...ode 2 When the pulse number in position deviation counter is smaller than or equal to the setting value of this parameter the digital output DO NEAR approach position is ON otherwise is OFF 3 The comparator has hysteresis function set by PA86 4 Use this function in case that in near positioning the host controller is accepting the NEAR signal to carry on the preparation to the next step In general...

Page 63: ...RQ torque arrival is ON otherwise OFF 2 The comparator has hysteresis function set by PA90 3 It has polarity setting function PA91 PA89 Comparator 0 0 Torque without direction 1 0 Only detect positive speed 0 Only detect reversal speed 300 300 100 90 Hysteresis of arrival torque 1 If the motor torque is bigger than PA90 the ATRQ torque arrival of digital output DO is ON otherwise it is OFF 2 The c...

Page 64: ...ro speed detection 1 The motor speed is lower than the value of this parameter ZSP zero speed of digital output is ON or else OFF 2 The comparator has hysteresis function 0 1000 r min 5 94 The delay time of brake on This parameter defines the delay time from the servomotor energized until the action the digital output DO BRK is ON 0 200m s 0 95 Motor encoder resolution Motor encoder resolution 217...

Page 65: ...I forced effective1 00000000 11111111 00000000 P3 16 Digital Input DI forced effective2 00000000 11111111 00000000 P3 17 Digital Input DI forced effective3 00000000 11111111 00000000 P3 18 Digital Input DI forced effective4 00000000 11111111 00000000 P3 19 Digital Input DI forced effective5 00000000 11111111 00000000 P3 20 Digital Output DO1 Function 0 99 18 P3 21 Digital Output DO2 Function 0 99 ...

Page 66: ... State Value Of Virtual Output Terminal 0 99 5 P3 39 Virtual I O Input DI1 Function 0 99 6 P3 40 Virtual I O Input DI2 Function 0 99 7 P3 41 Virtual I O Input DI3 Function 0 99 8 P3 42 Virtual I O Input DI4 Function 0 99 9 P3 43 Virtual I O Input DI5 Function 0 99 10 P3 44 Virtual I O Input DI6 Function 0 99 11 ...

Page 67: ... planned target position 607Ah to the servo driver in the way of cycle synchronization Position speed and torque control are completed by the servo driver Pic5 1 The input output objects of cycle position mode 5 1 2 Related Object Control Word 6040h Bit Name Description 0 Servo ready Bit0 bit3 are 1 which means it starts working 1 Turn on the main circuit 2 Emergency stop 3 Servo running Remark CS...

Page 68: ...error 0 There is no fault with excessive position deviation 1 Excessive position deviation fault occurs 5 1 3 Recommended Configuration In cycle position mode the basic configuration is as follows RPDO TPDO Remark 6040 control word 6041 state word must choose 607A target position 6064 position feedback must choose 6060 mode selection 6061 running mode display optional 5 2 Cycle Synchronous Velocit...

Page 69: ...F target velocity must choose 6064 position feedback 606C speed feedback optional 6060 mode selection 6061 running mode display optional 5 3 Cycle Synchronous Torque Mode CST 5 3 1 Controlling Diagram In this mode the controller sends the calculated target torque 6071 h periodically and synchronously to the servo drive and the torque adjustment is performed by the servo drive itself When the speed...

Page 70: ...controller gives the target position absolute or relative the speed of the position curve acceleration and deceleration The trajectory generator of the servo will generate the target position curve instruction according to the setting and the drive completes position control speed control torque control RPDO TPDO Remark 6040 control word 6041 state word must choose 6071 target toque must choose 60...

Page 71: ...ute position 1 The target position is relative position State Word 6041 Bit Name Description 10 Target arrival 0 Not reached the target position 1 Reached the target position 12 Target position updated 0 The target location can be updated 1 The target location can not be updated 13 Following error 0 There is no fault with excessive position deviation 1 Excessive position deviation fault occurs Ind...

Page 72: ...6077 00 actual torque RO INT16 0 1 3000 3000 0 607A 00 target location RW INT32 instruction unit 231 231 1 0 607F 00 maximum speed RW UINT32 instruction unit s 0 232 1 60000 0 6081 00 profile velocity RW UINT32 instruction unit s 0 232 1 25000 0 6083 00 profile acceleration RW UINT32 instruction unit s2 0 232 1 25000 0 6091 02 axial resolution RW UINT32 1 232 1 10000 60FC 00 position instruction R...

Page 73: ...he new displacement instruction 1 has been received and that the current slave station is unable to continue to receive the new displacement instruction In immediate update mode once the new displacement instruction is received 6041 bit12 is changed from 0 to 1 the servo immediately executes the displacement instruction d After the upper computer receives the bit12 from the state word 6041 h of th...

Page 74: ...ive position instruction after the second displacement instruction is located the total displacement increment 1 target position increment 607Ah 2 target position increment 607Ah For absolute position instruction after the second displacement instruction is located the absolute position the target position of 2 is 607Ah Pic 5 5 Non immediate update sequence diagram and motor operation curve Pic 5 ...

Page 75: ... Velocity Mode PV 5 5 1 Related Objects In this mode the controller sends the target speed and acceleration to the servo drive Speed and torque adjustment is performed by the servo drive Control Word 6040 Bit Name Description 0 Servo ready 4 bits are 1 indicating that the servo is charged by the current main circuit and is in an enabling state 1 Turn on the main circuit 2 Emergency stop 3 Servo ru...

Page 76: ...it s 0 232 1 25000 0 6063 00 position feedback RO INT32 encoder unit 6064 00 position feedback RO INT32 instruction unit 60FF 00 target speed RW INT32 instruction 231 231 1 0 60E0 00 forward torque limit RW UINT16 0 1 0 3000 3000 60E1 00 reverse torque limit RW UINT16 0 1 0 3000 3000 606C 00 actual speed RO INT32 instruction unit s 0 6077 00 actual torque RO INT16 0 1 3000 3000 0 Remark When the a...

Page 77: ...e Torque Mode PT In this mode the upper controller sends the target torque 6071 h and the torque ramp constant 6087h to the servo driver and the torque adjustment is performed by the servo When the speed reaches the limiting value it will enter the speed regulation stage Pic5 7 Profile torque mode input output block diagram 5 6 1 Related Objects Control Word 6040 Bit Name Description 0 Servo ready...

Page 78: ...ata Type Unit Range Default Value 603F 00 error code RO UINT16 0 65535 0 6040 00 control word RW UINT16 0 65535 0 6041 00 status word RO UINT16 0 65535 0 6060 00 operator mode RW INT8 0 10 8 6061 00 mode display RO INT8 0 10 0 606C 00 actual velocity RO INT32 s 6071 00 target torque RW INT16 0 1 3000 300 0 0 6072 00 maximum torque RW UINT16 0 1 0 3000 3000 6074 00 torque instruction RO INT16 0 1 6...

Page 79: ...ocate the position relationship between the mechanical origin and the mechanical zero Mechanical origin a fixed position on the machine which can correspond to a certain origin switch and the Z signal of the motor Mechanical zero mechanical absolute zero position When the homing is finished the stop position of the motor is the mechanical origin and the 607Ch automatically sets the relationship be...

Page 80: ...as follows Control Word 6041 Bit Name Description 10 Target Arrival 0 Not reached the target position 1 Reached the target position 12 Homing 0 Homing has been finished and it can receive zeroing signal 1 It is homing and can not receive homing signal 13 Homing Fault 0 There is no fault in zeroing 1 Homing timeout or excessive deviation error RPDO TPDO 备注 6040 control word 6041 status word must ch...

Page 81: ...nge switch a The deceleration point signal is invalid when homing starts Note In the figure H stands for high speed 6099 1h and L stands for low speed 6099 2 h When homing starts and N OT 0 it reverses with high speed When it encounters N OT rising edge it decelerates reverses and forwards with low speed When encountering the falling edge of N OT it stops running b The deceleration point signal is...

Page 82: ...er range switch Deceleration point forward over range switch a The deceleration point signal is invalid when homing starts When homing starts and P OT 0 it forwards with high speed When encountering the rising edge of P OT it decelerates reverses and operates at low speed When encountering the falling edge of P OT it stops b The deceleration point signal is effective when homing starts ...

Page 83: ... deceleration point signal is invalid when zeroing starts and it did not encounter the forward limit switch When homing starts and HW 0 it forwards with high speed and does not encounter limit switch When encountering rising edge of HW it slows down and reverse with low speed When encountering the falling edge of HW it shuts down The deceleration point signal is invalid when returning to zero star...

Page 84: ...ng the falling edge of HW it shuts down The deceleration point signal is effective when returning to zero starts When homing starts and HW 1 it starts zeroing at a reverse low speed directly When encountering the falling edge of HW it shuts down 4 6098h 27 Origin Origin switch Deceleration point Origin switch The deceleration point signal is invalid when returning to zero starts and did not encoun...

Page 85: ...he reverse limit switch is encountered When homing starts and HW 0 it returns to zero with reversed high speed and encounters limit switch Then it automatically reverses and runs at high speed When encountering rising edge of HW it slows down and keeps forwarding with low speed When encountering the falling edge of HW it shuts down The deceleration point signal is valid when zeroing When homing st...

Page 86: ...responding to the rising edge and falling edge of each probe signal at the same time and can latch 4 position information at the same time Probe 1 selects the pulse port as the probe signal and probe 2 selects the direction port as the probe signal 5 8 1 Set probe function 0x60B8 Bit description 0 Probe 1 Enable 0 Probe 1 is disabled 1 Probe 1 enable 1 Probe 1 trigger mode 0 Single trigger trigger...

Page 87: ... 8 Probe 2 Enable 0 Probe 2 is disabled 1 Probe 2 enable 9 Probe 2 trigger mode 0 Single trigger trigger only when the trigger signal is valid for the first time 1 Continuous trigger 10 Probe 2 trigger signal selection 0 Pulse port input signal 1 Reserved not currently supported 11 NA 12 Probe 2 rising edge enable 0 The rising edge is not latched 1 Rising edge latch 13 Probe 2 falling edge enable ...

Page 88: ...edge latch execution 0 Falling edge latch not executed 1 Falling edge latch has been executed 3 NA 4 NA 5 NA 6 NA 7 Probe 1 trigger signal monitoring 0 pulse input port is low level 1 Pulse input port high level 8 Probe 2 Enable 0 Probe 1 is not enabled 1 Probe 1 enable 9 Probe 2 rising edge latch execution 0 rising edge latch not executed 1 Rising edge latch has been executed 10 Probe 2 falling e...

Page 89: ...objects 0x60BA 0x60BD respectively In this example if it is judged that the probe 1 rising edge position latch function has been executed the position information can be read by reading 0x60BA probe 1 rising edge position feedback latch value command unit Example The trigger signal is the pulse port input probe 1 trigger the rising edge is latched and the trigger is continuous The function setting...

Page 90: ...C100E EtherCAT AC Servo Drive www coolmay com 84 ...

Page 91: ...verflow 0x1000 Yes 9 Encoder signal error difference signal detection error 0x7305 Yes 11 Hardware short protection IPM smart module failure 0x5400 No 12 Over current 0x2220 No 13 Overload 0x3230 Yes 14 Brake circuit failure 0x1000 Yes 15 Encoder count exception 0x7305 Yes 18 Relay fault 0x1000 Yes 19 The pulses input when the brake is delayed 0x7110 Yes 20 Parameter storage exception 0x6320 No 21...

Page 92: ...needs to be replaced 0x7305 Yes 53 Battery voltage error and is unavailable to use It must be replaced 0x7305 Yes 54 Information of multiple cycles is needed to be reset due to other errors which are not battery error 0x7305 Yes 55 Three consecutive errors in CRC effect verification 0x7305 No 56 The received MODBUS frame data is too long 0x7305 No 57 Serial communication abnormal error 0x7305 Yes ...

Page 93: ...f Cooperating With TwinCAT Master Station 1 nstall TwinCAT software The twinCAT software in the official website of Beckhoff company supports up to 32 bit win7 systems and does not support win7 64 bit systems Windows xp system it is recommended install tcat_2110_2230 Windows 7 32 bit system it is recommended to install tcat_2110_2248 Note About the network card please choose a 100 megabit Ethernet...

Page 94: ...he following dialog box and click install after selecting the local site in the Incompatble devices column After the installation is complete the network card that has been installed appears in the Instaled and ready to use devices column 5 Device search After you create a new project page right click I O Devices to start searching for the device as shown in the following figure ...

Page 95: ...C100E EtherCAT AC Servo Drive www coolmay com 89 6 Select OK 确定 7 Select OK 8 Select Yes 是 9 Select Yes 是 10 Select No 否 ...

Page 96: ... 12 According to the default configuration please click activate and switch to run mode click Yes 13 According to the default configuration click activate and switch to run mode click Yes After OK on the Online interface you can see the device entering the OP state while the running lamp of the driver is kept in the green state ...

Page 97: ...C100E EtherCAT AC Servo Drive www coolmay com 91 14 Control servo through NC or PLC program a Set units when testing units mm b Set quantitative scaling factor ...

Page 98: ...ing with rpm as the speed unit is more intuitive So the quantitative factor is set to 60 131072 c Set encoder feedback mode to pos Other settings Encoder mode and there are three options Pos The encoder is only used to calculate the position and is used when the position loop is in the drive PosVelo The encoder is only used to calculate position and speed when the position ring is used in TWinCAT ...

Page 99: ...oop and outputs the speed instruction The servo runs in the cycle synchronous velocity mode 6060 9 d Point motion test Temporarily shield system deviation Click Set to jump out of the dialog box and then click All After that the servo drive is enabled Through F1 F4 it can realize point motion operation ...

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