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C200H AC Servo Manual

97

P4-38

The cycle

number of origin

regression

offset(HOF1)

To set the cycle number of origin regression offset.

-30000-

30000

0

P4-39

The pulse

number of origin

regression

offset(HOF2)

1: To set the pulse number of origin regression offset.
2: When the parameter function HOF1 and HOF2 are
set to 0, the origin is defined as Z pulse or ORGP by the
origin regression mode. If they are not 0, the origin will
define the above Z pulse plus last pulse offset HOF1

×

10000+HOF2 as the new origin.

+/-max.

cnt/rev

0

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Summary of Contents for C200H Series

Page 1: ...https en coolmay com ...

Page 2: ...C200H AC Servo Manual https en coolmay com ...

Page 3: ... otherwise it will lead to equipment damage or can not be used 1 Application Danger Forbidden to use the product when it is exposed to water gas corrosive gas and combustible gas Or it could cause an electric shock or a fire Forbidden to use products in places with more direct sunlight dust salt and metal powder Forbidden to use products in places where water oil and medicine are dripping 2 Wiring...

Page 4: ... please confirm if you can start emergency switch shutdown at any time Please test whether the servo motor is running normally without load firstly and then connect the load to avoid unnecessary loss Do not switch on and off power frequently otherwise it will cause drive overheating 4 Working Prohibition When the motor is running it is forbidden to touch any parts in rotation otherwise it will cau...

Page 5: ...erwise the residual high voltage may cause electric shock It is forbidden to change the wiring or disassemble the servo motor when the power is turned on otherwise it will cause electric shock 6 Scope of use Caution The products involved in this manual are for general industrial use Do not use them on devices that may directly endanger personal safety ...

Page 6: ...2 4 1 Servo System Wiring 12 4 2 Servo driver terminals Introduction 14 4 3 Main Circuit Terminal 15 4 4 CN1 Control Signal Terminal 17 4 5 CN2 Encoder Signal Terminal 28 4 6 CN3 And CN4 Terminal Definition 30 4 7 Anti jamming Countermeasures of Power Wiring 33 Chapter 5 Running Mode And Controlling Wiring 37 5 1 Position Control Mode 38 5 2 Speed Control Mode Wiring 44 5 3 Torque Control Mode 47 ...

Page 7: ... How To Reset Default Parameters 59 Chapter 7 Parameters 60 7 1 PA Group 60 7 2 P3 Group Parameters For Multifunctional Terminals 81 7 2 1 Parameter Table 81 7 3 P4 Group Parameters For Internal Position Command 91 Chapter 8 Error Code 98 Chapter 9 Alarm Handling Methods 100 ...

Page 8: ...tor and ensure that are the same types in the order form The purchased product is identical with your desired Please do not power it on if there is any damage on the product appearance Inspect the parts of servo driver and servo motor to see any loosen parts such as loosened or fallen off screw Rotate the servo motor shaft by hand and should be smooth rotation However the servo motor with holding ...

Page 9: ...der CN2B Encoder signal terminal Connected with absolute value motor encoder L1 L2 L3 Main power input terminal CHARGE Bus voltage indicator It is used to indicate the bus capacitance in a charged state When the indicator lights on even if the power supply is off the internal capacitor of the servo unit may still have a charge Therefore do not touch the power terminal when the lights on to avoid e...

Page 10: ...ease wire the cable down refer to the below picture to avoid any liquid attached on the cable and then it flows into the drive along with the cable Pic 1 2 Wring Direction Requirement Installation interval Refer to pic1 3 for the distance between drives and installation intervals with other devices and please note that the picture indicates the smallest size in order to ensure the performance and ...

Page 11: ...wing conditions Working environment temperature 0 40 Humidity of working environment below 80 no condensation Storage ambient temperature 40 50 Humidity of storage environment below 80 no condensation Vibration below 0 5G Keep the place well ventilated with less moisture and dust Places without corrosive and igniting gases oil and gas cutting fluid cutting powder iron powder etc No steam and avoid...

Page 12: ...sufficient If the extension is insufficient it will easily cause vibration when the motor moves In case of installation or removing the servomotor please do not hit the servo motor with a hammer otherwise the shaft and the encoder can be damaged 1 3 4 Motor Rotation Direction Definition The motor rotating direction description in this handbook is defined as facing the shaft of the servo motor if t...

Page 13: ... pulse accumulation Position deviation Motor torque Motor current Running state etc Control Input 1 Servo on 2 Alarm clearance 3 CCW drive inhibition 4 CW drive inhibition 5 Deviation counter clearance 6 Command pulse inhibition 7 CCW torque limit 8 CW torque limit Control Output Servo ready Servo alarm Positioning completion Mechanical braking Regeneration Braking Built in Built out Load Less tha...

Page 14: ...0 4KW 0 75KW Special specifications Customization Serial No Definition Motor type CN CN series 4 opposite pole servo motor Flange 40 mm 60 mm 80 mm 90 mm 110 mm 130 mm Rated torque 0 1N m 040 4N m Rated speed 100rpm 25 2500rpm A6 17 bit single turn absolute A1 17 bit multi turn absolute I2 2500ppr incremental encoder TJA AMP connector MH Aviation connector B with a brake Null without a brake 1 The...

Page 15: ...200H 17 bit single turn absolute encoder 90mm CN90 04025A6 MH B 1000 2500 130mm CN130 04025A6 MH B 1000 2500 CN130 05025A6 MH B 1800 2500 CN130 06025A6 MH B 600 2500 CN130 07725A6 MH B 800 2500 CN130 10010A6 MH B 1200 1000 CN130 10015A6 MH B 1500 1500 CN130 10020A6 MH B 1200 2000 CN130 10025A6 MH B 1800 2500 CN130 15015A6 MH B 1000 1500 CN130 15025A6 MH B 1300 2500 ...

Page 16: ...imension 3 1 Drive Dimension The user can install the servo drive with the bottom plate and the installed direction is perpendicular to the installation facing Recommended to cool the servo drive with fan or natural cooling 400W Pic 3 1 C200H Dimension ...

Page 17: ...imension Flange 80mm 90mm Pic 3 2 Flange 80mm 90mm And Table 3 1 Model W L LE S LA LB LC LD M DM80 04025A1 A6 MA 80 191 90 19 70 25 6 35 6 DM90 04025A1 A6 MA 90 182 100 16 80 25 5 35 6 5 Flange 130mm Pic 3 3 Flange 130mm And Table 3 22 0 ...

Page 18: ... 57 6 CM130 06025A1 A6 MH 130 179 145 22 110 42 6 57 6 CM130 07725A1 A6 MH 130 192 145 22 110 42 6 57 6 CM130 10010A1 A6 MH 130 213 145 22 110 42 6 57 6 CM130 10015A1 A6 MH 130 213 145 22 110 42 6 57 6 CM130 10025A1 A6 MH 130 209 145 22 110 42 6 57 6 CM130 15015A1 A6 MH 130 241 145 22 110 42 6 57 6 CM130 15025A1 A6 MH 130 231 145 22 110 42 6 57 6 ...

Page 19: ...C200H AC Servo Manual 12 Chapter 4 Drive System Wiring And Introduction 4 1 Servo System Wiring 4 1 1 Servo Drive Wiring Pic 4 1 Servo System Wiring ...

Page 20: ...e failure and fail to output the signal To prevent the wrong action caused by noise please add insulation transformer noise filter and other devices to the power supply Please wire the power line strong current circuit of motor line power line etc more than 30cm away from the signal line and do not place it in the same wiring pipe Please install a non fusible circuit breaker to cut off the externa...

Page 21: ...C200H AC Servo Manual 14 4 2 Servo driver terminals Introduction Pic 4 2 C200H Drive Terminals The above picture shows the pins arrangement of the drive ...

Page 22: ... external AC power supply 3 phases 220VAC 15 10 50 60Hz Regenerative Resistance P D When use the built in resistor please connectP and D P C When the external regeneration resistance is required please disconnect P and D and crossover it to terminal P and C Leaving N disconnected Servo Motor U V W UVW phase output to servo motor Ground with servo motor and power supply The built in resistor has be...

Page 23: ...ircuit between terminal P and D must be disconnected Then the external regeneration resistance could be connected between P and C and leave N alone as picture B showed Pic A Pic B Precautions for braking resistance wiring Do not connect the external brake resistance to the positive and negative poles of the bus P N otherwise it will cause explosion and fire Must be over minimum resistance value at...

Page 24: ...ctor DB44 plug provides the signals interfaced with the host controller The signal includes 8 programmable input terminals 6 programmable output terminals Analog command inputs Pulse command inputs 4 4 2 CN1 terminal pin distribution Pic 4 4 CN1 Terminal Pin Distribution A 24 26 AWG cable is recommended ...

Page 25: ...sition control PULS 21 SIGN 6 SIGN 22 PULLHI 7 External 24V power input interface of the instruction pulse GND 11 12 Internal digital signal ground The output circuit of instruction pulse of the upper device side can be selected from the differential output or collector open circuit output Its maximum input frequency and minimum pulse width are shown in the following table pulse mode maximun frequ...

Page 26: ...ternal 24V power sources Common Anode Connection for example Mitsubishi PLC If the output pulse width of the upper device is less than the minimum pulse width it will cause the drive to receive error pulses The terminal between PULS and PULS SIGN and SIGN only support below 5V signal If over than 5V it needs to connect external resistances ...

Page 27: ... AC Servo Manual 20 Common Cathode Connection for example Siemens PLC B For external power supply Case 1 To use internal resistance of the drive recommended Common Anode Connection Common Cathode Connection ...

Page 28: ... To use external resistance of the drive Common Anode Connection Common Cathode Connection How to calculate the value of resistanceR1 VCC 1 5 R1 240 Table 4 1 R1 Recommendation VCC Voltage R1 Power 24V 2 4KΩ 0 5W 12V 1 5KΩ 0 5W 10mA ...

Page 29: ... to 5 pin DI6 to pin 6 DI2 4 alarm clearance DI3 19 CWdriveinhibition DI4 3 CCW drive inhibition DI5 18 Forward external torque limit DI6 2 Reverse external torque limit DI7 17 Zero speed clamp DI8 1 Zero instruction PULS 21 In position mode internal position mode and non position mode SIGN 22 PULS 5 SIGN 6 PULLHI 7 COM 16 Common end of digital input signals Digital Output DO1 31 Servo ready Photo...

Page 30: ...Internal 5V Internal Power Output E0V 43 Internal 0V Internal isolated 24V power output and the voltage range is 20V 28V and max output current 100mA E24V 44 Internal 24V Input Circuit Of Digital Quantity Diagram For DI1 as an example the DI1 DI8 interface circuit is the same 1 When the upper device is relay output A For internal 24V power supply B For external 24V power supply 2 When the upper de...

Page 31: ...C200H AC Servo Manual 24 A For internal 24V power supply B For external 24V power supply Note Do not support PNP mixed with NPN input ...

Page 32: ...ice is relay input 2 When the upper device is optocoupler 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 33: ...struction Input Interface Diagram Two input types differential recommended and single end Speed and torque share one analog input at range from 10V to 10V with resistance approximately at 10 KΩ The existence of zero bias in the analog input is normal and can be compensated by parameters 1 When it is analog differential input 2 When it is analog single end input Servo Drive Servo Drive ...

Page 34: ...built into the servo motor is a fixed special mechanism of non electric action type which can not be used for braking purposes Only when the servo motor is kept in a stop state can it work The brake coil has no polarity After the servo motor stops the servo signal Servo On should be cut off When the motor with the built in brake is running the brake may make a click sound which has no effect on it...

Page 35: ... servo driver If the cable is longer than 20m and prevent encoder from voltage dropping down it is better to use multi wires or thick wires for power line and ground line GND 10 15 Encoder A Phase Input A 6 Connect with A phase output of encoder A 1 Encoder B Phase Input B 7 Connect with B phase output of encoder B 2 Encoder Z Phase Input Z 8 Connect with Z phase output of encoder Z 3 Encoder U Ph...

Page 36: ...n No Function Encoder Power Supply 5V 5 Use 5V power supply Provided by servo driver If the cable is longer than 20m and prevent encoder from voltage dropping down multi wires or thick wires is recommended for power cable and ground cable 0V 6 Absolute encoder communication positive SD 1 Absolute encoder communication positive end Absolute encoder communication negative SD 2 Absolute encoder commu...

Page 37: ...ve the communication can be established between the drive and PC PLC and other drives The CN3 and CN4 pins are defined as follows Terminal CN3 Name CN4 Name Terminal 1 NC Null NC Null 2 E0V CAN ground E0V CAN ground 3 CAN H CAN Bus communication CAN H CAN Bus communication 4 RS485 RS485 communication RS485 RS485 communication 5 RS485 RS485 6 CAN L CAN Bus CAN L CAN Bus 7 GND 485 ground GND 485 gro...

Page 38: ...unication network the parallel connection of multi drives is as follows A B It can connect PC or the upper controllers through a special serial port cable and it is forbidden to plug with electric It is recommended to use twisted pair or shielded wire the length of the wire is less than 2 meters Multi drives series connected CN3 connect with last CN4 and CN4 connect with next CN3 When using RS485 ...

Page 39: ...ication the GND terminal of the upper device is connected with the GND terminal of the servo drive as shown in the following picture Pic 4 12 RS485 Communication Diagram As shown in the picture below when using RS485 communications the ground signal of the upper device is connected with the earth PLC is built in RS485 communication terminal resistor It is suggested that the shield layer should be ...

Page 40: ...tromagnetic interfering the following methods can be used 1 Install the upper device and a noise filter near the servo drive 2 Install a surge suppressors on coils of relays solenoids electromagnetic contacts 3 Separate high and low voltage cables away minimum at 30 cm 4 Do not share a power supply with welding devices discharge processing devices etc When there is a high frequency generator nearb...

Page 41: ...itive devices please select a corresponding noise filter at the input end of power supply according to the input current Meanwhile please install the noise filter at the power cable of peripheral device if needed Please observe the following precautions when installing and wiring the noise filter so as not to weaken the actual use effect of the filter Please separate the input and output cables of...

Page 42: ...to ground separately and do not share a ground wire with other grounding equipment Pic 4 16 Single Point Grounding Diagram The ground handling of a noise filter installed in the control cabinet when the noise filter and servo driver are installed in the same control cabinet it is recommended that the filter and servo driver are fixed on the same metal plate To ensure the contact part is conductive...

Page 43: ...C200H AC Servo Manual 36 Pic 4 17 Ground Connection Handling Of Noise Filter ...

Page 44: ...ling CNC machines and so on The speed control mode controls rotation speed through the given analog quantity the given digital quantity and the given communication speed It is mainly used in the constant speed applications For example the upper computer adopts position control mode and the servo drive adopts speed control mode in application of carving and milling machines The torque control mode ...

Page 45: ...ration to confirm whether the motor can run normally 3 To connect the pulse direction input and pulse instruction input of the CN1 terminal as well as the required DI DO signals such as servo enable alarm clearance location completion signal etc based on the figure 5 2 as a reference 4 Then to make some setting operations DI DO can be set according to actual situation 5 For servo enable the servo ...

Page 46: ...er supply ranges 20V 28V and maximum operating current 100mA If use a external 24V power supply please connect the external 24V to pin16 COM and the external 0V to pin43 E0V A power supply for DO output should be prepared by customers The power ranges 5V 24V The maximum allowable voltage is DC30V and current is 50mA ...

Page 47: ...ectronic gear for position command pulse 1 32767 0 PA13 Denominator of electronic gear for position command pulse 1 32767 10000 PA14 Input mode of position command pulse 0 3 0 PA15 reverse direction of position command pulse 0 1 0 PA59 The effective edge of command pulse 0 1 0 PA77 2nd numerator of electronic gear for position pulse 1 32767 0 PA78 3rd numerator of electronic gear for position puls...

Page 48: ... PA55 Effective level control word for input terminals 0000 1111 0000 PA57 Effective level control word for output 0000 1111 0000 PA58 Time constant of removing jitter for IO input terminal 1 20ms 2 P3 0 Digital Input DI1 function 0 99 1 P3 1 Digital Input DI2 function 0 99 2 P3 2 Digital Input DI3 function 0 99 3 P3 3 Digital Input DI4 function 0 99 4 P3 4 Digital Input DI5 function 0 99 5 P3 5 D...

Page 49: ...4 And then can choose one of 8 groups to be position command to match with 1 O CN1 POS0 POS2 and CTRG As below table shows Com mand POS2 POS1 POS0 CTRG Parame ter Induction Moving Speed Register P1 0 0 0 P4 2 circle 30000 P4 4 V1 P4 3 pulse max cnt P2 0 0 1 P4 5 circle 30000 P4 7 V2 P4 6 pulse max cnt P3 0 1 0 P4 8 circle 30000 P4 10 V3 P4 9 pulse max cnt P4 0 1 1 P4 11 circle 30000 P4 13 V4 P4 12...

Page 50: ...0 to close 1 Max the command pulses of the motor in one revolution Absolute position register is broadly applied User can easily complete periodicity actions by the above table For example the position command P1 10 revolution P2 20 revolution P1 should be followed by P2 Differences between P1 and P2 as below ...

Page 51: ... the servo JOG trial running mode through the panel keys to confirm whether the motor can run normally 3 To connect the required DI DO signals in CN1 terminal such as servo enable alarm clearance positioning completion signal etc referring figure 5 4 4 To operate speed mode related setting DI DO are used to set according to your application 5 To make the servo enabled and the servo motor rotation ...

Page 52: ...C200H AC Servo Manual 45 5 2 2 Speed Mode Wiring 三相 Pic5 4 Speed Mode Wiring ...

Page 53: ...ival Speed 0 3000r min 3000 PA40 Acceleration Time Constant 1 10000ms 100 PA41 Deceleration Time Constant 1 10000ms 100 PA42 S Type Acceleration And Deceleration Time Constant 0 1000ms 0 PA43 Gain Of Analog Speed Command 10 3000r min v 300 PA44 Direction Of Analog Speed Command 0 1 0 PA45 Zero Offset Compensation Of Analog Speed Command 5000 5000 0 PA46 Filter Of Analog Speed Command 1 300Hz 300 P...

Page 54: ...e servo JOG trial running mode through the panel keys to confirm whether the motor can run normally 3 To connect the required DI DO signals in CN1 terminal such as servo enable alarm clearance positioning completion signal etc referring figure 5 6 4 To operate torque mode related setting DI DO are used to set according to your application 5 To make the servo enabled and the servo motor rotation is...

Page 55: ...C200H AC Servo Manual 48 5 3 2 Torque Mode Wiring Pic5 6 Torque Mode Wiring ...

Page 56: ...0 PA33 Direction of analog torque command 0 0 PA39 Zero offset compensation of analog torque command 0 0 PA50 Speed limit in torque control mode Set by yourself Rated Speed PA64 Internal torque 1 300 300 0 PA65 Internal torque 2 300 300 0 PA66 Internal torque 3 300 300 0 PA67 Internal torque 4 300 300 0 PA83 Inhibition method 0 1 0 PA89 Arrival torque 300 300 100 PA90 Hysteresis of arrival torque ...

Page 57: ...ting 0 5 0 P4 33 Set the model of short distance movement to the origin 0 2 0 P4 34 Origin trigger start mode 0 2 0 P4 35 Origin stop mode setting 0 1 0 P4 36 The first stage of high speed origin regression speed setting 1 2000 r min 1000 P4 37 The second stage of low speed origin regression speed setting 1 500 r min 50 P4 38 Cycles of origin regression offset 30000 0 P4 39 Pulses of origin regres...

Page 58: ...h or the right limit switch as the reference point for the origin Or it can use extra detectors such as near type or light gate type switch as the reference The Z pulse can be also set as a reference point when the servo motor moves in only one revolution P4 32 0 CW direction finds the origin and use CCWL limit as a rough reference point When completing origin positioning CCWL is limit input funct...

Page 59: ...g the nearest Z pulse as the mechanical origin P4 33 2 the rising edge of ORGP which was found is set as the mechanical origin point and stops according to deceleration which is applied to P4 32 2 or 3 Or when found Z pulse it stops according to deceleration which is applied to P4 32 4 or 5 And the value of P4 32 for detecting origin detection is only applicable to 2 or 3 Under Z pulse origin poin...

Page 60: ...Driver power supply auxiliary power supply grounding end and other wiring should be wired correctly Each control signal cable connection should be correct Each limit switch protection signal have been correctly connected 1 Enabled switch in OFF state 2 Cut off power supply circuit and stop alarm circuit to maintain access ope 3 Servo driver applied voltage reference should be correct Power the ser...

Page 61: ...so has the meaning of Cancel and Exit button indicates Increasing and button indicates decreasing If you press the button or button and maintain it you would get a duplicate result and stay longer the repetition rate is higher Pic 6 1 Drive Panel Display 6 1 2 Front Keys Introduction Key Name Function Increasing Increase sequence number or value Press down and hold to repeat increasing Reducing De...

Page 62: ...ect PA and press SET button to enter the status of parameter setting mode And use or to choose parameters and then press SET button to display the parameter value You can modify the value with or key Press key or key once the parameter value increases or decreases by 1 Pressing and holding or key can make the value increased or decreased continuously After modifying the value of the parameter plea...

Page 63: ...n press SET button to enter into the specific states Status Operation Example Definition Motor speed 1000r min The current position 124580 Position command 124581 Position deviation 4 pulses Motor torque 70 Motor current 2 3A Control mode 0 position control In speed mode analog input speed 500 r min In torque mode analog input torque 50 Absolute rotor position 3265 Input terminal Output terminal L...

Page 64: ...C200H AC Servo Manual 57 No 4 alarm ...

Page 65: ...3s When it displays donE the activation is completed 6 6 Encoder Selection Select F res to reset the encoder and make the encoder multi circle information zeroing By setting P3 36 parameter the single circle information can be cleared to achieve the purpose of setting the original point Select F clr to clear the encoder NO 53 alarm caused by battery power down After long press the SET key for more...

Page 66: ...ally read the motor parameters and match the motor model 2 Set password PA0 to 385 3 Do the followings Press the key to return to the main menu and to select PA with or key Press the SET key to enter into the second layer and press the or key to make PA 0 Then press the SET key to enter into the third layer and set PA0 385 pressing the SET key to save it Next press the key to return to the PA and ...

Page 67: ... only and can not be modified The driver automatically identifies the motor model 80 130 Table 7 1 2 Software version The software version can be read but can t be modified Table7 1 Drive C200H Motor 80 04025 130 04025 90 04025 130 05025 100 03230 130 06025 100 06430 130 07725 110 02030 130 10010 110 04020 130 10015 110 04030 130 10020 110 05030 130 10025 110 06020 130 15015 110 06030 130 15025 ...

Page 68: ...Display motor current 9 Display control mode 10 Display temperature 11 Display speed command 12 Display torque command 13 Display absolute position of the rotor in a roll is 5 bit low 14 Display absolute 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...

Page 69: ...e high value if the system condition does not generate oscillation 5 2000 Hz 150 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 To set the characters of torque command filter 2 To supp...

Page 70: ...value 20 500 100 9 Proportional gain of position loop 1 To set the proportional gain of position loop 2 The value is bigger the gain is higher and its rigidity is stronger So the position lag is smaller under the same frequency command pulse condition But if it is too big it will happen oscillation 3 The parameter value is set according to your exact servo driving system model and the load 1 1000 ...

Page 71: ...on C solutions of photoelectric encoder in per rotation the default value is 2500 4 For example input command pulse P is 6000 servo motor rotate a roll G N C 4 P 1 2500 4 6000 5 3 So PA12 should be 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...

Page 72: ...ulse 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 positioning completion of digital output DO is ON or else OFF 0 30000 pulses 130 17 Detection of over travel range 1 Set alarming detection ra...

Page 73: ... 4 When set to value 0 the filter does not work 0 1000 0 1ms 100 20 Invalid input of drive inhibition To set 0 CCW drive inhibition or CW drive inhibition is effective If the switch of CCW drive inhibition is ON CCW drive is permitted If the switch of CCW drive inhibition is OFF CCW torque keeps 0 The same as CW drive inhibition If both CCW and CW drive inhibition are OFF it will come to error ala...

Page 74: ...27 Note 1 ON 0 OFF 2 Analog speed command internal speed command DI Signal Speed Command SP2 SP1 0 0 Analog Speed 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 command if carries out Sr operation it needs to set the parameter 5 IO terminal controls JOG operation 0 5 0 23 Highe...

Page 75: ... SC1 is OFF while SC2 is ON internal speed 3 is the speed command 6000 6000 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 6000 r min 2000 28 Speed arrival 1 Set the detection timing of the speed arrival output When the servomotor speed surpasses this parameter the digital output ...

Page 76: ...31 the drive alarms and the code is Err 29 The motor stops working It must repower on after clearing errors 1 300 300 31 The detection time for torque overload 1 The detection time for torque overload unit ms Detection time PA31 0 1 2 When set to 0 9 the function of torque overload alarming is prohibited Generally the value is set as 0 0 32767 0 32 The source of torque command In torque control mo...

Page 77: ...on 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 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 ...

Page 78: ...00 38 Temperature alarm Set drive temperature up to max limitation 200 1350 39 Zerooffset compensation ofanalog torque command Make an offset adjustment for analog torque command with this parameter 2000 2000 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 2 It only applies in speed contr...

Page 79: ...is CCW 2 Set to 1 and analog speed command is positive the speed direction is CW 0 1 0 45 Zerooffset compensation ofanalog speed command Make an offset adjustment for analog speed command with this parameter 5000 5000 0 46 Filter of analog speed command 1 The input low pass filter of analog speed 2 The setting value is bigger the response frequency is quicker to speed input analog quantity and the...

Page 80: ... 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 speed to PA49 and taking the minimum value 0 3000 r min 100 50 Speed limit in torque control mode 1 In torque control mode the motor running speed is limited in the range of this pa...

Page 81: ...I 4 DI 3 DI 2 DI 1 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 off is contrary to standard definitions 2 Represented by a binary digit of 4 bits If it is 0 it means the input terminal dose not reverse While it is 1 it means the termi...

Page 82: ... If change the absolute encoder to a save line encoder please set PA61 1 and repower on 0 1 4 5 Decided by motor 63 Load inertia ratio Set the load inertia ratio of the motor rotating inertia The setting value load inertia rotating inertia rotating inertia 100 1 500 100 64 Internal Torque 1 In torque control mode PA4 2 when TRQ1 OFF TRQ2 OFF internal torque 1 is as the torque command 300 300 0 65 ...

Page 83: ...d or even N do not use this bit E it represents 1 is even bit O it represents 1 is odd bit Value 1 or 2 indicates communication of 1 bit or 2 bits 0 3 0 74 Communi cation error handling When communication happens error if choose 0 keep working 1 alarm and stop working 0 1 0 75 Zero speed detection point 1 If the motor running speed is less than the value of this parameter the ZSP zero speed of dig...

Page 84: ...ctronic gear for position command pulse Refers to parameter PA12 0 32767 0 80 Effective level of command direction signal Set to 0 High level is positive direction 1 Low level is positive direction 0 1 0 81 PULS signal filter of command pulse 1 To filter the input PULS 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...

Page 85: ... the following methods to prohibit with this parameters 0 To limit the torque in this direction to be 0 1 To prohibit the input pulse in this direction 0 1 0 84 Hysteresis for positioning completion 1 Set pulse completion range in position control mode 2 when the number of remaining pulses in the position deviation counter is less than or equal to the setting value of this parameter the digital ou...

Page 86: ...rator has hysteresis function 3 It has polarity setting function PA88 PA28 Comparator 0 0 Speed without direction 1 0 Only detect positive speed 0 Only detect reversal speed 0 5000 r min 30 88 Polarity of arrival speed Refers to parameter PA87 0 1 0 89 Arrival torque 1 When the motor torque exceeds this parameter the digital outputATRQ torque arrival is ON otherwise OFF 2 The comparator has hyster...

Page 87: ...speed 0 Only detect reversal speed 0 1 0 92 Hysteresis of zero 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 0 200 m...

Page 88: ...ital Input DI6 Function 0 99 6 P3 6 Digital Input DI7 Function 0 99 7 P3 7 Digital Input DI8 Function 0 99 8 P3 13 Low 8 bit current position value 32768 32767 0 P3 14 High 8 bit current position value 32768 32767 0 P3 15 Digital Input DI forced effective1 00000000 11111111 00000000 P3 16 Digital Input DI forced effective2 00000000 11111111 00000000 P3 17 Digital Input DI forced effective3 0000000...

Page 89: ...3 Function 0 99 0 P3 41 Virtual I O Input DI4 Function 0 99 0 P3 42 Virtual I O Input DI5 Function 0 99 0 P3 43 Virtual I O Input DI6 Function 0 99 0 P3 44 Virtual I O Input DI7 Function 0 99 0 P3 45 Virtual I O Input DI8 Function 0 99 0 Remark 1 P3 30 0 the number of IO input is 4 decided by DI1 DI4 and the corresponding parameter P3 0 P3 3 2 P3 30 1 the number of IO input is 8 decided by P3 31 a...

Page 90: ...CCWL CCW Drive Inhibition 1 Input terminal of CCW drive inhibition OFF Inhibit CCW running ON Enable CCW running 2 Use this function for protection of the mechanical traveling limit The function is controlled by the parameter PA20 Pay attention to that the default value of PA20 neglects this function Therefore needs to modify PA20 if need to use this function 1 When PA20 0 the function of input in...

Page 91: ...t does not limit CW pulse input PA83 1 it does not inhibit CW pulse input 5 TCCW CCW Torque Limitation OFF Torque is not limited by parameter PA36 in CCW direction ON Torque is limited by parameter PA36 in CCW direction Attention Whether the TCCW is effective or not the torque is also limited by PA34 in CCW direction 6 TCW CW Torque Limitation OFF Torque is not limited by parameter PA37 in CW dire...

Page 92: ...speed 2 PA 25 SP2 ON SP1 OFF internal speed 3 PA 26 SP2 ON SP1 ON internal speed 4 PA 27 11 SP2 Speed Choice 2 13 TRQ1 Torque Choice 1 In torque control mode PA4 2 and choose internal torque PA32 1 TRQ1 and TRQ2 combinations are used to select different internal torque TRQ2 OFF TRQ1 OFF internal torque1 PA64 TRQ2 OFF TRQ1 ON internal torque2 PA65 TRQ2 ON TRQ1 OFF internal torque3 PA66 TRQ2 ON TRQ1...

Page 93: ...he motor is in inching in CCW and speed is set by PA21 Attention If the signal is connected to CW inching inching function does not work 23 JOGN CW Inching In speed control mode PA22 5 connect to the signal the motor is in inching in CW and speed is set by PA21 Attention If the signal is connected to CCW inching inching function does not work 27 HOLD Internal Position Control Command Stops In inte...

Page 94: ...1 0 P4 20 P4 21 P8 1 1 1 P4 23 P4 24 30 POS1 Internal Position Command Selection1 31 POS2 Internal Position Command Selection2 33 SHOM Starting Origin Regression In internal position register mode it needs to search for origin The signal turns on and starts searching for the origin function Refer to the setting of P4 34 34 ORGP Origin Of Regression In internal position register mode it needs to se...

Page 95: ...eviation is bigger than parameter PA16 ON position deviation is bigger than parameterPA16 6 ASP Arrival Speed In speed or torque control mode OFF motor speed is lower than parameter PA28 ON motor speed is higher than parameterPA28 Polarity function can be set referring to the explanation of PA28 7 ATRQ Arrival Torque OFF motor torque is lower than parameter PA89 ON motor torque is higher than para...

Page 96: ... actual rotational speed and the instruction speed is bigger than PA76 ON The absolute value of the difference between the actual rotational speed and the instruction speed is smaller than PA76 15 HOME Origin Regression Completion OFF No signal output when the origin regression doesn t complete ON The signal outputs when the origin regression completes 16 CMDOK Internal Position Command Completion...

Page 97: ...nted by 8 bit binary Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Function NULL JOGN JOGP INH CLR GEAR2 GEAR1 NULL 4 Corresponding functions for P3 18 is represented by 8 bit binary Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Function NULL POS2 POS1 POS0 CTRG HOLD NULL NULL 5 Corresponding functions for P3 19 is represented by 8 bit binary Number Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Functi...

Page 98: ...eceive trigger internal position command 3 Only when the delay time P4 1 is not 0 and CMDOK 1 can it receive the internal position command triggered by CTRG 0 200 ms 0 P4 2 The setting of position cycle numbers for internal position command 1 To set position cycles of the first internal position 30000 30000 0 P4 3 The setting of pulse number in position cycle for internal position command 1 1 To s...

Page 99: ...n cycles setting of the second internal position the pulse number setting of the second internal position max cnt rev 0 P4 7 The move speed of internal position instruction 2 To set the move speed of internal position instruction 2 0 5000 r min 1000 P4 8 The position cycles of internal position instruction 3 To set the position cycles of the third stage internal position instruction 30000 30000 0 ...

Page 100: ...ition cycles setting of the 4th internal position the pulse number setting of the 4th internal position max cnt rev 0 P4 13 The move speed of internal position instruction 4 To set the move speed of internal position instruction 4 0 5000 r min 1000 P4 14 The position cycles of internal position instruction 5 To set the position cycles of the 5th stage internal position instruction 30000 30000 0 P4...

Page 101: ...es setting of the 6th internal position the pulse number setting of the 6th internal position max cnt rev 0 P4 19 The position cycles of internal position instruction 7 To set the position cycles of the 7th stage internal position instruction 0 5000 r min 1000 P4 20 The position cycles of internal position instruction 7 To set the position cycles of the 7th stage internal position instruction 3000...

Page 102: ...ycles setting of the 8th internal position the pulse number setting of the 8th internal position max cnt rev 0 P4 25 The move speed of internal position instruction 8 To set the move speed of internal position instruction 8 0 5000 r min 1000 P4 32 The type of origin detector and setting of finding direction 0 Forward direction origin regression and CCWL is as regression origin 1 Reverse direction ...

Page 103: ... Close origin regression function 1 Automatically perform origin regression when it is powering on 2 Trigger the origin regression function by the input contact of the origin search function 0 2 0 P4 35 The setting of origin stop mode 0 The motor slows down and pulls back to the origin when the origin detection completed 1 The motor slows forward and stops when the origin detection completed 0 1 0...

Page 104: ... pulse number of origin regression offset HOF2 1 To set the pulse number of origin regression offset 2 When the parameter function HOF1 and HOF2 are set to 0 the origin is defined as Z pulse or ORGP by the origin regression mode If they are not 0 the origin will define the above Z pulse plus last pulse offset HOF1 10000 HOF2 as the new origin max cnt rev 0 ...

Page 105: ...dule error IPM smart module error 13 Drive overload Servo drive and motor overload overheat instantaneously 14 Brake fault Brake circuit error 18 Relay switch fault The real state of relay is different from control state 19 Delay to open the brake Pulse inputs before opening 20 EEPROM error EEPROM error 21 FPGA module fault FPGA module fault 22 Thestoredparametersandparameters storedinencodermisma...

Page 106: ... lost and needs to be replaced as soon as possible 53 Encoderbatteryvoltageerroralarm Encoder battery voltage error alarm and storage information has occurred error needing to reset encoder 54 Encoder error alarm Encoder non battery alarm but need to reset encoder again 55 CRC check occurs errors for 3 times in a row Encoder communication received data CRC validation 3 consecutive errors 56 MODBUS...

Page 107: ...oo large Increase the acceleration deceleration time constant The input electronic gear ratio is too large Setting correctly Encoder failure Replace the servo motor Poor encoder cable Replace the encoder cable The servo system is unstable causing overshoot 1 Reset the relevant gain value 2 If the gain cannot be set to an appropriate value reduce the load inertia ratio Appears when the motor is jus...

Page 108: ...power supply voltage waveform is abnormal Check the power supply Appears during motor operation The brake resistance wiring is disconnected Rewire 1 The brake transistor is damaged 2 The internal braking resistance is damaged Replace the servo driver Insufficient capacity of braking circuit 1 Reduce the start and stop frequency 2 Increase the acceleration and deceleration time constant 3 Reduce th...

Page 109: ... The power fuse is damaged 3 Soft start circuit failure 4 The rectifier is damaged Replace the servo driver 1 The power supply voltage is low 2 Temporary power failure for more than 20ms Check the power supply Appears during motor operation 1 Insufficient power capacity 2 Instantaneous power failure Check the power supply The radiator is overheating Check the load condition ...

Page 110: ...coder failure 1 Readjust encoder zero point 2 Replace the servo motor Position proportional gain is too small Position proportional gain is too small Position proportional gain is too small Increase the detection range of position out of tolerance Position proportional gain is too small Increase the gain value Insufficient torque 1 Check the torque limit value 2 Reduce load capacity 3 Replace the ...

Page 111: ... motor operation 1 The load is too large 2 The motor is mechanically stuck 1 Reduce the load 2 Replace the driver and motor with higher power 3 Check the mechanical part of the load 7 Drive inhibit exception The CCW CW drive inhibit input terminals are disconnected Check the wiring 8 Position deviation Counter overflow 1 The motor is mechanically stuck 2 The input command pulse is abnormal 1 Check...

Page 112: ...re Replace the servo driver Appears during motor operation 1 The power supply voltage is low 2 Overheating 1 Check the drive 2 Power on again 3 Replace the drive Short circuit between driver and UVW Check the wiring Poor grounding Properly grounded The motor insulation is damaged Replace the motor Disturbed 1 Add line filter 2 Keep away from interference sources ...

Page 113: ...ce the start and stop frequency 3 Reduce the torque limit 4 Replace the driver and motor with higher power Keep the brake not open Check the holding brake Unstable oscillation of motor 1 Adjust the gain 2 Increase acceleration deceleration time 3 Reduce load inertia 1 One phase of UVW is broken 2 Encoder connection error Check the wiring 11 Brake failure Brake circuit failure Replace drive 12 Rela...

Page 114: ...estore the default parameters 21 FPGA module failure The function of FPGA module is abnormal Replace the drive 22 The parameter storage does not match the encoder parameter storage Modify the parameter value of pa62 and the encoder type is changed To switch the encoder type you need to reset the system Set PA61 to 1 and restart the power supply 23 Current acquisition circuit fault Current acquisit...

Page 115: ...Encoder UVW signal error 1 The encoder UVW signal is damaged 2 Encoder Z signal is damaged 3 Poor cable or shielding 4 The shielding ground wire is not connected properly 5 Encoder interface circuit failure 1 Replace the encoder 2 Check the encoder interface circuit 32 Illegal encoding of encoder UVW signal 1 The encoder UVW signal is damaged 2 Poor cable 3 Poor cable shielding 4 The shielding gro...

Page 116: ...ort this motor model Use a matching motor 41 Need to switch motor model The current motor is inconsistent with the selected model of the drive Manually switch the model to the current model 42 AC input voltage too low Operation during power failure 1 Normal 2 The external AC voltage input is too low Check AC220V input 47 The voltage of the main circuit is too high during power on 1 External AC vol...

Page 117: ...ored information has been wrong and the encoder needs to be reset The encoder battery is exhausted and must be replaced 54 Encoder error alarm The encoder is not a battery alarm but it needs to reset the encoder Reset the encoder 55 CRC check error for 5 consecutive times ThedriverreceivesthedataCRC verificationoftheencoderand makeserrorsformorethan5 consecutivetimes Check the hardware circuit rel...

Page 118: ... method 58 Single lap position value error The single turn position offset value stored by the driver exceeds the encoder resolution Power on again 59 Encoderreports CFerror The encoder continuously reports CF domain errors and needs to reset the encoder Reset the encoder ...

Page 119: ...C200H AC Servo Manual 112 Version 22 51 ...

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