Delta ASD-M-0721 Series User Manual Download Page 193

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Chapter 7 Motion Control ASDA-M

7-6

Revision December, 2014

Code Name of Variables

／

Attribute

Descriptions

parameter

＃

P0-35

020
(14h)

Mapping

parameter

＃

Return the value of parameter P0-26 which is mapped by

P0-36

021
(15h)

Mapping

parameter

＃

Return the value of parameter P0-27 which is mapped by

P0-37

022
(16h)

Mapping

parameter

＃

Return the value of parameter P0-28 which is mapped by

P0-38

023
(17h)

Mapping monitor

variable

＃

Return the value of parameter P0-09 which is the monitor

variables mapped by P0-17

024
(18h)

Mapping monitor

variable

＃

Return the value of parameter P0-20 which is the monitor

variables mapped by P0-18

025
(19h)

Mapping monitor

variable

＃

Return the value of parameter P0-11 which is the monitor

variables mapped by P0-19

026
(1Ah)

Mapping monitor

variable

＃

Return the value of parameter P0-12 which is the monitor

variables mapped by P0-20

039
(27h)

DI status
(processed)

Hex

The processed DI status of the servo drive. Each bit

corresponds to one DI channel.

The source includes hardware channel / software P4-07

which is determined by P3-06.

040
(28h)

DO status
(hardware)

Hex

The real status of Digital Output hardware. Each bit

corresponds to one DI channel.

041
(29h)

Drive status

Return the value of P0-46. Please refer to the description

of the parameter.

043
(2Bh)

CAP, data
capturing

The Data captured by CAP hardware from the latest time

Note: CAP could continuously capture many points.

048
(30h)

Auxiliary encoder
CNT

The value of pulse counter from auxiliary encoder (CN5)

049
(31h)

Pulse command
CNT

The value of pulse counter from pulse command (CN1)

050
(32h)

Speed command
(processed)

Dec

The processed speed command. The unit is 0.1 r/min.

The source might be analog, register or position loop.

051
(33h)

Speed feedback
(immediate)

Dec

Current actual speed of the motor. The unit is 0.1 r/min.

052
(34h)

Speed feedback
(filter)

Dec

Current actual speed of the motor. The unit is 0.1 r/min

(has been through the low-pass filter).

053 Torque

command

The processed torque command. The unit is 0.1 Percent

Summary of Contents for ASD-M-0721 Series

Page 1: ...ley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6747 5155 FAX 65 6744 9228...

Page 2: ...duct please read through this manual carefully in order to ensure the correct use of the product In addition please place this manual safely for quick reference whenever is needed Please follow the ru...

Page 3: ...s possible to cause severe injury or fatal harm if not follow the instructions It indicates the potential hazards It is possible to cause minor injury or lead to serious damage of the product or even...

Page 4: ...parts of the servo drive and servo motor Or it is possible to cause electric shock It is prohibited to disassemble the panel of the servo drive when turning on the power Or it is possible to cause ele...

Page 5: ...disassemble the terminal socket from the servo drive One terminal of the terminal socket for one electric wire only When inserting the electric wires do not connect the conductor to the adjacent wire...

Page 6: ...atures of Servo Drive 1 6 Chapter 2 Installation 2 1 Notes 2 1 2 2 Ambient Conditions of Storage 2 1 2 3 Ambient Conditions of Installation 2 2 2 4 Installation Direction and Space 2 3 2 5 Specificati...

Page 7: ...3 3 2 Explanation of I O CN1 Connector Signal 3 17 3 3 3 Wiring Diagram CN1 3 31 3 3 4 The Specified DI and DO Signal by the User 3 40 3 4 CN2 Connector 3 41 3 5 Wiring of CN3 Connector 3 44 3 5 1 Lay...

Page 8: ...lay 4 4 4 3 1 Setting Saved Display 4 4 4 3 2 Decimal Point 4 4 4 3 3 Alarm Message 4 4 4 3 4 Positive and Negative Sign Setting 4 4 4 3 5 Monitor Display 4 5 4 4 General Function 4 8 4 4 1 Operation...

Page 9: ...f Semi auto Tuning 5 15 5 6 5 Limit of Load Inertia Estimation 5 17 5 6 6 Mechanical Resonance Suppression Method 5 19 5 6 7 Tuning Mode and Parameters 5 20 5 6 8 Tuning in Manual Mode 5 21 Chapter 6...

Page 10: ...iming Diagram in Speed Mode 6 31 6 3 6 Gain Adjustment of Speed Loop 6 32 6 3 7 Resonance Suppression 6 39 6 4 Torque Mode 6 47 6 4 1 Selection of Torque Command 6 47 6 4 2 Control Structure of Torque...

Page 11: ...tion of PR Mode 7 14 7 5 The Position Unit of PR Mode 7 14 7 6 Description of Register in PR Mode 7 14 7 7 Description of Homing in PR Mode 7 16 7 8 DI DO Provide by PR Mode and Diagrams 7 16 7 9 Para...

Page 12: ...s 8 198 P7 xx PR Parameters 8 248 Table 8 1 Function Description of Digital Input DI 8 298 Table 8 2 Function Description of Digital Output DO 8 305 Chapter 9 Communication 9 1 RS 485 RS 232 Communica...

Page 13: ...Chapter 11 Specifications 11 1 Specifications of Servo Drive ASDA M Series 11 1 11 2 Specifications of Servo Motor ECMA Series 11 4 11 3 Torque Features T N curve 11 12 11 4 Overload Features 11 13 11...

Page 14: ...or power cables the U V and W wires can connect to the socket attached by the servo drive and another side is the plug which could connect to the socket of the motor And a green ground wire which shou...

Page 15: ...uction Factory T Taoyuan W Wujiang Serial Number starts from 0001 every week M0721F 6 T 14 45 0003 Production Week from 1 to 52 Delta Standard 6 for RoHs Production Year 14 Year of 2014 or 0 Year of 2...

Page 16: ...1 3 1 2 2 Model Explanation ASDA M Series Servo Drive A S D M 0 7 2 1 L Model Type Type Full closed Loop CANopen DMCNET E CAM M F L R Input Voltage and Phase 21 220V 1 phase 3 phase Model Type Rated P...

Page 17: ...eter 3 42mm 7 14mm Rated Power Output 0F 50 W 05 500 W 10 1 0 kW 01 100 W 06 600 W 13 1 3 kW 02 200 W 07 750 W 15 1 5 kW 03 300 W 08 850 W 18 1 8 kW 04 400 W 09 900 W Motor Frame Size 04 40 mm 09 86 m...

Page 18: ...mm ECMA F 1313 S S 22 mm ECMA E 1315 S S 22 mm ECMA G 1309 S S 22 mm NOTE 1 Box at the end of the model name of the servo drive represents the code of ASDA M Please refer to the type of purchasing pro...

Page 19: ...Chapter 1 Inspection and Model Explanation ASDA M 1 6 Revision December 2014 1 4 Features of Servo Drive ASDA M Series Servo Drive...

Page 20: ...ASDA M Chapter 1 Inspection and Model Explanation Revision December 2014 1 7 ASDA M Series Servo Drive top view...

Page 21: ...Chapter 1 Inspection and Model Explanation ASDA M 1 8 Revision December 2014 ASDA M Series Servo Drive bottom view...

Page 22: ...fixed four screws of the motor 2 2 Ambient Conditions of Storage Before the installation this product has to be kept in shipping carton In order to retain the warranty coverage and for the maintenance...

Page 23: ...hine Check if the vibration will influence the electronic device of the electric box Besides the ambient conditions should also include Location has no over heat device Location has no water drop vapo...

Page 24: ...erwise it is possible to cause malfunction In order to have well cooling and circulation effect the enough space between adjacent objects and the baffle is needed Or it might result in malfunction Whe...

Page 25: ...have smaller wind resistance of the fan and increase the ventilation please follow the suggested clearance value when installing one or more than one servo drives Refer to the following diagrams NOTE...

Page 26: ...up to 0 1 seconds 2 6 EMI Filters Selection Item Power Servo Drive Model EMI Filter Model FootPrint 1 750W ASD M 0721 20TDT1W4D N 2 1500W ASD M 1521 20TDT1W4D N EMI Filter Installation All electronic...

Page 27: ...ntact area should be as large as possible Motor Cable Selection and Installation Precautions The selection of motor cables and correct installation affect the performance of EMI Filter Please follow t...

Page 28: ...ASDA M Chapter 2 Installation Revision December 2014 2 7 Diagram 1 Diagram 2 Dimensions of EMI Filter Delta Part Number 20TDT1W4D...

Page 29: ...esistor is the same as the built in one When the regenerative resistor exceeds the capacity of built in regenerative resistor the external regenerative resistor should be applied Please pay special at...

Page 30: ...cting regenerative resistor are provided here The table below provides the energy calculation method Users can refer to it and calculate the selected regenerative resistor Servo Drive kW Motor Rotor I...

Page 31: ...or read via P0 02 5 Calculate the maximum regenerative energy Eo Eo J wr2 182 6 Set the absorbable regenerative energy Ec Refer to the above table 7 Calculate the needful capacitance of regenerative...

Page 32: ...eed it is positive torque in most of the time and a huge amount of energy rapidly transmits to regenerative resistor Negative torque TL Wr TL external load torque For safety reasons please calculate i...

Page 33: ...C 312 137 ECMA E 42 32 ECMA G 42 31 When the servo motor runs with load the allowable frequency will be different according to different load inertia or speed The following is the calculation method...

Page 34: ...istor ECMA E 0 5kW 1kW 1 5kW 05 1 0 15 BR400W040 400W 40 291 283 213 BR1K0W020 1kW 20 729 708 533 Motor Capacity Suggested Regenerative Resistor ECMA G 0 3kW 0 6kW 0 9kW 03 06 09 BR400W040 400W 40 292...

Page 35: ...2 14 Revision December 2014 Dimensions of Regenerative Resistor Delta Part Number BR400W040 400W 40 L1 L2 H D W MAX WEIGHT g 265 250 30 5 3 60 930 Delta Part Number BR1K0W020 1kW 20 L1 L2 H D W MAX WE...

Page 36: ...ASDA M Chapter 2 Installation Revision December 2014 2 15 Delta Part Number BR1K5W005 3kW 10...

Page 37: ...Chapter 2 Installation ASDA M 2 16 Revision December 2014 This page is intentionally left blank...

Page 38: ...er 3 Wiring This chapter details the wiring method of servo drive the definition of each signal and standard wiring diagram 3 1 Connection between Peripheral Devices and Main Power Circuit 3 1 1 Wirin...

Page 39: ...When applying to the external regenerative resistor the contact between P and D should be opened and the external regenerative resistor should connect to terminal P and C When applying to the internal...

Page 40: ...external braking unit P and P of the brake unit should connect to P and P respectively The contact between P and D and P and C should be opened Ground terminal Connect to the ground wire of the power...

Page 41: ...the bigger wire diameter of signal cable to ensure it will not cause signal fading As for the encoder wiring specification of 20 meter long cable please use AWG26 of wire size and Metal braided shiel...

Page 42: ...RY are contact b MC is the coil of magnetic contactor and self remaining power and is the contact of main power circuit Wiring Method of Single phase Power Supply suitable for all series Servo Drive L...

Page 43: ...Chapter 3 Wiring ASDA M 3 6 Revision December 2014 Wiring Method of Three phase Power Supply suitable for all series...

Page 44: ...07 S 750W ECMA C 0807 H 750W ECMA C 0907 S 750W ECMA C 0910 S 1000W HOUSING JOWLE C4201H00 2 2PA A ECMA C1040F S 50W ECMA C 0401 S 100W ECMA C 0602 S 200W ECMA C 0604 S 400W ECMA C 0604 H 400W ECMA C...

Page 45: ...G A B When selecting the wire rod please choose 600V PVC cable and the length should not longer than 30m If the length exceeds 30m please take the received voltage into consideration when selecting t...

Page 46: ...ale and specification will be different according to the selected servo drive and motor model 1 Please refer to the Section of Specification and Definition of Encoder Connector 2 Please refer to Secti...

Page 47: ...ease number the cores from the servo drive in order and then connect it to the encoder Servo Drive CN2 Motor Encoder 1 1 2 2 3 3 4 4 1 4 7 8 5 2 3 9 6 White Blue Brown White Red Shield DC 5V GND T T V...

Page 48: ...erent according to the selected servo drive and motor model 1 Please refer to Section 3 4 CN2 Connector Motor Model Connector of Encoder Cable ECMA G 1303 S 300W ECMA E 1305 S 500W ECMA G 1306 S 600W...

Page 49: ...C 0807 H ECMA C 0907 S ECMA E 1305 S ECMA G 1303 S ECMA G 1306 S ASD M 1521 ECMA C 0910 S 1 3 AWG16 3 3 AWG12 1 3 AWG16 3 3 AWG12 ECMA C 1010 S ECMA E 1310 S ECMA E 1315 S ECMA F 1308 S ECMA G 1309 S...

Page 50: ...ASDA M Chapter 3 Wiring Revision December 2014 3 13 6 Box in servo motor model represents encoder type 1 incremental 20 bit 2 incremental 17 bit 3 2500 ppr A absolute...

Page 51: ...Motor Encoder Rectifying circuit Regeneration Circuit N P Control Power 15V 5V 18V 24V Lack phase detection R S T L1c L2c Operation Display MODE SHIFT SET SEL UP DOWN D P C Power 750W 1 5kW single th...

Page 52: ...P2 10 P2 15 and parameter P2 18 P2 20 respectively In addition the differential output encoder signal A A B B Z and Z input of analog torque command analog speed position command and pulse position co...

Page 53: ...tput for external I O 42 V_REF Speed analog command input 18 T_REF Torque analog command input 43 PULSE Position command pulse 19 GND Analog input signal ground 44 GND Analog input signal ground 20 VC...

Page 54: ...otor can be shown by analog voltage such as speed and current This drive provides two channel outputs Users can select the desired monitoring data via parameter P0 03 This signal is based on the power...

Page 55: ...ut DO signal The maximum current is 500mA COM COM 11 45 47 49 COM is the common input of Digital Input DI and Digital Output DO voltage When using VDD VDD should be connected to COM If not using it ne...

Page 56: ...Refer to 3 3 3 SRDY ALL 7 6 When the servo drive applies to the power and no alarm ALRM occurs in control circuit and motor power circuit this DO is ON C5 C6 C7 C8 SON N A When the DI SON is ON and th...

Page 57: ...ing area S_CMP S Sz When the deviation between the speed command and the feedback speed of the motor is smaller than the setting value of parameter P1 47 this DO is ON SDO_0 ALL Output the status of b...

Page 58: ...status of bit15 of P4 06 C5 C6 C7 C8 NOTE 1 For example if the user selects PR mode pin 3 and 2 are HOME If the user selects S mode pin 3 and 2 are TSPD 2 The unlisted Pin No means the signal is not...

Page 59: ...P1 38 the motor position will be locked when the signal is triggered CMDINV PR T S When this DI is ON the motor will operate in the opposite direction CTRG PR PR S PR T 10 In PR mode the moment CTRG...

Page 60: ...ulse PULSE PULSE SIGN SIGN Pin When the DI is ON the source will be high speed pulse This function can go with handwheel This DI can be used to switch the source of command pulse EMGS ALL 30 It is con...

Page 61: ...Electronic gear ratio numerator selection 0 Please refer to P2 60 P2 62 for gear ratio selection numerator C9 C10 C11 C12 GNUM1 PT PR PT S PR S Electronic gear ratio numerator selection 1 Please refe...

Page 62: ...1 DI1 DI1 DI1 ARST 0x02 Alarm reset DI5 DI5 DI5 DI5 DI5 DI5 GAINUP 0x03 Gain switch CCLR 0x04 Pulse clear DI2 DI2 DI2 ZCLAMP 0x05 Zero speed clamp CMDINV 0x06 The input command will be in reverse dire...

Page 63: ...and torque command DI5 T P 0x20 Mode switch between torque and position command DI5 DI5 PT PR 0x2B Switch between PT and PR command PTAS 0x2C In PT mode the switch between command pulse and analog PTC...

Page 64: ...etting of P5 98 P5 99 EV3 0x3B Event trigger PR command 3 firmware V1 008 sub04 will be provided afterwards EV4 0x3C Event trigger PR command 4 firmware V1 008 sub04 will be provided afterwards GNUM0...

Page 65: ...he target position TQL 0x06 Torque limit ALRM 0x07 Servo alarm DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 BRKR 0x08 Mechanical brake HOME 0x09 Homing complete OLW 0x10 Early warning for overload WARN...

Page 66: ...t03 of P4 06 SDO_4 0x34 Output the status of bit04 of P4 06 SDO_5 0x35 Output the status of bit05 of P4 06 SDO_6 0x36 Output the status of bit06 of P4 06 SDO_7 0x37 Output the status of bit07 of P4 06...

Page 67: ...ol DO Code Output Function PT PR S T Sz Tz PT S PT T PR S PR T S T status of bit13 of P4 06 SDO_E 0x3E Output the status of bit14 of P4 06 SDO_F 0x3F Output the status of bit15 of P4 06 NOTE Please re...

Page 68: ...ed analog command and torque analog command is between 10V and 10V The command value can be set via relevant parameters The input impedance is 10K C1 speed Input of Torque Analog Command C2 Analog Mon...

Page 69: ...h applies the internal power of the servo drive C3 1 The source of pulse input is open collector PNP equipment which applies the internal power of the servo drive DC24V About 1K 51 51 51 About 1K Max...

Page 70: ...nput is open collector NPN equipment and applies the external power Caution Do not apply to dual power or it may damage the servo drive C3 2 The source of pulse input is open collector PNP equipment a...

Page 71: ...DA M 3 34 Revision December 2014 C4 1 Pulse input Line driver can only apply to 5V power Do not apply to 24V power This opto isolator is one way input please be ensured the direction of current of pul...

Page 72: ...only apply to 5V power Do not apply to 24V power The high speed pulse input interface of the servo drive is not the isolated interface In order to reduce the interference of the noise it is suggested...

Page 73: ...ode has to be installed The permissible current is under 40mA The surge current is under 100mA C5 Wiring of DO signal The servo drive applies to the internal power and the resistor is general load C6...

Page 74: ...ion December 2014 3 37 C7 Wiring of DO signal The servo drive applies to the external power and the resistor is general load C8 Wiring of DO signal The servo drive applies to the external power and th...

Page 75: ...DI The servo drive applies to the internal power C10 The wiring of DI The servo drive applies to the external power PNP transistor common emitter E mode SOURCE mode C11 The wiring of DI The servo dri...

Page 76: ...ASDA M Chapter 3 Wiring Revision December 2014 3 39 C13 Encoder signal output Line driver C14 Encoder signal output Opto isolator...

Page 77: ...3 is determined by parameter P2 10 P2 15 and parameter P2 18 P2 20 respectively Please refer to Chapter 7 2 which shown as the following table Enter DI or DO code in the corresponding parameter to set...

Page 78: ...nnector Connect to the motor CN2 connector Connect to the servo drive CN2 on the servo drive A CN2 Connector View from this side CN2 rear view of the terminal block B Encoder Connector Quick Connector...

Page 79: ...Power 5V S 7 Red Red white 13 15 GND Power ground R 8 Black Black white Shell Shielding Shielding L 9 The shielding procedures of CN2 encoder connector are as the followings 1 Cut through the cable a...

Page 80: ...able should be protected by the heat shrink tube for good ground contact 4 Install a metal saddle to fix the exposed metal core wires The metal saddle must completely cover all the exposed metal core...

Page 81: ...Signal Name Terminal Symbol Function and Description 1 Signal grounding GND 5V connects to the signal terminal 2 RS 232 data transmission RS 232_TX The drive transmits the data The connector connects...

Page 82: ...ASDA M Chapter 3 Wiring Revision December 2014 3 45 3 5 2 Connection between CN3 Connector and Personal Computer...

Page 83: ...or which used to connect PC software and enhance the efficiency The transmission speed of USB can up to 1MB that is to say PC Data Scope can obtain the correct data in time CN4 Connector female Pin No...

Page 84: ...CN5 Connector female Front View Rear View Wring Terminal Connector male Pin No Signal Name Terminal Symbol Function and Description 1 Z phase input Opt_ Z Linear scale Z phase output 2 B phase input O...

Page 85: ...set via parameter P3 00 and the transmission rate can up to 1 Mbps It provides two sets of communication connectors one is for receiving and another one is for transmission in order to connect more th...

Page 86: ...120 Ohm 0 25W or above 2 The wiring method of concatenate more than one drives is based on two terminals of CANopen One is for receiving and another one is for transmission And the servo drive connect...

Page 87: ...utput T T 5V GND 4 7 13 15 14 16 9 5 CN3 Blue black green black red Green black blue SG Shielded twisted pair cable CN2 P D C U V W Regenerative resistor red white black green Brake Power Encoder EMGS...

Page 88: ...or CN6 CANopen DMCNET 1 9 3 11 2 10 4 12 5 13 6 14 7 15 8 16 FRB2 CAN L FRB1 CAN H FRA1 FRA2 Three groups CN5 Three groups Opt A 5V Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5 6 3 1 2 8 4 Note 1 Brake...

Page 89: ...ifferential signal B phase differential signal Z phase differential signal Z phase signal open collector Encoder pulse output 10K 10K DC 24V Regenerative resistor GND V REF 10K 10K CN3 CN6 CANopen DMC...

Page 90: ...7 15 8 16 FRB2 CAN L FRB1 CAN H FRA1 FRA2 Three groups 4 7K 4 7K 4 7K 4 7K 4 7K 4 7K Max output current 50mA Voltage 30V Note 1 Brake wiring has no polarity 2 Code CN6 communication connector of ASDA...

Page 91: ...Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5 6 3 1 2 8 4 Data output FRB2 11 10 12 13 14 15 16 9 FRB2 CAN L FRB1 CAN H FRA1 FRA2 24V Three groups Three groups Max output current 50mA Voltage 30V Note 1...

Page 92: ...itor Mode Parameter Mode Alarm Display When in Editing Mode press the MODE Key can switch to the Parameter Mode SHIFT Key The group code can be changed in Parameter Mode When in Editing Mode moving th...

Page 93: ...axis X axis 3 SEL Key can used to select the axis The number increases every time the user presses the SEL Key The order is like a cycle 1 X axis 2 Y axis 3 Z axis 1 X axis 4 After setting the axis it...

Page 94: ...or a second 5 In Parameter Mode pressing the SHIFT Key can switch the group code The UP DOWN Key can change parameter code of two bytes 6 In Parameter Mode press the SET Key the system will immediatel...

Page 95: ...the current high or low byte Negative sign When the data is displayed in decimal format the two decimal points in the left represents the negative sign no matter it is showed in 16 or 32 bits When it...

Page 96: ...Monitor Displayed Symbol Description Unit 0 Motor feedback pulse number after the scaling of electronic gear ratio User unit user unit 1 Input pulse number of pulse command after the scaling of electr...

Page 97: ...arameter 2 shows the content of parameter P0 26 specify the mapping target by P0 36 21 Mapping parameter 3 shows the content of parameter P0 27 specify the mapping target by P0 37 22 Mapping parameter...

Page 98: ...the value is 0x12345678 the display of the high byte is h1234 and displays L5678 as the low byte shows in hexadecimal format Negative display If the value is 12345 it displays 1 2 345 only shows in d...

Page 99: ...When it is in Parameter Mode select the parameter which is in error status first Then select P4 00 P4 04 Press the SET Key the corresponding fault record will shown The First Recent Error SET The Seco...

Page 100: ...play the speed value of JOG The default value is 20r min 2 Press UP or DOWN Key to adjust the desired speed value of JOG It is adjusted to 100r min in the example 3 Press the SET Key to display JOG an...

Page 101: ...8 to 406 and enable the function of force DO output Then set the force DO output by binary method via P4 06 When the setting value is 2 DO2 will be forced to enable When the setting value is 5 DO1 and...

Page 102: ...ignal DI1 DI6 is ON the corresponding signal will be shown on the panel It is displayed by bit When it shows bit it means it is ON For example if it shows 0031 3 is in hexadecimal format it will be 00...

Page 103: ...gital Output Diagnosis Mode by the following setting methods The output signal DO1 DO3 is ON and the corresponding signal will be shown on the panel It is displayed by bit When it shows bit it means i...

Page 104: ...e check the following items before operation Inspection before operation has not applied to the power yet Check if there is any obvious damage shown on its appearance The splicing parts of the wiring...

Page 105: ...ncorrect the motor cannot work normally The ground wire FG of the motor must be connected to the ground terminal of the servo drive Please refer to Chapter 3 1 for wiring 2 The encoder cable of the mo...

Page 106: ...power input error incorrect power system Corrective action Use the voltmeter to measure if the input voltage from the main circuit is within the range of rated voltage value Use the voltmeter to meas...

Page 107: ...ction If not desire to set negative limit NL as one of the digital input make sure no digital input is set to negative limit NL among DI1 DI8 That is to say none of the parameters P2 10 P2 17 is set t...

Page 108: ...ort circuit and avoid metal conductors being exposed 7 When the screen displays Warning of under voltage Corrective action Check if the wiring of main circuit input voltage is correct Use voltmeter to...

Page 109: ...30 to 1 This setting is to force the servo ON through software STEP 2 Set P4 05 as JOG speed unit r min After setting the desired JOG speed press the SET Key the servo drive will enter JOG mode STEP...

Page 110: ...DI4 8 DI5 P2 14 102 ARST Alarm reset DI5 33 DI6 P2 15 0 Disabled Invalid DI function The above table disables the function of emergency stop DI6 the default setting thus set P2 15 to 0 Disabled The d...

Page 111: ...Users switch ON DI1 and Servo ON 2 Both DI3 SPD0 and DI4 SPD1 the speed command are OFF which means it currently executes S1 command The motor rotates according to analog voltage command 3 When DI3 S...

Page 112: ...DI1 P2 10 101 SON Servo ON DI1 9 DI2 P2 11 108 CTRG Torque limit DI2 10 DI3 P2 12 111 POS0 Position command selection DI3 34 DI4 P2 13 112 POS1 Position command selection DI4 8 DI5 P2 14 102 ARST Ala...

Page 113: ...e table below for 64 sets of register command POS0 POS5 and the relative parameters Position Command POS5 POS4 POS3 POS2 POS1 POS0 CTRG Corresponding Parameter P1 0 0 0 0 0 0 P6 00 P6 01 P2 0 0 0 0 0...

Page 114: ...12 The panel displays the current value of inertia ratio default value 1 0 13 Press the MODE Key to select the mode of parameter function P2 30 14 Press the SHIFT Key twice to select the mode of param...

Page 115: ...ision December 2014 5 6 1 Flowchart of Tuning Procedure If the measurement of inertia ratio is incorrect it cannot obtain the best performance of tuning 1 Understand the required specification is a mu...

Page 116: ...ASDA M Chapter 5 Trial Operation and Tuning Revision December 2014 5 13 5 6 2 Inertia Estimation Flowchart with Mechanism...

Page 117: ...efault value is 40 In auto and semi auto mode the bandwidth setting of speed circuit is 1 50Hz low stiffness low response 51 250Hz medium stiffness medium response 251 850Hz high stiffness high respon...

Page 118: ...er the stiffness and bandwidth setting of P2 31 P2 31Response setting in auto mode The default value is 40 In auto and semi auto mode the bandwidth setting of speed circuit is 1 50Hz low stiffness low...

Page 119: ...16 Revision December 2014 Note 1 If P2 33 bit 0 is set to 1 it means the inertia estimation in semi auto mode is completed The result can be accessed by P1 37 2 If the value of P2 33 bit 0 is cleared...

Page 120: ...ertia is stable and stops the estimation of load inertia Servo Off Set P2 32 to 2 and then Servo On Set P0 02 to 15 The panel displays inertia ratio The servo drive issues the command of alternately a...

Page 121: ...e reduce the speed bandwidth After setting P2 47 users can check the value of P2 44 and P2 46 If the value of P2 44 is not 0 it means the resonance frequency exists in the system Then users can access...

Page 122: ...5 6 6 Mechanical Resonance Suppression Method Three groups of Notch filter are provided to suppress mechanical resonance Two of them can be set to the auto resonance suppression and manual adjustment...

Page 123: ...2 26 P2 49 P2 31 Frequency response of speed loop setting in auto mode response level Continuous tuning update the inertia every 30 minutes Semi auto mode non continuous estimation 2 P1 37 P2 00 P2 04...

Page 124: ...or and shorter settling time However if the value is set too big the machinery will vibrate or overshoot when positioning The calculation of position loop frequency response is as the following Speed...

Page 125: ...noise will be However if the value is set too big it would cause the unstability of speed loop and overshoot It is suggested to set the value as the following Anti interference gain DST parameter P2...

Page 126: ...osition mode Register input PR 01 The servo drive receives position command and commands the motor to the target position The position command is issued by register 64 sets of register in total and us...

Page 127: ...7 Switch the mode of PT and T via DI signal PR S 08 Switch the mode of PR and S via DI signal PR T 09 Switch the mode of PR and T via DI signal S T 0A Switch the mode of S and T via DI signal CANopen...

Page 128: ...se and each type has positive negative logic which can be set in parameter P1 00 See as the followings P1 00 PTT External Pulse Input Type Address 0100H 0101H Parameter Attribute Parameter for individ...

Page 129: ...150ns 1 208Kpps 2 4us 1 0 83Mpps 600ns 2 104Kpps 4 8us 2 416Kpps 1 2us 3 52Kpps 9 6us 3 208Kpps 2 4us 4 No filter function 4 No filter function NOTE 1 When the source of external pulse is from the hig...

Page 130: ...uency Minimum time width T1 T2 T3 T4 T5 T6 High speed pulse Differential Signal 4Mpps 62 5ns 125ns 250ns 200ns 125ns 125ns Low speed pulse Differential Signal 500Kpps 0 5 s 1 s 2 s 2 s 1 s 1 s Open co...

Page 131: ...sition command When going with the external DI DO CN1 POS0 POS5 and CTRG one of the previous 64 sets of register can be selected as the position command See as the following table Position command POS...

Page 132: ...diagram below Pulse Signal CN1 POS5 POS0 CTRG Command Register P6 00 P7 27 Accel Decel Register P5 20 P5 35 Delay Time Register P5 40 P5 55 Speed Register P5 60 P5 75 Counter S Curve Filter P1 36 1st...

Page 133: ...p running Only DI 6 supports this function Pulse command INHP ON OFF ON 6 2 4 S curve Filter Position S curve filter smoothes the motion command With S curve filter the process of acceleration becomes...

Page 134: ...TACC TSL 2 TSL 2 TDEC TSL 2 TSL 2 Position and speed S curve and time setting deceleration for position command Related parameters P1 34 TACC Acceleration Constant of S Curve Address 0144H 0145H Para...

Page 135: ...ill be set within 20000 automatically P1 35 TDEC Deceleration Constant of S Curve Address 0146H 0147H Parameter Attribute Parameter for individual axis Related Section Section 6 3 3 Operational Interf...

Page 136: ...eleration Constant of S Curve P1 34 Set the acceleration time of acceleration deceleration of trapezoid curve P1 35 Set the deceleration time of acceleration deceleration of trapezoid curve P1 36 Set...

Page 137: ...Unit Pulse Range 1 229 1 Data Size 32bit Format DEC Settings Please refer to P2 60 P2 62 for the setting of multiple gear ratio numerator NOTE 1 In PT mode the setting value can be changed when Servo...

Page 138: ...tronic gear ratio would cause the position command to be the stepped command S curve or low pass filter can be used to improve the situation When electronic gear ratio is set to 1 the motor will turn...

Page 139: ...Smooth Constant of Position Command Low pass Filter Address 0110H 0111H Parameter Attribute Parameter for individual axis Related Section Section 6 2 6 Operational Interface Panel Software Communicat...

Page 140: ...2 7 Timing Diagram in Position Mode PR In PR mode the position command is selected by either DI signal POS0 POS5 and CTRG of CN1 or communication Please refer to Section 6 2 2 for the information abou...

Page 141: ...sponse bandwidth of position loop 2 Feed forward gain Minimize the deviation of phase delay The position loop bandwidth cannot exceed the speed loop bandwidth It is suggested that 4 fv fp fv response...

Page 142: ...mechanism Differentiator Proportional Gain P2 00 Position Control Unit Gain Switching P2 27 Speed Command Position Feed Forward Gain P2 02 Feed Forward Low pass Filter P2 03 Switch Rate of Position L...

Page 143: ...the frequency is hard to find it can enable the function of auto low frequency vibration suppression This function automatically searches the frequency of low frequency vibration If P1 29 is set to 1...

Page 144: ...28 is 0 it means it is unable to search the frequency It is probably because the detection level is set too high and is unable to detect the low frequency vibration Note 2 When the value of P1 26 or...

Page 145: ...disabled 1 The value will set back to 0 after vibration suppression Description of Auto Mode Setting When the parameter is set to 1 it is in auto suppression When the vibration frequency is not being...

Page 146: ...system might regard the noise as the vibration frequency If the SCOPE is available it can be used to observe the range of position error pulse between upper and lower magnitude of the curve and set u...

Page 147: ...ssion If P1 26 is set to 0 then it will disable the first low frequency filter P1 26 VSG1 Low frequency Vibration Suppression Gain 1 Address 0134H 0135H Parameter Attribute Parameter for individual ax...

Page 148: ...sion If P1 28 is set to 0 then it will disable the second low frequency filter P1 28 VSG2 Low frequency Vibration Suppression Gain 2 Address 0138H 0139H Parameter Attribute Parameter for individual ax...

Page 149: ...imation and parameter adjustment In auto mode parameters which set by users will be regarded as the default value 6 3 1 Selection of Speed Command There are two types of speed command source analog vo...

Page 150: ...to select speed command source according to Section 6 3 1 including the scaling P1 40 setting and S curve setting The speed control unit manages the gain parameters of the servo drive and calculates t...

Page 151: ...enerates the continuous acceleration It is for avoiding the jerk the differentiation of acceleration came from the sudden command change and indirectly causes the resonance and noise Users can use acc...

Page 152: ...peed command from zero to the rated speed all can be set individually Even when P1 36 is set to 0 it still has acceleration deceleration of trapezoid curve NOTE 1 When the source of speed command is a...

Page 153: ...individual axis Related Section Section 6 3 3 Operational Interface Panel Software Communication Default 0 Control Mode S PR Unit ms Range 0 65500 0 disable this function Data Size 16bit Format DEC S...

Page 154: ...continuous The above is the diagram of analog speed command filter The slope of speed command in acceleration and deceleration is different Users could adjust the time setting P1 34 P1 35 and P1 36 ac...

Page 155: ...10 3000rpm 5000rpm 3000rpm 5000rpm Analog Input Voltage V The speed control ramp is determined by parameter P1 40 Related parameters For example Set P1 40 to 2000 the input voltage 10V corresponds to...

Page 156: ...e value x setting value 10 In position or torque mode analog speed limit inputs the swing speed limit setting of the max voltage 10V Speed limit command input voltage value x setting value 10 6 3 5 Th...

Page 157: ...ure Many kinds of gain in speed control unit are adjustable Two ways manual and auto are provided for selection Manual All parameters are set by users and the auto or auxiliary function will be disabl...

Page 158: ...itching mode from auto or semi auto to manual parameters about gain will be updated automatically Relevant description of auto mode setting Continue to estimate the system inertia save the inertia rat...

Page 159: ...h parameter is as the followings Proportional gain To increase proportional gain can enhance the response frequency of speed loop Integral gain To increase the integral gain could increase the low fre...

Page 160: ...ily cause resonance and noise P2 07 KVF Speed Feed Forward Gain Address 020EH 020FH Parameter Attribute Parameter for individual axis Related Section Section 6 3 6 Operational Interface Panel Software...

Page 161: ...Chapter 6 Control Mode of Operation ASDA M 6 36 Revision December 2014 Frequency Domain...

Page 162: ...bigger KVP value cause higher bandwidth and shorten the rising time However if the value is set too big the phase margin will be too small To steady state error the result is not as good as KVI But it...

Page 163: ...filter in command end Auto Mode Auto mode adopts adaptive principle The servo drive automatically adjusts the parameters according to the external load Since the adaptive principle takes longer time i...

Page 164: ...r 1 Address 022EH 022FH Parameter Attribute Parameter for individual axis Related Section Section 6 3 7 Operational Interface Panel Software Communication Default 1000 Control Mode ALL Unit Hz Range 5...

Page 165: ...Hz Range 50 2000 Data Size 16bit Format DEC Settings The second setting value of resonance frequency If P2 44 is set to 0 this function is disabled P2 23 and P2 24 are the first Notch filter P2 44 DP...

Page 166: ...resonance frequency setting value If set P2 46 to 0 this function will be disabled P2 23 and P2 24 are the first group of resonance suppression Notch filter P2 46 DPH3 Resonance Suppression Notch fil...

Page 167: ...s of auto resonance suppression one is P2 43 and P2 44 and another one is P2 45 and P2 46 When the resonance occurs set P2 47 to 1 or 2 enable the function of resonance suppression the servo drive sea...

Page 168: ...e suppression Deepen the resonance suppression attenuation rate might worsen the situation P2 47 Function Table P2 47 Current value P2 47 Desired value Function 0 1 Clear the value of P2 43 P2 46 and...

Page 169: ...of P2 44 should 1 If P2 46 0 value of P2 46 should 1 Check if vibration condition has improved Complete Drive the machine by servo system Check if vibration occurs Set P2 47 0 Check if vibration occur...

Page 170: ...f notch filter is merely from 50 to 1000Hz The suppression strength is from 0 to 32dB If the resonance frequency is not within the range it is suggested to use low pass filter parameter P2 25 Here fir...

Page 171: ...ion Rate 3db Resonance Point Resonance Frequency When the value of P2 25 is increased from 0 BW becomes smaller Although it solves the problem of resonance frequency the response bandwidth and phase m...

Page 172: ...tion between T REF and GND 10 V 10V Tz N A Torque command is 0 0 T2 0 1 Parameters P1 12 300 300 T3 1 0 P1 13 300 300 T4 1 1 P1 14 300 300 The status of TCM0 TCM1 0 means DI OFF and 1 means DI ON When...

Page 173: ...control unit is very complicated and is not relevant to the application There is no need to adjust parameters Only command end setting is provided The structure of torque command unit is as the follow...

Page 174: ...T Analog Torque Command Low pass Filter Address 010EH 010FH Parameter Attribute Parameter for individual axis Related Section Section 6 4 3 Operational Interface Panel Software Communication Default 0...

Page 175: ...ween T_REF and GND and goes with parameter P1 41 to adjust the torque slope and its range Related parameter P1 41 TCM Maximum Output of Analog Torque Speed Address 0152H 0153H Parameter Attribute Para...

Page 176: ...mand input voltage value x setting value 10 In speed PT and PR mode the analog torque limit inputs the torque limit setting of the max voltage 10V Torque limit command input voltage value x setting va...

Page 177: ...itched via DI signal T_P S T 0A S and T can be switched via DI signal S_T PT PR 0D PT and PR can be switched via DI signal PT_PR Multi Mode PT PR S 0E PT PR and S can be switched via DI signal S_P and...

Page 178: ...s selected via SPD0 and SPD1 CTRG is not working at the moment When switching to position mode S P is OFF since position command has not been issued needs to wait the rising edge of CTRG the motor sto...

Page 179: ...e comes from internal parameters P6 00 P7 27 Torque command could be issued by external analog voltage or internal parameters P1 12 P1 14 The switch of torque position mode is controlled by T P signal...

Page 180: ...it command can be issued by analog voltage When the function of disable enable limit function in P1 02 is set to 1 the speed limit function is enabled See the timing diagram as below 6 6 2 The Use of...

Page 181: ...t Monitor Address 0006H 0007H Parameter Attribute Parameter for three axes Related Section Section 6 6 3 Operational Interface Panel Software Communication Default 01 Control Mode ALL Unit Range 0x000...

Page 182: ...proportional setting of analog output voltage For example P0 03 1101 MON1 is the analog output of motor speed in X axis MON2 is the analog output of motor torque in X axis MON1 output voltage 8 unit...

Page 183: ...0109H Parameter Attribute Parameter for individual axis Related Section Section 6 6 3 Operational Interface Panel Software Communication Default 100 Control Mode ALL Unit full scale Range 0 100 Data...

Page 184: ...o parameter P0 03 for the setting of analog output selection For example P0 03 0x 1101 Ch2 is the speed analog output of the first axis When the output voltage value of CH2 is V2 the motor speed will...

Page 185: ...sers need to adjust the monitor output proportion of P1 04 to 50 2 25M Max input frequency Other related settings include P0 03 X 3 and P1 03 The polarity setting range of monitor analog output is bet...

Page 186: ...o operate the mechanical brake the brake has to be activated before the motor stops running Servo OFF The brake has to be released after Servo ON Otherwise it would becomone the loading of the motor a...

Page 187: ...brake 3 Please note that there is no polarity in coil brake 4 Do not use brake power and control power VDD at the same time Timing diagram of control power and main power L1 L2 Control Circuit Power 5...

Page 188: ...or motor e g motor position speed electric current etc Display Format Panel displays PX XX Pressing the SET Key to display parameters and start setting Please refer to Chapter 4 for Panel Display and...

Page 189: ...ers Mapping Support 8 groups of parameter P0 25 P0 32 set by P0 35 P0 42 5 groups of parameter P0 09 P0 13 set by P0 17 P0 21 Note In Monitor Mode pressing UP DOWN Key on the panel to switch the commo...

Page 190: ...iew the variables via parameters Panel Display 1 Switch to the desired monitoring axis by pressing the SEL Key 2 Switch to the Monitor Mode by pressing the MODE Key and select the desired monitoring v...

Page 191: ...ck position of the motor encoder The unit is PUU user unit 001 01h Position command PUU B The current coordinate of position command The unit is PUU user unit PT mode it represents the pulse number th...

Page 192: ...eak load B The maximum load output by the servo drive The unit is Percentage 014 0Eh DC Bus voltage B Capacitor voltage after rectification The unit is Volt 015 0Fh Inertia ratio B D1 Dec Ratio of loa...

Page 193: ...Hex The processed DI status of the servo drive Each bit corresponds to one DI channel The source includes hardware channel software P4 07 which is determined by P3 06 040 28h DO status hardware Hex Th...

Page 194: ...s which is used to judge the engaging condition When it is disengaging lead pulse P5 87 or P5 92 When the value is 0 it will be engaged When it is engaging lead pulse P5 89 When the value is 0 it will...

Page 195: ...0h Firmware version Dec It includes two versions DSP and CPLD When monitoring via panel pressing the SHF Key can switch the display of both DSP shows no decimal point while CPLD shows one When reading...

Page 196: ...a of CAPTURE Save the compared value of COMPARE Save the contour table of E Cam Note The system does not partition off the data array into the individual space of CAP CMP and ECAM The user could progr...

Page 197: ...tomatically P5 13 Reading writing window 2 Read via panel After reading the content of P5 11 the value of P5 11 will increase 1 automatically Write via panel It cannot be written via panel Read via co...

Page 198: ...via P5 13 the value of P5 11 will increase 1 automatically Thus the user could continuously read the data If reading the data via P5 12 then the value of P5 11 will not change The user is unable to r...

Page 199: ...nication command 0x03 continuous reading The issuing communication command is as follows Content of Communication Command Read Data Array Return Data No Command Start Add Read Amount P5 11 P5 12 P5 13...

Page 200: ...defined R W Functional Axis 5 Compare Axis P5 57 It is the axis which has CMP function Its command source could be the above mentioned axis 1 4 which can write the new value into it and has an offset...

Page 201: ...rocedure After it is disabled it can return to the specified PR procedure 7 5 The Position Unit of PR Mode The position data of PR mode is represented by PUU Pulse of User Unit It is also the proporti...

Page 202: ...change Cmd_O continuously output Cmd_E does not change Cmd_O Cmd_E DO CMD_OK is ON Issue the command of DI STP to stop the command anytime Cmd_E does not change Cmd_O continuously output DO CMD_OK is...

Page 203: ...acy of positioning For example the coordinate value corresponded by Z pulse is 100 Cmd_O 300 after homing which means the deceleration distance is 300 100 200 PUU Since Cmd_E 100 The absolute position...

Page 204: ...m OFF ON the command stops in half way When DI SHM is from OFF ON it starts homing Event trigger DI EV1 4 The change status of DI EV1 4 can be the triggered event Set the triggered procedure number fr...

Page 205: ...peed setting of high speed homing P5 07 PR command register P5 08 Forward software limit P5 09 Reverse software limit P6 00 Homing setting P6 01 Origin definition Note Path procedure 5 PR definition P...

Page 206: ...leted 31 28 27 24 23 20 19 16 15 12 11 8 7 4 3 0 BIT DW0 DLY SPD DEC ACC OPT 2 or 3 DW1 DATA 32 bit target position Unit Pulse of User Unit OPT OPT Selection 7 6 5 4 BIT Description CMD OVLP IINS 0 0...

Page 207: ...re limit are acceptable OVLP It is allowed to overlap the next PR When overlapping please set DLY to 0 AUTO Position reached and the next PR is loaded automatically CMD The calculation of the position...

Page 208: ...ll conduct linear interpolation according to DW0 of the first axis when the second axis is triggered the servo drive will refer to DW0 of the second axis and so on 2 Take XY two axis linear interpolat...

Page 209: ...FEED RATE Unit PPS Pulse Per Second When executing this command the Feed Rate of motion vector will be dynamically changed If the motion vector is processing the updated vector speed and acceleration...

Page 210: ...ning command to adjust P2 00 Position Loop Gain This procedure will continuously repeat during the operation If the data is all written into EEPROM it will shorten the lifetime of EEPROM In addition i...

Page 211: ...overlap percentage selection 4 BIT and the overlap percentage selection of the next PR Grade 7 6 5 4 3 2 1 0 Percentage 45 40 35 30 25 20 10 0 Grade F E D C B A 9 8 Percentage 100 90 80 75 70 65 55 5...

Page 212: ...TA 32 bit the setting is determined by different axis OPT OPT Selection 7 6 5 4 BIT Description CMD OVLP AUTO 0 0 Angle command starting angle and moving angle Note 10 1 0 Reserved 0 1 Reserved Reserv...

Page 213: ...er DW1 DATA 32BIT 99 PR in total 31 0 BIT DW1 DATA 32 bit The source of Y command is the starting angle of arc Unit is 0 5 degrees Note 11 Command source P6 02 P7 99 of the third axis parameter DW1 DA...

Page 214: ...stop The stop position will slightly exceed the origin If the motor moves to the origin then set PATH to the PR with absolute position command and set the DATA of the PR to ORG_DEF CMD_O Command Outpu...

Page 215: ...h Note Path procedure 2 The priority of interrupt command is higher than overlap PATH 1 PATH 2 Relation Output Note OVLP 0 INS 0 In sequence DLY 1 PATH 1 2 which could be the combination of speed posi...

Page 216: ...to count after completing the command 2 Overlap Path 1 has set OVLP but cannot set DLY Path 2 does not set INS 3 Internal interrupt Path 1 AUTO and has set DLY Path 2 has set INS DLY is effective to t...

Page 217: ...nstant speed motion It is very extensive in application Using E Cam could have similar effect The following table describes the differences between E Cam and Machine Cam Machine Cam E Cam Structure Re...

Page 218: ...R mode only Active the E Cam Function P5 88 X 0 disable E cam function and force to disengage default 1 enable E cam function and starts to judge the engaged condition E cam Status Stop Pre engage Eng...

Page 219: ...mmand is interpolated by cubic curve The torque on each point will be smoothly connected because of quadratic differential operation DO CAM_AREA DO no 0x18 Digital Output DO CAM_AREA If this DO is ON...

Page 220: ...ve It is because the moving distance of master axis remains Clutch the description is as follows Function It is used to determine the status of engaged disengaged between the master axis and gear box...

Page 221: ...he status is Engaged Stop Engage Condition P5 88 Z When the E cam is in Stop status the method of determine engaged path 1 is as the following 0 Engaged immediately If P5 88 X is set to 1 the engaged...

Page 222: ...ter Disengaged 0 Never disengaged It will be forced to disengage until P5 88 X is set to 0 Path 5 Enter Stop Status 1 DI CAM is OFF Path 5 Enter Stop Status 2 Master axis receives the pulse number whi...

Page 223: ...cam axis and slave axis and define it in the E cam table E cam axis operates one cycle and the slave axis operates one cycle Data Storage Address of E Cam table Data array the start address is set by...

Page 224: ...lave axis is a virtual axis and the unit of slave position is PUU After the E cam is engaged the position of the master is the entering point of P5 85 The position of the slave axis is in the correspo...

Page 225: ...PUU The pulse command is the encoder unit pulse The resolution is 1280000 pulse rev For one cycle of the chart the slave axis operates a cycle Setting Method P1 44 numerator P1 45 denominator If the...

Page 226: ...APTURE hardware Thus regardless the setting value of P2 14 DI Code CAPTURE can work When using CAPTURE in order to avoid DI error system will force to disable DI function which means the setting will...

Page 227: ...it0 to 1 so as to activate CAP function Every time when DI5 is triggered one data will be captured and saved in data array Then the value of P5 38 will decrease one automatically until the CAP number...

Page 228: ...S N CAP is completed and set P5 39 X0 to 0 PR procedure 50 can be triggered The CAP number is set via P5 38 P5 39 X0 1 to activate the next CAP and switch off DO The 1 st point is saved in P5 36 The 2...

Page 229: ...gardless the setting value of P2 20 DO Code the function can work When using COMPARE in order to avoid DO error the system will force to disable DO function which means the setting will be P2 20 0x010...

Page 230: ...the setting value P5 58 0 When the CMP procedure is completed the setting value of P5 59 X Bit0 will be cleared to 0 When comparing to the last point it can select if it returns to the first data for...

Page 231: ...Chapter 7 Motion Control ASDA M 7 44 Revision December 2014 This page is intentionally left blank...

Page 232: ...unication Parameters e g P3 xx Group 4 Diagnosis Parameters e g P4 xx Group 5 Motion Setting Parameters e g P5 xx Group 6 PR Parameters e g P6 xx Group 7 PR Parameters e g P7 xx Control Mode Descripti...

Page 233: ...Status Monitor Register 3 N A N A O O O O 4 3 5 P0 12 CM4 Status Monitor Register 4 N A N A O O O O 4 3 5 P0 13 CM5 Status Monitor Register 5 N A N A O O O O 4 3 5 P0 17 CM1A Status Monitor Register 1...

Page 234: ...r P0 28 0x0 N A O O O O 4 3 5 P0 39 MAP5A Target Setting of Mapping Parameter P0 29 0x0 N A O O O O 4 3 5 P0 40 MAP6A Target Setting of Mapping Parameter P0 30 0x0 N A O O O O 4 3 5 P0 41 MAP7A Target...

Page 235: ...w frequency Vibration Supression Setting 0 N A O O 6 2 9 P1 30 VCL Low frequency Vibration Detection 500 Puls e O O 6 2 9 P1 34 TACC Acceleration Constant of S Curve 200 ms O 6 3 3 P1 35 TDEC Decelera...

Page 236: ...ault Unit Control Mode Related Section PT PR S T P2 00 KPP Position Loop Gain 35 rad s O O 6 2 8 P2 01 PPR Switching Rate of Position Loop Gain 100 O O 6 2 8 P2 02 PFG Position Feed Forward Gain 50 O...

Page 237: ...Number of Encoder Output 2500 Pulse O O O O P1 55 MSPD Maximum Speed Setting rated r min O O O O P2 50 DCLR Pulse Clear Mode 0 N A O O External Pulse Command PT mode P1 00 PTT External Pulse Input Ty...

Page 238: ...ry Encoder N A Pulse No O O O O 7 3 P5 18 AXAU Axis Position Pulse Command N A Pulse No O O O O 7 3 P5 08 SWLP Forward Software Limit 231 PUU O O P5 09 SWLN Reverse Software Limit 231 PUU O O Read onl...

Page 239: ...data retained setting e g parameter P2 30 and P3 06 Torque Control Parameter Parameter Abbr Function Default Unit Control Mode Related Section PT PR S T P1 01 CTL Input Setting of Control Mode and Co...

Page 240: ...DI6 Functional Planning N021 N A O O O O Table 8 1 P2 18 DO1 DO1 Functional Planning N101 N A O O O O Table 8 2 P2 19 DO2 DO2 Functional Planning N103 N A O O O O Table 8 2 P2 20 DO3 DO3 Functional Pl...

Page 241: ...chanism 0 N A O O O O 9 2 P3 06 SDI Control Switch of Digital Input DI 0 N A O O O O 9 2 P3 07 CDT Communication Response Delay Time 0 1ms O O O O 9 2 P3 08 MNS Monitor Mode 0000 N A O O O O 9 2 P3 09...

Page 242: ...O O P4 15 COF1 Current Detector V1 Phase Offset Adjustment Factory Setting N A O O O O P4 16 COF2 Current Detector V2 Phase Offset Adjustment Factory Setting N A O O O O P4 17 COF3 Current Detector W1...

Page 243: ...Range Data Size 16bit Format DEC Settings This parameter shows the firmware version of the servo drive P0 01 ALE Alarm Code Display of Drive Seven segment Display Address 0002H 0003H Parameter Attribu...

Page 244: ...tage In default setting the alarm occurs only when the voltage is not enough in Servo ON status In Servo ON status when it applies to power R S T the alarm still will not be cleared Please refer to P2...

Page 245: ...overload 024 Encoder initial magnetic field error The magnetic field of the encoder U V W signal is in error 025 The internal of the encoder is in error The internal memory of the encoder and the int...

Page 246: ...O mapping object is write protected when Servo ON 128 Error occurs when reading CANopen PDO mapping object via EEPROM 129 Error occurs when writing CANopen PDO mapping object via EEPROM 130 The access...

Page 247: ...ccessing address of EEPROM is out of range when using CANopen object 275 CRC of EEPROM calculation error occurs when using CANopen object 277 Enter the incorrect password when using CANopen object 283...

Page 248: ...Pulse rev 05 Deivation pulse number before the scaling of electronic gear ratio Encoder unit 1 280 000 Pulse rev 06 The frequency of pulse command input Kpps 07 Motor speed r min 08 Speed command inp...

Page 249: ...2 P0 10 25 Monitor Variable 3 P0 11 26 Monitor Variable 4 P0 12 P0 03 MON Analog Output Monitor Address 0006H 0007H Parameter Attribute Parameter for three axes Related Section Section 6 6 3 Operation...

Page 250: ...Reserved MON1 axis selection Description 1 MON1 is from X axis 2 MON1 is from Y axis 3 MON1 is from Z axis MON2 axis selection Description 1 MON2 is from X axis 2 MON2 is from Y axis 3 MON2 is from Y...

Page 251: ...Related Section Operational Interface Panel Software Communicaiton Default 0 Control Mode Unit Hour Range 0 65535 Data Size 16bit Format DEC Settings It shows the total startup time of the servo drive...

Page 252: ...t of P0 09 P0 10 CM2 Status Monitor Register 2 Address 0014H 0015H Parameter Attribute Parameter for individual axis Related Section Section 4 3 5 Operational Interface Panel Software Communicaiton De...

Page 253: ...for individual axis Related Section Section 4 3 5 Operational Interface Panel Software Communication Default Control Mode ALL Unit Range Data Size 32bit Format DEC Settings The setting value which is...

Page 254: ...Reserved Address 001EH 001FH P0 16 Reserved Address 0020H 0021H P0 17 CM1A Status Monitor Register 1 Selection Address 0022H 0023H Parameter Attribute Parameter for individual axis Related Section Ope...

Page 255: ...Variable for the setting value P0 19 CM3A Status Monitor Register 3 Selection Address 0026H 0027H Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software...

Page 256: ...itor Register 5 Selection Address 002AH 002BH Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communication Default 0 Control Mode Unit Range 0 1...

Page 257: ...usly read and write parameters that are not in the same group The content of parameter that is specified by P0 35 will be shown in P0 25 Please refer to the description of P0 35 for parameter setting...

Page 258: ...of P0 37 Data Size 32bit Format HEX Settings The using method is the same as P0 25 The mapping target is set by parameter P0 37 P0 28 MAP4 Mapping Parameter 4 Address 0038H 0039H Parameter Attribute P...

Page 259: ...of P0 39 Data Size 32bit Format HEX Settings The using method is the same as P0 25 The mapping target is set by parameter P0 39 P0 30 MAP6 Mapping Parameter 6 Address 003CH 003DH Parameter Attribute P...

Page 260: ...Settings The using method is the same as P0 25 The mapping target is set by parameter P0 41 P0 32 MAP8 Mapping Parameter 8 Address 0040H 0041H Parameter Attribute Parameter for individual axis Relate...

Page 261: ...trol Mode ALL Unit Range determined by the communication address of the parameter group Data Size 32bit Format HEX Settings Select the data block to access the parameter corresponded by register 1 The...

Page 262: ...2C via panel or communication Then when reading writing P0 25 it also reads writes P1 44 Moreover users can also access the value of P2 02 and P2 04 through P0 25 P2 02 Position feed forward gain 16bi...

Page 263: ...ion Default 0x0 Control Mode ALL Unit Range determined by the communication address of the parameter group Data Size 32bit Format HEX Settings Same as parameter P0 35 P0 38 MAP4A Target Setting of Map...

Page 264: ...fault 0x0 Control Mode ALL Unit Range determined by the communication address of the parameter group Data Size 32bit Format HEX Settings Same as parameter P0 35 P0 40 MAP6A Target Setting of Mapping P...

Page 265: ...fault 0x0 Control Mode ALL Unit Range determined by the communication address of the parameter group Data Size 32bit Format HEX Settings Same as parameter P0 35 P0 42 MAP8A Target Setting of Mapping P...

Page 266: ...nterface Panel Software Communication Default 0x0 Control Mode ALL Unite Range determined by the communication address of the parameter group Data Size 32bit Format DEC Settings Same as parameter P0 0...

Page 267: ...t Format HEX Settings Bit0 SRDY Servo is ready Bit1 SON Servo ON Bit2 ZSPD Zero speed detection Bit3 TSPD Target speed reached Bit4 TPOS Target position reached Bit5 TQL Torque limit Bit6 ALRM Servo a...

Page 268: ...0063H P0 50 Reserved Address 0064H 0065H P0 51 Reserved Address 0066H 0067H P0 52 Reserved Address 0068H 0069H P0 53 Reserved Address 006AH 006BH P0 54 Reserved Address 006CH 006DH P0 55 Reserved Addr...

Page 269: ...X Settings Pulse Type 0 AB phase pulse 4x 1 Clockwise CW and Counterclockwise CCW pulse 2 Pulse symbol Other setting reserved Filter Width If the received frequency is much higher than the setting it...

Page 270: ...tial signal and the setting value is 0 the high speed filter frequency is 3 33Mpps at the moment then If the user uses 2 4MHz input pulse it is suggested to set the filter value to 4 Note When the sig...

Page 271: ...nput Frequency Minimum time width T1 T2 T3 T4 T5 T6 High speed pulse Differential Signal 4Mpps 62 5ns 125ns 250ns 200ns 125ns 125ns Low speed pulse Differential Signal 500Kpps 0 5 s 1 s 2 s 2 s 1 s 1...

Page 272: ...ntial CN1 Pin HPULSE HSIGN P1 01 CTL Input Setting of Control Mode and Control Command Address 0102H 0103H Parameter Attribute Parameter for individual axis Related Section Section 6 1 Table 8 1 Opera...

Page 273: ...PTAS Analog voltage can be used soon PR Position Control Mode The command source is internal signal which provides 99 positions and can be selected via DI POS0 POS5 It also provides various ways of Ho...

Page 274: ...P PT PR Please refer to table 8 1 Torque Output Direction Settings 0 1 Forward Reverse Digital Input Digital Output DIO Setting 0 When switching mode DIO P2 10 P2 15 P2 18 P2 20 remains the original s...

Page 275: ...function 1 Enable torque limit function it is effective in PT PR S mode Other Reserved Block diagram of torque limit setting P1 12 1 P1 13 2 P1 14 3 Tref TCM0 TCM1 0 Torque Limit Command When desiring...

Page 276: ...0 Control Mode ALL Unit Range 0 0x13 Data Size 16bit Format HEX Settings Polarity of monitor analog output 0 MON1 MON2 1 MON1 MON2 2 MON1 MON2 3 MON1 MON2 Polarity of encoder pulse output 0 Forward ou...

Page 277: ...100 P1 05 MON2 MON2 Analog Monitor Output Proportion Address 0108H 0109H Parameter Attribute Parameter for individual axis Related Section Section 6 6 3 Operational Interface Panel Software Communica...

Page 278: ...ings 0 Disabled P1 07 TFLT Analog Torque Command Low pass Filter Address 010EH 010FH Parameter Attribute Parameter for individual axis Related Section Section 6 4 3 Operational Interface Panel Softwar...

Page 279: ...efault 1000 Control Mode S T Unit 0 1r min Range 60000 60000 Data Size 32bit Format DEC Example Internal Speed Command 120 12 r min Internal Speed Limit Positive value and negative value is the same P...

Page 280: ...alue is the same Please refer to the following description Settings Internal Speed Command 2 The setting of the second internal speed command Internal Speed Limit 2 The setting of the second internal...

Page 281: ...ble Speed Range Forward Speed Limit Reverse Speed Limit 1000 100 100 r min 100 r min 100 r min 1000 P1 12 TQ1 Internal Torque Command 1 Internal Torque Limit 1 Address 0118H 0119H Parameter Attribute...

Page 282: ...onal Interface Panel Software Communication Default 100 Control Mode ALL Unit Range 300 300 Data Size 16bit Format DEC Example Internal Torque Command 30 30 Internal Torque Limit Positive value and ne...

Page 283: ...rque Limit Positive value and negative value is the same Please refer to the following description Settings Internal Torque Command 3 The setting of the third internal torque command Internal Torque L...

Page 284: ...Section Section 6 2 9 Operational Interface Panel Software Communication Default 1000 Control Mode PT PR Unit 0 1 Hz Range 10 1000 Data Size 16bit Format DEC Example 150 15 Hz Settings The setting val...

Page 285: ...ss 0136H 0137H Parameter Attribute Parameter for individual axis Related Section Section 6 2 9 Operational Interface Panel Software Communication Default 1000 Control Mode PT PR Unit 0 1 Hz Range 10 1...

Page 286: ...6 2 9 Operational Interface Panel Software Communication Default 0 Control Mode PT PR Unit Range 0 1 Data Size 16bit Format DEC Settings 0 The function is disabled 1 The value will set back to 0 after...

Page 287: ...r regard the other low frequency vibration as the suppression frequency If the value is bigger it will make more precise judgment However if the vibration of the mechanism is smaller it might not dete...

Page 288: ...tion time If the setting is 1 ms it can stop instantaneously P1 33 Reserved Address 0142H 0143H P1 34 TACC Acceleration Constant of S Curve Address 0144H 0145H Parameter Attribute Parameter for indivi...

Page 289: ...t DEC Settings Deceleration Constant P1 34 P1 35 and P1 36 the deceleration time of speed command from the rated speed to zero all can be set individually Even when P1 36 is set to 0 it still has acce...

Page 290: ...s set to 0 it still has acceleration deceleration of trapezoid curve NOTE 1 When the source of speed command is analog and P1 36 is set to 0 it will disable S curve function 2 When the source of speed...

Page 291: ...ss 014CH 014DH Parameter Attribute Parameter for individual axis Related Section Table 8 2 Operational Interface Panel Software Communication Default 10 0 100 Control Mode ALL Unit 1 r min 0 1 r min R...

Page 292: ...are Communication Default Same as the rated speed of each model Control Mode S T Unit r min Range 0 50000 Data Size 16bit Format DEC Settings Maximum Speed of Analog Speed Command In speed mode the an...

Page 293: ...t setting is 100 if the external voltage inputs 10V it means the torque control command is 100 rated torque If the external voltage inputs 5V then the torque control command is 50 rated torque Torque...

Page 294: ...ontrol Mode ALL Unit ms Range 1000 1000 Data Size 16bit Format DEC Settings Set the delay time from servo OFF to switch off the signal of mechanical brake BRKR NOTE 1 If the delay time of P1 43 has no...

Page 295: ...Size 32bit Format DEC Settings Please refer to P2 60 P2 62 for the setting of multiple gear ratio numerator NOTE 1 In PT mode the setting value can be changed when Servo ON 2 In PR mode the setting va...

Page 296: ...in PR mode P1 46 GR3 Pulse Number of Encoder Output Address 015CH 015DH Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communication Default 250...

Page 297: ...speed command and motor feedback speed is smaller than this parameter then the digital output DO SP_OK DO code is 0x19 is ON Block diagram 1 Speed command It is the command issued by the user without...

Page 298: ...Interface Panel Software Communication Default 0x0000 Control Mode PR Unit Range 0x0000 0x0011 Data Size 16bit Format HEX Settings Control selection of digital output DO MC_OK DO code is 0x17 The form...

Page 299: ...n the value of P1 54 5 MC_OK It means the position command is completely outputted and the position error of the servo drive is smaller than P1 54 MC_OK remains the digital output status It is the sam...

Page 300: ...ds the setting range of P1 47 the time count will be reset P1 50 Reserved Address 0164H 0165H P1 51 Reserved Address 0166H 0167H P1 52 RES1 Regenerative Resistor Value Address 0168H 0169H Parameter At...

Page 301: ...low 60 W 2 kW 100 W P1 54 PER Position Completed Range Address 016CH 016DH Parameter Attribute Parameter for individual axis Related Section Table 8 2 Operational Interface Panel Software Communicatio...

Page 302: ...et to the rated speed P1 56 OVW Output Overload Warning Level Address 0170H 0171H Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communication D...

Page 303: ...lter 0 Disabled P1 06 is low pass filter and P1 59 is moving filter The difference between both is that moving filter can smooth the command in the beginning and end of the step command while the low...

Page 304: ...5H P1 67 Reserved Address 0186H 0187H P1 68 PFLT2 Position Command Moving Filter Address 0188H 0189H Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Softw...

Page 305: ...tion of Encoder Output Setting OA OB Address 0198H 0199H Parameter Attribute Parameter for individual axis Related Section P1 46 Operational Interface Panel Software Communication Default 5500 Control...

Page 306: ...75 P1 78 OVLPS The Setting of PR Path Overlap Address 019CH 019DH Parameter Attribute Parameter for three axes Related Section Operational Interface Panel Software Communication Default 0 Control Mod...

Page 307: ...ion of PR path overlap the meaning is as the following 0 A Fixed overlap distance The overlap distance should be the whole path x Corresponding grade of 0 A Index which is 1 20 B Refer to the setting...

Page 308: ...019FH Parameter Attribute Parameter for three axes Related Section Operational Interface Panel Software Communication Default 10 Control Mode PR Unit percentage Range 1 30 Data Size 32bit Format DEC S...

Page 309: ...1A0H 01A1H Parameter Attribute Parameter for three axes Related Section Operational Interface Panel Software Communication Default 100000 Control Mode PR Unit Range 1000 2147483647 Data Size 32bit For...

Page 310: ...he value of position loop gain is increased the position response can be enhanced and the position error can be reduced If the value is set too big it may easily cause vibration and noise P2 01 PPR Sw...

Page 311: ...on error If the position command is not changed smoothly decreasing the gain value can tackle the problem of mechanical vibration P2 03 PFF Smooth Constant of Position Feed Forward Gain Address 0206H...

Page 312: ...DEC Settings Increase the value of speed loop gain can enhance the speed response However if the value is set too big it would easily cause resonance and noise P2 05 SPR Switching Rate of Speed Loop G...

Page 313: ...e and diminish the deviation of speed control However if the value is set too big it would easily cause resonance and noise P2 07 KVF Speed Feed Forward Gain Address 020EH 020FH Parameter Attribute Pa...

Page 314: ...oftware Communication Default 0 Control Mode ALL Unit Range 0 65535 Data Size 16bit Format DEC Settings Special parameter write in Parameter code Function 10 Reset the parameter for individual axis Ap...

Page 315: ...t DEC Example 4 8 ms Settings When the environmental noise is big increasing the setting value can enhance the control stability However if the value is set too big the response time will be influence...

Page 316: ...ve to ensure it can work normally Note Parameter P3 06 is used to set how digital inputs DI accepts commands through external terminal or the communication which determined by P4 07 NOTE 1 DI shared b...

Page 317: ...ated Section Table 8 1 Operational Interface Panel Software Communication Default 116 Control Mode ALL Unit Range 0 0x015F the last two codes are DI code Data Size 16bit Format HEX Settings Please ref...

Page 318: ...n Default 102 Control Mode ALL Unit Range 0 0x015F the last two codes are DI code Data Size 16bit Format HEX Settings Please refer to the description of P2 10 P2 15 DI6 DI6 Functional Planning Address...

Page 319: ...ase refer to table 8 1 Input contact a or b contact 0 Set the input contact as normally closed b contact 1 Set the input contact as normally open a contact P2 16 P2 17 and P2 36 P2 41 The setting valu...

Page 320: ...he axis selection will return to its default P2 17 EDI8 ED18 Functional Planning Address 0222H 0223H Parameter Attribute Parameter for individual axis Related Section Table 8 1 Operational Interface P...

Page 321: ...s to 2 this DO function is for Y axis 3 Set the axis to 3 this DO function is for Z axis When parameters are modified please re start the servo drive to ensure it can work normally NOTE 1 When switchi...

Page 322: ...ettings Please refer to the description of P2 18 P2 21 Reserved Address 022AH 022BH P2 22 Reserved Address 022CH 022DH P2 23 NCF1 Resonance Suppression Notch filter 1 Address 022EH 022FH Parameter Att...

Page 323: ...tch filter attenuation rate When this parameter is set to 0 the function of Notch filter is disabled P2 25 NLP Low pass Filter of Resonance Suppression Address 0232H 0233H Parameter Attribute Paramete...

Page 324: ...increase the damping of speed loop It is suggested to set P2 26 equals to the value of P2 06 If users desire to adjust P2 26 please follow the rules below 1 In speed mode incrase the value of this par...

Page 325: ...ror is smaller than the value of P2 29 7 When the frequency of position command is smaller than the value of P2 29 8 When the speed of servo motor is slower than the value of P2 29 Gain switching meth...

Page 326: ...Related Section Operational Interface Panel Software Communication Default 1280000 Control Mode ALL Unit Pulse Kpps r min Range 0 3840000 Data Size 32bit Format DEC Settings The setting of gain switch...

Page 327: ...N Command is accepted in each mode and can be observed via scope software However the motor will not operate The aim is to examine the command accuracy 7 High speed oscilloscope disable Time Out funct...

Page 328: ...for individual axis Related Section Section 5 6 Section 6 3 6 Operational Interface Panel Software Communication Default 0 Control Mode ALL Unit Range 0 0x2 Data Size 16bit Format HEX Settings 0 Manu...

Page 329: ...2 25 and P2 26 will be modified to the corresponding parameters of semi auto mode Relevant description of semi auto mode setting 1 When the system inertia is stable the value of P2 33 will be 1 and th...

Page 330: ...EV The Condition of Overspeed Warning Address 0244H 0245H Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communication Default 5000 Control Mode...

Page 331: ...tional Interface Panel Software Communication Default 100 Control Mode ALL Unit Range 0 315Fh The last two codes are DI code Data Size 16bit Fornat HEX Settings Please refer to the description of P2 1...

Page 332: ...r to the description of P2 16 P2 39 EDI12 EDI12 Functional Planning Address 024EH 024FH Parameter Attribute Parameter for individual axis Related Section Table 8 1 Operational Interface Panel Software...

Page 333: ...ted Section Table 8 1 Operational Interface Panel Software Communication Default 100 Control Mode ALL Unit Range 0 315Fh The last two codes are DI code Data Size 16bit Format HEX Settings Please refer...

Page 334: ...ection 6 3 7 Operational Interface Panel Software Communication Default 0 Control Mode ALL Unit dB Range 0 32 0 disable Notch filter Data Size 16bit Format DEC Settings The second resonance suppressio...

Page 335: ...unication Default 0 Control Mode ALL Unit dB Range 0 32 Data Size 16bit Format DEC Settings The third group of resonance suppression Notch filter attenuation rate Set the value to 0 to disable the fun...

Page 336: ...ce suppression will be saved If it is unstable re power on for re estimation When switching to mode 0 from mode 2 or 1 the setting of P2 43 P2 44 P2 45 and P2 46 will be saved automatically P2 48 ANCL...

Page 337: ...2014 P2 49 SJIT Speed Detection Filter Address 0262H 0263H Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communication Default 0 Control Mode...

Page 338: ...timation Setting Value Speed estimation bandwidth Hz 00 2500 01 2250 02 2100 03 2000 04 1800 05 1600 06 1500 07 1400 08 1300 09 1200 0A 1100 0B 1000 0C 950 0D 900 0E 850 0F 800 10 750 11 700 12 650 13...

Page 339: ...e function of pulse clear is effective Clear the position error It is applicable in PT PR mode If this DI is ON the accumulative position error will be cleared to 0 0 The triggering method of CCLR is...

Page 340: ...Software Communication Default 0 Control Mode ALL Unit rad s Range 0 8191 Data Size 16bit Format DEC Settings When increasing the value of synchronous speed control it can enhance the speed following...

Page 341: ...e Panel Software Communication Default 0 Control Mode ALL Unit rad Range 0 1023 Data Size 16bit Format DEC Settings When increasing integral compensation to synchronous position two motors speed follo...

Page 342: ...will be When increasing the bandwidth of speed loop and synchronous control pay special attention to the response of P2 25 which should be faster than the setting of the both bandwidth Firmware V1 005...

Page 343: ...mand source 0 comes from X axis When it is in position mode the position command comes from the position command of X axis When it is in speed mode the speed command comes from the speed command of X...

Page 344: ...Two Axes Address 0276H 0277H Parameter Attribute Parameter for three axes Related Section Operational Interface Panel Software Communication Default 1280000 Control Mode ALL Unit Pulse based on the fe...

Page 345: ...t P1 44 will automatically be the numerator of electronic gear ratio Please switch GNUM0 and GNUM1 in stop status to avoid the mechanical vibration P2 61 GR5 Gear Ratio Numerator N3 Address 027AH 027B...

Page 346: ...ult 128 Control Mode PT Unit Pulse Range 1 229 1 Data Size 32bit Format DEC Settings Please refer to the description of P2 60 P2 63 Reserved Address 027EH 027FH P2 64 Reserved Address 0280H 0281H P2 6...

Page 347: ...ase set to 0 P2 66 GBIT2 Special bit Register 2 Address 0284H 0285H Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communication Default 0 Contr...

Page 348: ...15 Control Mode ALL Unit 1 times 0 1 times Range 0 200 0 0 2000 Data Size 16bit Format One decimal DEC Example 1 5 1 5 times 15 1 5 times Settings In semi auto mode if the value of inertia estimation...

Page 349: ...one address The duplicate address setting will cause abnormal communication In this servo drive the 3 axis address setting should be unique The duplicate address will cause abnormal communication Thi...

Page 350: ...0 4800 1 9600 2 19200 3 38400 4 57600 5 115200 Definition of Z setting value 0 125 Kbit s 1 250 Kbit s 2 500 Kbit s 3 750 Kbit s 4 1 0 Mbit s NOTE 1 If this parameter is set via CAN only Z can be set...

Page 351: ...r Disposal Address 0306H 0307H Parameter Attribute Parameter for three axes Related Section Section 9 2 Operational Interface Panel Software Communication Default 0 Control Mode ALL Unit Range 0 0x1 D...

Page 352: ...y If it is set to 0 disable the function P3 05 CMM Communication Mechanism Address 030AH 030BH Parameter Attribute Parameter for three axes Related Section Section 9 2 Operational Interface Panel Soft...

Page 353: ...ource of DI signal Bit0 Bit5 correspond to DI1 DI6 Bit6 Bit13 correspond to EDI7 EDI14 The setting of bit is as the followings 0 The input status is controlled by the external hardware 1 The input sta...

Page 354: ...ulti axis can be monitored by USB The definition of setting value is as follows The definition of H setting value 4 USB is high speed monitor The sampling frequency is 4K and can monitor 8CH 3 USB is...

Page 355: ...zes with the master via SYNC See as the followings M If the slave needs to synchronize with the master correct the clock is a must This parameter sets the maximum correction value per time Unit usec D...

Page 356: ...tting of CANopen is divided into X Y Z and U hexadecimal Item U Z Y X Functio n undefine d undefined undefine d Whether the parameter is saved into EEPROM Range 0 1 The definition is as follows X 1 Wh...

Page 357: ...en Unit Range Shown as below Data Size 16bit Format HEX Settings The supporting setting of CANopen is divided into X Y Z and U hexadecimal Item U Z Y X Function undefined CANopen value will be loaded...

Page 358: ...ttings The last abnormal status record Low word LXXXX display ALM number High word hYYYY display the error code corresponds to CANopen P4 01 ASH2 Fault Record N 1 Address 0402H 0403H Parameter Attribu...

Page 359: ...st third abnormal status record Low word LXXXX display ALM number High word hYYYY display the error code corresponds to CANopen P4 03 ASH4 Fault Record N 3 Address 0406H 0407H Parameter Attribute Para...

Page 360: ...Mode ALL Unit Range Data Size 32bit Format HEX Settings The last fifth abnormal status record Low word LXXXX display ALM number High word hYYYY display the error code corresponds to CANopen P4 05 JOG...

Page 361: ...d of the servo motor 2 DI control If the DI is set to JOGU and JOGD refer to table 8 1 then the JOG operation in positive or negative direction can be controlled via this DI 3 Communication control 1...

Page 362: ...the DO number of each axis please add the axial parameter For example Each axis is used individually P2 18 of X axis is set to 0x1130 then the DO 1 of X axis is bit 0 status of P4 06 of X axis P2 18...

Page 363: ...sponding bit of P3 06 is 1 which means the source is software SDI P4 07 If the corresponding bit is 0 then the source is hardware DI See the following graph Read parameters shows the DI status after c...

Page 364: ...ttings The aim is to check if the five Keys MODE UP DOWN SHIFT and SET can work normally This parameter is also used to check if the Keys are all functional when producing servo drives P4 09 MOT Digit...

Page 365: ...r V phase offset 4 Exectue the adjustment of current detector W phase hardware offset 5 Exectue the adjustment of 1 4 hardware offset 6 Execute the adjustment of IGBT ADC NOTE The adjustment function...

Page 366: ...l Interface Panel Software Communication Default Factory default Control Mode ALL Unit Range 0 32767 Data Size 16bit Format DEC Settings Manually adjust the hardware offset The adjustment function nee...

Page 367: ...Interface Panel Software Communication Default Factory default Control Mode ALL Unit Range 0 32767 Data Size 16bit Format DEC Settings Manually adjust the hardware offset The adjustment function need...

Page 368: ...al Interface Panel Software Communication Default Factory default Control Mode ALL Unit Range 0 32767 Data Size 16bit Format DEC Settings Manually adjust the hardware offset The adjustment function ne...

Page 369: ...tion Default Factory default Control Mode ALL Unit Range 0 32767 Data Size 16bit Format DEC Settings Manually adjust the hardware offset The adjustment function needs to be enabled by the setting of p...

Page 370: ...Offset adjustment value cannot reset P4 21 DOF2 Offset Adjustment Value of Analog Monitor Output Ch2 Address 042AH 042BH Parameter Attribute Parameter for three axes Related Section Section 6 6 3 Oper...

Page 371: ...r individual axis Related Section Operational Interface Panel Software Communication Default 0 Control Mode T Unit mV Range 5000 5000 Data Size 16bit Format DEC Settings Users manually adjust the OFFS...

Page 372: ...xis Related Section Operational Interface Panel Software Communication Default 0x00000000 Control Mode ALL Unit Range 0x00000000 0x00000001 Data Size 32bit Format HEX Settings Reserved Reserved Reserv...

Page 373: ...ault 0XE0EFEEFF Control Mode ALL Unit Range 0x00000000 0xF0FFFFFF Data Size 32bit Format HEX Settings The parameter setting is divided into D C B A W Z Y X hexadecimal including 1 The deceleration tim...

Page 374: ...oming Mode Address 0508H 0509H Parameter Attribute Parameter for individual axis Operational Interface Panel Software Communication Default 0 Control Mode PR Unit Range 0 0x128 Data Size 16bit Format...

Page 375: ...error Z 1 rotates backwards X 2 Homing in forward direction ORGP OFF ON as the homing origin X 3 Homing in reverse direction ORGP OFF ON as the homing origin X 4 Look for Z pulse in forward direction...

Page 376: ...Unit 1 r min 0 1 r min Range 0 1 2000 0 1 20000 Data Size 16bit Format DEC Example 1 5 1 5 r min 15 1 5 r min Settings The 1st speed of high speed homing P5 06 HSPD2 2nd Speed Setting of Low Speed Ho...

Page 377: ...d range Set P5 07 to 1000 to execute Stop Command which is the same as DI STOP When reading P5 07 If the command is incompleted the drive will read the current command If the command is completed the...

Page 378: ...mode if the motor rotates in forward direction and its command position exceeds the setting value of P5 08 it will trigger AL283 P5 09 SWLN Reverse Software Limit Address 0512H 0513H Parameter Attribu...

Page 379: ...YID Data Array Address of Reading Writing Address 0516H 0517H Parameter Attribute Parameter for individual axis Related Section Section 7 2 2 Operational Interface Panel Software Communication Default...

Page 380: ...vidual axis Related Section Section 7 2 2 Operational Interface Panel Software Communication Default 0 Control Mode ALL Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Window 2 Ar...

Page 381: ...16 AXEN Axis Position Motor Encoder Address 0520H 0521H Parameter Attribute Parameter for individual axis Related Section Section 7 3 Operational Interface Panel Software Communication Default 0 Contr...

Page 382: ...lse counts of the auxiliary encoder linear scale P5 18 AXPC Axis Position Pulse Command Address 0524H 0525H Parameter Attribute Parameter for individual axis Related Section Section 7 3 Operational In...

Page 383: ...n of E Cam by using the same pulse frequency of the master axis Magnify the magnification will enlarge the route of E Cam operation The speed will be magnified as well NOTE 1 This parameter can be set...

Page 384: ...deceleration time in PR mode P5 22 AC2 Acceleration Deceleration Time Number 2 Address 052CH 052DH Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface...

Page 385: ...ter for individual axis Related Section Section 7 10 Operational Interface Panel Software Communication Default 800 Control Mode PR Unit ms Range 1 65500 Data Size 16bit Format DEC Settings Please ref...

Page 386: ...are Communication Default 1000 Control Mode PR Unit ms Range 1 65500 Data Size 16bit Format DEC Settings Please refer to P5 20 for the setting of acceleration deceleration time in PR mode P5 27 AC7 Ac...

Page 387: ...eceleration time in PR mode P5 29 AC9 Acceleration Deceleration Time Number 9 Address 053AH 053BH Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface P...

Page 388: ...er for individual axis Related Section Section 7 10 Operational Interface Panel Software Communication Default 3000 Control Mode PR Unit ms Range 1 65500 Data Size 16bit Format DEC Settings Please ref...

Page 389: ...8000 Control Mode PR Unit ms Range 1 65500 Data Size 16bit Format DEC Settings Please refer to P5 20 for the setting of acceleration deceleration time in PR mode P5 34 AC14 Acceleration Deceleration...

Page 390: ...parameter is smaller short deceleration time and it is used for short deceleration time and stops promptly of auto protection P5 36 CAST CAPTURE Start Address of Data Array Address 0548H 0549H Paramet...

Page 391: ...tion of CAPTURE pulse source NOTE 1 It is writable only when COMPARE stops please refer to P5 39 2 If the source is the main encoder this parameter is write protected and the content is the feedback p...

Page 392: ...lue of P5 38 will minus one When the value is 0 it means the capturing is completed NOTE The number of data which is used by COMPARE CAPTURE and E Cam cannot exceed 1500 P5 39 CACT CAPTURE Activate CA...

Page 393: ...CMP is activated After capturing the first data reset the position coordinate Starts to capture when it is set to 1 After finishing capturing this bit becomes 0 automatically bit 0 When the value set...

Page 394: ...re 50 will be triggered automatically P5 40 DLY0 Delay Time After Position Completed Number 0 Address 0550H 0551H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operati...

Page 395: ...ce Panel Software Communication Default 200 Control Mode PR Unit ms Range 0 32767 Data Size 16bit Format DEC Settings The 3rd Delay Time of PR mode P5 43 DLY3 Delay Time After Position Completed Numbe...

Page 396: ...ay Time of PR mode P5 45 DLY5 Delay Time After Position Completed Number 5 Address 055AH 055BH Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Pane...

Page 397: ...is Related Section Section 7 10 Operational Interface Panel Software Communication Default 1500 Control Mode PR Unit ms Range 0 32767 Data Size 16bit Format DEC Settings The 8th Delay Time of PR mode...

Page 398: ...EC Settings The 10th Delay Time of PR mode P5 50 DLY10 Delay Time After Position Completed Number 10 Address 0564H 0565H Parameter Attribute Parameter for individual axis Related Section Section 7 10...

Page 399: ...ndividual axis Related Section Section 7 10 Operational Interface Panel Software Communication Default 4000 Control Mode PR Unit ms Range 0 32767 Data Size 16bit Format DEC Settings The 13th Delay tim...

Page 400: ...erface Panel Software Communication Default 5000 Control Mode PR Unit ms Range 0 32767 Data Size 16bit Format DEC Settings The 15th Delay time of PR mode P5 55 DLY15 Delay Time After Position Complete...

Page 401: ...t DEC Settings The first COMPARE data is saved in the address of data array NOTE It is writable only when COMPARE stops please refer to P5 59 P5 57 CMAX COMPARE Axis Position Address 0572H 0573H Param...

Page 402: ...dress 0574H 0575H Parameter Attribute Parameter for individual axis Related Section Section 7 11 2 Operational Interface Panel Software Communication Default 1 Control Mode ALL Unit Range 1 the value...

Page 403: ...PULSE Cmd 3 Main ENC main encoder Z 0 NO 1 NC outputs the polarity U See table U below CBA Output the Pulse length Unit 1ms bit 3 2 1 0 X function After finishing comparing the counter returns to 0 Wh...

Page 404: ...start from the first data again The cycle will never end and bit 0 is always 1 bit 2 If this bit is 1 CAP will be activated after comparing the last data Set bit 0 of P5 39 to 1 and reset P5 38 to th...

Page 405: ...min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 15 15 r min 150 15 r min Settings The 1st target speed of PR mode P5 61 POV1 Target Speed Setting 1 Address 057AH 057BH Parameter Attri...

Page 406: ...r min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 1 1 r min 10 1 r min Settings The 3rd target speed of PR mode P5 63 POV3 Target Speed Setting 3 Address 057EH 057FH Parameter Attribu...

Page 407: ...r min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 1 1 r min 10 1 r min Settings The 5th target speed of PR mode P5 65 POV5 Target Speed Setting 5 Address 0582H 0583H Parameter Attribu...

Page 408: ...r min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 1 1 r min 10 1 r min Settings The 7th target speed of PR mode P5 67 POV7 Target Speed Setting 7 Address 0586H 0587H Parameter Attribu...

Page 409: ...r min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 1 1 r min 10 1 r min Settings The 9th target speed of PR mode P5 69 POV9 Target Speed Setting 9 Address 058AH 058BH Parameter Attribut...

Page 410: ...min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 1 1 r min 10 1 r min Settings The 11th target speed of PR mode P5 71 POV11 Target Speed Setting 11 Address 058EH 058FH Parameter Attrib...

Page 411: ...min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 1 1 r min 10 1 r min Settings The 13th target speed of PR mode P5 73 POV13 Target Speed Setting 13 Address 0592H 0593H Parameter Attrib...

Page 412: ...r min Range 0 1 6000 0 1 60000 Data Size 16bit Format DEC Example 1 1 r min 10 1 r min Settings The 15th target speed of PR mode P5 75 POV15 Target Speed Setting 15 Address 0596H 0597H Parameter Attri...

Page 413: ...P5 77 CSAX The Position of Synchronous Capture Axis CAP SYNC AXES Address 059AH 059BH Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communicat...

Page 414: ...e Range 10 100000000 Data Size 32bit Format DEC Settings It is the moving distance of synchronous capture axis between two CAP actions The new value can be written into the parameter not until CAP is...

Page 415: ...the data the synchronous aixs works normally This parameter updates once This parameter can be written into as well It indicates the offset of synchronous master When the synchronous capture axis is...

Page 416: ...e more smooth In the application of flying shear after adjusting the synchronous error P5 79 the bigger parameter value will reduce the time the slave axis goes to the desired position However the spe...

Page 417: ...is divided into N zone and the table should include N 1 data NOTE This parameter can be wrote when E Cam stops Please refer toP5 88 X 0 P5 83 ECMM E CAM Master Gear Ratio Setting M Address 05A6H 05A7...

Page 418: ...147483647 Data Size 32bit Format DEC Settings When receiving pulse number P of the Master E Cam will rotate M circle which means the M cycle of the cam table NOTE This parameter can be modified anytim...

Page 419: ...meter can be wrote when E Cam stops Please refer toP5 88 X 0 P5 87 PLED E CAM Lead Pulse Address 05AEH 05AFH Parameter Attribute Parameter for individual axis Related Section Section 7 11 Operational...

Page 420: ...ction Section 7 11 Operational Interface Panel Software Communication Default 00000000h Control Mode PR Unit Range 0 0x206FF251 Data Size 32bit Format HEX Settings The format of this parameter High wo...

Page 421: ...s immediately The symbol represents the direction Back to the pre engage status The lead pulse is P5 92 8 Disable E cam after disengaging Set X to 0 NOTE The servo is Off when ALM or forward reverse l...

Page 422: ...Unit Angle It was changed after firmware V1 009 Range 0 360 Data Size 16bit Format DEC Settings When E cam is engaged set the start angle of DO output DO CAM_AREA P5 91 CMAN E CAM AREA No The Point of...

Page 423: ...engaged status The lead pulse is determined by this parameter The pulse number sent by the Master must exceed the setting value of this parameter so that E cam will engage again In other words E cam...

Page 424: ...s Related Section Operational Interface Panel Software Communication Default 0 Control Mode ALL Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Before issuing the macro command th...

Page 425: ...ted Section Operational Interface Panel Software Communication Default 0 Control Mode ALL Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Before issuing the macro command the rele...

Page 426: ...activation Macro parameters P5 94 Protection level of data array 0 7 P5 95 Set new password 1 16777215 P5 96 Confirm new password 1 16777215 Among them For success setting the setting of P5 95 must e...

Page 427: ...n function is unlocked and it cannot be repeatly unlocked Failure code F043h The password setting exceed the allowable range 1 16777215 Failure code F044h The number of times of entering wrong passwor...

Page 428: ...R 51 63 P5 99 EVOF PR Triggered by Event Falling Edge Address 05C6H 05C7H Parameter Attribute Parameter for individual axis Related Section Operational Interface Panel Software Communication Default 0...

Page 429: ...3B27 24 4B23 20 5B19 16 6B15 12 11 8 7 4 3 0 BIT BOOT DLY DEC2 DEC1 0BACC PATH PATH Path type 4 BIT 0 Stop Homing complete and stop 1 99 Auto Homing complete and execute the specified path ACC Select...

Page 430: ...return to the origin set PATH to 0 If it needs to return to the origin set PATH to non zero value and set PABS ORG_DEF B If the origin is found Sensor or Z desire to move an offset S and define the co...

Page 431: ...2B31 28 13B27 24 14B23 20 15B19 16 16B15 12 11 8 7 4 3 0 BIT P6 02 DLY OPT TYPE P6 03 DATA 32 bit TYPE OPT OPT TYPE 7 6 5 4 BIT 3 0 BIT UNIT AUTO INS 1 SPEED Speed setting control CMD OVLP INS 2 SINGL...

Page 432: ...er 7 for PR command description DLY 0 F delay time number 4 BIT The delay after executing this PR The external INS is invalid DLY 4 Index P5 40 P5 55 P6 03 PDAT1 PATH 1 Data Address 0606H 0607H Parame...

Page 433: ...se refer to the description of P6 02 P6 05 PDAT2 PATH 2 Data Address 060AH 060BH Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Com...

Page 434: ...Section Section 7 10 Operational Interface Panel Software Communication Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description...

Page 435: ...rmat DEC Settings Please refer to the description of P6 03 P6 10 PDEF5 PATH 5 Definition Address 0614H 0615H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational...

Page 436: ...refer to the description of P6 03 P6 12 PDEF6 PATH 6 Definition Address 0618H 0619H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software...

Page 437: ...to the description of P6 03 P6 14 PDEF7 PATH 7 Definition Address 061CH 061DH Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Commu...

Page 438: ...to the description of P6 03 P6 16 PDEF8 PATH 8 Definition Address 0620H 0621H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Commu...

Page 439: ...to the description of P6 03 P6 18 PDEF9 PATH 9 Definition Address 0624H 0625H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Commu...

Page 440: ...elated Section Section 7 10 Operational Interface Panel Software Communication Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to t...

Page 441: ...e Communication Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 23 PDAT11 PATH 11 Data Address 062EH...

Page 442: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 25 PDAT12 PATH 12 Data Address 0632H 0633H Parameter Attribut...

Page 443: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 27 PDAT13 PATH 13 Data Address 0636H 0637H Parameter Attribut...

Page 444: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 29 PDAT14 PATH 14 Data Address 063AH 063BH Parameter Attribut...

Page 445: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 31 PDAT15 PATH 15 Data Address 063EH 063FH Parameter Attribut...

Page 446: ...e refer to the description of P6 02 P6 33 PDAT16 PATH 16 Data Address 0642H 0643H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Co...

Page 447: ...Section Section 7 10 Operational Interface Panel Software Communication Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description...

Page 448: ...unication Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 38 PDEF19 PATH 19 Definition Address 064CH 064DH Pa...

Page 449: ...to the description of P6 03 P6 40 PDEF20 PATH 20 Definition Address 0650H 0651H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Comm...

Page 450: ...elated Section Section 7 10 Operational Interface Panel Software Communication Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to t...

Page 451: ...e Communication Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 45 PDAT22 PATH 22 Data Address 065AH...

Page 452: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 47 PDAT23 PATH 23 Data Address 065EH 065FH Parameter Attribut...

Page 453: ...e refer to the description of P6 02 P6 49 PDAT24 PATH 24 Data Address 0662H 0663H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Co...

Page 454: ...e refer to the description of P6 02 P6 51 PDAT25 PATH 25 Data Address 0666H 0667H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Co...

Page 455: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 53 PDAT26 PATH 26 Data Address 066AH 066BH Parameter Attribut...

Page 456: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 55 PDAT27 PATH 27 Data Address 066EH 066FH Parameter Attribut...

Page 457: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 57 PDAT28 PATH 28 Data Address 0672H 0673H Parameter Attribut...

Page 458: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 59 PDAT29 PATH 29 Data Address 0676H 0677H Parameter Attribut...

Page 459: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 61 PDAT30 PATH 30 Data Address 067AH 067BH Parameter Attribut...

Page 460: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 63 PDAT31 PATH 31 Data Address 067EH 067FH Parameter Attribut...

Page 461: ...e refer to the description of P6 02 P6 65 PDAT32 PATH 32 Data Address 0682H 0683H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Co...

Page 462: ...Section Section 7 10 Operational Interface Panel Software Communication Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description...

Page 463: ...unication Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 70 PDEF35 PATH 35 Definition Address 068CH 068DH Pa...

Page 464: ...unication Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 72 PDEF36 PATH 36 Definition Address 0690H 0691H Re...

Page 465: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 74 PDEF37 PATH 37 Definition Address 0694H 0695H Parameter Attribute Paramet...

Page 466: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 76 PDEF38 PATH 38 Definition Address 0698H 0699H Parameter Attribute Paramet...

Page 467: ...to the description of P6 03 P6 78 PDEF39 PATH 39 Definition Address 069CH 069DH Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Comm...

Page 468: ...to the description of P6 03 P6 80 PDEF40 PATH 40 Definition Address 06A0H 06A1H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Comm...

Page 469: ...ntrol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 82 PDEF41 PATH 41 Data Address 06A4H 06A5H Parameter Attribute Parameter...

Page 470: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 84 PDEF42 PATH 42 Definition Address 06A8H 06A9H Parameter Attribute Paramet...

Page 471: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 86 PDEF43 PATH 43 Definition Address 06ACH 06ADH Parameter Attribute Paramet...

Page 472: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 88 PDEF44 PATH 44 Definition Address 06B0H 06B1H Parameter Attribute Paramet...

Page 473: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 90 PDEF45 PATH 45 Definition Address 06B4H 06B5H Parameter Attribute Paramet...

Page 474: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 92 PDEF46 PATH 46 Definition Address 06B8H 06B9H Parameter Attribute Paramet...

Page 475: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 94 PDEF47 PATH 47 Definition Address 06BCH 06BDH Parameter Attribute Paramet...

Page 476: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 96 PDEF48 PATH 48 Definition Address 06C0H 06C1H Parameter Attribute Paramet...

Page 477: ...ol Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 98 PDEF49 PATH 49 Definition Address 06C4H 06C5H Parameter Attribute Paramet...

Page 478: ...ddress 06C6H 06C7H Parameter Attribute Parameter for individual axis Related Section Section 7 10 Operational Interface Panel Software Communication Default 0 Control Mode PR Unit Range 2147483648 214...

Page 479: ...Communication Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 NOTE PATH procedure P7 01 PDAT50 PATH 50...

Page 480: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 03 PDAT51 PATH 51 Data Address 0706H 0707H Parameter Attribut...

Page 481: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 05 PDAT52 PATH 52 Data Address 070AH 070BH Parameter Attribut...

Page 482: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 07 PDAT53 PATH 53 Data Address 070EH 070FH Parameter Attribut...

Page 483: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 09 PDAT54 PATH 54 Data Address 0712H 0713H Parameter Attribut...

Page 484: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 11 PDAT55 PATH 55 Data Address 0716H 0717H Parameter Attribut...

Page 485: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 13 PDAT56 PATH 56 Data Address 071EH 071FH Parameter Attribut...

Page 486: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 15 PDAT57 PATH 57 Data Address 071EH 071FH Parameter Attribut...

Page 487: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 17 PDAT58 PATH 58 Data Address 0722H 0723H Parameter Attribut...

Page 488: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 19 PDAT59 PATH 59 Data Address 0726H 0727H Parameter Attribut...

Page 489: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 21 PDAT60 PATH 60 Data Address 072AH 072BH Parameter Attribut...

Page 490: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 23 PDAT61 PATH 61 Data Address 072EH 072FH Parameter Attribut...

Page 491: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 25 PDAT62 PATH 62 Data Address 0732H 0733H Parameter Attribut...

Page 492: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 27 PDAT63 PATH 63 Data Address 0736H 0737H Parameter Attribut...

Page 493: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 29 PDAT64 PATH 64 Data Address 073AH 073BH Parameter Attribut...

Page 494: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 31 PDAT65 PATH 65 Data Address 073EH 073FH Parameter Attribut...

Page 495: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 33 PDAT66 PATH 66 Data Address 0742H 0743H Parameter Attribut...

Page 496: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 35 PDAT67 PATH 67 Data Address 0746H 0747H Parameter Attribut...

Page 497: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 37 PDAT68 PATH 68 Data Address 074AH 074BH Parameter Attribut...

Page 498: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 39 PDEF70 PATH 69 Data Address 0750H 0751H Parameter Attribut...

Page 499: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 41 PDAT70 PATH 70 Data Address 0752H 0753H Parameter Attribut...

Page 500: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 43 PDAT71 PATH 71 Data Address 0756H 0757H Parameter Attribut...

Page 501: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 45 PDAT72 PATH 72 Data Address 075AH 075BH Parameter Attribut...

Page 502: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 47 PDAT73 PATH 73 Data Address 075EH 075FH Parameter Attribut...

Page 503: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 49 PDAT74 PATH 74 Data Address 0762H 0763H Parameter Attribut...

Page 504: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 51 PDAT75 PATH 75 Data Address 0766H 0767H Parameter Attribut...

Page 505: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 53 PDAT76 PATH 76 Data Address 076AH 076BH Parameter Attribut...

Page 506: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 55 PDAT77 PATH 77 Data Address 076EH 076FH Parameter Attribut...

Page 507: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 57 PDAT78 PATH 78 Data Address 0772H 0773H Parameter Attribut...

Page 508: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 59 PDAT79 PATH 79 Data Address 0776H 0777H Parameter Attribut...

Page 509: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 61 PDAT80 PATH 80 Data Address 077AH 077BH Parameter Attribut...

Page 510: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 63 PDAT81 PATH 81 Data Address 077EH 077FH Parameter Attribut...

Page 511: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 65 PDAT82 PATH 82 Data Address 0782H 0783H Parameter Attribut...

Page 512: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 67 PDAT83 PATH 83 Data Address 0786H 0787H Parameter Attribut...

Page 513: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 69 PDAT84 PATH 84 Data Address 078AH 078BH Parameter Attribut...

Page 514: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 71 PDAT85 PATH 85 Data Address 078EH 078FH Parameter Attribut...

Page 515: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 73 PDAT86 PATH 86 Data Address 0792H 0793H Parameter Attribut...

Page 516: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 75 PDAT87 PATH 87 Data Address 0796H 0797H Parameter Attribut...

Page 517: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 77 PDAT88 PATH 88 Data Address 079AH 079BH Parameter Attribut...

Page 518: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 79 PDAT89 PATH 89 Data Address 079EH 079FH Parameter Attribut...

Page 519: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 81 PDAT90 PATH 90 Data Address 07A2H 07A3H Parameter Attribut...

Page 520: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 83 PDAT91 PATH 91 Data Address 07A6H 07A7H Parameter Attribut...

Page 521: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 85 PDAT92 PATH 92 Data Address 07AAH 07ABH Parameter Attribut...

Page 522: ...0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 87 PDAT93 PATH 93 Data Address 07AEH 07AFH Parameter Attribu...

Page 523: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 89 PDAT94 PATH 94 Data Address 07B2H 07B3H Parameter Attribut...

Page 524: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 91 PDAT95 PATH 95 Data Address 07B6H 07B7H Parameter Attribut...

Page 525: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 93 PDAT96 PATH 96 Data Address 07BAH 07BBH Parameter Attribut...

Page 526: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 95 PDAT97 PATH 97 Data Address 07BEH 07BFH Parameter Attribut...

Page 527: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 97 PDAT98 PATH 98 Data Address 07C2H 07C3H Parameter Attribut...

Page 528: ...x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 99 PDAT99 PATH 99 Data Address 07C6H 07C7H Parameter Attribut...

Page 529: ...mode when the DI is ON P2 27 should be set to 1 the gain switched to the one multiplies the switching rate Level triggered PT PR S Setting Value 0x04 DI Name Function Description of Digital Input DI...

Page 530: ...put DI Trigger Method Control Mode TRQLM In speed and position mode when the DI is ON the motor torque will be limited and the limited torque command will be internal register P1 12 P1 14 or analog vo...

Page 531: ...Procedure 50 1 1 0 0 1 0 P6 98 P6 99 Procedure 51 1 1 0 0 1 1 P7 00 P7 01 Procedure 63 1 1 1 1 1 1 P7 26 P7 27 Level triggered PR Setting Value 0x14 0x15 DI Name Function Description of Digital Input...

Page 532: ...nd speed mode if the DI is OFF it is in speed mode And it is in position mode when the DI is ON P selects PT or PR via DI PT PR 0x2B Level triggered Dual Mode Setting Value 0x19 DI Name Function Descr...

Page 533: ...igital Input DI Trigger Method Control Mode SHOM In PR mode when searching the origin is needed it will activate the function of searching the origin when the DI is ON Please refer to the setting of p...

Page 534: ...escription of Digital Input DI Trigger Method Control Mode EV2 Event trigger command 2 Refer to the setting of P5 98 P5 99 Rising Falling edge triggered PR Setting Value 0x3B DI Name Function Descript...

Page 535: ...s ON the external pulse input command is not working Note The function has to be set to DI6 so as to ignore the pulse command Level triggered PT Setting Value 0x46 DI Name Function Description of Digi...

Page 536: ...38 this DO is ON Level triggered ALL Setting Value 0x04 DO Name Function Description of Digital Output DO Trigger Method Control Mode TSPD When the motor speed is faster than the target speed P1 39 th...

Page 537: ...oordinates system is available and this DO is ON When applying to the power this DO is OFF When homing is completed this DO is ON During the operation this DO is ON until the counter overflows includi...

Page 538: ...put average load of the servo exceeds 200 for 8 seconds x parameter setting value 8sec x 60 4 8sec Result When the output average load of the servo drive exceeds 200 for 4 8 seconds this DO is ON If i...

Page 539: ...ital Output DO Trigger Method Control Mode MC_OK When DO Cmd_OK and TPOS are both ON this DO is ON Refer to P1 48 Level triggered PR Setting Value 0x18 DO Name Function Description of Digital Output D...

Page 540: ...he status of bit 04 of P4 06 Level triggered ALL Setting Value 0x35 DO Name Function Description of Digital Output DO Trigger Method Control Mode SDO_5 Ouput the status of bit 05 of P4 06 Level trigge...

Page 541: ...Output DO Trigger Method Control Mode SDO_C Ouput the status of bit 12 of P4 06 Level triggered ALL Setting Value 0x3D DO Name Function Description of Digital Output DO Trigger Method Control Mode SD...

Page 542: ...time Parameter P3 05 can use RS 485 and RS 232 as the communication protocol Followings are the wiring description RS 232 Configuration CN3 1394 Connector D Sub 9 Pin Connector 4 Rx 2 Tx 1 GND 3 Tx 2...

Page 543: ...less interference environment If the transmission speed is over 38400bps the length of communication cable should not longer than 15 meters so as to ensure the accuracy of transmission 2 Numbers shown...

Page 544: ...ication Revision December 2014 9 3 4 Using RS 485 can connect up to 32 servo drives at the same time REPEATER can be used to connect more servo drives 127 is the maximum 5 Please refer to Chapter 3 5...

Page 545: ...H 0301H Parameter Attribute Parameter for individual axis Related Section Section 9 2 Operational Interface Panel Software Communication Default 0x7C Control Mode ALL Unit Range 0x01 0x7F Data Size 16...

Page 546: ...ata Size 16bit Format HEX Settings The setting of transmission speed is divided into Z Y X hexadecimal 0 Z Y X Communication port CAN RS 232 485 Range 0 0 4 0 0 5 Definition of X setting value 0 4800...

Page 547: ...X Settings The definition of the setting value is as the followings 0 7 N 2 MODBUS ASCII 1 7 E 1 MODBUS ASCII 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCII 4 8 E 1 MODBUS ASCII 5 8 O 1 MODBUS ASCII 6 8 N...

Page 548: ...ime is set to parameter P5 03 B P3 05 CMM Communication Mechanism Address 030AH 030BH Parameter Attribute Parameter for three axes Related Section Section 9 2 Operational Interface Panel Software Comm...

Page 549: ...and Slave to transmit data 64H the master will send 6 which represented by 36H of ASCII code and 4 represented by 34H of ASCII code ASCII code of digit 0 to 9 and characters A to F is as follows Chara...

Page 550: ...its character frame 11 bits character frame for 8 bits character 8N2 Start bit 0 1 2 3 4 5 6 Stop bit 8 data bits 11 bits character frame Stop bit 7 8E1 Start bit 0 1 2 3 4 5 6 Stop bit 8 data bits 11...

Page 551: ...ASCII code of two characters The end code is CR Carriage Return and LF Line Feed And the communication address function code data content error checking LRC Longitudinal Redundancy Check etc are betw...

Page 552: ...0201H is 1F40H The maximum allowable data in one single access is 10 The calculation of LRC and CRC will be described in next chapter ASCII mode Command message from the Master Response message from t...

Page 553: ...CRC Check High D4H High word Note Before and after the transmission in RTU mode 10ms of silent interval is needed Example 2 function code 06H write single word The Master issues command to the 1st Sla...

Page 554: ...le 3 function code 10H write multiple words The Master issues command to the 1st Slave and writes 0BB8H and 0000H to the starting address 0112H That is to say 0112H is written into 0BB8H and 0113H is...

Page 555: ...High word Starting data address 01H High word 12H Low word 12H Low word Number of data In Word 00H High word Number of data In Word 00H High word 02H Low word 02H Low word Number of data In Byte 04H...

Page 556: ...is B4H CRC RTU mode The description of CRC is as the followings Step 1 Load a 16 bits register of FFFFH which is called CRC register Step 2 The low byte of CRC register XOR The first byte of command a...

Page 557: ...t in command message and then fill in the high word of CRC For example if the result of CRC algorithm is 3794H fill in 94H in low word and then 37H in high word ARD 01H CMD 03H Starting data address 0...

Page 558: ...clude stdio h include dos h include conio h include process h define PORT 0x03F8 the address of COM 1 define THR 0x0000 define RDR 0x0000 define BRDL 0x0000 define IER 0x0001 define BRDH 0x0001 define...

Page 559: ...sion December 2014 8 O 1 0BH for I 0 I 16 I while inportb PORT LSR 0x20 wait until THR empty outportb PORT THR tdat I send data to THR I 0 while kbhit if inportb PORT LSR 0x01 b0 1 read data ready rda...

Page 560: ...0 P7 27 Please note that P3 01 When change to a new communication speed the next data will be written in a new transmission speed after setting the new value P3 02 When change to the new communication...

Page 561: ...014 Read parameters through communication Parameters can be read through communication include Group 0 P0 00 P0 46 Group 4 P4 00 P4 23 Group 1 P1 00 P1 76 Group 5 P5 00 P5 99 Group 2 P2 00 P2 67 Group...

Page 562: ...drive is overload ALM Servo Off AL007 Overspeed The control speed of the motor exceeds the normal speed ALM Servo Off AL008 Abnormal Pulse Command The input frequency of the pulse command is over the...

Page 563: ...al is in error ALM Servo Off AL025 The Internal of the Encoder is in Error The internal memory of the encoder and the internal counter are in error ALM Servo Off AL026 Unreliable internal data of the...

Page 564: ...r overflow The multi turn of absolute encoder exceeds the maximum range 32768 32767 WARN Servo On AL067 Encoder Temperature Warning Encoder temperature exceeds the warning level But it is still within...

Page 565: ...r overflow receives more than two same PDOs of the COBID within 1 millisecond Same as above ALM Servo On AL121 Index error occurs when accessing CANopen PDO The specified Index in the message does not...

Page 566: ...ve ALM Servo On AL128 Error occurs when reading CANopen PDO object via EEPROM An error occurs when loading the default value via ROM at start up All objects of CAN returns to the default value automat...

Page 567: ...urn to the default setting automatically Same as above ALM Servo On AL132 Enter the incorrect password when using CANopen PDO object When entering parameters via CAN the parameters are password protec...

Page 568: ...lt parameter WARN Servo On AL209 The parameter number of PR 8 is out of range Parameter number P_ldx of PR 8 command exceeds the range DI ARST CANopen 0x1011 Restore default parameter WARN Servo On AL...

Page 569: ...ion counter overflows and executes the absolute positioning command NMT Reset node or 0x6040 Fault Reset WARN Servo On AL245 PR positioning is over time The execution of positioning command exceeds th...

Page 570: ...ame as above WARN Servo On AL26d CANopen object is write protected when Servo On The specified object in the message is write protected when Servo ON Same as above WARN Servo On AL26F Error occurs whe...

Page 571: ...rward Software Limit The value of position command is bigger than forward software limit P5 08 The fault will be cleared automatically when the motor operates backwards WARN Servo On AL285 Reverse Sof...

Page 572: ...cannot be issued in CANopen IP mode Same as above WARN Servo On AL305 SYNC Period is in error CANopen 301 Obj 0x1006 Data Error Same as above WARN Servo On AL380 Position Deviation Alarm Please refer...

Page 573: ...ing Setting back to the default setting and then gradually adjust the value Unreasonable command Check if the command doing reasonable acceleration time Less steep command used or filter applying to s...

Page 574: ...is abnormal Change the motor The encoder is loose Check the encoder connector Install the motor again Motor Combination Error Connect to the right motor Change the motor AL005 Regeneration Error Cause...

Page 575: ...e to check if the signal of analog voltage is abnormal Less steep command used or filter applying to smooth command Inappropriate parameter setting Check if the setting of parameter P2 34 is too small...

Page 576: ...nge the motor AL012 Adjustment Error Causes Checking Method Corrective Actions The analog input contact is incorrectly set back to zero Measure if the voltage of the analog input contact is the same a...

Page 577: ...ccesses EEPROM Press the SHIFT Key on the panel and it shows EXGAB X 1 2 3 G group code of the parameter AB hexadecimal of the parameter If it shows E320A it means it is parameter P2 10 If it shows E3...

Page 578: ...or Speed or 6 10 19 8 4 46 1 P 60 Speed Motor AL019 Serial Communication Error Causes Checking Method Corrective Actions Improper setting of the communication parameter Check the setting value of comm...

Page 579: ...e of parameter P1 56 is set to small 1 Please refer to the corrective actions of AL006 2 Please increase the setting value of parameter P1 56 Or set the value over 100 and deactivate the overload warn...

Page 580: ...uit 3 Please use shielding mesh 4 If the situation is not improving please send the drive back to the distributors or contact with Delta AL026 Unreliable internal data of the encoder Causes Checking M...

Page 581: ...s too high 4 Check if the charging circuit exists in the servo drive 5 Check if the battery is correctly installed Voltage 3 8 V Please do the check according to the procedure Over voltage When correc...

Page 582: ...e the function of protection AL030 Incorrect wiring of the motor power line U V W GND Causes Checking Method Corrective Actions The wiring of U V W GND of the motor is incorrect connected Check if U V...

Page 583: ...nction the absolute coordinate initialization has not been completed 6 Install the battery 7 Check the wiring between the battery pack and power cable of the servo drive 8 3 Check the wiring of the en...

Page 584: ...r to the description of absolute coordinate initialization in Chapter 12 Causes Checking Method Corrective Actions Incremental motor is not allowed to activate the absolute function 1 Check if the mot...

Page 585: ...if the servo drive receives sends more than one PDO of COBID within 1ms NMT Reset node or 0x6040 Fault Reset AL121 Index error occurs when accessing CANopen PDO Causes Checking Method Corrective Actio...

Page 586: ...AL125 CANopen PDO Object is read only and write protected Causes Checking Method Corrective Actions The specified object in the message is write protected Check if the specified object is read only wh...

Page 587: ...rote into EEPROM NMT Reset node or 0x6040 Fault Reset AL130 The accessing address of EEPROM is out of range when using CANopen PDO object Causes Checking Method Corrective Actions The quantity of the...

Page 588: ...ve to decode the password first Check if the specified object enters the wrong password when PDO is receiving or sending NMT Reset node or 0x6040 Fault Reset AL185 Abnormal CAN Bus hardware Causes Che...

Page 589: ...ANopen object as 0x1011 b If the user desires to enter the current value it can set CANopen object to 0x1010 Please refer to CANopen description DI ARST CANopen 0x1011 Restore default parameter AL207...

Page 590: ...open 0x1011 Restore default parameter AL235 PR command overflows Causes Checking Method Corrective Actions PR command error PR mode continuously operates in one direction and causes feedback register...

Page 591: ...pecified object This alarm will not occur at the moment If it does please contact the distributors NMT Reset node or 0x6040 Fault Reset AL267 Data range error occurs when accessing CANopen object Caus...

Page 592: ...ur at the moment If it does please contact the distributors NMT Reset node or 0x6040 Fault Reset AL271 Error occurs when writing CANopen object via EEPROM Causes Checking Method Corrective Actions An...

Page 593: ...entering parameters via CAN the parameters are password protected Users have to decode the password first This alarm will not occur at the moment If it does please contact the distributors NMT Reset n...

Page 594: ...sition counter overflows Causes Checking Method Corrective Actions Feedback position counter overflows This alarm will not occur at the moment If it does please contact the distributors NMT Reset node...

Page 595: ...gnal of CANopen is sent too slow 1 Check if the communication quality of the circuit is bad 2 Check if synchronized cycle 0x1006 is the same as the setting of controller 3 Check if the setting of P3 0...

Page 596: ...r P1 48 After DO MC_OK ON DO MC_OK becomes OFF because DO TPOS turns OFF The position of the motor might be deviated by the external force after positioning This alarm can be cleared by P1 48 Y 0 DI A...

Page 597: ...m AL011 Encoder error The alarm can be cleared after re power on AL012 Adjustment error The alarm can be cleared when removing CN1 wiring and execute auto adjustment AL013 Emergency stop The alarm can...

Page 598: ...down Turn DI ARST on to clear the alarm AL081 Excessive deviation between two axes of the gantry Turn DI ARST on to clear the alarm AL082 Gantry selection is in error Turn DI ARST on to clear the alar...

Page 599: ...ding CANopen data Turn DI ARST on to clear the alarm CANopen 0x1011 Restore default parameter AL213 An error occurs when writing parameter via PR exceeds the range DI Alm Reset or P0 01 0 AL215 An err...

Page 600: ...of EEPROM is out of range when using CANopen object NMT Reset node or 0x6040 Fault Reset AL275 CRC of EEPROM calculation error occurs when using CANopen object NMT Reset node or 0x6040 Fault Reset AL...

Page 601: ...sion December 2014 AL304 CANopen IP command is failed NMT Reset node or 0x6040 Fault Reset AL305 SYNC Period is in error NMT Reset node or 0x6040 Fault Reset AL380 Position Deviation Alarm DI Alm Rese...

Page 602: ...smitted by differential 500K 4Mpps transmitted by open collector 200Kpps Pulse type Pulse symbol A phase B phase CCW pulse CW pulse Command source External pulse Register Smoothing strategy Low pass a...

Page 603: ...speed Target speed reached Target position reached torque limiting Servo alarm Mechanical brake control Homing completed Early warning for overload Servo warning Position command overflows Software n...

Page 604: ...nimum speed smooth operation rated speed 2 When the command is the rated speed the velocity correction ratio is rotational speed with no load rotational speed with full load rated speed 3 TN system Th...

Page 605: ...KE mV r min 9 8 13 6 16 0 17 4 18 5 17 2 24 2 27 5 16 8 Armature resistance Ohm 12 7 9 30 2 79 1 55 0 93 0 42 1 34 0 897 0 20 Armature inductance mH 26 24 0 12 07 6 71 7 39 3 53 7 55 5 7 1 81 Electric...

Page 606: ...waterproof connector and shaft seal installation or oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the...

Page 607: ...8 42 5 43 8 41 6 Armature resistance Ohm 0 57 0 47 0 26 1 06 0 82 0 43 Armature inductance mH 7 39 5 99 4 01 14 29 11 12 6 97 Electric constant ms 12 96 12 88 15 31 13 55 13 50 16 06 Insulation class...

Page 608: ...or and shaft seal installation or oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the following heat si...

Page 609: ...tor inertia 10 4 kg m 2 13 6 Mechanical constant ms 2 43 Torque constant KT N m A 0 76 Voltage constant KE mV r min 29 2 Armature resistance Ohm 0 38 Armature inductance mH 4 77 Electric constant ms 1...

Page 610: ...us Do not use it to decelerate or as the dynamic brake 3 If desire to reach the max torque limit for motor 250 it suggested to use the servo drive with higher watt ECMA F 13 08 Mechanical constant ms...

Page 611: ...17 4 17 2 Armature resistance Ohm 1 55 0 42 Armature inductance mH 6 71 3 53 Electric constant ms 4 3 8 36 Insulation class Class A UL Class B CE Insulation resistance 100M DC 500V Insulation strengt...

Page 612: ...he rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the following heat sink dimension ECMA _ _ 04 06 08 250mm x 250mm x 6mm ECMA _ _ 10 300m...

Page 613: ...eration area Acceleration Deceleration area Acceleration Deceleration area Torque N m Torque N m Torque N m Torque N m Torque N m Torque N m Torque N m Torque N m Torque N m Torque N m Torque N m Torq...

Page 614: ...rload 1 When the motor operates over the rated torque the operation time is too long 2 The inertia ratio is set too big and frequently accelerate decelerate 3 Connection error between the power cable...

Page 615: ...Chapter 11 Specifications ASDA M 11 14 Revision December 2014 Medium and Medium high inertia ECMA E1 E2 Series High inertia ECMA G1 Series...

Page 616: ...Revision December 2014 11 15 11 5 Dimensions of the Servo Drive ASD M 0721 750W Weight 3 5 7 7 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms pounds 2 Dimensions and weights migh...

Page 617: ...fications ASDA M 11 16 Revision December 2014 ASD M 1521 1 5kW Weight 4 5 9 9 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms pounds 2 Dimensions and weights might be revised with...

Page 618: ...025 0 50 0 025 0 LL without brake 79 1 100 6 105 5 130 7 145 8 LL with brake 136 6 141 6 166 8 176 37 LS 20 20 27 27 27 LR 25 25 30 30 30 LE 2 5 2 5 3 3 3 LG 5 5 7 5 7 5 7 5 LW 16 16 20 20 20 RH 6 2 6...

Page 619: ...1 for detail Model C 0804 7 C 0807 S C 0807 H C 0907 S C 0910 S LC 80 80 80 86 86 LZ 6 6 6 6 6 6 6 6 6 6 LA 90 90 90 100 100 S 14 0 011 0 19 0 013 0 19 0 013 0 16 0 011 0 16 0 011 0 LB 70 0 030 0 70 0...

Page 620: ...thout brake 153 3 147 5 147 5 167 5 LL with brake 192 5 183 5 183 5 202 LS 37 47 47 47 LR 45 55 55 55 LE 5 6 6 6 LG 12 11 5 11 5 11 5 LW 32 36 36 36 RH 18 18 18 18 WK 8 8 8 8 W 8 8 8 8 T 7 7 7 7 TP M6...

Page 621: ...ithout brake 152 5 147 5 147 5 163 5 LL with brake 181 183 5 183 5 198 LS 47 47 47 47 LR 55 55 55 55 LE 6 6 6 6 LG 11 5 11 5 11 5 11 5 LW 36 36 36 36 RH 18 18 18 18 WK 8 8 8 8 W 8 8 8 8 T 7 7 7 7 TP M...

Page 622: ...Number ASDBCAPW0000 Title Part No Manufacturer Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASDBCAPW0100 Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4...

Page 623: ...ing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE Title Part No L mm inch 1 ASD ABPW0003 3000 100 118 4 2 ASD ABPW0005 5000 100 197 4 Delta Part Number ASD ABPW0103 ASD ABPW0105 Title Part No Manufac...

Page 624: ...L mm inch 1 ASD CAPW1003 3106A 20 18S 3000 100 118 4 2 ASD CAPW1005 3106A 20 18S 5000 100 197 4 Delta Part Number ASD CAPW1103 ASD CAPW1105 Title Part No Straight L mm inch 1 ASD CAPW1103 3106A 20 18S...

Page 625: ...L mm inch 1 ASD A2PW1003 3106A 20 18S 3000 100 118 4 2 ASD A2PW1005 3106A 20 18S 5000 100 197 4 Delta Part Number ASD A2PW1103 ASD A2PW1105 Title Part No Straight L mm inch 1 ASD A2PW1103 3106A 20 18S...

Page 626: ...CAPW2005 Title Part No Straight L mm inch 1 ASD CAPW2003 3106A 24 11S 3000 100 118 4 2 ASD CAPW2005 3106A 24 11S 5000 100 197 4 Delta Part Number ASD CAPW2103 ASD CAPW2105 Title Part No Straight L mm...

Page 627: ...No Manufacturer MOTOR SIDE Housing AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA DRIVE SIDE PLUG 3M 10120 3000PE 3M SHELL 3M 10320 52A0 008 3M Delta Part Number ASD CAEN10...

Page 628: ...DELTA DRIVE SIDE PLUG 3M 10120 3000PE 3M SHELL 3M 10320 52A0 008 3M Title Part No L mm inch 1 ASD ABEN0003 3000 100 118 4 2 ASD ABEN0005 5000 100 197 4 Delta Part Number ASD CAEN1003 ASD CAEN1005 Tit...

Page 629: ...elta Part Number ASD CNSC0050 Vendor Name Vendor P N 3M TAIWAN LTD 10150 3000PE 3M TAIWAN LTD 10350 52A0 008 Terminal Block Module Delta Part Number ASD BM 50A RS 232 Communication Cable Delta Part Nu...

Page 630: ...able Delta Part Number DOP CAUSBAB Title Part No L mm inch 1 DOP CAUSBAB 1400 30 55 1 2 CANopen Communication Connector Delta Part Number TAP CB03 TAP CB05 Title Part No L mm inch 1 TAP CB03 300 10 19...

Page 631: ...ASDA M Appendix A Accessories A 10 Revision December 2014 RS 485 Connector Delta Part Number ASD CNIE0B06...

Page 632: ...Connector ASD A2EB000X Encoder Connector ASD ABEN0000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 750W servo drive and 100W low inertia motor Servo Drive ASD M...

Page 633: ...Encoder Connector ASD ABEN0000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 750W servo drive and 400W low inertia motor Servo Drive ASD M 0721 Low inertia Motor...

Page 634: ...or ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 750W servo drive and 300W high inertia motor Servo Drive ASD M 0721 H...

Page 635: ...ABEN000X Absolute Type Encoder Connector ASD A2EB000X Encoder Connector ASD ABEN0000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 750W servo drive and 600W high...

Page 636: ...nnector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 1 5 kW servo drive and 1kW low inertia motor Servo Drive ASD M 1...

Page 637: ...e Type Encoder Connector ASD A2EB000X Encoder Connector ASD ABEN0000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 1 5kW servo drive and 1kW medium inertia motor...

Page 638: ...SD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 1 5kW servo drive and 1 5kW medium inertia motor Servo Drive ASD M 1521 M...

Page 639: ...D A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 2kW servo drive and 2kW medium inertia motor Servo Drive ASD M 2023 Medium...

Page 640: ...e Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m NOTE 1...

Page 641: ...ASD CNSC0050 Terminal Block Module ASD BM 50A RS 232 Communication Cable ASD CARS0003 Software Communication Cable DOP CAUSBAB CANopen Communication Connector TAP CB03 TAP CB04 CANopen Distribution Bo...

Page 642: ...rods please be ensure the wiring is correct Otherwise the motor may have sudden unintended acceleration or be burned Inspection before operation has not applied to the power yet To avoid the electric...

Page 643: ...ibration of the servo motor or unusual noise during the operation Make sure the setting of the parameters is correct Different machinery has different characteristic please adjust the parameter accord...

Page 644: ...If it is operating in an air conditioned site its lifetime can up to 10 years Relay The contact of switching power supply will wear and leads to poor contact The lifetime of relay is influenced by the...

Page 645: ...Appendix B Maintenance and Inspection ASDA M B 4 Revision December 2014 This page is intentionally left blank...

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