INVT CHS100 Operation Manual Download Page 136

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Operation Manual of INVT CHS100 AC Servo Drive Appendix B

130

B.2 Pb group parameters (Gain and filter parameters)

Function

code

Name

Unit

Range

Default

Mode

Pb.00

Rotational inertia ratio

Time

0~30

P.S.T

Pb.01 1st

position

gain - 1~30000

800

Pb.02 Position

feed-forward

gain

0~100.0

0.0

Pb.03

Position feed-forward filter

time constant

512

0~6000 0

Pb.04 1st

speed

gain rad/s

1~10000

1000

P.S

Pb.05

1st speed integration time

constant

256

1~1000 100

P.S

Pb.06

2nd position gain

1~30000

1000

Pb.07

2nd speed gain

rad/s

1~10000

2000

P.S

Pb.08

2nd speed integration time

constant

256

1~1000 200

P.S

Pb.09

Speed feed-forward gain

0~30000

P.S

Pb.10 Speed feed-forward filter time 256

0~6000 0

P.S

Pb.11

Position command filter time 512

0~6000 0

Pb.12

Speed command filter time

256

0~6000 0

Pb.13

Torque command filter time

256

0~6000 0

Pb.14

Low-pass filter time

256

0~6000 0

P.S

Pb.15

Speed test filter time

256

0~6000 0

P.S

Pb.16 Gain

switching

selection -

0~1

1 P.S

Pb.17 Gain

switching

condition -

0~6

0 P.S

pulse

0~5000 100

Pb.18

Gain switching threshold

r/min

0~500.0 10.0

P.S

Pb.19 Gain switching time constant

0~1000

P.S

Pb.20

1st trap wave frequency

50~2000

2000

P.S.T

Pb.21 1st trap wave width selection

1~1000

P.S.T

Pb.22

2nd trap wave frequency

50~2000

2000

P.S.T

Pb.23 2nd trap wave width selection

1~1000

P.S.T

Summary of Contents for CHS100

Page 1: ...n 40 5 1 Running 40 5 2 Display and operation 53 6 Detailed parameter description 60 6 1 Basic parameters PA group parameters 60 6 2 Gain and filter parameters Pb group parameters 71 6 3 Expansion parameters Pc group parameters 79 6 4 Status monitoring parameters Pd group parameters 94 7 Gain adjustment 99 7 1 General method for adjusting parameters 99 7 2 Suppression of mechanical resonance 105 7...

Page 2: ...pin signal arrangement 127 A 3 CN3 pin signal arrangement 128 Appendix B List of function parameters 129 B 1 PA group parameters Basic parameters 129 B 2 Pb group parameters Gain and filter parameters 130 B 3 Pc group parameters Expansion parameters 131 B 4 Pd group parameters monitoring parameters 134 ...

Page 3: ...t magnet synchronous motor hereinafter called servo drive from Shenzhen INVT Electric Co Ltd Please carefully read and master the user s manual before proper use Improper use may cause abnormal running or shorten its service life or even directly damage the drive Please carefully keep this manual for later reference ...

Page 4: ...ented on the sides of the servo drive Please follow these instructions when using the servo drive Warning signs Warning Read the manual and follow the safety instructions before use High Voltage Do not touch terminals within 15 minutes after disconnecting the power Risk of electric shock High Temperature DO not touch heat sink when power is ON Risk of burn Please pay attention to the following saf...

Page 5: ... and fire Redistribute the drive in at least 15 minutes after disconnecting the power supply Make sure the voltage of the AC power supply equals to the rated voltage of the servo drive Otherwise there is danger of injury fire and damage to the drive Never connect the input power lines to the output terminals as this will damage the drive Never conduct voltage withstand test on the drive or its con...

Page 6: ...ay become very hot and burn your fingers Maintenance and inspection Before doing any inspection and maintenance be sure to disconnect the power supply wait for 15 minutes and then confirm with a multimeter Otherwise electric shock may occur Only qualified electricians are allowed to inspect the servo drive Otherwise electric shock may occur Warning ...

Page 7: ...range AC 220V 15 Power supply for the main circuit Input frequency range 47Hz 63Hz Voltage degree Single phase 220V 50Hz Input voltage range AC 220V 15 Power supply for the control circuit Input frequency range 47Hz 63Hz Voltage DC 12V 24V Allowable voltage fluctuation 10 Power supply for interfaces Power capacity Larger than 500mA the local 24V can only provide 100mA current Control method Vector...

Page 8: ...ut Protection functions Protection for overcurrent overvoltage overload overheating encoder fault regeneration fault undervoltage overspeed and high tracking fault etc Input pulse frequency 500kHz differential input 200kHz open collector input Positioning feedback pulse A B orthogonal pulse resolution 10000 pulses rev Pulse amplification range Electronic gear A B A 1 65535 B 1 65535 1 50 A B 500 P...

Page 9: ... range Set via the parameter or external analog input of DC 0 10V Max torque 300 of rated torque Analog torque command input DC 0 10V max torque Torque linearity Below 10 Torque control Speed control range Set via the parameter or external analog input of DC 0 10V max rotation speed Allowable max inertia 15 times RS232 Host 1 1 communication Communication RS485 Host 1 n communication n 32 Structur...

Page 10: ... 400W 0 75kW 1 5kW 2kW 5kW Other environmental conditions Indoor without direct sunshine free from corrosive flammable gasses oil mist dust Allowable operating altitude Should be derated if the altitude is higher than 1000m Vibration 5 88m s 2 10 60Hz not allowed to run at the resonant point ...

Page 11: ...Operation Manual of INVT CHS100 AC Servo Drive 1 General 7 1 2 Nameplate of the servo drive Fig 1 1 Nameplate of the servo drive Fig 1 2 Meanings of the model ...

Page 12: ...4 5 CHS100 1R0 2 1 7 Single phase 3 phase 220 1 0 5 7 CHS100 1R5 2 2 5 Single phase 3 phase 220 1 5 8 0 CHS100 2R0 2 3 5 3 phase 220 2 0 10 0 CHS100 3R0 2 4 8 3 phase 220 3 0 15 0 CHS100 4R0 2 6 2 3 phase 220 4 0 20 0 CHS100 5R0 2 7 5 3 phase 220 5 0 30 0 1 4 Illustrations of every parts of the servo drive Fig 1 3 Illustrations of every parts of 0 75kW 1 5kW servo drives Mode selection key Power i...

Page 13: ...rnal dimensions of 100W 1 5kW servo drive Table 1 3 External dimensions and installations sizes External dimensions Installation sizes Models H mm W mm D mm A mm B1 mm B2 mm Installation hole diameter mm CHS100 0R1 2 CHS100 0R2 2 CHS100 0R4 2 160 68 186 56 150 194 CHS100 0R7 2 CHS100 1R0 2 CHS100 1R5 2 CHS100 2R0 2 160 98 186 86 150 194 5 ...

Page 14: ...1 Inspect the entire exterior of the servo drive and servo motor to ensure there are no scratches or other damage caused by the transportation 2 Ensure there is operation manual and warranty card in the packing box 3 Inspect the nameplate and ensure it is what you ordered 4 Ensure the optional parts are what you need if you have ordered ones Please contact the local agent if there is any damage to...

Page 15: ...vice with proper techniques Even when the servo drive is stopped dangerous voltage is present at the terminals Power Terminals R S T r t Motor Connection Terminals U V W Regenerative braking Resistor Connection Terminals B1 B2 B3 Stop the drive and disconnect it from the power line Wait for 15 minutes to let the drive discharge and then begin the installation Install the servo drive on the non fla...

Page 16: ...00m See the following figure for details Figure 3 1 Relationship between output current and altitude 3 1 4 Other environment requirements The servo drive can not bear fierce impact or shock So the oscillation range should be less than 5 88m s 2 0 6g 10Hz 60Hz The servo drive should keep away from the electromagnetic radiation source The servo drive should keep away from water and condensation The ...

Page 17: ...tallation of the servo drive 3 2 1 Installation The drive can be rack mounted On the rear panel of the drive there are two M5 mounting holes in the bottom left corner and top right corner to fix the drive tightly on a vertical plane Fig 3 2 Mounting holes of the servo drive ...

Page 18: ... of the shelf mounting form of the servo drive 3 2 2 Installation direction and spacing Please install the servo drive vertically and keep sufficient space around it for ventilation If necessary please fit a fan to control the temperature in the cabinet below 45 1 To install only one set Fig 3 4 Installation of single servo drive Mounting bracket ...

Page 19: ...ow oil water metal chips and other foreign objects intrude into the servo drive through the gaps on the control cabinet or the fan 3 When the control cabinet is installed in a place with harmful gas or dust ventilation is confirmedly required to blow clean air into the control cabinet and keep the pressure inside is higher than outside to avoid these matters coming into the control cabinet 100mm o...

Page 20: ...resent at the input power lines DC circuit terminals and motor terminals Wait for 15 minutes even when the drive is switched off until is discharge before operation y Ground the grounding terminals of the drive with proper techniques Otherwise there is danger of electrical shock and fire y Never do wiring or other operations on the servo drive with wet hands Otherwise there is danger of electric s...

Page 21: ...pment The electromagnetic contactor is used to switch on off the power supply of the main circuit of the servo drive Do not use it to start stop the servo drive In the figure above the built in regenerative braking resistor is used as default If an external regenerative braking resistor is used please refer to relevant wiring diagram The regenerative braking resistor must be mounted on non flammab...

Page 22: ... 2 CHS100 0R4 2 0 75 to 2 0mm2 AWG14 to AWG18 CHS100 0R7 2 CHS100 1R0 2 CHS100 1R5 2 CHS100 2R0 2 2 0mm2 AWG14 CHS100 3R0 2 CHS100 4R0 2 CHS100 5R0 2 3 5mm2 AWG12 Notes 1 Cable diameter is the diameter of copper cables 2 The diameter of the protective grounding wire not less than 2 0mm 2 AWG14 for 50W 2kW models not less than 3 5mm 2 AWG12 for 3kW 4kW models not less than 5 3mm 2 AWG10 for 5kW mod...

Page 23: ... used disconnect the short circuit wire between B2 and B3 and connect it according to the dashed in the figure z Be sure to ground the servo drive with proper techniques to avoid the accident of electrical shock z Please set a circuit which can activate the electromagnetic brake not only through the servo drive but also through the external emergency stop device Please refer to section 4 6 z The e...

Page 24: ...ng to the phase sequence of the motor cable of the servo motor Wrong phase sequence will cause drive fault z Do not disconnect the short circuit wire between B2 and B3 unless an external regenerative braking resistor is used z When an external regenerative braking resistor is used disconnect the short circuit wire between B2 and B3 and connect it according to the dashed in the figure z Be sure to ...

Page 25: ...ve according to the phase sequence of the motor cable of the servo motor Wrong phase sequence will cause drive fault z Do not disconnect the short circuit wire between B2 and B3 unless an external regenerative braking resistor is used z When and external regenerative braking resistor is used disconnect the short circuit wire between B2 and B3 and connect it according to the dashed in the figure z ...

Page 26: ...t exceed 20m z Keep a distance of at least 30cm between the encoder wire motor cable and power cable Neither laying them in one conduit nor binding them together Connector Encoder wire Connector Encoder wire z The encoder connector has two types air connector and cannon connector It depends on the model of the motor z If the user wants to make the encoder wire by themselves please select shielded ...

Page 27: ... B B U GND Z Z T_MT 4 4 Connection with the PC or HOST CN3 connector The servo drive provides two kinds of communication interface RS232 and RS 485 both are drawn out via the connector CN3 CN3 pin arrangement and signal definition 6 1 2 3 4 7 8 5 Fig 4 6 CN3 pin arrangement Table 4 3 CN3 signal definition table CN3 pin No 1 2 3 4 5 6 7 8 Definition RXD GND TXD CANL CANH RS485 RS485 ...

Page 28: ...motor cable Do not bind them together or lay them in one cable ducts The user is recommended to prepare the 12 24V DC power supply of 500mA or more capacity used for the control signal The local 24V power supply of the drive can only provide 100mA current The signal wires for pulse command input and encoder output should adopt shielded twisted pair Do not apply a voltage higher than 30V or a load ...

Page 29: ...gram when the local power supply is used Fig 4 9 Wiring diagram of the digital input circuit local power supply The digital input circuit can be connected with mechanical switch connection and the open collector connection of audion shown in the figure The user can use either the 24V power supply it only can provide 100mA Digital input terminals such as SON etc Digital input terminals such as SON ...

Page 30: ... input circuit Fig 4 10 Wiring diagram of the pulse input circuit Connection method 1 the maximum frequency of input pulse is 500kHz with the best anti noise capability this signal transmit method is recommended as the preferred Connection method 1 Connection method 2 Connection method 3 Shielded wire Shielded wire Shielded wire Twisted pair Twisted pair Twisted pair ...

Page 31: ...t limiting resistance is needless For all the 3 methods shielded twisted pair must be used and the length must be less than 3m 4 5 4 Wiring of the analog input circuit Fig 4 11 Wiring diagram of the analog input circuit There are two analog input circuits VA and TA The input impedance is 10kΩ The input voltage range is 10V 10V If the voltage is higher than 11V the circuits may damage 4 5 5 Wiring ...

Page 32: ...elay coil are connected a freewheel diode must be fitted as shown in the figure Otherwise the drive will be damaged The local 24V power supply only can provide 100mA current If the actual load current is larger than 100mA the user should provide the power supply by themselves The recommended capacity is greater than 500mA 4 5 6 Wiring of the frequency division output circuit of the encoder feedbac...

Page 33: ...g 27 Fig 4 14 Wiring diagram of the frequency division output circuit of the differential encoder feedback signal Servo drive Twisted pair Terminal resistor AM26LS32 or equivalent chip Shielded wire Please connect the shielded wire according to equipment requirements ...

Page 34: ...d be sure to fit a terminal matching resistor of about 220Ω is recommended For the phase Z signal of open collector output as the signal pulse width is very narrow the user shall use high speed optical coupler to receive this signal Both kinds of output circuits have no isolation 4 5 7 Wiring of the analog output circuit Fig 4 16 Wiring diagram of the analog output circuit There are two analog out...

Page 35: ...Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring 29 10V The max output current is 3mA ...

Page 36: ...Signal ground The ground of the internal power supply except the 24V power supply of the servo drive it is also the ground of the phase Z open collector signal of the encoder and the analog output signal It is isolated with COM COM 2 Common terminal of the digital input signals y If the DC power supply is provided by the user the positive pole of the DC power supply must be connected to this termi...

Page 37: ...erminal signal takes effect when receiving a pulse P S T EMG 39 Emergency stop When parameter PA 17 E stop masking is set as 1 i e Emergency stop terminal signal is active this terminal can be used to execute emergency stop function after disconnecting this terminal with COM the servo drive cuts off the output the servo motor coast to stop and Emergency stop warning will occur After emergency stop...

Page 38: ...type of gain switching See the explanation of Pb 16 and Pb 17 for details P S T PLL 22 Pulse input disabling In position control mode this terminal can be used to disable input of position pulse signal i e the inputted position pulse signal is invalid This terminal signal takes effect when receiving a pulse When this terminal is short circuited with COM pulse input is disabled and the servo is in ...

Page 39: ...rminal with COM can clear the position command pulse counter the position feedback pulse counter and the position deviation pulse counter This terminal signal takes effect when receiving a pulse P S RVL 4 Reverse travel limitation When parameter PA 16 Travel limit switch masking is set as 1 i e the travel limitation terminal signal is active this terminal can be used to execute negative travel lim...

Page 40: ...short circuited with COM OFF indicates SCX is open circuited with COM X 1 or 2 SC2 SC1 Speed torque mode Position mode OFF OFF Internal speed speed limit 1 Electronic gear 1 OFF ON Internal speed speed limit 2 Electronic gear 2 ON OFF Internal speed speed limit 3 Electronic gear 3 ON ON Internal speed speed limit 4 Electronic gear 4 P S T SON 16 Servo enabling External servo enabling can be conduc...

Page 41: ...f terminal ZRS for details TQC 6 Torque limit selection In the speed or position mode if parameter PA 08 0 when this terminal is short circuited with COM the torque limit command is external analog torque limit when this terminal is disconnected with COM the torque limit command is internal torque limit and the value is given by parameter PA 12 If parameter PA 08 1 the torque limit command is inte...

Page 42: ...he position control mode they are used as the input terminals of the position command y In other control modes this group of terminals is inactive y Allowed max input pulse frequency 500kHz in differential mode 200kHz in open collector mode 4 5 8 5 Analog input signals and their functions Table 4 7 Function table of analog input signals Symbol Pin No Name Function VA 20 VA 5 Analog input 1 TA 7 TA...

Page 43: ...ransistor is breakover RDY 14 Servo ready When the control power and main power are applied normally and the drive is not in alarm state this signal output transistor is breakover it means the drive can be started SR 30 Speed reaching When the speed reaches the range of speed setting this signal output transistor is breakover ZSO 29 Zero speed When the speed reaches the range of zero speed this si...

Page 44: ... The output signals have no isolation OCZ 26 output Output the open collector signal of phase Z without isolation 4 5 8 8 Analog output signals and their functions Table 4 10 Function table of analog output signals Symbol Pin No Name Function AO1 21 Analog output 1 Its output function can be defined by setting parameter of Pc 48 The range and deviation can be set via parameters Pc 36 Pc 39 and Pc ...

Page 45: ...ecial power supply for this electromagnetic brake Do not share the power supply with the power which is used for control signal The electromagnetic brake is used for keeping the speed It cannot be used for normal stop Though the electromagnetic brake has the function to prevent or keep the falling speed of heavy objects the user must install an external braking device at the same time When the loc...

Page 46: ...selection 1 Electronic gear selection 2 Forward travel limit Reverse travel limit Retention pulse clear Pulse input disabling Gain switching Torque limit selection Pulse signal differential input Pulse direction differential input Pulse signal input Pulse direction input Analog torque limit Communication cable Fault alarm Note 5 Servo ready Zero speed Position reaching Torque limiting Encoder phas...

Page 47: ...OM For detailed wiring instruction please refer to chapter 4 5 2 Be sure to connect the diode with correct polarity Otherwise the protection circuit may not be work normally If the internal 24V power supply is used the sum of the external relays current should be less than 100mA For Servo drive Note 3 Note 4 Note 2 Fault alarm Note 5 Servo ready Zero speed Position reaching Torque limiting Encoder...

Page 48: ... input power supply is provided externally For detailed wiring instruction please refer to chapter 4 5 4 The digital input can use internal 24V power supply At this time connect the 24V to COM and the other end of the switch to COM For detailed Note 3 Note 4 Note 2 Encoder cable Motor Communication cable Fault alarm Note 5 Servo ready Zero speed Emergency stop Servo enabling Zero speed clamp Speed...

Page 49: ...tween the output U V W and the input R S T All wirings comply with the standard wiring diagram shown in chapter 5 1 1 Ensure the external servo enabling terminal SON is in OFF state The servo drive and the servo motor must be grounded reliably When the external braking resistor is used the shorting wire between B2 and B3 on terminal X2 must be removed Connector CN1 cannot be applied with a voltage...

Page 50: ...er supply of the control circuit terminals r t first and then switch on the power supply of the main circuit terminals R S T When powering off switch off the power supply of the main circuit first and then switch off the power supply of the control circuit After switching on the control circuit power supply and before switching on the main circuit power supply AL PoF will display on the front pane...

Page 51: ...l illuminates as red Please fix the fault by referring to chapter 9 1 5 1 3 Self test before running of the servo The self test before running the servo is very essential it includes the following items 1 whether there are broken lines of the motor encoder Rotate the motor shaft with hands at least one cycle to see if it reports an encoder line break fault Er EC1 or Er EC2 2 whether there is abnor...

Page 52: ...nternal speed command or external analog speed command internal torque limit command or external analog torque limit command In the torque mode internal torque command or external analog torque command internal speed limit command or external analog speed limit command 5 1 5 JOG test run With inching test run you can test whether the servo drive and the servo motor are intact and conduct prelimina...

Page 53: ...ing is triggering you will hear light clatter The fan starts to run In the position mode if there is no pulse command input the servo is in locked state In the speed mode the servo motor runs at the given speed In the torque mode if no torque is applied externally the servo motor accelerates from zero speed to the limit speed If the external torque is larger than the internal setting one the servo...

Page 54: ...l stop In the position mode and torque mode the servo motor will stop immediately In the speed mode you can set parameter Pc 09 to select whether the servo motor stops immediately or decelerates to stop according to the settings of parameter Pc 01 and Pc 03 After stop the servo is in a locked state This stop process may cause regenerative braking If a braking overload fault alarm occurs please ins...

Page 55: ...ircuit powered on Program starts running No fault alarm Note 1 Note 2 Dynamic braking relay closed note 3 Fan is running Servo has output Motor releases the brake Command input is valid Fan does not run Servo has no output Motor brakes Command input is invalid Note 1 The conditions for the servo ready RDY output signal level to become low is the servo with no fault and the bus voltage has been bui...

Page 56: ...signal BRK output Note 1 When the bus voltage of the control circuit drops below 200V an undervoltage fault will occur At this time the servo fault ALM output becomes high level Note 2 Pc 52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault Note 3 The drives below 400W inclusive have no dynamic brake But they provide dynamic braking functions Note 4...

Page 57: ...utput Motor releases the brake Servo has output Servo enabling SON Servo fault ALM output Servo ready RDY output Dynamic brake signal Electromagnetic brake signal BRK output PWM output Note 1 Pc 52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault Note 2 The drives below 400W inclusive have no dynamic brake But they provide dynamic braking functions...

Page 58: ...output Servo ready RDY output Dynamic brake signal Electromagnetic brake signal BRK output PWM output Note 1 Pc 52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault Note 2 The drives below 400W inclusive have no dynamic brake But they provide dynamic braking functions Note 3 The output delay time of the electromagnetic brake signal can be set by fun...

Page 59: ... output Servo ready RDY output Dynamic brake signal Electromagnetic brake signal BRK output PWM output Note 1 Pc 52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault Note 2 The drives below 400W inclusive have no dynamic brake But they provide dynamic braking functions Note 3 The output delay time of the electromagnetic brake signal can be set by fu...

Page 60: ...ent modes or return to previous menu SET key Used to enter next menu or execute setting command UP key Used to select parameter upwards or increase value DOWN key Used to select parameter downwards or decrease value SHIFT key When setting a parameter it is used to select the position of the current digit Operation modes There are 5 operation modes in total You can switch among them with key a Stat...

Page 61: ...e parameters to default value Operation flow chart Fig 5 8 Flow chart of front panel operation 5 2 2 Status display When Status monitoring mode is selected by pressing the panel displays dP xxx xxx represents identifiers of different parameters At this time you can press or to select the identifier of the parameter to be displayed After the Status monitoring Basic parameters Gain parameters Expans...

Page 62: ...se 1 Detention pulse pulse 1 Analog speed command voltage V 0 01 Analog torque command voltage V 0 01 Bus voltage of main circuit power V 1 Bus voltage of control circuit power V 1 RMS value of current output current A 0 01 Current torque 1 Module temperature 0 1 Ratio of average load 1 Position of the rotor relative to Z pulse pulse 1 Ratio of load inertia Times 1 Third latest fault alarm code Se...

Page 63: ...f the flashing digit by pressing or and move the flashing to modify the values of other digits by pressing After finishing the modification press to execute the modified value then the flashing stops at the same time You can press again to modify the value of other parameters Press to return The parameter selection flow chart is shown in the figure below Fig 5 8 Flow chart of parameter selection P...

Page 64: ...he default parameters automatically When the parameters are written in successfully the panel will display Otherwise it will display After that press to return The control circuit should be powered off and re on to execute the default values Please refer to chapter 5 2 1 for the setting flow 5 2 5 Alarm display When the servo drive runs abnormally it will perform fault alarm or warning protection ...

Page 65: ...ter the control circuit is powered off and re on For warnings if it is the travel limit warning once the warning condition is removed the drive will clear the warning display automatically If the servo is still in enabled state at this time the drive will recover running automatically If it is the emergency stop warning if the warning condition is removed the warning display can be removed by shor...

Page 66: ...roup parameters Function code Name Unit Range Default Mode PA 00 Parameter modification operation locking 0 1 0 P S T This parameter is used to mask the parameter setting function and thus to avoid incorrect modification of the parameters by the user 0 parameter setting is active 1 parameter setting is inactive When this parameter is set to 1 if it is operated by the keypad only the current value ...

Page 67: ...the internal torque command or external analog torque command 3 Position speed mode In this mode you can switch between the position mode and speed mode with the control mode switching terminal MCH The corresponding relationships of the terminal status and modes are MCH Control mode 0 Position mode 1 Speed mode 0 OFF the terminal is disconnected with COM 1 ON the terminal is connected with COM For...

Page 68: ... 2 Schematic diagram of speed torque mode switching 5 Position torque mode In this mode you can switch between the position mode and torque mode with the control mode switching terminal MCH The corresponding relationships of the terminal status and modes are MCH Control mode 0 Position mode 1 Torque mode 0 OFF the terminal is disconnected with COM 1 ON the terminal is connected with COM For safety...

Page 69: ...ion 2 Higher 5 digits of feedback pulse accumulation 3 Lower 5 digits of command pulse accumulation 4 Higher 5 digits of command pulse accumulation 5 Retention pulse 6 Analog speed command voltage 7 Analog torque command voltage 8 Main circuit power bus voltage 9 Control circuit power bus voltage 10 Effective value of current output current 11 Current torque 12 Drive module temperature 13 Average ...

Page 70: ...enter the running state 0 Internal servo enabling is inactive You can only enable the servo drive to run by the external servo enabling terminal SON 1 Internal servo enabling For safety this parameter will automatically become 0 when an fault alarm occurs and after the control circuit is powered on and the system is reset If you want to run the servo drive this parameter must be set to 1 again Fun...

Page 71: ...eed of the ball screw Pb 10mm Reduction ratio n 3 5 Resolution of the servo motor encoder Pt 10000 At this time calculate the electronic gear 3 0 0 1 10000 50 10 10 2 3 5 10 3 g Pt Pt g S n Pb Δ Δ Δ l l In the formula 0 Δl Feed rate corresponding to per pulse mm pulse S Δ Feed rate corresponding to per revolution of the motor mm rev i e in this example 1 g 50 2 g 3 Therefore in this case parameter...

Page 72: ...ameter is used to set the manner of pulse input There are 3 types of pulse input manners 0 Pulse sign 1 FWD REV pulse train 2 Orthogonal encoder pulse The 3 types of input manners are shown in the figure below Fig 6 5 Schematic diagram of the pulse input manner Function code Name Unit Range Default Mode PA 07 Speed command selection speed limit selection 0 1 0 S T This parameter is used to select ...

Page 73: ...e can select the internal multi speed limit through the speed selection terminal SC1 and SC2 See chapter 4 5 8 3 for details The magnitude of the speed limit value is the absolute value of the corresponding parameter the direction of it is the same as that of the torque command For example if the speed limit 1 is selected through the terminals SC1 0 SC2 0 PA 09 100 0 then the speed limit is as sho...

Page 74: ...t of the speed command 1 External analog torque limit At this time we can limit the output torque by applying a voltage between 10V and 10V on the analog torque limit terminals TA The magnitude of the torque limit is the absolute value of the analog input the direction of it is the same as that of the torque command Please note that in the torque mode do not allow the motor to run under the condit...

Page 75: ...orque setting Taking the rated torque of the servo motor as 100 this setting is the percentage of the rated torque of the servo motor In the torque mode if the absolute value of this parameter is larger than the max torque limit PA 14 the magnitude of the output torque is the setting value of PA 14 and the direction is the same as that of the parameter Function code Name Unit Range Default Mode PA...

Page 76: ...bsolute value of the torque command is larger than the value of this parameter the magnitude of the actual output torque will be limited by this parameter the direction is the same as that of the original torque This parameter is active in all modes Function code Name Unit Range Default Mode PA 15 Jog speed r min 0 1000 0 200 0 P S T This parameter can be used to set the jog speed For jogging plea...

Page 77: ...t may cause malfunction or damage to the drive 6 2 Gain and filter parameters Pb group parameters Function code Name Unit Range Default Mode Pb 00 Moment of inertia ratio Time 0 30 0 P S T This parameter is used to set the ratio of the load inertia converted into the rotor shaft to the inertia of the servo motor Function code Name Unit Range Default Mode Pb 01 1st position gain 1 30000 800 P This ...

Page 78: ...ain We can select the 1st speed gain or 2nd speed gain or conduct switching between the 1st speed gain and the 2nd speed gain according to the required speed loop See description of parameters Pb 17 and Pb 16 for details Refer to chapter 7 for the debugging method of this group of parameters Function code Name Unit Range Default Mode Pb 05 1st speed integration time constant 256μs 1 1000 100 P S T...

Page 79: ...creased the position response will be improved but this parameter may easily cause vibration and noise This parameter is the 2nd speed gain We can select the 1st speed gain or 2nd speed gain or conduct switching between the 1st speed gain and the 2nd speed gain according to the required speed loop See description of parameters Pb 17 and Pb 16 for details Refer to chapter 7 for the debugging method...

Page 80: ...code Name Unit Range Default Mode Pb 11 Position command filter time 512μs 0 6000 0 P This parameter is used to set the time constant of the 1st order low pass filter corresponding to the position command By setting this parameter we can reduce the mechanical shock in the case when the input pulse command frequency changes abruptly See the figure below Fig 6 7 Schematic diagram of the position com...

Page 81: ...e 1st order low pass filter corresponding to the torque command By setting this parameter we can make the actual output torque changes more gently in the case the torque command changes largely See the figure below Fig 6 9 Schematic diagram of the torque command filter Function code Name Unit Range Default Mode Pb 14 Low pass filter time 256μs 0 6000 0 P S This parameter is used to set the time co...

Page 82: ... P regulation of speed loop The corresponding relationships between the terminal status and the speed loop regulator are PLC Speed loop regulator 0 PI regulation 1 P regulation 0 OFF the terminal is disconnected with COM 1 ON the terminal is connected with COM 1 Switching the 1st gain to the 2nd Realize the switching between the 1st gain and the 2nd gain The corresponding relationships between the...

Page 83: ...e is set with Pb 18 3 When the speed command is too large select the 2nd gain otherwise select the 1st gain and the threshold of the speed command is set with Pb 18 4 When the speed command is relatively small select the 2nd gain otherwise select the 1st gain and the threshold of the speed command is set with Pb 18 5 Position command speed gain switching mode In the position mode when no position ...

Page 84: ... switching between the 1st gain and 2nd gain This parameter is active only for the proportional parameters By setting this parameter we can lighten the mechanical shock caused by gain switching See chapter 7 3 for details Function code Name Unit Range Default Mode Pb 20 1st trap wave frequency Hz 50 2000 2000 P S T This parameter is used to set the frequency of the 1st trap wave filter for suppres...

Page 85: ...ave filter for suppressing resonant Larger trap wave width can be obtained with larger setting 6 3 Expansion parameters Pc group parameters Function code Name Unit Range Default Mode Pc 00 ACC time ms 0 20000 0 S ACC time means that in the case of internal reference speed command the time required for the speed setting to increase from 0r min to 3000r min When the speed setting is quicker or slowe...

Page 86: ...eed command is a negative value the DEC time is calculated with its absolute value For example we assume the reference speed is 2000r min and the DEC time Pc 01 is set as 1500 at this time the actual DEC time of the speed command is 1500 2000 3000 1000 ms The meaning of the DEC time is shown in Fig 6 10 Function code Name Unit Range Default Mode PC 02 S curve ACC time ms 0 1000 0 S In a case of in...

Page 87: ...c 04 Pulse input direction reversing 0 1 0 P By setting this parameter we can reverse the direction of the input pulse At this time the actual output speed direction of the servo drive is opposite to the direction indicated by the pulse input form in Fig 6 5 0 Pulse input direction does not change 1 Pulse input direction is opposite to the original input direction Function code Name Unit Range Def...

Page 88: ... pulse are in this range it is considered that it has reached the speed and the output transistor of the speed reaching terminal SR signal comes into conduction Function code Name Unit Range Default Mode Pc 08 Overspeed level r min 0 6000 0 P S T This parameter is used to set the overspeed level of the servo motor When the rotation speed of the motor exceeds this speed setting an overspeed fault a...

Page 89: ...s group of parameters Function code Name Unit Range Default Mode Pc 12 Numerator of the 2nd electronic gear 1 65535 1 P Pc 13 Denominator of the 2nd electronic gear 1 65535 1 P Pc 14 Numerator of the 3rd electronic gear 1 65535 1 P Pc 15 Denominator of the 3rd electronic gear 1 65535 1 P Pc 16 Numerator of the 4th electronic gear 1 65535 1 P Pc 17 Denominator of the 4th electronic gear 1 65535 1 P...

Page 90: ...ctive Function code Name Unit Range Default Mode Pc 20 Local drive communication address 0 31 1 P S T This parameter is used to set the communication address of the local drive for RS485 serial communication Function code Name Unit Range Default Mode Pc 21 Communication mode 0 1 0 P S T This parameter is used to select the communication mode The communication modes are 0 RS232 1 RS485 Function cod...

Page 91: ...I 12 None N 8 1 for ASCII 13 Even E 8 1 for ASCII 14 Odd O 8 1 for ASCII 15 None N 8 2 for ASCII 16 Even E 8 2 for ASCII 17 Odd O 8 2 for ASCII Function code Name Unit Range Default Mode Pc 24 Communication response delay time ms 0 200 0 P S T Communication response delay time means the interval time from the end of the data received by the subordinate machine the machine means the servo drive to ...

Page 92: ...rive will report a communication fault alarm Er CT In general the communication overtime detection is set as inactive In a system that communicates continuously the communication state can be monitored instantaneously by setting this parameter Function code Name Unit Range Default Mode Pc 26 Communication fault processing method 0 1 0 P S T This parameter is used to select the action of the servo ...

Page 93: ... input voltage exceeds the set upper limit or lower limit range the part beyond will be calculated as the upper limit or lower limit AI 1 indicates the signal inputted from the analog speed speed limit terminal VA The corresponding setting of the upper lower limit is a speed value In the speed mode it is used as a speed command signal Its input has directionality We can adjust the corresponding re...

Page 94: ...8 8 00 Pc 30 8 00 Pc 29 4000 Pc 31 4000 The relationship between the actual speed setting and the input voltage is shown in the figure as below Fig 6 12 Schematic diagram of AI setting The defaults of the corresponding settings of the lower limit and upper limit of AI 1 are related to the power level of the drive higher than 1 0kW inclusive are 2500 and 2500 less than 1 0kW are 5000 and 5000 Funct...

Page 95: ...s represent the absolute values of the setting signals The specific meanings of AO signals are selected by Pc 48 and Pc 49 The corresponding settings of the upper lower limits are expressed by a percentage The maximum is taken as 100 and the determination of the maximum is listed in the table below Outputs Maximum Motor speed 5000r min Output torque 3 times of the servo motor rated torque Output c...

Page 96: ...ing the offset of AI Similarly the deviation of the actual AO value from the expected corresponding value caused by zero drift of AO devices and other reasons can be eliminated by setting the offset of AO For example after the analog setting signal is connected into the AI terminal VA of the drive even though the analog setting signal is 0 the front panel displays the analog speed command voltage ...

Page 97: ... Function code Name Unit Range Default Mode Pc 50 Locked time of servo after braking ms 100 1000 100 P S T This parameter is used to set the locked time of the servo after braking in the locked state The servo is OFF in the locked state the output transistor of the brake releasing terminal BRK signal turns off At this time the servo will continue to be locked for a period of time so that the motor...

Page 98: ...top and then keep the dynamic braking state 1 Dynamic brake to stop and then keep the dynamic braking state 2 Dynamic brake to stop and then keep the inertia running state 3 Coast to stop and then keep the inertia running state Note If the servo motor exceeds the rated speed and runs at high speed please do not activate the dynamic brake If the servo motor runs at higher speed with a load which ha...

Page 99: ... pulse output signal terminals OA OA OB OB It should be noted that in the position control mode if the encoder output signal of the preceding stage servo motor is used as the position pulse command input of the succeeding stage servo drive i e as start stop type master slave follow up in order to ensure high positioning accuracy of the succeeding stage servo drive the frequency division coefficien...

Page 100: ...the motor Function code Symbol Name Unit Accuracy Pd 01 dP FPL Lower 5 bits of feedback pulse accumulation pulse 1 Count and display the lower 5 bits of accumulated pulse fed back from the encoder of the servo motor with sign bit Function code Symbol Name Unit Accuracy Pd 02 dP FPH Higher 5 bits of feedback pulse accumulation pulse 1 Count and display the higher 5 bits of accumulated pulse fed bac...

Page 101: ...tion deviation counter The 6th bit is the sign bit Function code Symbol Name Unit Accuracy Pd 06 dP An1 Analog speed command voltage V 0 01 In the speed mode display the voltage value of the analog speed command In the torque mode display the voltage value of the analog speed limit Function code Symbol Name Unit Accuracy Pd 07 dP An2 Analog torque command voltage V 0 01 In the torque mode display ...

Page 102: ...P Ld Average load rate 1 Display the continuous actual load Taking the rated power of the servo motor as 100 convert the actual value into a percentage to display Function code Symbol Name Unit Accuracy Pd 14 dP PoS Position relative to Z pulse pulse 1 Display the position of the rotor relative to Z pulse in one revolution The unit is pulse Function code Symbol Name Unit Accuracy Pd 15 dP inE Iner...

Page 103: ...e of the digital input is the digits not listed are filled with 0 BIT12 BIT11 BIT10 BIT9 BIT8 BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0 MCH PLC TQC PLL RPC RVL PSL SC2 SC1 EMG CLA ZRS SON The digital output state is denoted with 2 digits of hexadecimal number The arrangement sequence of the digital output is BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0 LM BRK SR ZSO PLR ALM RDY Function code Symbol Name Unit ...

Page 104: ...current phase V output current Function code Symbol Name Unit Accuracy Pd 27 dP iAF Instantaneous value of phase U output current when an fault occurs A 0 01 Display the instantaneous value of phase U output current when an fault occurs Function code Symbol Name Unit Accuracy Pd 28 dP ibF Instantaneous value of phase V output current when an fault occurs A 0 01 Display the instantaneous value of p...

Page 105: ... be large enough to avoid the vibration of the mechanical system Torque command filter in some cases the mechanical system may resonate generating vibration noise of sharp tone At this time trap wave filtering must be performed to eliminate resonance Gain of the position loop the reaction of the servo system is determined by the gain of the position loop When the gain of the position loop is set h...

Page 106: ...t and the positioning time is relatively short Speed loop integration time constant is relatively small The speed loop of the servo drive must have high reaction speed When the speed fluctuates it indicates that the stability of the speed loop is damaged due to the shorting integration time of the speed loop This causes the servo motor to run unstably at fluctuating speed Speed loop integration ti...

Page 107: ...ion loop is excessively high In the position servo system the gain of the position loop also affects the stability At this time as the gain of the position loop is excessively high it makes the motor speed to fluctuate Additionally comparing with the case when the gain of the position loop is too low we can know that the pure time delay of the response to the position command of the motor speed is...

Page 108: ...moothing filter time constant Pb 11 should be adjusted to moderate the impulse 4 Adjustment of the electronic gear If the pulse transmission frequency of the pulse generator is restricted or the transmission frequency does not meet the mechanical requirements we can change the pulse input frequency by adjusting the value of the electronic gear parameters PA 04 PA 05 etc to meet the requirements fo...

Page 109: ...overed by the default parameter recovering operation see chapter 5 2 4 for details 2 Adjustment of the gain of the speed loop When the servo motor is running with default parameters if the system oscillation occurs with buzz the speed gain Pb 04 or Pb 07 should be adjusted smaller If the system rigidity is relatively small or the speed fluctuates largely the speed gain should be adjusted larger 3 ...

Page 110: ...peed follow up performance is still poor after above parameter adjustment we can adjust the speed feed forward gain Pb 09 and speed feed forward gain filter Pb 10 to improve the speed follow up performance It should be noted however that too large speed feed forward gain may affect the stability of the system 8 Adjustment of speed filter The performance of the speed loop can be improved by adjusti...

Page 111: ...n be used to change the frequency of the output pulse 7 2 Suppression of mechanical resonance The mechanical system has a certain resonant frequency If the response speed of the servo is improved the system may resonate oscillation and abnormal noise near the mechanical resonant frequency The resonance of the mechanical system can be effectively suppressed by setting the parameters of the trap wav...

Page 112: ...in the state when the motor is stopped the servo is locked 2 Can switch to higher gain to shorten the positioning time in the state the motor is stop 3 Can switch to high gain to obtain better command follow up performance in the state when the motor is running 4 Can switch between different gain settings through external signal according to the conditions of load equipment and so on Here we demon...

Page 113: ...of Pb 18 it will switch to the 1st gain The whole process is shown in the figure below 2ms Switching time Pb 18 Fig 7 5 Schematic diagram of gain switching During positioning generally we can deactivate the speed integration function in running state of the motor to raise the gain and thus improve the response performance While after it has stopped we can decrease the gain to suppress the motor vi...

Page 114: ...The communication function has realized the following functions Read write the function parameters of the servo drives Monitor the operating state of the servo drives Form a multi axis control system 8 2 Topological structure CHS100 series servo drive is connected in the Single Master Multi slave control network with RS232 RS485 bus 8 2 1 Communication with single set 8 2 2 Communication with mult...

Page 115: ... slave answering frame The frame of the master includes the slave address or the broadcast frame commands digit and error checkout The slave answering also applies the same structure action confirmation digit returning and error checkout If there is a mistake during the frame receiving of the slave or the slave can not finish the action which the master requires it will respond an error frame to t...

Page 116: ...e is sent as two ASCII characters The advantage of this mode is the time interval of byte sending can achieve 1m without mistakes Table 8 1 The message frame in ASCII mode The start bit The device address The command code Data LRC checkout The tailed 1 character 2 characters 2 characters n characters 2 characters 2 characters As table 1 showed in the message of ASCII mode the start bit is ASCII co...

Page 117: ...address field of the new message As such if the new message follows the previous one within the interval time of 3 5 bytes the receiving device will deal with it as the same with the previous message If these two phenomena all happen during the transmission the CRC will generate a fault message to respond to the sending devices When the control device is set as RTU communication mode remote termin...

Page 118: ...ice reply is START T1 T2 T3 T4 transmission time of 3 5 bytes ADDR 01H CMD 03H Returned byte number 04H Higher byte of 0004H 00H Low byte of 0004H 00H High byte of 0005H 00H Low byte of 0005H 00H Low byte of CRC CHK 43H High byte of CRC CHK 07H END T1 T2 T3 T4 transmission time of 3 5 bytes Table 8 5 The ASCII master device request command is START 0 ADDR 1 0 CMD 3 0 High byte of start address 4 0...

Page 119: ... 8 6 The ASCII slave master device reply is START 0 ADDR 1 0 CMD 3 0 Returned byte number 4 0 Higher byte of 0401H 0 0 Low byte of 0401H 0 0 High byte of 0402H 0 0 Low byte of 0402H 0 LRC CHK Lo 8 LRC CHK Hi F END Lo CR END Hi LF 8 3 4 2 Command code 06H Function write one word word For example write 5000 1388H into address 0109H slave device address 02H ...

Page 120: ...ent 88H Low byte of CRC CHK 55H High byte of CRC CHK 51H END T1 T2 T3 T4 transmission time of 3 5 bytes Table 8 8 The RTU slave device reply command is START T1 T2 T3 T4 transmission time of 3 5 bytes ADDR 02H CMD 06H High byte of data address 01H Low byte of data address 09H High byte of write content 13H Low byte of write content 88H Low byte of CRC CHK 55H High byte of CRC CHK 51H END T1 T2 T3 ...

Page 121: ...igh byte of write content 3 8 Low byte of write content 8 LRC CHK Hi 5 LRC CHK Lo 3 END Lo CR END Hi LF Table 8 10 The ASCII slave master device reply is START 0 ADDR 2 0 CMD 6 0 High byte of data address 1 0 Low byte of data address 9 1 High byte of write content 3 8 Low byte of write content 8 LRC CHK Hi 5 LRC CHK Lo 3 END Hi CR END Lo LF ...

Page 122: ...T3 T4 transmission time of 3 5 bytes ADDR 01H CMD 08H High byte of sub function code 00H Low byte of sub function code 00H High byte of data content 12H Low byte of data content ABH Low byte of CRC ADH High byte of CRC 14H END T1 T2 T3 T4 transmission time of 3 5 bytes Table 8 13 The RTU reply command is START T1 T2 T3 T4 transmission time of 3 5 bytes ADDR 01H CMD 08H High byte of sub function co...

Page 123: ...Low byte of sub function code 0 1 High byte of data content 2 A Low byte of data content B LRC CHK Hi 3 LRC CHK Lo A END Hi CR END Lo LF Table 8 15 The ASCII reply command is START 0 ADDR 1 0 CMD 8 0 High byte of sub function code 0 0 Low byte of sub function code 0 1 High byte of data content 2 A Low byte of data content B LRC CHK Hi 3 ...

Page 124: ...he number of 1 in the data transmission is odd number or even number When it is odd the check byte is 0 otherwise the check byte is 1 This method is used to stabilize the parity of the data For example when transmitting 11001110 there are five 1 in the data If the even checkout is applied the even check bit is 1 if the odd checkout is applied the odd check bit is 0 The even and odd check bit is ca...

Page 125: ...imple function of CRC calculation for the reference programmed with C language unsigned int crc_cal_value unsigned char data_value unsigned char data_length int i unsigned int crc_value 0xffff while data_length crc_value data_value for i 0 i 8 i if crc_value 0x0001 crc_value crc_value 1 0xa001 else crc_value crc_value 1 return crc_value In ladder logic CKSM calculated the CRC value according to th...

Page 126: ...odes PA XX Pb XX PC XX and PD XX The first 3 groups of function codes are not only readable but also can be modified through communication PD XX is readable The writing is invalid The address of the function codes are composed of two 8 bit expressed with the hexadecimal system The first 8 bit indicates the group number of the function codes PA group is 01H Pb group is 02H PC group is 03H PD group ...

Page 127: ...0004H in fault R EERPROM writing 1002H 0002H parameter default recovering W Control quantity 1003H See description of Pd 18 for the arrangement sequence of the digital quantities In which 3 signals EMG PSL and RVL cannot be controlled through communication Bit 13 is the communication control enabling bit W R 1004H Storage step length unit cycle number of the carrier wave W R 1005H Storage manner 0...

Page 128: ...or occurs named as objection response For normal responses the slave shows corresponding function codes digital address or sub function codes as the response For objection responses the slave returns a code which equals the normal code but the first byte is logic 1 For example when the master sends a message to the slave requiring it to read a group of address data of servo device function codes t...

Page 129: ... 02H Illegal digital address For servo drives the requirement digital address is not allowable especially the mix of the register address and transmitting byte numbers is invalid 03H Illegal digital value The digital value received is beyond the range of address parameters leading the parameter modification invalid 11H check error In the frame message sent by the upper devices if the CRC check bit...

Page 130: ...power on when the motor shaft is rotating 5 Er oc1 Hardware overcurrent fault 1 U V W phases of the motor are connected reversely 2 Inappropriate parameters cause system divergence 3 Too short ACC DEC time during starting stopping 4 Too large instant load 1 Check that the phases of the motor cable are connected correctly 2 Adjust the loop parameters to stabilize the system Adjust the value of PA 1...

Page 131: ...ilation or replace with a servo drive of higher power 13 Er oC3 Software overcurrent fault 1 U V W phases of the motor are connected reversely 2 Inappropriate parameters cause system divergence 3 Too short ACC DEC time during starting stopping 4 Too large instant load 1 Check that the phases of the motor cable are connected correctly 2 Adjust the loop parameters to stabilize the system Adjust the ...

Page 132: ...me Description 1 AL LT1 Forward travel limit warning This warning signal is generated when forward travel is limited PSL terminal disconnects 2 AL LT2 Reverse travel limit warning This warning signal is generated when reverse travel is limited RVL terminal disconnects 3 AL EST Emergency stop warning This warning signal is generated when the emergency stop button acts EMG terminal disconnects 4 AL ...

Page 133: ...arrangement diagram of each connector of the servo drive A 1 CN1 pin signal arrangement A 2 CN2 pin signal arrangement CN2 pin No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Definition V W A A 5V U V W B B U GND Z Z T_MT Pin arrangement of connector CN1 Signal arrangement of connector CN1 ...

Page 134: ...Operation Manual of INVT CHS100 AC Servo Drive Appendix A 128 A 3 CN3 pin signal arrangement CN3 pin No 1 2 3 4 5 6 7 8 Definition RXD GND TXD CANL CANH RS485 RS485 ...

Page 135: ... monitored parameters 0 26 0 P S T PA 03 Internal servo enabling 0 1 0 P S T PA 04 Numerator of the 1st electronic gear 1 65535 1 P PA 05 Denominator of the 1st electronic gear 1 65535 1 P PA 06 Pulse input form 0 2 0 P 0 1 0 PA 07 Speed command selection speed limit selection 0 1 0 S T 0 1 0 PA 08 Torque command torque limit selection 0 1 0 P S T PA 09 Internal speed speed limit 1 r min 5000 0 50...

Page 136: ...nt 256μs 1 1000 200 P S Pb 09 Speed feed forward gain 0 30000 0 P S Pb 10 Speed feed forward filter time 256μs 0 6000 0 P S Pb 11 Position command filter time 512μs 0 6000 0 P Pb 12 Speed command filter time 256μs 0 6000 0 S Pb 13 Torque command filter time 256μs 0 6000 0 T Pb 14 Low pass filter time 256μs 0 6000 0 P S Pb 15 Speed test filter time 256μs 0 6000 0 P S Pb 16 Gain switching selection ...

Page 137: ...nd electronic gear 1 65535 1 P Pc 13 Denominator of the 2nd electronic gear 1 65535 1 P Pc 14 Numerator of the 3rd electronic gear 1 65535 1 P Pc 15 Denominator of the 3rd electronic gear 1 65535 1 P Pc 16 Numerator of the 4th electronic gear 1 65535 1 P Pc 17 Denominator of the 4th electronic gear 1 65535 1 P Pc 18 Reserved Pc 19 Matching resistor selection 0 1 0 P S T Pc 20 Local drive communica...

Page 138: ...voltage limit of AO 2 V 0 00 10 00 0 00 P S T Pc 41 Corresponding setting of lower limit of AO 2 0 0 100 0 0 0 P S T Pc 42 Upper voltage limit of AO 2 V 0 00 10 00 10 00 P S T Pc 43 Corresponding of upper limit of AO 2 0 0 100 0 100 0 P S T Pc 44 Offset of AI 1 V 2 00 2 00 0 00 S T Pc 45 Offset of AI 2 V 2 00 2 00 0 00 P S T Pc 46 Offset of AO1 V 2 00 2 00 0 00 P S T Pc 47 Offset of AO 2 V 2 00 2 ...

Page 139: ...anual of INVT CHS100 AC Servo Drive Appendix B 133 Function code Name Unit Range Default Mode Pc 57 Pulse range for over position pulse 0 50000 20000 P Pc 58 Polarity reversing of digital input 0 11111 00000 P S T ...

Page 140: ... RMS value of current output current A 0 01 Pd 11 dP Tq Current torque 1 Pd 12 dP Tn Drive module temperature 0 1 Pd 13 dP Ld Average load rate 1 Pd 14 dP POS Position of the rotor relative to Z pulse pulse 1 Pd 15 dP InE Load to inertia ratio Time 1 Pd 16 dP OAL Third latest fault alarm code Pd 17 dP AL Second latest fault alarm code Pd 18 dP ALC Current alarm code Pd 19 dP in Digital input state...

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