Leadshine EL7-EC Series User Manual Download

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User Manual Of EL7-EC** AC Servo

210

Start

Inertia

measuring

Auto gain

adjustment

Requirement

met?

Vibration

suppression

End

Manual gain

adjustment

Electronic
gear ratio

Requirement

met?

Steps

Functions

Explanation

Inertia
measuring

Online

Motor moves with command from controller, servo driver will
automatically calculate load-inertia ratio

Offline

Using servo driver inertia determining function, servo driver
can automatically calculate load-inertia ratio

Auto

gain

adjustment

Auto gain
adjustment

Real time determining of mechanical load, gain value is set
accordingly.

Summary of Contents for EL7-EC Series

Page 1: ...EL7 EC Series AC Servo Drive User Manual ...

Page 2: ...l be canceled at the same time Safety Precautions Please read the safety instructions carefully before using the products and pay attention to the safety signs Might incur death or serious injury Might cause injury to operating personals or damage to equipment Might cause damage to equipment High voltage Might cause electrocution to personals in contact Hot surface Do not touch Protective Earth Sa...

Page 3: ...event fluid from leaking into motor and encoder Protect motor from impact to avoid damaging encoder Motor shaft should not bear the load beyond the limits as specified Wiring Warning Participate installation personals should have sufficient training in product installation safety Please power off and wait for 10 minutes to make sure a full discharge of electricity Servo drive and motor must be con...

Page 4: ...ch shortly after power off Please be careful Modification s to servo system is prohibited Error Handling Warning Please wait for 5 minutes after powering off for the electricity to be fully discharged before uninstalling the cables Participate maintenance personals should have sufficient training in maintenance and operation of this product series Caution Please handle the error before clearing an...

Page 5: ... 7 USB MINI COMMUNICATION PORT 38 2 8 CN3 CN4 ETHERCAT COMMUNICATION PORT 39 2 9 CN6 SAFE TORQUE OFF STO PORT 40 2 10 CN1 I O SIGNAL PORT 42 2 10 1 Selection of I O signal cable 42 2 10 2 Common input circuit 43 2 10 3 Common output circuit 44 2 10 4 Probe input circuit 45 2 10 5 DI signal function configuration 45 2 10 6 DO signal function configuration 47 2 11 MEASURES AGAINST ELECTROMAGNETIC IN...

Page 6: ...ut setting and control operation method 163 5 4 3 Motor Rotational Direction 163 5 4 4 Stop Settings 164 5 4 5 Position mode Electronic Gear 164 5 4 6 Position Limits 165 5 4 7 Control Word 166 5 4 7 Status Word 167 5 4 8 Synchronous cycle time setting 168 5 4 9 Driver Enabling 168 5 5 POSITION MODE CSP PP HM 169 5 5 1 Common Functions of Position Mode 169 5 5 2 Cyclic Synchronous Position Mode CS...

Page 7: ...ed Alarm 241 6 13 PROBE 242 6 13 1 Probe function 243 6 13 2 Signal Input of EXT1 and EXT2 244 6 13 3 Probe Control Word 60B8h 244 6 13 4 Probe Status Word 60B9h 245 6 13 6 Latch Position Register 245 6 13 7 Latch Counter Register 246 6 13 8 Probe mode 246 6 14 OTHER FUNCTIONS 247 6 14 1 Functions under Position mode 247 6 14 2 Functions under velocity mode 251 6 14 3 Functions under torque mode 2...

Page 8: ...Objects SM Synchronization Manager FMMU Fieldbus Memory Management Unit h Hex U8 Unsigned Char U16 Unsigned Short U32 Unsigned Long I8 signed Char I16 signed Short I32 signed Long RW Read Write RO Read Only WO Write Only Var Variable ETG EtherCAT Technology Group ESC EtherCAT Slave Controller ESM EtherCAT State Machine DI Digital Input DO Digital Output AI Analog Input AO Analog Output PP Profile ...

Page 9: ...vantages as listed below Lengthen communication range and lower electromagnetic interference Due to the reliance of pulse command pulse controlled servo drives could be easily disrupted by electromagnetic interferences EtherCAT communication protocol provides fault detections limitations and error handling that makes communication more reliable over long distances Greater motion control Trajectory...

Page 10: ...h Medium 9Motor Connector 7 Motor Type E F With brake oil seal No brake oil seal 5 Rated Speed A B D C 3000rpm 2000rpm 2500rpm 3 PowerRating 0050 50W 2900W 200W 100W 2000W 1800W 1800 0100 0200 0400 0750 0850 1000 1300 1500 7000 2000 2900 3000 4000 4400 5000 5500 400W 750W 850W 1000W 1300W 1500W 3000W 4000W 4400W 5000W 5500W 7000W 4 Encoder Type M 23 bit opticalmultiturn L 23 bit magnetic multiturn...

Page 11: ...or should be kept below that of the servo drive Power rating W 50 100 200 400 750 850 1000 1300 1500 1800 2000 Connector Direct Aviation Frame size mm 40 60 80 130 Rotational speed rpm 1500 2500 3000 All motor models come with optional holding brake All matching motors for EL7 220V series are with high inertia and 23 bit optical encoder Motor models with 23 bit magnetic encoder coming soon ...

Page 12: ...eady SRDY 3 External brake off BRK OFF 4 Positioning completed INP 5 Velocity at arrival AT SPEED 6 Torque limiting command TLC 7 Zero speed position ZSP 8 Velocity coincidence V COIN 9 Position command P CMD 10 Velocity limit V LIMIT 11 Velocity command V CMD 12 Servo enabled SRV ST 13 Homing done HOME OK Analog Input 2 analog inputs differential 10 10Vdc Encoder Output Encoder ABZ differential p...

Page 13: ...connectors EL7 EC Series Servo Drive 750W CN3 CN1 CN2 Charge L1 L2 P Br U V W PE Front Panel Mini USB CN3 EtherCAT IN CN2 Encoder Power on indicator light L1 L2 Main power supply P External brake resistor P terminal Internal DC bus positive terminal Br Regenerative resistor terminal N Internal DC bus negative terminal Do not connect U V W Motor power terminal Protective Earth CN4 EtherCAT OUT CN1 ...

Page 14: ...ut signal other I O signals terminals 4 CN2 Encoder Connect to motor encoder 5 CN3 EtherCAT IN Connect to master device or previous slave station 6 CN4 EtherCAT OUT Connect to next slave station 7 Power on indicator light Lights up when servo drive is connected to main power supply Please do not touch the power terminal immediately after power off as the capacitor might require some time to discha...

Page 15: ...ctor Power cable Motor flange Encoder connector Motor shaft Encoder cable Encoder Motors with aviation connectors Encoder connector Motor flange Installation screw holes Motor shaft Power connector Motors with direct connectors Encoder connector Power connector Motor flange Installation screw holes Motor shaft ...

Page 16: ...al Of EL7 EC AC Servo 17 Chapter 2 Installation Wiring 2 1 Servo Drive Installation 2 1 1 Servo Drive Dimension EL7 EC Series 400W Size A 40mm x 175mm x 156mm EL7 EC Series 750 1000W Size B 50mm x 175mm x 156mm ...

Page 17: ...nly run at 75 of actual load rate Installation method Please install the driver vertical to ground facing forward for better heat dissipation Always install in rows and use heat insulation board to separate between rows Cooling fans are recommended for drivers to achieve optimal performance Grounding PE terminals must be grounded to prevent electrocution hazard or electromagnetic interference Wiri...

Page 18: ...ired with a reducer to prevent reducer oil from leaking into the motor Oil and waterproofing Do not submerge motor cable under oil water Please use a motor with oil seal when paired with a reducer to prevent reducer oil from leaking into the motor If there is an unavoidable fluid leakage near the motor please use motor with better IP ratings Make sure power cable and encoder cable is facing downwa...

Page 19: ...al of coupling please do not hit the motor shaft with a hammer as it would cause damage to internal encoder Please make sure to centralize the motor shaft and coupling it might cause damage to motor or encoder due to vibration Please make sure axial and radial load is within the limits specified as it might affect the lifespan of the motor or cause damage to it ...

Page 20: ...User Manual Of EL7 EC AC Servo 21 2 3 EL7 EC Wiring Diagram ...

Page 21: ...Servo 22 2 4 Servo Drive Ports Table 2 1 Functions of driver port Port Function CN1 I O Signal Port CN2 Encoder port USB USB mini Port CN3 EtherCAT IN Communication Port CN4 EtherCAT OUT Communication Port X1 Main Power Supply ...

Page 22: ...generative resistor selection and connections Br External regenerative resistor terminal N Please do not connect U Motor U terminal Please ensure proper wire connection on motor V Motor V terminal W Motor W terminal PE Motor Protective Earth Please ground PE of driver and motor together 2 4 1 Regenerative resistor selection and connections The use of regenerative resistor When the motor opposes th...

Page 23: ... resistor with power rating Pr about 2 4 times the value of Pb in considered of harsh working conditions and some headroom If the calculated Pr value is less than internal resistor power rating external resistor is not required R Max required regenerative resistance 3802 3702 Pr Problem diagnostics related to regenerative resistor If driver temperature is high reduce regenerative energy power rati...

Page 24: ... Determine motor max rotational velocity V rpm Determine motor load inertia ratio N Calculate regenerative energy E1 J Determine energy stored by capacitor Ec J E1 J Ec J External resistor needed Calculate required regenerative resistor power rating Pr Pb Pa Use external regenerative resistor Please consider external factor s when using external regenerative resistor Use internal regenerative resi...

Page 25: ... U operating voltage If R is not determined please assume EM 0 4 Energy stored by internal DC capacitors Ec Please refer to table 2 5 5 Depleted energy due to regenerative resistance EK EK E1 EL EM EC If loss is ignored EK E1 EC 6 Required power rating of regenerative resistor Pr Pr EK 0 5 T Internal capacitor capacity and rotor inertia EL7 EC Drivers Servo motor Rotor Inertia 10 4 kg m2 Max regen...

Page 26: ...T 49 3 22 85 0 5 2 26 45W Hence with the internal regenerative resistor Pa 75W Pr Pa no external regenerative resistor is required Let s assume if the load inertia is 15 times of motor inertia Pr 108 6W Pr Pa external regenerative resistor is required And to consider for harsh working environment Pr external 108 6 1 40 181 W When selecting the resistance of the regenerative resistor please be high...

Page 27: ...AWG18 2 1 AWG14 1 3 AWG16 2 1 AWG14 EL7 EC1000F 0 81 AWG18 2 1 AWG14 2 1 AWG14 2 1 AWG14 Grounding Grounding wire should be thicker Ground PE terminal of servo drive and servo motor together with resistance 100 Ω A 3 phase isolation transformer is recommended to lessen the risk of electrocution Connect a line filter to power supply to reduce electromagnetic interference Please install a fuseless c...

Page 28: ...ease use a circuit breaker for the main power supply to prevent damage to the product or machine Please do not use a contactor in connection to servo motor as it may not withstand a sudden surge of operating voltage Please take note of the capacity when connect to a 24VDC switching power supply especially if power supply is shared between multiple components Insufficient supply current will cause ...

Page 29: ...le from the driver is labeled with U V W PE Please connect the wires accordingly to the power cable extending from the servo motor Motor power cable selection Motor winding power cable Wire length available 1 5m 3m and 5m Connectors type available AMP electrical connectors aviation connectors direct connectors recommended Please contact Leadshine sales team or any Leadshine certified local retaile...

Page 30: ... Motor side Driver side Motor cable pin Pins Motor side Motor Color Driver 1 Blue U 3 Black V 2 Red W 4 Yellow green PE Aviation connector Frame size 80 or below CABLE RZ HH2 V3 0 Motor side Driver side Motor cable pin Pins Motor side Motor Color Driver 1 Blue U 3 Black V 2 Red W 4 Yellow green PE ...

Page 31: ...side Driver side Motor cable pin Pins Motor side Motor Color Driver 1 Red U 3 Green V 2 Black W 4 Yellow PE Direct connector Frame size 80 or below CABLE RZH M 114 TS without holding brake Motor side Driver side Driver cable pin Pins Motor Color Driver 1 Blue U 2 Black V 3 Red W 4 Yellow green PE ...

Page 32: ...s by locking the motor in place Usually used on axis mounted vertically to the ground so that the load would not drop under gravitational force when the driver is powered off or when alarm occurs Line Filter Servo Driver L1 L2 M SG BK Brake Relay BK RY DC 24V Holding Brake Bncoder Motor U W V Single phase 220VAC CK2 CK1 DO2 BRK DOCOM BRK DC24V Holding brake power supply MB Holding brake wiring dia...

Page 33: ...3 0 Motor side Driver side Motor cable pin Pins Motor side Motor Color Pin 2 Blue 0V 1 Brown 24V Aviation connector Frame size 80 or below CABLE RZSH M 113 TS Winding cable with holding brake Motor side Driver side Motor cable pin Pins Motor side Motor Color Driver 1 Blue U 2 Red W 3 Black V 4 Yellow green PE 5 Black 0V 6 Red 24V ...

Page 34: ...holding brake Please consider the voltage dropped over lengthy motor cables due to increase in cable resistance It is recommended to have an isolated switching power supply for the holding brake to prevent malfunctioning of the holding brake in case of voltage drop If the motor is using a magnetic encoder holding brake wires need to be differentiated between positive and negative terminal to preve...

Page 35: ...encoder to avoid interference Motor encoder cable selection AMP electrical connector Frame size 80 or below CABLE 7BM Z V3 0 Motor side Driver side Motor cable pin Pins Motor side Motor Driver Signal 1 Frame Shielded 2 1 5V 3 2 0V 4 5 SD 5 6 SD 6 3 BAT 7 4 BAT Connector Pin Signal Description CN2 1 VCC5V Power supply 5V 2 GND Power supply ground 3 BAT Battery positive terminal 4 BAT Battery negati...

Page 36: ...e Motor cable pin Pin Motor side Motor Driver Signal 1 Frame Shielded 2 1 5V 3 2 0V 4 5 SD 5 6 SD 6 3 BAT 7 4 BAT Direct connector Frame size 80 or below CABLE BMAH M 124 TS Absolute encoder Motor side Driver side Motor cable pin Pin Motor side Motor Driver Signal 1 Frame Shielded 2 1 5V 3 2 0V 4 5 SD 5 6 SD 6 3 BAT 7 4 BAT ...

Page 37: ...rvo drives can be connected to a PC using the USB mini communication port for data monitoring and parameters setting on Motion Studio Can be done without connecting a power cable to the driver If users are having problem connecting to PC please try using a magnetic ring Connector Port Pin Signal Description USB mini 1 VCC5V Power supply 5V 2 D USB data positive terminal 3 D USB data negative termi...

Page 38: ...will be connected to the next slave device Port Pin Signal Description 1 9 E_TX EtherCAT Data sending positive terminal 2 10 E_TX EtherCAT Data sending negative terminal 3 11 E_RX EtherCAT Data receiving positive terminal 4 12 5 13 6 14 E_RX EtherCAT Data receiving negative terminal 7 15 8 16 Frame PE Shielded ground Example of EtherCAT communication cable connections between master and slave devi...

Page 39: ...anical means STO module CN6 connector consists of 2 input channels It cuts off the motor current supply by blocking of PWM control signal from the power module When the motor current is cut off the motor will still move under inertia and stops gradually The STO function is set up ready to be used by factory default Please remove STO connector if it is not needed STO functional principle STO module...

Page 40: ... precautions when enabling STO functions as servo drive will lose control over the motion of the motor Motor might dropped under gravitational pull vertically mounted load or moved when external forces are applied to it Alternatively motor with holding brake can be chosen STO is not meant to cut off the power supply of the servo drivers and motors completely Please power off and wait for a few min...

Page 41: ...one 8 DO1 ALM Alarm D01 D02 Single ended D03 Double ended Configurable Recommended voltage 12Vdc 24Vdc max 30V Recommended current 10mA max 50mA 10 DO2 BRK OFF Holding brake activated 12 DO3 INP Positioning completed 14 DO3 16 DOCOM Common DO 2 10 1 Selection of I O signal cable I O signal cable To ensure I O signal to not be affected by electromagnetic interference a shielded twisted pair cable i...

Page 42: ... of outputs from master device Relay output and Open Collector output as shown below 4 7K 9 12 24Vdvc Driver internal circuit DI 1 7 DICOM Output from master device Relay Common anode Common cathode POT NOT 4 7K 4 7K HOME 4 7K 11 13 15 DICOM Driver interior 7 POT NOT 4 7K 4 7K HOME 4 7K 11 13 15 DICOM Driver Interior 7 Output from master device Open Collector NPN configuration PNP configuration PO...

Page 43: ... if the output is through a relay or other inductive load to prevent damage to DO ports Double ended DO3 DO3 12 14 DO3 INP INP Driver interior 12 24Vdc DO3 Power supply is provided by user Please be aware that reversed power supply polarity might cause damage to the driver When it is an open collector output max current 50mA max supplying voltage 25V Please ensure the switching power supply fulfil...

Page 44: ...there is no safety concern if these signals need to be set to normally open NO Relevant parameters Pr4 00 Name Input selection DI1 Mode F Range 0x0 0xFF Unit Default 0x0 Index 2400h Activation Immediate Pr4 01 Name Input selection DI2 Mode F Range 0x0 0xFF Unit Default 0x1 Index 2401h Activation Immediate Pr4 02 Name Input selection DI3 Mode F Range 0x0 0xFF Unit Default 0x2 Index 2402h Activation...

Page 45: ...ch Speed 1 of internal velocity command INTSPD1 Eh 8Eh Speed 2 of internal velocity command INTSPD2 Fh 8Fh Speed 3 of internal velocity command INTSPD3 10h 90h Zero speed clamp ZEROSPD 11h 91h Velocity command sign VC SIGN 12h 92h Torque command sign TC SIGN 13h 93h Forced alarm E STOP 14h 94h Home switch HOME SWITCH 16h 96h Bit2 Please don t set anything other than listed in table above Normally ...

Page 46: ...e Pr4 12 Name Output selection DO3 Mode F Range 0x0 0xFF Unit Default 0x4 Index 2412h Activation Immediate Digital output DO allocation using hexadecimal system Output Symbol Set value Normally open Normally close Master device control 00h Alarm ALM 01h 81h Servo Ready S RDY 02h 82h External brake released BRK OFF 03h 83h Positioning completed INP 04h 84h At speed AT SPEED 05h 85h Torque limit sig...

Page 47: ...allel PE terminal of the main power supply and ground terminal of servo drives must be connected to copper ground bar in the electrical cabinet and the copper ground bar needs to be connected to the metal frame of the cabinet Please install a line filter on main power supply cable to prevent interference from radio frequency In order to prevent malfunctions caused by electromagnetic interference p...

Page 48: ...e and ground them together to reduce interference Ground both ends of the foil shield of encoder cable 2 11 2 Using line filter To reduce interference from main power supply cable and to prevent from affecting other sensitive components around the servo drive please choose a line filter based on actual supply current Please do be aware of the following mistake when installing a line filter Do not ...

Page 49: ...er and the main power supply cable Line Filter Wrong Correct L1 L2 L3 Contactor Line Filter AC Power Supply L1 L2 L3 AC Power Supply Contactor Ground wires inside an electrical cabinet Contactor Line Filter L1 L2 L3 Servo drive Servo drive Shield grounding Ground AC Power Supply ...

Page 50: ...Address Panel display Activation Valid Mode Class 0 Basic settings Model following bandwidth 2000h PR_000 Immediate F Control Mode Settings 2001h PR_001 After restart F Real time Auto Gain Adjusting 2002h PR_002 Immediate F Real time auto stiffness adjusting 2003h PR_003 Immediate F Inertia ratio 2004h PR_004 Immediate F Command polarity inversion 2006h PR_006 After restart F Probe signal polarity...

Page 51: ...osition setting 2028h PR_028 Immediate CSP 1st position loop gain 2100h PR_100 Immediate PP H M CSP 1st velocity loop gain 2101h PR_101 Immediate F 1st Integral Time Constant of Velocity Loop 2102h PR_102 Immediate F 1st velocity detection filter 2103h PR_103 Immediate F 1st Torque Filter Time Constant 2104h PR_104 Immediate F 2nd Position Loop Gain 2105h PR_105 Immediate PP H M CSP 2nd velocity l...

Page 52: ...3rd notch frequency 2207h PR_207 Immediate F 3rd notch bandwidth selection 2208h PR_208 Immediate F 3rd notch depth selection 2209h PR_209 Immediate F 1st damping frequency 2214h PR_214 Immediate F 2nd damping frequency 2216h PR_216 Immediate F Position command smoothing filter 2222h PR_222 Keep stop F Position command FIR filter 2223h PR_223 Disable PP H M CSP 5th resonant frequency 2231h PR_231 ...

Page 53: ...PR_309 Immediate F 7th speed of velocity setting 2310h PR_310 Immediate F 8th speed of velocity setting 2311h PR_311 Immediate F Acceleration time settings 2312h PR_312 Immediate F Deceleration time settings 2313h PR_313 Immediate PP H M CSP Sigmoid acceleration deceleratio n settings 2314h PR_314 Disable PP H M CSP Zero speed clamp function selection 2315h PR_315 Immediate PP H M CSP Zero speed c...

Page 54: ...e F Velocity coincidence range 2435h PR_435 Immediate F Arrival velocity 2436h PR_436 Immediate F Motor power off delay time 2437h PR_437 Immediate F Delay time for holding brake release 2438h PR_438 Immediate F Holding brake activation speed 2439h PR_439 Immediate F Emergency stop function 2443h PR_443 Immediate PP H M CSP 2nd pulse count per revolution 2500h PR_500 After restart PP H M CSP 2nd C...

Page 55: ...1 After restart F JOG trial run velocity command 2604h PR_604 Immediate F Position 3rd gain valid time 2605h PR_605 Immediate PP H M CSP Position 3rd gain scale factor 2606h PR_606 Immediate PP H M CSP Torque command additional value 2607h PR_607 Immediate F Positive direction torque compensation value 2608h PR_608 Immediate F Negative direction torque compensation value 2609h PR_609 Immediate F C...

Page 56: ...01 RPDO length 8 0 64 02 TPDO length 17 0 64 03 The number of RPDO 1 0 4 04 The number of TPDO 1 0 2 05 Sync0 Watchdog counter 0 0 65535 06 Reserved 0 65535 07 Sync0 Watchdog limit 4 0 65535 73B alarm threshold value set to zero shield 08 Sync0 Drift watchdog counter 0 0 65535 09 Sync0 Drift watchdog limit 4 0 65535 73C alarm threshold value set to zero shield 0A SM2 watchdog counter 0 0 65535 0B ...

Page 57: ...io n Feedback after the homing proces 0 0 607D 02 607C 607D 0 1 607C 6064 607C 0 1 607D 02 607C 607D 0 1 607C 6064 607C 1 607D 02 607D 0 1 6064 0 Bit4 Deal with Overtravel between the high speed and low speed during homing process 0 Homing process error set 6041h bit13 1 1 As normal continue homing process 5400 01 Set synchronization cycle minimum value us 250 125 1000 5400 02 Set synchronization ...

Page 58: ...torque limit value 0 1 0D U phase current detect value 0 1 0E W phase current detect value 0 1 5502 01 DI input signal 02 SO output signal 03 Reserved 04 Reserved 05 Bus voltage V 06 Temperature 07 Power on time S 3 1 3 Motion parameters starting with object dictionary 6000 Index Sub index Label Unit Default Min Max Mode 603F 0 Error code 0x0 0x0 0xFFFF F 6040 0 Control word 0x0 0x0 0xFFFF F 6041 ...

Page 59: ...window Command unit s 10 0 65535 PV CS V 606E 0 Velocity window time ms 0 0 65535 PV CS V 606F 0 Zero speed threshold Command unit s 10 0 65535 PV CS V 6071 0 Target torque 0 001 0 32768 32767 CST PT 6072 0 Maximum torque 0 001 3000 0 65535 F 6073 0 Maximum current 0 001 3000 65535 F 6074 0 Internal command torque 0 001 0 32768 32767 F 6075 0 Motor current rating mA 3000 0 2147483 647 F 6077 0 Act...

Page 60: ...celeration Command unit s 50000 0 1 2147483 647 HM 60B0 0 Position feedforward Command unit 0 214748 3648 2147483 647 CSP 60B1 0 Velocity feedforward Command unit s 0 214748 3648 2147483 647 CSP C SV PP PV HM 60B2 0 Torque feedforward 0 001 0 32768 32767 F 60B8 0 Probe function 0x0 0x0 0xFFFF F 60B9 0 Probe status 0x0 0x0 0xFFFF F 60BA 0 Probe 1 rising edge captured position Command unit 0 214748 ...

Page 61: ... P HM 60FC 0 Internal command position Encoder unit 0 214748 3648 2147483 647 CSP P P HM 60FD 0 Input status 0x0 0x0 0x7FFFF FFF F 60FE 1 Output valid 0x0 0x0 0x7FFFF FFF F 2 Output enabled 0x0 0x0 0x7FFFF FFF F 60FF 0 Target velocity Command unit s 0 214748 3648 2147483 647 CSV P V 6502 0 Supported operation modes 0x0 0x0 0x7FFFF FFF F 3 2 Parameter Function Panel Display as follows Parameter val...

Page 62: ...trol modes Value Content Details 0 8 Reserved Reserved 9 EtherCAT mode PP PV PT HM CSP CSV CST Pr0 02 Label Real time Auto Gain Adjusting Valid Mode F Range 0x0 0xFFF Unit Default 0x001 Index 2002h Activation Immediate Set up the mode of the real time auto gain adjusting Data bits Category Settings Application 0x00_ Motion setting mode Used to set motion setting mode which can be selected accordin...

Page 63: ...0 times or above gain settings take into account both machine stability and responsiveness Not recommended to set stiffness above 15 for high load inertia 2 Flexible structure This mode prioritizes system stability Use this mode when there is low rigidity structure with high load inertia Typical applications included belts and chains 0x_00 reserved The setting type combination is a hexadecimal sta...

Page 64: ...sponsiveness and mechanical stiffness but machine vibration might occur please set accordingly Pr0 04 Label Inertia ratio Mode F Range 0 20000 Unit Default 250 Index 2004h Activation Immediate Pr0 04 load inertia motor rotational inertia 100 Notice Set inertia ratio according to actual load inertia When both are uniform actual motor velocity loop responsiveness and gain settings will be consistent...

Page 65: ...06 has higher priority than object dictionary 607E 607E only takes effect when Pr0 06 0 Pr0 07 Label Probe signal polarity settings Command pulse input mode settings Mode F Range 0 3 Unit Default 3 Index 2007h Activation After restart Probe signal polarity settings take effect when Pr0 01 9 Set value Details 0 Probe 1 2 polarity inversion 1 Probe 2 polarity inversion 2 Probe 1 polarity inversion 3...

Page 66: ... input signal 1 revolution with 2500 pulses 2 phase pulse input when Pr0 07 0 or 2 Pr0 08 10000 1 revolution with 10000 pulses 1 phase pulse input when Pr0 07 1 or 3 Pr0 08 10000 Pr0 08 Label Command pulse counts per revolution Mode F Range 0 838860 8 Uni t P Default 0 Index 2008h Activation After restart Pulses per revolution can be set using object dictionary 608F 6091 6092 However Pr0 08 has hi...

Page 67: ...efault 30 Index 2014h Activation Immediate Please set threshold value for position deviation accordingly Default factory setting 30 Er180 will be triggered if positive deviation is in excess of 3 revolutions Pr0 15 Label Absolute Encoder settings Mode PP HM CS P Range 0 32767 Unit Default 0 Index 2015h Activation Immediate 0 Incremental mode Used as an incremental encoder Doesn t retain position d...

Page 68: ...0 17 determines the threshold value of Er 120 Please set accordingly or it might trigger false alarm or damage to servo driver Note If external regenerative resistor is used please set according to its labeled power rating Pr0 19 Label Friction compensation setting Mode F Range 0 1000 Unit Default 0 Index 2019h Activation Immediate Friction compensation setting 0 default 1 Friction compensation se...

Page 69: ...elf running position setting Mode CS P Range 0 10000 Unit Default 10 Index 2028h Activation Immediate Synchronous dithering compensation range Used for master device with poor synchronization 3 2 2 Class 1 Gain Adjustments Pr1 00 Label 1st position loop gain Mode PP HM CS P Range 0 3000 0 Unit 0 1 s Default 320 Index 2100h Activation Immediate Higher position loop gain value improves the responsiv...

Page 70: ...lay of positioning time duration and lowered responsiveness might occur Set 10000 to deactivate Pr1 02 Recommended range 50000 PA1 01xPA1 02 150000 For example Velocity loop gain Pr1 01 500 0 1Hz which is 50Hz Integral time constant of velocity loop should be 100 0 1ms Pr1 02 300 0 1ms Pr1 03 Label 1st velocity detection filter Mode F Range 0 10000 Unit Default 15 Index 2103h Activation Immediate ...

Page 71: ...ting Pr1 04 might eliminate the vibration The smaller the value the better the responsiveness but also subjected to machine conditions If the value is too large it might lower the responsiveness of current loop With higher Pr1 01 value settings and no resonance reduce Pr1 04 value With lower Pr1 01 value settings increase Pr1 04 value to lower motor noise Pr1 05 Label 2nd Position Loop Gain Mode P...

Page 72: ...wered with higher velocity feed forward gain Please to refer to the equation below Position deviation Uint Pr1 12 Label Torque feed forward gain Mode PP PV HM CS P CS V Range 0 1000 Unit 0 1 Default 0 Index 2112h Activation Immediate Before using torque feed forward please set correct inertia ratio By increasing torque feed forward gain position deviation on constant acceleration deceleration can ...

Page 73: ...ing 1st gain Pr1 00 Pr1 04 1 2nd gain fixed Fixed on using 2nd gain Pr1 05 Pr1 09 2 Reserved 3 High set torque Switch to 2nd gain when set torque command absolute value larger than level hysteresis Switch to 1st gain when set torque command absolute value smaller than level hysteresis 4 Reserved Reserved 5 High set velocity Valid for position and velocity control Switch to 2nd gain when set veloci...

Page 74: ... for position control Switch to 2nd gain if position command 0 Switch to 1st gain if position command remains 0 throughout the duration of delay time 8 Not yet in position Valid for position control Switch to 2nd gain if position command is not completed Switch to 1st gain if position command remains uncompleted throughout the duration of delay time 9 High actual velocity Valid for position contro...

Page 75: ... position control mode set Pr1 15 3 5 6 9 10 For velocity control mode set Pr1 15 3 5 9 Above level and hysteresis are in correspondence to Pr1 17 Position control gain switching level and Pr1 18 Hysteresis at position control switching Pr1 17 Label Position control gain switching level Mode F Range 0 2000 0 Unit Mode dependent Default 50 Index 2117h Activation Immediate Set threshold value for ga...

Page 76: ...vation Immediate During position control to ease torque changes and vibration due to rapid changes in position loop gain set suitable Pr1 19 value For example 1st pr1 00 2nd Pr1 05 Pr1 35 Label Position command pulse filter time Mode F Range 0 200 Unit 20ns Default 20 Index 2135h Activation Immediate To eliminate interfering narrow band pulse train from position command pulse If value set is too h...

Page 77: ...parameters will keep updating accordingly 3 4 Reserved Pr2 01 Label 1st notch frequency Mode F Range 50 40 00 Unit Hz Default 4000 Index 2201h Activation Immediate Set center frequency of 1st torque command notch filter Set Pr2 01 to 4000 to deactivate notch filter Pr2 02 Label 1st notch bandwidth selection Mode F Range 0 20 Unit Default 4 Index 2202h Activation Immediate Set notch bandwidth for 1...

Page 78: ...tings If resonance is under control in combination with Pr2 04 and Pr2 06 Pr2 05 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings Pr2 06 Label 2nd notch depth selection Mode F Range 0 99 Unit Default 0 Index 2206h Activation Immediate Set notch depth for 1st resonant notch filter When Pr2 06 value is higher notch depth becomes shallow phase la...

Page 79: ...or wobble with frequencies under 100Hz Set Pr2 15 to wobble frequency wobble frequency can be determined using tracing function of Motion Studio Pr2 16 Label 2nd damping frequency Mode F Range 0 2000 Unit 0 1Hz Default 0 Index 2216h Activation Immediate 0 Deactivate To suppress wobble at load end Often used when wobble of flexible structure due to high deceleration upon stopping Especially effecti...

Page 80: ...e PP HM CS P Range 0 10000 Unit 0 1ms Default 0 Index 2223h Activation Disable axis As shown below when target velocity Vc square wave command reaches Vc it becomes trapezoidal wave after filtering Velocity RPM Position command before filtering Position command after filtering Filter switching time Time Vc Position command FIR filter set time ms Pr2 23 x 0 1ms As shown below when target velocity V...

Page 81: ...ilter Pr2 31 corresponds to machine specific resonant frequency Notch filter deactivated if Pr2 31 is set to any value Pr2 32 Label 5th resonant Q value Mode F Range 0 10000 Unit Hz Default 0 Index 2232h Activation Immediate To set notch Q value of 5th resonant notch filter Pr2 33 Label 5th anti resonant frequency Mode F Range 50 4000 0 Unit Hz Default 4000 Index 2233h Activation Immediate To set ...

Page 82: ... 4000 Index 2237h Activation Immediate To set zero valued eigenfrequency of 6th resonant notch filter Pr2 37 corresponds to machine specific anti resonant frequency Pr2 38 Label 6th anti resonant Q value Mode F Range 0 9900 Unit Hz Default 0 Index 2238h Activation Immediate To set resonant Q value of 6th resonant notch filter 3 2 4 Class 3 Velocity Torque Control Pr3 00 Label Internal External set...

Page 83: ... OFF ON 3rd speed ON ON Analog speed command 3 ON ON OFF 1st to 4th speed OFF OFF ON 5th speed ON OFF ON 6th speed OFF ON ON 7th speed ON ON ON 8th speed Please refer to diagrams below change internal speed command one by one Changing more than 1 at the same time might incur unexpected circumstances When Pr3 00 1 or 2 When Pr3 00 3 Pr3 01 Label Velocity command rotational direction selection Mode ...

Page 84: ...river external position loop position gain of the driver will have changes Vibration might occur if Pr3 02 is set too large Pr3 03 Label Velocity command input inversion Mode F Range 0 1 Unit Default 0 Index 2303h Activation Immediate Specify the polarity of the voltage applied to the analog velocity command SPR Set value Motor rotational direction 0 Non reversa l Voltage Positive direction Voltag...

Page 85: ...iate Pr3 08 Label 5th speed of velocity setting Mode F Range 10000 10000 Uni t r min Default 0 Index 2308h Activation Immediate Pr3 09 Label 6th speed of velocity setting Mode F Range 10000 10000 Uni t r min Default 0 Index 2309h Activation Immediate Pr3 10 Label 7th speed of velocity setting Mode F Range 10000 10000 Uni t r min Default 0 Index 2310h Activation Immediate Pr3 11 Label 8th speed of ...

Page 86: ...s Time ms 1000 rpm PA3 12 PA3 13 Usually used when there is rapid acceleration or trapezoidal wave velocity command due to many different internal speed segments under velocity control mode which causes instable while motor in motion Under velocity control mode 6083 and 6084 is limited by Pr3 12 and Pr3 13 correspondingly Pr3 14 Label Sigmoid acceleration deceleration settings Mode PV CSV Range 0 ...

Page 87: ...vel Mode PV CSV Range 10 2000 Unit RPM Default 30 Index 2316h Activation Immediate Velocity command is forced to 0 when actual velocity is lower than Pr3 16 and after static time set in Pr3 23 Pr3 17 Label Internal External settings of torque Mode F Range 0 3 Unit Default 0 Index 2317h Activation Immediate Set value Torque command input Velocity limit input 0 Analog input 3 AI3 Parameter value Pr3...

Page 88: ...y limit would not exceed value set in Pr3 21 under torque control mode Pr3 22 Label Torque limit value in torque mode Mode PT CST Range 0 500 Unit Default 0 Index 2322h Activation Immediate Only effective when Pr3 17 0 or 2 Pr3 23 Label Zero speed clamp static time Mode PV CSV Range 0 32767 Unit ms Default 0 Index 2323h Activation Immediate To set delay time for zero speed clamp To prevent creepin...

Page 89: ... bit Normally open Normally close Invalid 0h Positive limit switch POT 1h 81h Bit1 Negative limit switch NOT 2h 82h Bit0 Servo on SRV ON 3h 83h Clear alarm A CLR 4h Control mode switching C MODE 5h 85h Gain switching GAIN 6h 86h Clear deviation counter CL 7h Command pulse inhibition INH 8h 88h Torque limit switching TL SEL 9h 89h Command pulse divider multiplier switching DIV1 Ch 8ch Speed 1 of in...

Page 90: ...n Immediate Digital output DO allocation using hexadecimal system Output Symbol Set value Normally open Normally close Master device control 00h Alarm ALM 01h 81h Servo Ready S RDY 02h 82h External brake released BRK OFF 03h 83h Positioning completed INP 04h 84h At speed AT SPEED 05h 85h Torque limit signal TLC 06h 86h Zero speed clamp detection ZSP 07h 87h Velocity coincidence V COIN 08h 88h Serv...

Page 91: ... speed clamp detection ZSP signal is ON and the positional deviation is smaller than Pr4 31 3 Signal valid when there is no position command and position deviation is smaller than Pr4 31 Signal ON when within the time set in Pr4 33 otherwise OFF 4 When there is no command position detection starts after the delay time set in Pr4 33 Signal valid when there is no position command and positional devi...

Page 92: ...If the difference between velocity command and motor actual speed is below Pr4 35 Velocity coincidence V COIN output signal valid Due to 10RPM hysteresis Velocity coincidence output OFF ON timing Pr4 35 10 r min Velocity coincidence output ON OFF timing Pr4 35 10 r min Velocity RPM Velocity command Time Pr4 35 Velocity coincidence range Motor speed Pr4 35 Velocity coincidence range Pr4 35 Velocity...

Page 93: ...s from sliding Pr4 38 Label Delay time for holding brake release Mode F Range 0 3000 Unit 1ms Default 0 Index 2438h Activation Immediate To set delay time for holding brake to be released after motor power on Motor will remain at current position and input command is masked to allow holding brake to be fully released before motor is set in motion SRV_ON BRK_OFF Motor Power Actual holding brake sta...

Page 94: ..._OFF signal is determined by Pr6 14 or if motor speed goes below Pr4 39 whichever comes first Application 1 After disabling axis Pr6 14 has been reached but motor speed is still above Pr4 39 BRK_OFF signal given 2 After disabling axis Pr6 14 has not been reached but motor speed is below Pr4 39 BRK_OFF signal given Pr4 43 Label Emergency stop function Mode F Range 0 1 Unit Default 0 Index 2443h Act...

Page 95: ...nit Defaul t 0 Index 2504h Activation Immediate To set driver prohibition input POT NOT If set to 1 no effect on homing mode Set value Explanation 0 POT Positive direction drive prohibited NOT Negative direction drive prohibited 1 POT and NOT invalid 2 Any single sided input from POT or NOT might cause Er260 In homing mode POT NOT invalid please set object dictionary 5012 04 bit0 1 Pr5 06 Label Se...

Page 96: ...orque limit will take smaller value Pr5 12 Label Overload level setting Mode F Range 0 115 Unit Default 0 Index 2512h Pr5 10 Label Servo off due to alarm mode Mode F Range 0 2 Unit Default 0 Index 2510h Activation After restart To set servo driver disable mode and status if alarm is triggered Alarm type 2 Set value Explanation Mode Status 0 Servo braking Dynamic braking 1 Free stopping Dynamic bra...

Page 97: ...ital filtering of I O input Overly large value set will cause control delay Pr5 17 Label Counter clearing input mode Mode F Range 0 4 Unit Defaul t 3 Index 2515h Activation Immediate To set the clearing conditions for deviation counter clearing input signal Set value Condition 0 2 4 Invalid 1 Always clear 3 Clear only once Pr5 20 Label Position unit settings Mode PP HM CSP Range 0 2 Unit Default 2...

Page 98: ...hold Mode F Range 0 300 Unit Default 0 Index 2523h Activation Immediate If Pr5 23 0 threshold value 95 If torque larger than rated torque then output Torque command limit Pr5 24 Label Negative torque warning threshold Mode F Range 0 300 Unit Default 0 Index 2524h Activation Immediate If Pr5 24 0 threshold value 95 If torque smaller than rated torque then output Torque command limit Pr5 28 Label LE...

Page 99: ...tatus 25 Motor electrical angle 40 Acceleration Deceler ation status 11 26 Motor mechanical Angle 41 Sub index of OD index 12 Error cause and history record 27 Voltage across PN 42 Value of sub index of OD index 13 Alarm code 28 Software version 14 Regenerative load rate 29 Pr5 32 Label Max command pulse input frequency Mode F Range 0 4000 Unit kHz Defaul t 0 Index 2532h Activation Immediate If co...

Page 100: ...ion Between max torque 6072 and Pr5 22 actual torque limit will take smaller value Pr5 40 Label D41 set value Mode F Range 0x0 0xFFFFF Unit Default 0X30C Index 2540h Activation Immediate Set object word monitored by D41 index left 4 bits sub index right 1 bit if monitoring 0x6092 01 set Pr5 40 to 0x60921 3 2 7 Class 6 Other settings Pr6 01 Label Encoder zero position compensation Mode F Range 0 36...

Page 101: ...e command additional value Mode F Range 100 100 Unit Default 0 Index 2607h Activation Immediate To set torque forward feed additional value of vertical axis Applicable for loaded vertical axis compensate constant torque Application When load move along vertical axis pick any point from the whole motion and stop the load at that particular point with motor enabled but not rotating Record output tor...

Page 102: ...disabling Mode F Range 0 3000 Unit ms Default 500 Index 2614h Activation Immediate To set the max time allowed for the axis to stop on emergency stop or normal axis disabling After disabling axis if motor speed is still higher than Pr4 39 but the time set in Pr6 14 is reached BRK_ON given and holding brake activated BRK_ON given time is determined by Pr6 14 or when motor speed goes below Pr4 39 wh...

Page 103: ... time for JOG command between 0 rpm to 1000 rpm Pr6 28 Label Velocity observer gain Mode F Range 0 32767 Unit Default 0 Index 2628h Activation Immediate 0 Default stable gain Modifications are not recommended Pr6 29 Label Velocity observer bandwidth Mode F Range 0 32767 Unit ms Default 0 Index 2629h Activation Immediate 0 Default stable bandwidth Modifications are recommended Pr6 34 Label Frame er...

Page 104: ...f Pr6 56 0 blocked rotor alarm deactivated This applicable only to 220VAC drivers If motor speed is 10rpm or above Er102 won t be triggered Pr6 57 Label Blocked rotor alarm delay time Mode Range 0 1000 Unit ms Default 400 Index 2657h Activation Immediate To set delay time for blocked rotor alarm to trigger Pr6 59 Label Homing mode position threshold Mode Range 0 100 Unit 0 00001rev Default 5 Index...

Page 105: ...Parameter Valid mode Description CSP Valid in cyclic synchronous position mode CSV Valid in cyclic synchronous velocity mode CST Valid in cyclic synchronous torque mode HM Valid in homing mode PP Valid in profile position mode PV Valid in profile velocity mode PT Valid in profile torque mode F Valid in all modes Index 603Fh Label Error code Unit Structure VAR Type Uint 16 Access RO Mapping TPDO Mo...

Page 106: ...t 0x0 Bit Label Description 0 Servo ready 1 valid 0 invalid 1 Start 1 valid 0 invalid 2 Servo running 1 valid 0 invalid 3 Fault 1 valid 0 invalid 4 Main circuit power on 1 valid 0 invalid 5 Quick stop 0 valid 1 invalid 6 Servo cannot run 1 valid 0 invalid 7 Warning 1 valid 0 invalid 8 Reserved Reserved 9 Remote control 1 valid 0 invalid 10 Arrived at position 1 valid 0 invalid 11 Internal limit va...

Page 107: ...rough Pr5 06 Status Switch on disable axis disabled 1 2 Motor decelerates and stops through 6087 Status Switch on disable axis disabled 3 Motor decelerates and stops through torque 0 Status Switch on disable axis disabled 5 6 Motor decelerates and stops through 6087 Status Quick stop 7 Motor decelerates and stops through torque 0 Status Quick stop Index 605Bh Label Motor deceleration stopping mode...

Page 108: ...ed CST 1 2 Motor decelerates and stops through 6087 Status Operation enabled axis enabled 3 Motor decelerates and stops through torque 0 Status Operation enabled axis enabled Index 605Eh Label Alarm stopping mode selection Unit Structure VAR Type INT 16 Acces s RW Mapping Mode F Range 0 2 Default 0 Select stopping mode when servo alarm Err 8xx occurs PP CSP CSV PV 0 Select motor stopping mode acco...

Page 109: ...RPDO Mode F Range 1 11 Default 8 No Mode Abbr 1 Profile position mode PP 3 Profile velocity mode PV 4 profile Torque mode PT 6 Homing mode HM 8 Cyclic synchronous position mode CSP 9 Cyclic synchronous velocity mode CSV 10 Cyclic synchronous torque mode CST Index 6062h Label Position command Unit Comman d unit Structure VAR Type Int 32 Access R 0 Mapping TPDO Mode PP CSP HM Range 21474836 48 21474...

Page 110: ...e Unit ms Structure VAR Type UInt 16 Access R 0 Mapping TPDO Mode PP CSP HM Range 0 65535 Default 0 To set position deviation detection time Index 6067h Label Position window Unit Comman d unit s Structure VAR Type UInt 32 Access R 0 Mapping TPDO Mode PP CSP HM Range 0 2147483 647 Default 0 To set an acceptable extent of arrival position Index 6068h Label Position window time Unit Comman d unit s ...

Page 111: ...0 Mapping RPDO Mode PV CS V Range 0 65535 Default 0 To set the time between velocity reached and status word set to TargetReached Index 606Fh Label Zero speed threshold Unit Comm and unit s Structure VAR Type UInt 16 Access R0 Mapping RPDO Mode PV CS V Range 0 65535 Default 10 To set to zero speed threshold Index 6070h Label Zero speed threshold time Unit ms Structure VAR Type UInt 16 Access R0 Ma...

Page 112: ...ommand torque Index 6075h Label Motor current rating Unit mA Structure VAR Type Int 32 Access R0 Mapping TPDO Mode F Range 0 21474 83647 Default 3000 Shows motor rated current Index 6077h Label Actual torque Unit 0 1 Structure VAR Type Int 16 Access R0 Mapping TPDO Mode F Range 32768 32767 Default 0 Shows servo driver actual torque feedback Index 6079h Label DC bus voltage Unit mV Structure VAR Ty...

Page 113: ...ode HM Range 214748364 7 21474836 47 Default 0 To set upper limit with calculated position and actual position using absolute position after homing Index 607Eh Label Motor rotational direction Unit Structure VAR Type UInt 8 Access RW Mapping RPDO Mode HM Range 0x0 0xFF Default 0x0 Mode Value Position mode PP 0 Rotate in the same direction as the position command 128 Rotate in the opposite directio...

Page 114: ...VAR Type UInt 32 Access R W Mapping RPDO Mode PP Range 0 214 74836 47 Default 10000 To set target velocity Limited by 607Fh Index 6083h Label Profile acceleration Unit Command unit s Structure VAR Type UInt 32 Access R W Mapping RPDO Mode PP PV Range 1 2147 48364 7 Default 10000 To set motor acceleration Index 6084h Label Profile deceleration Unit Command unit s Structure VAR Type UInt 32 Access R...

Page 115: ...tor Index 6092h 01 Label Number of pulses per rotation Unit Comma nd unit r Structure VAR Type UInt 32 Access RW Mapping RPDO Mode F Range 1 21474 83647 Defaul t 10000 If 6092h 01 Feed constant is not equal to 608Fh Position encoder resolution then Electronic gear ratio Encoder resolution 6092h 01 If 6092h 01 Feed constant is equal to 608Fh Position encoder resolution then Electronic gear ratio 60...

Page 116: ... on same side of homing switch 9 Positive Homing switch Motor Z signal Rising edge on same side of homing switch 10 Positive Homing switch Motor Z signal Falling edge on same side of homing switch 11 Negative Homing switch Motor Z signal Failling edge on same side of homing switch 12 Negative Homing switch Motor Z signal Rising edge on same side of homing switch 13 Negative Homing switch Motor Z s...

Page 117: ... deceleration used in homing Index 60B0h Label Position feedforward Unit Command unit Structure VAR Type Int 32 Access R 0 Mapping TPDO Mode HM Range 214748364 7 21474836 47 Default 0 To add position deviation to target position Index 60B1h Label Velocity feedforward Unit Command unit s Structure VAR Type Int 32 Access R 0 Mapping TPDO Mode CSP CSV PP PV HM Range 214748364 7 21474836 47 Default 0 ...

Page 118: ...ection 0 Probe 1 captured 1 Z signal 3 Reserved 4 Probe 1 rising edge enabled 0 Disable 1 Enable 5 Probe 1 falling edge enabled 0 Disable 1 Enable 6 7 Reserved 8 Probe 2 0 Disable 1 Enable 9 Probe 2 trigger mode 0 Single trigger triggered only when trigger signal is valid 1 Continuous trigger 10 Probe 2 trigger signal selection 0 Probe 2 captured 1 Z signal 11 Reserved 12 Probe 2 rising edge enabl...

Page 119: ... captured position Unit Command unit Structure VAR Type Int 32 Acces s R0 Mapping TPDO Mode F Range 214748364 7 21474836 47 Defaul t 0 Shows position feedback at rising edge of probe 1 signal Index 60BBh Label Probe 1 falling edge captured position Unit Command unit Structure VAR Type Int 32 Acces s R0 Mapping TPDO Mode F Range 214748364 7 21474836 47 Defaul t 0 Shows position feedback at falling ...

Page 120: ... TPDO Mode F Range 0 65535 Default 0 Shows the number of times probe 1 rising edge latched Index 60D6h Label Probe 1 falling edge captured count s Unit Structure VAR Type UInt 16 Access R0 Mapping TPDO Mode F Range 0 65535 Default 0 Shows the number of times probe 1 falling edge latched Index 60D7h Label Probe 2 rising edge captured count s Unit Structure VAR Type UInt 16 Access R0 Mapping TPDO Mo...

Page 121: ...n following error Index 60FAh Label Position loop velocity output Unit Comman d unit s Structure VAR Type Int 32 Access R0 Mapping TPDO Mode CSP PP HM Range 21474836 47 214748 3647 Default 0 Shows internal command velocity Position loop output Index 60FCh Label Internal command position Unit Encoder unit Structure VAR Type Int 32 Access R0 Mapping TPDO Mode CSP PP HM Range 21474836 47 214748 3647 ...

Page 122: ...id DO1 valid Reserve d Index 60FEh 0 2 Label Output enabled Unit Structur e VAR Type UInt 32 Access R W Mapping RPDO Mode F Range 0x0 0x7FFFFFF F Defaul t 0xFFFF0 000 The bits of a 60FEh object are functionally defined as follow Bit Sub index 31 21 21 20 19 18 17 16 15 0 02h Reserve d DO6 enabled DO5 enabled DO4 enabled DO3 enabled DO2 enabled DO1 enabled Reserve d Index 60FFh Label Target velocit...

Page 123: ...de the driver Mechanical 1 Driver and external holding brake are not place near combustibles 2 Installations of driver motor and axis is fastened 3 Movement of motors and mechanical axes are not obstructed 4 1 2 Power On Connect 380V power supply into main power supply R S T terminals and 220V power supply into control circuit power supply L1C L2C After power on light indicator will light up and f...

Page 124: ...is not inversed The direction of rotation is consistent with the polarity of command 1 Polarity of command is inversed The direction of rotation is opposite to the polarity of command Note Rotational direction of the motor is recommended to be set through object dictionary 607E However Pr0 06 has higher priority than object dictionary 607E 607E only takes effect when Pr0 06 0 4 1 5 Holding Brake S...

Page 125: ...river Check if CN3 CN4 is connected properly Servo driver is in ready mode Motor is stopped and holding brake is activated Front panel display shows 402 state machine Operational EtherCAT communication status operational Running mode 8 servo is in stop mode 2 Motor starts to move after command input i On first time operation please use suitable command at low velocity Confirm if motor is working n...

Page 126: ...N Reset Usual action Not Ready Ready Input coupler OFF Input coupler ON Activated Deactivated Disabled Enabled Power OFF Power ON Brake ON Brake OFF NO command Command 1 2 Main power supply R S T OFF ON Please enter servo status position velocity torque command as sequence diagram above 1 S RDY signal is given after CPU initialization and main power supply powered on 2 SRV ST signal is received wh...

Page 127: ...act might exist Free stopping Motor power cut off Free to move until velocity 0 Affected inertia friction and other factors Smooth deceleration low mechanical impact but slow stopping Dynamic braking Brake activated when in motion Quick stopping but mechanical impact might exist Stopping status Status after stopped Free moving Motor is powered off rotor is free to rotate Dynamic braking Motor is p...

Page 128: ...g Dynamic braking Servo status SRV ST Dynamic brake Motor power Servo enabled SRV ON Motor rotation Disabled Enabled Deactivated Activated Power OFF Power ON Input coupler OFF Input coupler ON Input coupler OFF Activated Power OFF Disabled 1 2 3 t Holding brake status BRK Brake OFF BRK OFF Brake ON BRK ON Brake OFF BRK OFF ...

Page 129: ...ervo status SRV ST Dynamic brake Motor power Servo enabled SRV ON Motor rotation Disabled Enabled Deactivated Activated Power OFF Power ON Input coupler OFF Input coupler ON Input coupler OFF Power OFF Disabled 1 2 3 t Brake ON BRK OFF Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 130: ...rvo status SRV ST Dynamic brake Motor power Servo enabled SRV ON Motor rotation Disabled Enabled Deactivated Activated Power OFF Power ON Input coupler OFF Input coupler ON Input coupler OFF Power OFF Disabled 1 2 3 t Brake ON BRK OFF Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 131: ...t allowed yet 3 Servo stopping method is as defined in Pr5 06 braking torque in opposite direction to decelerate the motor is as defined in Pr5 11 Deceleration time t is determined by whichever comes first between time set in Pr6 14 and time needed for motor to drop below velocity set in Pr4 39 After deceleration time t dynamic braking will be off and holding brake signal will be set to OFF Holdin...

Page 132: ...stopping Dynamic braking Error occurrence Servo status SRV ST Dynamic brake Motor power Servo ready S RDY Servo Alarm ALM Motor rotational velocity Normal Error Enabled Disabled Deactivated Activated Power ON Power OFF Ready Not Ready No Alarm Alarm 1 2 t Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 133: ...ng Alarm occurrence Servo status SRV ST Dynamic brake Motor power Servo Ready S RDY Servo Alarm ALM Motor rotational velocity Normal Error Enabled Disabled Deactivated Activated Power ON Power OFF Ready Not Ready No Alarm Alarm 1 2 t Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 134: ...ing Alarm occurrence Servo status SRV ST Dynamic brake Motor power Status ready S RDY Servo Alarm ALM Motor rotational velocity Normal Error Enabled Disabled Deactivated Activated Power ON Power OFF Ready Not Ready No Alarm Alarm 2 1 t Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 135: ...oving Alarm occurrence Servo status SRV ST Dynamic brake Motor power Servo ready S RDY Servo alarm ALM Motor rotational velocity Normal Error Enabled Disabled Deactivated Power ON Power OFF Ready Not Ready No Alarm Alarm 1 2 t Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 136: ...oving Alarm occurrence Servo status SRV ST Dynamic brake Motor power Servo ready S RDY Servo alarm ALM Motor rotational velocity Normal Error Enabled Disabled Deactivated Power ON Power OFF Ready Not Ready No Alarm Alarm 1 2 t Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 137: ... Servo stopping method is as defined in Pr5 10 Deceleration time t is determined by whichever comes first between time set in Pr6 14 and time needed for motor to drop below velocity set in Pr4 39 After deceleration time t dynamic braking will be off and holding brake signal will be set to OFF Holding brake is activated Although BRK OFF signal is valid actual activation of holding brake is dependen...

Page 138: ...rque Command Alarm No Alarm Not Ready Ready Input coupler OFF Input coupler ON Activated Deactivated Disabled Enabled Power OFF Power ON Brake ON Brake OFF No command Command 1 1 SRV ST signal is received when servo driver is enabled Command input is not allowed yet 2 BRK OFF signal doesn t indicate the deactivation of holding brake but the invalidation of the signal Holding brake is applied when ...

Page 139: ...8 is valid If Pr0 08 0 object dictionary 6092 01 is valid Command pulse count per motor revolution needs to be Encoder Pulse Count per Revolution 8000 EL7 EC series comes with motors with 23 bit encoder Pulse count per revolution for 23 bit encoder 8388608 From the condition above the command pulse count per motor revolution for 23 bit encoder 1049 Pr0 08 Name Command pulse counts per revolution M...

Page 140: ...to 608Fh Position encoder resolution then Electronic gear ratio 6091 01 6092h 01 4 3 Front Panel Servo Driver front panel consists of 5 push buttons and a 8 segments display Can be used for displaying of status alarms functions parameters setting and auxiliary functions Front panel Buttons and functions Label Symbol Function Display Consists of 5 push buttons and a 8 segments display Mode M To swi...

Page 141: ...U o n p 400 Jog velocity S S M Flow diagram of panel operation 1 rEAdY will be displayed for about 1 second after driver is powered on Then automatically enters data monitoring mode and displays initial data value Otherwise alarm code will be displayed if error occurs 2 Press M key to switch between modes Data monitoring mode Parameters setting mode Auxiliary functions mode Alarm code will be disp...

Page 142: ...d03Cu r min xxxx 4 d04tr Actual feedback torque d04tr xxxx 5 d05nP Feedback pulse sum d05nP pulse xxxx 6 d06cP Command pulse sum d06CP pulse xxxx 7 d07 Maximum torque during motion d07 xxxx 8 d08FP Internal command position sum d08FP pulse xxxx 9 d09cn Control mode d09Cn EtherCAT CtPoS 10 d10Io I O signal status d10 Io 11 d11Ai Internal usage d11Ai V 12 d12Er Error cause and record d12Er Er xxx 13...

Page 143: ...elated to EtherCAT bus 36 d36 Synchronizing cycle d36dc ms xxxxxx 37 d37 No of times of synchronization loss d37sc xxxxxx 38 d38 Synchronization Type d38st freeru n DC xxxxxx 39 d39 If DC is running d39dr xxxxxx 40 d40 Acceleration and deceleration status d40sn xxxxxx 41 d41 Object dictionary address d41od xxxxxx Index 4 bit subindex 2 bit 42 d42 Object dictionary value d42od xxxxxx 1 If OD does n...

Page 144: ...nd deviation 260885 2 6 0 8 8 5 Positive 1st and 2nd values on the left has no decimal point Negative 1st and 2nd values on the left has two decimal points High bit 1st and 2nd values on the right has two decimal points Low bit 1st and 2nd values on the right has no decimal point 2 d01SP Motor velocity d02CS Position control command velocity d03CU Velocity control command velocity Motor actual vel...

Page 145: ...le Feedback pulse sum 210016 2 10016 Feedback pulse sum Encoder feedback pulse High bit Low bit 10016 Press to switch between high low bit Example Command pulse sum 210017 2 10017 Command pulse sum Command pulse Command pulse sum unit d06CP d05nP S S High bit Low bit 5 d07 Maximum torque during motion 7 d07 S Maximum torque during motion 6 d08FP Internal command pulse sum 2 0 Internal command puls...

Page 146: ...DI1 DI2 DI10 Decimal point is lighted to represent input signals In the example below DI1 DI8 and DI10 input signal is valid DI2 DI7 DI9 input signal is invalid Output From low to high bit Right to left DO1 DO2 DO10 Decimal point is not lighted to represent output signals In the example below DO1 output signal is valid DO2 DO10 output signal is invalid 9 d12Er Alarm cause and historical record Er1...

Page 147: ...Jr Inertia ratio 250 Actual inertia ratio during motion d16Jr S Please refer to Inertia Measuring section for detailed explanations 12 d17Ch Motor not running cause Error code of motor not running d17Ch S cP 0 d17Ch Motor No Running Cause Codes Descriptions Display Code Description Content cP 1 DC bus undervoltage cP 2 No SRV ON signal Servo ON input SRV ON is not connected to COM cP 3 POT NOT inp...

Page 148: ...encoder data high bit d21AE S 8 4 10748 Single turn encoder data low bit Press to switch between high low bit Example Single turn encoder data 8410748 For 23 bit encoder single turn encoder data 0 8388607 Each value corresponds to certain position in a single revolution of the rotor clockwise motion as negative counter clockwise motion as positive When counter clockwise single turn data 8388607 mu...

Page 149: ...n axis address Axis address d 2 3 id S id 0 Reserved F 15 d27Pn DC bus voltage DC bus voltage across PN d27Pn S 300 16 d28no Software version Servo driver software version DSP d28no S d 210 Communication software version F 10 Servo driver power rating P 400 ...

Page 150: ...ver status display Driver status 402 state machine EtherCAT communication running mode running 402 State Machine OFF 1 Top tube on Ready 2 Mid tube on ON 3 Top Mid Bottom tube on Operation O Enabled Emergency stop Side tubes on Other status EtherCAT Communication Status 0 OFF 1 Init 2 Pre Op 4 Safe Op 8 Op Others Running mode 1 3 4 6 8 9 A Other no supported Running mode r n Rotation S t Stop ...

Page 151: ... time 2 Position command velocity 17 No rotation cause 32 Automatic motor identification 3 Velocity control command 18 No of changes in I O signals 33 Driver temperature 4 Actual feedback torque 19 Number of over current signals 34 Servo status 5 Sum of feedback pulse 20 Absolute encoder data 35 6 Sum of command pulse 21 Single turn position 36 Synchronous period 7 Maximum torque during motion 22 ...

Page 152: ...ameter saving using front panel D00UE S 1 Increase decrease value using press S to select the parameters to be modified M PR000 Select value using After modifying the selected parameter to desired values press S to confirm and save the changes ...

Page 153: ...y default AF ACL AF HEC AF Enc AF_GL AF rSt Clear alarm Motor angle correction Inertia measuring Software reset Operation Vog Trial run InI Reset to factory default ACL HEC Enc G rSt Clear alarm Clear alarm history Motor angle correction Inertia measuring Software reset After selecting the desired function press S to confirm Data monitoring mode M Clear alarm history ...

Page 154: ...on Error If driver is enabled before is pressed error might occur When Sr Uon is displayed press to move motor in CW or CCW direction Hold to move motor at velocity set in Pr6 04 P 400 n 400 CCW CW AF Inl Reset to factory default To reset parameters settings to factory default Can be used to reset parameters using auxiliary function on front panel or using object dictionary Auxiliary functions AF ...

Page 155: ...rameters Controller can reset 402 parameters using 0x1011 03 If driver receives the data of 0x1011 03 as 0x64616f6c 402 parameters will be reset to factory default and 1011 03 1 after saving 0x1011 04 Drivers supplier parameters Controller can reset drivers supplier parameters using 0x1011 04 If driver receives the data of 0x1011 04 as 0x64616f6c drivers supplier parameters will be reset to factor...

Page 156: ...e sure to use suitable velocity and acceleration for the measuring process Press S to exit and disable the driver once completed Auxiliary functions AF_GL Inertia measuring Operation G Initialization S Press to start inertia measuring SrUon will be displayed Sr Uon Error If driver is enabled before is pressed error might occur Hold or to move motor in CW CCW direction to measure inertia P 400 n 40...

Page 157: ...reset is used mainly on parameters modification that takes effect only after driver restart Auxiliary functions AF rSt Software reset Operation rSt Initialization S Press to reset software LED displayed will be off for 3s and back to initialization page once completed ...

Page 158: ...tion sends homing command to home the axis Homing parameter and control word switch F Driver returns to home and sends feedback homed status to master device status word indication G The master station sends the position mode command for position movement position motion parameters and control word switch or sends the velocity command for velocity movement velocity motion parameters and control wo...

Page 159: ...ization starts Initialization completed Ready Initial parameters done Enable Ready to enable Fault Running Quick stop 14 13 15 0 1 2 3 4 5 6 9 8 7 11 16 12 10 Control Circuit Main Power Enable Disable ON Disable OFF ON Disable ON ON Enable ON Fault trigger Figure 5 1 EL7 EC 402 State Machine switchover diagram ...

Page 160: ...ontrolled servo driver control word 6040h CiA402 status switching Control word 6040h Status word 6041h Bit1 Bit9 0 Power on Initialization Transit automatically 0x0000 1 Initialization Faultless Transit automatically Enter 13 if fault occurs 0x0250 2 Faultless Ready 0x0006 0x0231 3 Servo ready Waiting to enable 0x0007 0x0233 4 Waiting to enable Running 0x000F 0x0237 5 Running Waiting to enable 0x0...

Page 161: ...rofile Torque mode PT Homing mode HM Cyclic synchronous position mode CSP Cyclic synchronous velocity mode CSV Cyclic synchronous torque mode CST 5 3 2 Operational mode setting 6060h and Operational mode display 6061h The operation mode of the servo drive is set in 6060h The operation mode of the servo drive is viewed in 6061h Bit Description Abbr 1 Profile position mode PP 3 Profile velocity mode...

Page 162: ...stem EL7 EC also provides a function for the master device to operate digital I O output of the servo driver If I O output function is set up as master device control master device can control servo driver digital I O output through 60FEh object Bit Sub index 31 21 21 20 19 18 17 16 15 0 01h Reserved DO6 valid DO5 valid DO4 valid DO3 valid DO2 valid DO1 valid Reserved 02h DO6 enabled DO5 enabled D...

Page 163: ...celerates and stops through 60C6 Status Switch on disable axis disabled 5 Motor decelerates and stops through 609A Status Quick stop 6 Motor decelerates and stops through 6085 Status Quick stop 7 Motor decelerates and stops through 60C6 Status Quick stop CST 0 To stop motor through Pr5 06 Status Switch on disable axis disabled 1 2 Motor decelerates and stops through 6087 Status Switch on disable a...

Page 164: ... pulse count per motor revolution needs to be Encoder Pulse Count per Revolution 8000 EL7 series comes with motors with 17 bit and 23 bit encoder Pulse count per revolution for 17 bit encoder 131072 for 23 bit encoder 8388608 From the condition above the command pulse count per motor revolution for 17 bit encoder should be 17 for 23 bit encoder 1049 Method 2 Electronic gear can be set through Pr0 ...

Page 165: ...t performance 3 The incremental encoder motor is not effective until the homing process completed 4 The setting rule is 607d 01h 607d 02h that is the negative position limit value is less than the positive position limit value 5 4 7 Control Word Bit definition of Control Word 6040h Bit 15 11 10 9 8 7 6 4 3 2 1 0 Definitio n Halt Fault reset Related to modes Operation enable Quick stop Voltage outp...

Page 166: ...with deceleratio n 6 Absolute Increment 5 Immediatel y trigger 4 New Position Start 5 4 7 Status Word Bit definition of Status Word 6041h Bit Definition 15 14 Reserved 13 12 Related to modes 11 Position limit valid 10 Position arrival 9 Distance 8 Related to modes 7 Reserved 6 Not switch on 5 Quick stop 4 Voltage output 3 Fault 2 Operation enable 1 Switch on 0 Ready to switch on Bit 11 is valid wh...

Page 167: ...Abnormal stop Abnormal stop 5 4 8 Synchronous cycle time setting The default synchronous cycle time range of EL7 EC series is 250us 10ms Min value 125us Max value 20ms Please make sure the values set is the multiplier of 250us 5 4 9 Driver Enabling This section describes how to use control words 6040h status word 6041h command switching status determination forEL7 EC controlled motor Steps 1 Write...

Page 168: ... Maximum protocol velocity RW RxPDO Yes Yes 6080 0 Maximum motor velocity RW RxPDO Yes Yes Yes 6081 0 Profile velocity RW RxPDO Yes 6083 0 Profile acceleration RW RxPDO Yes 6084 0 Profile deceleration RW RxPDO Yes 60C5 0 Protocol maximum acceleration RW RxPDO Yes Yes 60C6 0 Protocol maximum deceleration RW RxPDO Yes Yes Index Sub Index Label Access PDO Mode PP CSP HM 6041 0 Status word RO TxPDO Ye...

Page 169: ...RO TxPDO Yes Yes Yes 60FA 0 Position loop velocity output RO TxPDO Yes Yes Yes 60FC 0 Internal command position RO TxPDO Yes Yes Yes 5 5 2 Cyclic Synchronous Position Mode CSP CSP Block Diagram Position Loop Velocity Loop Current Loop Motor S M U L Target position 607Ah Polarity 2006h Trajectory planning output C S P PP Position feedforward 60B0h Internal velocity feedforward Velocity feedforward ...

Page 170: ...g error I32 RO Uint Optional 6077 00h Actual torque I16 RO 0 1 Optional Extended object Index Sub Index Label Data Type Access Unit 603F 00h Error code U16 RO 6060 00h Operation mode I8 RW 6061 00h Displayed operation mode I8 RO 6062 00h Position demand value I32 RO Uint 606B 00h Internal command speed I32 RO Uint 607D 01h Min software limit I32 RO Uint 607D 02h Max software limit I32 RO Uint 605A...

Page 171: ...imit 607Dh Polarity 2006h Protocol position track generator Multiplier Max Velocity 6081h Realising limit function Track output 606Bh Position Uint Velocity Uint S Acc deceleration Uint S2 Internal command position 6062h Realising limit function Target Position 607Ah Related Parameters Basic object PDO Index Sub Index Label Data Type Access Unit Notes RXPDO 6040 00h Control word U16 RW Required 60...

Page 172: ...2h Motor turns U32 RO 6091 01h Electronic gear ratio numerator U32 RW 6091 02h Electronic gear ratio denominator U32 RW 6092 01h Number of pulses per rotation U32 RW 6092 02h Number of physical axis turns U32 RO Control and status words under PP mode Control word bits 4 6 definition under PP mode Bit Value Definition 4 New position 0 1 Latest target position 607Ah Profile velocity 6081h Acc decele...

Page 173: ... Abnormal Stoppage 0 Normal motion 1 Abnormal stoppage triggered motor stopped 1 10 Arrived at position 0 Motion not completed 1 Target position reached 12 New position 0 Current motion completed interruptible able to execute new position command 2 1 Current motion not completed interruptible unable to execute new position command 14 Motion Parameter 0 0 Motion parameters valid necessary parameter...

Page 174: ...r and switch bit 6 and 4 to realize relative position motion 5 5 4 Homing mode HM EL7 EC servo system supports every other homing method except for method 36 Output input parameters of L7EC are as shown below Realization of homing function Homing method 6098h High homing velocity 6099 01h Homing point acceleration deceleration 609Ah Homing point offset 607Ch Low homing velocity 6099 02h Polarity 2...

Page 175: ... I8 RO 6062 00h Position demand value I32 RO Uint 606B 00h Internal command speed I32 RO Uint 608F 01h Encoder resolution I32 RO Uint 608F 02h Motor revolution I32 RO Uint 6091 01h Electronic gear ratio numerator U32 RW 6091 02h Electronic gear ratio denominator U32 RW 6092 01h Number of pulses per rotation U32 RW 6092 02h Number of physical axis turns U32 RO Control and status words under HM mode...

Page 176: ...mine if homing is done determine if bit 10 12 is occupied 3 Use to indicate if homing is able to trigger or already triggered Incorrect position triggering conditions Triggering condition Remarks Absolute encoder homing Control words 6040h bit 4 from 0 to 1 2 limit switch signals detected Positive and negative limit switches detected during homing Negative limit valid when positive limit in used N...

Page 177: ...rch for homing point in positive direction at low velocity Stop after torque reaches the value set in Pr5 39 and homing done signal delivers after the time value set in Pr5 37 Low velocity 6099h 02h Start Stop 5 Mode 4 Search for homing point in negative direction at high velocity Move in positive direction after torque reaches the value set in Pr5 39 stops when torque is gone Homing done signal d...

Page 178: ...int in positive direction at high velocity Move in negative direction after torque reaches the value set in Pr5 39 stops when torque is gone Homing done signal delivers after the time value set in Pr5 37 High velocity 6099h 01h Low velocity 6099h 02h Start Stop 3 ...

Page 179: ...alue set in Pr5 39 stops when torque is gone with the first Z signal Z signal High velocity 6099h 01h Start Stop 1 Limit switch signal Z signal mode Mode 1 Diagram A Negative limit switch OFF 1 Move in negative direction at high velocity until negative limit switch valid 2 Move in positive direction at low velocity and stops after negative limit switch and first encoder Z signal valid Diagram B Ne...

Page 180: ...d 2 Move in negative direction at low velocity and stops after positive limit switch and first encoder Z signal valid Diagram B Positive limit switch ON 1 Start to move at positive limit switch position in negative direction at high velocity until positive limit switch invalid 2 Move in positive direction at high velocity until positive limit switch valid 3 Move in negative direction at low veloci...

Page 181: ...s word 6041h bit 13 will be valid indicating homing error and the motor will stop immediately 3 3 Z signal Negative limit NOT A HOMING SWITCH OFF B HOMING SWITCH ON Start Stop High velocity 6099h 01h Low velocity 6099h 02h Positive limit POT HOMING SWITCH Mode 4 Diagram A Homing switch OFF 1 Move in positive direction at high velocity until homing switch valid 2 Move in negative direction at high ...

Page 182: ... encoder Z signal valid Diagram B Homing switch ON 1 Start to move at homing switch position in positive direction at high velocity until after homing switch 2 Move in negative direction at high velocity until homing switch valid 3 Move in positive direction at low velocity and stops after homing switch and first encoder Z signal valid If the positive negative limit switch signal is valid during t...

Page 183: ...tus word 6041h bit 13 will be valid indicating homing error and the motor will stop immediately Z Signal HOMING SWITCH A HOMING SWITCH OFF High Velocity 6099h 01h Low Velocity 6099h 02h Start Stop 6 6 Negative limit NOT Positive limit POT B HOMING SWITCH ON Limit switch signal homing switch signal Z signal mode Mode 7 Diagram A Homing switch positive limit switch OFF 1 Move in positive direction a...

Page 184: ...OFF Positive limit POT A HOMING SWITCH OFF POT OFF C HOMING SWITCH OFF POT OFF High velocity 6099h 01h Low velocity 6099h 02h Start Stop 7 7 7 Mode 8 Diagram A Homing switch positive limit switch OFF 1 Move in positive direction at high velocity until homing switch valid 2 Move in negative direction at high velocity until after homing switch 3 Move in positive direction at low velocity and stops a...

Page 185: ...tch OFF 1 Move in positive direction at high velocity until after homing switch 2 Move in negative direction at low velocity and stops after homing switch valid and first encoder Z signal valid Diagram B Homing switch ON positive limit switch OFF 1 Start to move at homing switch position in positive direction at high velocity until homing switch invalid 2 Move in negative direction at low velocity...

Page 186: ...elocity until homing switch valid 3 Move in positive direction at low velocity and stops after homing switch and first encoder Z signal valid Diagram B Homing switch ON positive limit switch OFF 1 Start to move at homing switch position in positive direction at high velocity until after homing switch 2 Move in negative direction at high velocity until homing switch valid 3 Move in positive directi...

Page 187: ...ative limit switch OFF 1 Start to move at homing switch position in positive direction at high velocity until after homing switch 2 Move in negative direction at high velocity until homing switch valid 3 Move in positive direction at low velocity and stops after homing switch and first encoder Z signal valid Diagram C Homing switch negative limit switch OFF 1 Move in negative direction at high vel...

Page 188: ...am B Homing switch ON negative limit switch OFF 1 Move at homing switch position in negative direction at high velocity until after homing switch 2 Move in positive direction at low velocity and stops after homing switch valid and first encoder Z signal valid Diagram C Homing switch negative limit switch OFF 1 Move in negative direction at high velocity until negative limit switch valid 2 Move in ...

Page 189: ...h position in negative direction at high velocity until after homing switch 2 Move in positive direction at low velocity and stops after homing switch valid and first encoder Z signal valid Diagram C Homing switch negative limit switch OFF 1 Move in negative direction at high velocity until negative limit switch valid 2 Move in positive direction at high velocity until homing switch valid 3 Move i...

Page 190: ... limit switch OFF 1 Start to move at homing switch position in negative direction at high velocity until homing switch invalid 2 Move in positive direction until homing switch valid 3 Move in negative direction at low velocity and stops after homing switch and first encoder Z signal valid Diagram C Homing switch negative limit switch OFF 1 Move in negative direction at high velocity until negative...

Page 191: ...9h 02h Start Stop 14 14 14 B HOMING SWITCH ON NOT OFF Limit switch signal triggering detection mode Mode 17 This mode is similar to mode 1 Only difference is that homing point detection is not through Z signal but through triggering of negative limit switch signal 17 17 Z signal Negative limit NOT A NOT OFF B NOT ON Start Stop High velocity 6099h 01h Low velocity 6099h 02h ...

Page 192: ... OFF B POT ON Start Stop High velocity 6099h 01h Low velocity 6099h 02h Homing switch signal triggering detection mode Mode 19 This mode is similar to mode 3 Only difference is that homing point detection is not through Z signal but through triggering of homing switch signal 19 19 Z signal Negative limit NOT A HOMING SWITCH OFF B HOMING SWITCH ON Start Stop High velocity 6099h 01h Low velocity 609...

Page 193: ...ITCH OFF Start Stop High velocity 6099h 01h Low velocity 6099h 02h Positive limit POT HOMING SWITCH B HOMING SWITCH ON Mode 21 This mode is similar to mode 5 Only difference is that homing point detection is not through Z signal but through triggering of homing switch signal Z Signal HOMING SWITCH A HOMING SWITCH OFF High Velocity 6099h 01h Low Velocity 6099h 02h Start Stop 21 21 Negative limit NO...

Page 194: ...99h 01h Low Velocity 6099h 02h Start Stop 22 22 Negative limit NOT Positive limit POT B HOMING SWITCH ON Mode 23 This mode is similar to mode 7 Only difference is that homing point detection is not through Z signal but through triggering of homing switch signal Z Signal HOMING SWITCH B HOMING SWITCH ON POT OFF Positive limit POT A HOMING SWITCH OFF POT OFF C HOMING SWITCH OFF POT OFF High velocity...

Page 195: ...MING SWITCH OFF POT OFF C HOMING SWITCH OFF POT OFF High Velocity 6099h 01h Low Velocity 6099h 02h Start Stop 24 24 24 Mode 25 This mode is similar to mode 9 Only difference is that homing point detection is not through Z signal but through triggering of homing switch signal Z Signal HOMING SWITCH B HOMING SWITCH ON POT OFF Positive limit POT A HOMING SWITCH OFF POT OFF C HOMING SWITCH OFF POT OFF...

Page 196: ...MING SWITCH OFF POT OFF C HOMING SWITCH OFF POT OFF High Velocity 6099h 01h Low Velocity 6099h 02h Start Stop 26 26 26 Mode 27 This mode is similar to mode 11 Only difference is that homing point detection is not through Z signal but through triggering of homing switch signal Z Signal HOMING SWITCH B HOMING SWITCH ON NOT OFF Negative limit NOT A HOMING SWITCH OFF NOT OFF C HOMING SWITCH OFF NOT OF...

Page 197: ...MING SWITCH OFF NOT OFF C HOMING SWITCH OFF NOT OFF High velocity 6099h 01h Low velocity 6099h 02h Start Stop 28 28 28 Mode 29 This mode is similar to mode 13 Only difference is that homing point detection is not through Z signal but through triggering of homing switch signal Z Signal HOMING SWITCH B HOMING SWITCH ON NOT OFF Negative limit NOT A HOMING SWITCH OFF NOT OFF C HOMING SWITCH OFF NOT OF...

Page 198: ...elocity 6099h 01h Low velocity 6099h 02h Start Stop 30 30 30 B HOMING SWITCH ON NOT OFF Other modes Mode 33 The motor starts to move in negative direction and stops when the Z signal is valid If the positive negative limit switch signal or homing switch is valid during the homing process the status word 6041h bit 13 will be valid indicating homing error and the motor will stop immediately Z Signal...

Page 199: ...ol word 6040h bit 4 from 0 to 1 Position Control Word 6040h bit4 0 1 High Velocity 6099h 01h Low Velocity 6099h 02h Start Stop 35 37 Application Realization of homing motion Step 1 6060h 6 determine if 6061h 6 Servo driver is now under HM mode Step 2 Write motion parameters Homing method 6098h Homing velocity 6099h 01 6099h 02 and acceleration deceleration 609Ah Step 3 Enable servo driver and swit...

Page 200: ...y RO TxPDO Yes Yes 606C 0 Actual feedback velocity RO TxPDO Yes Yes 6074 0 Internal torque command RO TxPDO Yes Yes 6076 0 Rated torque RO TxPDO Yes Yes 6077 0 Actual torque RO TxPDO Yes Yes 5 6 2 Cyclic Synchronous Velocity Mode CSV CSV Block Diagram Velocity loop Torque loop Motor S M U L Target velocity 60FFh Trajectory planning output C S V PV Velocity feedforward 60B1h Internal torque feeforw...

Page 201: ...03F 00h Error code U16 RO 6060 00h Operation mode I8 RW 6061 00h Displayed operation mode I8 RO 606B 00h Internal command velocity I32 RO Uint 605A 00h Quick stop option I16 RW 6085 00h Quick stop deceleration U32 RW Uint S 5 6 3 Profile Velocity Mode PV In asynchronous motion mode master device is only responsible for sending motion parameters and control commands EL7 EC servo drive will conduct ...

Page 202: ... Required 60FF 00h Target velocity I32 RW Uint Required 6083 00h Acceleration I32 RW Uint S Optional TXPDO 6041 00h Status word U16 RO Required 6064 00h Position feedback I32 RO Uint Optional 606C 00h Velocity feedback I32 RO Uint S Optional 60F4 00h Actual following error I32 RO Uint Optional 6077 00h Actual torque I16 RO 0 1 Optional Extended object Index Sub Index Name Data Type Access Unit 603...

Page 203: ...speed 0 It s not zero speed It s moving 1 Zero speed or it s going to slow down to zero speed 1 1 Zero speed of bit 12 is generally effective when deceleration stop and hardware limit valid Application Realization of profile velocity motion Step 1 6060h 3 determine if 6061h 3 Servo driver is now under PV mode Step 2 Write motion parameters Target velocity 60FFh acceleration 6083h and deceleration ...

Page 204: ...0 Rated torque RO No Yes Yes 6077 0 Actual torque RO TxPDO Yes Yes 6079 0 Bus voltage RO TxPDO Yes Yes 5 7 2 Cyclic Synchronous Torque Mode CST CST Block Diagram Torque Loop Motor S M U L Target torque 6071h Trajectory planning output C S T PT Torque feedforward 60B2h Amplifer Actual torque 6077h Actual velocity feedback 606Ch Actual position feedback 6064h Polarity 2071h 2073h Related Objects Bas...

Page 205: ...splayed operation mode I8 RO 6074 00h Internal command torque I16 RO 0 1 605A 00h Quick stop option I16 RW 6080 00h Maximum motor velocity U32 RW Uint S 6085 00h Quick stop deceleration U32 RW Uint S 60B1 00h Velocity feedforward I32 RW Uint S 2077 00h Velocity limit I16 RW RPM 5 7 3 Profile Torque Mode PT In asynchronous motion mode master device is only responsible for sending motion parameters ...

Page 206: ...16 RW 0 1 Required 6087 00h Torque change rate U32 RW 0 1 S Optional TXPDO 6041 00h Status word U16 RO Required 6064 00h Actual feedback position value I32 RO Uint Optional 606C 00h Actual feedback speed value I32 RO Uint S Optional 60F4 00h Actual following error I32 RO Uint Optional 6077 00h Actual torque I16 RO 0 1 Optional Extended object Index Sub Index Label Data Type Access Unit 603F 00h Er...

Page 207: ...locity limit I16 RW RPM Application Realization of profile torque motion Step 1 6060h 4 determine if 6061h 4 Servo driver is now under PT mode Step 2 Write motion parameters Target torque 6071h Torque change rate 6087h and Max velocity limit 6080h ...

Page 208: ...performance gain adjustment has to be done Servo driver gain adjustment is done in combination with a few other parameters Inertia ratio Position loop gain Velocity loop gain and Filters settings These parameters will have an effect on each other so it always advisable to tune each parameter according in order to achieve optimal machine performance Please refer to the steps below ...

Page 209: ...t met Steps Functions Explanation Inertia measuring Online Motor moves with command from controller servo driver will automatically calculate load inertia ratio Offline Using servo driver inertia determining function servo driver can automatically calculate load inertia ratio Auto gain adjustment Auto gain adjustment Real time determining of mechanical load gain value is set accordingly ...

Page 210: ...rameter Setting a suitable value can help with the precise tuning of the servo system Inertia ratio can be set manually and also be determined automatically through servo driver 6 2 1 Online inertia determination Enable motor using controller Let motor run at above 400rpm make sure there are acceleration constant velocity and deceleration phase during the whole run Cycle through 2 3 times to calcu...

Page 211: ...please keep it at around 400 r min 2 Enter AF_GL for auxiliary function Inertia ratio determination into front panel 3 Press S once to enter G will be displayed on the front panel 4 Press once to display StUon 5 Press or once to start to calculate the inertia 6 After the calculation is done G xxx will be displayed and xxx is the value of inertia calculated 7 Write the corresponding value into Pr0 ...

Page 212: ...e set a minimal travel distance Pr0 04 Name Inertia ratio Mode F Range 0 20000 Unit Default 250 Index 2004h Activation Immediate Pr0 04 load inertia motor rotational inertia 100 Notice Set inertia ratio according to actual load inertia When both are uniform actual motor velocity loop responsiveness and gain settings will be consistent If inertia ratio is greater than actual value velocity loop gai...

Page 213: ...se check if there is any vibration before setting Pr0 03 to max value 5 Save the parameters Please take note Please stop the motor before modifying any parameter Pr0 02 only takes effect after saving modified parameter values into EEPROM and restarting the driver After enabling the servo driver for the first time or when increasing Pr0 03 mechanical noise or vibration might occur for the first run...

Page 214: ... good generality when there is no special requirement mode 2 when rapid positioning is needed If mode 1 and mode 2 cannot meet the requirements please choose mode 0 0 Manual Pr0 03 invalid Gain value must be adjusted manually and accordingly 1 Standard Pr0 03 valid Quick gain adjusting can be achieved by changing Pr0 03 stiffness value Gain switching is not used in this mode suitable for applicati...

Page 215: ...tandard 0X002 Rigid structure Positioning 0X010 High inertia Manual 0X011 High inertia Standard 0X012 High inertia Positioning 0X020 Flexible structure Manual 0X021 Flexible structure Standard 0X022 Flexible structure Positioning Pr0 03 Name Real time auto stiffness adjusting Mode F Range 50 81 Unit Default 70 Index 2003h Activation Immediate Valid when Pr0 03 1 2 Low High Mechanical stiffness Ser...

Page 216: ...inciple Current loop gain usually satisfies the responsiveness demand without tuning When gain adjustment is done under position control mode in order to keep the system stabile position and velocity loop gain have to be increased at the same time to make sure the responsiveness of the position loop is lower than velocity loop Steps to tuning Position and velocity control For servo gain if any one...

Page 217: ...mmended range 50000 PA1 01xPA1 02 150000 For example Velocity loop gain Pr1 01 500 0 1Hz which is 50Hz Integral time constant of velocity loop should be 100 0 1ms Pr1 02 300 0 1ms Pr1 04 Name 1st Torque Filter Time Constant Mode F Range 0 250 0 Unit 0 01ms Default 126 Index 2104h Activation Immediate To set torque command low pass filter add a filter delay time constant to torque command and filte...

Page 218: ...locity to shorten positioning time 3 Switch to higher gain when motor is moving at a high velocity to improve command following behavior Diagram below shows gain switching when motor stops Command velocity Stop Servo enabled Low Gain 1st Gain Driver High gain 2nd gain Time Motion Status Gain Pr1 19 set time Low Gain 1st Gain Stop Servo enabled 1st gain Pr1 00 Pr1 04 and 2nd gain Pr1 05 Pr1 09 swit...

Page 219: ...itch gain accordingly Related parameters on gain switching No Parameter Label Remarks 1 PA1 15 Position control gain switching mode In position control set PA1 15 3 5 6 9 10 In velocity control set PA1 15 3 5 9 2 PA1 17 Position control level switching Please set PA1 17 PA1 18 3 PA1 18 Position control hysteresis switching If PA1 17 PA1 18 driver will set PA1 17 PA1 18 4 PA1 19 Position gain time ...

Page 220: ...ing 1st gain Pr1 00 Pr1 04 1 2nd gain fixed Fixed on using 2nd gain Pr1 05 Pr1 09 2 Reserved 3 High set torque Switch to 2nd gain when set torque command absolute value larger than level hysteresis Switch to 1st gain when set torque command absolute value smaller than level hysteresis 4 Reserved Reserved 5 High set velocity Valid for position and velocity control Switch to 2nd gain when set veloci...

Page 221: ... for position control Switch to 2nd gain if position command 0 Switch to 1st gain if position command remains 0 throughout the duration of delay time 8 Not yet in position Valid for position control Switch to 2nd gain if position command is not completed Switch to 1st gain if position command remains uncompleted throughout the duration of delay time 9 High actual velocity Valid for position contro...

Page 222: ...control mode set Pr1 15 3 5 6 9 10 For velocity control mode set Pr1 15 3 5 9 Above level and hysteresis are in correspondence to Pr1 17 Position control gain switching level and Pr1 18 Hysteresis at position control switching Pr1 17 Name Position control gain switching level Mode F Range 0 2000 0 Unit Mode dependent Default 50 Index 2117h Activation Immediate Set threshold value for gain switchin...

Page 223: ...osition feedback Comparing to control only using feedbacks this will reduce position deviation and increase responsiveness Besides by comparing the torque needed during motion from velocity control command in comparison with velocity feedback torque feedback can be calculated to improve system responsiveness 6 6 1 Velocity feedforward Velocity feedforward can be used in position control mode When ...

Page 224: ...t velocity the position deviation in a motion will decrease as the velocity feedforward gain increase Steps to tuning 1 Increase Pr1 10 to increase responsiveness but velocity overshoot might occur during acc deceleration 2 By reducing Pr1 11 velocity feedforward would be more effective and vice versa Pr1 10 and Pr1 11 need to be tuned to a balance 3 If mechanical noise exists under normal working...

Page 225: ... precision Noise reduces if torque feed forward filter time constant is set higher but position deviation will increase at acceleration varied points 6 6 4 Torque feedforward application Set Pr1 13 to around 50 0 5ms then tune Pr1 10 from 0 to bigger values until torque feedforward achieves better performance Under constant acc deceleration the position deviation in a motion will decrease as the v...

Page 226: ... following control 1 Automatic adjustment Set model following bandwidth Pr0 00 1 for automatic adjustment Now Pr0 00 Pr1 01 model following bandwidth is adjusted automatically according to different velocity loop gain 2 Manual adjustment Please used manual adjustment if Automatic adjustment is not satisfactory Responsiveness needs further improvement in comparison with automatic adjustment There i...

Page 227: ...d on the motor By adjusting Pr6 07 positioning deviation due to different motional direction can be reduced Belt driven axis Due to large radial load with dynamic frictional torque Positioning time delay and deviation can be reduced by adjusting Pr6 08 and Pr6 09 Pr6 07 Name Torque command additional value Mode F Range 100 100 Unit Default 0 Index 2607h Activation Immediate To set torque forward f...

Page 228: ...ameters adjustment under different control modes Under different control mode parameters adjustment has to be adjusted in this order Inertia measuring Auto gain adjustment Manual gain adjustments 6 9 1 Position control mode Set load inertia ratio Pr0 04 after inertia determination No Parameter Label 1 Pr1 00 1st position loop gain 2 Pr1 01 1st velocity loop gain 3 Pr1 02 1st velocity integral time...

Page 229: ... time constant 9 PA1 08 2nd velocity detection filter 10 PA1 09 2nd torque filter time constant Manually adjusted gain parameters No Parameter Label 1 PA1 00 1st position loop gain 2 PA1 01 1st velocity loop gain 3 PA1 02 1st velocity integral time constant 4 PA1 04 1st torque filter time constant 5 PA1 10 Velocity feedforward gain constant 6 PA1 11 Velocity feedforward filter time constant 6 9 2 ...

Page 230: ...iver ON signal Pr4 37 Name Motor power off delay time Mode F Range 0 3000 Unit 1ms Default 100 Index 2437h Activation Immediate To set delay time for holding brake to be activated after motor power off to prevent axis from sliding Pr4 38 Name Delay time for holding brake release Mode F Range 0 3000 Unit 1ms Default 0 Index 2438h Activation Immediate To set delay time for holding brake to be releas...

Page 231: ... below Pr4 39 whichever comes first Application 1 After disabling axis Pr6 14 has been reached but motor speed is still above Pr4 39 BRK_OFF signal given 2 After disabling axis Pr6 14 has not been reached but motor speed is below Pr4 39 BRK_OFF signal given 6 10 1 Emergency stop function Emergency stop is used when an alarm occurs or a servo prohibition signal is received when servo driver is enab...

Page 232: ...ression Mechanical system has certain resonance frequencies When servo gain is increased resonance might occur at around mechanical resonant frequencies preventing gain value from increasing In such situation notch filter can be used to suppress resonance to set higher gains or lower vibration To suppress mechanical resonance 1 Torque command filter time constant Set filter time constant to reduce...

Page 233: ...et Pr2 00 1 for auto notch filter adjustment 2 If Pr0 03 stiffness increases 3rd group of notch filter Pr2 07 Pr2 08 Pr2 09 updates automatically when driver is enabled Pr2 00 0 auto adjustments stop If resonance is suppressed it means self adjusting notch filter is working If resonance occurs when mechanical stiffness increases please use manual notch filter set filter frequency to actual resonan...

Page 234: ...00Hz which is lower than mechanical resonant frequencies It is called low frequency resonance which can be prevented by applying low frequency suppression function To apply low frequency suppression 1 Trace current position deviation waveform when motion stops 2 Measure the vibration cycle T1 of current waveform 3 Convert T1 into low frequency resonance by F1 1 T1 4 Write F1 into Pr2 14 5 If some ...

Page 235: ...m Please stop the axis before reading any position data to prevent inaccuracy 6 12 1 Parameters setting Pr0 15 Name Absolute Encoder settings Mode PP HM CS P Range 0 32767 Unit Default 0 Index 2015h Activation Immediate 0 Incremental mode Used as an incremental encoder Doesn t retain position data on power off Unlimited travel distance 1 Multiturn linear mode Used as a multiturn absolute encoder R...

Page 236: ...ery the alarm will be cleared 4 Finally the user can read the absolute position Position won t be lost even if the driver is powered off 确认是多圈编码器并安装电池设定参数 PA0 15为1 原点是否已初始化把机械回到原点 PA0 15设9执行多圈位置清零读取绝对位置 YES NO 注新安装编码器没初始化会报警 Install battery Set Pr0 15 1 Home process Finishing Homing process set Pr0 15 9 Read absolute position YES NO Note The newly installed encoder is not initialized and w...

Page 237: ...d on top of incremental mode and multiturn linear mode Actual feedback multiturn data is always between 0 Pr6 63 1 regardless of the direction of rotation There is no limit to no of rotation and no data overflow Single turn absolute mode Use this mode when the travel distance of the axis is within a single turn of the rotor 1 Target position input range EtherCAT When using 23 bit absolute encoder ...

Page 238: ... needs to be homed After clearing multiturn position revolution count 0 but absolute position remains unchanged and Err153 alarm will be cleared Please make sure the homing point is within the range of 1 revolution of the rotor Installation and setup of the homing point can be set with the use of auxiliary function D21 on the front panel By setting Pr0 15 to 9 multiturn position will be cleared Pl...

Page 239: ...rn of the motor from motor position during power on 0 223 1 Range of motion Position during power on Single turn Position If power is turned off at position as shown below and power on when motor reaches the position below Motor range of motion changes as shown below 0 223 1 Range of Motion Position during power on Single Turn Moved after power off Position ...

Page 240: ... from controller Err153 might occur 1 If absolute encoder is used for the first time and due to installation of new batteries Axis needs to be homed and multiturn data needs to be cleared 2 If battery voltage is lower than 3 2v Replace battery and restart the motor 3 If battery voltage is lower than 2 5v or battery power was cut off Replacing the battery won t clear the alarm Axis needs to be home...

Page 241: ...ettings Command pulse input mode settings Mode F Range 0 3 Unit Default 3 Index 2007h Activation After restart Probe signal polarity settings take effect when Pr0 01 9 Set value Details 0 Probe 1 2 polarity inversion 1 Probe 2 polarity inversion 2 Probe 1 polarity inversion 3 No polarity inversion for probe 1 2 If Pr0 01 9 Pr0 07 Command pulse input mode settings Command pulse input Command Polari...

Page 242: ...put signal 1 revolution with 2500 pulses 2 phase pulse input when Pr0 07 0 or 2 Pr0 08 10000 1 revolution with 10000 pulses 1 phase pulse input when Pr0 07 1 or 3 Pr0 08 10000 6 13 1 Probe function When using EXT1 or EXT2 as probe please set as following a Set polarity of EXT 1 or EXT 2 as probe Set the level polarity of the probes using 0x2007 Pr0 07 Bit 0 for EXT1 signal bit 1 for EXT2 signal b ...

Page 243: ... int32 Command unit 2147483648 2147483647 0 60BCh 00h Probe 2 or Z signal rising edge latching position RO int32 Command unit 2147483648 2147483647 0 60BDh 00h Probe 2 or Z signal falling edge latching position RO int32 Command unit 2147483648 2147483647 0 60D5h 00h Probe 1 or Z signal rising edge counter RO Uint32 0 4294967296 0 60D6h 00h Probe 1 or Z signal falling edge counter RO Uint32 0 42949...

Page 244: ...enable 0 Disable 1 Enable 1 Probe 1 or Z signal rising edge trigger 0 not executed 1 executed 2 Probe 1 or Z signal falling edge trigger 0 not executed 1 executed 3 5 Reserved 6 7 Reserved 8 Probe 2 enable 0 Disable 1 Enable 9 Probe 2 or Z signal rising edge trigger 0 not executed 1 executed 10 Probe 2 or Z signal falling edge trigger 0 not executed 1 executed 11 13 Reserved 14 15 Reserved 6 13 6 ...

Page 245: ...rising edge counter 60D8h Probe 2 or Z signal falling edge counter 6 13 8 Probe mode Set bit1 bit9 of 60B8h Probe mode 0 Single trigger mode 1 Continuous trigger mode 1 Single trigger mode Triggers only when the trigger signal is valid for the first time In order to latch the position users need to set bit0 bit8 of 60B8h to 0 then set bit0 bit8 of 60B8h to 1 The sequence diagram is as shown below ...

Page 246: ...y from controller is not enough which cause the motor to not reach target rotational velocity frequency can be increased using this function Pr0 08 Name Command pulse counts per revolution Mode F Range 0 838860 8 Uni t P Default 0 Index 2008h Activation After restart Pulses per revolution can be set using object dictionary 608F 6091 6092 However Pr0 08 has higher priority Index 608Fh 01 Name Encod...

Page 247: ...oder resolution 6092h 01 If 6092h 01 Feed constant is equal to 608Fh Position encoder resolution then Electronic gear ratio 6091 01 6092h 01 Position command filter function To smoothen the position command after frequency divider multiplier Pr2 22 Name Position command smoothing filter Mode PP HM CS P Range 0 32767 Unit 0 1ms Default 0 Index 2222h Activation Stop axis To set time constant of 1 ti...

Page 248: ...and FIR filter set time ms Pr2 23 x 0 1ms As shown below when target velocity Vc trapezoidal command reaches Vc it becomes S wave after filtering Velocity RPM Position command before filtering Position command after filtering Time Vc Position command FIR filter set time ms Pr2 23 x 0 1ms Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot To smoo...

Page 249: ...han Pr4 31 1 Signal valid when there is no position command and position deviation is smaller than Pr4 31 2 Signal valid when there is no position command zero speed clamp detection ZSP signal is ON and the positional deviation is smaller than Pr4 31 3 Signal valid when there is no position command and position deviation is smaller than Pr4 31 Signal ON when within the time set in Pr4 33 otherwise...

Page 250: ...ex 2436h Activation Immediate When motor velocity Pr4 36 AT speed output signal is valid Detection using 10RPM hysteresis Velocity coincidence output Velocity command before acc deceleration coincides with motor velocity If the difference between velocity command and motor velocity is within the range set in Pr4 35 it is treated as the velocity coincides Pr4 35 Name Velocity coincidence range Mode...

Page 251: ...ity coincidence range Velocity coincidence V COIN OFF ON ON OFF Position command after acceleration time settings added Zero speed position output If the absolute value of the velocity feedback satisfies set conditions corresponding output will be set to ON Pr4 34 Name Zero speed Mode F Range 1 2000 Unit RPM Default 50 Index 2434h Activation Immediate To set threshold value for zero speed clamp de...

Page 252: ...command control with velocity limit Due to gravitational or other external factors torque command from controller might differ from the direction of rotation of the motor velocity limit will be invalid Please error occurs in such situation please set Pr5 13 as stopping velocity If velocity is over the value set in Pr5 13 Er1A0 might occur and motor will stop Pr5 13 Name Overspeed level settings Mo...

Page 253: ...d only by hardware propagation delay times The last node in a segment or drop line detects an open port and sends the message back to the master using Ethernet technology s full duplex feature The telegram s maximum effective data rate increases to over 90 and due to the utilization of the full duplex feature the theoretical effective data rate is even higher than 100 Mbit s 90 of two times 100 Mb...

Page 254: ...ous motion mode such as homing mode protocol position mode etc 7 2 2 Distributed clock synchronization mode EL7 EC adopts the synchronous mode of distributed clock as shown in figure 6 2 When the master station sends process data to the slave station the slave station immediately reads the process data and then waits for the synchronization signal to trigger the process data to act on the driver T...

Page 255: ...e conversion must be carried out strictly in the order of initializing pre operational safe operational operational from low to high and no grade skipping is allowed When converting from high to low grade skipping is allowed If state transition request to master station fails slave station will send an error message to the master station EtherCAT 402 State Machine Communication function State and ...

Page 256: ... structure of EL7 EC network module The data link layer is mainly implemented by EtherCAT slave station controller ESC EL7 EC EtherCAT application layer protocol mainly includes application part CANopen DSP402 object dictionary and communication function red frame part among which object dictionary and communication function can be jointly called CoE part Object dictionary Bridge of communication ...

Page 257: ...ded without changing the protocol head In this way the SDO protocol uses mailboxes with larger data lengths thus improving the transmission efficiency of big data 7 4 4 Process Data Object PDO PDO Introduction PDO is generally used for real time data updates It is divided into receiving PDO RXPDO and sending PDO TXPDO The data stream direction of receiving PDO is from master station to slave stati...

Page 258: ...ue feedforward RXPDO3 1602h 01h 60400010h 6040h 00h 10h 16 bit Control word 02h 60710010h 6071h 00h 10h 16 bit Target torque 03h 60870020h 6084h 00h 20h 32 bit Profile deceleration RXPDO4 1603h 01h 60400010h 6040h 00h 10h 16 bit Control word 02h 60980008h 6098h 00h 08h 8 bit Homing method 03h 60990120h 6099h 01h 20h 32 bit High homing velocity 04h 60990220h 6099h 02h 20h 32 bit Low homing velocity...

Page 259: ...C Invalidate the PDO mapping object by assigning 0 to the subindex 0 of 1600h 1603h 1A00h 1A01h D Reconfigure PDO mapping content and write the mapping object into the objects in the range of 1600 01h 1600 08h 1601 01h 1601 08h 1602 01h 1602 08h 03 01h 1603 08h RXPDO mapping content as from 1600h 01 00 01h 1A00 08h or 1A01 01h 1A01 08h TXPDO mapping content as from 1A00h 01 according to Table 6 3 ...

Page 260: ...ng 2 Regeneration energy overload warning 85 of the regeneration threshold 3 Absolute encoder battery voltage low 3 1V Valid when Pr0 15 is set to 1 4 Change the parameter to a non real time valid warning 5 Pr0 01 is not 9 under current control mode please correct this parameter 8 2 Servo drive alarm When alarm occurs driver will set protective function and motor stops moving Error code will be di...

Page 261: ...trol circuit power supply voltage too high 2 0c 0 DC bus overvoltage 1 0d 0 DC bus undervoltage 1 1 Single phasing of main power supply 2 2 No main power supply detected 2 0E 0 Overcurrent 1 1 Intelligent Power Module IPM overcurrent 1 2 Power output to motor shorted to ground 1 4 Phase overcurrent 1 0F 0 Driver overheated 2 10 0 Motor overloaded 1 1 Driver overloaded 1 2 Motor rotor blocked 1 12 ...

Page 262: ...error 2 2 I O output interface function assignment error 2 24 0 EEPROM parameters initialization error 2 1 EEPROM hardware error 2 2 Error saving alarm history record 2 3 Error occurred when saving vendor parameters 2 4 Error occurred when saving communication parameters 2 5 Error occurred when saving parameter 402 2 6 Data saving error during power off 26 0 Positive Negative position limit trigge...

Page 263: ...larms please first solve the error and restart the servo driver to clear alarm PR 000 Parameter settings M Auxiliary Function Press Button to choose auxiliary function AF ACL Clear Alarm Press S to enter operational mode EEPROM writing Press M to enter EEPROM writing mode Auxiliary Function AF ACL Clear Alarm Operational mode ACL Initial display of alarm clearing function Press S to enter operatio...

Page 264: ...r 0f0 0x08 0x4210 Driver overheated Er 100 0x02 0x8311 Motor overloaded Er 101 0x02 0x8310 Driver overloaded Er 102 0x02 0x8301 Motor rotor blocked Er 120 0x80 0x7701 Regenerative resistor overvoltage Er 121 0x80 0x7702 Holding brake error Er 122 0x80 0x7703 Regenerative resistor value too low Er 150 0x80 0x7321 Encoder disconnected Er 151 0x80 0x7322 Encoder communication error Er 152 0x80 0x7323...

Page 265: ...2 Er 246 0x80 0x5536 Data saving error during power off Er 260 0x80 0x7329 Positive Negative position limit triggered under non homing mode Er 270 Analog 1 input overrun limit Er 271 Analog 2 input overrun limit Er 280 0x80 0x7201 Output pulse frequency too high Er 570 0x80 0x5441 Forced alarm input valid Er 5f0 0x80 0x7122 Motor model no detection error Er 5f1 0x80 0x1100 Driver power module dete...

Page 266: ...0x821E 0x001E Invalid input configuration Er 81f 0x10 0x821F Watchdog configuration invalid Er 821 0x10 0xA00 3 0x0021 Waiting for EtherCAT state machine Init state Er 822 0x10 0xA00 4 0x002 2 Waiting for the EtherCAT state machine Pre Op state Er 823 0x10 0xA00 5 0x002 3 Waiting for master device for Safe Op request Er 824 0x10 0x8224 0x002 4 Invalid process data input mapping Er 825 0x10 0x8225 ...

Page 267: ...0x8736 0x003 6 Invalid Distribution Clock synchronization cycle time Er 850 0x80 0x5550 0x005 0 EEPROM is inaccessible Er 851 0x80 0x5551 0x0051 EEPROM error Er 852 0x80 0x5552 0x005 2 Hardware is not ready Er 860 0x80 0xFF01 EtherCAT frame lost per unit time exceeds limit Er 870 0x80 0x5201 Driver can t be enabled under current control mode ...

Page 268: ...er cable not connected Verify motor power cable wiring Measure resistance values between U V W terminals make sure the values are almost equal If not might be due to damaged motor or motor winding open circuit Motor fault Replace motor Driver fault Replace driver Error code Main Sub Display Er 0b1 0b 1 Content Control circuit power supply abnormal Cause Diagnosis Solution USB power supply too low ...

Page 269: ...ntrol circuit Driver fault Replace driver Error code Main Sub Display Er 0d1 0d 1 Content Single phasing of main power supply Cause Diagnosis Solution Main power supply undervoltage Verify L1 L2 L3 terminal voltage Increase main power supply voltage Main power supply wiring error Loose connection of L1 L2 L3 Secure connections Driver fault Replace driver Error code Main Sub Display Er 0d2 0d 2 Con...

Page 270: ... resistance value of UVW to PE is equal and if there is short circuit Replace motor Error code Main Sub Display Er 0E1 0E 1 Content Intelligent Power Module IPM overcurrent Cause Diagnosis Solution Driver power output short circuit Verify if there is short circuit between UVW terminals or shorted to PG 1 Make sure there is no circuit 2 Make sure motor is not damaged Motor wiring error Verify motor...

Page 271: ...esistance value of UVW to PE is equal and if there is short circuit Replace motor Driver fault Replace driver Error code Main Sub Display Er 0F0 0F 0 Content Driver overheated Cause Diagnosis Solution Temperature of power module exceeded upper limit Measure the temperature of driver radiator 1 Improve cooling condition Please check installation guide 2 Replace driver and motor with higher power ra...

Page 272: ...ge 2 Interval regenerative resistor value is too low 1 Decrease power supply voltage 2 Increase regeneration resistance value add external regenerative resistor Unstable power supply voltage Verify if power supply voltage is stable Add a surge suppressor to main power supply Regenerative energy discharge circuit damaged 1 Add an external regenerative resistor 2 Replace driver Error code Main Sub D...

Page 273: ... layer Replace with standard encoder cable Encoder cable wiring error Verify if encoder wiring is correct Reconnect encoder wiring Encoder damaged Replace motor Error code Main Sub Display Er 152 15 2 Content Encoder initial position error Cause Diagnosis Solution Communication data abnormal 1 Verify if encoder power supply voltage is DC5V 5 2 Verify if encoder cable and shielded layer is not dama...

Page 274: ...olute position lost Return to origin and perform multiturn initialization calibrate the origin of coordinate system Error code Main Sub Display Er 154 15 4 Content Encoder parameter settings error Cause Diagnosis Solution Absolute encoder mode is incorrectly set Verify if encoder has multi turn absolute value function Modify absolute encoder mode settings Error code Main Sub Display Er 155 15 5 Co...

Page 275: ... to high powered power supply cable 1 Make sure encoder power supply voltage is stable 2 Make sure encoder cable is not damaged 3 Make sure encoder cable shielded layer is grounded to frame 4 Make sure encoder cable is away from high powered power supply cable Encoder damaged Replace motor Encoder measuring circuit damaged Replace driver Error code Main Sub Display Er 171 17 1 Content Encoder para...

Page 276: ...o great Verify if value of Pr6 02 is too low 1 Increase value of Pr6 02 2 Set Pr6 02 to 0 position error detection off Acceleration and deceleration duration time for set velocity is too low Verify if value of Pr3 12 and Pr3 13 are too low 1 Increase value of Pr3 12 Pr3 13 2 Adjust velocity gain to reduce velocity lag error Error code Main Sub Display Er 190 19 0 Content Motor vibration too strong...

Page 277: ...umerator or denominator is zero Set values out of range Reduce number of pulses per revolution Error code Main Sub Display Er 1c0 1c 0 Content Both STO failed Cause Diagnosis Solution Both STO input signals valid Verify if STO power supply is normal Verify 24V STO power supply and power cable connection Disconnect switch connected to STO Close switch Error code Main Sub Display Er 1c1 1c 1 Content...

Page 278: ...4 10 Pr4 15 Input signal not assigned Verify values of Pr4 10 Pr4 15 Set proper values for Pr4 10 Pr4 15 Error code Main Sub Display Er 240 24 0 Content EEPROM parameters initialization error Cause Diagnosis Solution Error during initial reading of EEPROM parameters Restart after changing any parameter Verify if the parameter is saved If parameter not saved after several restarts please change dri...

Page 279: ... off before data saved Wait until data saved successfully before powering off EEPROM damaged Restart driver for a few times Restart driver for a few times Error code Main Sub Display Er 246 24 6 Error description Data saving error during power off Cause Diagnosis Solution Power off too fast Upgrade software EEPROM damaged Restart driver for a few times Restart driver for a few times Error code Mai...

Page 280: ...Diagnosis Solution Driver power rating not within range Restart driver Please contact our technical support Error code Main Sub Display Er 600 60 0 Error description Main loop interrupted timeout Cause Diagnosis Solution The motor control loop calculation time overflow Check for interference from devices releasing electromagnetic field Ground driver and motor to reduce interference Restart driver ...

Page 281: ... 4 1 Servo Drive Alarm For alarm can be cleared There are 3 method Method 1 1 By setting bit 7 of 6040h to 1 switches state machine from fault to initialization completion No fault Switch on disabled Method 2 Use auxiliary function AF_ACL 1 Press M to select auxiliary function Press SET to enter into AF_ACL Press and hold to clear the alarm Method 3 Set IO input function as Alarm clear input A CLR...

Page 282: ...0 3 By setting bit 7 of 6040h to 1 switches state machine from fault to initialization completion No fault Switch on disabled Error code Main Sub Display Er 73A 73 A Error description SyncManager2 lost Cause Diagnosis Solution Poor master performance Increase the alarm threshold Single unit drive has problem Is it a single unit or multiple units together in the network Switch drive interfere Check...

Page 283: ...the safe operation and the operation state is switched to the safe operation state Solution Verify network connection and master device EtherCAT state machine transition order Error code Main Sub Display Er 802 80 2 Error description Memory overflow Cause CPU failed to request memory The status of the error can be detected All ESM status The result status The current state is maintained below the ...

Page 284: ...id EtherCAT transition request Cause Driver received unconvertible request from EtherCAT state machine The status of the error can be detected All ESM Status The result status The current state is maintained below the safe operation and the operation state is switched to the safe operation state Solution Verify if the transition information from master device is correct Error code Main Sub Display...

Page 285: ...ver to supplier to update firmware Error code Main Sub Display Er 815 81 5 Error description Invalid mailbox configuration under boot state Cause Boot state action not supported under current configuration The status of the error can be detected Initialize the conversion to a boot The result status Initialization Solution Verify if EL7EC software version supports action under this state Error code...

Page 286: ...erify master device synchronization settings Error code Main Sub Display Er 819 81 9 Error description No valid output data Cause Output data is not updated for more than 1 second The status of the error can be detected All ESM status The result status The current state is maintained below the safe operation and the operation state is switched to the safe operation state Solution 1 Verify if RxPDO...

Page 287: ...t status Initialize Solution Verify if XML file version is consistent with software version Error code Main Sub Display Er 81d 81 d Error description Invalid output configuration Cause Process data output synchronization manager configuration is invalid The status of the error can be detected Pre operation The result status Initialize Solution 1 Verify EL7EC synchronization manager configuration 2...

Page 288: ... can be detected Safe operation operation The result status Keeping the current state Solution Verify transition request sent from master device Error code Main Sub Display Er 823 82 3 Error description Waiting for master device for Safe Op request Cause Process data output synchronization manager configuration is invalid The status of the error can be detected Operation The result status Keeping ...

Page 289: ...software version 2 Verify XML version Error code Main Sub Display Er 82b 82 b Error description Invalid inputs and outputs Cause No RxPDO and TxPDO updates for more than 1 second The status of the error can be detected All ESM status The result status The current state is maintained below the safe operation and the operation state is switched to the safe operation state Solution 1 Verify if curren...

Page 290: ...ted operation The result status Pre operation Solution Verify master device synchronization cycle time Error code Main Sub Display Er 830 83 0 Error description Invalid Distributed Clock synchronization settings Cause Synchronization settings in sync mode are not valid The status of the error can be detected Safe operation The result status Pre operation Solution Verify master device synchronizati...

Page 291: ...s 4 750us 5 1000us 6 2000us 7 4000us The status of the error can be detected Safe operation The result status Pre operation Solution Verify master device synchronization cycle time Error code Main Sub Display Er 850 85 0 Error description EEPROM is inaccessible Cause EtherCAT slave controller failed to access EEPROM The status of the error can be detected All ESM status The result status Keeping t...

Page 292: ...frame lost per unit time exceeds limit Cause EtherCAT frame lost per unit time exceeds the setting in 2635 00h The status of the error can be detected All status The result status Keeping the detection state Solution Change to network cable with higher bandwidth Replace driver Error code Main Sub Display Er 870 87 0 Error description Driver can t be enabled under current control mode Cause Enable ...

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