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Leadshine EL8-EC Series, User Manual

The Leadshine EL8-EC Series is a top-notch motor control unit designed for precise motion control applications. Ensure efficient operation and optimal performance by referring to the comprehensive "User Manual" available for "free download" on our website. Discover a wealth of information and fine-tune your system to perfection with ease.

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                                                              User Manual Of EL8-EC** AC Servo  

 

 

                                              

8 

 

5.7.1 Common Functions of Torque Mode ..................................................................................... 223

 

5.7.2 Cyclic Synchronous Torque Mode (CST) ................................................................................. 224

 

5.7.3 Profile Torque Mode (PT) ....................................................................................................... 225

 

CHAPTER 6 APPLICATION ................................................................................................................. 227

 

6.1

 

G

AIN 

A

DJUSTMENT

 ............................................................................................................................ 227

 

6.2

 

I

NERTIA RATIO IDENTIFICATION

 ............................................................................................................. 229

 

6.2.1 Online inertia determination ................................................................................................. 230

 

6.2.2 Offline inertia determination................................................................................................. 230

 

6.3

 

E

ASY 

T

UNING

.................................................................................................................................... 232

 

6.3.1 Single Parameter Tuning ....................................................................................................... 232

 

6.3.2 One-click Tuning .................................................................................................................... 233

 

6.4

 

A

UTO GAIN ADJUSTMENT

 .................................................................................................................... 235

 

6.5

 

M

ANUAL GAIN ADJUSTMENT

 ................................................................................................................ 240

 

6.6

 

P

ARAMETERS ADJUSTMENT UNDER DIFFERENT CONTROL MODES

 ................................................................. 242

 

6.7

 

G

AIN SWITCHING

 ............................................................................................................................... 243

 

6.7

 

3

RD

 

G

AIN 

S

WITCHING

 ......................................................................................................................... 249

 

6.8

 

F

EEDFORWARD GAIN

 .......................................................................................................................... 250

 

6.8.1 Velocity feedforward ............................................................................................................. 251

 

6.8.2 Torque feedforward ............................................................................................................... 252

 

6.9

 

M

ODEL FOLLOWING CONTROL

 .............................................................................................................. 253

 

6.10

 

Z

ERO TRACKING CONTROL

 ................................................................................................................. 254

 

6.11

 

F

RICTION COMPENSATION FUNCTION

 ................................................................................................... 256

 

6.12

 

V

IBRATION 

S

UPPRESSION

 .................................................................................................................. 257

 

6.12.1 Mechanical resonance suppression ..................................................................................... 257

 

6.12.2 End vibration suppression ................................................................................................... 259

 

6.12.3 Mechanical properties analysis ........................................................................................... 260

 

6.13

 

P

OSITION COMPARISON

 .................................................................................................................... 260

 

6.15

 

F

ULL CLOSED LOOP CONTROL

.............................................................................................................. 267

 

6.16

 

M

ULTITURN ABSOLUTE ENCODER

 ........................................................................................................ 270

 

6.16.1 Parameters setting .............................................................................................................. 270

 

6.16.2 Read absolute position ........................................................................................................ 270

 

6.16.3 Absolute Encoder Related Alarm ......................................................................................... 275

 

6.16.6 Battery kit ............................................................................................................................ 275

 

6.17

 

P

ROBE

 ........................................................................................................................................... 276

 

6.17.1 Probe function ..................................................................................................................... 277

 

6.17.2 Signal Input of EXT1 and EXT2 ............................................................................................. 278

 

6.17.3 Probe Control Word 60B8h .................................................................................................. 278

 

6.17.4 Probe Status Word 60B9h ................................................................................................... 279

 

6.17.6 Latch Position Register ........................................................................................................ 279

 

6.17.7 Latch Counter Register ........................................................................................................ 280

 

6.17.8 Probe mode ......................................................................................................................... 280

 

6.18

 

S

AFETY 

F

UNCTIONS

 .......................................................................................................................... 281

 

6.18.1 External brake deactivation output signal BRK-OFF ............................................................ 281

 

6.18.2 Emergency stop function ..................................................................................................... 283

 

6.19

 

O

THER 

F

UNCTIONS

 .......................................................................................................................... 284

 

6.19.1 Functions under Position mode ........................................................................................... 284

 

6.19.2 Functions under velocity mode ............................................................................................ 288

 

6.19.3 Functions under torque mode ............................................................................................. 290

 

CHAPTER 7 ETHERCAT COMMUNICATION ........................................................................................ 291

 

7.1

 

E

THER

CAT

 PRINCIPLE FUNCTION

 ........................................................................................................... 291

 

7.2

 

S

YNCHRONOUS 

M

ODE

 ........................................................................................................................ 292

 

7.2.1 Free Running Mode ............................................................................................................... 292

 

7.2.2 Distributed clock synchronization mode ................................................................................ 292

 

7.3

 

E

THER

CAT

 STATE MACHINE

 .................................................................................................................. 293

 

7.4

 

CAN

OPEN OVER 

E

THER

CAT

 

(C

O

E) ....................................................................................................... 294

 

Summary of Contents for EL8-EC Series

Page 1: ...EL8 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: ...placed with a product of similar specifications Steps to warranty claim 1 Visit Leadshine global site www leadshine com to look for local certified sales channel 2 Contact designated sales channel to check if any fee might incur May include repair fee spare part cost or shipping cost Circumstances where warranty claim is not available Damage Loss due to occurrence of natural or man made disaster s...

Page 6: ...1 2 7 1 Holding brake wiring diagram 32 2 7 2 Cable selection for motor with holding brake 33 2 8 I O SIGNAL CN1 35 2 9 ENCODER 1 MOTOR CN2 35 2 9 1 Cable selection for I O signal port CN1 and encoder feedback port CN2 36 2 10 ETHERCAT COMMUNICATION PORT CN3 CN4 39 2 11 SAFE TORQUE OFF STO PORT 40 2 12 ENCODER 2 EXTERNAL CN7 42 2 13 ANALOG AND Z PHASE OPEN COLLECTOR OUTPUT CN8 43 2 14 USB TYPE C T...

Page 7: ... FRONT PANEL WARNING INDICATOR 178 CHAPTER 5 CONTROL MODE 179 5 1 EL8 EC MOTION CONTROL STEP BY STEP 179 5 2 CIA402 STATE MACHINE 180 5 3 DRIVER CONTROL MODE SETTING 182 5 3 1 Supported control mode 6502h 182 5 3 2 Operational mode setting 6060h and Operational mode display 6061h 182 5 4 COMMON FUNCTIONS FOR ALL MODES 183 5 4 1 Digital input setting and status display 183 5 4 2 Digital output sett...

Page 8: ...vibration suppression 259 6 12 3 Mechanical properties analysis 260 6 13 POSITION COMPARISON 260 6 15 FULL CLOSED LOOP CONTROL 267 6 16 MULTITURN ABSOLUTE ENCODER 270 6 16 1 Parameters setting 270 6 16 2 Read absolute position 270 6 16 3 Absolute Encoder Related Alarm 275 6 16 6 Battery kit 275 6 17 PROBE 276 6 17 1 Probe function 277 6 17 2 Signal Input of EXT1 and EXT2 278 6 17 3 Probe Control W...

Page 9: ... Service Data Object SDO 295 7 4 4 Process Data Object PDO 295 7 5 NETWORK STATUS DISPLAY 298 CHAPTER 8 WARNING AND ALARM 300 8 1 SERVO DRIVE WARNING 300 8 2 SERVO DRIVE ALARM 300 8 3 ALARM HANDLING 309 8 4 ALARM CLEARING 324 8 4 1 Servo Drive Alarm 324 8 5 ETHERCAT COMMUNICATION ALARM 325 CONTACT US 336 ...

Page 10: ... 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 11: ...orts EtherCAT communication protocol which can be seamlessly connected to motion controllers PLC drivers that support this standard protocol Besides our standard servo driver features such as dynamic braking and internal holding brake which comes with internal regenerative resistor our EL8 EC drivers now also comes with Safe Torque Off STO function Gantry synchronization full closed loop functiona...

Page 12: ...00W 750 750W 1000 1000W 1500 1500W 2000 2000W Type F Full functions Extra customized Blank Standard Driver label Model EL8 EC750F Main power input 1PH 3PH 200VAC 240VAC 10 5A 50 60Hz Control power input 1PH 200VAC 240VAC 1A 50 60Hz Output UVW 0 240V 4A 0 2500Hz S N 38AA1158200001MS10 AC Servo Drive China Leadshine Technology Co Ltd www leadshine com Model no Input voltage current frequency Serial ...

Page 13: ...000rpm 2500rpm 3 Power Rating 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 optical multiturn L 23 bit magnetic multiturn 1500rpm 8 Voltage Blank T 220VAC 380VAC 6 Frame Size 40 60 100 80 40mm 80mm 60mm 100mm 130 130mm 180 180mm 75...

Page 14: ...t 2 analog outputs AO1 AO2 10V 10V Digital Input 8 Digital Inputs Supports common anode or cathode connection 1 Clear Alarm A CLR 2 Positive limit switch POT 3 Negative limit switch NOT 4 Homing switch HOME SWITCH 5 Emergency stop E Stop Digital Output 3 Digital outputs 3 double ended DO1 DO3 1 Alarm ALM 2 Servo ready SRDY 3 External brake off BRK OFF 4 Positioning completed INP 5 Velocity at arri...

Page 15: ... error Encoder feedback error Excessive braking rate EEPROM error Front Panel 5 push buttons 8 segments display 5 warning LEDs Software Driver tuning through Motion Studio Ver 2 2 x Parameters tuning in current loop position loop velocity loop Modify I O signal and motor parameters Variables velocity position deviation etc monitoring using step diagrams Communication USB Type C Modbus USB2 0 No ne...

Page 16: ...Connectors CN6 STO USB Type C CN2 Encoder 1 CN1 I O Signal Front Panel CN7 Encoder 2 Holding Brake 24VDC BR BR Protective Earth PE Motor connectors Main Power Supply AC220V Power on indicator light CN3 CN4 RS485 Communication Port Front View of EL8 EC AC Servo Drive ...

Page 17: ... external encoder Supports ABZ incremental encoder only CN3 CN4 RS485 Communication Port Connect to controller with RS485 interface Holding Brake 24VDC BR BR brake terminals Power on indicator light Lights up when servo driver 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 discharge Main power supply ...

Page 18: ...ports and connectors 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 19: ...sion Dimension 1 EL8 EC400F 150mm 150mm 43mm Dimension 2 EL8 EC750 1000F 150mm 160mm 55mm Temperature Storage 20 80 Condensation free Installation 0 55 Not frozen Humidity Under 90 RH Condensation free Altitude Up to 1000m above sea level Vibration Less than 0 5G 4 9m s2 10 60Hz non continuous working Atmospheric No corrosive gas combustibles dirt or dust IP ratings IP20 ...

Page 20: ... 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 Wiring Please ensure there is no liquid around the wiring and connectors as liquid leakage may cause serious damage to the driver s R...

Page 21: ...il 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 downwards to make sure fluid doesn t leak into...

Page 22: ...or 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 23: ...220VAC Circuit breaker Turn on off power supply Cut off power supply when current overload Line filter To prevent electromagnetic interference Contactor Cut off power supply when current overload Regenerative resistor Connect it to P and B2 Holding Brake 24VDC Used for motor with holding brake Servo motor power cable PE To ground the motor CN2 Motor encoder cable CN3 External encoder CN1 I O signa...

Page 24: ... ALARM 1 2 25 26 3 4 CN1 17 L2 L3 P B1 Contactor L1 B2 N L2C L1C A B Z 3 4 5 6 7 8 C N 7 Encoder 2 pulse differential input OCZ GND 5 6 GND GND 2 5V 1 5V A A B B Z Z DO 3 double ended AO1 1 Analog output 1 Analog output 2 Z phase open collector crossover frequency output Positive limit switch Negative limit switch Homing switch C N 8 AI1 AI1 AI1 Analog Input 1 10V 10V 14 15 AI1 AI1 23 24 AI2 Analo...

Page 25: ...k input CN3 EtherCAT IN Communication Port CN4 EtherCAT OUT Communication Port CN5 RS422 Communication Port CN6 Safe Torque Off STO CN7 2nd Encoder feedback input External CN8 Analog output Z phase open collector output X1 X2 Main Control circuit power supply Motor power supply X3 Holding Brake USB USB Type C Connect to PC ...

Page 26: ... L2 L1 Main power supply L1 Single phase 220VAC Supports 1ph 3ph 220VAC 10 10 50 60Hz L2 Main power supply L2 L3 Main power supply L3 P DC Bus positive terminal 1 Internal DC bus positive terminal 2 External regenerative resistor P terminal Connect B1 and B2 to use internal regenerative resistor If an external regenerative resistor is needed connect it to P and B2 disconnect B1 and B2 B1 Regenerat...

Page 27: ... 1 AWG14 1 3 AWG16 2 1 AWG14 EL8 EC750F 0 81 AWG18 2 1 AWG14 1 3 AWG16 2 1 AWG14 EL8 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 electromagn...

Page 28: ...tive resistor Alarm output When DO is set as ALARM ALARM power will be cut off when alarm occurs and warning light will be on L1C L2C DO1 BRK OFF Three Phase 220VAC 伺服驱动器 L1 L2 M PG BK Brake Relay BK RY 24V Holding brake Encoder Motor U W V Three Phase 220VAC CN2 CN1 DO1 BRK OFF 24V Brake power supply PE Line filter L2 L3 P B2 Contactor DO5 ALM DO5 ALM 24V Stop Alarm relay Warning indicator light ...

Page 29: ... motor W terminal PE PE Motor frame 2 6 1 Motor power cable selection Port X2 U V W PE Example of motor power cable connection using an AMP electrical connector Please connect the wires to corresponding terminals as labeled Motor winding power cable Wire length available 1 5m 3m and 5m Connectors type available AMP electrical connectors aviation connectors direct connectors recommended Please cont...

Page 30: ... V2 0 Motor 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 31: ... EL8 EC F AC Servo 31 2 7 Holding Brake X3 Pin Label Explanation BR BR1 Brake positive terminal Connect to external power supply 24v negative terminal BR BR2 Brake negative terminal Connect to motor brake terminal 0V ...

Page 32: ...es support direct drive holding brake Please connect BR and BR to an external 24v power supply and motor brake terminal to control the holding brake There is no need for an external relay Line Filter Servo Drive L1 L2 M PG B K Brake Relay BK RY DC 24V Holding brake Encoder Motor U W V Single Phase 220VAC CN2 CN1 DO1 BRK OFF 24VDC brake power supply PE DO1 BRK OFF L1C L2C Servo drive P SG EN Holdin...

Page 33: ...able 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 Direct connector CABLE RZH M 114 TS Winding cable with holding brake Motor side Driver side Motor cable pin Pin Motor Color Driver 1 Blue U 2 Black V 3 Red W 4 Yellow green PE A Black 0V B Red 24V ...

Page 34: ...c flux leakage Please be aware to not use magnetic sensor around motor with holding brake 24V operating voltage for the holding brake has to be ensured to maintain the functionality of the 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 malfu...

Page 35: ... input 7 13 DI8 Digital input 8 1 DO1 BRK OFF External brake released signal 2 DO1 BRK OFF 25 DO2 S RDY Servo ready signal output 26 DO2 S RDY 3 DO3 ALM Alarm output 4 DO3 ALM 17 A Differential output Phase A crossover frequency output 18 A 20 B Phase B crossover frequency output 19 B 21 Z Phase Z crossover frequency output 22 Z 16 GND Signal ground Signal ground 14 AI1 AI1 Analog input 1 15 AI1 1...

Page 36: ...ed twisted pair cable is recommended for this application Diameter Recommended to use stranded and shielded cable For CN1 0 14mm2 CN2 0 25mm2 shielding layer needs to be grounded Length Cable length should be as short as possible No more than 3m for CN1 and 20m for CN2 Placement Place the cable away from power cables Install a surge suppressor in feedback circuit flyback diode inversely connected ...

Page 37: ... 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 Direct connector Frame size 80 or below CABLE BMH M 114 TS Incremental 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 ...

Page 38: ... 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 Battery box for absolute encoder EL8 EC series servo drives come with battery kit installed on the driver or on the encoder cable ...

Page 39: ...nding 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 Shielding grounded EtherCAT communication can be between multiple drivers and a master device or single driver and a master device PLC CN3 IN CN4 OUT ...

Page 40: ...mechanical 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 mo...

Page 41: ...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 minutes before starting maintenance work It is recommended ...

Page 42: ...d terminal Recommended to use double winding cable with shielding foil Connect the shielding foil to CN7 connector to reduce noise interference External encoder input method Differential input Pin Signal Description 1 5V Power supply 5V 2 GND Power supply ground 3 A Phase A pulse input 4 A Phase A pulse input 5 B Phase B pulse input 6 B Phase B pulse input 7 Z Phase Z pulse input 8 Z Phase Z pulse...

Page 43: ...llector Encoder output signal will be through Open Collector after frequency division Please connect ground terminal of external power supply to CN6 pin 6 signal ground using double winding shielded cable for better protection against interference OCZ GND 5 6 External 0V Driver External 5V 24V Upstream device CN8 Port Diagram Pin Signal Description Remarks CN8 5 6 1 2 1 AO1 Analog output 1 2 GND S...

Page 44: ...eters modifying using a USB Type C data cable Can be done without the servo drive connecting to main power supply Port Pin Signal Description USB Type C A4 B4 A9 B9 VCC 5V Power supply positive terminal 5V A12 B12 A1 B1 GND Power supply negative terminal A6 B6 D USB data positive terminal A7 B7 D USB data negative terminal Frame USB_GND Ground through capacitor ...

Page 45: ... 1 Determine if driver comes with a regenerative resistor If not please prepare a regenerative resistor with resistance value higher than might be required 2 Monitor the load rate of the regenerative resistor using front panel d14 Set the driver on high velocity back and forth motions with high acceleration deceleration 3 Please make sure to obtain the value under following conditions Driver tempe...

Page 46: ...external regenerative resistor 1 Please set the correct resistance value in Pr0 16 and resistor power rating Pr0 17 for the external regenerative resistor 2 Please ensure the resistance value is higher or equals to the recommended values in table 2 3 Regenerative resistors are generally connected in series but they can also be connected in parallel to lower the total resistance 3 Please provided e...

Page 47: ...eded 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 resistor End No external resistor needed T is the time for velocity to reach max velocity from 0 rpm and decelerates back to 0rpm Can be monitored on the front panel Can be determined through ine...

Page 48: ...r coil resistance EM EM U2 R tD R coil resistance 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 EL8 EC Drive...

Page 49: ... 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 higher than t...

Page 50: ...hazard Please refer to the section above to select minimum allowable resistance for the external regenerative resistor or it might damage the driver Please confirm Pr0 16 and Pr0 17 before using any regenerative resistor Do not set the regenerative resistor near any flammable object 2 16 I O Signal 2 16 1 Analog input signal CN1 Pin Signal Description 14 AI1 Differential Input voltage 10VDC Input ...

Page 51: ...7K 5 12 24Vdvc 5river internal circuit 5I 1 6 5ICOM Output from master device Relay Common anode Common cathode DI1 DI2 4 7K 4 7K DI3 4 7K 5 7 8 DICOM Driver interior 6 DI1 DI2 4 7K 4 7K DI3 4 7K 5 7 8 DICOM Driver Interior 6 Output from master device Open Collector NPN configuration PNP configuration DI1 DI2 4 7K 4 7K DI3 4 7K 5 7 8 DICOM Driver interior 6 NPN DI1 DI2 4 7K 4 7K DI3 4 7K 5 7 8 DIC...

Page 52: ... DO1 DO2 DO2 Driver interior 12 24Vdc 12 24Vdc 4 DO3 DO3 12 24Vdc 3 Flyback diode required when load is inductive No flyback diode required for external load NPN configuration DO1 DO3 DO1 DO1 12 24Vdc Servo drive Load PNP configuration DO1 DO3 DO1 DO1 12 24Vdc Servo drive Load Power supply is provided by user Please be aware that reversed power supply polarity might cause damage to the driver ...

Page 53: ...put terminals DI5 DI6 is default as probe function if no other function is assigned to them Internal circuit is a bidirectional optocoupler 10 11 2K 6 EXT1 2K Driver interior EXT2 12 24V DC 2 16 5 Encoder crossover frequency output Pin Signal Description 17 A Motor encoder A phase crossover frequency output Differential High 2 5VDC Low 0 5VDC Max current 20mA 18 A 20 B Motor encoder B phase crosso...

Page 54: ... a same function is assigned to multiple pins Er210 might occur 2 16 7 Digital Output Signal Settings CN1 Signal Parameter Function 1 DO1 Pr4 10 External break released BRK OFF 2 DO1 25 DO2 Pr4 11 Servo Ready S RDY 26 DO2 3 DO3 Pr4 12 Servo Alarm ALARM 4 DO3 Digital output functions can be assigned to multiple pins at the same time CN1 PIN Signal Parameter Default function Default status 6 DI COM ...

Page 55: ...r to prevent malfunctions caused by electromagnetic interference please take following measures 1 Install master device and line filter close to the servo drive 2 Install surge suppressor for relay and contactor 3 Please separate signal encoder cable from power cable with a space of at least 30cm 4 Install a line filter for the main power supply if a device with high frequency generation such as a...

Page 56: ...hen installing a line filter Do not band the main power supply cable together Contactor Line Filter Contactor Line filter AC Power Supply Wrong Correct L1 L2 L3 AC Power Supply Separate the ground wire from the line filter 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 cab...

Page 57: ... 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 settings 2007h PR_007 After restart F Command pulse counts per revolution 2008h PR_008 After restart P P...

Page 58: ...quency divider numerator 2035h PR_035 After restart F External encoder frequency divider denominator 2036h PR_036 After restart F External encoder feedback pulse count per revolution 2037h PR_037 After restart F Z signal pulse input source 2038h PR_038 After restart F 1 st position loop gain 2100h PR_100 Immediate P P H M CSP 1 st velocity loop gain 2101h PR_101 Immediate F 1 st Integral Time Cons...

Page 59: ...on 2203h PR_203 Immediate F 2 nd notch frequency 2204h PR_204 Immediate F 2 nd notch bandwidth selection 2205h PR_205 Immediate F 2 nd notch depth selection 2206h PR_206 Immediate F 3 rd notch frequency 2207h PR_207 Immediate F 3 rd notch bandwidth selection 2208h PR_208 Immediate F 3 rd notch depth selection 2209h PR_209 Immediate F 1 st damping frequency 2214h PR_214 Immediate F 2 nd damping fre...

Page 60: ...ate F Position comparison 1 42 attribute value 2374h 2394h PR_374 PR_394 Immediate F Input selection DI1 2400h PR_400 Immediate F Input selection DI2 2401h PR_401 Immediate F Input selection DI3 2402h PR_402 Immediate F Input selection DI4 2403h PR_403 Immediate F Input selection DI5 2404h PR_404 Immediate F Input selection DI6 2405h PR_405 Immediate F Input selection DI7 2406h PR_406 Immediate F ...

Page 61: ...F AO1 offset 2468h PR_468 Immediate F AO2 output 2469h PR_469 Immediate F AO2 signal 2470h PR_470 Immediate F AO2 amplification 2471h PR_471 Immediate F AO2 communication settings 2472h PR_472 Immediate F AO2 offset 2473h PR_473 Immediate F Warning indicator light 1 signal 2474h PR_474 Immediate F Warning indicator light 2 signal 2475h PR_475 Immediate F Warning indicator light 3 signal 2476h PR_4...

Page 62: ...44h PR_544 After restart F External encoder overspeed feedback threshold 2545h PR_545 Immediate F Vent overload level 2546h PR_546 Immediate F Enable position comparison 2570h PR_570 Immediate F Position comparison mode 2571h PR_571 Immediate F Position comparison pulse output bandwidth 2572h PR_572 Immediate F Position comparison output delay offset 2573h PR_573 After restart F Position compariso...

Page 63: ...ocity observer gain 2628h PR_628 Immediate F Velocity observer bandwidth 2629h PR_629 Immediate F Frame error window time 2634h PR_634 Immediate F Frame error window 2635h PR_635 Immediate F Absolute value rotation mode denominator setting 2654h PR_654 After restart P P H M CSP Rotor blocked torque limit threshold 2656h PR_656 Immediate F Z signal sustaining time 2661h PR_661 Immediate F Absolute ...

Page 64: ...switch Bit1 819h Bit2 81Ah Bit3 824h Bit4 825h Bit5 Reserved Bit6 Reserved Bit7 82Ch Bit8 82Dh Bit9 832h Bit10 15 Reserved Notes 0 invalid 1 valid 5010 00 PDO watchdog overtime ms 0 0 60000 0 invalid 0 valid Unit ms Such as RPDO timeout alarm 818h TPDO timeout alarm 819h 5012 04 Homing setting 5 Bit0 Abnormal signal protection 0 invalid 1 valid Bit1 pull back if overtravel while final stop 0 inval...

Page 65: ...32 bit low Unit 06 The actual mechanical position 32 bit high Unit 07 Number of encoder communication exceptions 5501 01 Motor Speed r min 02 Speed of position command r min 03 Speed command r min 04 Actual torque 0 1 05 Torque command 0 1 06 Relative position error Pulse 07 Internal position command Pulse 08 Overload ratio 0 1 09 Discharge load rate 0 1 0A Inertia ratio 0B Actual positive torque ...

Page 66: ...P HM 6063 0 Actual internal position Encoder unit 0 21474 83648 214748 3647 F 6064 0 Actual position feedback Comman d unit 21474 83648 214748 3647 F 6065 0 Position deviation window Comman d unit 30000 0 214748 3647 PP CS P HM 6066 0 Position deviation detection time ms 10 0 65535 PP CS P HM 6067 0 Position window Comman d unit s 0 0 214748 3647 PP CS P HM 6068 0 Position window time ms 0 0 65535...

Page 67: ...3 0 Profile acceleration Comman d unit s 10000 1 214748 3647 PP PV 6084 0 Profile deceleration Comman d unit s 10000 1 214748 3647 PP PV 6085 0 Emergency stop deceleration Comman d unit s 10000 000 1 214748 3647 CSP C SV PP PV HM 6087 0 Torque slope 0 001 s 5000 1 214748 3647 PT 608F 1 Encoder resolution Encoder unit 0 0 214748 3647 F 6091 1 Electronic gear ratio numerator r 1 1 214748 3647 F 2 El...

Page 68: ... rising edge captured count s 0 0 65535 F 60D6 0 Probe 1 falling edge captured count s 0 0 65535 F 60D7 0 Probe 2 rising edge captured count s 0 0 65535 F 60D8 0 Probe 2 falling edge captured count s 0 0 65535 F 60E0 0 Max torque in positive direction 0 001 3000 0 65535 F 60E1 0 Max torque in negative direction 0 001 3000 0 65535 F 60F4 0 Actual following error Comman d unit 0 21474 83648 214748 3...

Page 69: ... used to control the position loop to improve the responsiveness to commands speed up positioning time and reduce following error The effect is obvious especially in low and medium mechanical stiffness Value Explanation 0 Disable the function 1 Enable the function to set bandwidth automatically recommended for most applications Pr0 00 Pr1 01 2 Reserved 3 9 Invalid Pr0 00 9 Model following bandwidt...

Page 70: ...th requirements for stability 2 Positioning Pr0 03 valid Quick gain adjusting can be achieved by changing Pr0 03 stiffness value This mode is suitable for applications requiring quick positioning Not recommended for load mounted vertical to ground or please compensate for the load using Pr6 07 0x0_0 Load type setting Used to select the load type choose according to load inertia ratio and mechanica...

Page 71: ...efault 70 Index 2003h Activation Immediate Valid when Pr0 03 1 2 Low High Mechanical stiffness Servo gain Responsiveness 81 80 70 69 68 51 50 High High Low Low Lower values ensure better system responsiveness and mechanical stiffness but machine vibration might occur please set accordingly Pr0 04 Label Inertia ratio Mode F Range 0 2000 0 Unit Default 250 Index 2004h Activation Immediate Pr0 04 loa...

Page 72: ... 607E However Pr0 06 has higher priority than object dictionary 607E 607E only takes effect when Pr0 06 0 Pr0 07 Label Probe signal polarity 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 inv...

Page 73: ... 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 74: ...ettings Mode PP HM CS P Range 0 500 Unit 0 1rev Default 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 3276 7 Unit Default 0 Index 2015h Activation Immediate 0 Incremental mode Used a...

Page 75: ...ive resistor power rating Mode F Range 20 500 0 Unit W Default 50 Index 2017h Activation Immediate To set power rating of regenerative resistor Pr0 16 and Pr0 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 Frictio...

Page 76: ...cle counts Mode CS P Range 1 50 Unit Default 0 Index 2027h Activation After restart Driver delays N position loop cycle counts to receive position command from master device To solve motor jitter caused by master device with poor synchronization Pr0 28 Label CSP mode safe self running position setting Mode CS P Range 0 1000 0 Unit Default 10 Index 2028h Activation Immediate Synchronous dithering c...

Page 77: ...fter restart To set the excessive hybrid deviation threshold value please set accordingly Use in full closed loop control Factory default 16000 Er191 might occur if position deviation during hybrid control exceeds 16000 pulse counts Pr0 34 Label Clear hybrid control deviation Mode PP H M CS P Range 0 100 Unit R Default 0 Index 2034h Activation After restart To set condition to clear position devia...

Page 78: ...1 Motor Z signal External encoder Z signal 2 External encoder Z signal Motor Z signal 3 External encoder Z signal External encoder Z signal 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 responsiveness of the servo driver and lessens the positionin...

Page 79: ...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 1000 0 Unit Default 15 Index 2103h Activation Immediate This filter is a low pass filter It blocks h...

Page 80: ...1 0 01ms If mechanical vibration is due to servo driver adjusting 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...

Page 81: ...city feed forward low pass filter to eliminate high or abnormal frequencies in velocity feed forward command Often used when position command with low resolution or high electronic gear ration to smoothen velocity feed forward Position deviation under constant velocity can be lowered with higher velocity feed forward gain Please to refer to the equation below Position deviation Uint Pr1 12 Label T...

Page 82: ... points Pr1 15 Label Position control gain switching mode Mode F Range 0 11 Unit Default 0 Index 2115h Activation Immediate Set Value Condition Gain switching condition 0 1st gain fixed Fixed on using 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 Switc...

Page 83: ...position command Valid 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 Val...

Page 84: ...al velocity remains smaller than level hysteresis r min For 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 ...

Page 85: ...efault 33 Index 2119h Activation 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 36 Label External ABZ encoder filter time Mode PP CS P Range 0 300 Unit 0 01us Default 20 Index 2136h Activation Immediate To set filter time for external ABZ encoder Pr1 39 Label Special f...

Page 86: ...aptive filter becomes valid 3rd notch filter related 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...

Page 87: ... bandwidth for 2nd resonant notch filter Under normal circumstances please use factory default settings 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 de...

Page 88: ... 1Hz Default 0 Index 2214h Activation Immediate 0 Deactivate To suppress wobble at load end Often used when wobble of flexible structure due to high deceleration upon stopping Especially effective for 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 Un...

Page 89: ...ding to target velocity Vc square wave command as show below Velocity RPM Position command before filter Position command after filter Filter switching time Time Vc Vc 0 632 Vc 0 368 Position command smoothing filter set time ms Pr2 22 x 0 1ms Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot To smoothen command signal reduces impact to machine...

Page 90: ...and 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 smoothen command signal reduces impact to machines and eliminate vibration If Pr2 23 is set too high overall time will be lengthened Please wait for command to stop and after f...

Page 91: ...nant frequency Pr2 34 Label 5 th anti resonant Q value Mode F Range 0 9900 Unit Hz Default 0 Index 2234h Activation Immediate To set resonant Q value of 5th resonant notch filter Pr2 35 Label 6 th resonant frequency Mode F Range 50 400 0 Unit Hz Default 4000 Index 2235h Activation Immediate To set zero valued eigenfrequency of 6th resonant notch filter Pr2 35 corresponds to machine specific resona...

Page 92: ...notch filter Pr2 48 Label Adjustments mode Mode F Range 0 1 Unit Default 0 Index 2248h Activation Immediate To turn on off automatic adjustments Set value Description 0 Turn off automatic adjustments 1 Activate automatic adjustments real time inertia measuring and vibration suppression Inertia measuring deactivated after reaching 4 times in 5 minutes triggering conditions changes in mechanical sti...

Page 93: ...e for torque feedforward Pr2 53 Label Dynamic friction compensation coefficient Mode F Range 0 1000 Unit Default 0 Index 2253h Activation Immediate To set ratio of rated torque rated rotational speed to compensate for dynamic friction during motion and have better control over acceleration deceleration When there is an excess position deviation during acceleration deceleration please adjust Pr2 53...

Page 94: ...ctivation Immediate Set max acceleration deceleration for velocity command If target velocity x rpm max acceleration a unit rpm ms acceleration time t ms Pr3 12 1000 a Pr3 13 1000 a a x t For example If motor is to achieve 1500rpm in 30s a 1500 30 50rpm ms Pr3 12 1000 a 20 Hence when Pr3 12 20 motor can achieve 1500rpm in 30s Velocity rpm Initial acceleration time With added acceleration decelerat...

Page 95: ...td Pr3 15 Label Zero speed clamp function selection Mode F Range 0 3 Unit Default 0 Index 2315h Activation Immediate Set value Zero speed clamp function 0 Invalid zero speed clamp deactivated 1 Velocity command is forced to 0 when the zero speed clamp ZEROSPD input signal is valid 2 Velocity command is forced to 0 when actual velocity is lower than Pr3 16 3 Includes conditions from 1 and 2 Pr3 16 ...

Page 96: ...son output will be depended on the position comparison properties value set Pr3 74 Label Position comparison 1 2 attributes value Mode F Range 0 32767 Unit Comma nd unit Default 0 Index 2332h 2373h Activation Immediate Bit Position comparison 1 0 Positive traversal comparison 0 OFF 1 ON 1 Negative traversal comparison 0 OFF 1 ON 2 5 Reserved 6 Output property settings 0 Pulse mode 1 Flipping mode ...

Page 97: ...3 2 5 Class 4 I O Interface Setting Pr4 00 Label Input selection DI1 Mode F Range 0x0 0xFF Unit Default 0x0 Index 2400h Activation Immediate Pr4 01 Label Input selection DI2 Mode F Range 0x0 0xFF Unit Default 0x1 Index 2401h Activation Immediate Pr4 02 Label Input selection DI3 Mode F Range 0x0 0xFF Unit Default 0x2 Index 2402h Activation Immediate Pr4 03 Label Input selection DI4 Mode F Range 0x0...

Page 98: ... Valid when input OFF Er210 might occur if same function is allocated to different channels at the same time Channel that has no value doesn t affect driver motion Front panel is of hexadecimal system Pr4 00 Pr4 07 corresponds to DI1 DI8 External sensors can be connected if the parameters are all set to 0 Controller will read 60FD bit4 11 to get DI1 DI8 actual status Pr4 10 Label Output selection ...

Page 99: ... Mode F Range 32766 3276 6 Unit 0 3mv Default 0 Index 2422h Activation Immediate To set zero drift compensation value for zero drift correction Pr4 23 Label Analog input 1 filter Mode F Range 0 6400 Unit 0 01m s Default 0 Index 2423h Activation Immediate To set a delay filter time coefficient for AI1 input voltage When filter time takes effect input voltage will be smoothen Pr4 24 Label Analog inp...

Page 100: ...is smaller than 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 ...

Page 101: ...bel Velocity coincidence range Mode PV CSV Range 10 2000 Unit RPM Default 50 Index 2435h Activation Immediate 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 Velocit...

Page 102: ...ge 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 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 a...

Page 103: ...tion time 4 Pr4 37 set time value Delay time from the moment SRV_ON is given until BRK_OFF switch to BRK_ON is less than 500ms Pr4 39 Label Holding brake activation speed Mode F Range 30 3000 Unit RPM Default 30 Index 2439h Activation Immediate To set the activation speed for which holding brake will be activated When SRV OFF signal is given motor decelerates after it reaches below Pr4 39 and Pr6 ...

Page 104: ...h Activation Immediate Bit 0 15 AO signal source Bit 16 31 DO extension channel Bit0 Bit15 Signal source 0x0 0x1 Motor rotational speed V krpm 0x2 Position command velocity V krpm 0x3 Internal position command velocity V krpm 0x4 Torque command 0 03V 0 01 0x5 Position command deviation mV Command unit 0x6 Position command deviation mV Encoder unit 0x7 Analog 1 V V 0x8 Analog 2 V V 0x9 Analog 3 V V...

Page 105: ...ve Positive value 10 10V 1 Absolute value output 0 10V Other Reserved Pr4 70 Label AO2 signal Mode F Range 0x0 0x7FF FFFFF Unit Default 0 Index 2470h Activation Immediate Bit 0 15 AO signal source Bit 16 31 DO extension channel Bit0 Bit15 Signal source 0x0 0x1 Motor rotational speed V krpm 0x2 Position command velocity V krpm 0x3 Internal position command velocity V krpm 0x4 Torque command 0 03V 0...

Page 106: ... indicator light 1 signal Mode F Range 0 100 Unit Default 1 Index 2474h Activation Immediate To select warning signal for warning indicator light 1 as the table in Pr4 78 Pr4 75 Label Warning indicator light 2 signal Mode F Range 0 100 Unit Default 2 Index 2475h Activation Immediate To select warning signal for warning indicator light 2 as the table in Pr4 78 Pr4 76 Label Warning indicator light 3...

Page 107: ...iate 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 Servo off mode Mode F Range 0 5 Unit Default ...

Page 108: ...etween max torque 6072 and Pr5 11 actual torque limit will take smaller value 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 braking 2 Dynamic braking Dynamic braking 3...

Page 109: ...Pr5 13 0 overspeed level max motor speed x 1 2 Pr5 15 Label I O digital filter Mode F Range 0 255 Unit 0 1ms Defaul t 10 Index 2515h Activation Immediate Digital 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 clearin...

Page 110: ...0 Index 2522h Activation Immediate Limited by motor max torque Between max torque 6072 and Pr5 22 actual torque limit will take smaller value Pr5 28 Label LED initial status Mode F Range 0 42 Unit Default 34 Index 2528h Activation After restart To set content display on front panel of the servo driver at servo driver power on Set value Content Set value Content Set value Content 0 Position command...

Page 111: ... 5000 Unit ms Defaul t 500 Index 2537h Activation Immediate To set time threshold for output torque to reach limit under torque initialization mode Only applicable for torque initialization method 6 to 1 Under torque initialization mode motor torque reached Pr5 39 and the duration reaches Pr5 37 before moving into next step Pr5 39 Label 3rd torque limit Mode F Range 0 500 Unit Default 80 Index 253...

Page 112: ... 500 Unit μs Default 0 Index 2543h Activation After restart Set value Description 0 Z bandwidth equivalent to 1 cycle of A B 1 500 Delay setting on top of A B cycle width When Pr5 43 0 width of frequency divider output Z signal is equivalent to width of 1 cycle of A B value set in Pr5 43 A B cycle width delay setting A B Z A B cycle Pr5 43 Pr5 44 Label Frequency divider output source Mode F Range ...

Page 113: ...Label Enable position comparison Mode F Range 0 1 Unit Default 0 Index 2570h Activation Immediate Set Value Description 0 Disable 1 Enable Rising edge Pr5 71 Label Position comparison mode Mode F Range 0 2 Unit Default 0 Index 2571h Activation Immediate Set value Description 0 Single comparison 1 N cycles comparison 2 Cycle comparison Detailed explanations is available in Chapter 6 Application und...

Page 114: ...ivation Immediate To set the end point of position comparison Pr5 76 Label No of cycle for N cycles comparison Mode F Range 1 50000 Unit Default 1 Index 2576h Activation Immediate To set the number of cycles for N cycles comparison in position comparison Pr5 77 Label Position comparison set current position as origin Mode F Range 0 1 Unit Default 0 Index 2577h Activation Immediate Set Value Descri...

Page 115: ...er restart Angle of the encoder after zero position calibration Pr6 03 Label JOG trial run torque command Mode F Range 0 350 Unit Default 350 Index 2603h Activation Immediate To set torque for JOG trial run command Pr6 04 Label JOG trial run velocity command Mode F Range 0 10000 Unit r min Default 30 Index 2604h Activation Immediate To set velocity for JOG trial run command ...

Page 116: ...ue 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 to...

Page 117: ... 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 w...

Page 118: ...n 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 e...

Page 119: ...If 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 Inde...

Page 120: ...After restart Data length 16 bit Set value Description 0x100 Read from EEPROM 0x200 Read from Encoder When Pr7 15 0x200 2xx Parameter Label Pr7 00 Current loop gain Pr7 01 Current loop integral time Pr7 05 No of motor pole pairs Pr7 06 Motor phase resistance Pr7 07 Motor D Q induction Pr7 08 Motor back EMF coefficient Pr7 09 Motor torque coefficient Pr7 10 Motor rated rotational speed Pr7 11 Motor...

Page 121: ...ition 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 Structur e VAR Type Uint 16 Access RO Mapping TPDO Mode F Range 0x0 0 xFFFF Default 0X0 Please refer to Chapter 9 for mo...

Page 122: ...lt 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 v...

Page 123: ...r5 06 Status Switch on disable axis disabled 1 2 Motor decelerates and stops through 6087h 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 6087h Status Quick stop 7 Motor decelerates and stops through torque 0 Status Quick stop Index 605Bh Label Motor deceleration stopping mode sele...

Page 124: ...enabled CST 1 2 Motor decelerates and stops through 6087h 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 Access 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...

Page 125: ... 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 2147...

Page 126: ...Unit ms Structure VAR Type UInt 16 Access R 0 Mappin g TPD O Mod e 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 Mappin g TPD O Mod e 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 uni...

Page 127: ...0 Mapping RPDO Mode PV CS V Range 0 6553 5 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 6553 5 Default 10 To set to zero speed threshold Index 6070h Label Zero speed threshold time Unit ms Structure VAR Type UInt 16 Access R0 ...

Page 128: ...command torque Index 6075h Label Motor current rating Unit mA Structure VAR Type Int 32 Access R0 Mapping TPDO Mode F Range 0 2147 483647 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 T...

Page 129: ... O Mode HM Range 214748364 7 2147483 647 Defaul t 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 Mappin g 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 di...

Page 130: ...VAR Type UInt 32 Access R W Mappin g RPDO Mode PP Range 0 214 74836 47 Default 10000 To set target velocity Limited by 607Fh Index 6083h Label Profile acceleration Unit Comman d unit s Structure VAR Type UInt 32 Access R W Mappin g RPDO Mode PP PV Range 1 214 74836 47 Default 10000 To set motor acceleration Index 6084h Label Profile deceleration Unit Comman d unit s Structure VAR Type UInt 32 Acce...

Page 131: ...lses per rotation Unit Comma nd unit r Structur e VAR Type UInt 32 Access RW Mapping RPDO Mode F Range 1 2147 483647 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 6091 01 6092h 01 Index 6098h Label Hom...

Page 132: ...tch 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 signal on other side of homing switch Rising edge on other side of homing switch 14 Negative Homing switch Motor Z signal on other side ...

Page 133: ... VAR Type Int 32 Access R 0 Mappin g TPDO Mod e HM Range 214748364 7 2147483 647 Defaul t 0 To add position deviation to target position Index 60B1h Label Velocity feedforward Unit Command unit s Structur e VAR Type Int 32 Access R 0 Mappin g TPDO Mod e CSP CSV P P PV HM Range 214748364 7 2147483 647 Defaul t 0 To deviate velocity command Index 60B2h Label Torque feedforward Unit 0 1 Structur e VA...

Page 134: ...election 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 ena...

Page 135: ...tured position Unit Command unit Structur e VAR Type Int 32 Access R 0 Mapping TPD O Mod e F Range 21474836 47 214748 3647 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 Structur e VAR Type Int 32 Acces s R0 Mapping TPD O Mod e F Range 21474836 47 214748 3647 Defaul t 0 Shows position feedback at fallin...

Page 136: ... 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 Structur e 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 Structur e VAR Type UInt 16 Acces s R0 Mapping TPDO...

Page 137: ...ss R0 Mapping TPD O Mod e CSP PP HM Range 21474836 47 214748 3647 Default 0 Shows position following error Index 60FAh Label Position loop velocity output Unit Comman d unit s Structure VAR Type Int 32 Acces s R0 Mapping TPDO Mode CSP PP HM Range 21474836 47 21474 83647 Defaul t 0 Shows internal command velocity Position loop output Index 60FCh Label Internal command position Unit Encoder unit Str...

Page 138: ... 20 19 18 17 16 15 0 01h Reserv ed DO6 valid DO5 valid DO4 valid DO3 valid DO2 valid DO1 valid Reserve d Index 60FEh 0 2 Label Output enabled Unit Structur e VAR Type UInt 32 Access R W Mappin g RPDO Mode F Range 0x0 0x7FFFFF FF Defaul t 0xFFFF 0000 The bits of a 60FEh object are functionally defined as follow Bit Sub inde x 31 21 21 20 19 18 17 16 15 0 02h Reserve d DO6 enable d DO5 enable d DO4 ...

Page 139: ... to ground 6 All cables under stress within recommended range 7 No foreign conductive objects inside outside 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...

Page 140: ...n After restart Used to change the rotational direction of the motor Set value Details 0 Polarity of the command 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 ...

Page 141: ... U W V CN2 BR BR PE External 24V Brake 24V Brake 0V Line filter L1 L2 Single Phase 220VAC L1C L2C 1 Using internal holding brake output port X3 Easy wiring no need for an extra relay 2 onnect to the 2f vW vW 4 1 6 Servo Running 1 Enable servo driver 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 sta...

Page 142: ...3 Power on sequence diagram Control circuit L1C L2C CPU Init Servo ready S RDY Servo enabled SRV ON Dynamic brake Servo status SRV ST Motor Power on External brake deactivated BRK OFF Position velocity torque command OFF ON 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 p...

Page 143: ...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 running Motor is powered off rotor is free to rotate Dynamic braking Motor is ...

Page 144: ...ng 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 145: ...o 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 Brake ON BRK OFF Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 146: ...vo 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 Brake ON BRK OFF Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 147: ...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 Power OFF Disabled 1 2 3 t Brake ON BRK OFF Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 148: ...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 Power OFF Disabled 1 2 3 t Brake ON BRK OFF Brake OFF BRK ON Brake ON BRK OFF Holding brake status BRK ...

Page 149: ...ot 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 Holdi...

Page 150: ... 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 151: ...ing 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 152: ...king 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 153: ...running 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 154: ...moving 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 155: ...2 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 depende...

Page 156: ...orque 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 157: ...ctionary 6092 01 is valid Command pulse count per motor revolution needs to be Encoder Pulse Count per Revolution 8000 EL8 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 Mode F Range 0 838860 8 Uni t P D...

Page 158: ...o 6091 01 6092h 01 4 3 Front Panel Servo Drive front panel consists of 5 push buttons a 8 segments display and 5 green LED as warning indicators 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 a 8 segments display and 5 green LED as warning indicators Mode M T...

Page 159: ...AdY 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 displayed regardless of any mode if alarm occurs Press M to switch to o...

Page 160: ... other modes Data list in data monitoring mode No Label Descriptions Display Unit Data Format x numerical value 0 d00uE Position command deviation d00uE pulse xxxx 1 d01SP Motor velocity d01SP r min r xxxx Motor actual velocity F xxxx External encoder feedback velocity 2 d02CS Position control command velocity d02CS r min xxxx 3 d03Cu Velocity control command velocity d03Cu r min xxxx 4 d04tr Actu...

Page 161: ...x external encoder single turn data 22 d22rE Multiturn encoder data d22rE r xxxx 23 d23 id 485 received frame d23id id xxx Fr xxx 24 d24PE Position deviation d24PE Unit A xxxx Position deviation F xxxx Full closed loop deviation Command unit H xxxx Full closed loop deviation Encoder unit 25 d25PF Motor electrical angle d25PF pulse xxxx 26 d26hy Motor mechanical angle d26hy pulse xxxx 27 d27 Pn Vol...

Page 162: ...39 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 not exist ODNEXT is displayed 2 If OD is out of range ODRNG is displayed 08St is displayed after power on When servo is not enabled Description of data monitoring function When usi...

Page 163: ... deviation 260885 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 d04 tr Actual torque feedback d04 tr reflects actual current r 400 400 400 D01 sp D02 Cs D03 CU S S S 4 D04 tr S Actual torque feedback F 20 External enco...

Page 164: ...ress to switch between high low bit Example Feedback pulse sum 2100160 Command pulse sum Command pulse High bit Low bit High bit Low bit Press to switch between high low bit Example Command pulse sum 210017 Command pulse sum unit 4 d07 Maximum torque during motion D 7 D07 S V 7 Average load ratio Maximum torque during motion 5 d08FP Internal command pulse sum 20 D08 Fp S Internal command pulse sum...

Page 165: ... the signal is not valid Decimal points represent I O status input when lighted output when not lighted Input From low to high bit Right to left 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 represe...

Page 166: ...larm cause and historical record Er 150 D12 Er S 01 150 14 0E2 Current error Historical record 1 Latest Historical record 14 Oldest Press to check error historical record up to 14 records Please refer to the alarm list table in chapter 8 for alarms that can be recorded 10 d14rg Regenerative load factor d15oL Overload factor Regenerative load factor Er120 might occur if the value increases indefini...

Page 167: ...ptions Display Code Description Content CP 0 Normal CP 1 DC bus undervoltage Check if DC bus voltage is too low on D27 CP 2 No SRV ON signal Servo ON input SRV ON is not connected to COM CP 3 POT NOT input valid Pr5 04 0 POT is in open circuit velocity command is in positive direction NOT is in open circuit velocity command is in negative direction CP 4 Driver alarm CP 5 Relay not clicked Check in...

Page 168: ... 8388607 multiturn data 1 clockwise single turn data 0 multiturn data 1 D22 rE S 2 0 Example Motor starts from 0 and turns clockwise for 2 revolutions Multiturn data 2 Multiturn encoder data Multiturn encoder data range 32768 32767 As no of revolution goes over range 32767 will jump to 32768 32767 counter clockwise 32768 will jump to 32767 32766 clockwise 14 d23id 485 received frame 485 correct re...

Page 169: ...6 d28no Software version Servo firmware version DSP D28 no S d 024 Communication software version F 013 Servo drive power rating P 400 CPLD Version C 000 17 d31tE Accumulated operation time 17 d31t D31 tE S 1 2 5 6 0 1 2 5 6 Low bit Press to switch between high low bit Accumulated uptime hour High bit ...

Page 170: ...ion 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 171: ...n 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 172: ... master device as 0x65766173 driver will save current parameters to EEPROM After saving 1010 01 1 0x1010 02 Communication parameters Master device can save communication parameters to EEPROM using 0x1010 02 When the driver detects 0x1010 02 data from master device as 0x65766173 driver will save current parameters to EEPROM After saving 1010 02 1 0x1010 03 402 parameters Master device can save 402 ...

Page 173: ... A C L H E C o f1 o f 2 o f 3 E n c t U n G r s t Data monitoring mode M One click auto tuning Parameters settings mode Trial run Press to select Reset to factory default AI3 zero drift correction AI2 zero drift correction Do not use After selecting the desired function press S to confirm Trial run Reset to factory default Front panel unlock Clear alarm AI1 zero drift correction AI2 zero drift cor...

Page 174: ...or P 400 n 400 CCW CW Press to enable driver Sr Uon will be displayed 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 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...

Page 175: ...ACL Clear alarm Operation ACL Initialization S FinSh Press once FinSh is displayed once completed For alarms that can be cleared using this function please refer to table in Chapter 8 AF of1 AF of3 Analog input AI1 3 zero drift correction Auto adjustment of analog input zero drift settings Analog input Parameter Zero drift settings AI1 Pr4 22 AI2 Pr4 25 AI3 Pr4 28 Auxiliary function AF of1 AI1 Zer...

Page 176: ...verage velocity duration 50ms 2 Acceleration Deceleration time 500ms Press S to exit and disable the driver once completed Auxiliary function AF_GL Inertia measuring Operation G Initialization S SrUon Error P 400 n 400 CCW CW G 200 Press to start inertia measuring SrUon will be displayed If driver is enabled before is pressed error might occur Hold or to move motor in CW CCW direction to measure i...

Page 177: ...range has to be more than 0 5 motor revolution Auxiliary function AF tUn One click Auto tuning Operation tUn Initialization S Press to enter one click auto tuning srUon will be displayed SrUon Error If driver is enabled before is pressed error might occur When SrUon is displayed hold to perform CCW CW motion for a suitable movement range Position will be showed after motion stops P 30 n 30 CCW CW ...

Page 178: ... 2 Servo powered on and enabled All 5 LEDs lighted in cycles 3 Warning status All 5 LEDs lighted in accordance to assigned signals Please refer to the table below Warning indicator Parameter Assignment LED 1 Pr4 74 Set value Signal 0 Null 1 Negative limit switch 2 Battery low voltage 3 Overload 4 Torque limit 5 Positive limit switch LED 2 Pr4 75 LED 3 Pr4 76 LED 4 Pr4 77 LED 5 Pr4 78 ...

Page 179: ...ation 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 w...

Page 180: ...lization 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 EL8 EC 402 State Machine switchover diagram ...

Page 181: ...controlled 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 0x...

Page 182: ...Profile 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 mod...

Page 183: ...EL8 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 DO4 en...

Page 184: ...abled 3 Motor decelerates and stops through 60C6h Status Switch on disable axis disabled 5 Motor decelerates and stops through 609Ah Status Quick stop 6 Motor decelerates and stops through 6085h Status Quick stop 7 Motor decelerates and stops through 60C6h Status Quick stop CST 0 To stop motor through Pr5 06 Status Switch on disable axis disabled 1 2 Motor decelerates and stops through 6087h Statu...

Page 185: ...L7 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 08 If Pr0 08 0 Pr0 08 is valid If Pr0 08 0 object dictionary 6092 01 is valid Note when...

Page 186: ...ive position limit value is less than the positive position limit value 5 4 7 Control Word Bit definition of Control Word 6040h Bit 15 1 1 10 9 8 7 6 4 3 2 1 0 Definition Halt Fault reset Related to modes Operatio n enable Quick stop Voltage output Switch on Command Bit7 and Bit0 to Bit3 6040 Value 402 State machine 1 7 Fault reset 3 Operation enable 2 Quick stop 1 Voltage output 0 Start Power off...

Page 187: ... 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 when the software or hardware limit is in effect The combination of bit 6 and bit 3 0 represents the device state shown i...

Page 188: ...ime setting The default synchronous cycle time range of EL8 EC series is 250us 10ms Min value 125us Max value 20ms Please make sure the values set is the multiplier of 250us 5 4 10 Driver Enabling This section describes how to use control words 6040h status word 6041h command switching status determination forEL8 EC controlled motor Steps 1 Write 0 to the control word 6040h and then AND 0x250 by b...

Page 189: ... 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 Yes Yes Yes 6062 0 Position command RO TxPDO Yes Yes Yes 6063 0 Actual interna...

Page 190: ...ty feedforward Velocity feedforward 60B1h Internal torque feedforward Torque feedforward 60B2h PP PP Amplifier Actual torque 6077h Actual velocity feedback 606Ch Actual position feedback 6064h Related Objects Basic object PDO Index Sub Index Label Data Type Access Unit Notes RXPDO 6040 00h Control word U16 RW Required 607A 00h Target position I32 RW Uint Required 60B0 00h Position feedforward I32 ...

Page 191: ... P 608F 02h 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 5 5 3 Protocol Position Mode PP Under non synchronous mode master device is responsible for only sending parameters and control command After receiving enable command from master ...

Page 192: ...ed 607A 00h Target position I32 RW Uint Required 6081 00h Max velocity U32 RW Uint Required 6083 00h Acceleration I32 RW Uint S Optional TXPDO 6041 00h Status word U16 RO Required 603F 00h Error code U16 RO Optional 6064 00h Actual position feedback I32 RO Uint Required 606C 00h Actual velocity feedback I32 RO Uint S Optional 60F4 00h Actual following error I32 RO Uint Optional 6077 00h Actual tor...

Page 193: ...ontrol word bits 4 6 definition under PP mode Bit Value Definition 4 New position 0 1 Latest target position 607Ah Max Velocity 6081h Acc deceleration 6083h 6084h Starts 5 Instant trigger 0 Trigger new position command once current one is completed 1 Interrupted current position command and trigger new position command 6 Absolute relative 0 Set target position 607Ah as absolute position 1 Set targ...

Page 194: ...s valid necessary parameters all not set to 0 1 Parameter 0 under current motion One of 3 parameters Max velocity 6081h acceleration 6083h and deceleration 6084h 0 15 Trigger 0 Current motion incomplete uninterruptable new target position cannot be renewed 3 1 Current motion completed interruptible new target position can be renewed 1 Bit 8 abnormal stoppage usually valid when hardware limit decel...

Page 195: ...6099 01h High homing velocity U32 RW Uint S Optional 6099 02h Low homing velocity U32 RW Uint S Optional 609A 00h Homing point acceleration U32 RW Uint S 2 Optional 607C 00h Homing point offset I32 RW Uint Optional TXPDO 60 00h Status word U16 RO Required 603F 00h Error code U16 RO Optional 6064 00h Actual position feedback I32 RO Uint Optional 606C 00h Actual velocity feedback I32 RO Uint S Optio...

Page 196: ...ne 0 Homing not done 1 Homing done valid after reaching position bit 10 2 14 Motion Parameter 0 0 Motion parameters valid necessary parameters all not set to 0 1 Parameter 0 under current motion One of 4 parameters Homing mode 6098h high homing velocity 6099h 01 low homing velocity 6099h 02 and homing point acc deceleration 609Ah 0 15 Trigger 0 Homing triggered completed 3 1 Homing triggers 1 Bit ...

Page 197: ...ode Mode 6 Search for homing point in negative 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 6 Mode 5 Search 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 se...

Page 198: ...value set in Pr5 37 High velocity 6099h 01h Low velocity 6099h 02h Start Stop 3 Torque limiting Z signal mode Mode 2 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 with the first Z signal Z signal Start Stop 2 High velocity 6099h 01h Mode 1 Search for homing point in positive direction...

Page 199: ...it switch ON 1 Start to move at negative limit switch position in positive direction at high velocity until negative limit switch invalid 2 Move in negative direction at high velocity until negative limit switch valid 3 Move in positive direction at low velocity and stops after negative limit switch and first encoder Z signal valid If the positive limit signal is valid during the homing process th...

Page 200: ...the negative limit signal is valid during the homing process the status word 6041h bit 13 will be valid indicating homing error and the motor will stop immediately 2 2 Z signal Positive limit POT A POT OFF B POT ON Start Stop High velocity 6099h 01h Low velocity 6099h 02h Homing switch signal Z signal mode Mode 3 Diagram A Homing switch OFF 1 Move in positive direction at high velocity until homin...

Page 201: ... until homing switch invalid 3 Move in positive direction at low velocity and stops after homing switch valid and first encoder Z signal valid Diagram B Homing switch ON 1 Start to 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 If the po...

Page 202: ...r and the motor will stop immediately Z Signal HOMING SWITCH A HOMING SWITCH OFF High Velocity 6099h 01h Low Velocity 6099h 02h Start Stop 5 5 Negative limit NOT Positive limit POT B HOMING SWITCH ON Mode 6 Diagram A Homing switch OFF 1 Move in negative direction at high velocity until homing switch valid 2 Move in positive direction at high velocity until homing switch invalid 3 Move in negative ...

Page 203: ...in negative direction at high velocity until after homing switch 2 Move in positive direction at high velocity 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 positive limit switch OFF 1 Move in positive direction at high velocity until positive limit switch valid 2 Move in negative direct...

Page 204: ...Homing switch ON positive limit switch OFF 1 Start to 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 positive limit switch OFF 1 Move in positive direction at high velocity until positive limit switch valid 2 Move...

Page 205: ...ch position in positive direction at high velocity until homing switch invalid 2 Move in negative direction at low velocity and stops after homing switch valid and first encoder Z signal valid Diagram C Homing switch positive limit switch OFF 1 Move in positive direction at high velocity until positive limit switch valid 2 Move in negative direction at high velocity until homing switch valid 3 Mov...

Page 206: ...witch 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 positive limit switch OFF 1 Move in positive direction at high velocity until p...

Page 207: ... 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 velocity until the negative limit switch valid 2 Move in positive direction at high veloc...

Page 208: ...ram 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 209: ...ch 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 ...

Page 210: ...e 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 negativ...

Page 211: ...99h 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 212: ...T 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 60...

Page 213: ...WITCH 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 N...

Page 214: ...099h 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 velocit...

Page 215: ...OMING 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 OF...

Page 216: ...OMING 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 O...

Page 217: ...OMING 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 O...

Page 218: ...velocity 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 Signa...

Page 219: ...ord 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 switch bit 4 from 0 to 1 to start homing motion 5 6 Ve...

Page 220: ...V 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 feeforward Torque feedforward 60B2h CSV PV Amplifer Actual torque 6077h Actual velocity feedback 606Ch Actual position feedback 6064h Polarity 2060h 2062h Related Objects Basic object PDO Index Sub Index Name Data Type Access Unit Remarks RXPD...

Page 221: ...e for sending motion parameters and control commands EL8 EC servo drive will conduct trajectory planning according to the motion parameters sent by master device after receiving the motion start command from the master device In asynchronous motion mode the motion between each axes is asynchronous PV Block Diagram The difference between PV and CSV mode is that PV needs EL8 EC to have the function ...

Page 222: ...on mode I8 RO 605A 00h Quick stop option I16 RW 6084 00h Deceleration U32 RW Uint S 6085 00h Quick stop deceleration U32 RW Uint S Control Word and Status Word for Profile Velocity Mode The bit6 4 of control words 6040h associated with the control mode in PV mode are invalid The motion in PV mode can be triggered as long as the motion parameters target velocity 60FFh ACC DEC 6083h 6084h are given ...

Page 223: ...t torque RW RxPDO Yes Yes 6072 0 Max torque RW RxPDO Yes Yes 6080 0 Maximum motor speed RW RxPDO Yes Yes 6087 0 Torque change rate RW RxPDO Yes Yes 60B2 0 Torque feedforward RW RxPDO Yes Yes Index Sub Index Label Access PDO Mode CST PT 6041 0 Status word RO TxPDO Yes Yes 6063 0 Actual internal position RO TxPDO Yes Yes 6064 0 Actual feedback position RO TxPDO Yes Yes 606C 0 Actual feedback velocit...

Page 224: ... Required 6071 00h Target torque I16 RW Uint Required 6087 00h Torque feed forward U32 RW 0 1 S Optional TXPDO 6041 00h Status word U16 RO Required 6064 00h Actual position feedback I32 RO Uint Optional 606C 00h Actual velocity feedback I32 RO Uint S Optional 60F4 00h Actual following error I32 RO Uint Optional 6077 00h Actual torque I16 RO 0 1 Required Extended object Index Sub Index Name Data Ty...

Page 225: ...us PT Block Diagram Limit Function Torque change rate 6087h Profile deceleration 6084h Polarity 2071h 2073h Profile Torque Trajectory generator MUL Target torque 6071h Limit Function Torque 0 1 Torque change rate 0 1 S Max motor velocity 6080h Trajectory planning output Related Objects Basic object PDO Index Sub Index Label Data Type Access Unit Notes RXPDO 6040 00h Control word U16 RW Required 60...

Page 226: ... command torque I16 RO 0 1 6080 00h Maximum motor velocity U32 RW Uint S 605A 00h Quick stop option I16 RW 6085 00h Quick stop deceleration U32 RW Uint S 2077 00h Velocity 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...

Page 227: ...oop gain 180 0 1Hz Velocity loop integral time constant 31ms Position loop gain 900 0 1 s Velocity loop gain 500 0 1Hz Velocity loop integral time constant 31ms Position loop gain 900 0 1 s Velocity loop gain 500 0 1Hz Velocity loop integral time constant 31ms Servo driver gain adjustment is done in combination with a few other parameters Inertia ratio Position loop gain Velocity loop gain and Fil...

Page 228: ...nual of EL8 EC F AC Servo 228 Start Inertia measuring Auto gain adjustment Requirement met Vibration suppression End Manual gain adjustment N N N Y Y Electronic gear ratio Requirement met Gain adjustment flow ...

Page 229: ...ode 3 Gain related parameters tuning under torque mode Gain switching Gain switching through internal data or external signal Lower vibration at stop shorten tuning time improve command following Model following control Improve responsiveness shorten positioning time Only available in position mode Command pulse filter Set filter for position velocity and torque command pulse Gain feedforward Enab...

Page 230: ...etermination Can be achieved through driver front panel or on Motion Studio Please make sure 1 Servo driver is disabled 2 Axis is within safe and allowed range and limit switch is not triggered to prevent axis from over travelling Auxiliary function to determine inertia on front panel Auxiliary Function AF _ GL Inertia measuring Operation G Initialization S Press to start inertia measuring SrUon w...

Page 231: ... Click and hold CW to start the motor again Click on POS 2 to save current position as ending point 4 Set the waiting time between each cycle in Pr6 21 and no of cycles in Pr6 22 Click on Run and motor will run according to the parameters set 5 After the calculation is done inertia ratio will be calculated automatically and click on write to enter the calculated value into Pr0 04 6 Click on to ent...

Page 232: ...rameter tuning is more complicated to set up compared to one click tuning Use single parameter tuning when one click tuning doesn t fulfill the needs Recommended application scenarios Control mode Suitable in position mode or EtherCAT mode Not applicable in other modes Others Servo ON SRV ON status Set suitable position torque limit so that motor can run normally Use trial run or any external cont...

Page 233: ...s Others Make sure servo drive can t be enabled externally or any external command that can rotate the motor Set range of movement velocity and acceleration deceleration time for one click tuning Prohibit external command Make sure there is no obstacle within the range of movement of the axis and motor can rotate freely Factors affecting one click tuning Load inertia External load smaller or 30 ti...

Page 234: ...on Set correct electronic gear ratio Click on One Click Tuning on Motion Studio Select auto tuning mode Set range of movement and operation mode Tuning in progress Tuning result If result is satisfactory Fine tune manually Save parameters End Y N One click Tuning flow chart ...

Page 235: ...ad Very low mechanical stiffness If gear backlash is a non linear property Motion Velocity less than 100r min or continuously in low velocity mode Acc deceleration to 2000r min within 1s Acc deceleration torque lower than eccentric load frictional torque Velocity 100r min acc deceleration to 2000r min within 1s but not longer than 50ms To enable automatic gain adjustment 1 Disable the servo driver...

Page 236: ...1 11 Velocity feedforward filter time constant 3 Pr1 12 Torque feedforward gain 4 Pr1 13 Torque feedforward filter time constant 5 Pr1 15 Position control gain switching mode 6 Pr1 17 Position control switching level 7 Pr1 18 Position control switching hysteresis 18 Pr1 19 Position gain switching time Types of mechanical load Please select mechanical load according to load inertia ratio and mechan...

Page 237: ...tiffness value This mode is suitable for applications requiring quick positioning Not recommended for load mounted vertical to ground or please compensate for the load using Pr6 07 0x0_0 Load type setting Used to select the load type choose according to load inertia ratio and mechanical structure 0 Rigid structure This mode prioritizes system responsiveness Use this mode when there is a relatively...

Page 238: ...rdingly Gain parameters settings table Stiffness 1st gain 2nd gain Pr1 00 Pr1 01 Pr1 02 Pr1 04 Pr1 05 Pr1 06 Pr1 07 Pr1 09 Position loop gain 0 1 s Velocity loop gain Hz Velocity loop integral time constant 0 1ms Torque filter 0 01ms Position loop gain 0 1 s Velocity loop gain Hz Velocity loop integral time constant 0 1ms Torque filter 0 01ms 0 20 15 3700 1500 25 15 10000 1500 1 25 20 2800 1100 30...

Page 239: ...000 30 19 1620 900 80 25 1880 900 10000 25 20 2060 1150 70 20 2410 1150 10000 20 21 2510 1400 60 16 2930 1400 10000 16 22 3050 1700 50 13 3560 1700 10000 13 23 3770 2100 40 11 4400 2100 10000 11 24 4490 2500 40 9 5240 2500 10000 9 25 5000 2800 35 8 5900 2800 10000 8 26 5600 3100 30 7 6500 3100 10000 7 27 6100 3400 30 7 7100 3400 10000 7 28 6600 3700 25 6 7700 3700 10000 6 29 7200 4000 25 6 8400 40...

Page 240: ...t 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 of the parame...

Page 241: ... 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 filter out the hig...

Page 242: ...er 10 Pr1 09 2nd torque filter time constant 11 Pr1 10 Velocity feedforward gain constant 12 Pr1 11 Velocity feedforward filter time constant 13 Pr1 12 Torque feedforward gain 14 Pr1 13 Torque feedforward filter time constant 15 Pr1 15 Position control gain switching mode 16 Pr1 17 Position control switching level 17 Pr1 18 Position control switching hysteresis 18 Pr1 19 Position gain switching ti...

Page 243: ...ity control mode Motor will switch from torque control to velocity limit as velocity control 2 When actual velocity doesn t reach velocity limit yet Except for position loop gain velocity loop gain and feedforward gain parameter adjustments as per velocity control mode If there is no velocity limit and control is through torque command please deactivate torque and notch filter set velocity limit t...

Page 244: ...ed 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 switching can be realized through manual and positioning mode Switching condition is set through Pr1 15 Gain switching is invalid under standard mode ...

Page 245: ...witch gain accordingly Related parameters on gain switching No Parameter Label Remarks 1 Pr1 15 Position control gain switching mode In position control set Pr1 15 3 5 6 9 10 In velocity control set Pr1 15 3 5 9 2 Pr1 17 Position control level switching Please set Pr1 17 Pr1 18 3 Pr1 18 Position control hysteresis switching If Pr1 17 Pr1 18 driver will set Pr1 17 Pr1 18 4 Pr1 19 Position gain time...

Page 246: ...sing 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 veloc...

Page 247: ...d 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 contr...

Page 248: ... 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 switchi...

Page 249: ...6 7 3rd Gain Switching Besides switching between 1 st and 2 nd gain a 3 rd gain switching is added to set gain at the moment of stopping to reduce positioning time Only available under position mode and Pr6 05 0 set Pr6 06 for 3 rd gain value When 2 nd gain switches to 1 st gain it has to go through 3 rd gain switching time is set in Pr1 19 Diagram below shows when Pr1 15 7 Position command veloci...

Page 250: ... value set in Pr1 19 Above diagram is illustrated using Pr1 15 7 6 8 Feedforward gain In position control velocity feedforward is calculated by comparing the velocity control command calculated internally and velocity command calculated from position feedback Comparing to control only using feedbacks this will reduce position deviation and increase responsiveness Besides by comparing the torque ne...

Page 251: ...rd command Often used when position command with low resolution or high electronic gear ration to smoothen velocity feed forward Position deviation under constant velocity can be lowered with higher velocity feed forward gain Please to refer to the equation below Position deviation Uint Velocity feedforward application Set Pr1 11 to around 50 0 5ms then tune Pr1 10 from 0 to bigger values until th...

Page 252: ...ll always exist hence position deviation can never be 0 Pr1 13 Name Torque feed forward filter time constant Mode PP PV HM CS P CS V Range 0 640 0 Unit 0 01ms Default 0 Index 2113h Activation Immediate Low pass filter to eliminate abnormal or high frequencies in torque feed forward command Usually used when encoder has lower resolution or precision Noise reduces if torque feed forward filter time ...

Page 253: ... gain Velocity feedforward Torque feedforward Current loop control Motor Encoder Velocity feedback Current feedback Position Command Position filter Position feedback Velocity loop integral time constant MFC To adjust model 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 a...

Page 254: ... function increase multi axis precision and master slave following Recommended application 1 Multi axis Improper following during circular arc motion Improved following Enable zero tracking control 2 Master slave following Used when driving axis sends frequency divider signal to lead following axis to improve the following control ZTC only available under position control mode ZTC can only be enab...

Page 255: ... Dynamic friction compensation coefficient Range 0 1000 unit 0 1 Unit Changes in torque with the effect of friction on rotational speed Only valid when MFC is activated Pr0 00 Model following bandwidth If Pr0 00 0 MFC and ZTC is deactivated When Pr2 50 1 Zero tracking control higher bandwidth will improve following performance but noise will be higher Set the following parameters to default Pr2 51...

Page 256: ...ning 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 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...

Page 257: ...quencies 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 gain at around resonant frequencies Torque command...

Page 258: ...t 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 resonant...

Page 259: ... 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 othe...

Page 260: ...ed a pulse width configurable DO signal or ABZ OCZ signal through frequency divider will be delivered This function is operated in CPLD without communication delay between processors hence it is suitable for application where high velocity motion is required Position comparison Description Output trigger Output 6 DO or frequency divider ABZ OCZ signal Logic DO output valid as set in Pr4 10 Pr4 15 ...

Page 261: ...iate Set Value Description 0 Disable 1 Enable Rising edge Pr5 71 Label Position comparison mode Mode F Range 0 2 Unit Default 0 Index 2571h Activation Immediate Set value Description 0 Single comparison 1 N cycles comparison 2 Cycle comparison Detailed explanations is available in Chapter 6 Application under Position Comparison section Pr5 72 Label Position comparison pulse output width Mode F Ran...

Page 262: ...r5 77 Label Position comparison set current position as origin Mode F Range 0 1 Unit Default 0 Index 2577h Activation Immediate Set Value Description 0 Disable 1 Enable Rising edge Set origin for position comparison set current position as origin at rising edge Pr5 78 Label Position comparison Offset to origin Mode F Range 231 231 1 Unit Default 0 Index 2578h Activation Immediate To set offset val...

Page 263: ... 8 DO2 9 DO3 10 12 Reserved 13 Frequency divider Phase A output 14 Frequency divider Phase B output 15 Frequency divider Phase Z output Bit Position comparison 2 16 Positive traversal comparison 0 OFF 1 ON 17 Negative traversal comparison 0 OFF 1 ON 18 21 Reserved 22 Output property settings 0 Pulse mode 1 Flipping mode 23 DO1 24 DO2 25 DO3 26 28 Reserved 29 Frequency divider Phase A output 30 Fre...

Page 264: ...ll be cleared after every comparison Under cycle comparison target position is relative increment After previous comparison actual position feedback will be cleared and restart counting in comparison with new target position N Cycle comparison Number of cycles is set in Pr5 83 When the number of cycles set reached position comparison function is turned off Position comparison output width Pr5 72 W...

Page 265: ...dback becomes smaller it indicates negative crossing and position comparison will be disabled Diagram below shows position comparison point 1 as positive crossing and position comparison point 2 as negative crossing When position comparison point 2 is positively crossed position comparison will be disabled Position comparison output Position comparison point 1 Position comparison point 2 Actual po...

Page 266: ...osition comparison output pulse width No position comparison at point 2 Pr5 72 Position comparison point 1 Positive crossing When stopping at position comparison point there will only be 1 pulse output as with crossing a comparison point Position comparison output Position comparison point 1 Positive crossing Actual position feedback Pr5 80 Position Time Positon comparison output pulse width Posit...

Page 267: ... through Motion Studio user can analyze cause of the problem with the aid of black box data Black box is deactivated by default It is user configurable to choose whether to overwrite current data or when to overwrite the data in black box 6 15 Full closed loop control Full closed loop control utilizes external position sensor i e grading ruler to get an actual position feedback to implement positi...

Page 268: ...ution in Pr0 36 If the lead size of lead screw and encoder accuracy are known please calculate using the formula below and enter the result into Pr0 36 Pr0 36 Lead size of lead screw mm Encoder accuracy μm pulse 23 bit encoder resolution 8388608 pulses Please make sure the parameters are set correctly to avoid excessive position deviation especially after long range motion This may trigger excessi...

Page 269: ... the condition to clear hybrid control deviation Only in full closed loop control mode 5 Set encoder feedback mode Set Pr0 30 1 to enable external encoder feedback this is to activate full closed loop control Pr0 01 needs to be set to 1 to enable this function Please restart driver after modifying this parameter Set value Description 0 OFF 1 100 Revolution count to clear hybrid control deviation P...

Page 270: ...ltiturn data overflow 2 Multiturn rotary mode Used as a multiturn absolute encoder Retrain position data on power off Actual data feedback in between 0 Pr6 63 Unlimited travel distance Used when travel distance is within 1 revolution of the encoder Data overflow will trigger alarm 5 Clear multiturn alarm and activate multiturn absolute function Will switch to multiturn mode once alarm cleared if r...

Page 271: ... When the rotor turns in clockwise direction the revolution count will be negative turns in counter clockwise direction the count will be positive No of revolutions will be from 32767 to 32767 If the count number reaches 32767 in counter clockwise direction the count will revert back to 32768 32767 and vice versa for clockwise direction As for position data it depends on the precision of the encod...

Page 272: ...5 to clear multiturn data and home the axis Multiturn rotational mode For absolute encoder multiturn rotational mode Pr0 15 2 Pr6 63 set to multiturn upper limit is added 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 absolut...

Page 273: ...s 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 P...

Page 274: ...urn 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 275: ...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 homed and multiturn data needs to be cleared 4 Alarm processing flow chart Er153 Replace battery power on Alarm clear Return to home point set Pr0 15 9 Alarm clear YES NO Absolute E...

Page 276: ... 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 No polarity inversion for probe 1 2 If Pr0 01 9 Pr0 07 Command pulse input mode settings Command pu...

Page 277: ...0 1μs for the duration between rising and falling edge of command pulse 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 6 17 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...

Page 278: ... RO int32 Command unit 2147483648 2147483647 0 60BBh 00h Probe 1 or Z signal falling edge latching position RO 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 ris...

Page 279: ...7 4 Probe Status Word 60B9h Bit Definition Details 0 Probe 1 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 ...

Page 280: ... rising edge counter 60D8h Probe 2 or Z signal falling edge counter 6 17 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 281: ...e fulfilled the set I O output will deliver 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 de...

Page 282: ...ation time 4 Pr4 37 set time value Delay time from the moment SRV_ON is given until BRK_OFF switch to BRK_ON is less than 500ms Pr4 39 Name Holding brake activation speed Mode F Range 30 3000 Unit RPM Default 30 Index 2439h Activation Immediate To set the activation speed for which holding brake will be activated When SRV OFF signal is given motor decelerates after it reaches below Pr4 39 and Pr6 ...

Page 283: ...aul 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 Method 2 Using 605Ah o...

Page 284: ...214 74836 47 Default 0 To set encoder resolution Index 6091h 0 1 Name Electronic gear ratio numerator Unit r Structur e VAR Type Dint 32 Access RW Mapping RPDO Mode F Range 1 21474 83647 Defaul t 1 To set electronic gear ratio numerator Index 6091h 0 2 Name Electronic gear ratio denominator Unit r Structur e VAR Type Dint 32 Access RW Mapping RPDO Mode F Range 1 21474 83647 Defaul t 1 To set elect...

Page 285: ...hing filter set time ms Pr2 22 x 0 1ms Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot To smoothen command signal reduces impact to machines and eliminate vibration If Pr2 22 is set too high overall time will be lengthened Pr2 23 Name Position command FIR filter Mode PP H M CS P Range 0 10000 Unit 0 1ms Default 0 Index 2223h Activation Disabl...

Page 286: ...top and after filter idle time to modify Pr2 23 Filter switching time Pr2 23 set value x 0 1ms 0 25ms In Position Positioning completed status can be determined by output of INP signal Under position control mode the absolute value of position deviation counter will be ON if positioning is under the range set in Pr4 31 Pr4 31 Name Positioning complete range Mode PP H M CSP Range 0 1000 0 Unit Comm...

Page 287: ...ere 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 deviation is smaller than Pr4 31 Pr4 33 Name INP positioning delay time Mode PP H M CSP Range 0 15000 Unit 1ms Default...

Page 288: ...dex 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 Mod...

Page 289: ...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 1 200 0 Unit RPM Default 50 Index 2434h Activation Immediate To set threshold value for zero speed clamp d...

Page 290: ... 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 M...

Page 291: ...ed 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 M...

Page 292: ...onous motion mode such as homing mode protocol position mode etc 7 2 2 Distributed clock synchronization mode EL8 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...

Page 293: ...he 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 294: ...EtherCAT application layer Figure 7 4 Structure of EL8 EC network module The data link layer is mainly implemented by EtherCAT slave station controller ESC EL8 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 Objec...

Page 295: ...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 station while sending PDO is from slave...

Page 296: ...00010h 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 05h 609A0020h 609Ah 00h 20h 32 bit...

Page 297: ... D Invalidate the PDO mapping object by assigning 0 to the subindex 0 of 1600h 1603h 1A00h 1A01h E 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 298: ...us Description RUN Green OFF Init Blinking Pre Operational Single flash Safe Operational ON Operational ERR Red OFF Refer to chapter 4 3 for more details Blinking Single flash Double flash Flickering ON L A IN Green OFF Physical layer link not established ON Physical layer link established Flickering Interactive data after link established L A OUT Green OFF Physical layer link not established ON P...

Page 299: ...User manual of EL8 EC F AC Servo 299 ...

Page 300: ...ure warning 20 8 Positive limit switch valid POT blinking on front panel 9 Negative limit switch valid NOT blinking on front panel A Positive and negative limit switch valid PNOT blinking on front panel B Current position is beyond software positive limit SPOT blinking on front panel C Current position is beyond software negative limit NPOT blinking on front panel D Current position is beyond soft...

Page 301: ... DC bus error 2 6 Temperature measuring error 2 0b 0 Control circuit power supply voltage too low 2 1 Control 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 overcur...

Page 302: ...e synchronous position command 2 1c 0 Both STO failed 1 1 1st STO failed 1 2 2nd STO failed 1 3 STO power supply 3 3v anomaly 2 4 STO power supply 5 0v anomaly 2 5 8 Faulty STO internal optocoupler inverter 2 21 0 I O input interface assignment error 2 1 I O input interface function assignment error 2 2 I O output interface function assignment error 2 24 0 CRC correction during EEPROM parameter sa...

Page 303: ...oder Phase A disconnected 1 2 External ABZ encoder Phase B disconnected 1 3 External ABZ encoder Phase Z disconnected 1 57 0 Forced alarm input valid E stop 2 5F 0 Motor model no detection error 2 1 Driver power module detection error 2 60 0 Main loop interrupted timeout 2 1 Velocity loop interrupted timeout 2 70 0 Encryption error 2 89 0 Homing error 2 92 0 External encoder parameter initializati...

Page 304: ...esides clearable alarms 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 Data monitoring Press M to enter data monitoring mode Auxiliary Function AF ACL Clear Alarm Operation ACL Initial display of alarm clearing function S Press butt...

Page 305: ...nt Er 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 0x...

Page 306: ...ggered 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 detection error Er 600 0x80 0x6204 Main loop interrupted timeout Er 601 0x80 0x6204 Velocity loop interrupted timeo...

Page 307: ...machine Pre Op state Er 823 0x10 0xA005 0x0023 Waiting for master device for Safe Op request Er 824 0x10 0x8224 0x0024 Invalid process data input mapping Er 825 0x10 0x8225 0x0025 RPDO mapping invalid length parameter not present no this property Er 827 0x10 0x8227 Free running mode is not supported Er 828 0x10 0x8228 Sync mode not supported Er 82b 0x10 0x8210 0x002 B Invalid inputs and outputs Er...

Page 308: ...x80 0x5551 0x0051 EEPROM error Er 852 0x80 0x5552 0x0052 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 Er 890 0x80 0x8614 Homing error ...

Page 309: ...er cable wiring error Verify motor power cable wiring Make sure U V W terminal wired properly Main power supply undervoltage Verify L1 L2 L3 terminal voltage Increase main power supply voltage Error code Main Sub Display Er 0A2 Er 0A4 0A 2 4 Content Analog input error Cause Diagnosis Solution Analog input wiring error Verify analog input wiring Make sure of analog input wiring connection Error cod...

Page 310: ...C L2C terminal voltage check if wiring connection is tight Increase L1C L2C terminal voltage Tighten L1C L2C terminal connection Power supply under capacity Increase power supply capacity for L1C L2C terminals Error code Main Sub Display Er 0b1 0b 1 Content Control circuit power supply abnormal Cause Diagnosis Solution USB power supply too low Verify if USB cable is properly connected and not dama...

Page 311: ...3 Secure connections Error code Main Sub Display Er 0d2 0d 2 Content No main power supply detected Cause Diagnosis Solution No main power supply Verify L1 L2 L3 terminal voltage 1 Increase main power supply voltage 2 Secure connections Error code Main Sub Display Er 0E0 0E 0 Content Overcurrent Cause Diagnosis Solution Driver power output short circuit Verify if there is short circuit between UVW ...

Page 312: ...too acute Modify control command use filter Error code Main Sub Display Er 0E2 0E 2 Content Power output to motor shorted to ground Cause Diagnosis Solution Driver U V W terminals shorted to ground Disconnect motor power cable and check for short circuit between driver UVW and PE 1 Reconnect wiring 2 Change motor power cable Motor shorted to ground Connect motor power cable to driver power output ...

Page 313: ...lue of control loop 2 Increase duration time for acceleration and deceleration Motor or encoder cable wiring error Verify motor and encoder wiring 1 Reconnect wiring 2 Replace motor and encoder cable Holding brake engaged Verify holding brake terminal voltage Cut off holding brake Error code Main Sub Display Er 101 10 1 Content Driver overloaded Cause Diagnosis Solution Motor power cable wiring er...

Page 314: ...uit damaged 1 Add an external regenerative resistor 2 Replace driver Error code Main Sub Display Er 121 12 1 Content Holding brake error Cause Diagnosis Solution Holding brake circuit damaged Regenerative resistor disconnected Replace regenerative resistor Holding brake IGBT damaged Replace driver Error code Main Sub Display Er 122 12 2 Content Regenerative resistor value too low Cause Diagnosis S...

Page 315: ...maged 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 153 15 3 Content Multiturn encoder error Cause Diagnosis Solution Initial use Origin calibration not performed Perform origin positioning and multiturn...

Page 316: ...too high Reduce encoder temperature Error code Main Sub Display Er 157 15 7 Content Encoder counter error Cause Diagnosis Solution Encoder data overflow Verify if encoder is not damaged Initialize multiturn data Absolute value applications motor rotates in one direction Verify if encoder is not damaged Adjust absolute value application mode set to turntable mode Error code Main Sub Display Er 170 ...

Page 317: ... low Increase values of Pr0 13 Pr5 22 Excessive external load 1 Verify if acceleration and deceleration duration time is too low 2 Verify if rotational velocity is too high 3 Verify if load is too large 1 Increase duration time for acceleration and deceleration 2 Decrease rotational velocity 3 Decrease load Error code Main Sub Display Er 181 18 1 Content Excessive velocity deviation Cause Diagnosi...

Page 318: ...f velocity command is too high 2 Verify if simulated velocity command voltage is too high 3 Verify if parameter value of Pr3 21 is too low 4 Verify if input frequency and division frequency coefficient of pulse train is proper 5 Verify if encoder is wired correctly 1 Adjust velocity input command 2 Increase Pr3 21 value 3 Adjust pulse train input frequency and division frequency coefficient 4 Veri...

Page 319: ...l 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 1st STO failed Cause Diagnosis Solution 1st STO input signal 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 1c2 1c 2 ...

Page 320: ...rameter saving Cause Diagnosis Solution L1 L2 terminal voltage too low Verify if L1 L2 terminal voltage too low Make sure L1 L2 terminal voltage is within recommended range Parameter saving anomaly Save parameter again and restart Save parameter again Error code Main Sub Display Er 250 25 0 Content Gantry deviation error Cause Diagnosis Solution Excessive Gantry drivers deviation Verify if both dr...

Page 321: ...s Solution Frequency divided pulse output exceeds 1MHz Verify if motor rotational speed and the number of frequency divided pulse output are too high Reduce the number of frequency divided pulse output or reduce rotational speed Error code Main Sub Display Er 290 29 0 Error description Control mode not match in full closed loop mode Cause Diagnosis Solution Control mode is not position mode when f...

Page 322: ...ced alarm input signal occurred Verify forced alarm input signal Verify if the input wiring connection is correct Error code Main Sub Display Er 5F0 5F 0 Content Motor model no detection error Cause Diagnosis Solution Automatically detected motor doesn t match set motor Please contact our technical support Error code Main Sub Display Er 5F1 5F 1 Error description Driver power module detection erro...

Page 323: ...ion 1 Excess homing velocity 2 Homing mode is different from given signal 3 Sensor signal edge inconsistent 1 Verify if homing velocity is too high 2 Verify if homing mode is set correctly 3 Verify if sensor signal edge is consistent 1 Set an optimal homing velocity 2 Make sure sensor signal edge is consistent Inconsistent origin status 1 Homing acceleration deceleration is set too low 2 Electroni...

Page 324: ...h 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 refer to switch input interface connection to clear the alarm ...

Page 325: ... 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 Chec...

Page 326: ...fe 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 Network port LED ON The result status The current state is maintai...

Page 327: ...EtherCAT transition request Cause Driver received unconvertible request from EtherCAT state machine The status of the error can be detected All ESM Status Network port LED Blinking 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 Erro...

Page 328: ...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 Network port LED Blinking The result status Initialization Solution Verify if EL8 EC software version supports action ...

Page 329: ...2 Verify 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 Network port LED Double flash The result status The current state is maintained below the safe operation and the operation state is switched to the safe operation...

Page 330: ...result 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 Network port LED Blinking The result status Initialize Solution 1 Verify EL8 EC synchro...

Page 331: ...ration operation Network port LED Blinking 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 Network port LED Blinking...

Page 332: ...C 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 Network port LED Blinking The result status The current state is maintained below the safe operation and the operation state is switched to the safe operation state...

Page 333: ...LED Single flash 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 Network port LED Blinking The result status Pre operation Solution Verif...

Page 334: ...7 4000us The status of the error can be detected Safe operation Network port LED Single flash 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 Network port LED Flickeri...

Page 335: ...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 states Network port LED None 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 Ca...

Page 336: ... visiting our global website Technical Support Tel 86 755 2641 8447 86 755 2641 8774 Asia Australia Africa 86 755 2665 5136 North and South America 86 755 8654 2465 Europe Fax 86 755 2640 2718 Email tech leadshine com Sales Hot Line Tel 86 755 2641 7674 Asia Australia Africa 86 755 2641 7617 North and South America 86 755 2640 9254 Europe Email sales leadshine com Leadshine America Inc North Ameri...

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