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3. EtherCAT Communication

3-2

3.1.1

EtherCAT State Machine

Init

Operational

Pre-Operational

Safe-Operational

Boot

The EtherCAT drive has 5 states as shown above, and a state transition is achieved by an upper level
controller (master).

State

Description

Boot

A state for firmware updates. Only mailbox communication using the FoE (File
access over EtherCAT) protocol is available. The drive can transit to the Boot state
only when in the Init state.

Init

Initializes the communication state.
Unable to perform mailbox or process data communication.

Pre-Operational

Mailbox communication is possible.

Safe-

Operational

Mailbox communication is possible and PDO can be transmitted. PDO cannot be
received. The process data of the drive can be passed to an upper level controller.

Operational

Mailbox communication is possible and PDO can be transmitted and received. The
process data can be properly exchanged between the drive and the upper level
controller, so the drive can be normally operated.

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Summary of Contents for L7NHF Series

Page 1: ...ng this manual store it in a readily accessible location for future reference Safety Precautions AC SERVO DRIVE Xmotion The Best Choice for the Most Benefit We are committed to providing premium benefits to all of our customers Xmotion L7NHF Series User Manual Ver1 2 ...

Page 2: ......

Page 3: ...uidelines contained therein The contents of this manual are subject to change according to software versions without notice Reproduction of part or all of the contents of this manual in any form by any means or for any purpose is strictly prohibited without the explicit written consent of our company Our company retains all patents trademarks copyrights and other intellectual property rights to th...

Page 4: ...r wait 15 minutes make sure that the charge lamp has gone off and check the voltage Ground both the servo drive and the servo motor faultlessly Only qualified and trained technicians may perform wiring on this product Install both the servo drive and the servo motor before performing any wiring Do not operate the device with wet hands Do not open the servo drive cover during operation Do not opera...

Page 5: ... iron corrosive gas and combustible gas Ensure the installation location is free from abnormal vibrations or potential for hard impacts Caution Keep the installation directions and do not drop the product or expose it to a hard impact Install this product in a location that is free from water corrosive gas combustible gas or flammable materials Install this product in a location capable of support...

Page 6: ...r supply is connected to N terminals Always contact the customer center or agency when it is necessary to connect the external capacitor Startup Precautions Caution Check the input voltage AC 200 230 V and power unit wiring before supplying power to the device The servo must be in OFF mode when you turn on the power For L7NHFA check the motor ID encoder type and encoder pulse to be used before tur...

Page 7: ... is for maintaining paused operation Do not use it for ordinary braking The electric brake may malfunction if the brake degrades or if the mechanical structure is improper for example if the ball screw and servo motor are combined via the timing belt Install an emergency stop device to ensure mechanical safety Malfunction Precautions Caution Use a servo motor with an electric brake or install a se...

Page 8: ...ur we issue a new user manual with a new product number Product Application Caution This product is not designed or manufactured for machines or systems intended to sustain human life This product is manufactured under strict quality control conditions Nevertheless install safety devices if installing the product in a facility where product malfunctions may result in a major accident or a signific...

Page 9: ...ock Diagram L7NHFA010U and L7NHFA035U 2 6 2 3 2 L7NHF Drive Block Diagram L7NHFA050U and L7NHFA075U 2 7 2 4 Power Supply Wiring 2 8 2 4 1 Power Supply Wiring Diagram 2 9 2 4 2 Power Input Sequence 2 11 2 4 3 Power Circuit Electrical Component Standards 2 12 2 4 4 Regeneration Brake Resistor Options 2 17 2 5 Wiring for Input Output Signals 2 18 2 5 1 Names and Functions of Digital Input Output Sign...

Page 10: ...e 3 5 3 4 PDO Mapping 3 5 3 5 Synchronization Using the DC Distributed Clock 3 8 3 6 Emergency Messages 3 8 4 CiA402 Drive Profile 4 1 4 1 State machine 4 1 4 2 Operation Modes 4 4 4 3 Position Control Modes 4 5 4 3 1 Cyclic Synchronous Position Mode 4 5 4 3 2 Profile Position Mode 4 8 4 4 Velocity Control Modes 4 13 4 4 1 Cyclic Synchronous Velocity Mode 4 13 4 4 2 Profile Velocity Mode 4 16 4 5 ...

Page 11: ...ve Limit Setting 5 28 5 8 Brake Output Signal Function Setting 5 29 5 9 Torque Limit Function 5 31 5 10 Gain Conversion Function 5 34 5 10 1 Gain Group Conversion 5 34 5 10 2 P PI Control Switch 5 36 5 11 Dynamic Brake 5 38 5 12 Regeneration Brake Resistor Configuration 5 39 5 12 1 Use of Internal Regeneration Brake Resistor 5 40 5 12 2 Use of External Regeneration Brake Resistor 5 42 5 12 3 Other...

Page 12: ...antaneous Maximum Torque Reset 8 8 8 8 Phase Current Offset Tuning 8 8 8 9 Software Reset 8 9 8 10 Commutation 8 9 9 Full Closed Control 9 1 9 1 Full Closed Control Internal Configuration 9 1 9 2 Full Closed Control Parameter Settings 9 3 10 Object Dictionary 10 1 10 1 Data Type 10 2 10 2 General Objects 10 2 10 3 Manufacturer Specific Objects 10 23 10 4 CiA402 Objects 10 102 11 Product Specificat...

Page 13: ...nd Troubleshooting 12 4 12 2 1 Servo Motor 12 4 12 2 2 Servo Drive 12 5 12 3 Servo Drive Overload Graph 12 14 13 Test Drive 13 1 13 1 Preparation for Operation 13 2 13 2 Test Drive Using TwinCAT System Manager 13 4 13 3 Test Drive Using LS ELECTRIC PLC XGT PN8B 13 12 14 Appendix 14 1 14 1 Firmware Update 14 1 14 1 1 Use of USB OTG 14 1 14 1 2 Use of FoE File access over EtherCAT 14 2 14 1 3 Using ...

Page 14: ...Table of Contents xii ...

Page 15: ...rect Does the regeneration brake resistor conform to the required standard Is the shape of the shaft correct Are there any abnormalities after mounting the oil seal or the brake Are the gearbox and the gear ratios correct Is the encoder format correct 3 Check the exterior of the product Are there any foreign substances or humidity in the product Is there any discoloration contaminant damage or dis...

Page 16: ...uct Type APM C F E 30 A M K 1 S H F Motor Shape F_L Solid Shaft Hollow Shaft Flat L Series Rated RPM A D G M 3000 rpm 2000 rpm 1500 rpm 1000 rpm None 1 2 3 Options Not attached Oil Seal attached Brake attached Oil Seal and Brake attached N K Shaft End Shape Straight Rou nd ke y at o ne end Sta ndard SERVO MOTOR 200Vac 40 Flange 60 Flange 80 Flange 40 Flange 60 Flange 80 Flange 130 Flange 180 Flang...

Page 17: ...le power cable of the servo motor Analog monitor connector Connector to check analog output signals Node address setting switch Switch to set the node address of the drive You can set the node addresses from 0 to 99 USB connector USB This connector is used to communicate with a PC EtherCAT communication input port ECAT IN EtherCAT communication output port ECAT OUT Safety connector STO This connec...

Page 18: ...nication input port ECAT IN EtherCAT communication output port ECAT OUT Safety connector STO This connector connects safety devices If a safety device is not used be sure to install the safety jump connector before use Input output signal connectors I O This connector is for sequence input output signals Encoder connector ENCODER This connector connects to the encoder installed in the servo motor ...

Page 19: ...s safety devices If a safety device is not used be sure to install the safety jump connector before use Input output signal connectors I O This connector is for sequence input output signals Encoder connector ENCODER This connector connects to the encoder installed in the servo motor Encoder connector 2 ENCODER2 Connector used to connect the encoder sensor installed in the external equipment CHARG...

Page 20: ...ects safety devices If a safety device is not used be sure to install the safety jump connector before use Input output signal connectors I O This connector is for sequence input output signals Encoder connector ENCODER This connector connects to the encoder installed in the servo motor Encoder connector 2 ENCODER2 Connector used to connect the encoder sensor installed in the external equipment Se...

Page 21: ... Servo Motor Part Names 80 Flange of Lower L series 130 Flange or Higher Bearing Cap Shaft Motor Connector Encoder Connector Encoder Cover Housing Frame Flange Shaft Flange Frame Housing Encoder Cover Power connecotor Encoder connector ...

Page 22: ...t turns off the circuit if overcurrent flows Noise Filter It protects power line from external noise Electromagnetic Contactor It turns ON OFF servo power Safety Device 3 M 1 0 3 1 4 3 M 1 0 3 1 4 3 M 1 0 3 1 4 3 M 1 0 3 1 4 3 M 1 0 3 1 4 3 M 1 0 3 1 4 External Encoder Sensor Caution Use N terminals to connect the external capacitor The product may burn if a commercial power supply is connected to...

Page 23: ... customize the product if the temperatures in the installation environment are outside this range Ambient humidity 80 RH or lower Do not operate this device in an environment with steam External vibration Vibration acceleration 49 or below on X and Y axes Excessive vibrations reduce the lifespan of the bearings 2 1 2 Preventing Over impact Impact to the motor during installation or handling may da...

Page 24: ...inals of the motor to either of the two ground terminals inside the drive and attach the remaining terminal to the type 3 ground Connect U V and W terminals of the motor to match U V and W terminals of the drive Ensure that no pin on the motor connector is fallen off or inadequately connected If there is moisture or condensation on the motor make sure that insulation resistance is 10 500 V or high...

Page 25: ...9 4 60 206 21 69 7 80 255 26 98 10 130 725 74 362 37 180 1548 158 519 53 220 1850 189 781 90 2 1 5 Cable Installation For vertical installations make sure that no oil or water flows into the connecting parts Do not pressurize or damage the cables Make sure to use robot cables for a moving motor and prevent the cables from swaying Nr 30 or below Lateral load Axial load Load shaft Motor shaft 0 03 o...

Page 26: ... formation or condensation during a prolonged period of inactivity may damage the drive Remove all moisture before operating the drive after a prolonged period of inactivity External vibration Vibration acceleration 4 9 or lower Excessive vibration reduces the lifespan of the product and it may cause malfunctions Ambient conditions Do not expose the device to direct sunlight Do not expose the devi...

Page 27: ...external regeneration brake resistor properly so that generated heat does not affect the drive Assemble the servo drive control panel so it is flat against the wall Do not let any metal debris generated from drilling etc fall into the drive when assembling the control panel Make sure that oil water or metal dust does not enter the drive through the gaps or roof of the control panel Protect the con...

Page 28: ...ature detection circuit Thermistor Control power phase loss detection circuit Main power phase loss detection circuit Safety function input 2 points Safety device connection STO ESC A D conversion BiSS B BiSS C TAMAGAWA EnDat Main control DC voltage detection circuit Safety function output 1 point EtherCAT Communication U V current DC voltage 0 5 x10 5 x1 0 Note 1 Note 2 Note 3 Analog Output 2 Poi...

Page 29: ...V current DC voltage P C insulation I F Input Output connection I O Digital input 6 points Digital output 3 points Analog output 1 point MCU FPGA Encoder 1 USB communic ation ESC BISS C USB OTG FS Analog output connection Safety device connection STO Quadrature TAMAGAWA EnDat ECAT IN OUT ENCODER Encoder 2 ENCODER2 Note 4 Main power phase loss detection circuit Note 1 To use a DC reactor connect it...

Page 30: ...n For information about resistance during regenerative capacity expansion refer to Section 2 4 4 Regenerative Resistor Options L7NHFA035U 13 Ω Built in 150 W L7NHFA050U 6 8 Ω Built in 120 W L7NHFA075U 6 8 Ω Built in 240 W Configure the system so that the main power L1 L2 L3 is supplied after the control power C1 C2 Refer to section 2 4 1 Power Supply Wiring Diagram High voltages may remain in the ...

Page 31: ...rminals before using them If the regenerative capacity is high because of frequent acceleration and deceleration open the short circuit pins B and BI and connect an external regenerative resistor to B and B Note 3 Use N terminals to connect the external capacitor The product may burn if a commercial power supply is connected to N terminals Always contact the customer center or agency when it is ne...

Page 32: ...rives have built in regeneration brake resistors of 120 W 6 8 Ω and 240 W 6 8 Ω respectively Check the connection of internal regeneration brake resistor to the B and B terminals before using them If the regenerative capacity is large due to frequent acceleration deceleration connect the internal regeneration brake resistor wire to the internal resistor fixing hole NC of the case and connect the e...

Page 33: ...ff shut off the control power simultaneously or after the main power is cut off 2 2 5 seconds after the power input the alarm signal turns on normal and the Servo On command signal is recognized Therefore when the Servo On command signal is on at the same time as the power is input the actual Servo On is activated 2 2 5 seconds later Keep this in mind when designing the power input sequence Timing...

Page 34: ... 0 AWG10 6 0 AWG8 8 0 C1 C2 AWG16 1 5 AWG16 1 5 AWG16 1 5 AWG16 1 5 Pressurized Terminal UA F2010 SEOIL 10mm Strip Twist UA F4010 SEOIL 10mm Strip Twist GP110028 KET GP110732 KET Regenerative Resistor Default 100 W 40Ω 150 W 13Ω 120 W 6 8Ω 240 W 6 8Ω Connector BLF 5 08 03 180F SN BK BX BLF 5 08 11 180F SN BK BX BLZ7 62HP 03 180LR SN BK BX SO BLZ7 62HP 11 180LR SN BK BX SO Note 1 When you select a ...

Page 35: ...2 Wiring and Connection 2 13 L7NHFA010U Wire strip 7 10 mm Weidmuller SD 0 6x3 5x100 M4 1 2 N m Weidmuller SD 0 6 3 5 100 M4 1 2 N m ...

Page 36: ...ent torque of locking screw may cause vibration induced disconnection system malfunction and contact induced fire accident 4 After you connect a wire to connector place the connector as closely to servo drive as possible and use both locking hooks to fully lock it 5 Use PE Protective Earth locking screw of M4 size shown at the bottom of product to tighten it to 1 2 N m 6 Insufficient torque of loc...

Page 37: ...ay cause vibration induced disconnection system malfunction and contact induced fire accident 2 Use PE Protective Earth locking screw of M4 size shown at the bottom of product to tighten it to 1 2 N m TB1 L1 L2 L3 B B U V W TB2 N PO PI TB3 C1 C2 Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m ...

Page 38: ...y cause vibration induced disconnection system malfunction and contact induced fire accident 2 Use PE Protective Earth locking screw of M4 size shown at the bottom of product to tighten it to 1 2 N m TB1 L1 L2 L3 B B U V W TB2 N PO PI TB3 C1 C2 Terminal screw M5 Tightening torque 3 24 N m Terminal screw M5 Tightening torque 3 24 N m Terminal screw M4 Tightening torque 1 2 N m ...

Page 39: ...el Name Applicable Drive Specifications Resist ance Regenerati ve resistor APC 300R30 L7NHFA010U Resist ance Regenerati ve resistor APC 600R30 L7NHFA035U Resist ance Regenerati ve resistor APC 600R28 L7NHFA050U 4P L7NHFA075U 4P Resist ance Braking Resistance IRM2000 3 3Ω 3 3 Ω 2000W L7NHFA150U ...

Page 40: ...2 5 Wiring for Input Output Signals I O Connector Specifications DFMC 1 5 6 STF 3 5 PHOENIX Analog Monitoring Connector Model DF 11 4DS 2C HIROSE 1 2 3 4 8 DI5 1 DICOM 3 DI2 5 DI4 7 DI6 9 DO2 11 DOCOM 6 DI3 4 DI1 2 FG 10 DO1 12 DO3 ...

Page 41: ...rom Gain 1 Gain 2 PCL Positive Torque Limit When the contact is on the positive torque limit function is activated BNCL Negative Torque Limit When the contact is on the negative torque limit function is activated PROBE1 Touch Probe 1 The probe signal to rapidly store the position value 1 PROBE2 Touch Probe 2 The probe signal to rapidly store the position value 2 EMG Emergency Stop Emergency stop w...

Page 42: ... the zero speed INPOS1 Position Reached 1 Outputs signal when having reached the command position 1 TLMT Torque Limit Outputs signal when the torque is limited VLMT Velocity Limit Outputs signal when the speed is limited INSPD Velocity Reached Outputs signal upon reaching the command speed WARN Servo Warning Outputs signal when a warning occurs TGON Rotation Detection Outputs signal when the servo...

Page 43: ...g Monitor output AT NC Axis in case of 10V 10V signal 신호면 AT NC Axis 10 2 AMON2 Analog Monitor 2 Analog Monitor output AT NC Axis in case of 10V 10V signal 신호면 AT NC Axis 10 3 AGND AGND 0V Analog ground 4 AGND AGND 0V Analog ground Note 1 You can change the output variables to be monitored with analog monitor output through parameter settings For more information refer to Section 5 2 3 Assignment ...

Page 44: ... can assign each input contact to one of 15 functions 3 For more information on signal assignment and contact change of the input contact refer to 5 2 Input Output Signals Setting 4 The rated voltage is DC 12V to DC 24V Internal Circuit R2 R1 External Power supply 12 VDC to 24 VDC Internal Circuit R2 R1 DI1 DI8 Servo Drive Internal Circuit R2 R1 External Power supply 12 VDC to 24 VDC Internal Circ...

Page 45: ...utput contact to one of 11 output functions 3 For more information on signal assignment and contact change of the output contact refer to 5 2 Input Output Signals Setting 4 Excessive voltage or overcurrent may damage the device because it uses an internal transistor switch Be cautious 5 The rated voltage and current are DC 24V 10 and 120 DC 24V L L DO3 Internal Circuit Internal Circuit DO1 Servo D...

Page 46: ...ignment of Analog Output Signals for signal settings and scale adjustment 2 The range of analog output signals is 10V to 10V 3 The resolution of analog output signal is 12 bits 4 The maximum load current allowed is 2 5 mA 5 The stabilization time is 15 us ANALOG MONITOR1 Servo Drive AGND ANALOG MONITOR2 ...

Page 47: ...LMT INPOS1 DI1 DI2 DI3 DI4 DI5 DI6 DO1 DO2 VLMT READY 12 11 DO3 ZSPD I O STO STO1 4 3 STO1 Safety Function Input STO2 6 5 STO2 EDM 7 EDM 8 Safety Function Output PROBE2 PROBE1 EMG A RST WARN INSPD TGON INPOS2 3 3kΩ 3 3kΩ Analog Monitor MONITOR 1 1 10V V 10 MONITOR 2 2 AGND 3 4 10V 10V LVSF1 LVSF2 SVON Analog output GND 24 Note 1 Input signals DI1 DI6 and output signals DO1 DO3 are factory default ...

Page 48: ...D 13 12 11 10 9 8 5 6 3 4 1 2 14 7 Frame Servo Drive Servo Motor AWG24 7Pair Twisted Shield Wire Cable Connector Maker AMP 172163 1 170361 1 Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE Encoder 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 A A B B Z Z U U V V W W 5V GND SHD 13 12 11 10 9 8 5 6 3 4 1 2 14 7 Frame Servo Drive Servo Motor AWG24 7Pair Twisted Shield Wire Cable Connector Maker AM...

Page 49: ...4 1 2 7 Frame AWG24 7Pair Twisted Shield Wire Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE Cable Connector MS3108B20 29S 14 Without Quadrature Type Hall Sensor Servo Drive Servo Motor Encoder A B C D E F H G J A A B B Z Z 5V GND SHD 13 12 11 10 9 8 5 7 Frame AWG24 7Pair Twisted Shield Wire Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE Cable Connector MS3108B20 29S Se...

Page 50: ...G24 4Pair Twisted Shield Wire Cable Connector Maker AMP 172161 1 170361 1 Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE MA SL SL APCS E DS Cable Encorder A B C D H G J MA 5V GND SHD 3 4 5 6 14 7 Frame Servo Drive Servo Motor AWG24 4Pair Twisted Shield Wire Cable Connector MS3108S20 29S Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE MA SL SL ...

Page 51: ...oder Signaling Unit Wiring APCS E CS1 Cable Encorder 1 2 3 4 5 6 7 8 9 MA MA SL SL BAT 5V GND SHD 3 4 5 6 14 7 Frame Servo Drive Servo Motor AWG24 4Pair Twist Shield Wire Cable Connector MS3108S20 29S Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE Encorder 1 2 3 4 5 6 7 8 9 MA MA SL SL BAT 5V GND SHD 3 4 5 6 14 7 Frame Servo Drive Servo Motor AWG24 4Pair Twist Shield Wire Cable Conne...

Page 52: ...MS3108S20 29S Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE BAT Encorder Servo Drive Servo Motor APCS E ES1 Cable 1 6 2 7 8 3 9 4 5 MA MA SL SL BAT 5V GND SHD 3 4 5 6 14 7 Frame AWG24 4Pair Twist Shield Wire Connector Tyco connector 7Ciruits Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE 1 6 2 7 8 3 9 4 5 MA MA SL SL BAT 5V GND SHD 3 4 5 6 14 7 Frame AWG24 4Pair Twist ...

Page 53: ...ble Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE Encorder Servo Drive Servo Motor 2 6 5 EnDat 2 2 Encoder Signaling Unit Wiring 3 4 5 6 5V GND SHD EnDat_CLK 14 7 Frame AWG24 4Pair Twist Shield Wire Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE 3 4 5 6 5V GND SHD EnDat_CLK 14 7 Frame AWG24 4Pair Twist Shield Wire Cable Connector ENCODER Maker 3M 10314 52A0 008 10114 3000VE ...

Page 54: ...ctor specifications Connector MUF PK8K X Recommended wiring standards AWG28 AWG24 1 8 DER2 connector viewed m the front of the drive Wiring and signal name Pin No Signal name Quadrature Signal name SSI 1 5V 5V 2 GND GND 3 A DATA 4 A DTAT 5 B CLK 6 B CLK 7 Z Z 8 Z Z ...

Page 55: ... Pin Number Names Function 1 12V For bypass wiring 2 12V 3 STO1 DC 24V GND 4 STO1 Blocks the current torque applied to the motor when the signal is off 5 STO2 DC 24V GND 6 STO2 Blocks the current torque applied to the motor when the signal is off 7 EDM Monitor output signal for checking the status of safety function input signal 8 EDM 2 1 4 3 6 5 8 7 ...

Page 56: ...onnecting Safety Function Signals Caution 1 The rated voltage is DC 12 V to DC 24 V 2 With the contacts of STO1 and STO2 off the motor output current is blocked STO1 STO1 STO2 STO2 Driving Signal M Blocking Bloc king EDM EDM 24 V Power Safety Module ...

Page 57: ... not used To use the Bypass function connect the Mini I O Plug connector as follows If you connect 12V to STO2 12V to STO1 and STO1 to STO2 for wiring of the Mini I O Plug connector you can bypass the safety function signal Never use this power 12 V and 12 V except for this purpose Mini I O By pass Connector 2 1 4 6 8 3 5 7 1971153 1 Tyco Electronics Mini I O Plug Connector 2 1 4 3 6 5 8 7 2069577...

Page 58: ...erCAT Communication Signals EtherCAT IN and EtherCAT OUT Connector Pin Number Signal Names Line Color 1 TX RX0 White Orange 2 TX RX0 Orange 3 TX RX1 White Green 4 TX RX2 Blue 5 TX RX2 White Blue 6 TX RX1 Green 7 TX RX3 White Brown 8 TX RX3 Brown Plate Shield Note 1 EtherCAT only uses signals from 1 2 3 or 6 ...

Page 59: ...therCAT communication This is an example of a connection by topology of the basic line type For an environment with much noise install ferrite core at both ends of the EtherCAT cable EtherCAT Master Position Control Unit SLAVE 1 AXIS SLAVE 2 AXIS SLAVE n AXIS EtherCAT IN EtherCAT Out EtherCAT Out EtherCAT IN EtherCAT IN EtherCAT Out PN 8B ...

Page 60: ...2 Wiring and Connection 2 38 ...

Page 61: ...net switch you can interconnect with the commonly used TCP IP 3 1 Structure of CANopen over EtherCAT This drive supports a CiA 402 drive profile The Object Dictionary in the application layer includes the application data and PDO Process Data Object mapping information from the process data interface and application data The PDO can be freely mapped and the content of the process data is defined b...

Page 62: ...ransit to the Boot state only when in the Init state Init Initializes the communication state Unable to perform mailbox or process data communication Pre Operational Mailbox communication is possible Safe Operational Mailbox communication is possible and PDO can be transmitted PDO cannot be received The process data of the drive can be passed to an upper level controller Operational Mailbox commun...

Page 63: ...red LED ERR L A0 L A1 Link Activity LED The L A0 LED and L A1 LED indicate the status of the EtherCAT IN and EtherCAT OUT communication ports respectively The following table outlines what each LED state indicates LED Status Description OFF Not connected for communication Flickering Connected and communication is enabled ON Connected but communication is disabled L A 0 L A 1 RUN ERR 0 1 2 3 4 5 6 ...

Page 64: ...tes the error status of the EtherCAT communication The following table outlines what each LED state indicates LED Status Description OFF Indicates the EtherCAT communication is in a normal state without any error Blinking Indicates that the drive has received a command from the EtherCAT master instructing it to perform a setting which is not feasible in its present state or to perform an impossibl...

Page 65: ...the drive to the upper level controller This drive uses the objects of 0x1600 to 0x1603 and 0x1A00 to 0x1A03 to assign the RxPDO and the TxPDO respectively Up to 10 objects can be assigned to each PDO You can check the PDO assignment attribute of each object to see if it can be assigned to the PDO The diagram below shows the PDO assignment Upper Level Unit Controlword 0x6040 Target Position 0x607A...

Page 66: ...dex Name Data Type 0x6041 0x00 Statusword UINT 0x6064 0x00 Position Actual Value DINT 0x606C 0x00 Velocity Actual Value DINT The TxPDO 0x1A00 settings are as follows SubIndex Setting Value 0 0x03 3 values assigned Bit 31 16 Index Bit 15 8 Sub index Bit 7 0 Bit size 1 0x6041 0x00 0x10 2 0x6064 0x00 0x20 3 0x606C 0x00 0x20 The Sync Manager can be composed of multiple PDOs The Sync Manager PDO Assign...

Page 67: ...atus 0x60B9 Touch Probe 1 Positive Position Value 0x60BA Target Torque 0x6071 Target Position 0x607A Operation Mode 0x6060 Touch Probe Function 0x60B8 2nd PDO Mapping RxPDO 0x1601 TxPDO 0x1A01 Controlword 0x6040 Statusword 0x6041 Target Position 0x607A Actual Position Value 0x6064 Touch Probe Function 0x60B8 Actual Positional Error 0x60F4 Digital Output 0x60FE Touch Probe Status 0x60B9 Touch Probe...

Page 68: ...he EtherCAT master synchronizes the drive Please use this mode for more precise synchronous control 3 6 Emergency Messages Emergency messages are passed to the master via mailbox communication when a servo alarm occurs in the drive Emergency messages may not be sent in the event of communication failure Emergency messages consist of 8 byte data Byte 0 1 2 3 4 5 6 7 Details Emergency Error Code 0xF...

Page 69: ...lave State State that can be checked by the master 1 0 2 3 6 10 4 5 7 8 9 11 12 13 14 15 16 State Description Not ready to switch on Reset is in progress by control power on Switch on disabled Initialization completed but the main power cannot be turned on Ready to switch on The main power can be turned on and the drive function is disabled Switched on The main power is turned on and the drive fun...

Page 70: ...Statusword Bit Names 0x6041 You can check the state of the State Machine by bit combinations of the Statusword 0x6041 as described in the table below Command bits of the Statusword 0x6041 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Not ready to switch on 0 0 x 0 0 0 0 Switch on disabled 1 1 x 0 0 0 0 Ready to switch on 0 1 x 0 0 0 1 Switched on 0 1 x 0 0 1 1 Operation enabled 0 1 x 0 1 1 1 Fault rea...

Page 71: ...4 CiA402 Drive Profile 4 3 6 Switched on disabled 7 Warning 8 9 Remote 10 Target reached 11 Internal limit active 12 Operation mode specific 13 Remote 14 ABS position valid 15 Procedure busy ...

Page 72: ... PV CST PT HM Electric Gear O O O O Speed Feedforward O X X OX Torque Feedforward O O X O Position Command Filter O X X OX Real time Gain Adjustment O O O O Notch Filter O O O O Disturbance Observer O O X O Note 2 For HM mode the control mode is internally switched thus the function of speed feedforward and or position command filter may or may not be applied depending on the operation condition R...

Page 73: ...alue 0x6077 Position Offset 0x60B0 Target Position 0x607A Software Position Limit 0x607D Quick Stop Deceleration 0x6085 Quick Stop Option Code 0x605A Velocity Actual Value 0x606C Position Actual Value 0x6064 Following Error Actual Value 0x60F4 Interpolate Position Command Gear Ratio Position Control Velocity Control Torque Control M Gear Ratio Position Demand Value 0x6062 Enc Velocity Calculation ...

Page 74: ... UU s2 0x6085 Quick Stop Deceleration UDINT RW No UU s2 0x60B0 Position Offset DINT RW Yes UU 0x60B1 Velocity Offset DINT RW Yes UU s 0x60B2 Torque Offset INT RW Yes 0 1 0x6062 Position Demand Value DINT RO Yes UU 0x60FC Position Demand Internal Value DINT RO Yes pulse 0x606C Velocity Actual Value DINT RO Yes UU s 0x606D Velocity Window UINT RW No UU s 0x606E Velocity Window Time UINT RW No ms 0x6...

Page 75: ...E 0x210F Speed Control 0x2102 0x2106 1 2 0x2103 0x2107 P Gain I Gain P PI Gain Conversion 0x2114 0x2115 P PI Mode Torque 0x2116 Speed 0x2117 Acc 0x2118 Following Error Disturbance Observer Gain Filter 0x2512 0x2513 Speed Feedback Filter Time 0x210B Gear Ratio Inverse Notch Filter 0x2507 0x250A 3 4 0x2508 0x250B 0x2501 0x2504 1 2 0x2502 0x2505 0x2509 0x250C 0x2503 0x2506 Frequency Width Depth 0x250...

Page 76: ... Actual Value 0x60F4 Trajectory Generator Gear Ratio Position Control Velocity Control Torque Control M Gear Ratio Position Demand Value 0x6062 Enc Velocity Calculation Position Calculation Gear Ratio Inverse Gear Ratio Inverse Position Actual Internal Value 0x6063 Following Error Window 0x6065 Following Error Window Comparator Following Error TimeOut 0x6066 Position Demand Value 0x6062 C Followin...

Page 77: ... s 0x6083 Profile Acceleration UDINT RW No UU s2 0x6084 Profile Deceleration UDINT RW No UU s2 0x6085 Quick Stop Deceleration UDINT RW No UU s2 0x60B1 Velocity Offset DINT RW Yes UU s 0x60B2 Torque Offset INT RW Yes 0 1 0x6062 Position Demand Value DINT RO Yes UU 0x60FC Position Demand Internal Value DINT RO Yes pulse 0x606C Velocity Actual Value DINT RO Yes UU s 0x606D Velocity Window UINT RW No ...

Page 78: ...e Velocity UU s 0x6085 Quick Stop Dec UU s 2 Position Limit Gear Ratio Inverse Torque Feed Forward Gain Filter 0x210E 0x210F Speed Control 0x2102 0x2106 1 2 0x2103 0x2107 P Gain I Gain P PI Gain Conversion 0x2114 0x2115 P PI Mode Torque 0x2116 Speed 0x2117 Acc 0x2118 Following Error Disturbance Observer Gain Filter 0x2512 0x2513 Speed Feedback Filter Time 0x210B Gear Ratio Inverse Notch Filter 0x2...

Page 79: ...rget position after driving to the existing target position The three methods mentioned above can be set by the combination of the New set point bit Controlword 0x6040 4 the Change set immediately bit Controlword 0x6040 5 and the Change set point bit Controlword 0x6040 9 Single Set Point Driving Procedure Velocity New Set point Change immediately t t t t Change of Set point 1 Specify the target po...

Page 80: ...the new position 4 The drive notifies the operator of its arrival at the target position with the Target reached bit Statusword 0x6041 10 Set of Set Point Driving Procedure Velocity New Set point Change immediately t t t t Change of Set point 1 Specify the target position 0x607A 2 Set the New set point bit to 1 and the Change of set point bit to 1 to request the position operation 3 After reaching...

Page 81: ... below Torque Offset 0x60B2 Torque Actual Value 0x6077 Quick Stop Option Code 0x605A Velocity Actual Value 0x606C Position Actual Value 0x6064 Interpolate Velocity Command Gear Ratio Velocity Control Torque Control M Velocity Demand Value 0x606B Enc Velocity Calculation Position Calculation Gear Ratio Inverse Gear Ratio Inverse Position Actual Internal Value 0x6063 OP Mode Cyclic Synchronous Veloc...

Page 82: ...k Stop Deceleration UDINT RW No UU s2 0x60B1 Velocity Offset DINT RW Yes UU s 0x60B2 Torque Offset INT RW Yes 0 1 0x606B Velocity Demand Value DINT RO Yes UU 0x606C Velocity Actual Value DINT RO Yes UU s 0x606D Velocity Window UINT RW No UU s 0x606E Velocity Window Time UINT RW No ms 0x6077 Torque Actual Value INT RO Yes 0 1 0x606C Velocity Actual Value DINT RO Yes UU s 0x6064 Position Actual Valu...

Page 83: ... P Gain I Gain P PI Gain Conversion 0x2114 0x2115 P PI Mode Torque 0x2116 Speed 0x2117 Acc 0x2118 Following Error Disturbance Observer Gain Filter 0x2512 0x2513 Speed Feedback Filter Time 0x210B Gear Ratio Inverse Notch Filter 0x2507 0x250A 3 4 0x2508 0x250B 0x2501 0x2504 1 2 0x2502 0x2505 0x2509 0x250C 0x2503 0x2506 Frequency Width Depth 0x2500 Adaptive Filter function Select Torque Command Filte...

Page 84: ... Torque Offset 0x60B2 Torque Actual Value 0x6077 Quick Stop Option Code 0x605A Velocity Actual Value 0x606C Position Actual Value 0x6064 Generate Velocity Command Gear Ratio Velocity Control Torque Control M Velocity Demand Value 0x606B Enc Velocity Calculation Position Calculation Gear Ratio Inverse Gear Ratio Inverse Position Actual Internal Value 0x6063 OP Mode Profile Velocity 6 7 8 C 1 Target...

Page 85: ...INT RW No UU s2 0x6085 Quick Stop Deceleration UDINT RW No UU s2 0x605A Quick Stop Option Code INT RW No 0x60B1 Velocity Offset DINT RW Yes UU s 0x60B2 Torque Offset INT RW Yes 0 1 0x606B Velocity Demand Value DINT RO Yes UU s 0x606C Velocity Actual Value DINT RO Yes UU s 0x606D Velocity Window UINT RW No UU s 0x606E Velocity Window Time UINT RW No ms 0x6077 Torque Actual Value INT RO Yes 0 1 0x60...

Page 86: ...0x210F Speed Control 0x2102 0x2106 1 2 0x2103 0x2107 P Gain I Gain P PI Gain Conversion 0x2114 0x2115 P PI Mode Torque 0x2116 Speed 0x2117 Acc 0x2118 Following Error Disturbance Observer Gain Filter 0x2512 0x2513 Speed Feedback Filter Time 0x210B Gear Ratio Inverse Notch Filter 0x2507 0x250A 3 4 0x2508 0x250B 0x2501 0x2504 1 2 0x2502 0x2505 0x2509 0x250C 0x2503 0x2506 Frequency Width Depth 0x2500 ...

Page 87: ... Enc Velocity Calculation Position Calculation Gear Ratio Inverse Gear Ratio Inverse Position Actual Internal Value 0x6063 OP Mode Cyclic Synchronous Torque 6 7 8 Maximum Torque 0x6072 Positive Torque Limit Value 0x60E0 Negative Torque Limit Value 0x60E1 Maximum Profile Velocity 0x607F Target Torque 0x6071 Torque Slope 0x6087 2 1 Related Objects Index Sub Index Name Variable Type Accessibility PDO...

Page 88: ...B Gear Ratio Inverse Notch Filter 0x2507 0x250A 3 4 0x2508 0x250B 0x2501 0x2504 1 2 0x2502 0x2505 0x2509 0x250C 0x2503 0x2506 Frequency Width Depth 0x2500 Adaptive Filter function Select Torque Command Filter 0x2104 0x2108 1 2 Torque Limit Select Ext Positive Ext Negative Positive Velocity Calculation Motor Encoder 0x606C Velocity Actual Value UU s Current Control 0x2514 Gain 0x6077 Torque Actual ...

Page 89: ...mand Gear Ratio Velocity Control Torque Control M Enc Velocity Calculation Position Calculation Gear Ratio Inverse Gear Ratio Inverse Position Actual Internal Value 0x6063 OP Mode Profile Torque 6 7 8 1 Target Torque 0x6071 Torque Slope 0x6087 Maximum Torque 0x6072 Positive Torque Limit Value 0x60E0 Negative Torque Limit Value 0x60E1 2 Maximum Profile Velocity 0x607F Related Objects Index Sub Inde...

Page 90: ... Gear Ratio Inverse Notch Filter 0x2507 0x250A 3 4 0x2508 0x250B 0x2501 0x2504 1 2 0x2502 0x2505 0x2509 0x250C 0x2503 0x2506 Frequency Width Depth 0x2500 Adaptive Filter function Select Torque Command Filter 0x2104 0x2108 1 2 Torque Limit Select Ext Positive Ext Negative Positive Velocity Calculation Motor Encoder 0x606C Velocity Actual Value UU s Current Control 0x2514 Gain 0x6077 Torque Actual V...

Page 91: ... Homing Speeds 0x6099 Homing Acceleration 0x609A Home Offset 0x607C Statusword 0x6041 Position Demand Internal Value 0x60FC or Position Demand value 0x6062 Digital Input Home switch Positive limit switch Negative limit switch As shown in the figure below you can set the offset between the home position and the zero position of the machine using the home offset function The zero position indicates ...

Page 92: ...e driving in the positive direction When the positive limit switch POT is input during homing the drive switches its driving direction 28 The drive returns to the home position by the home switch HOME while driving in the negative direction When the negative limit switch NOT is input during homing the drive switches its driving direction 33 The drive returns to the home position by the Index Z pul...

Page 93: ...me Variable Type Accessibility PDO Assignment Unit 0x6040 Controlword UNIT RW Yes 0x6041 Statusword UINT RO Yes 0x607C Home Offset DINT RW No UU 0x6098 Homing Method SINT RW Yes 0x6099 Homing Speed 0 Number of entries USINT RO No 1 Speed during search for switch UDINT RW Yes UU s 2 Speed during search for zero UDINT RW Yes UU s 0x609A Homing Acceleration UDINT RW Yes UU s2 ...

Page 94: ...is as follows See the details below Speed Negative limit switch ON Index Pulse Zero search speed 0x6099 02 Switch search speed 0x6099 01 A B C Homing Method Time A The initial driving direction is negative CW and the drive operates at the switch search speed B When the negative limit switch NOT is turned on the drive switches to the positive direction CCW decelerating to zero search speed C While ...

Page 95: ...tegorized into three cases as below For more information see the details below 1 At the start of homing when the Home switch is off and the limit is not met during operation Speed Time Positive home switch ON Index Pulse A B C Homing Method Zero search speed 0x6099 02 Switch search speed 0x6099 01 A The initial driving direction is positive CCW and the drive operates at the switch search speed B W...

Page 96: ...h ON Index Pulse A B C Homing Method Positive Limit switch ON D Zero search speed 0x6099 02 Switch search speed 0x6099 01 Zero search speed 0x6099 02 A The initial driving direction is positive CCW and the drive operates at the switch search speed B When the positive limit switch POT is turned on the drive will decelerate to a stop and then operate at switch search speed in the negative direction ...

Page 97: ... Negative limit switch NOT 12 14 11 13 11 14 13 12 11 12 13 14 Negative CW Positive CCW 0x6099 01 Speed during search for switch 0x6099 02 Speed during search for Zero For homing using Homing Method 14 the velocity profile according to the sequence is as follows The sequence varies depending on the relationship between the load position and the home switch during homing which is categorized into t...

Page 98: ...earch speed the drive detects the first index pulse to move to the index position Home 2 At the start of homing when the Home switch is on Speed Negative Home switch OFF Index Pulse A B C Homing Method Time Zero search speed 0x6099 02 Switch search speed 0x6099 01 A Since the home signal is on the drive operates at the switch search speed in the direction of the negative home switch CW It might no...

Page 99: ... positive direction CCW C When the negative home switch is turned on the drive will decelerate to zero search speed and then switch to the negative direction CW D While operating at zero search speed the drive detects the first index pulse to move to the index position Home Methods 11 12 and 13 are nearly identical to method 14 in terms of homing sequence The only differences are the initial drivi...

Page 100: ...iving direction is negative CW and the point where the positive home switch is turned on becomes the home position Method 33 and 34 33 Index pulse 34 33 Negative CW Positive CCW 0x6099 01 Speed during search for switch 0x6099 02 Speed during search for Zero The initial driving direction is negative CW for method 33 and positive CCW for method 34 The drive detects the index pulse at the zero search...

Page 101: ...s can only be used if the home switch is not used separately Method 1 and 2 Index Pulse Negative Stopper Positive Stopper 1 2 Negative CW Positive CCW 0x6099 01 Speed during search for switch 0x6099 02 Speed during search for Zero Homing method 1 and 2 use the stopper and index Z pulse to perform homing The velocity profile according to sequence is as follows For more information see the details b...

Page 102: ... move to the index position Home Speed Time Positive Stopper Index Pulse A B C Homing Method Torque setting 0x2409 Time setting 0x240A 2 Zero search speed 0x6099 02 Switch search speed 0x60999 01 A The initial driving direction is positive CCW and the drive operates at the switch search speed B When the drive hits the positive stopper it stands by according to the torque limit value 0x2409 and the...

Page 103: ...riving direction is negative CW and the drive operates at the switch search speed B When the drive hits the negative stopper it stands by according to the torque limit value 0x2409 and the time setting value 0x240A at the time of homing using the stopper and finishes homing Speed Time Positive Stopper A B Homing Method Torque setting 0x2409 Time setting 0x240A 4 Switch search speed 0x60999 01 Homi...

Page 104: ...lows Homing is stopped when the drive meets the limit switch For more information see the details below 1 At the start of homing when the Home switch is off and the limit is not met during operation Speed Positive home switch ON A B Homing Method Time 5 Switch search speed 0x6099 01 Homing completion A The initial driving direction is negative CW and the drive operates at the switch search speed B...

Page 105: ...tive CW and the drive operates at the switch search speed B When the negative limit switch is turned on the drive issues a homing error and decelerates to a stop Speed Time Positive home switch ON A B Homing Method 6 Switch search speed 0x6099 01 Homing completion A The initial driving direction is positive CCW and the drive operates at the switch search speed B If the positive home switch is turn...

Page 106: ...position which has been captured rapidly Sensor Motor Wafer Stack Touch Probe Function Touch Probe Function 0x60B8 Touch Probe 1 Touch Probe 2 Index Z Pulse Touch Probe 1 Negative edge position value 0x60BB Touch Probe 2 Positive edge position value 0x60BC Touch Probe 2 Negative edge position value 0x60BD Touch Probe 1 Positive edge position value 0x60BA Touch Probe Status 0x60B9 The position valu...

Page 107: ...0BC Touch Probe 2 Positive Edge Position Value DINT RO Yes UU 0x60BD Touch Probe 2 Negative Edge Position Value DINT RO Yes UU Touch Probe Timing Diagram Single Trigger Mode 0x60B8 1 0 0x60B8 9 0 To reset bits 1 2 9 and 10 of the touch probe status 0x60B9 in single trigger mode set the corresponding bits 4 5 12 and 13 of the touch probe function 0x60B8 to 0 0x60B8 0 0x60B8 8 0x60B8 4 0x60B8 12 0x6...

Page 108: ...60B9 8 Probe input 0x60B9 1 0x60B9 9 0x60BA 0x60BC Position 1 Latched Position 3 Latched Latch start 1 2 3 Position 2 Latched 0x60B9 6 0x60B9 14 Index Pulse Trigger Mode 0x60B8 2 1 0x60B8 10 1 0x60B8 0 0x60B8 8 Index Z Pulse 0x60B9 6 0x60B9 14 0x60B8 2 0x60B9 10 0x60BA 0x60BC Position 1 Latched 0x60B8 1 0x60B9 9 1 2 3 4 5 6 7 8 9 Position 5 Latched Position 6 Latched Position 7 Latched Position 8 ...

Page 109: ...og monitor output connector Node ID Setting switch Display for servo status 7 Segment EtherCAT Communication status and Error status LED 5 1 1 7 Segment for Indicating the Servo Status 7 Segment for indicating the servo status consists of 5 digits as shown below which are in the order of Digit 1 Digit 5 from right to left DIGIT5 DIGIT4 DIGIT3 DIGIT2 DIGIT1 ...

Page 110: ...display Status details STO connector not connected Positive limit sensor input Servo OFF status Negative limit sensor input Servo ON status Servo warning W10 occurrence Code 10 Digit 4 displays the current operation status and servo ready status TGON Signal state OFF Stop state ON Rotate sta Position mode INPOS1 Signal s Speed mode INSPD Signal stat Torque mode OFF Position mode On position comman...

Page 111: ... where a servo operation is not available indicating that the EtherCAT communication is in progress Init state Pre Operational state Safe Operational state If the status of the EtherCAT State Machine is the operation state operation ready A status where a servo operation is available indicating the operation mode and status Position Control Mode CSP and PP Velocity control modes CSV and PV Torque ...

Page 112: ...larm display takes precedence over other status Example for Alarm state AL 10 IPM Fault ex 1 Limit signal input ex 2 Servo warning occurrence DIGIT3 1 CCW direction Limit input DIGIT4 INPOS1 SERVO READY DIGIT5 Position mode SERVO ON DIGIT3 1 W01 Main power failure W40 Low voltage warning state DIGIT4 INSPD On speed command SERVO READY DIGIT5 SPEED CONTROL MODE SERVO ON ...

Page 113: ...n 2 Positive Torque Limit Negative Torque Limit Touch probe 1 Touch probe 2 Emergency stop Alarm reset DI 1 4 DI 2 3 DI 3 6 DI 4 5 DI 5 8 DI 6 7 1 24V IN Digital Input I O LVSF1 Vibration control filter frequency 1 input LVSF2 Vibration control filter frequency 2 input SV_ON Servo ON Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit 0x2200 Digital Input Signal 1 ...

Page 114: ... High Choose a signal and set the signal level at bit 15 Bits Setting details 15 Signal Input Level Settings 0 Contact A 1 Contact B 14 8 Reserved 7 0 Input Signal Assignments Setting Value Assignable Input Signals 0x00 Not Assigned 0x01 POT 0x02 NOT 0x03 HOME 0x04 STOP 0x05 PCON 0x06 GAIN2 0x07 PCL 0x08 NCL 0x09 PROBE1 0x0A PROBE2 0x0B EMG 0x0C ARST 0x0D LVSF1 0x0E LVSF2 0x0F SVON ...

Page 115: ... CW rotation prohibited Origin sensor Servo stop P control action Switching of gain 1 and gain 2 Positive Torque Limit Negative Torque Limit Touch probe 1 Touch probe 2 Emergency stop Alarm reset 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C I O pin number DI 1 11 DI 2 12 DI 3 7 DI 4 8 Parameter 0x2200 0x2201 0x2202 0x2203 Settings 0x8001 0x8002 0x0003 0x0004 7 0 0x01 0x02 0x03 0x04 ...

Page 116: ...ital outputs 1 3 0x2210 0x2212 DO1 10 DO2 9 Digital Output DO3 12 GND24 11 Assigned Function BRAKE ALRAM RDY ZSPD INPOS1 INPOS2 TLMT VLMT INSPD WARN TGON Details Brake Alarm Servo ready Zero speed reached Position reached 1 Position reached 2 Torque limit Speed limit Speed reached Warning Rotation detection output Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit...

Page 117: ...02 15 1 1 Details BRAKE Contact B ALARM Contact A Bit Assigned Function BRAKE ALARM RDY ZSPD INPOS1 TLMT VLMT INSPD WARN TGON Contact B B A A Details Brake Alarm Servo ready Zero speed reached Position reached 1 torque limit Speed limit Speed reached Warning Rotation detection output 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A INPOS2 Position reached 2 0x0B DO 3 12 0x2212 0x0003 0x03 0 RDY C...

Page 118: ...analog monitor outputs are provided to adjust drive gain or monitor internal status variables DI 1 4 DI 2 3 DI 3 6 DI 4 5 DI 5 8 DI 6 7 DO 1 10 DO 1 9 1 24V IN Digital Input Digital Output DI1 DI2 DI3 DI4 DI5 DI6 DO 3 12 GND 24 11 Analog Monitor MONIT1 1 AGND 3 MONIT2 2 Analog Output AGND 4 I O ...

Page 119: ...W No 0x2224 Analog Monitor Channel 2 Offset DINT RW No 0x2225 Analog Monitor Channel 1 Scale UDINT RW No 0x2226 Analog Monitor Channel 2 Scale UDINT RW No Analog monitor output mode settings 0x2220 The output range of the analog monitor is from 10 V to 10 V If the setting is 1 take the absolute value of the output so the output values is only positive Settings Details Description 0 1 Output only p...

Page 120: ...x0A Inertia ratio 0x0B Full Closed Positional Error UU 0x0C Drive temperature 1 C 0x0D Drive temperature 2 C 0x0E Encoder temperature 1 C 0x0F Hall signal Setting Value Displayed Items Unit 0x10 U phase current A 0x11 V phase current A 0x12 W phase current A 0x13 Position Actual Value UU 0x14 Target position value UU 0x15 Position command speed rpm mm s 0x16 Hall U signal 0x17 Hall V signal 0x18 H...

Page 121: ...nal Monitor signals after magnifying them 5 times Monitor signals after magnifying them 5 times Output offset 1000 rpm Output scale 500rpm V Output offset 1000 rpm Output scale 500rpm V Output offset 0 rpm Output scale 500rpm V Output offset 0 rpm Output scale 500rpm V Output offset 1000 rpm Output scale 100rpm V Output offset 1000 rpm Output scale 100rpm V ...

Page 122: ...th the I O connector rather than a separate I O module reducing the cost This drive can use up to 8 points for input signals and 4 points for output signals as the user I O How to Set the User Input NOT 3 HOME 6 STOP 5 1 24V IN Digital Input I O DI 1 DI 2 DI 3 DI 4 Digital Input 0x60FD 1 Set the function of the digital input port to be used as the user input to Not assigned setting 0 Refer to Inpu...

Page 123: ...Negative Limit Switch 1 POT Positive Limit Switch 2 HOME Home Position Sensor Input 3 to 15 Reserved 16 DI 1 I O pin 11 0 Open 1 Close 17 DI 2 I O pin 12 0 Open 1 Close 18 DI 3 I O pin 7 0 Open 1 Close 19 DI 4 I O pin 8 0 Open 1 Close 20 DI 5 I O pin 13 0 Open 1 Close 21 DI 6 I O pin 14 0 Open 1 Close 22 Reserved 23 Reserved 24 30 Reserved 31 STO Safe Torque Off 0 Close 1 Open ...

Page 124: ...signed setting 0 Refer to Output Signal Assignments 2 Set the bits bits 16 19 corresponding to the port used as the user output for the bit mask 0x60FE 02 to Forced Output Enabled setting 1 3 Using physical outputs 0x60FE 01 set the value corresponding to the user output for the relevant port bits 16 19 to 0 or 1 Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit ...

Page 125: ...t to 1 18 Forced output 0 OFF 1 ON of DO 3 I O pins 3 and 4 Provided that the relevant bit mask 0x60FE 02 18 is set to 1 19 Reserved 20 to 23 Reserved 24 Output status of DO 1 0 OFF 1 ON 25 Output status of DO 2 0 OFF 1 ON 26 Output status of DO 3 0 OFF 1 ON 27 Reserved 28 to 31 Reserved Bit mask Bits Description 0 to 15 Reserved 16 Forced output setting 0 Disable 1 Enable of DO 1 I O pins 1 and 2...

Page 126: ...ser unit The electric gear makes it easy to convert values into user units UU For example assume that there is a ball screw which moves 1 mm for every full turn of the motor whose encoder has a resolution of 524288 ppr To move the screw by 1 mm you have to input 524288 Pulses into the servo If you wish to move it by 27 mm addition calculations are necessary and you have to input the complex value ...

Page 127: ... 1 UU the gear ratio formula is as follows 𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 𝐺𝐺𝐺𝐺𝐺𝐺𝐺𝐺 𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁𝑁 0𝑥𝑥6091 01 𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 𝐺𝐺𝐺𝐺𝐺𝐺𝐺𝐺 𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷 0𝑥𝑥6091 02 User Demand Pluse UU 524288 10000 1 𝑈𝑈𝑈𝑈 1 𝑚𝑚𝑚𝑚 10000 1 UU 0 0001 mm By applying the above gear ratio formula the ball screw is made to move by 0 0001 mm 1 UU and by 0 001 mm when you input 10 UU You can conveniently input values in the desire...

Page 128: ...ic gear is used Movements can be made under the same command of 12000 12mm 12000 1um regardless of the encoder motor used 2 When the output frequency of the upper level controller or input frequency of the drive is limited for driving a high resolution encoder at a high speed The output frequency of a general high speed line drive pulse output unit is approximately 500Kpps and the possible input f...

Page 129: ...r 1 10000 Turntable Load Apparatus specification Deceleration ratio 100 1 User Unit 0 001 Encoder specification 19 bit 524288 PPR Load movement amount revolution 360 100 0 001 3600 Electric gear setting Electric Gear Numerator 1 524288 Electric Gear Denominator 1 3600 Belt Pulley System Apparatus specification Deceleration ratio 10 1 Pulley diameter 100 mm User Unit 1um 0 001mm Encoder specificati...

Page 130: ...he zero speed Speed Time Rated Motor Speed Speed command acceleration time 0x2301 Speed command deceleration time 0x2302 You can calculate the actual acceleration deceleration time as below Acceleration time speed command rated speed x speed command acceleration time 0x2301 Deceleration time speed command rated speed x speed command deceleration time 0x2302 As shown in the figure below you can gen...

Page 131: ...er than 0 the mode switches to normal velocity control 5 4 3 Velocity Control Signals As shown in the figure below when the value of speed feedback is below the ZSPD output range 0x2404 a ZSPD zero speed signal is output and when it is above the TGON output range 0x2405 a TGON motor rotation signal is output Speed Time Motor Velocity ZSPD Output Range TGON Output Range ZSPD TGON In addition if the...

Page 132: ...ratio is x10 or above 2 When the acceleration deceleration profile cannot be generated from the upper level controller Speed Time Command before filtering Command after filtering Command before filtering Command after filtering Target velocity Target velocity 63 Target velocity 37 0x2109 0x2109 Position command filter using position command filter time constant 0x2109 Time Speed Time Command befor...

Page 133: ...ons 5 25 Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit 0x2109 Position Command Filter Time Constant UINT RW Yes 0 1ms 0x210A Position Command Average Filter Time Constant UINT RW Yes 0 1ms ...

Page 134: ... only when the position command is not renewed Here if the following error value goes below the INPOS2 output range 0x2403 the INPOS2 Positioning completed 2 signal is output regardless of whether or not the position command has been renewed Speed Time Command Feedback INPOS1 for output time 0 Position Error Time INPOS2 Position command renewal start time Position command renewal end time INPOS1 2...

Page 135: ...t limits motor speed based on the parameters set during torque control You can limit the speed using the maximum speed or the speed limit value 0x230E according to the value of the speed limit function select 0x230D as described below With the VLMT speed limit output value you can verify whether the speed is limited Setting Value Setting details 0 Limited by the speed limit value 0x230E 1 Limited ...

Page 136: ...O Pin 12 default assigned value When a positive negative limit signal is input the motor stops according to the emergency stop configuration 0x2013 Setting Value Description 0 The motor stops according to the method set in Dynamic Brake Control Mode 0x2012 It stops using the dynamic brake and maintains the torque command at 0 1 The motor decelerates to a stop using the emergency stop torque 0x2113...

Page 137: ...e Signal Servo OFF or alarm occurred Brake output speed 0x2407 Brake output delay time 0x2408 Timing diagram for signal output by the brake output speed 0x2407 Rotation Speed Servo ON OFF Brake Signal Servo OFF or alarm occurred Brake output delay time 0x2408 Brake output speed 0x2407 Timing diagram for signal output by the brake output delay time 0x2408 You can set the delay time until the actual...

Page 138: ...You can output the brake signal first before PWM output is turned off to prevent the drop along the vertical axis due to gravity PWM OFF delay time 0x2011 Servo ON OFF PWM output Servo OFF or alarm occurred Time when the PWM output is turned off Brake Signal Direction of Gravity Motor Load 2 If PWM output is turned off before the brake signal output PWM output is turned off before the brake signal...

Page 139: ...60E1 Negative Torque Limit Limits the torque using positive negative torque limit values according to the driving direction the maximum value is limited by the maximum torque 0x6072 Positive 0x60E0 Negative 0x60E1 Internal torque limit 2 Setting value 1 0x6072 Maximum Torque Torque Input Torque Ref Limits the torque by the maximum torque 0x6072 only regardless of the driving direction External tor...

Page 140: ...e limit Setting value 4 0x221D Analog torque limit offset Analog torque input Torque Ref 0x221C Analog torque limit scale The torque limits are set according to analog input voltage The torque limit values in the positive and negative directions are set in proportion to the absolute values of input voltage regardless of the signals of analog input voltage The torque limit and the analog input volt...

Page 141: ...ward 0x210E 0x210F Gain Filter Speed Control 0x2102 0x2106 1 2 0x2103 0x2107 P Gain I Gain 0x6063 Position Actual Internal Value UU Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit 0x2110 Torque Limit Function Select UINT RW Yes 0x2111 External Positive Torque Limit Value UINT RW Yes 0 1 0x2112 External Negative Torque Limit Value UINT RW Yes 0 1 0x6072 Maximum ...

Page 142: ...peed Loop Integral Time Constant and torque command filter time constant You can set the gain conversion function 0x2119 as follows Description of Gain Conversion Function 0x2119 Setting Value Setting details 0 Only gain group 1 is used 1 Only gain group 2 is used 2 Gain is switched according to the GAIN2 input status 0 Use gain group 1 1 Use gain group 2 3 Reserved 4 Reserved 5 Reserved 6 Gain is...

Page 143: ...oop Gain 2 0x2106 Speed Loop Integral Time Constant 2 x2107 Torque Command Filter Time Constant 2 0x2108 시간 Gain Group 2 Gain Group 1 Gain Group 1 Gain switching condition is met ex GAIN2 ZSPD INPOS1 Gain switching condition is not met Dwell Time 1 0x211C Switching Time 1 0x211A Dwell Time 2 0x211D Dwell Time 2 0x211B Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment ...

Page 144: ...ation Position control To suppress undershoots during positioning in order to reduce the positioning time You can accomplish similar effects by setting acceleration deceleration of the upper level controller soft start of the servo drive position command filter etc Speed Time Motor Speed Speed Command Positioning Time Undershoot Overshoot You make these settings in the P PI control conversion mode...

Page 145: ...When using PI control for all situations rather than using P PI control switch for velocity control the integral term of acceleration deceleration error is accumulated which results in an overshoot and an extended positioning time Here you can reduce overshoot and positioning time using an appropriate P PI switching mode The figure below shows an example of mode switching by torque commands Speed ...

Page 146: ...rive Servo Motor Drive Servo Motor Drive You can set various stop modes as shown below in dynamic brake control mode 0x2012 Rotation Speed Servo ON OFF Dynamic Brake Setting value 0 Hold the dynamic brake after stopping the motor using the brake Rotation Speed Servo ON OFF Dynamic Brake Setting value 1 Release the dynamic brake after stopping the motor using the brake Rotation Speed Servo ON OFF D...

Page 147: ...load driven Here a regeneration brake resistor is used to suppress the rise of the drive s internal voltage VDC caused by regeneration and prevent burnout of the drive Motor U V W Motor U V W Electric energy Kinetic energy Servo Drive Sudden deceleration Load with large inertia VDC Voltage rise Sudden deceleration Load with Related Objects Index Sub Index Name Variable Type Accessibility PDO Assig...

Page 148: ...tion 1 Wiring regeneration brake resistor Check to see if the terminals B and BI are short circuited short circuited at factory setup 1 kW or less L1 L2 L3 N PO PI B B BI C1 C2 L1 L2 L3 N PO PI B B BI C1 C2 BI B B Internal regenerative resistor Wiring method when using internal regenerative resistor L1 L2 L3 N PO PI B B BI C1 C2 BI B B Internal regenerative resistor Wiring method when using intern...

Page 149: ... Check the regeneration brake resistor capacity 0x200C 1 KW or less Basically the resistor is installed on the rear of the drive heat sink see the figure below 3 5 kW 7 5 kW It is basically installed inside the drive Internal regenerative resistor installed on the rear of the drive 1 kW or less ...

Page 150: ... Resistor Wiring method when using external regenerative resistor 2 Configuring regeneration brake resistor 0x2009 Configure the regeneration brake resistor installed separately outside the drive 0x2009 1 Set if a regeneration brake resistor is connected of a capacity which is larger than that of the internal regeneration brake resistor 3 Configuring regeneration brake resistor value 0x200B Set re...

Page 151: ...resistor specifications as options for the use of external regeneration brake resistors Drive Capacity Resistance Values Resistance Capacity Model Name 1kW 30Ω 300W APCS 300R30 3 5kW 30Ω 600W APC 600R30 5kW 28Ω 600W APC 600R28 4P 7 5kW 28Ω 600W APC 600R28 4P 5 12 3 Other Considerations You can set the regeneration brake resistor s Derating Factor 0x200A by considering the ambient environment and h...

Page 152: ...ed off and then turned on again As this drive consists of two rotary switches configurable to 0 9 as below 0 99 node addresses can be set The following example shows an address set to 48 Perform the rotary switch operation for the node ID setting only when drive power is not applied 0 1 2 3 4 5 6 9 8 7 x10 2 3 4 5 6 9 8 7 x1 0 1 Note For more information about how the master reads the node address...

Page 153: ...rque off function blocks motor current according to the input signal transferred from a safety device connected to the connector STO such as safety controller and safety sensor to stop the motor Safe Torque Off Operation State According to STO Input Contact Signal Names Function STO1 ON ON OFF OFF STO2 ON OFF ON OFF Operation State Normal State STO State STO State STO State Electric Characteristic...

Page 154: ...d Time Operated with DB Control Mode 0x2012 Setting 12us 54us Brake Output Speed 0x2407 or Brake Output Delay Time 0x2408 Note 3 If either STO1 or STO2 is turned off the drive state is switched to the STO state Note 4 The dynamic brake operates according to the dynamic brake control mode 0x2012 Note 5 Whichever is the earlier time out of the points of time until the value becomes less than the set...

Page 155: ...ntained After the servo is turned on it operates according to the normal servo ON OFF timing 300us Note 1 Be sure to recover the STO1 and STO 2 input signals to On in the Servo Off state It is not necessary to reset the alarm separately since the STO state is not an alarm state Note 2 The dynamic brake operates according to the dynamic brake control mode 0x2012 for the STO state the alarming state...

Page 156: ...uit by monitoring the following 4 signal states from the external device In case of failure there are two possible cases The EDM output signal is not turned on even when both the STO1 and 2 are off The EDM output signal is turned on even when one or both of the STO1 and 2 are on Signal Names Function STO1 ON ON OFF OFF STO2 ON OFF ON OFF EDM OFF OFF OFF ON 6 3 Example of Using the Safety Function ...

Page 157: ...r the device to check if the system safety requirements are met There may be risks even if the STO function works In the STO state the motor is operated by an external force thus if the load needs to be maintained arrange a separate measure such as an external mechanical brake The brake of the servo system is dedicated for maintaining the load thus be careful not to use it to brake the motor If no...

Page 158: ...6 Safety Functions 6 6 ...

Page 159: ... control velocity control or position control mode for use depending on the method of connecting with the upper level controller This drive has a control structure where position control is located at the outermost part and current control at the innermost forming a cascade You can tune the operation according to the purpose by setting gain parameters for the torque controller velocity controller ...

Page 160: ...ning direction 0x2510 setting You can set the movement distance for tuning by the off line gain tuning distance 0x2511 The larger the setting value is the longer the movement distance becomes Set the distance appropriately for the case Make sure to secure enough distance one or more motor revolutions prior to gain tuning Moving Distance Notch Filter 3 4 0x2508 0x250B 0x2501 0x2504 1 2 0x2502 0x250...

Page 161: ...bjects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit 0x250E System Rigidity for Gain Tuning UINT RW No 0x2510 Off line Gaing Tuning Direction UINT RW No 0x2511 Off line Gain Tuning Distance UINT RW No ...

Page 162: ...aved on EEPROM every 2 minutes When estimating the inertia the estimated results are applied quickly or slowly depending on the adaptation speed setting The responsiveness of the overall system can be determined with the rigidity parameter In the below cases inertia ratio estimation may be incorrect by on line auto tuning Load variation is too high Load rigidity is too low or the system s backlash...

Page 163: ... Filter Time 0x2108 1 2 Velocity Control 0x2106 1 2 0x2107 P Gain I Gain Position Control 0x2105 1 2 P Gain Motor Load Encoder Space Vector Control Current Control 0x2514 Gain PWM Control Load Inertia Estimation 0x2100 Inertia Resonance Frequency Estimation Ref Velocity Calculation Velocity Calculation Velocity Feedback Current Feedback Position Feedback 0x2507 0x250A 0x2104 0x2102 0x2103 0x2101 T...

Page 164: ...ferential gain Plays the role of a damper for the system not provided Velocity Controller Tuning Limit Speed Loop Gain1 0x2102 Velocity Control Speed Loop IntegralTime 0x2103 Torque Feed forward Gain 0x210E Torque Feed Forward Torque Feed forward Filter 0x210F P PI Control Conversion 0x2114 P PI Conversion P Control Switch Torque 0x2115 P Control Switch Speed 0x2116 P control Switch Following Erro...

Page 165: ...inging may occur In contrast if the value is too low the responding speed becomes low which slows down system operation 3 Integral gain setting Speed Time Command High gain Middle gain Low gain The value and the responsiveness have an inverse proportion relationship where a higher value results in a lower responding speed Too high of the integral gain increases the overshoot In this case P PI conv...

Page 166: ... Encoder Velocity Command 1 Proportional gain setting Speed Time Command Feedback When gain is low When gain is moderate Command Time When gain is high Command Speed Speed Feedback Feedback Time 2 The error between the position command and the current position is multiplied by the proportional gain and the result is converted to a velocity command The higher the gain the better the responsiveness ...

Page 167: ...ble Set the filter if you want to increase the feedforward value but noise occurs You can set feedforward to a value from 0 to 100 which is the deviation ratio of the position command value being entered currently 4 Position command filter setting possible You can smooth out the position command ...

Page 168: ...automatically through real time frequency analysis FFT Frequency dB Cut off Frequency Hz Deep Bandwith 3dB Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit 0x2501 Notch Filter 1 Frequency UINT RW No Hz 0x2502 Notch Filter 1 Width UINT RW No 0x2503 Notch Filter 1 Depth UINT RW No 0x2504 Notch Filter 2 Frequency UINT RW No Hz 0x2505 Notch Filter 2 Width UINT RW No...

Page 169: ...ent Unit 0x2500 Adaptive Filter Function Select UINT RW No Adaptive Filter Function Select 0x2500 Setting Value Setting details 0 The adaptive filter is not used 1 Only one adaptive filter is used You can check the settings configured automatically in the notch filter 3 settings 0x2507 0x2508 0x2509 If an arbitrary value is set in notch filter 3 auto setting is not available If you wish to use aut...

Page 170: ... filter This drive provides a vibration suppression filter in two levels and you can set the frequency and damping amount for each filter It controls the lower frequency range i e 1 Hz 100 Hz from the upper part of the device or the entire system and operates only in the position control mode Speed Time Speed of Load Section Measurement of Remaining Vibration Frequency Motor Sensor Speed Time Spee...

Page 171: ...uppression Filter 1 Damping UINT RW No 0x2518 Vibration Suppression Filter 2 Frequency UINT RW No 0 1 Hz 0x2519 Vibration Suppression Filter 2 Damping UINT RW No Vibration Suppression Filter Function Setting 0x2515 Setting Value Setting details 0 Vibration suppression damping filter is not used 1 Vibration suppression damping filters 1 and 2 are used 2 Vibration suppression damping filters 1 and 2...

Page 172: ...7 Tuning 7 14 ...

Page 173: ... Operates manual JOG Program JOG 0x0002 Operates program JOG Alarm History Reset 0x0003 Deletes alarm history Off Line Auto Tuning 0x0004 Performs off line auto tuning Index Pulse Search 0x0005 Searches for Phase Z position Absolute Encoder Reset 0x0006 Resets the absolute encoder Max Load Torque Clear 0x0007 Resets the instantaneous maximum operation overload 0x2604 value Calibrate Phase Current ...

Page 174: ...lity PDO Assignment Unit 0x2300 Jog Operation Speed INT RW No rpm 0x2301 Speed Command Acceleration Time UINT RW No ms 0x2302 Speed Command Deceleration Time UINT RW No ms 0x2303 Speed Command S curve Time UINT RW No ms 8 2 Program Jog Operation Program jog operation is a function that verifies servo motor operation by velocity control at predefined operation velocity and time without an upper lev...

Page 175: ...itive Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit 0x2304 Program Jog Operation Speed 1 INT RW No rpm 0x2305 Program Jog Operation Speed 2 INT RW No rpm 0x2306 Program Jog Operation Speed 3 INT RW No rpm 0x2307 Program Jog Operation Speed 4 INT RW No rpm 0x2308 Program Jog Operation Time 1 UINT RW No ms 0x2309 Program Jog Operation Time 2 UINT RW No ms 0x230...

Page 176: ...is function deletes all the alarm code histories stored in the drive Alarm histories including the latest alarm history up to the 16th previous alarm are stored You can check the histories as shown below 0x2702 01 16 The latest alarm is listed in 0x2702 01 ...

Page 177: ...rm code 3 STRING RO No 4 Alarm code 4 STRING RO No 5 Alarm code 5 STRING RO No 6 Alarm code 6 STRING RO No 7 Alarm code 7 STRING RO No 8 Alarm code 8 STRING RO No 9 Alarm code 9 STRING RO No 10 Alarm code 10 STRING RO No 11 Alarm code 11 STRING RO No 12 Alarm code 12 STRING RO No 13 Alarm code 13 STRING RO No 14 Alarm code 14 STRING RO No 15 Alarm code 15 STRING RO No 16 Alarm code 16 Oldest STRIN...

Page 178: ...the index pulse using the homing operation You can set the velocity used to search for index pulses in 0x230C rpm Before you start index pulse search confirm the following The main power is turned on No alarm is active The servo is turned off the Safe Torque Off STO connector is installed and Operation velocity is set in consideration of the operation range of the machine Intends to align the moto...

Page 179: ... absolute encoder reset is complete the multi turn data 0x260A is reset to 0 When the power is turned on again the position actual value 0x6064 is displayed by reading the position of the absolute encoder and applying the home offset 0x607C At the time even if you change the home offset 0x607C while driving the position actual value 0x6064 does not change Related Objects Index Sub Index Name Varia...

Page 180: ...isplayed in 0x2604 Instantaneous Maximum Overload Value Renewed Not renewed 0 Related Objects Index Sub Index Name Variable Type Accessibility PDO Assignment Unit 0x2604 Instantaneous Maximum Operation Overload INT RO Yes 0 1 8 8 Phase Current Offset Tuning This function automatically tunes the current offset of the U V W phases You can tune the phase current offset according to the environmental ...

Page 181: ... due to an alarm which cannot be reset 8 10 Commutation The commutation function is to used get the information of the initial angle of the motor When you use a motor with the hall sensor not installed you have to get the information on the initial angle through commutation prior to operation in order to carry out normal operation Related Objects Index Sub Index Name Variable Type Accessibility PD...

Page 182: ...8 Procedure Function 8 10 ...

Page 183: ...ntrol Internal Configuration The internal configuration of full closed control is shown below Full Closed Control Mode 0x2023 0x60FC Position Demand Internal Value pulse Position controller corrent controller corrent feedback Motor Enc Velocity Feedback 0x6063 Position Internal Actual Value pulse velocity controller 0x606C Velocity Actual Value UU s Gear Ratio Inverse 0 Semi Closed Machine Enc Loa...

Page 184: ...e machine s accuracy can be controlled regardless of whether the motor is running or is stationary Disadvantages Since it is easily affected by the vibrations of the machine it cannot raise the servo gain too much and the adjustment time may take longer Dual Feedback Control It carries out position control using the position sensor information from either the motor or the machine It has advantages...

Page 185: ...mi Closed Control controls using only the motor side encoder default value 1 Full Closed Control controls using the load side position sensor 2 Dual Feedback Control controls using the motor side encoder and load side position sensor B Setting the load encoder type 0x2021 Load Encoder Type ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g ...

Page 186: ...g on the setting of the encoder type 1 Do not set the reserved bit Bits Description if encoder type is quadrature 3 0 Debounce filter settings Settings Cutoff Frequency 0 No Filter 1 5 000MHz 2 3 330MHz 3 2 500MHz 4 2 000MHz 5 1 667MHz 6 1 429MHz 7 1 250MHz 8 1 000MHz 9 0 833MHz 10 0 714MHz 31 4 Reserved Bits Description if encoder type is SSI 0 7 Number of bits for data 8 Coding 0 binary 1 gray 9...

Page 187: ...Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1 0 RW No Power cycling Yes This sets the rotation direction based on the installation direction of the load side encoder Setting value Setting details 0 Positive CCW 1 Negative CW E Motor encoder setting the load encoder scale 0x2025 Numerator of External Encoder Scale ALL Variable Type Setting Range Init...

Page 188: ... amount revolution 12000 pulse rev Gear ratio Setting Number of external encoder pulses x numerator denominator Number of motor encoder pulses 12000 Number of external encoder pulses 524288 Numerator 12000 Denominator 524288 Number of motor encoder pulses 2 Reducer structure Reduction ratio 1 10 Ball screw lead 20 mm Linear encoder external encoder 4 um If the 1 10 ratio reducer is installed on th...

Page 189: ...es to produce the scale Motor encoder specifications 524288 pulse rev Load movement amount revolution The external encoder rotates at a ratio of 30 20 per servo motor rotation The number of pulses for the external encoder is calculated as 20000 x 3 2 30000 pulses Gear ratio setting Number of external encoder pulses x numerator denominator Number of motor encoder pulses 30000 Number of external enc...

Page 190: ...set the normal slip range for the following error value G Setting the dual feedback filter time constant 0x2024 Dual Feedback Conversion Time Constant ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1000 0 0 1ms RW No Always Yes In the case of dual feedback control that refers to an external encoder the filter time constant is ...

Page 191: ...etermines that you can select linear type or rotary type in the load encoder type 0 Rotary 1 Linear Time Remaining pulse Command Pulse Time Remaining pulse Command Pulse Shortens the time for position adjustment Weighted value of semi closed control increases Increase the size of the dual feedback filter Weighted value of the motor side encoder increases Decrease the size of the dual feedback filt...

Page 192: ...9 Full Closed Control 9 10 ...

Page 193: ... PDO mapping possible No PDO mapping impossible Always Immediately apply the changed value Power cycling Applied after re booting Yes Parameter setting savable No Parameter setting not savable Parameter address Parameter name S Only applied in Velocity Mode T Only applied in Torque Mode P Only applied in position operation ALL Applied in all operation modes 10 Object Dictionary Object is a data st...

Page 194: ...igned 32 bit 21247483648 21247483647 UDINT Unsigned 32 bit 0 4294967295 FP32 Float 32 bit Single precision floating point STRING String Value 10 2 General Objects 0x1000 Device Type Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0x00020192 RO No No The following table lists device types and their functions Additional information Device ...

Page 195: ...008 Device Name Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving STRING RO No No Represents the device name 0x1009 Hardware Version Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving STRING RO No No Represents the hardware version of the device 0x100A Software Version Variable Type Setting Ran...

Page 196: ... Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0 RW No No SubIndex 4 Store drive specific parameters Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0 RW No No Store the drive s parameters in the memory To avoid any mistake store the parameters if the ASCII code value corresponding to save ...

Page 197: ...le Attribute Saving UDINT 0 to 0xFFFFFFFF 0 RW No No SubIndex 4 Restore drive specific parameters Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0 RW No No Initialize the drive s parameters To avoid any mistake initialize the parameters if the ASCII code value corresponding to save is written to the relevant SubIndex val...

Page 198: ...l Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT RO No No SubIndex 4 Serial Number Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT RO No No Represents the device information 0x1600 1st Receive PDO Mapping SubIndex 0 Number of Entries Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Va...

Page 199: ...ping Entry 6 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 7 Mapping Entry 7 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 8 Mapping Entry 8 Variable Type Setting Range Initial Value Unit Acce...

Page 200: ...jects to be mapped 0x1601 2nd Receive PDO Mapping SubIndex 0 Number of Entries Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 0 to 10 4 RW No PREOP Yes SubIndex 1 Mapping Entry 1 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60400010 RW No PREOP Yes SubInde...

Page 201: ...0xFFFFFFFF RW No PREOP Yes SubIndex 9 Mapping Entry 9 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 10 Mapping Entry 10 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes Refer to the description of 0x1600 ...

Page 202: ...ype Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 7 Mapping Entry 7 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 8 Mapping Entry 8 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignme...

Page 203: ...x60B80010 RW No PREOP Yes SubIndex 4 Mapping Entry 4 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60FE0120 RW No PREOP Yes SubIndex 5 Mapping Entry 5 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 6 Mapping Entry 6 ...

Page 204: ...ing UDINT 0 to 0xFFFFFFFF 0x60410010 RW No PREOP Yes SubIndex 2 Mapping Entry 2 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60770010 RW No PREOP Yes SubIndex 3 Mapping Entry 3 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60640020 RW No...

Page 205: ...ssibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60BA0020 RW No PREOP Yes Refer to the description of 0x1600 0x1A01 2nd Transmit PDO Mapping SubIndex 0 Number of Entries Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 0 to 10 6 RW No PREOP Yes SubIndex 1 Mapping Entry 1 Variable Type Setting Range Initial Value...

Page 206: ...FFF RW No PREOP Yes SubIndex 8 Mapping Entry 8 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 9 Mapping Entry 9 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 10 Mapping Entry 10 Variable Type S...

Page 207: ... Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60FD0020 RW No PREOP Yes SubIndex 6 Mapping Entry 6 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 7 Mapping Entry 7 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF RW N...

Page 208: ...essibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60B90010 RW No PREOP Yes SubIndex 4 Mapping Entry 4 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0x60BA0020 RW No PREOP Yes SubIndex 5 Mapping Entry 5 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attrib...

Page 209: ...l Value Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 4 RO No No SubIndex 1 Communication Type SM0 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 1 RO No No SubIndex 2 Communication Type SM1 Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 2 RO No No SubInd...

Page 210: ...ue Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 1 RW No No SubIndex 1 Index of objects assigned to PDO Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UINT 0x1600 to 0x1603 0x1601 RW No PREOP No 0x1C13 Sync Manager 3 PDO Assignment SubIndex 0 Number of Entries Variable Type Setting Range Initial Value Unit Accessibil ity ...

Page 211: ...nment Variable Attribute Saving UDINT 0 ns RO No No SubIndex 4 Sync modes supported Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UINT 0x4007 RO No No SubIndex 5 Minimum cycle time Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 250000 ns RO No No SubIndex 6 Calc and copy time Vari...

Page 212: ...e Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving BOOL 0 RO No No 0x1C33 Input Sync Manager Parameter SubIndex 0 Number of Entries Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 32 RO No No SubIndex 1 Sync mode Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable ...

Page 213: ...Saving UDINT 0 ns RO No No SubIndex 10 Sync0 time Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 ns RO No No Subindex 11 Cycle exceeded counter Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 RO No No SubIndex 12 SM event missed counter Variable Type Setting Range Initial ...

Page 214: ...10 Object Dictionary 10 22 ...

Page 215: ...C FALR5AM8N Mfd byLSMecapion Dist byLS ELECTRIC LSMecapion MADE INCHINA MFG 01 Input Output Encoder Serial No IP 3 220V 0 95A 100W 3000rpm Serial 16 19bit MB4H5001 67 ID 714 APMC FBL01AMK MADE INCHINA MFG 01 Mfd byLSMecapion Dist byLS ELECTRIC LSMecapion APM FE30ANK Input Output Encoder Serial No MADE IN KOREA Manufactured by LS Mecapion Distributed by LS ELECTRIC LS Mecapion 3 220V 16 09A Max 334...

Page 216: ...red regardless of these settings You can view the type of the encoder automatically recognized Setting Value Encoder Types 0 Quadrature incremental A lead B 1 Quadrature incremental B lead A 2 BiSS Serial single turn only 3 Reserved 4 BiSS Serial Absolute multi turn 16 bit 5 6 Reserved 7 Sinusoidal 1Vpp 8 Analog Hall 9 10 Reserved 11 Tamagawa Serial single turn only 12 Tamagawa Serial Absolute mul...

Page 217: ...V 0 95A 100W 3000rpm Serial 16 19bit MB4H5001 67 ID 714 APMC FBL01AMK MADE INCHINA MFG 01 Mfd byLSMecapion Dist byLS ELECTRIC LSMecapion APM FE30ANK Input Output Encoder Serial No MADE IN KOREA Manufactured by LS Mecapion Distributed by LS ELECTRIC LS Mecapion 3 220V 16 09A Max 334Hz ID 780 3 0kW 3000rpm Serial 19bit MB5J05001 IP 65 MFG 02 APM FE30AEK Input Output Encoder Serial No MADE IN KOREA 3...

Page 218: ...e Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1 0 RW No Power cycling Yes You can set the rotation direction of the motor You can change the rotation direction with this setting between the positive and negative relative to the user in the final apparatus section Setting Value Description 0 With a command for the positive direction the motor rotates count...

Page 219: ...r a power cycling 2 Homing unnecessary 3 Uses multi turn data 4 Remembers the multi turn value by battery power when the servo power is blocked Incremental Encoder Incremental Encoder 1 Resets the current position after a power cycling 2 Homing necessary after a power input Setting Value Description 0 Uses the absolute encoder as the absolute encoder Uses the multi turn data 1 Uses the absolute en...

Page 220: ...oss 0 Processes the phase loss as alarm AL 42 in case of main power phase loss 1 Processes the phase loss as warning W 01 in case of main power phase loss 0x2007 Main Power Fail Check Time ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 5000 20 ms RW No Always Yes You can set the checking time for main power fail check time Thi...

Page 221: ...eedback 0 1 4 Torque command 0 1 5 Accumulated operation overload 0 1 6 DC link voltage V 7 Accumulated regeneration overload 0 1 8 Mechanical Angle 0 1deg 9 Electrical Angle 0 1deg 10 Inertia ratio 11 Drive temperature 1 C Temperature near drive power element 12 Drive temperature 2 C Internal temperature of the drive 13 Encoder temperature 1 C Internal temperature of the encoder 14 Node ID 15 Ins...

Page 222: ...RW No Always Yes You can set the derating factor for regeneration brake resistor overload checkups When the derating factor is set to a value of 100 or lower the regeneration overload alarm AL 23 is triggered quickly When it is set to a value higher than 100 the alarm is triggered slowly Change the setting values according to the heat radiation condition of the regeneration brake resistor used You...

Page 223: ...ariable Attribute Savin g UINT 1 to 50000 100 watt RW No Always Yes When you use an external regeneration brake resistor 0x2009 1 set the maximum allowable capacity of the regeneration brake resistor in the unit of watt When you use an internal regeneration brake resistor 0x2009 0 the setting value does not apply 0x200E Duration Time Peak Power of Regeneration Brake Resistor ALL Variable Type Sett...

Page 224: ...ime 50 Continuous overload alarm AL 21 50 Continual overload increase point 0x200F 50 0x200F 100 The default value is 100 If torque feedback exceeds 100 accumulated overload keeps accumulating causing an occurrence of the continuous overload alarm AL 21 If you set the parameter value to 50 and 100 accumulated overload is activated when torque feedback exceeds 50 and 100 respectively Therefore for ...

Page 225: ...he set value a warning is output With this setting you can find out the time point when you need to take an appropriate action before an accumulated operation overload alarm occurs Accumulated overload Time 50 W10 occurrence Continuous overload alarm AL 21 0x2010 50 Accumulated overload Time 90 W10 occurrence Continuous overload alarm AL 21 0x2010 90 For example when you input 50 W10 starts to occ...

Page 226: ...output Shaft flow down Thump Time Motor Brake PWM output The shaft gets fixed Maintained SV OFF command 70 ms SV OFF command 200 ms For 0x2011 70 msec For 0x2011 200 msec 150 ms 150 ms A1 A2 For example assume that you have set the brake to operate 150 msec after a servo off command during operation of a motor with a brake installed on its vertical axis If you set the parameter to 50 msec PWM is t...

Page 227: ...ntrol mode of the dynamic brake in servo off Setting Value Description 0 Hold the dynamic brake after stopping the motor using the brake 1 Release the dynamic brake after stopping the motor using the brake 2 Release the dynamic brake after free run stop 3 Hold the dynamic brake after free run stop Time Time Time Time Hold after a DB stop Hold after a free run stop Release after a free run stop Rel...

Page 228: ...ins the torque command at 0 1 The motor decelerates to a stop using the emergency stop torque 0x2113 0x2014 Warning Mask Configuration ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to FFFFhex 0 RW Yes Always Yes Warnings masked by this setting are not triggered Bits Warning Codes Warning name description 0 W01 Main power phase l...

Page 229: ...t offset value is subtracted from the measured current value then applied as an actual current value Do not manually set the offset if you do not know the exact setting value You can view the automatically tuned value if you tune the current offset through the procedure function Refer to the description of 0x2700 0x2017 W Phase Current Offset ALL Variable Type Setting Range Initial Value Unit Acce...

Page 230: ...e Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 1 to 65535 1000 nm RW No Power cycling Yes You can set linear scale resolution in the unit of nm For a linear scale with a resolution of 1um set it to 1000 1um 1nm 0x201A Commutation Method ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 2 0 RW No Power cycli...

Page 231: ... 5000 1000 ms RW No Always Yes You can set the commutation time used to get information on the initial angle of the motor 0x201D Grating Period of Sinusoidal Encoder ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 1 to 65535 40 um RW No Power cycling Yes You can set the grating period of sinusoidal encoder 0x201E Homing Done Behavio...

Page 232: ...ility PDO Assignm ent Variable Attribute Savin g UINT 0 to 2 0 RW No Always Yes You can select the calculation method of feedback speed when the encoder type is Quadrature Setting Value Description 0 MT Method Speed Observer 1 MT Method 2 M Method 0x2020 Motor and Hall Phase Correction ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT...

Page 233: ... Hall U Hall V 13 Replaces Hall V Hall W 14 Replaces Hall W Hall U 15 Reserved 0x2021 Load Encoder Type ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 100 0 RW No Power cycling Yes This sets the type of the second encoder which is attached to the load side The same setting applies to the motor side encoder type Setting Value E...

Page 234: ...ositive direction 1 Increase position value in the negative direction 0x2023 Full Closed Control Mode ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 2 0 RW No Power cycling Yes Set the full closed control mode Setting value Setting details 0 Semi Closed Control controls using only the motor side encoder default value 1 Full Cl...

Page 235: ...vibrations that are generated due to mechanical characteristics or external factors to shorten the adjustment time 1 Example of setting the dual feedback filter time constant 0x2025 Numerator of Load Encoder Scale ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 2147483647 1 RW No Power cycling Yes Time Remaining pulse Command P...

Page 236: ...88 pulse rev Load movement amount revolution 12000 pulse rev Gear ratio Setting Number of external encoder pulses x numerator denominator Number of motor encoder pulses 12000 Number of external encoder pulses 524288 numerato 12000 denominato 524288 Number of motor encoder pulses 2 Reducer structure Reduction ratio 1 10 Ball screw lead 20 mm Linear encoder external encoder 4 um If the 1 10 ratio re...

Page 237: ...gear ratio is calculated and the gear ratio is multiplied by the number of external encoder pulses to produce the scale Motor encoder specifications 524288 pulse rev Load movement amount revolution The external encoder rotates at a ratio of 30 20 per servo motor rotation The number of pulses for the external encoder is calculated as 20000 x 3 2 30000 pulses Gear ratio setting Number of external en...

Page 238: ...evel for the external encoder and the reset range for the error position value Based on the 0x2027 External Encoder Following Error Window settings the AL 54 Encoder2 POS difference level can be adjusted For a system where a slip occurs the 0x2028 External Encoder Following Error Reset settings can be used to set the normal slip range for the following error value 0x2029 External Encoder Z found A...

Page 239: ...cycling Yes This setting determines whether to detect the Z phase signal when the external encoder is Quadrature 0x202B Load Encoder Configuration ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g ...

Page 240: ...Hz 2 3 MHz 8 1 25 MHz 3 2 5 MHz 9 0 8 MHz 4 2 MHz 10 0 7 MHz 5 1 6 MHz Bits Description if encoder type is SSI 0 7 Number of bits for data 8 Coding 0 binary 1 gray 9 Whether to ignore the first bit 0 one start bit 1 two start bits 10 11 Reserved 12 15 Clock rate 0 656 25kHz 1 1 3125Mhz 2 2 625Mhz 16 31 Reserved Setting example Singleturn 24 bit Gray Code One start bit Using clock frequency below 5...

Page 241: ...e Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UDINT 0 to 8 0 RW No Power cycling Yes This sets the degree of FIR filter for speed feedback In order to apply a FIR filter on a speed feedback signal set the value to 2 or more In this case the speed feedback filter time constant 0x201B does not apply In order to use the speed feedback filter time constan...

Page 242: ...you carry out On line gain tuning 0x2101 Position Loop Gain 1 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 1 to 500 50 1 s RW Yes Always Yes You can set the overall responsiveness of the position controller The larger the setting value is the higher the responsiveness is Too large setting value may cause vibration depending on th...

Page 243: ...ass filter for torque command You can improve the system s stability by setting an appropriate value to smoothen the torque command If you set the value to be too large the delay for the torque command is extended reducing the system responsiveness 0x2105 Position Loop Gain 2 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 1 to 500 ...

Page 244: ...rsion For more information refer to the description of torque command filter time constant 1 0x2104 0x2109 Position Command Filter Time Constant ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 10000 0 0 1ms RW Yes Always Yes You can apply a low pass filter for position command to smoothen the position command Especially this ca...

Page 245: ... The larger the setting value is the lower the following error is If you set too large a value for the load vibration or an overshoot may occur For gain tuning increase the setting value gradually 0x210D Velocity Feed forward Filter Time Constant ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1000 10 0 1ms RW Yes Always Yes Yo...

Page 246: ...it output torque of the drive Setting Value Description 0 Limits the torque using positive negative torque limit values according to the driving direction the maximum value is limited by the maximum torque 0x6072 Positive 0x60E0 Negative 0x60E1 1 Limits the torque by the maximum torque 0x6072 only regardless of the driving direction 2 Limits the torque value using external positive negative torque...

Page 247: ...xternal Negative Torque Limit Value ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 5000 3000 0 1 RW Yes Always Yes You can set the external negative torque limit value according to the torque limit function select 0x2110 0x2113 Emergency Stop Torque ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ...

Page 248: ...hes to P control if the command speed is larger than the P control switch speed 0x2116 3 Switches to P control if the acceleration command is larger than the P control switch acceleration 0x2117 4 Switches to P control if the following error is larger than the P control switch following error 0x2118 0x2115 P Control Switch Torque ALL Variable Type Setting Range Initial Value Unit Accessi bility PD...

Page 249: ...in g UINT 0 to 60000 1000 rpm s RW Yes Always Yes Refer to the description of P PI Control Conversion Mode 0x2114 0x2118 P Control Switch Following Error ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 60000 100 pulse RW Yes Always Yes Refer to the description of P PI Control Conversion Mode 0x2114 ...

Page 250: ...2104 Position Loop Gain 2 0x2105 Speed Loop Gain 2 0x2106 Speed Loop Integral Time Constant 2 x2107 Torque Command Filter Time Constant 2 0x2108 Setting Value Setting details 0 Only gain group 1 is used 1 Only gain group 2 is used 2 Gain is switched according to the GAIN2 input status 0 Use gain group 1 1 Use gain group 2 3 Reserved 4 Reserved 5 Reserved 6 Gain is switched according to the ZSPD ou...

Page 251: ...Always Yes This specifies the waiting time before switching from gain group 1 to gain group 2 0x211D Gain Conversion Waiting Time 2 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1000 0 ms RW Yes Always Yes This specifies the waiting time before switching from gain group 2 to gain group 1 0x211E Dead Band for Position Control ...

Page 252: ... controller to the drive through this setting An applicable function will be performed by logical OR operation of the signal received through the I O and the bit value of this setting Bits Setting details Bits Setting details 0 POT 8 PROBE1 1 NOT 9 PROBE2 2 HOME 10 EMG 3 STOP 11 A_RST 4 PCON 12 SV_ON 5 GAIN2 13 LVSF1 6 P_CL 14 LVSF2 7 N_CL 15 Reserved 0x211F Drive Control Input 1 ALL Variable Type...

Page 253: ...nal to the output signal of the I O in order to verify the applicable bit of this output value in addition to the actual output Bits Setting details 0 BRAKE 1 ALARM 2 READY 3 ZSPD 4 INPOS1 5 TLMT 6 VLMT 7 INSPD 8 WARN 9 TGON 10 INPOS2 15 11 Reserved 0x2122 Drive Status Output 2 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to FF...

Page 254: ...ons of digital input signal 1 of the I O and the input signal level Setting example If the setting value is 0x006 0 0 0 6 Contact A GAIN2 assigned Setting Value Assigned signals 0x00 Not assigned 0x01 POT 0x02 NOT 0x03 HOME 0x04 STOP 0x05 PCON 0x06 GAIN2 0x07 P_CL 0x08 N_CL 0x09 PROBE1 0x0A PROBE2 0x0B EMG 0x0C A_RST 0x0D LVSF1 0x0E LVSF2 0x0F SVON Bits Setting details 15 Signal Input Level Settin...

Page 255: ...gital input signal 3 of the I O and the input signal level For more information refer to the description of 0x2200 0x2203 Digital Input Signal 4 Selection ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 0xFFFF 0x0004 RW No Always Yes This specifies the functions of digital input signal 4 of the I O and the input signal level Fo...

Page 256: ...n ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 0xFFFF 0x8001 RW No Always Yes This assigns the digital output signal 1 function and sets the output signal level of the I O Setting example If the setting is 0x8001 8 0 0 1 Contact B Brake assigned Setting Value Assigned signals 0x00 Not assigned 0x01 BRAKE 0x02 ALARM 0x03 READ...

Page 257: ... bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 0xFFFF 0x0003 RW No Always Yes This sets the digital output signal 3 function and output signal level of the I O For more information refer to the description of 0x2210 0x2220 Analog Monitor Output Mode P Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1 0 RW No Always Ye...

Page 258: ...e feedback 0x04 Torque command 0x05 Following error pulse 0x06 Accumulated operation overload 0x07 DC link voltage V 0x08 Accumulated regeneration overload 0x09 Encoder single turn data pulse 0x0A Inertia ratio 0x0B Full Closed Positional Error UU 0x0C Drive temperature 1 C 0x0D Drive temperature 2 C 0x0E Encoder temperature 1 C 0x0F Hall signal 0x10 U phase current A 0x11 V phase current A 0x12 W...

Page 259: ... Channel 2 Offset ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT 0 to 0x40000000 0 RW No Always Yes Subtract the offset value from the monitoring variable of analog monitor output channel 2 to determine the final output The unit will be that of the variable configured in the Analog Monitor Channel 2 Select 0x2222 0x2225 Analog Moni...

Page 260: ...bility PDO Assignm ent Variable Attribute Savin g UDINT 0 to 0x40000000 500 RW No Always Yes This sets the scaling of the variable to be output per 1 V when outputting the monitoring variable set as analog output channel 2 The unit will be that of the variable configured in the Analog Monitor Channel 2 Select 0x2222 per 1 V ...

Page 261: ... the rated motor speed from a stop in the unit of ms 0x2302 Speed Command Deceleration Time ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 10000 200 ms RW No Always Yes You can set the time required for the motor to decelerate from the rated motor speed to a stop in the unit of ms 0x2303 Speed Command S curve Time ALL Variable...

Page 262: ...ariable Attribute Savin g INT 6000 to 6000 500 rpm RW No Always Yes Refer to the description of Program Jog Operation Speed 1 0x2304 0x2306 Program Jog Operation Speed 3 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g INT 6000 to 6000 0 rpm RW No Always Yes Refer to the description of Program Jog Operation Speed 1 0x2304 0x2307 Program J...

Page 263: ...0x230A Program Jog Operation Time 3 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 10000 500 ms RW No Always Yes Refer to the description of Program Jog Operation Speed 1 0x2304 0x230B Program Jog Operation Time 4 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT ...

Page 264: ...pe Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 6000 1000 rpm RW Yes Always Yes You can set the speed limit value at torque control mode This setting is applied only when the Speed Limit Function Select 0x230D is set to 0 0x230F Over Speed Dection Level ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable...

Page 265: ...ween the speed command and the speed feedback exceeds the setting value an excessive speed error alarm is generated 0x2311 Servo Lock Function Select ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1 0 RW No Always Yes You can set the servo lock function to fix the motor position with a position value when the speed command of ...

Page 266: ...tion software position limits are used 1 Only the positive direction software position limit value is used It is not limited for the negative direction 2 Only the negative direction software position limit value is used It is not limited for the positive direction 3 Both the positive and the negative direction software position limits are used 0x2401 INPOS1 Output Range P Variable Type Setting Ran...

Page 267: ...iable Attribute Savin g UINT 0 to 6000 10 rpm RW Yes Always Yes When the current velocity is lower than the setting value the parameter outputs the ZSPD signal 0x2405 TGON Output Range P Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 6000 100 rpm RW Yes Always Yes When the current velocity is higher than the setting value the para...

Page 268: ...ype Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1000 100 ms RW No Always Yes Refer to the description of 0x2407 0x2409 Torque Limit for Homing Using Stopper ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 2000 250 0 1 RW No Always Yes You can set torque limits for homing ...

Page 269: ...nction to move via the possible shortest distance 4 Uses the modulo function to move to the absolute position 5 Uses the modulo function to move to the relative position 0x240C Modulo Factor ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT 1 to 0x3FFFFFFF 3600 UU RW No Power cycling Yes You can set the factor for using the Modulo fun...

Page 270: ... RW No Always No You can set whether or not to immediately save individual parameters This parameter is not saved and reset to 0 during power turn on Setting Value Setting details 0 Does not save parameters individually For details on saving parameters refer to Saving Parameters 0x1010 1 Saves parameters individually When a parameter is written it is immediately saved in the memory ...

Page 271: ...e notch filter 3 first 2 Two adaptive filters are used You can check the settings configured automatically in the notch filter 3 0x2507 0x2508 0x2509 and filter 4 settings 0x250A 0x250B 0x250C If an arbitrary value is set for notch filter 3 or 4 auto setting is applied to notch filter 4 or 3 If arbitrary values are set for notch filter 3 and 4 the original settings remain unchanged If notch filter...

Page 272: ...1 0x2504 Notch Filter 2 Frequency ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 50 to 5000 5000 Hz RW No Always Yes You can set the frequency of Notch Filter 2 0x2505 Notch Filter 2 Width ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 1 to 100 1 RW No Always Yes Yo...

Page 273: ...h Filter 3 0x2509 Notch Filter 3 Depth ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 1 to 5 1 RW No Always Yes You can set the depth of Notch Filter 3 0x250A Notch Filter 4 Frequency ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 50 to 5000 5000 Hz RW No Always Yes...

Page 274: ...T 1 to 20 5 RW No Always Yes This specifies the system rigidity applied for gain tuning After the gain tuning according to the setting the overall gain will be set higher or lower If the gain of the maximum setting value is not enough carry out the tuning manually Increasing the system rigidity setting will increase the gain and shorten the positioning time However if the setting is too high vibra...

Page 275: ...able Type Setting Range Initial Value Unit Accessibility PDO Assignment Variable Attribute Saving UINT 1 to 5 1 RW No Always Yes You can the speed of reflecting the change in gain when performing on line gain tuning The larger the setting value is the faster the gain changes are reflected Depending on the condition of the load the system may become unstable if it is reflected too quickly 0x2510 Of...

Page 276: ...ating torque through load model If the disturbance observer gain setting is large the disturbance suppression works well However since noise occurs during operation it is necessary to set the gain and filter time constant appropriately 0x2513 Disturbance Observer Filter Time Constant ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0...

Page 277: ...Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 1000 0 0 1Hz RW No Always Yes Set the vibration suppression damping filter 1 frequency 0x2517 Vibration Supression Filter 1 Damping ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 5 0 RW No Always Yes Set the coefficient of vibr...

Page 278: ...pe Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 5 0 RW No Always Yes Set the coefficient of vibration suppression damping filter 2 The larger the set value the bigger the damping coefficient becomes leading to a higher damping level ...

Page 279: ...elocity control loop of the drive 0x2602 Following Error ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT pulse RO Yes No This parameter represents the following error of position control 0x2603 Accumulated Operation Overload ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g ...

Page 280: ...t RO Yes No This parameter represents DC link voltage by a main power input 0x2606 Accumulated Regeneration Overload ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g INT 0 1 RO No No This parameter represents the accumulated overload rate of the regeneration brake resistor from regenerative operation When the accumulated regeneration over...

Page 281: ...meter represents the electrical angle of the motor in the range of 180 0 180 0 0x260A MultiTurn Data ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT rev RO Yes No This parameter represents multi turn data of the multi turn encoder 0x260B Drive Temperature 1 ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assign...

Page 282: ...C RO No No This parameter represents the temperature measured by the temperature sensor integrated into the serial encoder provided by our company if the setting value of the encoder type 0x2001 are 3 4 5 and 6 If the measured temperature 90 or higher an encoder overheat alarm AL 26 is generated 0x260E Motor Rated Speed ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ...

Page 283: ...iable Attribute Savin g UINT RO No No This parameter represents the signal of the hall sensor installed in the encoder or motor You can use this to verify the connection status of the hall sensor signal or compare the U V W phases of the motor with the direction of the hall sensor signal The signal value is repeated in the order of 5 4 6 2 3 1 for a positive movement and it is repeated in the orde...

Page 284: ...riable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g INT 0 1 RO No No This displays the Root Mean Square RMS load factor for the last 15 seconds in 0 1 increments Compare the RMS load factor with the rated torque in a 15 second driving cycle to ensure that the RMS load factor is within the drive rated torque If the RMS load factor is higher than th...

Page 285: ...e electronic gear ratio 0x2620 Load Encoder Following Error ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT pulse RO No This displays the position difference between the load side encoder and motor side encoder in UU units 0x2621 Load Encoder Velocity ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent ...

Page 286: ...and Codes Command Arguments Run Procedures Manual Jog 0x0001 1 Servo ON 2 Servo OFF 3 Positive Operation 0x2300 4 Negative Operation 0x2300 5 Zero Speed Stop Program Jog 0x0002 1 Servo ON 2 Servo OFF 3 Start Operation 4 Zero Speed Stop Server ON Maintained Servo Alarm History Reset 0x0003 1 Off line Auto Tuning 0x0004 1 Start Auto Tuning Index Pulse Search 0x0005 1 Servo ON 2 Servo OFF 3 Positive ...

Page 287: ...ribute Savin g UINT 0 to FFFFhex 0 RW No No 0x2702 Servo Alarm History ALL SubIndex 0 Number of Entries Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g STRING 16 RO No No SubIndex 1 Alarm Code 1 newest Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g STRING RO No No SubIndex 2 Alarm Cod...

Page 288: ... Accessi bility PDO Assignm ent Variable Attribute Savin g STRING RO No No SubIndex 7 Alarm Code 7 Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g STRING RO No No SubIndex 8 Alarm Code 8 Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g STRING RO No No SubIndex 9 Alarm Code 9 Variable Ty...

Page 289: ...riable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g STRING RO No No SubIndex 15 Alarm Code 15 Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g STRING RO No No SubIndex 16 Alarm Code 16 oldest Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savi...

Page 290: ...in g UINT 0 to 1 0 RW No Power cycling Yes You can set the motor type Setting Value Setting details 0 Rotary motor 1 Linear motor 0x2801 Third Party Motor Number of Poles ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 2 to 1000 8 RW No Power cycling Yes You can set the number of motor poles For a linear motor set the value to 2 0x2...

Page 291: ...the unit is mm s 0x2805 Third Party Motor Maximum Speed ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 1 to 60000 5000 rpm RW No Power cycling Yes You can set the maximum speed of the motor For a linear motor the unit is mm s 0x2806 Third Party Motor Inertia ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assi...

Page 292: ... the phase resistance resistance between lines 2 of the motor 0x2809 Third Party Motor Phase Inductance ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g FP32 0 to 1000 3 66 mH RW No Power cycling Yes You can set the phase inductance inductance between lines 2 of the motor 0x280A Third Party Motor TN Curve Data 1 ALL Variable Type Setting ...

Page 293: ...ich can be output at the maximum speed in percentage relative to the maximum torque Torque Force Speed Max torque 0x280B Torque Max torque Max torque x 100 Torque Max speed Max speed 0x280C Third Party Motor Hall Offset ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 360 0 deg RW No Power cycling Yes The offset of the hall sens...

Page 294: ...essi bility PDO Assignm ent Variable Attribute Savin g UINT 0 to 0xFFFF 0 RW Yes Always No This is composed of bits that control the drive state the operation mode and manufacturer specific options Bits Function Description 0 Switch on Refer to the description below of bits 0 to 3 1 Enable Voltage 2 Quick stop 3 Enable operation 4 to 6 Settings by Operation Mode Refer to the description below of b...

Page 295: ...5 6 8 and 9 For CSP CSV or CST mode operation Bits Function Value Details 4 0 5 0 6 0 8 Halt 0 Continues to perform the operation 1 Halts the operation according to the Halt Option code 0x605D 9 0 Bits 4 5 and 9 For PP mode operation Bit 9 Bit 5 Bit 4 Details 0 0 0 1 Proceeds to the next position when the operation at the current position is complete 1 0 1 Drives to the next position immediately 1...

Page 296: ...4 5 6 8 and 9 For PV and PT mode operation Bits Function Value Details 4 0 Reserved 5 0 Reserved 6 0 Reserved 8 Halt 0 Continues to perform the operation 1 Halts the operation according to the Halt Option code 0x605D 9 0 Reserved Bits 4 5 6 8 and 9 For HM mode operation Bits Function Value Details 4 Homing Start 0 Does not perform the homing operation 1 Performs or is performing the homing operati...

Page 297: ...on 0 Ready to switch on Refer to the description below of bits 0 to 7 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 Reserved 9 Remote Processed as a Controlword 0x6040 10 Operation mode specific Refer to the description below of bits 10 12 and 13 11 Internal limit active Refer to the description below of bit 11 12 to 13 Operation mode spe...

Page 298: ...ration Bits State Value Details 10 Target reached 0 Unable to reach the target position velocity 1 Reached the target position velocity 12 0 13 Following error 0 No following error always 0 in Csv Torque mode 1 Following error Bits 10 12 and 13 For PP mode operation Bits State Value Details 10 Target reached 0 Halt 0x6040 8 0 Unable to reach the target position Halt 0x6040 8 1 Deceleration 1 Halt ...

Page 299: ...opped or not started 0 1 0 Performed homing operation but did not reach the target 0 1 1 Homing completed 1 0 0 Homing error speed not equal to 0 1 0 1 Homing error speed equal to 0 Description of bit 11 Bit 11 Indicates whether to use an internal limit Bits State Value Details 11 Internal Limit Active 0 Not in software position limit status or does not use the software position limit function 0x2...

Page 300: ...ed 3 Stops using the torque limit value Switch On Disabled 0x605B Shutdown Option Code ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g INT 0 to 1 0 RW No Always Yes This sets the operation to shut down the servo drive Operation Enabled state Ready to Switch On state Setting Value Description 0 Not used 1 Decelerates to a stop enters the ...

Page 301: ...hed On state Setting Value Description 1 Decelerates to a stop moves to the Operation Enabled state 2 Decelerates to a stop based on the quick stop deceleration time move to the Operation Enabled state 3 Decelerates to a stop based on the torque limit moves to the Operation Enabled state 0x605E Fault Reaction Option Code ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm...

Page 302: ... PT Profile Torque mode 6 HM Homing Mode 7 Reserved Setting Value Names Details 8 CSP Cyclic Synchronous Position mode 9 CSV Cyclic Synchronous Velocity mode 10 CST Cyclic Synchronous Torque mode Other Reserved 0x6061 Modes of Operation Display ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g SINT RO Yes No This displays the operation mod...

Page 303: ...U RO Yes No This parameter displays the position actual value in a user defined position unit UU 0x6065 Following Error Window ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UDINT 0 to 0x3FFFFFFF 600000 UU RW No Always Yes This sets the following error window to check the Following Error Statusword 0x6041 13 0x6066 Following Error Timeo...

Page 304: ...NT 0 to 65535 0 ms RW No Always Yes This sets the time it takes to reach the target position If the drive remains within the position window 0x6067 for the position window time 0x6068 then it sets bit 10 of the Statusword 0x6041 10 to 1 0x606B Velocity Demand Value ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT UU s RO Yes No This ...

Page 305: ...s RW No Always Yes You can set the velocity window time If the difference between the target velocity and the actual velocity remains within the velocity window 0x606D for the amount of velocity window time 0x606E it sets bit 10 of Statusword 0x6041 10 to 1 0x6071 Target Torque ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g INT 5000 to ...

Page 306: ...No No This displays the rated torque of the motor in mNm 0x6077 Torque Actual Value ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g INT 0 1 RO Yes No This displays the torque actual value generated by the drive in 0 1 increments of the rated torque 0x6078 Current Actual Value ALL Variable Type Setting Range Initial Value Unit Accessi bil...

Page 307: ...is used as an absolute or relative coordinate according to the Bit4 0x6040 4 setting of Controlword In CSP mode it is always used as an absolute coordinate 0x607C Home Offset ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT 536870912 to 536870911 0 UU RW No Always Yes This sets the offset value for the home position of the absolute e...

Page 308: ... You can set the software position limit It limits the range of the position demand value 0x6062 and position actual value 0x6064 and checks the new target positions for the setting value at every cycle The minimum software limit value is the negative rotation limit The maximum software limit value is the positive rotation limit 0x607F Max Profile Velocity ALL Variable Type Setting Range Initial V...

Page 309: ...FFFFF 200000 UU s2 RW No Always Yes This sets the profile acceleration for the PP mode operation 0x6084 Profile Deceleration ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g UDINT 0 to 0x7FFFFFFF 200000 UU s2 RW No Always Yes This sets the profile deceleration for the PP mode operation 0x6085 Quick Stop Deceleration ALL Variable Type Sett...

Page 310: ... DINT 0 to 0x40000000 1 RW No Power cycling Yes SubIndex 2 Shaft Revolutions Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving DINT 0 to 0x40000000 1 RW No Power cycling Yes For more information refer to Section 5 3 Electric Gear Setup 0x6098 Homing Method ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable...

Page 311: ...riable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving USINT 2 RO No No SubIndex 1 Switch search speed Speed during a search for switch Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving DINT 0 to 0x40000000 500000 UU s RW No Always Yes SubIndex 2 Zero search speed Variable Type Setting Range Initial ...

Page 312: ...ccessi bility PDO Assignm ent Variable Attribute Savin g DINT 2147483648 to 2147483647 0 UU s RW Yes Always No In CSP mode this corresponds to the speed feed forward value In CSV mode this sets the offset value added to the speed command value 0x60B2 Torque Offset ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g INT 5000 to 5000 0 0 1 RW ...

Page 313: ...lue of touch probe 1 1 Captures the positive edge position value of touch probe 1 5 0 Does not capture the negative edge position value of touch probe 1 1 Captures the negative edge position value of touch probe 1 6 to 7 Reserved 8 0 Does not use touch probe 2 1 Uses touch probe 2 9 0 Single trigger mode 1 Continuous trigger mode 10 0 Triggered by the input of touch probe 2 1 Triggered by the inde...

Page 314: ... updated 8 0 Does not use touch probe 2 1 Uses touch probe 2 9 0 Does not store the positive edge position value of touch probe 2 1 Stores the positive edge position value of touch probe 2 10 0 Does not store the negative edge position value of touch probe 2 1 Stores the negative edge position value of touch probe 2 11 to 13 Reserved 14 0 1 Toggles when the positive edge position value of touch pr...

Page 315: ...ent Variable Attribute Savin g DINT UU RO Yes No This represents the negative edge position value of touch probe 1 0x60BC Touch Probe 2 Positive Edge Position Value ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT UU RO Yes No This represents the positive edge position value of touch probe 2 0x60BD Touch Probe 2 Negative Edge Positio...

Page 316: ...ttribute Savin g UINT 0 to 5000 3000 0 1 RW Yes Always Yes You can set the negative torque value limit 0x60F4 Following Error Actual Value ALL Variable Type Setting Range Initial Value Unit Accessi bility PDO Assignm ent Variable Attribute Savin g DINT UU RO Yes No This parameter displays the following error actual value during position control 0x60FC Position Demand Internal Value ALL Variable Ty...

Page 317: ...T Negative Limit Switch 1 POT Positive Limit Switch 2 HOME Home Position Sensor Input 3 to 15 Reserved 16 DI 1 I O pin 11 0 Open 1 Close 17 DI 2 I O pin 12 0 Open 1 Close 18 DI 3 I O pin 7 0 Open 1 Close 19 DI 4 I O pin 8 0 Open 1 Close 20 DI 5 I O pin 13 0 Open 1 Close Bits Description 21 DI 6 I O pin 14 0 Open 1 Close 22 DI 7 I O pin 9 0 Open 1 Close 23 DI 8 I O pin 10 0 Open 1 Close 24 30 Reser...

Page 318: ...ttribute Saving USINT 2 RO No No SubIndex 1 Physical outputs Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0 RW Yes Always No SubIndex 2 Bit mask Variable Type Setting Range Initial Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0 to 0xFFFFFFFF 0 RW Yes Always Yes ...

Page 319: ...o 1 19 Forced output 0 OFF 1 ON of DO 4 I O pins 1 and 2 Provided that the relevant bit mask 0x60FE 02 19 is set to 1 20 to 23 Reserved 24 Output status of DO 1 0 OFF 1 ON 25 Output status of DO 2 0 OFF 1 ON 26 Output status of DO 3 0 OFF 1 ON 27 Output status of DO 4 0 OFF 1 ON 28 to 31 Reserved Bit mask Bits Description 0 to 15 Reserved 16 Forced output setting 0 Disable 1 Enable of DO 1 I O pin...

Page 320: ...Value Unit Accessibil ity PDO Assignment Variable Attribute Saving UDINT 0x000003AD RO No No This displays the mode s supported by the drive Bits Supported modes Details 0 PP Profile Position 1 Supported 1 Vl Velocity 0 Not supported 2 PV Profile Velocity 1 Supported 3 PT Torque Profile 1 Supported 4 Reserved 0 5 HM Homing 1 Supported 6 IP Interpolated Position 0 Not Supported 7 CSP Cyclic Synchro...

Page 321: ...re based on the data measured after the heat sink is mounted The product specifications are based on the measurement data obtained after mounting the heat sink IP grade products do not include the shaft penetration part IP grade is not guaranteed for any gearbox attached When a cable is bent by more than the specified bending rate it may not qualify for the specified IP grade Use only the dedicate...

Page 322: ... 1 51 1 93 gf cm s 0 69 1 11 1 54 1 97 Permitted Load Inertia Motor inertia x 15 Rated Power Rate kW s 24 05 33 39 43 02 52 57 Velocity Position Detector Standard Quad Type Incremental 3000 P R Option Serial Type 19 Bit Specifications and Features Protection Method Fully enclosed self cooling IP55 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 4...

Page 323: ...e kW s 30 43 42 27 45 69 49 97 Velocity Position Detector Standard Quadrature Type Incremental 3000 P R Option Serial type 19 bit Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidity 9...

Page 324: ...Power Rate kW s 30 60 40 66 45 09 62 08 Velocity Position Detector Standard Serial Multi Turn Built in Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP67 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidity 90 RH or...

Page 325: ...wer Rate kW s 38 73 51 47 54 56 59 03 Velocity Position Detector Standard Serial Multi Turn Built in Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP67 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidity 90 RH or l...

Page 326: ... 10 Rated Power Rate kW s 4 10 10 01 22 03 Velocity Position Detector Standard Quadrature Type Incremental 2048P R Option X Specifications and Features Protection Method Fully enclosed self cooling IP55 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidity 90 RH o...

Page 327: ...rtia x 10 Rated Power Rate kW s 14 47 22 38 33 59 47 85 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidity 9...

Page 328: ...rtia x 10 Rated Power Rate kW s 14 49 27 08 39 89 57 90 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidity 9...

Page 329: ...nertia x 10 Rated Power Rate kW s 14 49 28 74 46 81 61 46 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidity...

Page 330: ...inertia x 10 Rated Power Rate kW s 14 49 32 22 50 48 68 91 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance humidit...

Page 331: ... 90 Permitted Load Inertia Motor inertia x 5 Rated Power Rate kW s 32 59 54 33 39 43 59 89 93 27 120 15 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Hu...

Page 332: ...tted Load Inertia Motor inertia x 5 Rated Power Rate kW s 46 92 73 14 106 15 136 73 173 63 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use hu...

Page 333: ... Motor inertia x 5 Rated Power Rate kW s 46 94 78 27 111 04 165 38 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH maintenance...

Page 334: ...Inertia Motor inertia x 5 Rated Power Rate kW s 26 78 38 99 58 51 85 83 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH mainte...

Page 335: ...nertia Motor inertia x 5 Rated Power Rate kW s 31 91 47 66 66 64 97 63 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity 80 RH mainten...

Page 336: ...oad Inertia Motor inertia x 5 Rated Power Rate kW s 31 91 51 00 69 70 118 14 112 65 Velocity Position Detector Standard Serial Multi Turn Type 19bit Option X Specifications and Features Protection Method Fully enclosed self cooling IP65 excluding shaft penetration part Time Rating Continuous Ambient Temperature Operating temperature 0 40 C Storage temperature 10 60 C Ambient Humidity Use humidity ...

Page 337: ...C 24V DC 90V DC 24V Static friction torque N m 0 32 1 47 3 23 10 4 40 74 120 Capacity W 6 6 5 9 19 4 25 32 26 Coil resistance Ω 96 89 64 29 6 23 327 22 2 Rated current A 0 25 0 27 0 38 0 81 1 04 0 28 1 08 Braking method Spring brake Spring brake Spring brake Spring brake Spring brake Spring brake Spring brake Insulation grade Grade F Grade F Grade F Grade F Grade F Grade F Grade F Note 1 The same ...

Page 338: ... 13 V 14 Signal Names W W 5V 0V 5 Z 10 V 15 SHIELD Plug 172165 1 AMP Brake Connector Pin No Pin No Pin No Pin No Encoder Connector Plug 172167 1 AMP Plug 172171 1 AMP Power Connector Model External Dimensions Weight kg L LM LC CB S SC04A SC03D 158 5 199 8 118 5 158 8 79 78 8 86 126 3 14 1 88 2 92 SC06A SC05D 178 5 218 8 138 5 178 8 99 98 8 106 146 3 16 2 52 3 56 SC08A SC06D 198 5 238 8 158 5 198 8...

Page 339: ... 7 SLO 8 VDD_B 9 5V 5 Shield Pin No Signal Names 1 BK 2 BK Power connector pin arrangement Encoder connector pin arrangement Brake connector pin arrangement Multi Turn M Model Name External Dimensions Key Dimensions Weight kg L LM LC S H T W U FCL04A FCL03 D 138 7 179 5 98 7 139 5 70 69 8 14 0 018 5 5 3 1 52 2 32 1 26 2 06 FCL06A FCL05 D 156 7 197 5 116 7 157 5 88 87 8 19 0 021 6 6 3 5 2 14 2 94 2...

Page 340: ... 5 8 0 05A 0 0 Penetration 0 05 A 0 02 0 02 0 06 0 A B C D Signal Names U V W FG Signal Names A A B A C B D B F K L M Signal Names Z P U R U H V G Signal Names W W 5V 0V E Z N V J SHIELD Pin No Pin No Pin No Pin No Encoder Connector Plug MS3102A20 4P Plug MS3102A20 15P Power Connector A B C D A B C D E F G H J K L M N P R S T Model External Dimensions Hollow Shaft Diameter Weight kg L LM LC HE09A ...

Page 341: ... B MA C SLO D SLO F K L M Signal Names P R H G Signal Names 5V 0V E N J SHIELD Pin No Pin No Pin No Serial S Turn Connector Plug MS3102A20 29P A B C D E F G H J K L M N P R S T D C B E A G F Signal Names A U B V C W Pin No Plug MS3102A20 15P Brake Type Connector Signal Names D FG E BK F BK Pin No Model External Dimensions Key Dimensions Wei ght kg L LM LC S T W U FE09A FE06D FE05G FE03M 197 3 235 ...

Page 342: ... Signal Names 5V 0V E N J SHIELD Pin No Pin No Pin No Serial S Turn Connector Plug MS3102A20 29P A B C D E F G H J K L M N P R S T D C B E A G F Signal Names A U B V C W Pin No Plug MS3102A24 10P Brake Type Connector Signal Names D FG E BK F BK Pin No Model External Dimensions Key Dimensions Eye bolt Weight Kg L LM LC LR S QW T W U FF30A FF22D FF20G FF12M 257 5 308 9 178 5 229 9 129 128 7 79 35 0 ...

Page 343: ...g MS3102A20 29P A B C D E F G H J K L M N P R S T Signal Names A MA B MA C SLO D SLO F K L M Signal Names P R H G Signal Names 5V 0V E N J SHIELD Pin No Pin No Pin No Serial S Turn Connector Plug MS3102A20 29P A B C D E F G H J K L M N P R S T Note 3 Model External Dimensions Key Dimensions Power Connect or Weight Kg L LM LC LF LQ S T W U FG22D FG20G FG12M 229 5 295 7 164 5 230 7 115 114 2 19 162 ...

Page 344: ...inusoidal Analog Hall using an analog to BiSS converter Control Performa nce Velocity Control Range 1 5000 Maximum Frequency Response Maximum 1 kHz for a 19 bit serial encoder Velocity Variation 0 01 or lower when the load changes between 0 100 0 1 or lower temperature 25 10 Torque Control Repeat Accuracy Within 1 EtherCAT Communi cation Specificati ons Communic ation Standard FoE Firmware downloa...

Page 345: ... of 3 output channels allocable Possible to selectively assign up to 11 outputs BRAKE ALARM READY ZSPD INPOS TLMT VLMT INSPD WARN TGON INPOS2 Note Indicates signals assigned by default Analog Output A total of 2 channels allocable Possible to selectively assign up to 25 outputs Safety Functions 2 input channels STO1 and STO2 and 1 output channel EDM USB Communi cation Function Firmware download pa...

Page 346: ...rch Protection Function Overcurrent overload current limit over overheat overvoltage undervoltage encoder error position following error current sensing error etc Use Environm ent Operating Temperatu re Maintenan ce Temperatu re 0 50 20 65 Operating Humidity Maintenan ce Humidity 90 RH or lower No condensation Others Indoor areas free from corrosive or combustible gases liquids or conductive dust ...

Page 347: ...11 Product Specifications 11 27 11 2 2 External View L7NHFA010U PE Weight 1 5 kg including the cooling fan L7NHFA035U Weight 2 5 kg including the cooling fan ...

Page 348: ...11 Product Specifications 11 28 L7NHFA050U Weight 5 5 kg including the cooling fan L7NHFA075U Weight 9 7 kg including the cooling fan ...

Page 349: ...14 3000VE 3M or SM 14J Suntone 3 Cable specifications 7Px0 2SQ or 7Px24AWG Classification For signals Product Name Medium and Large Capacity MS Type INC Encoder Cable Model Name Note 1 APCS E BS Applicable Motor All models of APM HE SERIES INC Specifications Prod uct Type 1 7 8 14 Pin No Encoder Signal Pin No Encoder Signal Pin No Encoder Signal A A F Z P W B A K U R W C B L U H 5V D B M V G 0V E ...

Page 350: ...or 3Px24AWG Classificat ion For signals Product Name Small Capacity AMP Type Serial Encoder Cable Multi turn Model Name Note 1 APCS E CS1 Applicabl e Motor All models of APM SB SC Series M turn Specificati ons Prod uct Type 1 7 8 14 Pin No Encoder Signal Pin No Encoder Signal 1 MA 6 GND_B 2 MA 7 5V 3 SLO 8 0V 4 SLO 9 SHIELD 5 VDD_B Pin No Encoder Signal 1 2 3 MA 4 MA 5 SLO 6 SLO 7 0V Pin No Encode...

Page 351: ...Suntone 3 Cable specifications 4Px0 2SQ or 4Px24AWG 4 Battery connection 4 Battery connection a Connector specifications 5267 02A Molex b Battery specifications ER6V TOSHIBA AA 3 6V 2000 mAh 2 1 Pin No Encoder Signal Line Color 1 BATTERY VDD_B Red 2 BATTERY 0V GND_B Black Battery Connector Classificat ion For signals Product Name Medium and Large Capacity MS Type Serial Encoder Cable Single Turn M...

Page 352: ... 13 14 5V Plate SHIELD Product Type H J S G M K T L N B C D E F P R A 1 Motor connection MS Military Standard a Plug specifications MS3108B 20 29S 2 Drive connection CN2 a CASE Model 10314 52A0 008 3M or SM 14J Suntone b CONNECTOR Model 10114 3000VE 3M or SM 14J Suntone 3 Cable specifications 4Px0 2SQ or 4Px24AWG 4 Battery connection a Connector specifications 5267 02A Molex b Battery specificatio...

Page 353: ...ring terminal 3 Cable model 4Cx0 75SQ or 4Cx18AWG Classification For brake release Product Name Small Capacity AMP Type Brake Cable Model Name Note 1 APCS P KB Applicable Motor All models of APM SA SB SC Series Specifications Product Type Phase Pin No BK 1 BK 2 2 1 Motor Side Connector Brake Power Connector 1 Motor connection a Cap specifications 2 Positions 172157 1 AMP b Socket specifications 17...

Page 354: ...um Capacity MS Type Power Brake Cable for 130 Flange Model Name Note 1 APCS P NB Applicable Motor All models of APM FE Series Specifications F E D G B C A Product Type Signal Pin No U A V B W C FG D BK E BK F Motor Side Connector Dirve Side Connector Brake Power Connector 1 Motor connection a PLUG specifications MS3108B 20 15S MS 2 Drive connection a U V and W pin specifications 2512 b FG pin spec...

Page 355: ...e Product Name Medium Capacity MS Type Power Brake Cable for 180 Flange Model Name Note 1 APCS P PB Applicable Motor FF30A FF22D FF35D FF20G FF30G FF12M FF20M FF30M Specifications F E D G B C A Product Type Signal Pin No U A V B W C FG D BK E BK F Motor Side Connector Dirve Side Connector Brake Power Connector 1 Motor connection a PLUG specifications MS3108B 24 10S MS 2 Drive connection a U V and ...

Page 356: ...pacity MS Type Power Brake Cable for 180 Flange Model Name Note 1 APCS P LB Applicable Motor FF50A FF55D FF44G FF44M Specifications F E D G B C A Item Phase Pin No LEAD WIRE U A V B W C FG FG D FG E FG F Motor Side Connector Dirve Side Connector Brake Power Connector Product Type 1 Motor connection MS Military Standard a Plug specifications MS3108B 24 10S 2 Drive connection U V W FG a U V and W pi...

Page 357: ...Cx6 0SQ or 4Cx10AWG Classification For main power Product Name Medium Capacity MS Type Brake Cable for 220 Flange Model Name Note 1 APCS P SB Applicable Motor All models of FG Series Used in common for FGP Series Specifications C B A Product Type Details Signal Pin No LEAD WIRE A B Motor Side Connector Brake Power Connector 1 Motor connection a PLUG specifications MS3108B 14 7S MS 2 For braking po...

Page 358: ...Cx18AWG 4 Other FAL products require encoder cable installation after power cable installation Signal Address For brake Product Name Low capacity L Series brake cable Model Name Note 1 APCS B QS Front Direction APCS B QS R Rear Direction Applicable Motor All models of APM FAL FBL FCL Series Specifications 1 2 1 2 Item Signal Pin No LEAD WIRE 1 2 Product Type Front Direction Rear Direction Motor Si...

Page 359: ...C connection USB A plug 2 Drive connection CN5 Mini USB 5P Plug 3 Electrical requirements Double shield twisted pair attachable EMI filter Product for reference SANWA s KU AMB518 Classification CN Product Name STO Connector Model Name Note 1 APCS CN6K Applicable Drive L7NH NHF Series Specifications 1 MINI I O By Pass Connector 1971153 TE Drive connection CN1 Host controller connection USB ...

Page 360: ...ecifications 1 Plug Connector Kit a 2069577 1 TE 2 Cable a 4P x 26AWG 3 Product Marking a APCS STO03A 0 3m b APCS STO10A 1m c APCS STO30A 3m Classification CN Product Name CN6 Cable Model Name Note 1 APCS CN4NNA Applicable Drive L7NH NHF Series Specifications 1 Connector 44915 0021 MOLEX 2 Plug Housing W RJ 45 Wlztek Pin Map Drive connection ...

Page 361: ...raking Resistance Item Product Name Model Name Applicable Drive Specifications Resist ance Braking Resistance APC 300R30 L7NHFA010U Resist ance Braking Resistance APC 600R30 L7NHFA035U 3P Resist ance Braking Resistance APC 600R28 L7NHFA050U 4P L7NHFA075U 4P ...

Page 362: ...s 11 42 Option Noise Filter Item Product Name Model Name Applicable Drive Specifications Resist ance Noise Filter APCS TB6 B010LBEI L7NHFA010U APCS TB6 B030NBDC L7NHFA035U APCS TB6 B040AS L7NHFA050U APCS TB6 B060LAS L7NHFA075U ...

Page 363: ...11 Product Specifications 11 43 ...

Page 364: ......

Page 365: ...s the waves take the form of pulses Use a rectifier voltmeter for accurate measurements because different meters may produce largely different results 2 When measuring the motor current Connect and use a moving iron type ampere meter because the motor s reactance smooths the pulse waveform to produce partial sine waves 3 When measuring the electric power Use an electrodynamo meter and measure base...

Page 366: ... resistance A normal resistance level is 10 or higher Note 1 Contact our service center if resistance is lower than 10 Oil seal replacement At least once every 5 000 hours Remove the oil seal from the motor and replace it Only applies to motors with an oil seal General inspection At least once every 20 000 hours or 5 years Contact our service center Do not disassemble the servo motor by yourself f...

Page 367: ...sion valve Check for notable valve enlargement and check the operation status d Also regularly check whether the exterior is cracked discolored or leaking and whether there are any broken parts The condenser is obsolete when its rated capacity degrades to 85 or lower 2 Relays Check for bad connection and wear and tear of the contacts caused by switching currents A relay is obsolete when its accumu...

Page 368: ...able The connection is bad Check the connection of the motor lead terminal Fix any bad connections The input voltage is low Check the input voltage of the drive Change the power source Overloads occur Check the condition of the machine Remove any foreign substances from the rotating unit and grease or lubricate it The motor overheats The ambient temperature is too high Check the temperature around...

Page 369: ...ter power cycling replace the drive since there may be abnormalities in the drive Noise related abnormalities Improve the noise related environment including wiring and installation Check the wiring of the PE Adjust the PE wiring size so that it matches the size of the drive main circuit wiring IPM temperature IPM Overheat Ambient temperature Check if the ambient temperature exceeds 50 Lower the t...

Page 370: ... displayed drive temperature 1 value 0x260B is highly different than the ambient temperature in the normal state Replace the drive Regeneration overload Capacity exceeded due to highly frequent operation or continual regenerative operation Check the accumulated regeneration overload rate 0x2606 setting Adjust the regeneration brake resistor configuration 0x2009 after connecting the external regene...

Page 371: ...is alarm can be canceled after parameter modification when the power is on off Drive abnormality If alarms occur continually after power cycling replace the drive since there may be abnormalities in the drive Z Phase open Encoder Z phase Loss Parameter setting abnormality Check the setting of the warning mask 0x2014 If the motor does not use the Z phase e g step motor set the 14th bit in the warni...

Page 372: ... input voltage abnormality Check whether the main power voltage is about 134 Vac or higher Re inspect the main power source Check whether the DC link voltage 0x2605 is above 190 Vdc while the main power is being supplied Replace the drive Lowered power voltage during operation Check the wiring status of the main power Use a 3 phase voltage supply Over voltage Overvoltage Main power input voltage a...

Page 373: ...cur continually after power cycling replace the motor since there may be abnormalities in the motor Drive abnormality If alarms occur continually after power cycling replace the drive since there may be abnormalities in the drive POS following Excessive Position Error Parameter setting abnormality Check the gear ratio 0x6091 setting Set the electric gear ratio to a low value Check the settings for...

Page 374: ... parameters before operation Drive abnormality If alarms occur continually after power cycling replace the drive since there may be abnormalities in the drive Factory setting Factory settings abnormality Parameter setting abnormality Contact our service center Check the drive capacity with the device name setting 0x1008 Reset the drive capacity and download the OS again If alarms occur continually...

Page 375: ...an set the check status of each warning with warning mask configuration 0x2014 When two or more warnings occur they are displayed as the sum of warning codes E g It is displayed as follows W10 operation overload W40 low voltage W50 Bits Warning Codes Warning Names 0 W01 Main power phase loss 1 W02 Low voltage of encoder battery 2 W04 Software position limit Bits Warning Codes Warning Names 3 4 W10...

Page 376: ...curately Low battery voltage Check if the battery voltage is 3 3V or higher Replace the battery SW_POS_LMT Software Position Limit Parameter setting abnormality Check the software position limit function select 0x2400 and setting 0x607D of the software position limit Change the settings of the software position limit function select 0x2400 or change the minimum and maximum setting values of the so...

Page 377: ...nal selection 0x2210 0x2213 Set the parameter appropriately for the operation conditions UD_VTG Low Voltage Main power input voltage abnormality Check whether the main power voltage is 134 Vac or higher Re inspect the main power source Check whether the DC link voltage 0x2605 is between 190 405 Vdc while the main power is being supplied Replace the drive Lowered power voltage during operation Chec...

Page 378: ...top Turn Stop 100 or lower Infinite Infinite 110 55776 0 37935 0 210 66 8 50 1 120 13944 0 9483 0 220 50 1 38 5 130 6197 0 4215 0 230 38 5 30 3 140 3486 0 2371 0 240 30 3 9 7 150 1183 0 926 0 250 24 2 8 3 160 566 0 470 0 260 4 2 3 8 170 318 0 273 0 270 3 8 3 4 180 198 0 173 0 280 3 4 3 1 190 131 0 117 0 290 3 0 2 7 200 92 0 66 0 300 2 7 2 5 Time Sec Overload Turn Stop ...

Page 379: ... or lower Infinite Infinite 110 105800 0 37935 0 210 119 0 50 1 120 26450 0 9483 0 220 89 2 38 5 130 11755 5 4215 0 230 49 3 30 3 140 6612 5 2371 0 240 38 8 9 7 150 2244 0 926 0 250 31 0 8 3 160 1073 6 470 0 260 7 0 3 8 170 603 2 273 0 270 6 4 3 4 180 413 6 173 0 280 5 7 2 2 190 273 6 117 0 290 5 0 1 9 200 201 0 66 0 300 4 6 1 7 Time Sec Overload Turn Stop ...

Page 380: ...on sec Turn Stop Turn Stop 100 or lower Infinite Infinite 110 4832 4832 210 66 8 44 120 1208 1208 220 50 1 36 130 536 536 230 38 5 30 3 140 302 302 240 30 3 9 7 150 257 154 250 24 2 8 3 160 229 100 260 4 2 3 8 170 200 85 270 3 8 3 4 180 165 70 280 3 4 3 1 190 131 61 290 3 0 2 7 200 103 52 300 2 7 2 5 Time Sec Overload Turn Stop ...

Page 381: ...out looseness For motors with oil seal is there any damage on the oil seal Is oil properly applied To perform a test drive of a servo motor that has been stored for an extended period make sure to check the motor according to the maintenance and inspection method for the motor For more information on maintenance and inspection refer to Section 11 Maintenance and Inspection Servo Drive State Is the...

Page 382: ... Output Signals 3 If you use the safety function connect the STO safety device connector Note If you do not use the safety function insert safety jumper connector an accessory of the servo drive into the STO If you do not install the connector motor current will be not supplied and the torque will not output from the motor In this case the panel monitor state at the power ON will be Sto Note When ...

Page 383: ...s in Single Flash Note If the Error LED is flickering or on and the monitor panel state is AL xx refer to Manual Maintenance and Inspection Note If the Link Activity LED is not flickering the communication is not established Refer to Section 11 Maintenance and Inspection 6 Now we have finished checking the connection and state of input signal circuits to prepare for the test drive Refer to Section...

Page 384: ...m When performing the test drive using a remote system select the device 4 Restart the TwinCAT System with Config Mode Using the Set Reset TwinCAT to Config Mode icon under the TwinCat System Manager you can restart the system with Config Mode 5 Search for EtherCAT communication based devices connected to the system Right click I O Devices in the Work Space pane of the TwinCAT system and then clic...

Page 385: ... 7 Switch the TwinCAT System Manager to a free run state to allow it to control devices independently of the TwinCAT PLC and so on If the dialog window below appears click Yes 8 Make sure NC Task is added to the NC Configuration tree in the workspace on the left and the servo drive is registered to the I O Configuration tree If the connected servo drive is registered select it Click the Online tab...

Page 386: ...onfiguration in Windows Registry 10 Verify if the EtherCAT communication state has switched from SafeOP to OP Verify if the states of the servo drive panel monitor and the I O device servo drive of the TwinCAT system are in the online state as shown in the figure below Check the panel monitor status Check the communication LED The Link Activity LED is flickering The RUN LED is on Check the online ...

Page 387: ...ant axis Select Axis1 Click the Settings tab Click the display units for position and speed Note Remember the actual units will not be converted even if the units shown in the figure above was converted to mm or degrees Note Change the units and tune the Axis Scaling Factor below 2 Set the Axis Scaling Factor The Axis Scaling Factor determines the distance of the axial load movement while the moto...

Page 388: ...st and Manual Velocity Slow Then download the settings 4 Set the velocity acceleration and jerk of the test drive axis Set the acceleration deceleration and jerk directly for the test drive axis the TwinCAT NC can calculate the acceleration based on the configured profile timing Select Axis 1 Click the Dynamics tab Set the acceleration deceleration and jerk directly Select the Direct button Set th...

Page 389: ...hange the acceleration time the acceleration value will be automatically changed Select the Indirect by Acceleration Time button Set the acceleration deceleration and jerk Download the settings 5 Set the Position Lag Monitoring Following Error Select Axis 1 Select the Parameter tab Set the Position Lag Monitoring Set the Position Lag Filter Time Download the settings ...

Page 390: ...nerates an alarm if the following error exceeds the settings Test Drive the Servo Drive Using TwinCAT NC Axis Order Handling Notes 1 Make sure that TwinCAT NC axis is Servo On Select Axis 1 Click the Online tab Click the Set button Select Controller Feed Fw and Feed Bw in the Set Enabling pop up Set the Override to 100 Click OK Make sure that the state of the servo drive panel monitor is as the fi...

Page 391: ...osition Set the Target Velocity Click the F5 button Move it to the Target Position from the current position decelerating to a stop After moving it to the Target Position verify if the Set Position is the same as the Target Position Click the F6 button to stop driving with relative coordinates When the alarm goes off click the F8 button to reset the alarm Note If the position limit is enabled set ...

Page 392: ...andling Notes 1 Launch the XG PM 2 Create a new project On the menu bar click Project New Project 3 Name the new project Select the PLC series and the CPU type Select the module type XGF PN8B and click OK 4 The PC and the PLC are connected for communication On the menu bar click Online Connection ...

Page 393: ... the servo drive For the first connection enable the network parameters and servo parameters in the workspace on the left through Connect Network Servo Automatically After the servo drive and the PLC are connected the servo parameters and the motor test drive function will be enabled Connecting multiple shafts enables as many servo parameters as the number of connected shafts ...

Page 394: ...ted to the XGT and initializes the parameters of the connected device Note For subsequent connections connect or disconnect the XGT and the servo drive by connecting the entire servo or disconnecting them respectively since the device has been registered and its parameters initialized through automatic servo connection Note In case there is any change in the XGT connected device initialize the par...

Page 395: ... 524288 Check the motor specifications and then configure the appropriate settings Set the units for the speed command It can be set as rpm or mm s Set the speed limit Check the motor specifications and then configure the appropriate settings 8 Set the Driving Parameters of Test Drive Axis Manual Operation Jog Parameters 9 Set the servo parameters of the test drive axis ...

Page 396: ...rameter values as decimals or hexadecimals 11 Save the configured parameters On the menu bar click Online Write With the Write Project dialog window enabled click to select the Operation Data of Test Drive Axis the Operation Parameters and the Servo Parameters checkboxes and then click OK to save the configured parameters 12 Turn on the servo On the menu bar click the Servo ON icon to turn on the ...

Page 397: ...n the workspace to check the state of the servo drive as shown in the figure below Make sure that the state of the servo drive panel monitor is as the figure below Check the state of the status LEDs The Link Activity LED is flickering The RUN LED is on 14 Test drive using jog operation and inching operation ...

Page 398: ...Run button to perform the test drive 15 Point to Point Test Drive Select Workspace Command Tool Point Command tab Set the operation data On the Point Command tab in the workspace specify the number of point operations and the order On the menu bar click Online Write to store the operation data On the Point Command tab click the Run button to perform the test drive 16 Test driving the drive using t...

Page 399: ..._FW bin to the USB memory Caution 1 The L7NH_FW bin file should be placed in the root directory of the USB memory and the full file name including the extension should match 2 The formatting type of the USB memory has to be set to FAT32 default 3 After connecting the USB memory to the USB OTG cable connect it to the USB terminal and power on the drive 4 If 7 Segment for servo status display shows ...

Page 400: ...ive Write Request Password File Name Do the Name and password match Error request Error code 0x8009 Receive error request No Yes No Master e g TwinCAT Servo Drive Yes Ack request packet Number 0x0 Receive Ack request Data request Packet Number File Data Receive Ack request Data request Final Data Packet Number File Data Receive Data request Write the data to flash ROM Ack request packet Number nex...

Page 401: ...t displays boot wait for approx 10 seconds until the internal flash memory of the drive is cleared L A 0 L A 1 RUN ERR 0 1 2 3 4 5 6 9 8 7 x10 2 3 4 5 6 9 8 7 x1 0 1 L A 0 L A 1 RUN ERR 0 1 2 3 4 5 6 9 8 7 x10 2 3 4 5 6 9 8 7 x1 0 1 7 Segment display appears at the start of firmware download using FoE ...

Page 402: ... flash memory is cleared and then try it again 4 Click Download in the File Access over EtherCAT menu at the bottom of the Online tab 5 Select the path of the file to be downloaded L7NH_FW efw or L7NH_FW bin and the file If the file name does not match download will not start and the following error will occur 6 Enter the password for file download and click OK to start the download Password 00000...

Page 403: ... do not change the communication state to Init and turn on the power again according to the upper level controller the state will be automatically changed to BOOT and the flash memory may be cleared In this case you have to download the firmware again according to this procedure 8 After the download is completed turn on the power again and verify if the firmware is updated ...

Page 404: ...ons for Firmware Upgrade Do not turn off the PC or drive during transmission Do not unplug the USB cable or close the firmware program during transmission Do not run other applications on the PC during transmission Since the parameter object setting values in the drive may be reset save the drive parameter object setting values before upgrade OS Download 1 Click the Open Firmware Downloader button...

Page 405: ... the internal memory in the drive For L7NH and L7P the segment 7 should display USB For PEGASUS a red ERR LED should be illuminated 6 After clearing the OS is transmitted automatically and the progress bar and Current Packet display the current transmission status The transmission time depends on the PC performance but it usually takes from tens of seconds to several minutes ...

Page 406: ...PC is completed turn the drive off and on to restart When an Error Occurs During Transmission Turn off and on the drive and repeat the above process from 2 to 7 Check the drive type and capacity of the firmware you wish to transmit Check the firmware version You cannot download a version that is lower than the current version ...

Page 407: ...ns unexpected at the level of the contemporary science and technology when delivered 6 Not attributable to the company for instance natural disasters or fire 3 Since the above warranty is limited to servo product unit only make sure to use the product considering the safety for system configuration or applications Environmental Policy LS ELECTRIC Co Ltd supports and observes the environmental poli...

Page 408: ...14 Appendix User Manual Revision History Number Date issued Revised content Version Notes 1 2017 10 13 Newly created 1 0 2 2020 05 15 Change company name to LS ELECRIC 1 1 3 4 5 6 7 ...

Page 409: ... Mail jschuna lselectric biz LS ELECTRIC Dalian Co Ltd Dalian China Tel 86 411 8730 6495 E Mail jiheo lselectric com cn LS ELECTRIC Wuxi Co Ltd Wuxi China Tel 86 510 6851 6666 E Mail sblee lselectric co kr LS ELECTRIC Shanghai Office China Tel 86 21 5237 9977 E Mail tsjun lselectric com cn LS ELECTRIC Vietnam Co Ltd Tel 84 93 631 4099 E Mail jhchoi4 lselectric biz Hanoi Tel 84 28 3823 7890 E Mail ...

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