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LSIS XDL-L7NH Series User Manual Download Page 158

7. Tuning 

 

 

7-4 

 

Position Controller Tuning 

(1)  Proportional gain setting   

-

  Monitor torque, positional error, and noise before any vibration occurs.   

(2) Feedforward setting 

-

  Positional error monitoring 

-

  Able to set the feedforward filter. 

-

  Set the filter if you want to increase the feedforward value but noise occurs.   

-

  You can set the feedforward value from 0% to 100%, which is the ratio of the position command 

value being entered currently and the deviation.   

(3)  Able to set the position command filter 

-

  You can smooth a position command. 

 

Summary of Contents for XDL-L7NH Series

Page 1: ... future reference Safety Precautions The Best Choice for the Most Benefit At LS Mecapion we are committed to providing premium benefits to all of our customers AC Servo User Manual L7NH Series 400 400V AC SERVO DRIVE XGT Servo XDL L7NH Series User Manual LSIS always tries its best to bring the greatest benefit to its customers ...

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Page 3: ...r Cautions depending on the severity of the precaution Precautions Definition Danger Failure to comply with these guidelines may cause serious injury or death Caution Failure to comply with these guidelines may cause personal injury or property damage Precautions listed as Cautions may also result in serious injury Electric Safety Precautions Danger Before wiring or inspection tasks turn off the p...

Page 4: ...m dust iron corrosive gas and combustible gas Ensure the installation location is free from vibrations or the potential for hard impacts Caution Install the product with the correct orientation Do not drop the product or expose it to 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...

Page 5: ...ely Startup Precautions Caution Check the input voltage AC 380 480 V and power unit wiring before supplying power to the device The servo must be in the OFF mode when you turn on the power Before you turn on the power check the motor s ID and the encoder pulse for XDL L7NHB Set the motor ID 0x2000 encoder type 0x2001 and the encoder pulse 0x2002 for XDL L7NHB first after you turn on the power Afte...

Page 6: ...alfunctions If an alarm occurs solve the underlying cause of the problem After solving the problem and ensuring safe operation deactivate the alarm and resume operation Do not approach the machine until the problem is solved Repair Inspection Precautions Caution Before performing servicing tasks turn off the power Wait 15 minutes until the charge lamp goes off and then check the voltage Enough vol...

Page 7: ...r the purpose of recording parameter settings and other information The servo drive may malfunction if the total number of the following tasks exceeds 4 million depending on the lifespan of the EEPROM EEPROM recording as a result of parameter changes EEPROM recording as a result of an alarm ...

Page 8: ...omponents 2 11 2 4 3 Regenerative Resistor Options 2 17 2 5 Wiring for Input Output Signals 2 18 2 5 1 Names and Functions of Digital Input Output Signals 2 18 2 5 2 Names and Functions of Analog Input Output Signals 2 20 2 5 3 Examples of Connecting Input Output Signals 2 22 2 5 4 Examples of Connecting Input Output Signals 2 24 2 6 Wiring of Encoder Signal ENCODER 2 25 2 6 1 Quadrature Encoder S...

Page 9: ...ation Functions 5 1 5 1 Drive Front Panel 5 1 5 1 1 7 Segment for indicating servo status 5 1 5 2 Input Output Signals Setting 5 4 5 2 1 Assignment of Digital Input Signals 5 4 5 2 2 Assignment of Digital Output Signals 5 6 5 2 3 Use of User I O 5 8 5 3 Electric Gear Setup 5 15 5 3 1 Electric Gear 5 15 5 3 2 Example of Electric Gear Setup 5 16 5 4 Settings Related to Speed Control 5 17 5 4 1 Smoot...

Page 10: ... 6 7 Tuning 7 1 7 1 Auto Gain Tuning 7 1 7 2 Manual Gain Tuning 7 2 7 2 1 Gain Tuning Sequence 7 3 7 3 Vibration Control 7 5 7 3 1 Notch Filter 7 5 7 3 2 Adaptive Filter 7 6 7 4 Analog Monitor 7 7 8 Procedure Function 8 1 8 1 Manual JOG Operation 8 1 8 2 Programmed Jog Operation 8 2 8 3 Deleting Alarm History 8 3 8 4 Auto Gain Tuning 8 5 8 5 Index Pulse Search 8 5 8 6 Absolute encoder reset 8 6 8 ...

Page 11: ...What to Inspect 11 43 11 1 3 Replacing Parts 11 44 11 2 Diagnosing and Troubleshooting Abnormalities 11 45 11 2 1 Servo Motor 11 45 11 2 2 Servo Drive 11 46 12 Test Drive 11 54 12 1 Preparation for Operation 12 3 12 2 Test Drive Using TwinCAT System Manager 12 4 12 3 Test Drive Using LSIS PLC XGT PN8B 12 12 13 Appendix 13 19 13 1 Firmware Update 13 19 13 1 1 Use of USB OTG 13 19 13 1 2 Use of FoE ...

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Page 13: ... correct Does the regenerative resistor conform to the required standard Is the shape of the shaft correct Are there any abnormalities after mounting the oil seal or brake Are the gearbox and the gear ratios correct Is the encoder format correct 3 Check the exterior of the device Are there any foreign substances or humidity in the device Is there any discoloration contaminant damage or disconnecte...

Page 14: ... U AA Input voltage A 200Vac B 400Vac Option Black Standard Marked Dedicated use Encoder U Universal Series Name L7 Series Capacity 001 100W 002 200W 004 400W 008 750W 010 1kW 020 2kW 035 3 5kW 050 5 0kW 075 7 5kW 110 11 0kW 150 15kW Communication Drive Type NH Network type All in One Type L7 Series ...

Page 15: ...0 W 04 400 W 06 550 600 W 07 650 W 08 750 800 W 10 1 kW 15 1 5 kW 20 2 kW 35 3 5 kW 50 5 kW 75 7 5 kW 150 15 kW 220 22 kW 300 30 kW 370 37 kW Rated RPM A 3000 rpm D 2000 rpm G 1500 rpm M 1000 rpm Encoder Type Quadrature Pulse type A Inc 1024 ppr B Inc 2000 ppr C Inc 2048 ppr D Inc 2500 ppr E Inc 3000 ppr F Inc 5000 ppr G Inc 6000 ppr Serial BiSS Communication type N 19bit SingleTurn M 19bit MultiT...

Page 16: ...Ground terminal It is a ground terminal to prevent electric shock Connector for analog monitors It is a connector for checking the analog output signal Node address setting switch This switch is to set the node address of the drive You can set the node addresses from 0 to 99 USB connector USB This connector is to communicate with a PC EtherCAT communication input port ECAT IN EtherCAT communicatio...

Page 17: ...l power terminals C1 and C2 These terminals connect to the control power input Servo motor connection terminals U V W These terminals connect to the main circuit cable power cable of the servo motor Ground terminal It is a ground terminal to prevent electric shock Connector for analog monitors It is a connector for checking the analog output signal Node address setting switch This switch is to set...

Page 18: ...B terminals Control power terminals C1 and C2 These terminals connect to the control power input Servo motor connection terminals U V W These terminals connect to the main circuit cable power cable of the servo motor Ground terminal It is a ground terminal to prevent electric shock Connector for analog monitors It is a connector for checking the analog output signal Node address setting switch Thi...

Page 19: ... B terminals Control power terminals C1 and C2 These terminals connect to the control power input Ground terminal It is a ground terminal to prevent electric shock Connector for analog monitors It is a connector for checking the analog output signal Node address setting switch This switch is to set the node address of the drive You can set the node addresses from 0 to 99 USB connector USB This con...

Page 20: ...round terminal It is a ground terminal to prevent electric shock Connector for analog monitors It is a connector for checking the analog output signal Node address setting switch This switch is to set the node address of the drive You can set the node addresses from 0 to 99 USB connector USB This connector is to communicate with a PC EtherCAT communication input port ECAT IN EtherCAT communication...

Page 21: ...1 Product Configuration 1 9 1 3 2 Servo Motor Parts 80 Flange or below 130 Flange or higher ...

Page 22: ...날로그 모니터 케이블 Oscilloscope Power Three phase AC380V Upper device Molded case circuit breaker It is used to protect power line It turns the circuit OFF if overcurrent flows Noise filter It protects power line from external noise Analog monitor cable Node address setting switch EtherCAT communication cable Servo Drive Electromagnetic contactor It turns servo power ON OFF Connect a regenerative resisto...

Page 23: ...eventing Impact Impact to the motor during installation or handling may damage the encoder 2 1 3 Motor Connection If the motor is directly connected to commercial power it may be burned Be sure to connect with the specified drive before using it Connect the ground terminals of the motor to either of the two ground terminals inside the drive and attach the remaining terminal to the type 3 ground Co...

Page 24: ...f 40 148 15 39 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 apply pressure to or damage the cables Use robot cables to prevent swaying when the motor moves Load shaft Motor shaft 0 03 or below peak to peak 0 03 or below peak to peak...

Page 25: ...y develop inside the drive during prolonged periods of inactivity and damage it 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 machine and may cause malfunctions Ambient conditions Do not expose the device to direct sunlight Do not expose the device to corro...

Page 26: ...e the B and BI short circuit pins and connect the B and B pins Note 3 XDL L7NHB010U XDL L7NHB035U Model is cooled by a DC 24 V cooling fan Note 1 Note 2 Note 3 010 Thermistor 035 Resistor Input 3 phase power Current sensor Regenerative Resistor Thermistor Thermistor Control Power Phase Loss Detection Circuit Main Power Phase Loss Detection Circuit Internal Temperature Detection Circuit driving cir...

Page 27: ...sistor fixing hole NC of the case connect the external regenerative resistor to B and B terminals Note 6 XDL L7NHB050U XDL L7NHB075U models are cooled by a DC 24 V cooling fan P C Insulation I F Safety Function Input 2 Points Safety Function Output 1 Point Digital input 8 points Digital Output 4 points Analog Input 1 Point Analog output 2 points Analog output connection Input output connection I O...

Page 28: ...Loss Detection Circuit Main Power Phase Loss Detection Circuit Internal Temperature Detection Circuit driving circuit DC Voltage Detection Circuit Regenerative Brake Drive Circuit IGBT Temperature Detection Circuit PWM Signal SC Detection Circuit U and V Current Detection Circuit DB Drive Circuit Input Single phase Main Control POWER circuit connection U V Current DC Voltage EtherCAT Communication...

Page 29: ...generative capacity expansion refer to Section 2 4 3 Regenerative Resistor Options XDL L7NHB020U 40 Ω Built in 150 W XDL L7NHB035U XDL L7NHB050U 27 Ω Built in 120 W XDL L7NHB075U 27 Ω Built in 240 W XDL L7NHB150U 13 4 Ω External 2000 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 ...

Page 30: ...rt circuit B and BI terminals before use because XDL L7NHB010U 100 W 100 Ω and XDL L7NHB020U XDL L7NHB035U 150 W 40 Ω have internal regenerative resistance If the regenerative capacity is high because of frequent acceleration and deceleration open the short circuit pins B BI and connect an external regenerative resistor to B and B Note 3 Remove approximately 7 10 of the sheathing from the cables f...

Page 31: ...ly Wiring Diagram XDL L7NHB050U XDL L7NHB075U Power Supply Wiring Diagram XDL L7NHB150U Note 1 Servo Drive DC reactor Encoder Note 6 External regenerative resistor Note 1 Servo Drive DC reactor Encoder Note 7 External regenerative resistor ...

Page 32: ...on attach the short circuit pins B B to NC terminal and connect an external regenerative resistor to B and B before use Note 7 By default use external regenerative resistance for XDL L7NHB150U 2000 W 13 4 Ω and connect the resistance to B and B terminals before use Note 8 For the cables for the main circuit and control power unit you must use crimp terminals XDL L7NHB050U XDL L7NHB075U GP110028_KE...

Page 33: ...0 38A 550V GM 50 Wire Note 1 L1 L2 L3 PO PI N B B U V W AWG14 2 08 AWG10 5 5 AWG10 5 5 AWG8 8 0 C1 C2 AWG14 2 08 Crimp terminal UA F4010 SEOIL 10mm Strip Twist GP110028 KET GP110028 KET GP110732 KET Regenerative Resistor Default 100 W 100Ω 150 W 40Ω 120 W 27Ω 240 W 27Ω Connector Default BLZ 7 62HP 3 180LR SN OR BX SO BLZ 7 62HP 11 180LR SN OR BX SO Note 1 When you select a wire please use 600V PVC...

Page 34: ...2 Wiring and Connection 2 12 XDL L7NHB010U XDL L7NHB020U XDL L7NHB035U Wire strip 7 10 mm Weidmuller SD 0 6x3 5x100 M4 1 2 N m M4 1 2 N m Weldmuller SD 0 6x3 5x100 Wire strip 7 10 mm ...

Page 35: ...que of locking screw may cause vibration induced disconnection system malfunction and contact induced fire accident 3 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 4 Use FG locking screw of M4 size shown in bottom of product to tighten it to 1 2 N m 5 Insufficient torque of locking screw may cause FG cont...

Page 36: ...fire accident 2 Use FG locking screw of M4 size shown in bottom of product to tighten it to 1 2 N m TB1 L1 L2 L3 B B U V W FG FG TB2 N PO P1 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 TB3 TB2 TB1 NC Internal Regenerative Resistor Screw for Fixing Lead Terminal Terminal signal ...

Page 37: ...on system malfunction and contact induced fire accident 2 Use FG locking screw of M4 size shown in bottom of product to tighten it to 1 2 N m Terminal signal Terminal screw Tightening torque Terminal screw Tightening torque Terminal screw Tightening torque TB2 TB3 TB1 NC Internal Regenerative Resistor Screw for Fixing Lead Terminal ...

Page 38: ...stem malfunction and contact induced fire accident 2 Use FG locking screw of M4 size shown in bottom of product to tighten it to 1 2 N m TB1 L1 L2 L3 N PO PI B B U V W TB2 C1 C2 FG Terminal screw M5 Tightening torque 3 24 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M5 Tightening torque 3 24 N m TB2 TB1 Terminal signal ...

Page 39: ...Resistance Braking resistance IRV300 82Ω 82 Ω 300W XDL L7NHB010U Resistance Braking resistance IRV600 140Ω 70Ω 600W 2P Making under review XDL L7NHB020U XDL L7NHB035U 2P Resistance Braking resistance IRV600 75Ω 25 Ω 600W 3P XDL L7NHB050U XDL L7NHB075U 3P Resistance Braking resistance IRM2000 13 4Ω 13 4 Ω 2000W XDL L7NHB150U ...

Page 40: ...Number name assignment Details Function 6 24V DC 24V DC 24V INPUT COMMON 11 DI1 POT Forward CCW prohibited The actuator stops the servo motor to prevent it from moving beyond the motion range in forward direction 12 DI2 NOT Reverse CW prohibited The actuator stops the servo motor to prevent it from moving beyond the motion range in reverse direction 7 DI3 HOME Origin sensor Connects the origin sen...

Page 41: ...0x2515 using filter 1 signal LVSF2 Vibration Suppression Filter 2 Depending on the Vibration Suppression Filter function setting 0x2515 using filter 2 signal SVON Servo On Servo On Note 1 Signals not assigned by default as factory setting The assignment may be changed by parameter setting For more information refer to 5 2 Input Output Signals Setting Note 2 Wiring can be also done by using COMMON ...

Page 42: ...ames and Functions of Analog Input Output Signals Names and Functions of Analog Input Signals I O Connector Pin Number Name Details Function 15 A TLMT Analog torque limit It applies 10 10V between A TMLT AI1 and AGND to limit motor output torque Relationship between input voltage and limit torque depends on the value of 0x221C 5 AGND AGND 0V Analog ground Names and Functions of Analog Output Signa...

Page 43: ...2 Wiring and Connection 2 21 ...

Page 44: ...tting 4 The rated voltage is DC 12 V to DC 24 V R1 3 3KΩ R2 680Ω Example of Connecting Digital Output Signals Caution 1 The output contact can be set to the contact A or the contact B based on the characteristics of individual signal 2 Each output contact can be assigned to 11 output functions 3 For more information on signal assignment and contact change of the output contact refer to 5 2 Input O...

Page 45: ... information on settings and scale adjustment of monitoring signals refer to 5 2 3 Assignment of Analog output signals 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 Servo Drive Internal Circuit Internal Circuit Servo Drive ...

Page 46: ...of Connecting Input Output Signals Note 1 The input signals DI1 DI8 and output signals DO1 DO4 are the factory default signals Digital Input Digital Output Analog Input Analog torque limit Safe function input Safety function output Analog Output ...

Page 47: ...iring and Connection 2 25 2 6 Wiring of Encoder Signal ENCODER ENCODER Connector Specification 10114 3000VE 3M 2 6 1 Quadrature Encoder Signaling Unit Wiring APCS E AS Cable Encoder Servo Drive Servo Motor ...

Page 48: ...2 Wiring and Connection 2 26 APCS E BS Cable 2 6 2 Serial Encoder Signaling Unit Wiring APCS E CS Cable Servo Motor Servo Drive Encoder Servo Motor Servo Drive Encoder ...

Page 49: ...2 Wiring and Connection 2 27 APCS E DS Cable APCS E ES Cable Servo Motor Encoder Servo Drive Servo Motor Encoder Servo Drive ...

Page 50: ...2 Wiring and Connection 2 28 2 6 3 Multi Turn Encoder Signaling Unit Wiring APCS E CS1 Cable APCS E DS1 Cable Servo Motor Encoder Servo Drive Servo Motor Encoder Servo Drive ...

Page 51: ...2 Wiring and Connection 2 29 APCS E ES1 Cable 2 6 4 Tamagawa Encoder Signaling Unit Wiring Servo Motor Encoder Servo Drive Servo Motor Encoder Servo Drive ...

Page 52: ...2 Wiring and Connection 2 30 2 6 5 EnDat 2 2 Encoder Signaling Unit Wiring Servo Motor Encoder Servo Drive ...

Page 53: ... Pin Number name Function 1 12V For bypass wiring 2 12V 3 STO1 DC 24 V GND 4 STO1 Blocks the current torque applied to the motor when the signal is off 5 STO2 DC 24 V 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 54: ... 2 Example of Connecting 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 24 V power Safety Module Driving signal Blocking Blocking ...

Page 55: ...he STO function is 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 12V 12V except for this purpose Mini I O By pass Connector 1971153 1 Tyco Electronics Mini I O Plug Connector 2069577 1 Tyco Electronics ...

Page 56: ...rCAT Communication Signals EtherCAT IN and EtherCAT OUT Connector Pin Number Signal Name 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 No 1 2 3 and 6 ...

Page 57: ...tion The following figure shows the connection between a master and slave using EtherCAT communication This is an example of a connection by topology of basic line type For an environment with much noise install ferrite core at both ends of the EtherCAT cable ...

Page 58: ......

Page 59: ...the cable can be extended up to 100 m and up to 65 535 nodes can be connected In addition to this when using a separate Ethernet switch you can interconnect it to common 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 application data and PDO Process Data Object mapping information from the process da...

Page 60: ...n 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 can not 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 ...

Page 61: ...nd 1 red ERR LED 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...

Page 62: ...icates the error status of the EtherCAT communication The following table outlines what each LED state indicates LED status Description OFF Indicates normal state of the EtherCAT communication 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 the present state or to perform an impossible ...

Page 63: ...es of PDOs RxPDO receives data transferred from the upper level controller and TxPDO sends the data from 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 ...

Page 64: ...ord UINT 0x6064 0x00 Actual Position Value DINT 0x606C 0x00 Velocity Actual Value DINT The setting values of the TxPDO 0x1A00 are as follows SubIndex Setting values 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 Object RxPDO 0x1C12 TxP...

Page 65: ...ital input Operation Mode Display Command Speed Drive speed Touch probe status Touch probe 1 positive position value Touch probe 1 positive position value Touch probe 1 positive position value Touch probe 1 positive position value Target Touch Probe Function Touch Probe Function Touch Probe Function Digital output Digital output Digital output Position actual value Position actual value Position a...

Page 66: ...pplications with the Sync0 event generated by the reference clock The following synchronization modes exist in this drive You can change the mode with the sync control register 1 Free run Mode In free run mode it operates each cycle independent of the communication cycle and master cycle 2 DC Synchronous Mode DC Synchronous mode the Sync0 event from the EtherCAT master synchronizes the drive Pleas...

Page 67: ...munication 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 0xFF00 Error Register 0x1001 Reserved Unique field for each manufacturer Servo alarm code Reserved ...

Page 68: ......

Page 69: ...r is turned on and the drive function is disabled Operation enabled The drive function is enabled and the servo is on Quick Stop active Quick stop function is in operation Fault reaction active A servo alarm occurred causing a relevant sequence to be processed Fault Servo alarm is activated Additional state State to be changed by the slave State which can be checked by the master The control power...

Page 70: ...le operation x 1 1 1 1 4 16 Fault reset 0 1 x x x x 15 Statusword Bit Names 0x6041 You can check the state of the State Machine through 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 Switche...

Page 71: ...PP Homing Mode HM Profile Velocity Mode PV Profile Torque Mode PT Cyclic Synchronous Position Mode CSP Cyclic Synchronous Velocity Mode CSV Cyclic Synchronous Torque Mode CST Drive functions supported for each mode are listed in the table below Function Operation Modes CSP PP CSV 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 ...

Page 72: ...eed feedforward and or position command filter may be applied or not depending on the operation condition Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x6060 Modes of Operation SNIT RW Yes 0x6061 Modes of Operation Display SNIT RO Yes 0x6502 Supported Drive Modes UDINT RO No ...

Page 73: ...rget position 0x607A renewed at every PDO update cycle from the upper level controller to control the position In this mode the controller is able to calculate the velocity offset 0x60B1 and the torque offset 0x60B2 corresponding the speed and torque feedforwards respectively and pass them to the drive The block diagram of the CSP mode is as follows ...

Page 74: ...UU s 2 0x6085 Quick Stop Deceleration UDINT RW No UU s 2 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 0x...

Page 75: ...4 CiA402 Drive Profile 4 7 Internal Block Diagram of CSP Mode ...

Page 76: ...y to operate up to the target position 0x607A using the profile velocity 0x6081 acceleration 0x6083 and deceleration 0x6084 The block diagram of the PP mode is as follows Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x6040 Controlword UINT RW Yes 0x6041 Statusword UINT RO Yes 0x607A Target Position DINT RW Yes UU 0x607D Software Position Limit 0 Number of en...

Page 77: ...s 2 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 0x6077 Torque Actual Value INT RO Yes 0 1 0x606C Velocity Actual Value DINT RO Yes UU s 0x606...

Page 78: ...4 CiA402 Drive Profile 4 10 Internal Block Diagram of PP Mode ...

Page 79: ... it subsequently drives to the new target position after driving to the existing target position The three methods mentioned above can be set by a combination of the New setpoint bit Controlword 0x6040 4 the Change set immediately bit Controlword 0x6040 5 and the Change setpoint bit Controlword 0x6040 9 Single Set Point Driving Procedure 1 Specify the target position 0x607A 2 Set the New setpoint ...

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 1 Specify the target position 0x607A 2 Set the New setpoint bit to 1 and the Change of Set point bit to 1 to request the position operation 3 After reaching the previous target position the drive begins to move to the new posit...

Page 81: ...onding the torque feedforward and pass it to the drive The block diagram of the CSV mode is as follows Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x6040 Controlword UINT RW Yes 0x6041 Statusword UINT RO Yes 0x60FF Target Velocity DINT RW Yes UU s 0x6084 Profile Deceleration UDINT RW No UU s 2 0x6085 Quick Stop Deceleration UDINT RW No UU s 2 0x60B1 Velocit...

Page 82: ...dow 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 Value DINT RO Yes UU 0x6063 Position Actual Internal Value DINT RO Yes pulse ...

Page 83: ...3 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 Adaptive Filter function Select Torque Comma...

Page 84: ...per level controller in the Profile Velocity PV mode the drive generates a velocity profile internally up to the target velocity 0x60FF using the profile acceleration 0x6083 and deceleration 0x6084 in order to control its velocity At this moment the max profile velocity 0x607F limits the maximum velocity The block diagram of the PV mode is as follows ...

Page 85: ...INT RW No UU s 2 0x6085 Quick Stop Deceleration UDINT RW No UU s 2 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 0x...

Page 86: ...4 CiA402 Drive Profile 4 18 Internal Block Diagram of PV Mode ...

Page 87: ... 0x60B2 corresponding the torque feedforward and pass it to the drive The block diagram of the CST mode is as follows Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x6040 Controlword UINT RW Yes 0x6041 Statusword UINT RO Yes 0x6071 Target Velocity INT RW Yes 0 1 0x6072 Maximum Torque UINT RW Yes 0 1 0x607F Maximum Profile Velocity UDINT RW Yes UU s 0x60E0 Pos...

Page 88: ...s 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 Value DINT RO Yes UU 0x6063 Position Actual Internal Value DINT RO Yes pulse Internal Block Diagram of CST Mode ...

Page 89: ...Maximum Torque 0x6072 based on its driving direction The block diagram of the PT mode is as follows Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x6040 Controlword UINT RW Yes 0x6041 Statusword UINT RO Yes 0x6071 Target Velocity INT RW Yes 0 1 0x6072 Maximum Torque UINT RW Yes 0 1 0x607F Maximum Profile Velocity UDINT RW Yes UU s 0x6087 Torque Slope UDINT RW...

Page 90: ...indow 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 Value DINT RO Yes UU 0x6063 Position Actual Internal Value DINT RO Yes pulse Internal Block Diagram of PT Mode ...

Page 91: ...cify the speed acceleration offset and homing method 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 The zero position indicates a point whose Actual Position Value 0x6064 is zero 0 Homing Method Homing Speeds Homing Acceleration Home Offset Position demand internal value 0x60FC or position demand value 0x6062...

Page 92: ...When the positive limit switch POT is input during homing the drive will switch its driving direction 28 The drive returns to the home position with the home switch HOME while driving in the reverse direction When the negative limit switch NOT is input during homing the drive will switch its driving direction 33 The drive returns to the home position with the Index Z pulse while driving in the rev...

Page 93: ...0 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 s 2 ...

Page 94: ...nitial driving direction is reverse CW and the drive operates at the Switch Search Speed B When the negative limit switch NOT is turned on the drive switches its direction to the forward direction CCW decelerating to the Zero Search Speed C While operating at the Zero Search Speed the drive detects the first index pulse to move to the index position Home Reverse CW Forward CCW ...

Page 95: ...At the start of homing when the Home switch is OFF and the limit is not met during operation A The initial driving direction is forward CCW and the drive operates at the Switch Search Speed B When the Positive Home Switch is turned on the drive will decelerate to the Zero Search Speed and then switches its direction to the reverse direction CW C While operating at the Zero Search Speed the drive d...

Page 96: ...ard CCW and the drive operates at the Switch Search Speed B When the positive limit switch POT is turned on the drive will decelerate down to stop and then operate at the Switch Search Speed in the reverse direction CW C When the Positive Home switch is turned off the drive will decelerate to Zero Search Speed and then continue to operate D While operating at the Zero Search Speed the drive detect...

Page 97: ...ing to the sequence is as follows The sequence depends on the relationship between the load position and the Home switch at homing which is categorized into three cases as below For more information see the details below Initial driving direction Forward CCW Initial driving direction Reverse CCW Reverse CW Forward CW ...

Page 98: ...h 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 A Since the Home signal is on the drive will operate at the Switch Search Speed in the direction of the Negative Home Switch CW It might not reach the Switch Search Speed depending on the start position of homing B When the Home switch is turned off the drive will ...

Page 99: ...tive Home Switch is turned on the drive will decelerate to the Zero Search Speed and then switches its direction to the reverse direction CW D While operating at the Zero Search Speed the drive detects the first index pulse to move to the index position Home The methods from 11 to 13 are nearly identical to the method 14 in terms of the homing sequence The only differences are the initial driving ...

Page 100: ...int where the Positive Home Switch is turned on becomes the Home position Method 33 and 34 The initial driving direction is reverse CW for the method 33 and forward CCW for the method 34 The drive detects the index pulse at the Zero Search Speed Reverse CW Forward CCW Reverse CW Forward CCW ...

Page 101: ... the upper level controller Homing methods 1 2 3 and 4 are supported by this drive besides the standard ones They can be used if the Home switch is not used separately Method 1 and 2 Homing method 1 and 2 perform homing by using the Stopper and Index Z Pulse The velocity profile according to sequence is as follows For more information see the details below Reverse CW Forward CCW Reverse CW Forward...

Page 102: ...Search Speed the drive detects the first index pulse to move to the index position Home A The initial driving direction is forward CCW and the drive operates at the Switch Search Speed B When the drive hits the positive stopper it will stand by according to the torque limit value 0x2409 and the time setting value 0x240A at the time of homing using stopper before direction switch C While operating ...

Page 103: ... stand by according to the torque limit value 0x2409 and the time setting value 0x240A at the time of homing using stopper before homing is complete A The initial driving direction is forward CCW and the drive operates at the Switch Search Speed B When the drive hits the positive stopper it will stand by according to the torque limit value 0x2409 and the time setting value 0x240A at the time of ho...

Page 104: ... switch is detected Homing is stopped Please see the explanations below for further details 1 Cases where the home witch is off when homing begins and the limit is not met in the process A The initial direction is reverse CW The motor operates at the switch search speed B When the positive home switch is on the motor decelerates and stops Then home is Completed ...

Page 105: ...099 01 Homing Error generated A The initial direction is reverse CW The motor operates at the switch search speed B When the negative limit switch is on Homing Error is generated And then the motor decelerated and stops A The initial direction is forward CCW The motor operates at the switch search speed B When the positive home switch is on the motor decelerates and stops Then home is Completed ...

Page 106: ...ovement of robot can be prevented by use of the value of wafer loading position captured rapidly The position value of the encoder Actual Position Value 0x6064 is latched by the following trigger events according to the setting value At the same time 2 channel inputs can be latched independently at the positive negative edges Triggered by the touch probe 1 I O PROBE1 Triggered by the touch probe 2...

Page 107: ... RO Yes UU 0x60BB Touch Probe 1 Negative Edge Position Value DINT RO Yes UU 0x60BC 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 the bits 1 2 9 and 10 of the touch probe status 0x60B9 in the single trigger mode set the corresponding bits 4 5 12 ...

Page 108: ...rigger Mode 0x60B8 1 1 0x60B8 9 1 In the continuous trigger mode the bits 6 7 14 and 15 of the touch probe status 0x60B9 are toggled 0 1 or 1 0 every time the corresponding input edge is input Index Pulse Trigger Mode 0x60B8 2 1 0x60B8 10 1 ...

Page 109: ...igit1 Digit5 from right to left DIGIT5 DIGIT4 DIGIT3 DIGIT2 DIGIT1 Three digits from Digits 3 to 1 of the 7 Segment represents the drive status as described below if no servo alarm occurs In case of servo warning they will indicate the warning status first rather than other ones Display of Digit 3 Digit 1 Status details STO connector not connected Positive limit sensor input Servo OFF Negative lim...

Page 110: ...e operation state operation ready A status where a servo operation is available indicating the operation mode and status Position control modes CSP PP and IP Speed control modes CSV and PV Torque control modes CST and PT Homing mode ON ServoOFF ON ServoON In case of servo alarm the Digits 5 1 blink and are displayed as below The Digit 2 and the Digit 1 represent the alarm code The servo alarm is d...

Page 111: ...Servo warning triggered An example of alarm status output Positive limit input INPOS1 servo ready Position control mode servo ON W01 main power phase loss W40 low voltage warning occurred INSPD speed command input in progress servo ready Speed control mode servo ON ...

Page 112: ... Signal 3 Selection UINT RW 0x2203 Digital Input Signal 4 Selection UINT RW 0x2204 Digital Input Signal 5 Selection UINT RW 0x2205 Digital Input Signal 6 Selection UINT RW 0x2206 Digital Input Signal 7 Selection UINT RW 0x2207 Digital Input Signal 8 Selection UINT RW Set the digital input signal function and input signal level of the I O connector Select signals to assign with bits 7 0 and set the...

Page 113: ...act A Bit Setting details 15 Signal input level settings 0 contact A 1 contact B 14 8 Reserved 7 0 Assign input signal Setting values 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 Details Forward CCW rotation prohibited Reverse CW rotation prohibited Origin sensor Servo stop P contr...

Page 114: ...igital Output Signal 1 Selection UINT RW 0x2211 Digital Output Signal 2 Selection UINT RW 0x2212 Digital Output Signal 3 Selection UINT RW 0x2213 Digital Output Signal 4 Selection UINT RW Assigns the digital output signal 1 function and set the output signal level of the I O connector Select signals to assign with bits 7 0 and set the signal level to the bit 15 Digital Output Assignable Digital in...

Page 115: ...gs 0 contact A 1 contact B 14 8 Reserved 7 0 Assign output signal Setting values Assignable output signal 0x00 Not assigned 0x01 BRAKE 0x02 ALARM 0x03 RDY 0x04 ZSPD 0x05 INPOS1 0x06 TLMT 0x07 VLMT 0x08 INSPD 0x09 WARN 0x0A TGON 0x0B INPOS2 Contact A Contact Pin Number Setting parameter Bit Setting values Details Contact B Contact B Contact A Assigned function Details Brake Alarm Servo ready Zero s...

Page 116: ...x Name Variable type Accessibility PDO assignment Unit 0x2220 Analog Monitor Output Mode UINT RW No 0x2221 Analog Monitor Channel 1 Select UINT RW No 0x2222 Analog Monitor Channel 2 Select UINT RW No 0x2223 Analog Monitor Channel 1 Offset DINT RW 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 ...

Page 117: ...he parmeters to monitor through Analog monitor output channel 1 Th voltage is calculated as follow when analog monitor is output Channel 1 output voltage V Monitoring signal value 0x2221 Offset 0x2203 Scale 0x2205 Channel 1 output voltage V Monitoring signal value 0x2222 Offset 0x2204 Scale 0x2206 Setting example The following shows an example of monitoring ripple during 1000 rpm operation of spee...

Page 118: ...5 Drive Application Functions 5 10 ...

Page 119: ...he drive with the I O connector rather than a separate I O module reducing the cost This drive is available with up to 8 points for input signals and 4 points for output signals as the user I O How to Set User Input 1 Set the function of digital input port to be used as the user input to Not assigned setting value of 0 Refer to Assignment of Input Signals 2 Read the values of the corresponding bit...

Page 120: ...tch 1 POT positive limit switch 2 HOME origin 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 DI 7 I O pin 9 0 Open 1 Close 23 DI 8 I O pin 10 0 Open 1 Close 24 30 Reserved 31 STO Safe Torque Off 0 Close 1 Open ...

Page 121: ... Assignment of Output Signals 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 value 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 Digital Output Servo Drive Upper Level Controller Not assigned Not assigned ...

Page 122: ... 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 Forced output 0 OFF 1 ON of DO 4 I O pins 19 and 20 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...

Page 123: ...thin the range of 1000 1 1000 Typically electric gears are used in the following situations 1 When Driving Loads Based on User Unit You can command the driving based on the user unit regardless of the encoder motor type For the ball screw type of encoder with a pitch of 10 mm the comparison is given below for 12 mm of movement A 5000 ppr encoder B 19 bit 524288 ppr encoder If the electric gear is ...

Page 124: ...mately 1 4 Mpps For this reason when driving a high resolution encoder at high speed be sure to use an electric gear for proper driving due to the limitations of the output frequency of the upper level controller and the input frequency of the drive However because there is no such limitations for a communication type drive EtherCAT like this drive you do not have to use an electric gear 5 3 2 Exa...

Page 125: ...r acceleration and deceleration during speed control you can generate an acceleration deceleration profile with trapezoidal and S curved shapes for driving At this moment S curve operation is enabled by setting the speed command S curve time to a value of 1 ms or more The speed command acceleration deceleration time 0x2301 and 0x2302 is the time needed to accelerate the drive from zero speed to th...

Page 126: ...u can lock the servo position by enabling the servo lock function 0x2311 Setting values Setting details 0 Servo lock function disabled 1 Servo lock function enabled Using the servo lock function the position is internally controlled relative to the position at the time of inputting 0 as a speed command If you input a speed command other than 0 the speed control will be switched to the normal mode ...

Page 127: ... 5 5 Settings Related to Position Control 5 5 1 Position Command Filter This section describes how to operate the drive more smoothly by applying a filter to a position command For the purpose of filtering you can set position command filter time constant 0x2109 using the primary low pass filter and position command average filter time constant 0x210A using the moving average You can use a positio...

Page 128: ...Command after filte 0x210A 0x210A 0x210A 0x210A Position command filter using position command average filter time constant 0x210A 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 Target velocity 63 Target velocity 37 Target veloc...

Page 129: ...t the position command is not renewed At this moment if the position error value is not more than the INPOS2 output range 0x2403 the INPOS2 position completed 2 signal will be output regardless of whether the position command has been renewed or not Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x2401 INPOS1 Output Range UINT RW Yes UU 0x2402 INPOS1 Output Ti...

Page 130: ...hat 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 setting 0x230D as described below With the output value of VLMT speed limit you can verify if the speed is limited Setting values Setting details 0 Limited by speed limit value 0x230E 1 Limited by...

Page 131: ...limit signals are input the motor will stop according to the emergency stop setting 0x2013 Setting values Description 0 The motor will stop according to the method set in the dynamic brake control mode 0x2012 It will stop using the dynamic brake and then maintain the torque command at 0 1 Decelerates to stop using the emergency stop torque 0x2113 Related Objects Index Sub Index Name Variable type ...

Page 132: ... OFF 브레이크 신호 서보OFF 또는 알람발생 브레이크 출력 지연시간 0x2408 브레이크 출력 속도 0x2407 Timing diagram for signal output by the brake output delay time 0x2408 Set the time to delay until the actual PWM output goes off when the servo is turned off or a servo alarm occurs When using a motor with a brake installed on the vertical axis you can output the brake signal first and then turn off the PWM after this set time in or...

Page 133: ... Turns off First Before Brake Signal Outputs The PWM output is turned off first before the brake signal output allowing the drop along the vertical axis due to the gravity Gravity direction PWM output Servo ON OFF Brake signal Servo OFF or alarm occurred PWM OFF delay time 0x2411 Time when the PWM output is turned off Load PWM output Servo ON OFF Brake signal Servo OFF or alarm occurred PWM OFF de...

Page 134: ... limit value according to the driving direction the maximum value is limited by the maximum torque 0x6072 Forward 0x60E0 Reverse 0x60E1 Internal torque limit 2 set value 1 Limits the torque only by the maximum torque 0x6072 regardless of the driving direction External torque limit set value 2 Limits the torque using external positive negative torque limit value according to the driving direction F...

Page 135: ...NCL signal is not input 0x2112 if NCL signal is input Analog torque limit set value 4 Torque input Torque Ref I O connecter Torque is limited as inputting voltage in Pin5 15 Restricted by torque limited value which in put as analog Restriced normal direction reverse direction torque regardless of of analog voltage Refer offset 0x221C and then scale 0x221C of analog torque limitation Torque input F...

Page 136: ...11 External Positive Torque Limit Value UINT RW Yes 0 1 0x2112 External Negative Torque Limit Value UINT RW Yes 0 1 0x6072 Maximum Torque UINT RW Yes 0 1 0x60E0 Positive Torque Limit Value UNIT RW Yes 0 1 0x60E1 Negative Torque Limit Value UINT RW Yes 0 1 Maximum torque Forward torque limit Negative torque limit External forward torque limit External negative torque limit ...

Page 137: ...e command filter time constant The gain switching function 0x2119 can be set as follows Description of Gain Switching Function 0x2119 Setting values Setting details 0 Only the gain group 1 is used 1 Only the 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 outp...

Page 138: ...in 2 0x2105 Speed loop gain 2 0x2106 Speed loop integral time constant 2 x2107 Torque command filter time constant 2 0x2108 Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x2119 Gain Conversion Mode UINT RW Yes 0x211A Gain Conversion Time 1 UINT RW Yes ms 0x211B Gain Conversion Time 2 UINT RW Yes ms 0x211C Gain Conversion Waiting Time 1 UINT RW Yes ms 0x211D G...

Page 139: ...o suppress undershoot during positioning resulting in a reduced positioning time You can accomplish similar effect by setting the acceleration deceleration of the upper level controller the soft start of the servo drive the position command filter or etc You can configure these settings in the P PI control switching mode 0x2114 Please see the details below Switching to P control by PCON input take...

Page 140: ...e Command When always using the PI Control rather than P PI control switching for speed control the integral term of acceleration deceleration error is accumulated resulting in an overshoot and an extended positioning time At this moment you can reduce the overshoot and the positioning time using an appropriate P PI switching mode The figure below shows an example of switching mode by torque comma...

Page 141: ...can set various stop modes as shown below in dynamic brake control mode settings 0x2012 회전속도 서보ON OFF 다이나믹 브레이크 Setting value 0 Hold the dynamic brake after stopping the motor using the brake 회전속도 서보ON OFF 다이나믹 브레이크 Setting value 1 Release the dynamic brake after stopping the motor using the brake 회전속도 서보ON OFF 다이나믹 브레이크 회전속도 서보ON OFF 다이나믹 브레이크 Drive Servo Motor Servo ON OFF Rotation speed Dynamic...

Page 142: ...uration UINT RW No 5 12 Regenerative resistance setting Regeneration refers to a phenomenon where the kinetic energy of the motor is converted to electric energy and input into the drive because of driving a load with large inertia or sudden deceleration At this moment regenerative resistor is used to suppress the rise of the drive s internal voltage VDC due to the regeneration and prevent the dri...

Page 143: ...erative resistors depending on the drive capacity are as follows Drive Capacity Internal resistance value Internal resistor capacity 1kW 100 Ω 100 W 2kW 3 5kW 40 Ω 150 W 5kW 27 Ω 120 W 7 5KW 27 Ω 240 W Note By default 15KW uses external resistance 13 4 Ω 2000 W When using the regenerative resistor installed in the drive make sure to observe the order below for configuration 1 Wire the regenerative...

Page 144: ...al regenerative resistance value and capacity Check the internal regenerative resistance value 0x200B Check the regenerative resistor capacity 0x200C 1 KW or less Basically the resistor is installed on the rear of the drive heat sink see the figure below 7 5 KW or less It is basically installed inside the drive 15 KW or more Internal regenerative resistance is not installed Internal regenerative r...

Page 145: ...nnect the standard external regenerative resistance to B and B terminals for 15KW 2 Set regenerative resistance 0x2009 Configure to use the regenerative resistor installed separately outside the drive 0x2009 1 Set if a regenerative resistance is connected of a capacity which is larger than that of the internal regenerative resistance 3 Set regenerative resistance value 0x200B Configure the regener...

Page 146: ...tive resistor 0x2009 to 1 LSIS provides the following regenerative resistors as options for the purpose of external regenerative resistor see the specifications as well Drive Capacity Resistance Resistor capacity Model name 1KW 82 Ω 300 W IRV300 82Ω 2KW 3 5KW 70 Ω 600 W 2P IRV600 140Ω 5KW 25 Ω 600 W 3P IRV600 75Ω 7 5KW 25 Ω 600 W 3P IRV600 75Ω 15KW 13 4 Ω 2000 W IRM2000 13 4Ω 5 12 3 Other Consider...

Page 147: ... when the power is 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 rotary switch operation for 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 of t...

Page 148: ......

Page 149: ...que 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 Name Function STO1 ON ON OFF OFF STO2 ON OFF ON OFF Operation state Normal state STO state STO state STO state Electric characteristics ...

Page 150: ...er the earlier time out of points of time until the value becomes less than the set value of the brake output delay time 0x2408 or that of the brake output speed 0x2407 will be applied PWM Off Delay Time 0x2011 setting 3 ms DB Hold time Servo ON OFF Servo OFF Servo ON Normal state STO state Motor supplied with power EDM output Dynamic brake relay Brake output Brake disengaged DB disengaged DB enga...

Page 151: ...is not an alarm state Note 2 The dynamic brake operates according to the dynamic brake control mode setting 0x2012 for the STO state the alarming state and the servo OFF state After the servo is turned on it operates according to normal servo ON OFF timing Servo ON OFF Servo OFF Servo ON Normal state STO state Motor supplied with power EDM output Dynamic brake relay Brake output Brake maintained D...

Page 152: ...ilure detection through EDM signal You can detect failure of the safety input circuit and the EDM output circuit 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 Name...

Page 153: ...r during maintenance make sure to check the details below When STO1 and STO2 signals are turned OFF check if the drive is in STO status Bit 31 of digital input 0x60FD is 1 Make sure that the EDM signal is off during general operation by checking the input indicator for feedback circuit of the connected device Blocking Safety unit Driving signal Blocking EDM output ...

Page 154: ...rrange a separate measure such as 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 external force exists and free run stop is configured in the dynamic brake control mode setting 0x2012 note that the braking distance of load will be extended The purpose of the STO function is not to block the servo ...

Page 155: ...and filter time constant notch filter 3 frequency and notch filter 4 frequency The entire gain is set higher or lower depending on the system rigidity setting 0x250E during gain tuning Set the appropriate value depending on the rigidity of the load As shown in the figure below sinusoidal type command is generated in the forward or reverse direction according to the offline gain tuning direction 0x...

Page 156: ...nder the command form host device it sets parameters related gain automatically base on general rule and the rigidity set by user inertia position loop gain speed loop gain speed integral time torque command filter time constant During online tuning it refers 20 steps of value of gain table by rigidity The result of tuning is reflected regulary and changed gain is stored in EEPROM every two minute...

Page 157: ...st and then tune the gain of the position controller located at an outer position In other words tune the gains in the order of proportional gain integral gain feedforward gain The role of each individual gain is as follows Proportional gain Determines the controller BW Integral gain Determines error of steady state and generates an overshoot Feedforward gain Enhances the system lag characteristic...

Page 158: ...ng Positional error monitoring Able to set the feedforward filter Set the filter if you want to increase the feedforward value but noise occurs You can set the feedforward value from 0 to 100 which is the ratio of the position command value being entered currently and the deviation 3 Able to set the position command filter You can smooth a position command ...

Page 159: ...y and the width automatically through real time frequency analysis FFT 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 0x2506 Notch Filter 2 Depth UINT RW...

Page 160: ...re automatically set and the setting value for the depth is used as it is Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x2500 Adaptive Filter Function Setting UINT RW No Adaptive Filter Function Setting 0x2500 Setting values Setting details 0 Adaptive filter is not used 1 Only one adaptive filter is used You can check the settings configured automatically in...

Page 161: ... and volume of decreasing vibration XDL L7NH controls frequency from 1 Hz to 100 Hz coming from load or total system This function is only available on position control mode Rerated object Index Sub Index Name Variable type Acceessibility PDO assignment Unit 0x2515 Vibration Suppression Filter Configuration UINT RW No 0x2516 Vibration Suppression Filter 1 Frequency UINT RW No 0 1 Hz 0x2517 Vibrati...

Page 162: ...rol damping filter 1 2 according to LVSF1 LVSF2 digital input 7 5 Analog Monitor Two channels of analog monitor outputs are provided to adjust drive gain or monitor internal status variables Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x2220 Analog Monitor Output Mode UINT RW No Analog Output Digital Input Digital Output ...

Page 163: ...monitor is from 10 V to 10 V If the setting is 1 take the absolute value of the output to make the output value only be positive Analog Monitor Channel 1 Setting 0x2221 Configure the monitoring variables to be output to the analog monitor output channel 1 Setting values Displayed item Unit 0 Speed feedback rpm 1 Speed command rpm 2 Speed error rpm 3 Torque feedback 4 Torque command 5 Positional Er...

Page 164: ... output voltage V Monitoring signal value 0x2221 Offset 0x2203 Scale 0x2205 Channel 2 output voltage V Monitoring signal value 0x2222 Offset 0x2204 Scale 0x2206 Setting Example The following shows an example of monitoring ripple during 1000 rpm operation of speed feedback signal 신호 5배 확대 모니터링 출력 오프셋 1000 rpm 출력 스케일 500rpm V 출력 오프셋 0 rpm 출력 스케일 500rpm V 출력 오프셋 1000 rpm 출력 스케일 100rpm V Monitor signa...

Page 165: ...mum operation overload 0x2604 value Calibrate Phase Current Offset 0x0008 Phase current offset tuning Software Reset 0x0009 Software reset Commutation 0x000A Commutation 8 1 Manual JOG Operation Jog operation is a function to verify the servo motor operation by the speed control without an upper level controller Before starting the jog operation make sure that the main power is turned on the STO S...

Page 166: ...pper level controller Before starting the jog operation make sure that the main power is turned on the STO Safe Torque Off connector is connected no alarms go off the servo is turned off the speed and time settings are set with the consideration of the state and operation range of the apparatus Reverse Motor speed Speed Motor speed Motor speed Time Zero speed Zero speed Zero speed Forward Forward ...

Page 167: ...eed 4 INT RW No rpm 0x2308 Programmed Jog Operation Time 1 Program Jog Operation Time 1 UINT RW No ms 0x2309 Programmed Jog Operation Time 2 Program Jog Operation Time 2 UINT RW No ms 0x230A Programmed Jog Operation Time 3 Program Jog Operation Time 3 UINT RW No ms 0x230B Programmed Jog Operation Time 4 Program Jog Operation Time 4 UINT RW No ms 8 3 Deleting Alarm History This function deletes all...

Page 168: ...NG RO No 5 Alarm code 5 Alarm code 5 STRING RO No 6 Alarm code 6 Alarm code 6 STRING RO No 7 Alarm code 7 Alarm code 7 STRING RO No 8 Alarm code 8 Alarm code 8 STRING RO No 9 Alarm code 9 Alarm code 9 STRING RO No 10 Alarm code 10 Alarm code 10 STRING RO No 11 Alarm code 11 Alarm code 11 STRING RO No 12 Alarm code 12 Alarm code 12 STRING RO No 13 Alarm code 13 Alarm code 13 STRING RO No 14 Alarm c...

Page 169: ... using the homing operation The speed to search for the index pulse is set in 0x230C rpm Before starting the index pulse search make sure that the main power is turned on no alarms go off the servo is turned off the Safet Torque Off STO connector is installed and the operation speed is set with consideration to the operation range of the machine Related Objects Index Sub Index Name Variable type A...

Page 170: ...hange the home offset 0x607C during operation Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x2005 Absolute Encoder Configuration Absolute Encoder Configuration UINT RW No 0x260A Multi Turn Data MultiTurn Data DINT RO Yes rev 8 7 Instantaneous Maximum Torque Initialization This function initializes the instantaneous maximum overload rate 0x2604 to 0 The insta...

Page 171: ...he environmental condition you can tune the phase current offset for use The offset is tuned by factory default setting Measured U V W phase offsets are individually stored in 0x2015 0x2016 and 0x2017 If an offset is too large AL 15 will be generated Related Objects Index Sub Index Name Variable type Accessibility PDO assignment Unit 0x2015 Phase U Current Offset U Phase Current Offset INT RW No 0...

Page 172: ...ation Commutation function is to get the information on the initial angle of motor In case of using a motor with 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 PDO assignment Unit 0x2019 Linear Scale Resolution Linear Scale R...

Page 173: ... Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0x00020192 RO No No The following table lists device types and their functions 0x1001 Error Register Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage USINT 0x00 RO No No The following table shows the error register values for each device This value is stored in the em...

Page 174: ...DINT 0 to 0xFFFFFFFF 0 RW No No SubIndex 2 Store communication parameters Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0 RW No No SubIndex 3 Store CiA402 parameters Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0 RW No No SubIndex 4 Store drive ...

Page 175: ... No No SubIndex 4 Restore drive specific parameters Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage 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 value All parameters within the drive are initializ...

Page 176: ...bility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60400010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60710010 RW No PREOP Yes SubIndex 3 Mapping entry 3 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage...

Page 177: ...e Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 9 Mapping entry 9 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF RW No PREOP Yes SubIndex 10 Mapping entry 10 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT...

Page 178: ...W No PREOP Yes SubIndex 1 Mapping entry 1 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60400010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x607A0020 RW No PREOP Yes SubIndex 3 Mapping entry 3 Vari...

Page 179: ...No PREOP Yes SubIndex 1 Mapping entry 1 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60400010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60FF0020 RW No PREOP Yes SubIndex 3 Mapping entry 3 Variab...

Page 180: ... 0 to 10 4 RW No PREOP Yes SubIndex 1 Mapping entry 1 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60400010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60710010 RW No PREOP Yes SubIndex 3 Mapping ...

Page 181: ...nge attribute Storage USINT 0 to 10 10 RW No PREOP Yes SubIndex 1 Mapping entry 1 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60410010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60770010 RW No P...

Page 182: ...ng range Initial value Unit Accessibility PDO assignment Change attribute Storage USINT 0 to 10 6 RW No PREOP Yes SubIndex 1 Mapping entry 1 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60410010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibility PDO assignment Change...

Page 183: ...Initial value Unit Accessibility PDO assignment Change attribute Storage USINT 0 to 10 5 RW No PREOP Yes SubIndex 1 Mapping entry 1 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60410010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribut...

Page 184: ...ies Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage USINT 0 to 10 5 RW No PREOP Yes SubIndex 1 Mapping entry 1 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0xFFFFFFFF 0x60410010 RW No PREOP Yes SubIndex 2 Mapping entry 2 Variable type Setting range Initial value Unit Accessibilit...

Page 185: ...ent Change attribute Storage UDINT 0 to 0xFFFFFFFF RW No PREOP Yes Refer to the description of 0x1600 0x1C00 Sync Manager Communication Type SubIndex 0 Number of entries Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage USINT 4 RO No No SubIndex 1 Communication Type SM0 Variable type Setting range Initial value Unit Accessibility PDO assignment Ch...

Page 186: ...1603 0x1601 RW No PREOP No 0x1C13 Sync Manager 3 PDO Assignment SubIndex 0 Number of entries Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage USINT 1 RW No No SubIndex 1 Index of object assigned to PDO Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0x1A00 to 0x1A03 0x1A01 RW No PREOP No 0...

Page 187: ...RO No No SubIndex 10 Sync0 time Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 ns RO No No SubIndex 12 SM event missed counter Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 RO No No SubIndex 13 Shift too short counter Variable type Setting range Initial value Unit Accessibil...

Page 188: ... Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 ns RO No No SubIndex 9 Delay time Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 ns RO No No SubIndex 10 Sync0 time Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 ns RO No No SubIn...

Page 189: ...he figure below 0x2001 Encoder Type ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 99 2 RW No Power recycling Yes Set the encoder type You have to set it correctly by referencing the table below However the serial encoder provided by LSIS 4 in the table below is automatically recognized and configured regardless of these settings ...

Page 190: ...type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 65535 RO No No Display the node ID configured for the node setting switch of the drive The value of the node setting switch is read just once when the power is turned on Any set value modified subsequently will be in effect only when the power is turned on again Ex Example of setting the node ID t...

Page 191: ...alarm warning 0x2006 Main Power Fail Check Mode ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 255 0 RW No Always Yes Specifies the main power input mode and the processing method if phase loss occurs Bit Function Value Setting details 3 0 Sets the main power input 0 Single phase Power Input 1 3 phase Power Input 2 DC power input ...

Page 192: ...peration 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 the drive power element 12 Drive Temperature 2 C Internal temperature of drive 13 Encoder temperature 1 C Internal temperature of encoder 14 Node ID 0x2009 Regeneration Brake Resistor Configuration ALL Varia...

Page 193: ... no setting values will be applied 0x200C Regeneration Brake Resistor Power ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 30000 0 watt RW No Always Yes When using an external regenerative resistor 0x2009 1 set the regenerative resistance capacity in watt When using an internal regenerative resistor 0x2009 0 no setting values will...

Page 194: ...rning will be output With this setting you can identify the time when you need to take an appropriate action before an accumulated operation overload alarm occurs 0x2011 PWM Off Delay Time ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 1000 10 ms RW No Always Yes This specifies the delay time until the PWM actually turns off after...

Page 195: ...set in the dynamic brake control mode 0x2012 It will stop using the dynamic brake and then maintain the torque command at 0 1 Decelerates to stop using the emergency stop torque 0x2113 0x2014 Warning Mask Configuration ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to FFFFhex 0 RW Yes Always Yes When a warning occurs the warning mask...

Page 196: ...ange attribute Storage INT 1000 to 1000 0 0 1 RW No Always Yes Manually set the V phase current offset The configured offset value is subtracted from the measured current value and then applied as an actual current value Do not manually set the offset if you do not know the exact setting value You can check the automatically tuned value if you tune the current offset with the procedure function re...

Page 197: ...cale with the resolution of 1 um set it to 1000 1 um 1 nm 0x201A Commutation Method ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 2 0 RW No Power recycling Yes This specifies the commutation method to get the information on the initial angle of motor Setting values Description 0 Not necessary for separate commutation or carry out...

Page 198: ...ment towards Zero position according to home offset 0x607C Setting values Description 0 Motor will not move and home offset 0x607C value will be zero position after homing by homing method 0x6098 1 Motor will be rotate as much as home offset and zero offset will be 0 after homming by homing method 0x6098 0x201F Velocity Function Select ALL Variable type Setting range Initial value Unit Accessibili...

Page 199: ...ing in case of 3rd party motor and Setting the sequence of hall sensor UVW polarity of hall sensor signal and motor rotation direction Setting values Description 0 Setting direction of rotation of motor 0x2004 s setting values and Exclusive OR operation 1 7 Reserved 8 Hall U polarity reversal 9 Hall V polarity reversal 10 Hall W polarity reversal 11 Reserved 12 Hall U Hall V replace 13 Hall V Hall...

Page 200: ...ing range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 1 to 2000 75 Hz RW Yes Always Yes This specifies the whole responsiveness of the speed controller To make the whole responsiveness of the system higher you have to set the speed loop gain large as well along with the position loop gain Too large setting value may cause vibration depending on the load 0x2103 Spe...

Page 201: ...gnment Change attribute Storage UINT 1 to 1000 50 ms RW Yes Always Yes This specifies the integral time constant of the speed loop used as gain group 2 for gain switching For more information refer to the description of the Speed Loop Integral Time Constant 1 0x2103 0x2108 Torque Command Filter Time Constant 2 ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change a...

Page 202: ...y Feed forward Gain ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 100 0 RW Yes Always Yes This specifies the feedforward gain for the speed command during position control The larger the setting is the less the positional error is If you set a too large value depending on the load vibration or overshoot may occur For gain tuning ...

Page 203: ...rque 0x6072 Forward 0x60E0 Reverse 0x60E1 1 Limits the torque only by the maximum torque 0x6072 regardless of the driving direction 2 Limits the torque using external positive negative torque limit value according to the driving direction Forward 0x2111 Reverse 0x2112 3 Limits the torque using internal and external torque limit value according to the driving direction and the torque limit signal F...

Page 204: ... specifies the switch mode between PI control and P control Using this function you can improve the speed control characteristic to reduce the overshoot during speed operation and the positioning time during position operation Setting values Setting details 0 Always uses the PI control 1 Switches to the P control if the command torque is larger than the P control switching torque 0x2115 2 Switches...

Page 205: ... description of the P PI control switching mode 0X2114 0x2119 Gain Conversion Mode ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 7 0 RW Yes Always Yes You can enhance the performance of the entire system by switching between two gain groups According to the switching mode manual switch or automatic switch can be done depending on...

Page 206: ...ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 1000 2 ms RW Yes Always Yes This specifies the time to switch from gain group 2 to gain group 1 0x211C Gain Conversion Waiting Time 1 ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 1000 0 ms RW Yes Always Yes This spe...

Page 207: ... can input the signal required for drive control via the I O Using a remote I O you can indirectly input the control input signal inputted to the upper level controller to the drive through this setting An applicable function will be performed by logical OR operation of the signal input through I O and the bit value of this setting Bit Setting details 0 POT 1 NOT 2 HOME 3 STOP 4 PCON 5 GAIN2 6 P_C...

Page 208: ...t signal to the I O output signal in order to verify the applicable bit of this output value in addition to actual output Bit 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 Accessibility PDO assignment Change attribute Storage UINT 0 to FFFFhex 0 RO ...

Page 209: ...r recycling Yes This specifies the functions of digital input signal 2 of the I O and the input signal level For more information refer to the description of 0x2200 0x2202 Digital Input Signal 3 Selection ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 0xFFFF 0x0003 RW No Power recycling Yes This specifies the functions of digital ...

Page 210: ...Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 0xFFFF 0x0006 RW No Power recycling Yes This specifies the functions of digital input signal 6 of the I O and the input signal level For more information refer to the description of 0x2200 0x2206 Digital Input Signal 7 Selection ALL Variable type Setting range Initial value Unit Accessibility PDO assig...

Page 211: ...For more information refer to the description of 0x2210 0x2212 Digital Output Signal 3 Selection ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 0xFFFF 0x0003x RW No Power recycling Yes Assign the functions of digital output signal 3 of I O and set the output signal level For more information refer to the description of 0x2210 0x22...

Page 212: ... 0 mV RW No Always Yes This specifies the analogue voltage offset controlled by the analogue torque limit 0x2220 Analog Monitor Output Mode P Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 1 0 RW No Always Yes The output range of analog monitor is from 10 V to 10 V If the setting is 1 take the absolute value of the output to make the ...

Page 213: ...223 Analog Monitor Channel 1 Offset ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage DINT 0 to 0x40000000 0 RW No Always Yes Subtract the offset value from the monitoring variable of the analog monitor output channel 1 to determine the final output The unit will be that of the variable configured in the Analog Monitor Channel 1 Setting 0x2221...

Page 214: ...in the Analog Monitor Channel 1 Setting 0x2221 per 1 V For example if you set the speed feedback to the channel 1 and the scale to 500 up to 5000 rpm can be output as 10 V 0x2226 Analog Monitor Channel 2 Scale ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0 to 0x40000000 500 RW No Always Yes This specifies the scaling of the variable...

Page 215: ...sibility PDO assignment Change attribute Storage UINT 0 to 10000 200 ms RW No Always Yes This specifies the time in ms required for the motor to decelerate from the rated motor speed to the stop 0x2303 Speed Command S curve Time ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 1000 0 ms RW No Always Yes You can configure the speed c...

Page 216: ...ram Jog Operation Speed 4 ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage INT 6000 to 6000 500 rpm RW No Always Yes Refer to the description of Programmed Jog Operation Speed 1 0x2304 0x2308 Program Jog Operation Time 1 ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 10000 50...

Page 217: ...essibility PDO assignment Change attribute Storage INT 1000 to 1000 20 rpm RW No Always Yes This specifies the speed for index pulse search 0x230D Speed Limit Function Select ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 3 0 RW No Always Yes This specifies the speed limit function for torque control Setting values Setting details...

Page 218: ...O assignment Change attribute Storage UINT 0 to 10000 5000 rpm RW No Always Yes This specifies the level to detect excessive speed error alarms AL 53 If the difference between 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 Accessibility PDO assignment...

Page 219: ...2 Only negative software position limit value is used It is not limited for the forward direction 3 Both of the positive and the negative software position limits are used 0x2401 INPOS1 Output Range P Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 60000 100 UU RW Yes Always Yes With the position command not newly updated if the positi...

Page 220: ...rage UINT 0 to 6000 100 rpm RW Yes Always Yes When the speed error is less than the setting value the INSPD signal is output 0x2407 BRAKE Output Speed P Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 6000 100 rpm RW No Always Yes If the motor stops due to servo OFF or servo alarm during rotation you can set the speed 0x2407 and delay ...

Page 221: ...an appropriate value depending on the machine 0x240B Modulo Mode ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 3 0 RW No Power recycling Yes This specifies whether to use the Modulo function Setting values Setting details 0 Does not use the Modulo function 1 Uses the Modulo function to move forward 2 Uses the Modulo function to m...

Page 222: ...Storage ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage DINT 0 to 1 0 RW No Always No This specifies whether to save parameters individually This parameter is not saved and initialized to 0 during power ON Setting values Setting details 0 Parameters are not saved individually For details on storing a parameter refer to Storing Parameters 0x1...

Page 223: ...ly in the Notch Filter 3 0x2507 and 0x2508 and 4 Settings 0x250A and 0x250B 3 5 Reserved 0x2501 Notch Filter 1 Frequency ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 50 to 5000 5000 Hz RW No Servo off Yes This specifies the frequency of the notch filter 1 0x2502 Notch Filter 1 Width ALL Variable type Setting range Initial value Unit ...

Page 224: ... 1 RW No Servo off Yes 0x2507 Notch Filter 3 Frequency ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 50 to 5000 5000 Hz RW No Servo off Yes 0x2508 Notch Filter 3 Width ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 1 to 100 1 Hz RW No Servo off Yes 0x2509 Notch Filter 3 De...

Page 225: ...lity PDO assignment Change attribute Storage UINT 1 to 20 5 RW No Servo off 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 After the gain tuning the following gains will be automatically changed Inertia rati...

Page 226: ...r the movement distance becomes Set the distance properly according to the condition of the apparatus section Make sure to secure enough distance more than one revolution of motor prior to gain tuning 0x2512 Disturbance Observer Gain ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 100 50 RW No Servo off Yes It will be supported lat...

Page 227: ... 0 to 2000 0 0 1Hz RW No Servo off Yes 0x2517 Vibration Suppression Filter 1 Damping ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 5 0 RW No Servo off Yes 0x2518 Vibration Suppression Filter 2 Frequency ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 2000 0 0 1Hz ...

Page 228: ...sitional error of position control 0x2603 Accumulated Operation Overload ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage INT 0 1 RO No No This represents the accumulated operation overload rate When the value of the accumulated operation overload rate reaches the overload warning level setting 0x2010 the operation overload warning W10 will o...

Page 229: ...hes 100 a regenerative overload alarm AL 23 will be generated 0x2607 SingleTurn Data ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT pulse RO Yes No This represents the single turn data of the motor Values ranging from 0 to encoder resolution 1 are displayed 0x2608 Mechanical Angle ALL Variable type Setting range Initial value Unit Acc...

Page 230: ...hange attribute Storage INT o C RO No No This represents the temperature measured by the temperature sensor integrated onto the drive control board If the measured temperature is higher than 90 the drive overheat alarm 2 AL 25 will be generated 0x260D Encoder Temperature ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage INT o C RO No No This r...

Page 231: ... within the drive 0x2612 Hall Signal Display ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT RO No No This represents the signal of the hall sensor installed in the encoder or motor This can be used 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 si...

Page 232: ...ty PDO assignment Change attribute Storage UINT RO Yes No This represents a warning code which has occurred in the drive 0x2615 Analog Input Channel 1 Value ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage INT mV RO No No This indicates the voltage in mV which is inputted to the analogue input channel 1 ...

Page 233: ...Servo off 3 Operation start 4 Stop to zero speed server on maintained Servo Alarm History Initialization 0x0003 1 Off line Auto Tuning 0x0004 1 Start auto tuning Index Pulse Search 0x0005 1 Servo on 2 Servo off 3 Positive search 0x230C 4 Negative search 0x230C 5 Stop to zero speed Absolute encoder reset 0x0006 1 Absolute encoder reset Instantaneous Maximum Operation Overload Reset 0x0007 1 Resets ...

Page 234: ...ssibility PDO assignment Change attribute Storage STRING RO No No SubIndex 4 Alarm code 4 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage STRING RO No No SubIndex 5 Alarm code 5 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage STRING RO No No SubIndex 6 Alarm code 6 Variable type Setting range ...

Page 235: ...ype Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage STRING RO No No SubIndex 14 Alarm code 14 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage STRING RO No No SubIndex 15 Alarm code 15 Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage STRING RO No No SubInde...

Page 236: ...is specifies the motor type Setting values Setting details 0 Rotary motor 1 Linear motor 0x2801 Third Party Motor Number of Poles ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT 2 to 1000 8 RW No Power recycling Yes This specifies the number of motor poles For linear motor set it to 2 0x2802 Third Party Motor Rated Current ALL Variable ...

Page 237: ...ertia ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage FP32 0 321 Kg m 2 10 4 RW No Power recycling Yes This specifies the motor inertia For a linear motor set the weight of rotor The unit is Kg 0x2807 Third Party Motor Torque Constant ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage FP3...

Page 238: ...bute Storage UINT 1 to 60000 3000 rpm RW No Power recycling Yes This specifies the data of the motor speed torque curve Enter the maximum speed at the time when the maximum torque for a linear motor the maximum thrust is output For a linear motor the unit is mm s 0x280B Third Party Motor TN Curve Data 2 ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribut...

Page 239: ...tial value Unit Accessibility PDO assignment Change attribute Storage UINT 0 to 360 0 deg RW No Power recycling Yes The offset of the hall sensor attached for initial angle of a 3rd party motor may vary depending on manufacturer For this case the hall sensor offset must be checked and correctly set ...

Page 240: ... drive state the operation mode and manufacturer specific options Bit Function Description 0 Switch on Refer to the section concerning Bits 0 to 3 1 Enable Voltage 2 Quick stop 3 Enable operation 4 to 6 Settings by operation mode Refer to the section concerning bits 4 to 9 7 Fault reset 0 1 Alarm warning reset 8 Halt Refer to the section concerning Bits 4 to 9 9 Settings by operation mode 10 11 to...

Page 241: ...he target position to an absolute value 1 This sets the target position to a relative value 8 Halt 0 Runs an operation or continues an operation 1 Halts the operation according to the Halt Option code 0x605D Bits 4 5 6 8 and 9 For HM mode operation Bit Function Value Details 4 Homing Start 0 Does not perform the homing operation 1 Performs or is performing the homing operation 5 0 6 0 8 Halt 0 Run...

Page 242: ...form the operation 1 Halts the operation according to the Halt Option code 0x605D 9 0 Reserved 0x6041 Statusword ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UINT RO Yes No The Statusword indicates the current state of the drive It consists of bits that indicate the state according to the drive and operation mode Bit Function Description ...

Page 243: ...nabled 0 0 0 1 1 1 Quick stop active 0 1 1 1 1 Fault reaction active 0 1 0 0 0 Fault 1 Main Power On 1 Warning is occurred Description on Bit 11 Bit 11 Indicates whether to use an internal limit Use of an internal limit Both the software position limit and internal limit are applied to the target position Use N OT P OT contacts Interpolation speed exceeded used only in the IP or CSP mode Descripti...

Page 244: ...e to reach the target position velocity torque 1 Reached the target position velocity torque 12 Target value ignored 0 Ignores the target value position velocity torque 1 Uses the target value as the position control input 13 Following error 0 No positional error always 0 in Csv Torque Mode 1 Positional error Bits 10 12 and 13 For IP mode operation Bit State Value Details 10 Target reached 0 Halt ...

Page 245: ...on Code ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage INT 0 to 4 2 RW No Always Yes This sets the Quick Stop option code Setting values Description 0 Not used transits into Switch On Disabled 1 Slowly decelerates and then stops the drive according to the quick stop deceleration 0x6085 setting Switch On Disabled 2 Slowly decelerates and the...

Page 246: ...nit Accessibility PDO assignment Change attribute Storage INT 0 to 4 0 RW No Always Yes The Halt option code sets the operation method used to move from the Operation Enabled state to the Switched On state Setting values 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 De...

Page 247: ... 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 Accessibility PDO assignment Change attribute Storage SINT RO Yes No This displays the operation mode of the current drive 0x6062 Position Demand Value ALL Variable type Setting range Initi...

Page 248: ...ity PDO assignment Change attribute Stora ge UINT 0 to 65535 0 ms RW No Always Yes This specifies the timeout for when checking the Positional Error Statusword 0x6041 13 0x6067 Position Window ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Stora ge UDINT 0 to 0x3FFFFFFF 100 UU RW No Always Yes This specifies the position window for the target If th...

Page 249: ...locity window If the difference between the target speed and the actual speed remains within the velocity window 0x606D for the velocity window time 0x606E then it sets bit 10 of the Statusword 0x6041 10 to 1 0x606E Velocity Window Time Velocity Window Time ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Stora ge UINT 0 to 65535 0 ms RW No Always Ye...

Page 250: ...ated torque 0x607A Target Position ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Stora ge DINT 2147483648 to 2147483647 0 UU RW Yes Always No This specifies the target position in Profile Position PP mode and Cyclic Synchronous Position CSP mode It is used as absolute coordinate or relative coordinate depending on the Bit 4 0x6040 4 setting of the...

Page 251: ...824 to 1073741823 2000000000 UU RW No Always Yes This specifies the software position limit value It limits the range of the position demand value 0x6062 and actual position value 0x6064 and checks the new target positions for the setting value at every cycle The minimum software limit value is the reverse rotation limit The maximum software limit value is the forward rotation limit 0x607F Max Pro...

Page 252: ...range Initial value Unit Accessibilit y PDO assignment Change attribute Stora ge UDINT 0 to 0x7FFFFFFF 2000 UU s 2 RW No Always Yes The system uses quick stop deceleration if the quick stop option code 0x605A is set to 2 0x6087 Torque Slope ALL Variable type Setting range Initial value Unit Accessibilit y PDO assignment Change attribute Stora ge UDINT 0 to 0x7FFFFFFF 1000 0 1 s RW Yes Always Yes T...

Page 253: ...lways Yes This sets the homing method For more information refer to 4 6 Homing Setting values Details 0 Disabled 1 Homing using the index pulse and reverse limit contact 2 Homing using the index pulse and forward limit contact 7 to 14 Homing using the index pulse and home contact 24 Same as method 8 does not use the index pulse 28 Same as method 12 does not use the index pulse 33 34 Homing to the ...

Page 254: ... operation speed for homing 0x609A Homing Acceleration ALL Variable type Setting range Initial value Unit Accessibilit y PDO assignment Change attribute Stora ge UDINT 0 to 0x40000000 200000 UU s 2 RW No Always Yes This specifies the operation acceleration for homing 0x60B0 Position Offset ALL Variable type Setting range Initial value Unit Accessibilit y PDO assignment Change attribute Stora ge DI...

Page 255: ...ngle trigger mode 1 Continuous trigger mode 2 0 Triggered by the input of the touch probe 1 1 Triggered by the Index pulse signal 3 Reserved 4 0 Does not capture the rising edge position value of the touch probe 1 1 Captures the rising edge position value of the touch probe 1 5 0 Does not capture the falling edge position value of the touch probe 1 1 Captures the falling edge position value of the...

Page 256: ...ition value of the touch probe 1 is updated 8 0 Does not use the touch probe 2 1 Uses the touch probe 2 9 0 Does not store the rising edge position value of the touch probe 2 1 Stores the rising edge position value of the touch probe 2 10 0 Does not store the falling edge position value of the touch probe 2 1 Stores the falling edge position value of the touch probe 2 11 to 13 Reserved 14 0 1 Togg...

Page 257: ...PDO assignment Change attribute Stora ge DINT UU RO Yes No This represents the rising edge position value of the touch probe 2 0x60BD Touch Probe 2 Negative Edge Position Value ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Stora ge DINT UU RO Yes No This represents the falling edge position value of the touch probe 2 0x60E0 Positive Torque Limit V...

Page 258: ...mmand during the position control 0x60FD Digital Inputs ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Stora ge UDINT RO Yes No They indicate the status of digital inputs Bit Description 0 NOT negative limit switch 1 POT positive limit switch 2 HOME origin 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 C...

Page 259: ...digital outputs Description of physical outputs Bit Description 0 to 15 Reserved 16 Forced output 0 OFF 1 ON of DO 1 I O pins 3 and 4 Provided that the relevant bit mask 0x60FE 02 16 is set to 1 17 Forced output 0 OFF 1 ON of DO 2 I O pins 23 and 24 Provided that the relevant bit mask 0x60FE 02 17 is set to 1 18 Forced output 0 OFF 1 ON of DO 3 I O pins 25 and 26 Provided that the relevant bit mas...

Page 260: ...647 0 UU s RW Yes Always No This specifies the target velocity in the PV mode and the CSV mode 0x6502 Supported Drive Modes ALL Variable type Setting range Initial value Unit Accessibility PDO assignment Change attribute Storage UDINT 0x000003AD RO No No This displays the mode s supported by the drive Bit Supported modes Details 0 PP Profile Position 1 Supported 1 Vl Velocity 0 Not supported 2 PV ...

Page 261: ...4 67 21 51 29 34 10 71 9 81 Rated rotation speed r min 3000 2000 Maximum rotation speed r min 5000 3000 Inertia moment kg m2x10 4 6 659 11 999 17 339 22 679 6 659 11 999 gf cm s2 6 795 12 244 17 693 23 142 6 795 12 244 Permitted load inertia Motor inertia x10 Rated power rate kW s 12 32 19 00 28 28 40 21 12 32 22 99 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option S...

Page 262: ...10 Product Specifications 10 2 Rotational speed Torque Characteristics Servo Motor Type APM SEP16D SEP22D SEP05G SEP09G SEP13G SEP17G Applicable Drive L7 B L7 B020 L7 B010 L7 B020 ...

Page 263: ...79 gf cm s2 17 693 23 142 6 795 12 244 17 693 23 142 Permitted load inertia Motor inertia x10 Rated power rate kW s 48 64 91 96 12 32 24 4 57 08 97 61 Speed and 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 axis penetration Time rating Continuous Ambient temperature ...

Page 264: ...2 679 30 740 52 130 gf cm s2 6 795 12 244 17 693 23 142 31 367 53 194 Permitted load inertia Motor inertia x10 Motor inertia x5 Rated power rate kW s 12 32 27 36 42 60 57 90 29 66 48 59 Speed and 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 axis penetration Time rat...

Page 265: ... Inertia moment kg m2x10 4 30 740 52 130 83 600 121 350 30 740 52 130 gf cm s2 31 367 53 194 85 306 123 827 31 367 53 194 Permitted load inertia Motor inertia x5 Rated power rate kW s 35 89 53 57 82 49 105 67 42 72 65 38 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 ...

Page 266: ...Inertia moment kg m2x10 4 83 600 121 350 143 820 30 740 52 130 83 600 gf cm s2 85 306 123 827 146 755 31 367 53 194 85 306 Permitted load inertia Motor inertia x5 Rated power rate kW s 93 86 120 23 158 51 42 72 69 97 98 17 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP6...

Page 267: ... 3000 2500 Inertia moment kg m2x10 4 121 350 51 42 80 35 132 41 172 91 291 36 gf cm s2 123 827 52 47 81 99 135 11 176 44 297 31 Permitted load inertia Motor inertia x5 Rated power rate kW s 145 48 21 46 34 76 52 08 74 16 94 65 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling...

Page 268: ...000 Inertia moment kg m2x10 4 51 42 80 35 132 41 172 91 291 36 291 36 gf cm s2 52 47 81 99 135 11 176 44 297 31 297 31 Permitted load inertia Motor inertia x5 Rated power rate kW s 25 531 42 41 59 25 84 36 100 5 168 3 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 exc...

Page 269: ...00 Inertia moment kg m2x10 4 424 5 51 42 80 35 132 41 172 91 291 36 gf cm s2 433 2 52 47 81 99 135 11 176 44 297 31 Permitted load inertia Motor inertia x5 Rated power rate kW s 214 8 25 53 45 39 61 97 102 08 112 64 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 exclu...

Page 270: ...0 3000 Inertia moment kg m2x10 4 6 659 11 999 17 339 22 679 6 659 11 999 gf cm s2 6 795 12 244 17 693 23 142 6 795 12 244 Permitted load inertia Motor inertia x 10 Rated power rate kW s 12 32 19 00 28 28 40 21 12 32 22 99 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding axis penetration Time rating Cont...

Page 271: ...g m2x10 4 14 619 19 040 5 659 10 179 14 619 19 040 gf cm s2 14 917 19 429 5 774 10 387 14 917 19 429 Permitted load inertia Motor inertia x 10 Rated power rate kW s 39 92 57 95 14 50 28 77 46 85 61 52 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temper...

Page 272: ...5 659 10 179 14 619 19 040 27 960 46 560 gf cm s2 5 774 10 387 14 917 19 429 28 531 47 510 Permitted load inertia Motor inertia x 10 Motor inertia x 5 Rated power rate kW s 14 50 32 25 50 53 68 97 32 61 54 40 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding axis penetration Time rating Continuous Ambien...

Page 273: ...d r min 3000 2500 3000 2700 Inertia moment kg m2x10 4 27 960 46 560 73 850 106 730 27 960 46 560 gf cm s2 28 531 47 510 75 357 108 908 28 531 47 510 Permitted load inertia Motor inertia x 5 Rated power rate kW s 39 46 59 98 93 38 120 15 46 96 73 21 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding axis p...

Page 274: ...0 2500 2200 2000 1700 Inertia moment kg m2x10 4 73 850 106 730 131 290 27 960 46 560 73 850 gf cm s2 85 306 108 908 133 969 28 531 47 510 75 357 Permitted load inertia Motor inertia x 5 Rated power rate kW s 106 25 136 70 173 64 46 96 78 34 111 13 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding axis pe...

Page 275: ... min 2 000 3000 2700 3000 2500 Inertia moment kg m2x10 4 106 730 41 130 71 530 117 720 149 400 291 36 gf cm s2 108 908 41 969 72 990 120 122 152 449 297 31 Permitted load inertia Motor inertia x 5 Rated power rate kW s 145 48 26 83 39 04 58 58 85 83 94 68 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding...

Page 276: ...0 Inertia moment kg m2x10 4 41 130 71 530 117 720 149 400 291 36 291 36 gf cm s2 41 969 72 990 120 122 152 449 297 31 297 31 Permitted load inertia Motor inertia x 5 Rated power rate kW s 25 531 42 41 59 25 84 36 100 5 168 3 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding axis penetration Time rating C...

Page 277: ... speed r min 2 000 2000 Inertia moment kg m2x10 4 385 05 41 130 71 530 117 720 149 400 291 36 gf cm s2 392 90 41 969 72 990 120 122 152 449 297 31 Permitted load inertia Motor inertia x 5 Rated power rate kW s 236 82 31 93 50 99 54 93 118 17 112 64 Speed and position detector Standard Serial type 19 Bit Specifications and features Protection method Fully enclosed self cooling IP65 excluding axis p...

Page 278: ...applies same specifications for each series Note 3 Electric brakes are designed to maintain a stop Never use them for absolute braking Note 4 The characteristics of the electric brakes were measured at 20 C Note 5 These brake specifications are subject to change Check the voltage specifications on your specific motor Heat Sink Classification Standard mm Classification AP13 350x350x20 AP18 550x550x...

Page 279: ...10 Product Specifications 10 19 10 1 2 Outline Diagram SEP Series APM SEP09A SEP06D SEP05G SEP03M SEP15A SEP11D SEP09G SEP06M SEP22A SEP16D SEP13G SEP09M SEP30A SEP22D SEP17G SEP12M ...

Page 280: ...SEP13G SEP09M 249 3 287 3 191 3 229 3 141 8 141 6 22 6 6 3 5 9 68 11 22 SEP30A SEP22D SEP17G SEP12M 273 3 311 3 215 3 253 3 165 8 165 6 22 6 6 3 5 11 78 13 32 Note 1 Use DC power 24 V to operate the brake Note 2 The sizes in parentheses apply when attached to the brakes SFP Series APM SFP30A SFP22D SFP20G SFP12M SFP50A SFP35D SFP30G SFP20M SFP55D SFP44G SFP30M SFP75D SFP60G SFP44M SFP75G Model Ext...

Page 281: ... 267 9 167 166 7 17 7 24 9 SFP55D SFP44G SFP30M 345 5 396 9 266 5 317 9 217 216 7 O 26 3 33 4 SFP75D SFP60G SFP44M 405 5 456 9 326 5 377 9 277 276 7 35 6 42 8 SFP75G 주 3 457 5 344 5 295 113 96 8 12 5 39 4 Note 1 LF30M or higher end models have eye bolts Note 2 Use DC power 24 V to operate the brake Note 3 The sizes in parentheses apply when attached to the brakes ...

Page 282: ...237 7 122 121 2 19 56 4 122 6 MS3102A 22 22P 16 95 30 76 SGP35D SGP30G SGP20M 256 5 322 7 191 5 257 7 142 142 2 21 95 35 7 SGP55D SGP44G SGP30M 292 5 358 7 227 5 293 7 178 177 2 30 8 44 94 SGP75D SGP60G SGP44M 320 5 386 7 255 5 321 7 206 205 2 37 52 50 94 SGP110D SGP85G SG60M 418 5 484 7 353 5 419 7 304 303 2 21 66 132 2 MS3102A 32 17P 66 2 82 6 Note 4 Use DC power 90 V to operate the brake Note 5...

Page 283: ...10 Product Specifications 10 23 SGP Series APM SGP110G ...

Page 284: ...10 Product Specifications 10 24 SGP Series APM SGP150G ...

Page 285: ...09A FEP06D FEP05G FEP03M 197 3 235 3 139 3 177 3 89 8 89 6 19 5 5 3 5 04 6 58 FEP15A FEP11D FEP09G FEP06M 217 3 255 3 159 3 197 3 109 8 109 6 19 5 5 3 6 74 8 28 FEP22A FEP16D FEP13G FEP09M 237 3 275 3 179 3 217 3 129 8 129 6 22 6 6 3 5 8 48 10 02 FEP30A FEP22D FEP17G FEP12M 255 3 293 3 197 3 235 3 147 8 147 6 24 7 8 4 10 05 11 59 Note 1 Use DC power 24 V to operate the brake Note 2 The sizes in pa...

Page 286: ...FFP12M 257 5 308 9 178 5 229 9 129 128 7 79 60 8 10 5 X 12 5 19 7 FFP50A FFP35D FFP30G FFP20M 287 5 338 9 208 5 259 9 159 158 7 17 4 24 6 FFP55D FFP44G FFP30M 331 5 382 9 252 5 303 9 203 202 7 O 25 2 32 4 FFP75D FFP60G FFP44M 384 5 435 9 305 5 356 9 256 255 7 12 33 8 41 0 FFP75G 주 3 439 5 326 5 277 113 96 38 5 Note 3 Use DC power 24 V to operate the brake Note 4 The sizes in parentheses apply when...

Page 287: ...7 164 5 230 7 115 114 2 19 56 4 122 6 MS3102A 22 22P 15 42 29 23 FGP35D FGP30G FGP20M 250 5 316 7 185 5 251 7 136 135 2 20 22 34 03 FGP55D FGP44G FGP30M 282 5 348 7 217 5 283 7 168 167 2 28 02 41 83 FGP75D FGP60G FGP44M 304 5 370 7 239 5 305 7 190 189 2 33 45 47 26 FGP110D FGP85G FG60M 418 5 484 7 353 5 419 7 304 303 2 21 66 132 2 MS3102A 32 17P 66 2 82 6 Note 6 Use DC power 90 V to operate the br...

Page 288: ...10 Product Specifications 10 28 FGP Series APM FGP110G ...

Page 289: ... range Maximum 1 5000 Frequency response Maximum 1 kHz or above when the 19 bit serial encoder is applied Speed regulation 0 01 or lower when the load changes between 0 and 100 0 1 or less temperature of 25 10 Torque control repeatability Within 1 EtherCAT Communication Specification Communication Specification FoE Firmware download EoE Parameter setting adjustment auxiliary functions and paramete...

Page 290: ...t Safety Functions 2 input channels STO1 STO2 1 output channel EDM USB communication Function Firmware download parameter setting adjustment auxiliary functions and parameter copy function Communication standard Conform to the USB 2 0 Full Speed Standard Connecting device PC or USB storage medium Built in functions Dynamic braking Standard built in activated when the servo alarm goes off or when t...

Page 291: ...ncoder error position following error current sensing error etc Use environment Use temperature Storage temperature 0 50 20 65 Use humidity Storage humidity 90 RH or less no condensation Other Indoors in an area free from corrosive or combustible gases liquids or dust ...

Page 292: ...10 Product Specifications 10 32 10 2 2 Outline Diagram XDL L7NHB010U Weight 1 5 kg including the cooling fan XDL L7NHB020U XDL L7NHB035U Weight 2 5 kg including the cooling fan ...

Page 293: ...10 Product Specifications 10 33 XDL L7NHB050U Weight 5 5 kg including the cooling fan XDL L7NHB075U Weight 8 5 kg including the cooling fan ...

Page 294: ...10 Product Specifications 10 34 XDL L7NHB150U Weight 15 5 kg including the cooling fan ...

Page 295: ... Cable specifications 7Px0 2SQ or 7Px24AWG Note 1 The in the name indicates the type and length of each cable Refer to the following table for this information Cable length m 3 5 10 20 Robot cable F03 F05 F10 F20 Regular cable N03 N05 N10 N20 Option serial encoder cable Category Product Name Name Note 1 Applicable Motors Specifications For signaling S Flat Series motor S turn Encoder cable medium ...

Page 296: ...0314 52A0 008 3M or SM 14J Suntone b CONNECTOR specifications 10114 3000VE 3M or SM 14J Suntone 3 Cable specifications 4Px0 2SQ or 4Px24AWG 4 Battery connection a CONNECTOR specification 5267 02A Molex b Battery specification ER6V TOSHIBA 3 6V 2000mAh Note 1 The in the name indicates the type and length of each cable Refer to the following table for this information Cable length m 3 5 10 20 Robot ...

Page 297: ...s MS3108A 20 15S 2 Drive connection a U V W pin specifications 1512 Ferrule b FG pin specifications 1 5 x 4 Ring Terminal 3 Power cable specifications 4Cx1 5SQ or 4Cx15AWG 4 Brake power cable connection a Connection terminal specifications 1 5 x 3 Ring Terminal 5 Brake cable specifications 2Cx0 75SQ or 2Cx19AWG Note 1 The in the name indicates the type and length of each cable Refer to the followi...

Page 298: ...capacity below3 5kW 180Flange APCF P PB SFP30A SFP22D SFP35D SFP20G SFP12M SFP20M FFP30A FFP22D FFP35D FFP20G FFP30G FFP12M FFP20M 1 Motor connection a PLUG specification MS3108A 24 10S 2 Drive connection a U V W pin specification 2512 Ferrule b FG pin specification 2 5 x 4 Ring Terminal 3 Power Cable specifications 4Cx1 5SQ or 4Cx15AWG 4 Brake power connection a Connection terminal specifications...

Page 299: ...22S 2 Drive connection U V W FG a U V W FG 핀 specification 4 0x 5 Ring Terminal 3 Cable specification 4Cx4 0SQ or 4Cx11AWG For power Power cable 400V Mediu m capacity below7 5kW 180 Flange APCF P LB SFP50A SFP55D SFP75D SFP44G SFP60G SFP30M SFP44M FFP50A FFP55D FFP75D FFP44G FFP60G FFP75G FFP30M FFP44M 1 Motor connection a PLUGspecification MS3108A 24 10S 2 Drive connection a U V W FG pin specific...

Page 300: ...G pin specification 10x5 Ring Termianl 3 Cable specification 4Cx10SQ or 4Cx7AWG For power Brake cable 200 400V 220 Flange APCS P SB SGP22D SGP35D SGP55D SGP75D SGP12M SGP20M SGP30M SGP44M SGP20G SGP30G SGP44G SGP60G FGP22D FGP35D FGP55D FGP75D FGP20G FGP30G FGP30G FGP44G FGP60G FGP12M FGP20M FGP30M FGP44M 1 Motor connection a PLUG specifications MS3108B 14 7S MS 2 For Brake power a Connection term...

Page 301: ...ir EMI filter installation similar product SANWA 사 KU AMB518 CN I O Connector APC CN2NNA XDL L7N SERIES 1 Case specifications 10320 52A0 008 3M 2 Connector specifications 10120 3000VE 3M CN STO Connector APCS CN6J XDL L7N SERIES 1 Case specifications 2069577 1 Tyco CN ECAT In Out Connector APCS CN4NNA XDL L7N SERIES 1 Case specifications 10320 52A0 008 3M Note 1 The in the name indicates the lengt...

Page 302: ...V300 82Ω 82 Ω 300W L7 B010U Resist ance Braking resistance IRV600 140Ω 70Ω 600W 2P Making under review L7 B020U L7 B035U 2P Resist ance Braking resistance IRV600 75Ω 25 Ω 600W 3P L7 B050U L7 B075U 3P Resist ance Braking resistance IRM2000 13 4Ω 13 4 Ω 2000W L7 B150U ...

Page 303: ...denser can hold enough voltage to cause an electrical accident 1 Inspecting the Servo Motor Caution Wait at least 10 minutes after turning off the power before beginning the inspection because the condenser can hold enough voltage to cause an electrical accident Inspection Item Inspection Period Inspection and Handling Notes Vibration and sound check Monthly Touch the motor and listen for sounds T...

Page 304: ...e inspect it more frequently as it approaches obsolescence Visual inspection criteria a The condition of the case Check for deformations on the sides and bottom b The condition of the lid Check for notable expansion severe cracks or broken parts c The relief valve Check for notable valve expansion and operation d Also regularly check whether the exterior is cracked discolored or leaking and whethe...

Page 305: ...d 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 the motor 40 or less Cha...

Page 306: ... noise of wiring install Please check condition of wiring for FG Match wire size of FG with wire size of drive main circuit IPM temperature surroundings temperature Check wherther surrounding temperature is over 50 Lower surrounding temperature Continuous Overload alram Accumulated operate overload percentage 0x2603 Checking the load percentage is under 100 Change drive and motor capacitiy Please ...

Page 307: ... 1 0x260B of drive temperature is much different with surrounding temperature when it is normal condition Replace the drive Regeneration overload Capacity excess by high frequency operationg or continue regenerative operating Checking overload rate accumulated regeneration on 0x2606 Adjust value on 0x2009 Use braking resistor Parameter setting error Check setting value 0x2009 0x200E Set as proper ...

Page 308: ...nue after servo on again Replace drive Because drive may have problem Motor setting Setting Motor ID Value of 0x2000 is same with application motor label Revise it with motor label information equally It is possible to release alarm when power off on after adjusting parameter Drive error If alarm continue after servo on again Replace drive Because drive may have problem Z Phase open Encoder cable ...

Page 309: ...arm continue after servo on again Replace drive Because drive may have problem Drive error If alarm continue after servo on again Replace drive Because drive may have problem Under voltage Main power input voltage error Check the main power voltage is over 3phase 219 Vac Recheck the power supply Check 0x2605 value is over 310 Vdc when main power is accordingly input Replace the drive running when ...

Page 310: ...ck Short Replace encoder cable Parameter setting error Value of 0x2000 0x2001 0x2002 is same with application motor label Modify the parameter as sams as motor label information Check setting value 0x6091 Set Electronic gear ratio low Check setting value 0x2100 0x211F Readjust gain according to operating condtion Encoder error If alarm continue after servo on again Replace drive Because drive may ...

Page 311: ... problem Drive error If alarm continue after servo on again Replace drive Because drive may have problem Parameter checksum When O S is changed Check parameter that parameter setting value was set as maximum value of variable form Restore initial parameter 0x1011 If you restore it setting up parameter would be changed into initial value So set up parameter before operating Drive error If alarm con...

Page 312: ...parameter as input power on possible 3 phase Momentary power failure Check value of main power input mode set 0x2006 arroding to state of main power input Check actual main power or increase value of checking time of loss of main power Drive error If alarm continue after servo on again Replace drive Because drive may have problem LOW_BATT Parameter setting error Check setting value of absolute enc...

Page 313: ...of current of motor is bigger than capacity of current of drive or not reduce value of torque limit or use the motor which capacity is lower than capacity of current of drive IO setting error Check whether one signal is assigned more than 2 in digital input signal assignment 0x2200 0x2208 and digital output signal assignment 0x2210 0x2213 Set up correct parameter according to operating method UD_V...

Page 314: ...ration Stop Operation Stop Below 100 Infinite Infinite 110 55776 0 37937 7 210 100 0 50 1 120 13944 0 9483 9 220 60 0 38 5 130 6197 3 4215 1 230 40 0 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 7 0 3 8 170 318 0 273 0 270 6 4 3 4 180 198 0 173 0 280 5 7 3 1 190 160 0 117 0 290 4 0 2 7 200 130 0 66 0 300 3 0 2 0 1 10 100 1000 10000 100000 t i m e s e c ...

Page 315: ...Operation Stop Below 100 Infinite Infinite 110 4602 0 4600 0 210 85 0 40 0 120 1208 0 1208 0 220 54 0 36 0 130 500 0 500 0 230 33 0 25 0 140 323 0 303 0 240 25 0 10 0 150 250 0 150 0 250 20 0 7 5 160 231 0 100 0 260 18 0 3 5 170 180 0 80 0 270 16 0 3 1 180 164 0 69 0 280 12 0 2 9 190 120 0 58 0 290 3 5 2 5 200 100 0 52 0 300 2 5 2 3 1 10 100 1000 10000 T i m e S e c ...

Page 316: ...sec Operation Stop Operation Stop Below 100 Infinite Infinite 110 5760 0 420 0 210 120 0 16 0 120 550 0 300 0 220 60 0 8 0 130 440 0 250 0 230 40 0 4 0 140 360 0 200 0 240 30 0 1 8 150 300 0 150 0 250 20 0 1 2 160 270 0 120 0 260 18 0 1 0 170 240 0 100 0 270 16 0 1 0 180 210 0 60 0 280 14 0 1 0 190 180 0 45 0 290 6 0 1 0 200 150 0 35 0 300 5 0 1 0 ...

Page 317: ...top Operation Stop Below 100 Infinite Infinite 110 5760 0 704 0 210 49 0 16 4 120 1998 0 698 4 220 42 0 13 5 130 630 0 524 2 230 27 0 3 8 140 540 0 350 1 240 19 6 2 8 150 324 0 176 0 250 12 0 2 0 160 271 8 135 0 260 10 2 1 0 170 210 6 94 0 270 6 8 1 0 180 162 9 60 0 280 3 4 1 0 190 111 0 32 8 290 3 0 1 0 200 56 0 19 3 300 2 7 1 0 ...

Page 318: ...hout loosening For a motor with oil seal fitted is there any damage on the oil seal Is oil properly applied If you perform test drive of a servo motor having been stored for an extended period make sure to check the motor according to the maintenance and inspection method for servo motor For more information on maintenance and inspection refer to 11 Maintenance and Inspection Servo Drive State Is ...

Page 319: ...n this case the panel monitor state at the power ON will be Sto Note When removing the safety jumper connector attached to the STO pull out the motor main circuit connector first and then the connector body while pressing the lock ejector on the jumper connector side towards the servo drive side The connector may be damaged if you pull it out without the lock released Please be careful Refer to Se...

Page 320: ...uits to prepare for test drive Refer to Section 11 Maintenance and Inspection 12 2 Test Drive Using TwinCAT System Manager Test Drive Procedure Order Handling Notes 1 Before launching the TwinCAT System Manager copy the servo drive XML file into the schema folder C TwinCAT Io EtherCAT 2 Launch the TwinCAT System Manager 3 Select the target system When carrying out the test drive using a remote sys...

Page 321: ...he new I O devices found dialog window pops up select any device or servo drive required to be driven for test and select the OK button If the dialog window below pops up select the Yes button 6 Add the NC Task of the servo drive to the NC Configuration If the dialog window below pops up select Yes ...

Page 322: ...he EtherCAT communication state from the SafeOP state to the OP state enabling the MailBox Communication and the Process Data Communication Click the Generate Mappings icon on the menu bar Map the images defined in the NC Task and the I O Device Click the Check Configuration icon on the menu bar Check if the configuration currently set is valid Click the Activate Configuration icon on the menu bar...

Page 323: ...ab to check to see if the Current State and the Requested State are in the OP state Verify if the state displayed on the bottom right of the TwinCAT System Manager menu window is in the Run state 11 We finished adding the NC Task and I O Devices servo drive to the TwinCAT System Manager Setting NC Task Axis Parameters Order Handling Notes 1 Set the unit of display of the relevant axis Select the A...

Page 324: ...ote The default is 0 0001 if the scaling factor is not set Note After the setting download the settings 3 Set the speed parameter of the test drive axis Select Axis 1 Select the Parameter tab Set the Maximum Velocity the Manual Velocity Fast and the Manual Velocity Slow Then download the settings 4 Set the speed acceleration and jerk of the test drive axis Set the acceleration deceleration and jer...

Page 325: ...he acceleration time If you change the acceleration time the acceleration value will be automatically changed Select the Indirect by Acceleration Time radio button Set the acceleration deceleration and jerk Download the settings 5 Set the Position Lag Monitoring Positional Error Select Axis 1 Select the Parameter tab Set the Position Lag Monitoring Set the Position Lag Filter Time Download the set...

Page 326: ...the Position Lag Monitoring is enabled the TwinCAT NC generates an alarm if the positional error exceeds the settings Test Drive of Servo Drive Using TwinCAT NC Axis Order Handling Notes 1 Make sure that the TwinCAT NC axis is Servo On Select Axis 1 Select the Online tab Click the Set button Select Controller Feed Fw and Feed Bw Set the Override to 100 ...

Page 327: ...ified Manual Velocity Fast 3 Carry out the test drive with a relative coordinate Set the Target Position Set the Target Velocity Click F5 Move it to the Target Position from the current position decelerating to stop After moving it to the Target Position verify if the Set Position is identical to the Target Position Click F6 to stop during the relative coordinate driving When the alarm goes off cl...

Page 328: ...completed 12 3 Test Drive Using LSIS PLC XGT PN8B Test Drive Procedure Order Handling 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 ...

Page 329: ... On the menu bar click Online Connection When the PC and the PLC are connected the connection between the PLC and the servo drive will be enabled as shown in the figure below 5 Connect PLC with Servo Drive For the first connection enable the network parameters and the servo ...

Page 330: ...f the status LEDs The Link Activity LED is flickering The RUN LED is on Note The automatic connection of network servo registers the device connected 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 servos or disconnecting them respectively since the device has been registere...

Page 331: ... bits 524288 Check the motor specifications and then configure appropriate settings Set the unit of the speed command It can be set as rpm or mm s Set the speed limit Check the motor specifications and then configure appropriate settings 7 Set the Driving Parameters of Test Drive Axis Manual Operation Jog Parameters 8 Set the servo parameters of the test drive axis ...

Page 332: ...ameter value as a decimal or hexadecimal 9 Save the configured parameters On the menu bar click Online Write With the Write Project dialog window enabled check the Operation Data of Test Drive Axis the Operation Parameters and the Servo Parameters checkboxes and then click OK to save the configured parameters 10 Turn on the servo On the menu bar click the Servo ON icon to turn on the servo of the ...

Page 333: ... 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 12 Test drive using jog operation and inching operation ...

Page 334: ...utton to carry out the test drive 13 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 and the rank of point operations On the menu bar click Online Write to store the operation data On the Point Command tab click the Run button to carry out the test drive 14 The test drive of serve drive us...

Page 335: ..._FW bin to update 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 When 7 Segment for servo status di...

Page 336: ...13 Appendix 13 20 5 Turn on the power again and verify if the firmware is updated ...

Page 337: ...e When the drive and the upper level controller e g TwinCAT are connected you can simply update the firmware remotely via FoE The update procedure is as follows 1 Establish communication between the drive and the TwinCAT 2 I O Configuration of TwinCAT On the Online tab of the drive connected to the I O click Bootstrap in the State Machine menu ...

Page 338: ...t state is changed to BOOT and you check the drive status 7 segments display boot wait for approx 10 seconds until the internal flash memory of the drive is cleared 7 segments display a message when downloading the firmware using the FoE ...

Page 339: ...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 00000000 7 If Downloading is displ...

Page 340: ...tion 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 341: ...the top main menu or click on the corresponding shortcut icon Precautions 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 Before upgrade drive s parameter object Please same predetermined value since the value can be re set Operation of ...

Page 342: ...13 Appendix 13 26 2 To load the appropriate firmware file click the Load button 3 Select the BIN file of the firmware to transmit and press the Open button ...

Page 343: ...ternal 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 firmware 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 scores of seconds to several minutes ...

Page 344: ...ransmission completed is displayed When transmission to the PC is completed turn off and on the drive for rebooting An Error Occurs During Transmission Turn off and on the drive and repeat the above process from 2 to 7 Check firmware drive type and capacity to transmit ...

Page 345: ...13 Appendix 13 29 Check firmware version The firmware version is lower than current one can t be downloaded ...

Page 346: ......

Page 347: ...B050U 1 2 3 2015 05 15 Added functions and modified typing error 1 4 4 5 6 7 8 9 Green Management LS Mecapion considers protecting the environment a high priority We work hard to protect the Earth Product Disposal The LS Mecapion servo drive is environmentally friendly You can disassemble the drive and recycle the iron aluminum bronze and synthetic resin cover components ...

Page 348: ...il xunmj lsis com cn LSIS Guangzhou Office _ Guangzhou China Address Room 1403 14FL New Poly Tower 2 Zhongshan Liu Road Guangzhou P R China Tel 86 20 8328 6754 Fax 86 20 8326 6287 e mail chenxs lsis com cn LSIS Chengdu Office _ Chengdu China Address 12FL Guodong Buiding No 52 Jindun Road Chengdu 610041 P R China Tel 86 28 8612 9151 9226 Fax 86 28 8612 9236 e mail comysb lsis com LSIS Qingdao Offic...

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