Savch SDA2 Series User Manual Download Page 168

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164

Positioning status

bit

Item

Description

Default value

M code output timing

0: Output during startup

1: Output after positioning completion

M code Selection

0: Disable

1: Enable

2,1

Step mode

0,0: No specification

0,1: Data continuation (CO)

1,0: Cycle end (CEND)

1,1: Setup impossible

0,0

Command method

0:ABS

1:INC

Others

Not used

0 fixed

7.3.6 Exceptional responses

The servo motor drive returns an exceptional response if it has not succeed the process specified by a query.

The message frame is as follows. This is common to all FC values.

Station No.

1byte

Exceptional code

1byte

CRC check

16bit

(2byte)

(L)

(H)

(1) Function code (FC) field

Exceptional responses from slaves are returned as one is set on the MSB of the FC specified by the query.

Query

Exceptional response

01h

81h

03h

83h

05h

85h

08h

88h

0Fh

8Fh

10h

90h

Summary of Contents for SDA2 Series

Page 1: ...SDA2 Series Servo System High performance type User Manual User Manual ...

Page 2: ...me 2020 06 01 SAVCH electric provide a full range of technical support for our customers All users could contact with the nearest SAVCH office or service center also could contact with our headquarters directly SAVCH Electric reserves the copyrights and all rights Subject to change without further notice ...

Page 3: ... Control Status Display Mode 40 3 4 Alarm Mode 41 3 5 Parameter Editing Mode 42 3 6 Positioning Data Editing Mode 43 4 OPERATION 45 4 1 Signal Description Input Signal Order 45 4 2 Operation Procedure 46 4 3 Operation Check 47 4 4 Operation 49 5 List of function parameter 65 6 Detail description of function parameter 74 6 1 Basic setting parameters P1 01 50 74 6 2 Control Gain and Filter Setting P...

Page 4: ...TION 166 8 1 Inspection 166 8 2 Status Display 166 8 3 Troubleshooting Method 168 9 OPTIONS 175 9 1 About Optional Parts 175 9 2 Standard Configuration For Drive Braking parts 175 9 3 Optional Regenerative Or Braking Parts 176 ...

Page 5: ...ervo motor drive or other electrical products attention shall be attached during deliver installation operation and checks for the servo motor drive And these notes shall be applied for a better and safer operation DANGER If not used correctly personnel damage even death may be caused CAUTION If not used correctly serious damage to servo motor drive or machine may be resulted DANGER Never connect ...

Page 6: ...factory contact your SAVCH ELECTRIC representative for a quick resolution 3 About the user manual Description feed in this user manual may be inconsistent to the product due to improvement added to the product Additionally description feed in this manual is subject to change without further notice The illustrations in user manual are about some specified capacity of the servo motor drive or servo ...

Page 7: ...oil splash guard or take similar measures on the machine side In a humid and high oil mist environment install the lead wires and connectors in a face down orientation Wiring Precautions CAUTION Perform ground wires to prevent electric shock and fire hazards Do not connect the 220V drive power to the 380V power otherwise it may cause an electric shock or damage to the equipment or fire hazards Do ...

Page 8: ... the machine when the servo motor drive is having the test run Fix the servo motor when the servo motor drive is having test run since the servo motor may cause an impact to the machine During acceleration and deceleration Please do not perform the switching frequently when it is power on it is better to keep the frequence of turn on off in 2 times per hour and daily with 10 times or below Running...

Page 9: ...lectric shock Do not remove the servo motor otherwise it may cause an electric shock Using range Precautions CAUTION This instruction manual is for industrial general purpose such as the nuclear equipment aerospace equipment life support and maintain equipment and other safety equipment etc if you have any requirements please contact with our company directly Please do not use it on the equipment ...

Page 10: ...ammable materials Extreme low temperatures Extreme high ambient temperatures Above 40 Large impelling Salt or saline Rain moisture Iron chips and dust Electromagnetic waves and ultra high angle rays For example locations of welding machines and etc Oil cool Below 10 degrees Celsius Force Force Force Force Force Force Salt ...

Page 11: ...voided please use the resonance absorber or anti vibration rubber gasket When there are strong noise and interference sources around the servo motor drive such as the big magnetic switches butt fusion welding machine etc the servo motor drive will be easily be disturbed causing the error operation so the noise filter is required at that time However the noise filter increases the leakage current t...

Page 12: ...ves Big enough intervals should be left between servo motor drives and between them and control cabinet inside walls air inlet and out let should be left on cabinet body It is suggested that a fan with enough ventilation to reduce the internal temperature of control cabinet as possible As follows Control cabinet 50mm or above 10mm or above 30mm or above 50mm or above 30mm or above ...

Page 13: ...low 2 5G Draught less humidity and dirty No corrosive incendivity gas oil gas cutting fluid cutting powder iron powder etc No steam and direct sunlight 2 1 3 2 Installation method Horizontal installation Please install the cable outlet under the servo motor to avoid the water oil and other liquid to inflow into the inside of the servo motor through the output cable Precautions Mechanical brake Enc...

Page 14: ...ion for the servo motor axis otherwise the servo motor movement is easy to cause the vibration False example Correct examples Mechanical brake Encoder Mechanical brake Encoder 4 Please do not strike the servo motor with the hammer when you are installing or removing the servo motor otherwise the servo motor axis and back encoder will be easily to be damaged Precautions Mechanical brake Encoder ...

Page 15: ...by Taiwan Savch Electric Model Input power supply Spec Output power supply Spec Output frequency 2 2 2 Model description Input voltage V 2S AC220V Single Three phase 2T AC220V Three phase 4T AC380V Three phase Model Type code G General C With CANopen E With EtherCAT No Power kW 0 4 0 4kW 0 75 0 75 kW 1 0 1 0 kW 1 5 1 5 kW 2 0 2 0kW 3 0 3 0kW 4 0 4 0kW 5 5 5 5kW 7 5 7 5kW SDA2 2T 2 0 G ...

Page 16: ...1 32767 1 50 N M 5000 Torque Limitation Parameter control Forward rotating and reverse rotating can be set respectively External analog torque control Speed control Analog command input VREF 0 10VDC Speed Variation Rate 1r min or below load range 0 100 Speed range 1 5000 Acceleration and deceleration time setting Acceleration time and deceleration time can be set respectively and have two groups a...

Page 17: ...Application Environment Site location Indoors Avoid direct sunlight No corrosive gas Avoid smoke methane Ambient Temperature 0 50 When the ambient temperature is higher than the required one please introduce air circulation Storage Temperature 20 75 Relative humidity RH 90 lower No condensation Altitude Lower than 1000m Atmospheric pressure 86 106kPa Vibration 0 5G 2 4 Servo Motor Rotation Directi...

Page 18: ...erminal Servo motor Power cable External retrogradation resistor Magnetic Contactor MC Connect to the host controller Power Supply optional optional optional Three phase AC 200 230V Three phase AC 380 460V Encoder cable SDA2 Servo Drive Servo Drive Installation Notes 1 Check the R S T and the L1C L2C power and connecting wire 2 Check the servo motor output U V W terminal phase wires Unable to run ...

Page 19: ... between the servo motor and machine is required please make the servo motor ground wire The direction of the diode for absorbing on the output signal relay must be connected correctly otherwise it may cause fault and disable the output signal In order to avoid the error action due to the noise please add the insulation transformer and noise filter to the power Please do not install the capacitor ...

Page 20: ...16 a Single phase 220V b Three phase 220V C Three phase 380V ...

Page 21: ...xternal Dimensions 2 6 1 Front view A Power cover closes USB Terminal STO Safety circuit interface Encoder Terminal Complete closed loop terminal I O Terminal RS485 CAN RS485 CAN Note indicates being developed ...

Page 22: ...8 B Power cover opens USB Terminal STO Safety circuit interface Encoder Terminal Complete closed loop terminal I O Terminal RS485 CAN RS485 CAN Power Input Output Terminal Note indicates being developed ...

Page 23: ...el No External Dimensions mm L W H C1 C2 D1 D2 SDA2 2S0 4G 173 5 60 160 150 5 5 5 5 SDA2 2S0 75G SDA2 2S1 0G SDA2 2T1 5G 183 88 160 148 76 6 6 6 5 SDA2 2T2 0G SDA2 4T0 75G SDA2 4T1 0G SDA2 4T1 5G SDA2 2T2 0G 214 110 230 218 96 6 6 75 7 25 6 SDA2 2T3 0G SDA2 2T4 0G SDA2 4T2 0G SDA2 4T3 0G SDA2 4T4 0G SDA2 4T5 5G 235 120 230 218 106 6 6 75 7 25 6 SDA2 4T7 5G ...

Page 24: ...terminal that is marked indicates that the default function is not defined user can set the required function according to the parameter of Chapter 6 Notes 3 The diode installation direction could not be connected by the wrong way max working voltage 24V max output current 50mA the current value of external relay ring should be lower than 80mA When the current value is greater than 80mA the power ...

Page 25: ...ates that the default function is not defined user can set the required function according to the parameter of Chapter 6 Notes 3 The diode installation direction could not be connected by the wrong way max working voltage 24V max output current 50mA the current value of external relay ring should be lower than 80mA When the current value is greater than 80mA the power should be supplied externally...

Page 26: ...ates that the default function is not defined user can set the required function according to the parameter of Chapter 6 Notes 3 The diode installation direction could not be connected by the wrong way max working voltage 24V max output current 50mA the current value of external relay ring should be lower than 80mA When the current value is greater than 80mA the power should be supplied externally...

Page 27: ...egeneration resistance Pc P1 need be close the connection of internal regeneration resistance is enable P doesn t be connected When using external regeneration resistance equip regeneration resistance between PC P do not connect P1 terminal Pc P1 U Power of output servo motor U phase V Power of output servo motor V phase W Power of output servo motor W phase PE System protective ground Ground term...

Page 28: ... When the input is interrupt detection of hardware filter is delayed to 0 1 ms P S T EI2 EI Input terminal 2 41 P S T EI3 EI Input terminal 3 39 P S T EI4 EI Input terminal 4 6 P S T EI5 EI Input terminal 5 7 P S T EI6 EI Input terminal 6 8 P S T EI7 EI Input terminal 7 9 P S T EI8 EI Input terminal 8 10 P S T COM Input common port 12 P S T Digital output EOUT1 EOUT output terminal1 13 EOUT output...

Page 29: ...ferential output P S T OB 30 P S T OZ Z phase signal of encoder 32 Encoder Z phase differential output P S T OZ 31 P S T OOA A phase signal of encoder 27 Encoder A phase open collector output P S T OOB B phase signal of encoder 28 Encoder B phase open collector output P S T OOZ Z phase signal of encoder 33 Encoder Z phase open collector output P S T Analog signal 15V Analog power 23 External analo...

Page 30: ...res for each one to avoid encoder voltage to decrease If the cable length is more than 30m please contact with the supplier 2 Power output negative GND 2 I Shell Shell PE FG 9 F Shielded network cable Pin No Name of signal Function Code Pin function 4 485 communication data positive 485P 485 communication differential signal 5 485 communication data negative 485N 3 Power output positive 5V Power o...

Page 31: ...ace circuit can be operated by the switch relay open collector transistor circuit optocoupler etc The relay should be the low electric current in order to avoid the faulty contacting The external voltage range DC12V 24V NPN crystal common emitter SINK mode Internal power External power ...

Page 32: ...ernal power should be provided by the user The maximum of external voltage is 24V and the maximum output current is 50mA The diode should be used together when using the inductive character load such as the relay Adverse polarity of the diode will case drive damage When power is ON there is around 1V of Dropout Voltage which can not meet the TTL low level requirement so it should not be connected ...

Page 33: ...input interface There are two kinds of input interfaces high speed and low speed high speed interface only supports line drive Low speed interface has two modes Line drive and Open Collector drive Low speed pulse max 500KHz Here the Line drive is suggested Twisted pair is suitable for wiring Suggested driving current 8 10 mA Line drive ...

Page 34: ... the input is TTL Line drive mode there is no problem of power When the input is open collector input mode if internal 24V is adopted IG24 is connected with the current outflow end of switch tube if the external power is adopted do not connect internal 24V with external power and the Dropout Voltage of user s switch tube is requested to below 1V If the voltage drop is higher than the value an appr...

Page 35: ...s the Motion table below 2 9 4 Feedback encoder signal outputs by frequency division Encoder pulse signal can be output to a host controller by line drive output after it was set the required frequency It has line drive output and open collector output Pulse command form Symbol Forward rotating Reverse rotating Set value Pulse symbol SIGN PULS P1 03 00 03 10 Command pulse plus symbol SIGN symbol P...

Page 36: ...or equivalent as the receiver and must be connected to the terminal resistance from 220Ω 470Ω The encoder output signal grounding of servo motor drive must be connected with that of the host controller Otherwise it may cause the received pulse error Received by optocoupler Host controller use high speed optocoupler e g TLP115A with 220Ω limited resistance ...

Page 37: ...s 30V and the maximum current is not more than 50mA The resistance is determined by the optocoupler 2 9 5 Analog command input output interface Assign an analog input interface to torque command and speed command respectively with input voltage range from 10V to 10V and input resistance 10kΩ around Analog command input ...

Page 38: ...34 Analog command output Note Bias is a normal phenomenon for the analog input output which could be compensated by the parameter ...

Page 39: ...te CHARGE indicator is on means that the power is on When the Power is turned off there is still left with electric in the main circuit so the cable should be removed only when all the indicators are off The meaning of the key in the keypad is shown in below table Key Function description Mode key switch mode and return Confirmed key enter the next step or confirm the parameter data Added key incr...

Page 40: ...the servo motor 7 sections of nixie light displays as below 0 1 2 3 4 5 6 7 8 9 A b c d E F G H i J L n o P q r S t U v y 3 1 2 Flash display In the display sometimes it is flash status Flash content and status as below Flash interval Holding time Status Resetting action 0 5s cycle continuous Alarm is being output Power on again or alarm resetting 0 5s cycle 3s Parameter is being checked 2s 1 time...

Page 41: ...ht shift key is pressed the upper middle lower bit is prompted first and then the corresponding numerical content is displayed For example the display mode of the data 1234567890 is the upper display 12 the median display 3456 and the lower display 7890 3 1 4 Mode selection Switch the modes by MENU key There are 6 modes shown as below dP 01 AL 01 Pn 01 Po 01 Cn 01 AF 01 Control status display mode...

Page 42: ...ective torque dP 06 300 Feedback position dP 07 99 unit Command position dP 08 09 unit Position deviation dP 09 00 unit Command pulse frequency dP 10 1 kHz Feedback cumulative pulse dP 11 00 pulse Command cumulative pulse dP 12 00 pulse LS Z pulse dP 13 104 pulse Load inertia ratio dP 14 300 0 DC link voltage max dP 15 300 V DC link voltage min dP 16 300 V VREF input voltage dP 17 10 00 V TREF inp...

Page 43: ... mode Positioning data pages 1 Po 01 no 01 Additional function mode Manual operation AF 01 JG Position preset AF 02 PrSt Homing AF 03 orG Auto operation AF 04 AUt Alarm reset AF 05 AL rt Alarm history initialization AF 06 AL in Parameter initialization AF 07 PA in Positioning data initialization AF 08 Po in Auto off set adjustment AF 09 A oFF Z phase off set adjustment AF 10 Z oFF Auto tuning gain...

Page 44: ... Interrupt positioning Being interrupt positioning OT Overrun signal of the forward direction is being detected OT Overrun signal of the reverse direction is being detected P and display alternately Zero speed stop Input forced to stop signal to make it stop at zero speed LV Status Low voltage For more detail information please refer to the page regarding the under voltage Speed control Servo OFF ...

Page 45: ...us display The display content can be changed when it is power on in parameter P2 77 3 4 Alarm Mode 3 4 1 Present alarm Display the present alarm detection content via code If the alarm reset is performed it will move automatically to initial display If the alarm is detected it will display as below automatically or display with the alarm information 3 4 2 Alarm history It can display 20 detected ...

Page 46: ...e rc09 0 DC link voltage rc10 310 EC Error counter rc11 0 Command position rc12 00 Action mode rc13 PJG 3 5 Parameter Editing Mode Under parameter editing mode the parameter is available to be edited Press key MENU to display Pn 01 press keys to start different parameter pages press key SET to start the parameter editing operation After that press keys to number the edited parameter Press key SET ...

Page 47: ...t at Startup cE Cycle end 2 Output at the end Pd_2 Stop position Specify the stop position of the motor The setting value is within the range from 2 000 000 000 to 2 000 000 000 per 1 calibration Set the stop position of the servo motor when the command mode is ABS Set the incremental value when the command mode is INC Pd_3 Rotation speed Specify the moving speed to motor stop position The setting...

Page 48: ...g of the positioning data The setting range is hexadecimal number and within the range from 00 to FF 1 calibration can be set with any value Default vale is FF Pd_6 Acceleration time Specify the motor acceleration time The setting value is within the range from 0 0 ms to 99999 9 ms per 0 1 ms calibration The setting value is the time when the motor rotation speed is up to 2000 r min Pd_7 Decelerat...

Page 49: ...on clear 50 05 Signal to make the motor rotatable Forward rotation 2 Reverse rotation 3 Auto start 4 Homing 5 06 Signal to decide the home position Homing LS 6 Interrupt input 49 Position preset 16 07 Signals regardless of the operation of the servo motor Alarm reset 11 Edit permission command 55 If using the free run command the moving element of lifting mechanical system may drop If it is unnece...

Page 50: ...Set P2 40 positioning data is enable disable 0 Peform the positioning by RS485 commnication Speed control torque control pulse position control Set P1 01 control mode 1 5 Enable to run by the analog voltage pulse command NO NO Servo motor drive PTP Positioning calculation Servo control system position speed torque Host controller Immediate value data n Immediate value data 2 Position Speed Acceler...

Page 51: ...te the correct state 1 The charge LED lights up in red 2 If the servo motor drive is being factory default below content is displayed on the keypad If the charge LED does not light up 220 V is not supplied to the main circuit power R S T Please check the power voltage When 380 V is supplied please convert the voltage to 220 V by the converter before supply the power to the servo motor drive otherw...

Page 52: ... breakage to the servo motor drive 4 3 4 Shut down If the power is cut off when the S ON signal is being ON the servo motor drive detects a low voltage alarm When the S ON signal is being ON and power ON in 1s after that the DC link voltage is decreased to 200V or below the servo motor drive detects the low voltage of the main circuit After 1s or above it can not detect the low voltage of the main...

Page 53: ...0 0 P1 38 deceleration time 1 0 0 99999 9 ms 100 0 P1 41 Manual feed speed 1 speed limit under torque control 1 0 01 Max speed r min 100 0 Manual operation at Keypad Please check the rotation of the servo motor s output shaft by following the below procedure 1 Use key MENU to start the additional function mode AF 01 2 The servo motor rotates while the key on the keypad is held down AF 01 SET MENU ...

Page 54: ...ion pulse 02 low speed differential A B phase orthogonal pulse 03 low speed open collector command pulse symbol 04 low speed open collector forward rotation pulse reverse rotation pulse 05 low speed open collector A B phase orthogonal pulse 10 high speed differential command pulse symbol 11 high speed differential forward rotation pulse reverse rotation pulse 12 high speed differential A B phase o...

Page 55: ...signment Parameter P1 01 control mode selection 0 position control Therefore the servo motor drive is under position control when it is power on EI 1 by turning Servo ON S ON ON input pulse the motor rotates 3 Position control check Check that it is under position control The 3rd word P from the right side indicates position control 4 Pulsed quantity check Output the pulse from the host controller...

Page 56: ...OFF ON OFF ON Applied Speed RDY Zero speed Manual forward rotation FWD Multi step speed X1 VREF voltage Use parameter P3 35 to specify the zero clamp level in relation to the VREF input The following signal is active in the speed control mode Zero speed The signal is turned on if the feedback speed of the motor present shaft rotation speed of the motor falls below a certain value 4 4 4 Torque cont...

Page 57: ... Control mode function NO 36 Control mode selection OFF Control mode selection ON 3 Position control Speed control 4 Position control Torque control 5 Speed control Torque control The operation pattern with 5 specified in P1 01 speed control torque control The command is issued by the voltage input of VREF and TREF ON ON OFF OFF ON Torque control Speed RDY Zero speed Control mode selection Speed c...

Page 58: ...ut signal can be selected Position control The following signals are enabled in the position control mode Zero deviation The difference between the command position pulse input and feedback position present motor position is the deviation The signal is turned on if the present deviation is between a certain value You can check that the motor has reached the command position Zero speed It turns ON ...

Page 59: ...ack position Deviation clear is always effective and active even during rotation Either edge or level can be selected with parameter P3 36 to switch the input format of the deviation clear signal Because the deviation is forcibly zeroed the motor is stopped 4 4 7 Homing When in position INP is turned on activiation of the homing command ORG starts a homing motion Enter parameters P2 06 through 18 ...

Page 60: ...t enable signal on during operation with a forward FWD or reverse REV command to start to move by an interrupt traveling unit amount which is specified at parameter P2 20 at the activating edge OFF to ON transition of the interrupt output Please assign interrupt input enabling and interrupt input to the EI signal The function is enabled in the operation with positioning data 1 Position control FWD...

Page 61: ...y with the filter circuit of EI1 EI8 3 The in position INP signal shown in the figure assumes the level output mode 4 4 9 Torque Limit Torque limit is always enabled in the position control speed control and torque control mode If the torque is limited under position or torque control the designated position or designated speed may not be achieved This function is enabled during positioning data o...

Page 62: ...itioning operation is made according to EI EOUT signals or commands sent via RS 485 communications When in position INP is active enter the desired positioning address AD0 AD3 and turn start positioning START on activating edge to execute positioning The positioning data can be registered with the PC Loader or keypad front panel of motor drive or through teaching To enable positioning data operati...

Page 63: ...ou can allocate 77 positioning data selection to a EI signal and turn the signal off Use the Modbus RTU protocol ON ON Speed RDY M code output Immediate value data INP Time OFF OFF ON Immediate value data 1 1 Immediate value data 2 2 OFF ON START Immediate value data 1 Immediate value data 2 ON ON OFF OFF Note To perform immediate value data operation with the Modbus RTU protocol in a system consi...

Page 64: ...igure indicates the state in the level output mode 3 If the forward rotation torque limit parameter P1 27 or reverse rotation torque limit parameter P1 28 is smaller than the third torque limit parameter P2 60 the torque setting of the forward torque limit and reverse torque limit are effective 2 OT OT positive software OT negative software OT If OT or OT is detected during motor rotation inactive...

Page 65: ... the level output mode 3 If the forward torque limit parameter P1 27 or reverse torque limit parameter P1 28 is smaller than the third torque limit parameter P2 60 the torque settings of the forward torque limit and reverse torque limit are effective 3 Forced stop EMG If forced stop EMG is detected during motor rotation operation is stopped and immediate controlled stop is caused according to the ...

Page 66: ... position INP is not turned on in a pause Speed RDY Zero deviation Zero speed INP Time Pause OFF OFF ON ON OFF ON OFF ON ON ON OFF OFF ON Note 1 Acceleration deceleration follow the settings of parameters P1 37 through 40 and the state of input signal ACC0 or the settings of acceleration deceleration time data 2 The in position INP signal shown in the figure indicates the state in the level output...

Page 67: ...or parameter P3 36 deviation clear input form the motor is stopped at zero speed and the current position is not retained while the deviation reset signal remains active RDY INP Deviation clear ON OFF OFF ON ON OFF ON OFF ON Speed Time Zero deviation Zero speed Note The in position INP signal shown in the figure indicates the state in the level output mode 7 Free run While the free run signal is t...

Page 68: ...ue operation is cancelled before reaching to the target position and stopped at positive negative limiter detection position Speed RDY Zero deviation Zero speed INP Time Limiter detection ON OFF OFF ON ON OFF ON OFF ON Positioning setting parameter Positive limit detection position P2 28 Note 1 Acceleration deceleration follows the settings of parameters P1 38 and 40 and the state of input signal ...

Page 69: ...tomatic operation setting parameters P2 01 50 Use to enter or change the positioning operation speed and homing function Extended function setting parameters P2 51 99 Use to enter or change the extended function such as the torque limit Input terminal function setting parameters P3 01 50 Use to enter or change input signals of the servo motor drive Output terminal function setting parameters P3 51...

Page 70: ...ation 0 P1 12 Z phase position offset 0 P1 13 Tuning mode selection 10 P1 14 Load inertia ratio 1 0 P1 15 Auto tuning gain 1 12 P1 16 Auto tuning gain 2 4 P1 20 Easy tuning stroke setting 2 00 P1 21 Easy tuning speed setting 500 00 P1 22 Easy tuning timer setting 1 500 P1 23 Easy tuning direction selection 0 P1 25 Max rotation speed For position and speed control Adjust according to the motor mode...

Page 71: ... 5 for position and speed control speed limit 5 for torque control 100 00 P1 46 Manual feed speed 6 for position and speed control speed limit 6 for torque control 100 00 P1 47 Manual feed speed 7 for position and speed control speed limit 7 for torque control 100 00 5 2 2 List of Parameter Setting Control Gain Filter Default value Decided by auto tuning Parameter Name Default value Control mode P...

Page 72: ...ation suppressing anti resonance frequency 1 300 0 P1 81 Vibration suppressing workpiece inertia ratio Vibration suppressing resonance frequency 1 0 P1 82 Vibration suppressing anti resonance frequency 2 300 0 P1 83 Vibration suppressing workpiece inertia ratio Vibration suppressing resonance frequency 2 0 P1 84 Vibration suppressing anti resonance frequency 3 300 0 P1 85 Vibration suppressing wor...

Page 73: ... P2 17 Home position detection range 0 P2 18 Deceleration time at OT during homing 100 0 P2 19 Preset position 0 P2 20 Interrupt traveling unit amount 100000 P2 22 Detection time for contact stopper 0 P2 23 Torque limit for contact stopper 0 P2 24 Selection of operation at OT during homing 0 P2 25 Software OT selection P1 01 1 to 6 Position command format P1 01 7 0 P2 26 Positive software OT detec...

Page 74: ...erator 3 of electronic gear P2 54 Command pulse ratio 1 1 00 P2 55 Command pulse ratio 2 10 00 P2 56 Speed limit selection at torque control 0 P2 57 Torque limit selection 0 P2 58 Second torque limit 300 P2 59 Deviation hold selection at torque limit 0 P2 60 Third torque limit 300 P2 61 Action state at servo on OFF 5 P2 62 Action state at alarm 5 P2 63 Action state at main power shutoff 5 P2 64 To...

Page 75: ...test mode mode selection 0 P2 90 Sequence test mode encoder selection 0 P2 93 Parity stop bit selection 0 P2 94 Response time 0 00 P2 95 Communication time over 0 P2 97 Communication protocol selection 1 P2 99 Encoder selection 1 5 2 5 List of parameter setting Input terminal function Parameter Name Default value Control mode Position Speed Torque P3 01 EI1 signal assignment 1 P3 02 EI2 signal ass...

Page 76: ...mmunication EI19 signal assignment 0 P3 20 Communication EI20 signal assignment 0 P3 21 Communication EI21 signal assignment 0 P3 22 Communication EI22 signal assignment 0 P3 23 Communication EI23 signal assignment 0 P3 24 Communication EI24 signal assignment 0 P3 26 EI always on 1 0 P3 27 EI always on 2 0 P3 28 EI always on 3 0 P3 29 EI always on 4 0 P3 30 EI always on 5 0 P3 31 Speed command sca...

Page 77: ...l assignment 0 P3 65 Communication EOUT15 signal assignment 0 P3 66 Communication EOUT16 signal assignment 0 P3 67 Communication EOUT17 signal assignment 0 P3 68 Communication EOUT18 signal assignment 0 P3 69 Communication EOUT19 signal assignment 0 P3 70 Communication EOUT20 signal assignment 0 P3 71 Communication EOUT21 signal assignment 0 P3 81 Analog output 1 signal assignment 0 P3 82 Analog o...

Page 78: ... operation change over the control mode selection of the EI input signal Function NO 36 For details refer to the below table P1 01 Control mode selection Setting value Control mode Control mode selection OFF Control mode selection ON 0 Position control 1 Speed control 2 Torque control 3 Position control Speed control 4 Position control Torque control 5 Speed control Torque control 6 Extension mode...

Page 79: ... see the figure below To perform homing and interrupt positioning select this mode Under torque control Being stopped torque control Free run no driving force Being stopped position control Pulse positioning Manual feed Homing Being stopped speed control Speed control Torque control Forward command 2 Reverse command 3 Torque control 38 Servo on 1 Forced stop 10 OFF OFF ON OFF ON OFF ON Position co...

Page 80: ...C ABS system selection Default Value 0 Setting Range 0 Incremental system 1 Absolute system 2 Non overflow absolute system not detect the multi turn overflow Select either the relative position incremental system or absolute position system Reference value Function Description 0 Relative position incremental system The current position is lost after the power is turned off Homing must be performed...

Page 81: ...se pulse signal This parameter is enabled only under position control You can select the signal format of command pulse input terminal The pulse format of command pulse input terminals SIGN SIGN PULS PULS and HSIGN HSIGN HPULS HPULS of the servo motor drive can be specified The maximum input frequency is 500 KHz at low speed differential input or 200 kHz at low speed open collector input The maxim...

Page 82: ... 4194304 These parameters are enabled only under position control With these parameters the traveling amount of the mechanical system per each command pulse is adjusted to a unit amount Calculate according to the following equation Equation of numerator 0 of electronic gear and denominator of electronic gear Cancel down so that numerator 0 divided by the denominator of the electronic gear is an in...

Page 83: ... motor 16 to 32768 pulses If the reference value is other than 0 the Z phase output synchronizes with the A phase output and an output having the same pulse width as that of the A phase is obtained With default value 0 settings of parameters P1 09 and P1 10 are followed P1 09 Numerator of electric gear for output pulses Default value 1 Setting range 1 4194304 P1 10 Denominator of electric gear for...

Page 84: ...s 1 A phase B phase P1 12 Z phase position offset Default value 0 Setting range 20bitPG 0 1048575 17bitPG 0 131071 The Z phase output position shifts The Z phase output position shifts in the CCW direction by the specified pulse amount This parameter is irrelevant to the rotation direction selection parameter P1 04 The Z phase used for homing is also the position that is offset with this parameter...

Page 85: ...ng interpolation of two or more servo motor axes of an X Y table or similar In this mode P1 51 moving average S curve time and P1 54 position command response time constant that determine the following characteristics to commands must be entered manually As well P1 14 load inertia ratio must be entered too manually The other gain adjustment parameters are automatically entered according to the val...

Page 86: ...e filter setting mode Entry is unnecessary The item is automatically calculated inside the amplifier and the result is reflected on the parameter Entry can be made but the setting is ineffective P1 14 Load inertia ratio Default value 1 0 Setting range 0 0 300 0 This parameter is enabled under position and speed control Enter the moment of inertia of the load of the mechanical system in relation to...

Page 87: ...n mode After the value is switched the setting is updated at real time Approximate reference value Mechanical configuration division by mechanism Auto tuning gain 1 approximate reference value Large transfer machine 1 10 Arm robot 5 20 Belt mechanism 10 25 Ball screw Belt mechanism 15 30 Mechanism directly coupled with ball screw 20 40 P1 16 Auto tuning gain 2 Default value 4 Setting range 1 12 Th...

Page 88: ... Default value 500 00 Setting range 10 00 to max rotation speed r min P1 22 Easy tuning timer setting Default value 1 500 Setting range 0 000 5 000 s P1 23 Easy tuning direction selection Default value 0 Setting range 0 Forward reverse rotation 1 Forward rotation only 2 Reverse rotation only Enter the parameter to perform easy tuning P1 25 Max rotation speed for position and speed control Default ...

Page 89: ...e range in which the speed coincidence output signal EOUT signal is turned on The speed coincidence signal is turned on if the actual servo motor rotation speed is nearly the command speed In case of a default value of 50r min the speed coincidence signal is turned on in the range of 50 r min to the command speed If the command speed is not reached due to P1 25 maximum rotation speed override or s...

Page 90: ...in position INP output signal EOUT signal The in position INP signal is turned on if position deviation is within this reference value and the motor rotation speed is within the reference value of the zero speed range However the condition includes completion of pulse elimination from the inside of the servo motor drive for motion by positioning homing and manual position control The setting unit ...

Page 91: ...e Single shot ON time OFF ON In position judgment time Rotation speed Time Time Zero speed range Zero deviation range In position range P1 36 Acceleration deceleration selection at speed control Default value 0 Setting range 0 Disable 1 Enable P1 37 Acceleration time 1 Default value 100 0 P1 38 Deceleration time 1 Default value 100 0 P1 39 Acceleration time 2 Default value 500 0 P1 40 Deceleration...

Page 92: ...to P1 36 control method to output analog speed command voltage at host control unit To perform speed control independently in the servo system enter 1 to P1 36 to enable P1 37 through P1 40 To perform position control independently in the servo system P1 37 through P1 40 are enabled regardless of the setting of P1 36 The acceleration and deceleration of speed limit under torque control is in accor...

Page 93: ...ed for speed control and position control For torque control if P2 56 speed limit selection at torque control is 0 the reference value of P1 26 maximum rotation speed becomes the speed limit If P2 56 speed limit selection at torque control is 1 the speed limit is enabled as shown in the table below Combine input signals EI signal multi step speed selection 1 X1 to 3 X3 to select Multi step speed s...

Page 94: ...e servo motor drive Low pass filter for S curve time constant Enter the low pass filter for S curve filter time constant in relation to position commands and speed commands Acceleration and deceleration are made so that an approximate S curve is drawn Command pulse smoothing function The parameter is enabled under position control If the function is enabled smoothing is added to the position comma...

Page 95: ...eviation at a constant speed to almost zero except during acceleration or deceleration Use this parameter to increase the synchronization accuracy between two axes of synchronous control or similar For regular point to point operation set the parameter at 0 500 or less approximate value P1 59 Torque filter time constant for position and speed control Default value P1 60 Torque filter time constant...

Page 96: ...alue 100 Setting range 30 200 P1 67 Feed forward gain 2 Default value 100 Setting range 30 200 The gain of the servo system is switched from the first gain P1 55 to 58 to the second gain P1 64 to 67 Noise and vibration during stoppage can be reduced through gain switching Select the gain switch cause with P1 61 The unit of the reference value of the second gain P1 64 to 67 is Specify the ratio to ...

Page 97: ... case you can turn on or off at an arbitrary timing without relations to the motor motion The gain of the go stroke and that of the return stroke of a reciprocal motion can be switched P1 68 Acceleration compensation gain Default value 0 Setting range 0 200 Enter the following characteristics to the command A larger reference value reduces the position deviation caused during acceleration or decel...

Page 98: ...there is resonance in the mechanical system a notch filter is automatically set If resonance is not suppressed set P1 70 automatic notch filter selection at 0 disable and follow the procedure below to manually adjust the notch filter Frequency Hz Resonance point Resonance frequency Depth Width Gain dB 2 Enter the resonance frequency of and attenuation of the resonance point of the machine into par...

Page 99: ...ed Cleared 1 0 Remained Remained 0 2 Cleared Remained 1 2 Cleared Remained 2 0 Remained Remained 2 1 Cleared Cleared P1 77 Auto vibration suppressing control selection Default value 0 Setting range 0 Disable 1 Enable 2 Communications setting P1 78 Vibration suppressing anti resonance frequency 0 Default value 300 0 Setting range 1 0 300 0 Hz P1 79 Vibration suppressing workpiece inertia ratio vibr...

Page 100: ...e machine and adjusting P1 78 vibration suppressing anti resonance frequency 0 to the best value To use this function always reserve 1 5s or longer stopping time Use vibration suppressing workpiece inertia ratio vibration suppressing resonance frequency 0 to enter the ratio of a vibrating inertial body such as the arm to the inertia of the entire system The enabled parameter is selected through th...

Page 101: ...peed adjuster switches to P proportional or PI proportional integral control Set at 1 enable to automatically switch according to the setting of P1 61 Gain switch cause The switching level follows the reference value of P1 62 gain switch level The state at switching is shown below P1 61 Gain switch cause Condition State Position deviation feedback speed Command frequency command speed Reference va...

Page 102: ... Enable Disable 2 Disable Enable 3 Enable Enable This parameter is enabled under position and speed control Select whether model torque calculation and speed observer are enabled or disabled If model torque calculation is disabled the torque feed forward calculation using a model of moment of inertia of load is disabled Use the parameter to perform position and speed control at the host controller...

Page 103: ...peed P2 07 Speed Time Homing ORG Reference signal for homing P2 07 Homing creeping speed Default value 50 00 Setting range 0 01 to Max rotation speed r min Specify the motion speed taken after the reference signal for homing deceleration starting signal is detected P2 08 Starting direction for homing Default value 0 Setting range 0 Forward rotation 1 Reverse rotation 2 Condition judgment start Spe...

Page 104: ...ectronic gear and P1 07 denominator of electronic gear If neither the reference signal for homing nor reference signal for shift operation is detected during reverse motion movement in the starting direction for homing begins after reverse motion by the preset traveling amount Homing ORG Reference signal for homing Homing speed Homing creeping speed Reference value of reverse traveling unit amount...

Page 105: ...eference signal toward the homing direction after reference signal detection by the home position shift unit amount is the home position The home position accuracy reproducibility of zero position is the highest with 1 encoder Z phase If the Z phase is selected the reference signal for shift operation can be installed Except the encoder Z phase 4 interrupt input has higher home position accuracy t...

Page 106: ...S signal edge selection Default value 0 Setting range 0 ON Rising edge 1 OFF Rising edge Not a compulsory item Specify the enabling timing of the home position LS signal if the home position LS is specified as a reference signal for shift operation reference signal for homing Homing speed Homing creeping speed Speed Time Home position LS OFF ON OFF Home position LS timing selection 0 Homing speed ...

Page 107: ...eference signal for shift operation without a reference signal for homing Reference signal for shift operation 1 Homing speed Homing direction Reference signal for shift operation 2 Homing creep speed Reverse Reference signal for shift operation 3 Homing creep speed Homing direction 1 Homing speed 3 Homing creeping speed Speed Time Reference signal for shift operation OFF ON OFF OFF OFF ON ON 2 Ho...

Page 108: ...eceleration time taken after OT or OT is detected during homing motion Specify the time taken to decelerate from 2000 to 0 r min Determine the setting under consideration of the homing speed and moving range after the OT sensor 0 7 in the equation indicates the safety factor Example of calculation of reference value Moving range after OT 0 7 Homing speed Reduction ratio Ball screw lead Homing spee...

Page 109: ...r contact stopper Default value 0 Setting range 0 100 These parameters are enabled if 5 stopper is selected for P2 11 Reference signal for shift operation Enter these parameters to perform homing in applications such as positioning of a cylinder or the like where the home position LS or OT cannot be used Enter the detection time and the torque limit on contact with the stopper P2 24 Selection of o...

Page 110: ...on 0 ON Rising edge 1 OFF Rising edge 0 P2 14 Home position shift unit amount 0 to 2000000000 Units 1000 P2 15 Deceleration operation for creep speed 0 Reverse rotation is disabled 1 Reverse rotation is enabled 0 P2 16 Home position after homing completion 2000000000 to 2000000000 Units 0 P2 17 Home position detection range 0 Always ON after homing completion 1 to 2000000000 Units 0 P2 18 Decelera...

Page 111: ...n shift amount standard signal Z phase P2 11 Enter the reference signal for homing P2 12 Setting of homing direction P2 10 Enter the starting direction for homing P2 08 End of homing pattern setting Z phase home position LS OT OT Interrupt input Home position shift unit amount Enter the standard signal for determining the home position shift unit amount Home position LS OT OT Enter the signal trig...

Page 112: ...phase 1 P2 12 Reference signal for homing 0 Home position LS 0 P2 13 Home position LS signal edge selection 0 ON Rising edge 0 P2 14 Home position shift unit amount 1000 Units 1000 P2 15 Deceleration operation for creep speed 0 Reverse rotation is disabled 0 P2 16 Home position after homing completion 0 Units 0 P2 17 Home position detection range 0 Always ON after homing completion 0 P2 18 Deceler...

Page 113: ...ome position LS LS Homing ORG Position control Servo ON S ON Controller sensor Servo motor drive Servo motor drive Controller P2 25 Software OT selection P1 01 1 to 6 Default value 0 Setting range 0 Disable 1 Enable P2 25 Position command format P1 01 7 Default value 0 Setting range 0 Normal PTP 1 Positioning start with zero position preset P2 26 Positive software OT detection position Default val...

Page 114: ... the limiter detection function While each setting can be positive or negative the setting of P2 28 must not be smaller than the setting of P2 29 P2 31 Point detection area detection Default value 0 Setting range 0 Point detection 1 ON for positive side 2 ON for negative side P2 32 Point detection area detection position 1 Default value 0 P2 33 Point detection area detection position 2 Default val...

Page 115: ...t position is exactly or larger than the setting of the standard parameter It is turned off if the position is less than the setting Point detection area detection position 1 P2 32 Point detection area detection position 2 P2 33 Current position OFF ON 190 0 200 0 210 0 Area detection 3 Area ON OFF If P2 31 point detection area detection is 2 The signal is turned on if the current position is exac...

Page 116: ...Override 2 Override 1 Traveling speed OFF OFF OFF OFF 0 OFF OFF OFF ON 10 OFF OFF ON OFF 20 OFF OFF ON ON 30 OFF ON OFF OFF 40 OFF ON OFF ON 50 OFF ON ON OFF 60 OFF ON ON ON 70 ON OFF OFF OFF 80 ON OFF OFF ON 90 ON OFF ON OFF 100 ON OFF ON ON 110 ON ON OFF OFF 120 ON ON OFF ON 130 ON ON ON OFF 140 ON ON ON ON 150 P2 40 Internal positioning data selection Default value 0 Setting range 0 Disable 1 E...

Page 117: ...g range 0 00 H 1 FF H Select the output signal status at M code shutoff P2 44 Positioning extended function Default value 0 Setting range 0 Internal command completion 1 Internal feedback completion Select the condition for reversing in a case when the travel directions between two continuous motions are opposite as the followings a In continuous operation by the immediate continuous command in im...

Page 118: ... position while continuous operation is carried out will start the following motion to the target position after positioning is complete normally Conditions for in position is all of the following a b and c a Internal command completion b The position deviation is within the deviation zero range P1 32 c The speed is within the zero speed range P1 30 Moreover the in position INP signal is not outpu...

Page 119: ...mmand pulse ratio 1 Default value 1 00 P2 55 Command pulse ratio 2 Default value 10 00 Setting range 0 01 100 00 Specify the multiplication of the command pulse The reference value selected with an input signal command pulse ratio 1 2 assigned to a EI signal is enabled This function is only enabled in extended mode and positioning operation mode P1 01 6 or 7 P2 56 Speed limit selection at torque c...

Page 120: ...ue limit CCW Powering CW Regeneration CW Powering CCW Regeneration OFF OFF No condition judgment Forward rotation torque limit Reverse rotation torque limit OFF ON TL Forward Reverse rotation torque limit Forward rotation torque limit Reverse rotation torque limit TL Forward Reverse rotation torque limit TL TL ON OFF Second torque limit Forward Reverse rotation torque limit Forward rotation torque...

Page 121: ...nd torque limit whichever is less TL or second torque limit whichever is less If P2 57 is 1 the torque limit is always the TL value 4 Third torque limit This parameter is enabled under position or speed control The reference value of this parameter becomes the torque limit under the following conditions Sudden controlled stop caused by servo on function NO 1 turned off Sudden controlled stop cause...

Page 122: ...tion with a customer s device P2 61 Action state at servo on OFF Default value 5 Setting range 3 Free run at deceleration free run at stop 5 Emergency stop at deceleration free run at stop P2 62 Action state at alarm Default value 5 Setting range 3 Free run at deceleration free run at stop 5 Emergency stop at deceleration 1 free run at stop P2 63 Action state at main power shutoff Default value 5 ...

Page 123: ...ing free run operation the speed at the timing is picked and acceleration begins at the speed The speed at the timing of power on is not picked in this case P2 67 Alarm detection at undervoltage Default value 1 Setting range 0 No detection 1 Detection Select whether or not to detect alarms when undervoltage is detected The detected alarms include main power undervoltage P2 69 Deviation detection o...

Page 124: ...ation baud rate RS485 Default value 0 Setting range 0 38400 bps 1 19200 bps 2 9600 bps 3 115200 bps 4 57600 bps 5 4800 bps 6 2400 bps 7 1200 bps Specify the communication baud rate of the system combined over RS 485 P2 74 Parameter write protection Default value 0 Setting range 0 Write enable 1 Write protect Specify parameter write protection Enter 1 to prohibit parameter editing Only this paramet...

Page 125: ...put signals 20 Output signals 21 OL thermal value 41 Alarm at present 42 Alarm history Specify the data displayed on the servo motor drive when the power is turned on P2 80 Parameter in RAM 1 Default value 0 P2 81 Parameter in RAM 2 Default value 0 P2 82 Parameter in RAM 3 Default value 0 P2 83 Parameter in RAM 4 Default value 0 P2 84 Parameter in RAM 5 Default value 0 P2 85 Parameter in RAM 6 Def...

Page 126: ...eturn to the normal mode Specify the encoder bit according to the type of the servo motor P2 89 1 Select 1 to always start the sequence test mode To return to the normal mode change P2 89 to 0 and turn the power off then on again Specify the encoder bit according to the type of the servomotor P2 90 Specify the parameter according to the connected motor encoder bit P2 93 Parity stop bit selection D...

Page 127: ...inal Function Setting Parameters P3 01 50 The parameters with indicate that they are enabled only when power on again after parameter setting P3 01 EI1 signal assignment Default value 1 P3 02 EI2 signal assignment Default value 11 P3 03 EI3 signal assignment Default value 0 Default value 0 P3 08 EI8 signal assignment Default value 0 Setting range Select from EI signal assignment function P3 09 Com...

Page 128: ...Position control 61 AD1 16 Position preset 38 Torque control 62 AD2 17 Servo response switch 43 Override enable 63 AD3 19 Torque limit 0 44 Override 1 70 Pulse speed command 20 Torque limit 1 45 Override 2 77 Positioning data selection 22 Immediate value continuation 46 Override 4 78 Broadcast cancel 23 Immediate value change 47 Override 8 24 Electronic gear numerator selection 0 48 Interrupt inpu...

Page 129: ...stop EMG arranges the state ready to rotate If no signals are assigned on the EI input terminals it is always regarded as turning ON Forward command FWD Reference value 2 Reverse command REV Reference value 3 The servo motor keeps rotating during the signals on The servo motor keeps rotating in the positive negative direction while the forward command FWD reverse command REV signal remains turned ...

Page 130: ...ed in P2 60 third torque limit If an OT signal is detected during positioning operation the servomotor is forcibly stopped and therefore difference may be caused between the command position and feedback position Take care of the reference value and sensor position so that the OT signal will not be detected during regular operation If no signal is assigned on the EI input terminals it is always re...

Page 131: ...ed off to on As zero speed signal NZERO can be performed during ON it is recommended to conduct position preset while the servomotor is stopped After position preset homing is finished If no signal is assigned on the EI input terminals it is always regarded as turning OFF Servo response switch Reference value 17 To switch the gain response capability of the servo system When P1 61 Gain switch caus...

Page 132: ... This function is enabled only if 7 positioning operation is selected for parameter P1 01 After immediate value operation is started and the in position signal is turned off the target position and target speed can be changed at an arbitrary timing Even if the positioning motion of the first data is not finished the next data is executed immediately when the change command is accepted The command ...

Page 133: ...nal is assigned on the EI input terminals it is always regarded as turning OFF Proportional control Reference value 29 Proportional band control is adopted as a servo motor drive control method With S ON signal turned on the signal will be turned on while the servo motor shaft is mechanically locked If the proportional control is turned on during servo motor rotation position control becomes unsta...

Page 134: ...position is to be written among AD0 to AD3 2 Using the manual forward rotation command pulse operation or the like feed the mechanical system to the target position 3 The command current position of the servomotor is written to the position data in the positioning data at the rising edge of a teaching signal If no signal is assigned on the EI input terminals it is always regarded as turning OFF Co...

Page 135: ...mode This function is enabled only if 6 extension mode is selected for parameter P1 01 Turn on to conduct torque control in the extension mode The torque of the output shaft of the servo motor can be controlled The torque is actually output while the forward command FWD or reverse command REV signal remains turned on Besides the rotation direction depends on the different forward command FWD or re...

Page 136: ...gnal is turned on stoppage is caused after a travel of a certain amount since the interrupt input signal is turned on Specify the traveling amount after the interrupt input in P2 20 interrupt traveling unit amount The rotation speed after an interrupt input keeps the speed at the rising edge effective The override is enabled even after the rising edge To change the rotation speed in the interrupt ...

Page 137: ...er torque control The rotation speed of the servomotor is limited with the speed selected with multi step speed X1 X2 and X3 The speed limit under torque control is shown in the table below X3 X2 X1 Parameters Rotation speed for enabling OFF OFF OFF Rotation corresponding to speed command voltage VREF OFF OFF ON P1 41 Manual feed speed 1 Speed limit under torque control 1 OFF ON OFF P1 42 Manual f...

Page 138: ...d thereby avoiding movement of the servomotor drop of the machine etc Anti resonance frequency selection 0 Reference value 57 Anti resonance frequency selection 1 Reference value 58 Select the anti resonance frequency which is a vibration suppressing control function In a spring characteristic structure such as the robot arm and transfer machine vibration is caused at the end of the workpiece upon...

Page 139: ...ositioning data 1 2 OFF OFF ON OFF Operation with positioning data 2 3 OFF OFF ON ON Operation with positioning data 3 4 OFF ON OFF OFF Operation with positioning data 4 5 OFF ON OFF ON Operation with positioning data 5 6 OFF ON ON OFF Operation with positioning data 6 7 OFF ON ON ON Operation with positioning data 7 8 ON OFF OFF OFF Operation with positioning data 8 9 ON OFF OFF ON Operation with...

Page 140: ...tructure of A B C D and E axes the servo motor drive cannot be started with positioning simultaneously by selecting the A axis and the B axis only Thus by using this function the broadcast in a separate group station no can be performed The broadcast enable disable status can be switched using the broadcast cancel signal If no signal is assigned on the EI input terminals it is always regarded as t...

Page 141: ...P3 34 Torque command offset Default value Setting range 500 500 10 mV Specify the scale gain and offset of the analog input signal Note The default value of the analog command will be variable due to hardware change Speed command scale Default value Torque command scale Default value VREF input voltage Rated rotation speed Rotation speed Offset 5 0V 5 0V Rated rotation speed VREF input voltage Rat...

Page 142: ...adjusted in relation to the torque command The function is similar to that of P3 39 speed command fine adjustment gain Example If TREF voltage is 3V and P3 40 is 1 0100 the torque command inside the servo motor drive is 3 03V 3 1 0100 6 6 Output Terminal Function Setting Parameters P3 51 99 The parameters with indicate that they are enabled only when power on again after parameter setting P3 51 EO...

Page 143: ...open contact 34 Alarm code 2 80 Immediate value continuation completion 17 Point detection area 1 35 Alarm code 3 81 Immediate value change completion 18 Point detection area 2 36 Alarm code 4 82 Command position completion 19 Limiter detection 38 OT detection 83 Range1 of position 20 OT Detection 39 OT detection 84 Range 2 of position 21 Cycle end detection 40 Home position LS detection 85 Interr...

Page 144: ...in position signal If servo on S ON is turned OFF Free run ON If servo on S ON is turned ON Servo lock ON Upon OT detection Servo lock ON At deviation clear Servo lock ON If forced stop EMG is turned off Zero speed ON Upon alarm Free run OFF This signal is always turned on under speed control and torque control 2 In position signal output format P1 33 in position output format at either 0 level or...

Page 145: ...ping time to holding brake P2 64 Note The brake attached to the brake attached servomotor is for retention Do not use it for regenerative Do not use the IP24 power supply in parallel Be sure to prepare a separate power supply for the brake To apply or release the brake with the brake output turn the servo on S ON signal off first before turning the power off Timing chart 1 ON OFF of servo on S ON ...

Page 146: ... ON OFF ON OFF OFF ON Reset RST Alarm detection Normally closed contact OFF ON 1 5s Alarm detection The signal will be off for up to 1 5 seconds after the power is turned on Point detection area 1 Reference value 17 Point detection area 2 Reference value 18 The current position of the servomotor is detected and output in these signals This function is enabled after homing or position preset Three ...

Page 147: ...ter is given never allowing the travel to exceed the limiter detection position The deceleration time in stopping follows the parameters and the positioning data settings However travels are stopped in rapid deceleration during pulse operation After stopped at the limiter detection position the limiter detection signal is output in the same condition as the In position signal output To return from...

Page 148: ...oning data including CEND is reached 4 After positioning motions are completed up to the positioning data including CEND the cycle end detection signal is turned on at the same timing as the in position signal 5 You can supply the start positioning signal with all addresses turned off to repeat the above steps 1 through 4 ON Speed Start positioning Cycle end detection Address In position level Tim...

Page 149: ...erated despite the reference value of P1 32 Zero speed NZERO Reference value 24 The signal is turned on if the servomotor rotation speed is within the reference value of P1 30 zero speed range The signal can be used as a motor stopping condition signal Speed coincidence NARV Reference value 25 The signal is turned on if the servomotor rotation speed is within the reference value of P1 29 speed coi...

Page 150: ...ormally open contact 16 OFF The internal CPU operates correctly The R S T terminals are turned on Edit permission response Reference value 29 After the edit permission assigned to a EIn input signal is on under some conditions the edit permission response command is turned on The conditions are listed in the table below Edit permission P2 74 Parameter change operation Edit permission response Not ...

Page 151: ...on Overflow 1 0 1 05H oF 22 Overcurrent 1 1 1 0 06H oC1 1 Overcurrent 2 1 1 0 06H oC2 2 Overspeed 1 1 1 07H oS 3 Overvoltage 1 0 0 0 08H Hv 5 Main Power Undervoltage 1 0 0 1 09H LvP 18 Encoder error 1 1 0 1 0 0AH Et1 6 Encoder error 2 1 0 1 0 0AH Et2 7 Circuit error 1 1 0 0 0CH cT 8 Memory error 1 1 0 1 0DH DE 9 Encoder Communication Error 1 0 0 0 0 10H Ec 13 EI Error 1 0 0 1 1 13H CtE 14 If there...

Page 152: ... immediate value The signal is turned off after the continuation setting completion signal is turned on It is turned on again after data continuation is made The signal is turned off 50 ms after positioning based on the post continuation data Immediate value continuation completion Reference value 80 The signal is turned on after continuation of immediate value operation is processed according to ...

Page 153: ...ion In position Motor speed The condition for the next start signal is activation of the command positioning completion signal Refer to the timing chart below Example Automatic operation continuation OFF ON Start positioning OFF ON Speed Command Time Command positioning completion In position INF Motor speed Range 1 of position Reference value 83 Range 2 of position Reference value 84 This signal ...

Page 154: ...ference value 85 This signal outputs the interrupt positioning motion mode status The signal turns on during interrupt positioning motion and turns off with any of the following conditions When the interrupt input enabling signal is turned off after the positioning motion completion ON OFF Speed FWD REV Interrupt input Interrupt positioning detection Interrupt input enable P2 20 Interrupt travelin...

Page 155: ...ls set to EI 20 to 24 can be output through EOUT signals 1 to 5 of the hardware The ON OFF status of the EI signal is output as a through signal to the EOUT signal regardless of the function allocation of the corresponding EI signal P3 81 Analog output 1 signal assignment Default value 0 P3 82 Analog output 2 signal assignment Default value 0 Setting range 0 No output 1 Command speed 2 Feedback sp...

Page 156: ...r 3 Torque command Torque reference value given to servo motor Output voltage corresponding to the max torque 4 Position deviation The deviation between the position command and position feedback Output voltage corresponding to 1000 pulse 5 Position deviation 1 10 Output voltage corresponding to 10000 pulse 6 Position deviation 1 100 Output voltage corresponding to 100000 pulse 7 Command pulse fre...

Page 157: ...et The offset voltage between the analog output 1 DA1 and analog output 2 DA2 terminals can be adjusted Every increment corresponds to about 6 1 mV Analog output 1 2 output format You can select either output on both polarity or output on single polarity scale and offset assigned to the analog output 1 DA1 and analog output 2 DA2 terminals Analog output 1 terminal output on both polarity Analog ou...

Page 158: ...g time for analog output The sampling time is for the analog output function No effect is caused to the control even if the value is changed P3 90 Servo motor model setting Default value 00 Setting range 00 No setting 01 SCH060201C H 50 SCH060201C T 02 SCH060401C H 51 SCH060401C T 05 SCH080751C H 52 SCH080751C T 05 SCH080731B H 13 SCH080102E H 18 SCH110122C H 18 SCH110152C H 17 SCH110122B H 22 SCH...

Page 159: ...g of range 1 of position setting 1 P3 92 is smaller than the setting of range 1 of position setting 2 P3 93 and the position specified for range 1 of position setting 1 P3 92 passes during forward motion the range 1 of position signal undergoes OFF to ON transition If the position specified for range 1 of position setting 2 P3 93 passes the range 1 of position signal undergoes ON to OFF transition...

Page 160: ...8400 bps 1 19200 bps 2 9600 bps 3 115200 bps 4 57600 bps 5 4800 bps 6 2400 bps 7 1200 bps 0 Set a servo motor drive s station number slave s station number and a communication baud rate 1 3 Character configuration Parameter Name Setting range Default value P2 93 Selection of parity stop bit 0 8 E 1 1 8 O 1 2 8 N 1 3 8 E 2 4 8 O 2 5 8 N 2 0 Set existence and logic of a parity and a stop bit length ...

Page 161: ...s Terminator treatment Master side 100 Ω recommended Slave side Unnecessary Character configuration Start bit 1 bit Data length 8 bits Parity Even Odd None Stop bit 1 or 2 bits Set by parameter P2 93 Protocol Communications protocol Compliant with Modbus RTU protocol Communications mode RTU mode The ASCII mode is not supported Station number 0 Broadcast 1 31 Slave station No Set by parameter P2 72...

Page 162: ...ding to the processing that you wish to execute Servo motor drive Returns the specified FC If the servo motor drive has not finished processing successfully the message is returned with the MSB of the FC set to 1 Exceptional response Information Variable length Query response message Data are set according to the FC An exceptional code 1 byte is returned in the exceptional response from the servo ...

Page 163: ...1006 1h 1 Yes Motor current 1008 1h 0 1 A No Effective torque 100A 1h 1 No Feedback position 100C 1h 1 Units Yes Command position 100E 1h 1 Units Yes Position deviation 1010 1h 1 Yes Command pulse frequency 1012 1h 0 1 kHz No Feedback cumulative pulses 1014 1h 1 pulse Yes Cumulative input pulses 1016 1h 1 pulse Yes LS Z pulse 1018 1h 1 pulse No Load inertia ratio 101A 1h 0 1 Times No DC link volta...

Page 164: ... Max rotation speed 0 01 Immediate value acceleration time 5106 1h 0 1 ms No 0 0 99999 9 0 0 Immediate value deceleration time 5108 1h 0 1 ms No 0 0 99999 9 0 0 Positioning data 1 Positioning status M code 6000 Refer to 3 5 address supplementary description NO Stop timer 6002 1h 0 01 ms 0 00 655 35 0 00 Stop position 6004 1h 1 unit YES 0 2000000000 0 Rotation speed 6006 1h 0 01 r min NO 0 01 Max r...

Page 165: ...ption By setting P1 31 selection of deviation unit 0 and 1 are defined as unit and pulse respectively Set 0 0 01 ms 1 0 001 ms according to P2 42 stop timing decimal point position Coil address Coil address list Coil type Coil name Address hex Applicable FC 01h 05h 0Fh Communication EI signal EI9 Signal 0208 EI24 Signal 0217 Communication EOUT signal EOUT6 Signal 0305 EOUT21 Signal 0314 Hardware E...

Page 166: ...one 01h Overcurrent 1 oc1 02h Overcurrent 2 oc2 03h Overspeed oS 04h 05h Overvoltage Hu 06h Encoder Error 1 Et1 07h Encoder Error 2 Et2 08h Circuit Error ct 09h Memory error dE 0Ah 0Bh Motor Combination Error cE 0Ch 0Dh Encoder Communication Error Ec Code Alarm Symbol 0Eh EI error ctE 0Fh Overload 1 oL1 10h Overload 2 oL2 21h Main Power Undervoltage LuP 22h 23h 24h Regenerative Transistor Error rH...

Page 167: ... method 0 ABS 1 INC 1 Others Not used 0 fixed 0 Positioning data Positioning data are 20 bytes long for each set organized as follows Configuration Format setting range default value Data 20byte Positioning status 1byte Refer to below table M Code 1byte 0 FFh FFh Stop timer 2 byte H 1h 0 01 ms 0 00 655 35 0 00 L Stop position 4 byte HH 1h 1 Units 0 2000000000 0 HL LH LL Rotation speed 4 byte HH 1h...

Page 168: ...1 INC 1 Others Not used 0 fixed 0 7 3 6 Exceptional responses The servo motor drive returns an exceptional response if it has not succeed the process specified by a query The message frame is as follows This is common to all FC values Station No 1byte FC 1byte Exceptional code 1byte CRC check 16bit 2byte L H 1 Function code FC field Exceptional responses from slaves are returned as one is set on t...

Page 169: ...ddress not listed in coil data addresses list is specified The address that is listed only for FC 01h in coil data addresses list is specified for FC 05h or 0Fh 03h Incorrect data An abnormal value is specified in the information field When FC 03h or 10h is specified The following value is specified as the no of registers zero odd number or a value exceeding the maximum value A value different fro...

Page 170: ...malodor damage breakage or faults in appearance Note Before checking cables of the servo motor and servo motor drive turn the power off and wait at least five minutes and check that the charge LED is unlit 8 2 Status Display 8 2 1 Alarm Display List In case of alarm the servo motor drive will indicate alarm code on the key pad Refer to below table for the detail Be sure to check the alarm code to ...

Page 171: ... alarm resetting To remove the alarm that is not cleared through alarm resetting remove the cause of the alarm following the method described in 8 3 Troubleshooting Method after or before the power is turned off and then reset the status by turning the power again Alarms cleared through alarm resetting Display Name oc1 Overcurrent 1 oc2 Overcurrent 2 oS Overspeed Hu Overvoltage Ec Encoder communic...

Page 172: ...olutions Wrong servo motor output wiring Correct the wiring of power cables U V and W Check cables visually or through continuity check and replace the defective cable Short circuit or grounding fault in Servo motor output wiring Servo motor insulation fault Measure the insulation resistance Several MΩ or over to ground Failure of servomotor Measure the resistance across cables Several Ω between c...

Page 173: ...3 Overvoltage Display Description of detected alarm The DC voltage inside the servo motor drive exceeds the upper limit Causes and Solutions Causes Solutions The source voltage is too high immediately after power on Check if the source voltage is within the specification limits Insert a reactor if there is a power factor improvement capacitor Unconnected external regenerative resistor or wrong wir...

Page 174: ...otor drive There may be a failure in the internal circuit Causes and Solutions Causes Solutions Failure of servo motor drive Turn the power off then on again If restoration is not obtained replace the servo motor drive 6 Memory Error Display Description of detected alarm The parameter data stored in the servo motor drive is damaged Causes and Solutions Causes Solutions Failure of stored data Initi...

Page 175: ...8 EI Error Display Description of detected alarm There is duplication in allocation of EI input terminals of the servo motor drive Causes and Solutions Causes Solutions The same input signal is allocated to two or more terminals Do not specify the same number among EI signal settings 9 Overload Display Description of detected alarm OL1 Alarm that detects failures such as a locked shaft instantaneo...

Page 176: ...ronment Check and improve the power supply capacity and transformer capacity If the power supply environment is adverse P2 67 alarm detection at undervoltage can be applied to ignore undervoltage detection In this case operation can be continued with the setting of P2 66 flying start at speed control in the event of momentary power failure Undervoltage detection is set at about 200 V by the DC vol...

Page 177: ...28 torque limit The deviation detection width is small Increase P2 69 deviation detection overflow value The servo motor drive is in the P control mode Turn off the P motion signal Low gain Perform gain adjustment Acceleration deceleration of pulse frequency is too acute Increase the acceleration deceleration time 13 Servo motor drive overheat Display Description of detected alarm The temperature ...

Page 178: ...ti circle overflow Display Description of detected alarm The output shaft of the servo motor has rotated 32767 32766 Causes and Solutions Causes Solutions Large amount of servo motor rotation Confirm the amount of rotation of the servo motor Confirm target location 16 Abnormal motor combination Display Description of detected alarm The encoder of the servo motor does not match the selected servo o...

Page 179: ...DA2 2S0 75G 40Ω 50W SDA2 2S1 0G 40Ω 80W The current after external parallel connecting with the resistor 30A SDA2 2T1 5G 25Ω 100W SDA2 2T2 0G 25Ω 100W SDA2 2T3 0G 25Ω 100W The current after external parallel connecting with the resistor 50A SDA2 2T4 0G 25Ω 100W 380V Drive model Internal regenerative resistor specification Max current limit for brake On Off Normal voltage SDA2 4T0 75G 100Ω 80W The ...

Page 180: ...the average value of these two which is 365V R Resistance value of regenerative resistor t Braking time When the value of the regenerative resistor is confirmed you shall confirm its power now P 370 370 R Since the braking status won t last in a long term the actual power can just take a value a little smaller than P in accordance with the braking duty ratio For example if the braking duty ratio i...

Page 181: ... 3 Zixin Road Jiangnan Hi Tech Industrial Park Quanzhou Fujian China Tel 0595 24678267 Fax 0595 24678203 Service Network Website www savch net Qualification Received ISO9001 ISO14001 ISO45001 system certification and CE product certification All rights reserved Subject to change without further notice Sales service contact address ...

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