Shihlin electric SDP Series Manual Download Page 161 | Manualshive

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148

Torque command(%)

Input analog voltage(V)

Before offset voltage correction

After offset voltage correction

The offset voltage is set by PC27

6.2.3.

Torque command smoothing

This parameter is to set the filter time constant of torque command. With a proper filter time
constant value, you can run the servo motor smoothly even if a sudden change occurs. The
parameter description is as follows.

Name

Parameter

code

Setting

range

Unit

Default

value

Control

mode

Torque command filter

time constant

PB19

0~5000

ms

0

T

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159
160
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163
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Summary of Contents for SDP Series

Page 1: ...ns are not followed It indicates that it may cause moderate injury or malfunction of the product if the instructions are not followed Besides for those items remark as CAUTION it may cause bad consequences in some cases please follow the instructions to operate due to its importance Below symbols indicate the items should be followed It indicates the FORBIDDEN items It Indicates the MANDATORY Item...

Page 2: ...the power is on or under operation otherwise it may cause electric shock Do NOT run the equipment when the servo drive front cover is disassembled otherwise exposed the high voltage terminal and charging pins may cause electric shock Except for wiring and regular inspection do NOT open the servo front cover even if the power has been turned off due to a charge may still remain in the components wh...

Page 3: ...th a non fuse breaker 3 Injury Prevention Do NOT apply voltages other than those specified in the specifications to each terminal otherwise a burst or damage may occur Do NOT make mistake when wiring to the terminal Otherwise a burst or damage may occur Do NOT make mistake on the polarity otherwise a burst or damage may occur Do NOT touch the heat sink regenerative resistor of the servo drive serv...

Page 4: ... with Shihlin Electric system service representative if you need keep the product for a long period without using 2 Wiring Do wiring carefully otherwise it may cause error on servo motor Do NOT install phase in capacitors surge absorber and EMI noise filters between the servo drive and servo motor Connect the servo drive and motor correctly terminal U V W otherwise it may cause malfunction of serv...

Page 5: ...r supply Do NOT disassemble repair or modify the equipment Please confirm that the operation signal is off before clear the alarm otherwise the motor might restart immediately and you may get injured Use noise filter to minimize the influence of electromagnetic interference otherwise the electric device nearby might be impacted Do NOT burn or disassemble the servo drive or it may cause hazardous g...

Page 6: ...sassemble the servo motor otherwise you may get electric shock or injured When the power is ON do NOT connect or disconnect the servo drive with motor The built in electromagnetic brake is designed to hold the motor shaft do NOT use for ordinary braking Note the content of this manual may be revised without prior notice Please consult our distributors or download the latest version at http www see...

Page 7: ...aker and fuse specification table 10 2 Installation 11 2 1 Precautions and storage 11 2 2 Installation environment 11 2 3 Installation Direction and Clearances 12 3 Wiring and signal 15 3 1 Connection of power supply and peripheral equipment 15 3 1 1 Peripheral equipment wiring diagram 200V system 15 3 1 2 Peripheral equipment wiring diagram 400V system 16 3 1 3 Description of drive connectors and...

Page 8: ...2 3 8 CN5 battery connector of absolute encoder 73 3 9 Standard wiring instruction 74 3 9 1 Position control mode Pr Mode wiring diagram 74 3 9 2 Position control mode Pt Mode wiring diagram 76 3 9 3 Speed control mode S Mode wiring diagram 77 3 9 4 Torque control mode T Mode wiring diagram 78 3 9 5 1PG wiring diagram 79 3 9 6 10PG wiring diagram 80 3 9 7 10GM wiring diagram 81 3 9 8 20GM wiring d...

Page 9: ...Other precautions 112 5 Running operation 113 5 1 Check items Before Running 113 5 2 Test without load 114 5 2 1 JOG test without load 114 5 2 2 Positioning Test without load 116 5 3 Tuning procedure 118 5 3 1 Tuning method and type 118 5 3 2 One touch Tuning Function 121 5 3 3 Auto tuning function 130 5 3 4 Tuning in manual mode 135 5 3 5 Interpolation mode 137 5 4 Position mode parameter setting...

Page 10: ...mit of speed control mode 159 6 3 5 Gain adjustment of the speed loop 161 6 3 6 Resonance suppression unit 163 6 3 7 Gain switch function 169 6 4 Position control mode 176 6 4 1 External pulse command Pt command 178 6 4 2 Internal position command Pr command 179 6 4 3 Position command smoothing 180 6 4 4 Electronic gear ratio 183 6 4 5 Torque limit of position loop 184 6 4 6 Position loop gain 185...

Page 11: ... 3 Parameter group introduction 259 Table 8 1 Digital input DI descriptions 397 Table 8 2 Digital output DO descriptions 399 9 Communication function 401 9 1 Communication hardware interface and wiring 401 9 2 Communication specifications 404 9 3 Modbus communication protocol 405 9 3 1 ASCII mode 405 9 3 1 RTU mode 411 9 4 Write and read communication parameters 417 10 Troubleshooting 430 10 1 Ala...

Page 12: ...vo motor keyway 480 11 6 Electromagnetic Interference Filter EMI Filter 482 11 7 EMI interference countermeasure 483 12 Features 485 12 1 Motor T N curve S T curve 485 12 2 Overload protection feature 493 13 Absolute servo system 497 13 1 Mitsubishi Absolute Position Detection System 501 13 1 1 Signal description 501 13 1 2 Start procedure 502 13 1 3 Absolute position data transmission protocol 50...

Page 13: ...stor 531 14 3 Table of communication address 532 14 4 Compliance with global standards 537 14 4 1 Safety instructions 537 14 4 2 Professional technicians 537 14 4 3 Compliance with standards 537 14 4 4 Correct use 539 14 4 5 Basic inspection and maintenance 540 14 5 Manual version and revision history 542 ...

Page 14: ...and it also provides the most convenient USB communication function this enable you can rapidly perform parameter setting test operation status monitoring and gain adjustment control by a computer which is installed with Shihlin communication software Shihlin servo provides auto tuning function servo gain can automatically perform adjustment with the mechanical The Shihlin servo is equipped with 2...

Page 15: ...the computer Optional purchase 5 A 50 Pin connector for CN1 6 A 12 pin P D C N L1 L2 R S T U V W terminal block for servo below 1KW 7 A 6 pin P D C N L1 L2 terminal block for1 5KW 3KW servo 8 A 6 pin R S T U V W terminal block for 1 5KW 3KW servo 9 An installation guide 10 Shihlin servo user manual the electric copy can be download from the website 1 3 Product model overview 1 3 1 Servo motor mode...

Page 16: ...6 Encoder type Shihlin servo motor encoder type Code S M Single turn resolution type 200V 24bit 50W 750W 23bit 850W 7KW 200V 24bit 50W 750W 23bit 850W 7KW 400V 23bit 1 8KW 7 5KW Multi turn resolution type 16bit Code 005 010 020 040 075 085 100 200V motor power W 50 100 200 400 750 850 1000 Code 130 150 180 200 300 500 700 200V motor power W 1300 1500 1800 2000 3000 5000 7000 Code 180 290 440 550 7...

Page 17: ...Code Item CE certification Compliant with UL CE certification Code U Coding example Example 1 for a 200W motor low inertia rated speed 3000rpm without brake oil seal keyway single turn encoder CE certified model its model name is as follows SME L02030SAA Example 2 for a 750W motor low inertia rated speed 3000rpm with brake without oil seal with keyway multi turn encoder back side cable UL certifie...

Page 18: ...e uses the English letter K to represent 1000W The example is as follows 020 means 200W 150 means 1500W 300 means 3000W like that 4 Power type input power specification A2 single phase or three phase 200 240 VAC A4 three phase 380 480 VAC 5 Mode code A without full closed loop CN2L C with full closed loop CN2L Example Example 1 A 200W drive single phase or three phase 200 240 VAC with full closed ...

Page 19: ...10020 1500W SDP 150A2C SME M15020 SME L15020 2000W SDP 200A2C SME M20020 SME L20020 3000W SDP 300A2C SME H13015 SME H18015 SME M30020 SME L30020 Note 1 refer to section 1 3 1 for the description of in servo motor model name 400VAC system Servo drive corresponding servo motor 1800W SDP 200A4C SMP H18015 2900W SDP 300A4C SMP H29015 4400W SDP 500A4C SMP H44015 5500W SMP H55015 7500W SDP 700A4C SMP H7...

Page 20: ...o perform function and parameters setting MODE Mode selection 5 add one on the displayed value 6 deduct one from the displayed value SET Press SET button to confirm the setting USB connector Connects the PC and controller RS 485 connector Connects the PC and controller Encoder connector Connects to the motor encoder Control interface 1 controls the external I O 2 connects to PLC Grounding terminal...

Page 21: ...open Note Do not remove the shorts of P1 and P STO terminal RS 485 connector Connects the PC and controller Position feedback connector 1 Linear scale feedback 2 Hall sensor connector Encoder connector Connects to the motor encoder Main circuit power supply Connects R S T to commercial power AC400 480V 50 60HZ power Control board power supply Use DC24V power supply to terminal Servo motor output C...

Page 22: ...I signal to use analog voltage command or internal speed command 7 groups of register Torque mode T The drive receives torque command which is provided by analog voltage command or internal torque command and runs the motor to the target torque Multi mode Pt S Pt S is switched mutually via the signal of DI LOP Pt T Pt T is switched mutually via the signal of DI LOP Pr S Pr S is switched mutually v...

Page 23: ...ame Fuse Breaker SDP 010A2C 5A 5A SDP 020A2C 5A 5A SDP 040A2C 10A 10A SDP 075A2C 20A 15A SDP 100A2C 20A 15A SDP 150A2C 40A 20A SDP 200A2C 50A 30A SDP 300A2C 70A 30A Specification chart of Shihlin servo drive fuse and breaker 400V Drive model name Fuse Breaker SDP 200A4C 30A 20A SDP 300A4C 50A 30A SDP 500A4C 90A 60A SDP 700A4C 120A 70A ...

Page 24: ...s Do not congest vent of the drive otherwise breakdown may be occurred Do not drop or strike the drive Do not try to operate the drive if something has been damaged Refer to section 10 1 and 11 3 for drive and motor storage precautions 2 2 Installation environment The applicable ambient temperature for Shihlin drive is between 0 and 55 If it exceeds 45 please place the drive in a well ventilated o...

Page 25: ...tallation Direction and Clearances Precautions Mount the servo drive in the correct direction according to the requirement Otherwise it may cause malfunction For better ventilation and cooling when installing Shihlin AC servo drive there must be sufficient clearance space between its adjacent objects and the wall or overheating may result in machine malfunction Do not congest the ventilation holes...

Page 26: ...n order to have adequate air flow for ventilation you must follow the suggested clearances when installing one or more servo drives refer to the following diagrams 20mm 0 8 in Min 20mm 0 8 in Min 50mm 2 0 in Min 50mm 2 0 in Min ...

Page 27: ...14 40mm 1 6 in Min 10mm 0 4 in Min 10mm 0 4 in Min 10mm 0 4 in Min 40mm 1 6 in Min 100mm 4 0 in Min 100mm 4 0 in Min FAN FAN ...

Page 28: ...r Non fuse breaker NFB R S T L1 L2 EMI filter CN3 RS485 connector Communication software CN4 USB communication connector L1 L2 CHARGE SDP 010A2C 1 When external regenerative resistor is used P and C connect to the resister P and D are left open 2 When internal regenerative resistor is used P and C are left open P and D are short circuited connected 3 when external regenerative brake unit is used P...

Page 29: ...connector L1 L2 CHARGE SDP 010A2C 1 When external regenerative resistor is used P and C connect to the resister P and D are left open 2 When internal regenerative resistor is used P and C are left open P and D are short circuited connected 3 when external regenerative brake unit is used P and N connect to the brake module P C and P D are left open For detailed EMI filter content please refer to se...

Page 30: ...esistor Short circuit P and D contacts and P and C are left open Ground terminals Connect to the ground wires for the power and servo motor which is in the green screw on the outside of the controller P main circuit terminal N main circuit terminal P N If brake unit is used you should connect its terminal to the P terminal of servo drive and connect its to the N terminal of servo drive The brake u...

Page 31: ...uch R S T and U V W power cables since the capacitance inside the servo drive may still contain a dangerously large amount of electric charge Wait until the charging light is off before touching 3 If the connection cable for encoder is not long enough use a shielded twisted pair signal cable and the length should be within 20 meters 65 62 ft If it is over 20 meters 65 62 ft choose a signal cable w...

Page 32: ...vo motor cannot be connected to commercial power supply otherwise it may cause malfunction The Shihlin servo drive power wiring is three phase power In the following diagram Power ON is a contact and Power OFF and Alarm Processing are b contacts 1MC a is self retaining power supply and 1MC is electromagnetic contactor 200V Series Motor U V W DC24V ALR_RY CN1 DO1 41 SG 50 Servo Drive R S T L1 L2 No...

Page 33: ...20 400V series DC 24V Power supply Note terminal P N cannot be grounded ...

Page 34: ... Without brake 100W SME L00530 SME L01030 200W SME 02030 400W SME 04030 750W SME 07530 The following table shows the signal of the UVW connector on the low high inertia motor PIN Signal Wire color 1 U Red 2 V White 3 W Black 4 PE Green yellow green is the bottom 5 B1 Black for motor with electromagnetic brake 6 B2 Black for motor with electromagnetic brake ...

Page 35: ...high inertia motor Drive capacity Motor model 1KW SME H08515 SME 10020 1 5KW SME 15020 2KW SME L20020 3KW SME H13015 SME H18015 SME L30020 U V W connector male specifications of middle inertia motor Drive capacity Motor model 2KW SME M20020 3KW SME M30020 ...

Page 36: ...ia motor PIN Signal A NC B U C V D W E PE F B1 for motor with electromagnetic brake G B2 for motor with electromagnetic brake H NC U V W connector male specifications of high inertia motor 400V Drive capacity Motor model 2KW SMP H18015 3KW SMP H29015 5KW SMP H44015 SMP H55015 7KW SMP H75015 ...

Page 37: ...ons of high inertia motor 400V Drive capacity Motor model 2KW SMP H18015 3KW SMP H29015 5KW SMP H44015 SMP H55015 7KW SMP H75015 The following table shows the signal of brake connector on high inertia motor 400V PIN Signal 1 DC24V 2 PE Note the wiring above is the connector from the motor itself Please refer to section 1 3 1 for description of ...

Page 38: ...AWG10 6 AWG10 SDP 700A4C Drive model Encoder wiring AWG Specification Standard length Number of wires Size mm AWG SDP 010A2C UL1332 2 meters 7 wires AWG24 SDP 020A2C SDP 040A2C SDP 075A2C SDP 100A2C SDP 150A2C SDP 200A2C SDP 200A4C SDP 300A2C SDP 300A4C SDP 500A4C SDP 700A4C Please use the recommended specification or higher to avoid danger The shield terminal should be grounded Using shielded twi...

Page 39: ...ng length should be less than 30 meters If the wiring length exceeds 30meters please consider the voltage drop when selecting wire gauge According to UL C UL CSA specifications you should use UL certified copper wires with 60 C or higher rated temperature ...

Page 40: ...Current control PWM ENC Encoder signal processing Current signal processing A D Servo synchronization parameter adjustment Interface processing Display D A External speed External torque Position pulse Digital input Digital output Analog output monitoring A B Z output RS 485 USB P D C External regenerative resistor N CN5 750W 3KW CN2L Absolute encoder battery box Linear scale CN6 STO Note models b...

Page 41: ...xible communication between the servo drive and the controller The 12 user defined DIs are PD02 PD09 and PD21 PD24 and the 6 DOs are PD10 PD14 and PD26 In addition it provides differential output encoder A A B B Z Z signals analog torque command input and analog speed command input its pin diagram is as follows 1 CN1 connector female Front view Pin assignment 1 26 25 50 ...

Page 42: ...29 2 CN1 connector male Front view Side view Rear view CN1 wiring terminal on the back of CN1 1 26 50 25 ...

Page 43: ...1 36 LB Encode B phase pulse 37 LBR Encode B phase pulse 13 DI12 Digital input 12 14 DI1 Digital input 1 38 LZ Encode Z phase pulse 39 LZR Encode Z phase pulse 15 DI2 Digital input 2 16 DI3 Digital input 3 40 OP Encode Z phase pulse open collector 41 DO1 Digital output 1 17 DI4 Digital input 4 18 DI5 Digital input 5 42 DO2 Digital output 2 43 DO3 Digital output 3 19 DI6 Digital input 6 20 DI7 Digi...

Page 44: ...tively achieve the shielding and grounding functions The shielding of CN1 encoder connector wiring instruction is as follows 1 Pull out the metal shielding surround and fix it with a copper sheet 2 Screw the big metal case to fix the cooper sheet make sure the copper sheet is completely covered the extended metal sheet and it is contact with the metal part of the CN1 connector 3 Put it into the co...

Page 45: ...32 4 The last step is to fasten the screw of housing ...

Page 46: ...t VC VLA CN1 2 It applies voltage of DC 10V 10V between VC LG In S mode the motor runs the PC12 setting speed at 10V It applies voltage of DC 10V 10V between VLA LG In T mode the motor runs the PC12 setting speed at 10V S T Ground for analog input signal LG CN1 3 4 28 31 It s common pin of TLA TC VC VLA OP MO1 MO2 VCC And each pin is connected internally ALL Analog torque command limit TC TLA CN1 ...

Page 47: ...A13 setting HNG CN1 11 HPP CN1 32 HPG CN1 33 open collector power input OPC CN1 7 When pulse signals input is open collector type this pin supplies the positive polarity of DC24V ALL Digital power ground SG CN1 24 CN1 25 CN1 50 1 It s common pins for input signal such as SON EMG 2 Each pin is connected internally and separated from LG ALL Analog monitoring 1 MON1 CN1 29 To output voltage between M...

Page 48: ...ernal DC24V power or VDD terminal It s forbidden to connect them both at the same time ALL Common pin of digital output DOCOM CN1 47 It s common pin of output signal for Sink type and Source type When in Sink type DOCOM connects to SG or negative polarity of external 24V power When in Source type DOCOM connects to VDD or positive polarity of external 24V power Refer to section 3 3 4 for detailed w...

Page 49: ...on LZ Encoder Z phase pulse differential line drive RES Reset LZR EMG External emergency stop LA Encoder A phase pulse differential line drive LOP Control mode switch LAR VC Analog speed command LB Encoder B phase pulse differential line drive VLA Analog speed limit LBR TLA Analog torque limit VCC Positive polarity of 15V power output TC Analog torque command VDD Positive polarity of 24V internal ...

Page 50: ...11 1 The circuit is still on when set PD20 to XXX1 ALL Proportion control PC The speed controller will switch from proportion integral control to proportion control when PC signal is ON When servo motor stops any external pulse will generate torque to adjust the position shift Once the positioning is done stopped and machine shaft is locked the PC signal will be on and the unnecessary torque adjus...

Page 51: ... PA05 setting PC25 is valid 1 1 If TLA PC25 setting PC25 is valid If TLA PC25 setting TLA is valid ALL Speed option 1 SP1 Speed control mode which is to select the speed command When SP3 is used make it valid by setting internal parameters Parameter setting Input signal Speed command SP3 SP2 SP1 When speed option SP3 is not used initial status 0 0 Speed analog command VC 0 1 Inner speed command 1 ...

Page 52: ...control mode which is to select the speed limit Parameter setting Input signal Speed limit SP 3 SP 2 SP 1 When speed option SP3 is not used initial status 0 0 Analog speed limit VLA 0 1 Inner speed command 1 1 0 Inner speed command 2 1 1 Inner speed command 3 When speed option SP3 is valid 0 0 0 Analog speed limit VLA 0 0 1 Inner speed command 1 0 1 0 Inner speed command 2 0 1 1 Inner speed comman...

Page 53: ... servo locked 0 1 CCW 1 0 CW 1 1 Stop servo locked 1 If both ST1 and ST2 are ON or OFF during operation the servo will be decelerated to stop and be locked The decelerate time is PC18 2 If analog speed command VC is 0V it will not generate servo lock torque when start the servo S Reverse rotation activated ST2 Forward rotation option RS1 To select the generation direction of servo motor torque the...

Page 54: ...ting it sets 4 kinds of electronic gear ratios numerator CM1 and CM2 cannot be used in the absolute position detection system Input signal Electronic gear numerator CM2 CM1 0 0 PA06 CMX 0 1 PC32 CMX2 1 0 PC33 CMX3 1 1 PC34 CMX4 Pt Pr Electronic gear option 2 CM2 Clear CR Turn CR on to clear the position control counter error pulses on its rising edge When the PD18 is set to xxx1 the pulse is alway...

Page 55: ...ut In position mode external pulse input command will be invalid when INHP is on Pt Control mode switch LOP In position speed control switching mode LOP is used to select control mode LOP Control mode 0 Position 1 Speed In speed torque control switch mode LOP is used to select control mode LOP Control mode 0 Speed 1 Torque In torque position control switch mode LOP is used to select control mode L...

Page 56: ...y POS1 6 is valid Pr Motor stop command Pr STOP In Pr mode if STOP is on motor will stop Pr E Cam engaging control CAM To perform the E Cam engagement control refer to the setting method of u and z value in PC66 Pr E Cam phase alignment ALGN When ALGN is enabled PC82 bit0 1 PC82 bit1 1 the servo will perform the alignment immediately if this DI is on Pr Gantry control switch GTRY After this DI is ...

Page 57: ...d 1 EV1 The event trigger Pr command 1 4 the status change of EV1 EV4 is used as a trigger event Pr Event trigger Pr command 2 EV2 Event trigger Pr command 3 EV3 Event trigger Pr command 4 EV4 Absolute system DI function 1 ABSE When ABSE is on servo will enter ABS mode and enable ABSQ ABSC ABSR ABSD ABSC When ABSE is on the functions of DI4 DO2 DO3 are no longer the ones assigned by the parameter ...

Page 58: ... valid only when DI ABSE is ON ALL Torque command option 1 TC1 Torque command NO Input signal Command source Description TC2 TC1 T1 0 0 Analog command The voltage between TC and LG the range is 10V T2 0 1 Internal register parameter PC75 T3 1 0 PC76 T4 1 1 PC77 T Torque command option 2 TC2 Pt Pr switch Pt Pr Switch between Pt and Pr mode Pt Pr OFF Pt mode Pt Pr ON Pr mode Pt Pr Note 1 when DI ABS...

Page 59: ...eed attained SA SA is on when servo motor speed is nearly reached the setting The SA keeps on when setting speed is 50r min or below S Home moving completion HOME Home is on after the completion of homing moving Pr Torque limiting control TLC When the generated torque reaches the level set by internal torque limit PA05 or analog torque limit TLA TLC is on TLC turns off when SON is OFF Pr Pt S Spee...

Page 60: ...ack pulse exceeds the software positive limit PF86 setting value SWPL is ON Otherwise SWPL is OFF Pr Software negative limit SWNL When the motor feedback pulse number is less than the software negative limit PF87 setting value SWNL is ON Otherwise SWNL is OFF Pr Absolute system Warning ABSW The related alarms of absolute encoder will be output by ABSW ALL Control mode switch status LOPM When the s...

Page 61: ...ct when ABSR is on This output is valid only when DI ABSE is on ALL Capture complete output CAP_OK The Capture function is executed successfully ALL E Cam designated area output 1 CAM_AREA1 To output the angle range specified by the E Cam table Pr E Cam designated area output 2 CAM_AREA2 To output the angle range specified by the E Cam table Pr Software DO 1 S_DO0 To output bit00 of PD33 ALL Softw...

Page 62: ... To output bit11 of PD33 ALL Software DO 13 S_DOC To output bit12 of PD33 ALL Software DO 14 S_DOD To output bit13 of PD33 ALL Software DO 15 S_DOE To output bit14 of PD33 ALL Software DO 16 S_DOF To output bit15 of PD33 ALL ...

Page 63: ...x03 PC Proportion control DI3 0x04 TL Torque limit option DI4 DI11 DI11 DI11 DI11 0x05 TL1 Inner torque limit option DI11 0x06 SP1 Speed option 1 DI6 DI6 DI2 DI2 DI11 DI11 DI6 0x07 SP2 Speed option 2 DI2 DI2 DI2 0x08 SP3 Speed option 3 0x09 ST1 Forward rotation activated DI3 DI3 DI3 0x0A ST2 Reverse rotation activated DI4 DI4 DI6 0x0A RS1 Forward rotation option DI4 DI4 DI6 DI4 0x09 RS2 Reverse ro...

Page 64: ...DI7 DI7 0x13 POS1 Position command 1 DI2 DI2 DI2 0x14 POS2 Position command 2 DI3 DI12 DI12 0x15 POS3 Position command 3 DI8 0x16 CTRG Position command trigger DI4 DI4 DI4 0x18 LSP Limit of forward rotation DI9 DI9 DI9 DI9 DI9 DI9 DI9 DI9 DI9 0x19 LSN Limit of reverse rotation DI10 DI10 DI10 DI10 DI10 DI10 DI10 DI10 DI10 0x1A POS4 Position command 4 DI11 0x1B POS5 Position command 5 DI12 0x1C POS6...

Page 65: ...22 ABSE Absolute system DI function 1 0x23 ABSC Absolute system DI function 2 0x24 STOP stop command in Pr mode 0x25 CAM E Cam engagement 0x26 ALGN E Cam alignment 0x27 GRTY Gantry synchronous switch 0x28 FHS Full closed loop control switch 0x29 FEC Full closed loop error clearance 0x2A MAP Linear compensation switch 0x2D TC1 Torque command option 1 0x2E TC2 Torque command option 2 0x2F Pt Pr Pt P...

Page 66: ...attained DO1 DO1 DO1 DO1 0x04 HOME Home moving completion 0x05 TLC Torque limiting control DO4 DO4 DO4 DO4 DO4 DO4 DO4 DO4 0x05 VLC Speed limiting control DO4 DO4 DO4 DO4 0X06 MBR Electromagnetic brake interlock DO3 DO3 DO3 0x07 WNG Warning DO3 DO1 DO3 DO3 0x08 ZSP Zero speed detection DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 0x09 CMDOK Position command completion output DO3 DO3 DO3 0x0A OLW Overload o...

Page 67: ...F ABSW Absolute system warning Delta 0x10 ABSV Absolute system data vanish Mitsubishi 0x11 CAP_O K Capture complete output 0x12 CAM_A REA1 E Cam designated area output 1 0x13 CAM_A REA2 E Cam designated area output 2 0x17 LOPM Mode switch status 0x18 PrtM Pt Pr switch status ...

Page 68: ...are DO3 0x23 S_DO3 Software DO4 0x24 S_DO4 Software DO5 0x25 S_DO5 Software DO6 0x26 S_DO6 Software DO7 0x27 S_DO7 Software DO8 0x28 S_DO8 Software DO9 0x29 S_DO9 Software DO10 0x2A S_DOA Software DO11 0x2B S_DOB Software DO12 0x2C S_DOC Software DO13 0x2D S_DOD Software DO14 0x2E S_DOE Software DO15 0x2F S_DOF Software DO15 ...

Page 69: ...3 4 Interface wiring diagram 1 DI in SINK type With internal power supply With external power supply 3 5mA when with transistor R About 6 8kΩ Servo Drive R About 6 8kΩ Servo Drive Do not connect VDD and COM ...

Page 70: ...ype of DI all DI input signals are in source type Output in source type is not available With internal power supply With external power supply Servo Drive 3 5mA when with transistor R About 6 8kΩ Servo Drive 3 5mA when with transistor R About 6 8kΩ ...

Page 71: ...ess DO in Source type Relay Load With internal power supply Relay Load With external power supply Servo Drive Wrong diode polarity will cause servo drive breakdown Servo Drive Wrong diode polarity will cause servo drive breakdown DO in Sink type Relay load With internal power supply Relay load With external power supply Servo Drive Wrong diode polarity will cause servo drive breakdown Servo Drive ...

Page 72: ...nd Servo Drive Controller Note the upper limit of the VC and TC voltage is 10V If the voltage is too high the internal transistor will be burned MON1 MON2 analog output monitoring Servo Drive Output 10V Max 1A 1mA full scale Note the analog output voltage for MON1 MON2 is 10V 5 Encoder position output ...

Page 73: ...detection circuit for open collector type is 35mA Open collector type Output by OP Open collector type Output by photocoupler Servo Drive Servo Drive photocoupler The maximum output current of the pulse detection circuit for differential type is 20mA Line driver type Output by OP Line driver type Output by photocoupler Servo Drive Servo Drive High speed photocoupler ...

Page 74: ...pe NPN With internal power supply Open collector type NPN With external power supply Servo Drive Controller 3 5mA with transistor The maximum input pulse frequency is 200kpps R about 1 2kΩ The maximum input pulse frequency is 200kpps R about 1 2kΩ Servo Drive The maximum input pulse frequency is 200kpps R about 1 2kΩ The maximum input pulse frequency is 200kpps R about 1 2kΩ Controller Do not conn...

Page 75: ...ransistor Transistor Transistor The maximum input pulse frequency is 200kpps R about 1 2 kΩ 2kΩ Transistor Make sure an external resistor is connected in order to avoid burning the drive DC24V R 1 2KΩ 2KΩ 1 4W above DC12V R 510Ω 820Ω 1 4W above DC5V R 120Ω 200Ω 1 4W above Controller Do not connect VDD and COM Servo Drive Transistor Transistor Transistor Transistor The max input pulse frequency is ...

Page 76: ... Differential Line Driver type Controller Servo Drive The maximum input pulse frequency is 4Mpps Metal housing Note 1 It is recommended to use a shielded twisted pair cable for PP PG and NP NG connection ...

Page 77: ...4 PD10 PD14 and PD26 separately You can input the DI code or DO code in the corresponding parameters to set its function Below table lists DI DO signal its corresponding CN1 Pin and parameters DI CN1 Pin Signal name Parameter CN 14 DI1 PD 02 CN 15 DI2 PD 03 CN 16 DI3 PD 04 CN 17 DI4 PD 05 CN 18 DI5 PD 06 CN 19 DI6 PD 07 CN 20 DI7 PD 08 CN 21 DI8 PD 09 CN 22 DI9 PD 21 CN 23 DI10 PD 22 CN 12 DI11 PD...

Page 78: ...iew CN2 signal list of incremental absolute encoder Pin Pin marking Signal 1 3 Vcc 5V Encoder 5V power supply 2 GND Encoder ground terminal 4 GNDB Battery ground terminal 5 Vcc 3 6V Battery 3 6V power 6 ENCP Encoder communication 7 ENCN Encoder communication 8 CLKP Linear motor EnDat 2 2 communication note 9 CLKN Linear motor EnDat 2 2 communication note 10 NC Casing Shielding Shielding Note pleas...

Page 79: ...rive capacity Motor model 100W SME L00530 SME L01030 200W SME 02030 400W SME 04030 750W SME 07530 1 2 3 4 5 6 7 8 9 Pin Pin marking Motor model 1 2 3 Vcc 3 6V Battery power 3 6V 4 GNDB Battery ground terminal 5 ENCN Encoder communication 6 ENCP Encoder communication 7 Vcc 5V Encoder 5V power supply 8 GND Encoder ground terminal 9 Shielding Shielding ...

Page 80: ... 1KW SME H08515 SME 10020 1 5KW SME 15020 2KW SME 20020 3KW SME H13015 SME H18015 SME 30020 Pin No Pin marking Signal A GNDB Battery ground terminal B Vcc 5V Encoder 5V power supply C D ENCP Encoder communication E ENCN Encoder communication F GND Encoder ground terminal G H Vcc 3 6V Battery power 3 6V I Shielding Shielding ...

Page 81: ...5 SMP H55015 7KW SMP H75015 Pin No Pin marking Signal 1 ENCP Encoder communication 2 ENCN Encoder communication 3 4 Vcc 5V Encoder 5V power supply 5 GNDB Battery ground terminal 6 Vcc 3 6V Battery power 3 6V 7 8 9 GND Encoder ground terminal 10 Shielding Shielding Note the wiring above is the connector from the motor itself Please refer to section 1 3 1 for description of ...

Page 82: ...Quick connector Pin No Military connector Pin No Military connector 400V pin No 1 3 Vcc 5V Encoder 5V power supply 7 B 4 2 GND Encoder ground terminal 8 F 9 4 GNDB Battery ground terminal 4 A 5 5 Vcc 3 6V Battery power 3 6V 3 H 6 6 ENCP Encoder communication 6 D 1 7 ENCN Encoder communication 5 E 2 Casing Shielding Shielding 9 I 10 ...

Page 83: ...he connector are as follows Pin definition of CN2L full closed loop connector CN2L Pin NO Pin marking Function 1 Z Z phase input 2 Z Z phase input 3 B B phase input 4 B B phase input 5 A A phase input 6 A A phase input 7 GND GND 8 Temp Linear motor temperature detection 9 Temp Linear motor temperature detection 10 HALL_U Hall sensor U phase input 11 HALL_V Hall sensor V phase input 12 HALL_W Hall ...

Page 84: ... long distance transmission and enables you to connect multiple servo drives simultaneously Definition of CN3 connection port Pin NO Pin marking Function 1 RS 485 B Data are transmitted in differential line driver Line driver B 2 RS 485 A Data are transmitted in differential line driver Line driver A 3 GND Signal GND terminal 4 GND Signal GND terminal NOTE 1 For RS 485 communication method please ...

Page 85: ...e and perform parameter setting status monitoring test operation and other actions by using Shilin servo communication software Mini USB is a common component in the market and very easy to buy which greatly increases the convenience The following table lists Mini USB standard pin assignment Pin NO Pin function 1 5V 2 D 3 D 4 NC 5 GND 1 2 3 4 5 Mini A 1 2 3 4 5 Mini B 4 2 3 1 Type A 1 2 3 4 Type B...

Page 86: ...ery box for absolute encoder is required CN5 is battery connector you can set related parameter after the battery is connected The picture above is wrong The following table shows the standard pin assignment of CN5 Pin NO Pin function Description 1 Vcc 3 6V Battery 3 6V power 2 GND Battery GND terminal ...

Page 87: ...ause damage or abnormal operation The polarity must be correct otherwise it may cause damage or abnormal operation The polarity of the surge absorbing diode which is installed on the output controlling DC relay cannot be reversed otherwise the alarm signal and emergency stop protection circuit will be disabled The electric device nearby the servo drive may have electromagnetic interference please ...

Page 88: ...g Note4 if HEIDENHAIN absolute communication protocol is applied you should connect servo to all CN2 Pin6 9 Note5 there is no L1 L2 for 440V system please connect external DC24V power to the front panel sign position CN1 VCC TLA LG 1 26 27 3 4 28 31 2 5KΩ 5KΩ SG 24 25 50 USB servo communication software DI11 12 DI12 13 POS4 POS5 RES POS2 POS1 SON CTRG CR EMG LSP LSN POS3 Note 1 VDD DO2 DO1 DO5 DO4...

Page 89: ... LSP LSN SG 24 25 50 PG NP NG PP 9 6 5 8 CN1 SD VDD DO2 DO1 DO5 DO4 DO3 RA1 RA1 RA3 RA2 RA5 RA4 CN1 48 42 41 45 44 43 RA6 DO6 46 INP WNG ZSP RD TLC ALM DOCOM 47 SG 24 25 50 MON1 LG MON2 SD 29 30 3 4 28 31 CN1 Note 4 Encoder A dIfferential phase Encoder Z differential phase Encoder B dIfferential phase Z phase open collector signal Output voltage 10V Output voltage 10V Note1 if external power suppl...

Page 90: ...85 A RS 485 B GND 1 2 3 4 CN6 STO MON1 LG MON2 SD 29 30 3 4 28 31 CN1 1 2 Servo Drive There phase AC200V 240V Note 5 regenerative resistor note2 Servo motor less than 50m Note 4 Encoder A dIfferential phase Encoder Z differential phase Encoder B dIfferential phase Z phase open collector signal servo communication software Output voltage 10V Output voltage 10V Note1 if external power supply is appl...

Page 91: ...RS 485 B GND 1 2 3 4 3 4 28 31 Servo Drive There phase AC200V 240V Note 5 regenerative resistor note2 Analog torque command 10V max torque Note 1 less than 10m digital output common terminal note3 Note1 if external power supply is applied do not connect VDD and COM Note2 please refer to user manual for description of regenerative resistor and brake control unit Note3 please refer to user manual fo...

Page 92: ...0010 if preset pulse type is applied Note3 please refer to user manual for regenerative resistor and brake control unit wiring Note4 please refer to user manual for digital output DO of sink type or source type wiring 24 25 50 SG SG 24 25 50 A F X2N PLC SG SG LSP DI7 DI6 DI5 DI4 DI3 DI2 DI1 LSN DI8 CN1 22 20 19 18 17 16 15 14 23 21 SG 24 25 50 DI11 12 DI12 13 TL1 CDP RES PC CM1 SON TL CR EMG LOP L...

Page 93: ...P RD TLC ALM DOCOM 47 SG 24 25 50 Encoder CN2 R L1 L2 T S MC MCCB P PE D W V U C SD N 24 25 50 stop abnormal reset homing LSP LSN extend connect cable Servo Drive There phase AC200V 240V regenerative resistor note3 Servo motor less than 10m digital output common terminal note4 Note1 if the DC24V power provided by PLC is applied the VDD and COM cannot be short circuited Note2 due to A F X2N 10PG pr...

Page 94: ...45 44 43 RA6 DO6 46 DOCOM 47 SG 24 25 50 Encoder CN2 R L1 L2 T S MC MCCB P PE D W V U C SD N 48 DC 24V CN1 24 25 50 Servo Drive start stop homing Manually reverse rotation General input Metal casing There phase AC200V 240V regenerative resistor note 3 Servo motor TL1 CDP RES PC CM1 SON TL CR EMG LOP LSP LSN INP WNG ZSP RD TLC ALM digital output common terminal note 4 Note1 if the DC24V power provi...

Page 95: ... RA6 DO6 46 DOCOM 47 SG 24 25 50 Encoder CN2 R L1 L2 T S MC MCCB P PE D W V U C SD N DC 24V VDD 48 Manually forward rotation DOG LSP LSN start stop homing Manually reverse rotation General input General input Y axis CON3 Servo Drive There phase AC200V 240V regenerative resistor note 3 Servo motor TL1 CDP RES PC CM1 SON TL CR EMG LOP LSP LSN Metal casing less than 10m INP WNG ZSP RD TLC ALM digital...

Page 96: ...O6 46 DOCOM 47 SG 24 25 50 Encoder CN2 R L1 L2 T S MC MCCB P PE D W V U C SD N 3 4 28 31 Homing Reverse rotation command Servo Drive There phase AC200V 240V regenerative resistor note3 Servo motor Metal casing TL1 CDP RES PC CM1 SON TL CR EMG LOP LSP LSN INP WNG ZSP RD TLC ALM less than 10m digital output common terminal note4 Note1 if the DC24V power provided by PLC is applied the VDD and COM can...

Page 97: ... 12 DI12 13 DO2 DO1 VDD DO5 DO4 DO3 RA1 RA3 RA2 RA5 RA4 CN1 42 41 48 45 44 43 RA6 DO6 46 DOCOM 47 SG 24 25 50 Note3 VDD OPC 48 7 Encoder CN2 R L1 L2 T S MC MCCB P PE D W V U C SD N 24 25 50 Metal casing Servo Drive There phase AC200V 240V regenerative resistor note4 Servo motor TL1 CDP RES PC CM1 SON TL CR EMG LOP LSP LSN less than 10m INP WNG ZSP RD TLC ALM digital output common terminal note5 No...

Page 98: ...ays the monitoring values parameter numbers setting values etc MODE key It switches the display among monitoring mode parameter mode and alarm mode When writing parameter this key is use as shift function UP key scroll up the parameter code or setting value Down key scroll down the parameter code or setting value SET Key displays and stores the parameter setting value Charge LED indicator The Char...

Page 99: ...l display process Initial screen Function Reference Status monitoring This field is displayed after the power is turned on Section 4 3 One touch gain tuning function Section 4 4 Alarm display Section 4 5 In diagnosis mode it displays external IO signal DO force output JOG operation test positioning VC automatic deviation correction firmware version and so on Section 4 6 Displays and sets the basic...

Page 100: ...sis Basic parameter Gain filter parameter Extension parameter DI DO setting parameter Pr path parameter 1 Pr path parameter 2 Linear motor parameter Displays and sets Pr path parameter 1 Displays and sets Pr path parameter 2 Displays and sets Linear motor parameters ...

Page 101: ...s negative symbol is displayed on the leftmost of LED Examples Examples are listed in the following table Item Status Display method 7 segment LED display Motor rotation speed Forward rotation at 2500r min Reverse rotation at 3000r min Load to motor inertia ratio 15 5times Motor feedback pulse number High 5 digit The value is 1234567890 High 5 digit 1234 5 Motor feedback pulse number low 5 digit T...

Page 102: ...lse Motor feedback pulse number low 5 digit before E Gear ratio Ex if the value is 123456789 pulse it displays 56789 Note 1 99999 99999 Input number of pulse commands High 5 digit before E Gear ratio CPH I pulse Pulse number of commands input High 5 digit before E Gear ratio If the value is 123456789 pulse it displays 1234 Note 1 21474 21474 Input number of pulse commands low 5 digit before E Gear...

Page 103: ...er E Gear ratio E O pulse Deviation number between command input pulse and feedback pulse after E Gear ratio It displays the last 5 digits of the actual value 99999 99999 Command input pulse frequency CPF kHz External command input pulse frequency 6000 6000 Current motor speed r rotary motor rpm linear motor mm s Displays current motor feedback speed 6000 6000 Analog speed command limit voltage F ...

Page 104: ...to motor inertia ratio dC rotary motor times linear motor Kg Rotary motor it displays load motor inertia ratio Linear motor It displays load linear motor mover a total weight of load 0 0 300 0 Instantaneous torque T It displays the Instantaneously generated torque Taking the rated torque as 100 the generated torque is displayed in real time 0 100 Regenerative load ratio L It indicates the power ra...

Page 105: ...999 99999 The absolute pulse number relative to encoder Z phase ZP pulse The absolute pulse number relative to encoder Z phase and Z phase is 0 It is 5000 or 4999 pulses when the motor rotates in the forward or reverse direction as below picture shows 4999 5000 Drive capacity buffer residual current drC A It shows the remaining current value of the drive 0 the maximum output current of this drive ...

Page 106: ...ent motor speed Analog torque command limit voltage Torque Analog torque command limit voltage Torque position Analog torque command limit voltage motor feedback pulse number low 5 digit 4 4 One touch Tuning Function Name Panel display Content One touch Tuning One touch tuning function can be operated when the servo is on this screen You can refer to section 5 3 2 for detailed content 4 5 Alarm mo...

Page 107: ... is abnormal pulse control AL 07 The 8th alarm in the past is excessive position deviation AL 08 The 9th alarm in the past is serial communication abnormal AL 09 The 10th alarm in the past is overload 2 AL 10 Function of panel display when alarm occurs A the screen can show the current alarm in any mode B other contents can still be displayed when an alarm occurs Its fourth LED decimal point will ...

Page 108: ...he I O signal can be changed by PD02 PD09 DO forced output DO signal can be forced ON OFF JOG test operation When there is no command from an external device JOG operation can be executed Positioning test operation When there is no command from external devices positioning operation can be executed This operation cannot be performed with the display panel it need connect to the communication softw...

Page 109: ... version of the SERVO software Software version High XX It indicates the subversion of SERVO software The use of the diagnosis mode will be introduced in detail as follows 4 6 1 External I O signal indicator This display is to check the ON OFF status of SERVO AMP digital I O signals 1 Operation It indicates the screen after power on You can switch to diagnostic screen by pressing MODE key Press UP...

Page 110: ...ndicate The upper part of each segment is the input signal DI1 DI10 and the lower part is the output signal DO1 DO6 OP and the input signal DI11 DI12 Take the above picture as example DI1 DI8 DO1 DO5 are in ON status DI9 DI12 DO6 and OP are in OFF status ...

Page 111: ...ON OFF This function is applicable in output signal wiring inspection etc Ensure that no alarm occurs and there is no external command Ensure that SON SG is open circuited when testing Operation It indicates the display screen after power on You can switch to diagnostic mode by pressing MODE key ...

Page 112: ... This part is always ON It indicates output signal ON OFF The content indicates the external I O output signal are the same Press MODE button once Move to the upper part of CN1 42 DO2 Press UP key once DO2 will be ON CN1 42 and SG are conductive Press DOWN key once DO2 will be off Press and hold SET button for over 2 seconds ...

Page 113: ...following sequence and press the MODE button to show the diagnosis screen Press UP button for 3 times Press and hold SET button for more than 2 seconds This screen shows and then execute JOG operation The LED flicks when switching to test operation mode 1 Operation and Running To perform JOG operation you should short the circuit between VDD and COM if internal power supply is used between EMG SG ...

Page 114: ... to section 4 3 for status display details In JOG operation mode the UP Down button cannot change status display 3 JOG operation completion During JOG operation you can turn off the power once or press and hold the SET button in the test operation screen for more than 2 seconds to exit the JOG operation Please refer to the description of step 3 in section 5 2 1 to understand how to use Shihlin ser...

Page 115: ...uring operation When the communication software enters the positioning test mode the panel is showing the following figure this screen display means the servo enters test positioning mode LED blinks Refer to section 5 2 2 for detailed positioning test operation instruction ...

Page 116: ...自動offset 按SET鍵1次數字0開始閃爍電源開啟時進入速度模式狀態顯示參數 MODE 按MODE鍵2次 UP 此時按UP鍵1次數字0 SET 按SET鍵1次數字1改為0 變更為數字1 自動offset設定完成 When the power is on it displays speed mode status parameter Press MODE key twice Press UP button 6 times and enters automatically offset Press SET key once the digit 0 starts blinking Press UP key once to change the digit from 0 to 1 Press SET key once to change the digit from 1 to 0 a...

Page 117: ... RS 485 or USB Positioning test operation can be performed only when there is no external command and no alarm occurs Operation Running When using inertia estimation operation ensure the motor is correctly wired and select Auto gain adjustment function in Shihlin communication software The instruction for auto gain adjustment function is as follows 1 2 3 4 5 6 7 8 9 10 11 12 13 ...

Page 118: ...static time after each positioning stops 11 After setting target position 1 target position 2 and time interval Press Start S and motor runs between position 1 2 cyclically 12 After the motor runs a few operation cycles the current load inertia ratio will be estimated and bandwidth value will be displayed 13 To display the current alarm status If there is no alarm it shows No Alarm if there is an ...

Page 119: ...T Position feed forward gain value FFC PB05 0 200 0 Pt Pr Servo motor load inertia ratio GD1 PB06 0 1200 0 1time 70 Pt Pr S Position loop gain PG1 PB07 4 1024 rad s 45 Pt Pr Speed loop gain VG1 PB08 40 9000 rad s 183 Pt Pr S Speed integral gain value VIC PB09 1 1000 ms 34 Pt Pr S When the communication software enters the inertia estimation and analysis mode the panel will display the following fi...

Page 120: ...01 parameter Indicates parameter PA01 Press UP or down button to change the parameter PA01 Press SET button twice The rightmost parameter keeps flicking Press UP button twice Change the setting value during flicking Use UP DOWN button to change the setting Press SET button to activate the setting Parameter setting is completed Press UP DOWN to move to next parameter When changing PA01 changed sett...

Page 121: ...lay shows the high 5 digit data the lighting 4th decimal point means the high 5 digit data is displaying Press MODE button once The display switch back to low 5 digit data Press SET button once the rightmost 7 segment display flicks and pressing UP or DOWN button to modify the data Press MODE button 5 times the rightmost 7 segment screen flicks Press UP button twice Press SET button once to write ...

Page 122: ...shows the high bit data and the 4th decimal point LED means the high bit data is displaying Press SET button once The rightmost 7 segment display flicks Press MODE button twice Press SET button once The high 5 digit data shows 12 Press MODE button once Press UP button once The low 5 digit data shows 34567 and the leftmost 2 decimal point indicates the negative sign Back to PA group menu screen ...

Page 123: ...ine means the low word data is displaying Press MODE button once Show high 16 bit data the lighting leftmost upper line means the high word data is displaying Press MODE button once The screen back to low word data Press SET button once The rightmost 7 segment LED flicks You can press UP or Down button to modify the data Press MODE button 4 times Press DOWN button twice Press SET button once to en...

Page 124: ... word HEX低 HEX low word Decimal positive number display If the value is 1234567890 the high 5 digit shows 1234 5 and low 5 digit shows 67890 Positive DEC high 5 digit Positive DEC low 5 digit Decimal negative number display method 1 if the data value is 1234567890 the high 5 digit shows 1 2 34 5 and the low 5 digit shows 6 7 890 Negative DEC high 5 digit Negative DEC low 5 digit Decimal negative n...

Page 125: ...for 0 8 seconds the panel display PA XX can quickly go up or down with 0 15s cycle time 2 When using the communication software to perform JOG positioning test and DO forced output functions the panel screen should be displayed synchronously If you have questions on this operation you can use SDH to test ...

Page 126: ...any conductive material or inflammable material inside or near the drive Check if the voltage level of external power is correct Check if the control switch is OFF Do not put heavy staff on the drive or on its wiring Use twisted cable for the regenerative resistor wiring Check for any obvious visible damage Do not operate the switch with wet hands otherwise it may cause electric shock Check each p...

Page 127: ...lin communication software it is to confirm whether the speed and direction of motor are as expected You cannot modify the motor speed by the panel during JOG test JOG test and its speed can only be modified by Shihlin communication software via RS 485 or USB transmission and it is recommended to run JOG test at low speed Below introduces JOG test of panel screen operation Step 1 connect servo dri...

Page 128: ...on when using the communication software for JOG test if the communication cable is disconnected during operation the servo motor will decelerate to stop The button operation description is as follows Button Function Forward Press the button and runs the motor in CCW Reverse Press the button and runs the motor in CW Close To finish JOG test Step 4 if the JOG operation is completed turn off the pow...

Page 129: ...operation Step 1 connect the servo drive and servo motor correctly and then apply power to the servo drive Step 2 connect the computer and the CN4 of the servo drive with a standard Mini USB cable Select the USB communication and its correct device number by Shihlin communication software Step 3 select Test Positioning Test button on the top of the communication software and enter the positioning ...

Page 130: ...ions and pulses number Pause clear Press it once the motor will stop temporarily if the motor does not reach the target number of revolutions and pulses If you press the button again the motor will run the remaining numbers of revolution and pulses If you press the suspend button twice the remaining number of revolution or pulse will be cleared Close To finish positioning test Step5 when positioni...

Page 131: ... setting Load inertia estimation method Auto estimate parameters User defined parameters Manual gain tuning mode PI control 0000 0001 Fixed as value of PB06 GD1 PB06 PG1 PB07 VG1 PB08 VIC PB09 Auto gain tuning mode 1 0002 Continuously estimation GD1 PB 06 PG1 PB07 VG1 PB08 VIC PB09 ATUL PA 03 Auto gain tuning mode 2 0003 Fixed as value of PB06 PG1 PB07 VG1 PB08 VIC PB09 ATUL PA03 GD1 PB06 Interpol...

Page 132: ...i axis One touch tuning Error disposal Execution completed Target achieved Finish Processing error Interpolation mode Target achieved Auto tuning mode2 Target achieved Manually gain tuning mode Auto tuning mode1 If the servo is in first use after installation a JOG test is required to confirm no abnormal issue ...

Page 133: ... When operating in auto tuning mode the servo needs to generate several acceleration deceleration commands After the inertia ratio estimation is driven to a steady state the inertia ratio estimation and the bandwidth searching can be performed ...

Page 134: ...oop gain PB09 VIC Speed integral gain PB21 NHF2 Frequency of Machine resonance suppression filter 2 PB22 NHD2 Machine resonance suppression attenuation 2 PB27 ANCF Auto resonance suppression mode PB28 ANCL Resonance suppression detection level PB29 AVSM Auto low frequency vibration suppression mode PB30 VCL Low frequency vibration detection level PB31 VSF1 Low frequency vibration suppression frequ...

Page 135: ...s SET button to execute And the motor must keep running during execution when execution completed the relevant parameters listed in previous section will be updated Start Run the servo motor Enable One touch tuning Select response mode Execute One touch tuning End Send control command by host or internally to run the servo motor if servo motor is off the one touch tuning function is invalid There ...

Page 136: ... touch tuning window of the communication software You can refer to below table for response mode selection Response mode Description High response For high stiffness systems Middle response For general stiffness systems Low response For low stiffness systems ii One touch tuning execution Select response mode and press START to execute ...

Page 137: ...ar and reset the tuning related parameters I clear the gain parameters reset to factory default setting II reset the gain parameters reset to the setting value before one touch tuning operation b Operate by servo panel i There are 2 methods to enter one touch tuning function by the panel i 1 Press MODE button to enter one touch tuning screen show AUTO and after holding SET button for 2 seconds the...

Page 138: ...i And then press UP or DOWN button to select one touch tuning response mode iii After selecting the response mode press SET button to activate the one touch tuning function and the execution progress shows on the screen Finish iv You can press the SET button to stop the tuning its panel screen and elimination UP DOWN 完成 ...

Page 139: ...ill be forced stop The stop flag and error code displays alternately with 2 seconds interval Refer to one touch tuning error code list and elimination method Press SET button to eliminate the error and back to AUTO screen Initial screen vi There are 2 modes to clear and reset one touch tuning related parameters I reset to default value clear mode II reset to the value before tuning back mode Press...

Page 140: ...127 Reset display Press and hold SET button for 2 seconds Initial screen After reset or clear is completed the screen will back to initial screen ...

Page 141: ...me out Operation cycle period exceeds 30 seconds count from current command starts to next command start Set the rotation cycle to more than 30 seconds Motor speed is too low The motor speed should be more than 100rpm Operation interval is too short Operation interval should be more than 500ms C005 Load inertia estimation abnormal Load inertia estimation failure during one touch tuning The acceler...

Page 142: ...resonance Adjust to semi auto gain tuning mode in which the motor will stop load inertia estimation and then execute one touch tuning again Select PA02_ATUM Set PB06_GD1 to manually set load inertia ratio C00F One touch tuning function invalid In PA38_AOP3 setting the one touch tuning function is disabled Set PA38_AOP3 ...

Page 143: ... Auto tuning response level setting Modifiable PB06 GD1 Servo motor Load inertia ratio Auto estimate PB07 PG1 Position loop gain Auto estimate PB08 VG1 Speed loop gain Auto estimate PB09 VIC Speed integral gain Auto estimate The following conditions is required if you set the servo to auto gain tuning mode 1 1 The acceleration time from 0rpm to 2000rpm or the deceleration time from 2000rpm to 0rpm...

Page 144: ...stimate PB08 VG1 Speed loop gain Auto estimate PB09 VIC Speed integral gain Auto estimate 5 3 3 2 Auto tuning procedure When the user sets the servo to auto tuning mode the servo action is showing in the following block diagram motor One touch tuning Auto setting current control current feedback response level setting turning on when set to 2 3 4 load inertia ratio estimation position speed feedba...

Page 145: ...e inertia ratio cannot be accurately estimated when the inertia ratio changes drastically you can set PA02 to auto gain tuning mode 2 and write the known inertia ratio into PB06 manually During the time the gain value will keep searching With the inertia ratio and response level setting the servo drive will adjust to the best gain during acceleration and deceleration The searched gain results will...

Page 146: ...調整Notch filter參數達到抑制共振的效果增加參數PA03的應答性性能滿足 NO YES NO YES YES NO Turn servo off set PA02 to 0002h and then turn the servo on Positive and negative rotation continuously Set the screen display to show the load inertia ratio Resonance generated The load inertia ratio shows on the screen panel is stable Performance is OK Finish Increase the response of PA03 1 Change parameter PA02 to 0003h and write...

Page 147: ...ssion filter PB01 PB02 PB21 PB22 and resonance suppression low pass filter PB03 can be used to suppress resonance and sometimes response level can set to a higher level in this condition You can refer to section 6 3 6 for more information about machine resonance suppression filter and resonance suppression low pass filter Response level Machine rigidity Speed response frequency Hz Response level M...

Page 148: ...ncreasing the response might cause mechanical resonance Thus machinery with higher stiffness is used to solve this problem When the allowable response bandwidth is unknown you should set a smaller gain value first and gradually increase the gain parameter values until the machine resonance occurs and then decrease the gain value The following are the user defined gain parameter values of each cont...

Page 149: ...an that of the position loop otherwise it may cause the machinery to vibrate or cause overshoot The calculation of speed loop gain is as follows Speed integral gain VIC This parameter is to clear the fixed deviation of the corresponding command The smaller the VIC the better the elimination of the deviation However in the occasions of large load inertia and with machine vibrates if you set the val...

Page 150: ...er if you set the value too large it might cause overshoot when sudden acceleration or deceleration occurs 5 3 5 Interpolation mode This mode is used to control two or more axis servo system the controller gain parameter are still in the automatic tuning function the main content is as follows Interpolation mode 1 only the position gain value PB07 can be set manually The remaining gain value PB06 ...

Page 151: ...uning 0002 Auto gain mode 1 PA03 Auto tuning response level setting 0012 Middle response PA06 Electronic gear numerator 1 Set the numerator as 1 PA07 Electronic gear denominator 1 Set the denominator as 1 PA13 Command pulse option Refer to section 8 3 parameter description PD15 Note 1 Digital input filter time 2 Filter time constant is 4ms Note 1 cycle the power to activate the parameter setting N...

Page 152: ... whether the direction and origin is correct and execute the homing if necessary 7 Stop You can follow below steps to stop the motor a When Servo ON signal SON is off The PWM signal is disconnected and the servo will switch to a non blocking free run state b When alarm occurs When alarm occurs the PWM signal is disconnected and the dynamic brake is activated to stop the servo motor immediately c W...

Page 153: ...6 Internal speed command 2 1500 Set to 1500 rpm PC07 Internal speed command 3 2000 Set to 2000 rpm PC01 Acceleration time constant 1000 Set to 1000ms PC02 Deceleration time constant 500 Set to 500ms PC03 S curve acceleration deceleration time constant 0 N A PD15 Note1 Digital input filter time 2 External terminal filter time constant is 4ms Note 1 turn the power off and then turn on to activate th...

Page 154: ...so on You can use auto tuning function or manually set the controller parameter and need to pay attention to avoid mechanical resonance you can adjust PA03 to achieve the best response of speed control 6 Stop You can follow below steps to stop the motor a When Servo ON signal SON is off The PWM signal is disconnected and the servo will switch to a non blocking free run state b When alarm occurs Wh...

Page 155: ... Torque control mode PC05 Internal speed limit 1 1000 Set to 1000 rpm PC06 Internal speed limit 2 1500 Set to 1500 rpm PC07 Internal speed limit 3 2000 Set to 2000 rpm PC01 Acceleration time constant 1000 Set to 1000ms PC02 Deceleration time constant 500 Set to 500ms PC03 S curve acceleration deceleration time constant 0 N A P15 Digital input filter time 2 External terminal filter time constant is...

Page 156: ...to stop the motor a When Servo ON signal SON is off The PWM signal is disconnected and the servo will switch to a non blocking free run state b When alarm occurs When alarm occurs the PWM signal is disconnected and the dynamic brake is activated to stop the servo motor immediately c When emergency stop EMG is OFF The PWM signal is disconnected and the dynamic brake is activated to stop the servo m...

Page 157: ...ner register Pr 0010 The drive receives the position command which is provided by the internal register 63 groups of registers and runs the motor to the target position The DI signal can be used to select the register number Speed control S 0002 The drive receives the speed command and runs the motor to the target speed The speed command can be selected by the DI signal 7 groups of register to sel...

Page 158: ...ion mode internal register Speed mode Pr S 0011 Pr S is switched mutually via the signal of DI LOP Position mode internal register Torque mode Pr T 0015 Pr T is switched mutually via the signal of DI LOP Speed mode Torque mode S T 0003 S T is switched mutually via the signal of DI LOP After PA01 setting is changed the setting is valid after power cycling 6 2 Torque control mode Torque control mode...

Page 159: ...ut 10V analog torque voltage command another is to set 3 types of torque commands by internal parameters It makes total 4 types of torque command Torque command code Note Input signal Torque command Range Related parameter TC2 TC1 TCM 0 0 Analog torque command TC 10V PC 13 TC1 0 1 Inner torque command 1 300 300 PC 75 TC2 1 0 Inner torque command 2 300 300 PC 76 TC3 1 1 Inner torque command 3 300 3...

Page 160: ...t analog voltage V The slope is set by parameter PC13 6 2 2 Offset adjustment of the analog torque command When the analog torque command input is 0V the motor may still rotate slowly which is mainly because the external analog voltage may have some slightly voltage offset it makes the input command voltage does not match the actual voltage At this time the offset voltage can be corrected by the P...

Page 161: ...command smoothing This parameter is to set the filter time constant of torque command With a proper filter time constant value you can run the servo motor smoothly even if a sudden change occurs The parameter description is as follows Name Parameter code Setting range Unit Default value Control mode Torque command filter time constant PB19 0 5000 ms 0 T ...

Page 162: ...t When TL1 SG is short circuited the inner torque limit 2 PC25 will be activated All Only when PD02 PD09 or PD21 PD24 is set to use internal torque limit option TL1 signal the internal torque limit 2 PC25 can be selected and there will be two options base on the status of DI TL1 Digital input signal Note Valid torque limit value TL1 0 PA05 setting 1 PC25 setting PA05 setting PA05 setting PC25 sett...

Page 163: ...000 PC05 SC2 0 1 0 Internal speed limit 2 6000 6000 PC06 SC3 0 1 1 Internal speed limit3 6000 6000 PC07 SC4 1 0 0 Internal speed limit 4 6000 6000 PC08 SC5 1 0 1 Internal speed limit 5 6000 6000 PC09 SC6 1 1 0 Internal speed limit 6 6000 6000 PC10 SC7 1 1 1 Internal speed limit 7 6000 6000 PC11 Note 0 OFF SPx SG is open circuited 1 ON SPx SG is short circuited When the external input analog speed ...

Page 164: ...00 T Internal speed limit2 PC06 0 Instant permissible speed rpm 500 T Internal speed limit3 PC07 0 Instant permissible speed rpm 1000 T Internal speed limit4 PC08 0 Instant permissible speed rpm 200 T Internal speed limit5 PC09 0 Instant permissible speed rpm 300 T Internal speed limit6 PC10 0 Instant permissible speed rpm 500 T Internal speed limit7 PC11 0 Instant permissible speed rpm 800 T ...

Page 165: ...et all the parameters so all the auto or auxiliary functions are disabled In auto gain adjustment modes the servo drive performs load inertia estimation and provides parameter adjustment function In this case the parameter setting values are regarded as the initial values This simple mode provides a robust system function for the user which is different from the adaptability rule that requires a l...

Page 166: ...153 It is recommended that the user use S curve smoother and low pass filter when operating in the speed mode which can effectively suppress the irregularity of the motor during operation ...

Page 167: ...eed command 1 6000 6000 PC05 SC2 1 0 Internal speed command 2 6000 6000 PC06 SC3 1 1 Internal speed command 3 6000 6000 PC07 SP3 is valid Speed command code SP3 SP2 SP1 Speed limit Range Related parameter VCM 0 0 0 Analog speed command VC 10V PC12 SC1 0 0 1 Internal speed command 1 6000 6000 PC05 SC2 0 1 0 Internal speed command 2 6000 6000 PC06 SC3 0 1 1 Internal speed command 3 6000 6000 PC07 SC...

Page 168: ... command is the maximum speed of analog command its content is as follows Name Parameter code Setting range Unit Default value Control mode Maximum speed of analog command PC12 0 30000 rpm 3000 S T To set the speed of the analog speed command when the input voltage is in maximum 10V If you set PC12 to 3000 and the input voltage is 10V the servo motor speed is 3000rpm If the input voltage is 5V the...

Page 169: ... curve acc dec time constant STC PC03 0 10000 ms 0 Pr S T The description of the 3 parameters are as follows Speed acceleration time constant This parameter is the acceleration time when the motor speed changes from 0 rpm to the rated motor speed which is set as the acceleration time constant For example the rated speed of the servo motor is 3000 rpm and this parameter is set to 3000 3s so the tim...

Page 170: ...peration when starting and stopping The initial S curve acceleration and deceleration constant is 0 second It s recommended to enable this function before using speed mode The above parameters will have acceleration and deceleration protection functions in either internal speed state or the analog input state Parameters STA STB STC can be set independently Even if STC is 0 a trapezoidal accelerati...

Page 171: ... code Setting range Unit Default value Control mode Speed command low pass smooth filter time constant SFLT PB18 0 1000 ms 0 S T Increasing this parameter value will improve smoothness of command curve and it will decrease the response If it is set to 0 it means that this function is disabled ...

Page 172: ... valid the torque of the servo motor is limited in the entire system Please apply a voltage of DC0 10V to TLA LG circuit TLA is connected to the positive polarity of power and the maximum torque will be generated at 10V Pt Pr S Torque control option TL When this signal is used you should activate PD02 PD09 or PD21 PD24 first The internal torque limit 1 PA05 is valid when TL SG is open and the anal...

Page 173: ... 1 ON TLx SG is short circuited When the generated torque of the servo motor reaches the torque limit value setting by the PA05 PC 25 or the analog torque limit TLC SG will be conductive and TLC is digital output Name Parameter abbreviation Description Control mode Torque limiting control TLC When the generated torque reaches the torque value setting by the Inner torque limit 1 PA05 or the analog ...

Page 174: ...e diagram of the speed loop is shown in the following figure In the speed control loop the gain adjustment related parameters are summarized as follows Name Parameter abbreviation Parameter code Setting range Unit Default value Control mode Auto tuning mode setting ATUM PA02 0000h 0004h N A 0002h Pt Pr S T Auto tuning response level setting ATUL PA03 1 32 N A 10 Pt Pr S T Speed loop gain VG1 PB08 ...

Page 175: ...etting is too large it will cause the system vibration It is recommended to estimate a base value in the automatic mode and then manually increase the value slowly until the system vibrates if necessary Set back the value before system vibrates Speed integral gain Decreasing the value of this parameter will increase the low frequency stiffness of the speed loop and reduce the steady state error Bu...

Page 176: ...wn in the below table It mainly provides five groups of resonance suppression filters and one group of low pass filters to suppress resonance the user can manually or automatically operate as below instructions Name Parameter abbreviation Parameter code Setting range Unit Default value Control mode Auto resonance suppression mode ANCF PB27 0 2 N A 1 All Auto resonance suppression detection level A...

Page 177: ...crease the attenuation rate gradually until there is no resonance phenomenon Note 2 or slowly increase the low pass filter time constant reduce the low pass filter bandwidth until no resonance occurs but this method will reduce the response bandwidth of the system Auto mode There are three groups of filters to perform automatic resonance suppression the first is PB01 and PB02 the second is PB21 an...

Page 178: ... The complete automatic resonance suppression flow chart is as follows Note 1 the attenuation rate detected by the drive is the most suitable one it may not be the best one but it can ensure the stable operation of the system Note 2 be careful when manually adjust the attenuation rate if the setting is too large it may cause the system unstable PB27 parameter flow chart PB27 current value PB27 mod...

Page 179: ... insufficient rigidity of the drive system it will cause mechanical vibrate during motor positioning and cause problems such as inaccurate motor positioning and bad product yield rate Usually this problem can be improved by reducing the bandwidth of the system but the response will be worse in this case To suppress vibration without reducing the bandwidth this servo drive provides an Automatic Low...

Page 180: ...he better the response Note 1 Auto mode The drive provides two groups of filters for users to perform automatic low frequency vibration suppression the first group is PB31 and PB32 the second group is PB33 and PB34 Among them PB21 and PB25 are suppression frequencies and PB22 and PB26 Name Parameter abbreviation Parameter code Setting range Unit Default value Control mode Auto vibration suppressio...

Page 181: ...rate frequency is not detected which may impacted by high swing detection level Note2 You can decrease the level and restart the detection to solve If the values are not 0 which means the detection is wrong which may cause by low swing detection level You can increase the level before restart the detection The complete auto suppression flow chart is as follows Note 1 Too large gain value may make ...

Page 182: ...he gain on the operating or stopped servo motor The switching can be performed by DI pins which are set to switch If the users want to apply gain switching options manual mode is required PA02 is set to 0 or 1 If the auto gain switching mode is applied the gain switching function will be disabled It is applicable in below occasions 1 Servo gain setting is too large and makes big noise you can use ...

Page 183: ...rameter abbreviation Parameter code Setting range Unit Default value Control mode Servo motor load inertia ratio GD1 PB06 0 1200 0 1 times 70 Pt Pr S Position loop gain PG1 PB07 4 1024 rad s 45 Pt Pr Speed loop gain VG1 PB08 40 9000 rad s 183 Pt Pr S Speed integral gain VIC PB09 1 1000 ms 34 Pt Pr S Gain switching option CDP PB11 0000h 0008h N A 0000H Pt Pr S Gain switching condition value CDS PB1...

Page 184: ...hing by changing the lowest digit of the parameter It triggers the gain switching by external digital input DI signal Its external digital input DI signal can be set as gain switching function by parameters PD02 PD09 or PD21 PD24 0 0 0 x x 0 disable the gain switching x 1 activate the gain switching when CDP is ON x 2 activate the gain switching when position command frequency is equal to or highe...

Page 185: ... setting pulse 4 When motor speed is equal to or higher than CDS setting rpm 6 When position command frequency is less than or equal to CDS setting kpps 7 When position deviation pulse is less than or equal to CDS setting pulse 8 When motor speed is less than or equal to CDS setting rpm 4 Time constant of gain switching CDT PB13 The gain switching time constant is to smooth the gain switching It i...

Page 186: ...ia ratio GD1 PB06 10 0 1time Position loop gain PG1 PB07 100 rad s Speed loop gain VG1 PB08 500 rad s Speed integral gain VIC PB09 100 ms Gain switching option CDP PB11 0001 N A Gain switching time constant CDT PB13 10 ms Servo motor load inertia ratio 2 GD2 PB14 20 0 1times Position loop gain change ratio PG2 PB15 80 Speed loop gain change ratio VG2 PB16 120 Speed integral gain change ratio VIC2 ...

Page 187: ...g condition value CDS PB12 100 pulse Gain switching time constant CDT PB13 10 ms Servo motor load inertia ratio 2 GD2 PB14 20 0 1times Position loop gain change ratio PG2 PB15 80 Speed loop gain change ratio VG2 PB16 120 Speed integral gain change ratio VIC2 PB17 150 The gain switching diagram Gain change Gain value after switching Gain value before switching pulse errors Pulse command Pulse feedb...

Page 188: ...175 The states of parameters change Name CDP OFF CDP ON CDP OFF Servo motor load inertia ratio 10 20 10 Position loop gain 100 80 100 Speed loop gain 500 600 500 Speed integral gain 100 150 100 ...

Page 189: ...ter input mode is to manually input 63 groups of position command values please refer to Chapter 7 and then define DI functions which are POS1 POS6 to switch the corresponding position command Below table will introduce the setting of terminal input and internal register input Name Parameter abbreviation Parameter code Setting range Unit Default value Control mode Description Control mode setting ...

Page 190: ...4 delay time register PF 65 PF80 4 groups of electronic gear ratio numerator PA 06 PC 32 PC 33 PC 34 pulse command option counter Electronic gear ratio denominator PA07 S curve acc dec time constant PC 03 command option PA 01 time constant of position command filter PB 04 When the external input pulse signal function is activated the S curve smoother is disabled ...

Page 191: ... option 3 comma nd pulse option PLSS PA13 0000h 0312h N A 0000 h Pt Set external input pulse train type 0 z y x x input pulse train format options x 0 forward reverse rotation pulse train x 1 pulse train sign x 2 AB phase pulse train y input pulse train logic options y 0 positive logic y 1 negative logic z The setting of input pulse filter z 0 the maximum input pulse frequency is 500kpps applicabl...

Page 192: ...the maximum frequency is 4Mpps If input pulse is open collector type the maximum frequency is 200Kpps 6 4 2 Internal position command Pr command You can refer to detail in chapter 7 The source of the PR position command is to use 64 groups built in position command register of parameters PE01 PE98 PF01 PF30 together with external I O CN1 POS1 POS6 and CTRG to select one as position command the det...

Page 193: ...om off 0 to on 1 Absolute and incremental position registers are widely used which is equivalent to a simple program You can easily complete a periodic motor operation according to the preceding table 6 4 3 Position command smoothing This parameter is to set the filter time constant of the position command With an appropriate parameter setting the motor can run smoothly even when it encounters abr...

Page 194: ...eleration time in PR mode Speed smoothing for acceleration deceleration can effectively improve the feature of motor acceleration and deceleration When the motor load inertia increases or when the inertia changes significantly the motor is not able to run smoothly due to the inertia and friction Increasing the setting of the STC PC03 can effectively improve this When position command is determined...

Page 195: ...its acceleration and deceleration time is determined by PF49 PF64 If the internal register is used as position command to run the motor more smoothly it is recommended to use the self defined acceleration deceleration time PF49 PF64 and the S curve acceleration deceleration time constants PC03 Note please refer to Chapter 7 for above ACC and DEC settings ...

Page 196: ...r ratio setting will cause servo motor suddenly unintended acceleration so please ensure to set the parameter when servo is off The E Gear ratio setting value should be within the range of 1 50 CMX CDV 64000 otherwise the motor may cannot operate The relationship between the E Gear ratio numerator denominator and the command is showing in the figure below There are four groups of E Gear ratio nume...

Page 197: ...an example to illustrate how to set the E Gear ratio From the figure above it shows that the load ball screw rod has a moving distance of 1mm per revolution and the motor resolution is 22 bit Pulse rev if you want the load axis to rotate 5µm distance the calculation is as below Electronic gear ratio 4194304 200 From which it can be known that when the numerator of the E Gear ratio is set to 419430...

Page 198: ...to tuning mode option ATUM PA02 0000h 0004h N A 0002h Pt Pr S T Auto tuning response level setting ATUL PA03 1 32 N A 10 Pt Pr S T Position feed forward gain FFC PB05 0 200 0 Pt Pr Position loop gain PG1 PB07 4 1024 rad s 45 Pt Pr When the position loop gain PG1 PB07 is set too large although the bandwidth and response gets faster the motor will run back and forth with vibration This is not allowe...

Page 199: ...Pt S is switched mutually via the signal of DI Position with external command torque Pt T 1005h Pt T is switched mutually via the signal of DI Position with inner register command speed Pr S 1011h Pr S is switched mutually via the signal of DI Position with inner register command torque Pr T 1015h Pr T is switched mutually via the signal of DI Speed torque S T 1003h S T is switched mutually via th...

Page 200: ...en circuit 1 ON Short circuit Described according to different control mode The DI assigned ST1 and RS2 as the same pin When S T dual mode is applied the ST1 function would have priority in speed control mode and the RS2 function would have priority in torque control mode 6 5 1 Position speed dual mode There are two types Position speed dual mode Pt S and Pr S The user can switch between them by t...

Page 201: ... 2 Speed Torque dual mode Before using the speed torque dual mode please set PA01 to 1003H The user can switch the speed torque mode by the LOP terminal Since the DI terminal ST1 ST2 of speed mode is automatically changed to RS2 RS1 when switching to the torque mode the rotation direction of the motor will be reversed when switching between speed torque modes The timing diagram of the speed torque...

Page 202: ...1015 T Pr mode If the motor is running at high speed the mode switching cannot be performed When DO ZSP is on the control mode can be switched The user can switch the torque position dual mode through the LOP terminal of the DI pin If you want to switch to position control with inner register mode the CTRG signal need to be turned on you can refer to the following timing diagram for details ...

Page 203: ...190 It is recommended that the user performs torque position mode switching after motor is stopped completely ...

Page 204: ...or The regenerative energy is consumed by the resistor and its resistance need to be checked when using it The regenerative protection function is controlled by the regenerative transistor and you should check if the regenerative resistor is normal before operation If the regenerative transistor is damaged stop the motor urgently to avoid continuous energy regeneration which will damage the drive ...

Page 205: ...built in regenerative resistors is the average value of the regenerative capacity and its value is 50 of its rated capacity Same rule as the external regenerative resistor When the regenerative capacity exceeds the regenerative capacity of the built in regenerative resistor an external regenerative resistor should be used When connecting external regenerative resistor please select regenerative re...

Page 206: ...speed rpm low inertia 100 SME L00530 0 030 0 15 8 1 3000 SME L01030 0 052 0 28 8 1 3000 200 SME L02030 0 161 0 79 8 1 3000 400 SME L04030 0 27 1 37 9 9 3000 750 SME L07530 1 07 5 28 16 8 3000 1K SME L10020 6 1 13 38 16 8 2000 1 5K SME L15020 8 8 19 30 40 8 2000 2K SME L20020 11 5 25 22 40 8 2000 3K SME L30020 16 7 36 63 40 8 2000 Middle inertia 1K SME M10020 10 3 22 59 16 8 2000 1 5K SME M15020 15...

Page 207: ...tion cycle 2 Set rotation speed Wr Manual input or read from panel status display r 3 Set load motor inertia ratio N Manual input or read from panel status display Dc PA01 0002 is valid 4 Calculate the maximum regenerative energy Es Es J Wr2 182 if it s rated speed you can check the value in the table directly 5 Set the consumable regenerative energy Ec Refer to the above table 6 Calculate the cap...

Page 208: ...section 14 2 when using an external regenerative resistor b When there is external torque and makes the motor to do negative work Usually the motor does positive work and the motor s torque direction is identical to the rotation direction However in some case if the external load exceeds motor torque external energy will enter the servo drive and generate regenerative energy The following figure s...

Page 209: ... Abbr Code Range Description Default value Control mode Analog monitor output MOD PC14 0000h 0909h Set the analog monitor output signal and there are 2 channels ch1 and ch2 0 ch2 0 ch1 The set values of Ch1 and Ch2 and its corresponding outputs are shown as below 0 motor speed 10V 2 times of rated speed 1 motor torque 10V max torque 2 speed command 10V 2 times of rated speed 3 effective load rate ...

Page 210: ...actual zero value the analog monitor voltage offset parameter can be adjusted the description is as follows Name Abbr Code Range Description Unit Default value Control mode Analog monitor MO1 voltage offset MO1 PC28 999 999 Used to set the offset voltage of the analog monitor MON1 output mV 0 ALL Analogue monitor MO2 voltage offset MO2 PC29 999 999 Used to set the offset voltage of the analog moni...

Page 211: ...r code Setting range Description Unit Default value Control mode MON1 analog monitor output ratio MOG1 PC30 1 100 Set the maximum ratio of analog monitor 1 output 100 ALL MON2 analog monitor output ratio MOG2 PC31 1 100 Set the maximum ratio of analog monitor 2 output 100 ALL Assuming that the rated speed of the motor is 3000 rpm and the current speed of the motor is 3000 rpm the voltage observed ...

Page 212: ...rection to reduce the large amount of heat generated by the continuous resistance of the servo motor which is to shorten the lifetime of the motor To avoid unnecessary malfunction the electromagnetic brake must be operated after the servo is turned off The brake signal controls solenoid valve which makes a loop of 24V external power and provides power supply to turn on the electromagnetic brake Wh...

Page 213: ...0 02030 04030 L07530 H07530 H08515 10020 H13015 15020 H18015 L20020 L30020 M20020 M30020 Electromagnetic brake type Spring brake type Rated voltage V DC 24V Power consumption W 6 3 7 9 8 6 8 0 23 34 Rated current A 0 24 0 32 0 35 0 33 0 95 1 41 Friction Torque N m 0 3 1 3 2 4 2 5 16 45 Motor model name B D SMP series H08515 H29015 H44015 H55015 H75015 Electromagnetic brake type Spring brake type R...

Page 214: ... 18 3 25 Friction Torque N m 19 6 44 74 For the description of please refer to Section 1 3 1 Note The electromagnetic brake is only for the safety maintenance when motor is stopped and cannot be used for motor deceleration braking ...

Page 215: ...gered by the rising or falling edge of EV1 EV4 and you can refer to the parameters setting of PF83 and PF84 Software trigger the program can be triggered by writing the required trigger number into PF82 when servo is started 7 2 The difference between the PR mode of SDP and SDA The PR mode of SDA The PR mode of SDP Total number of commands 8 independent positions 1 set of homing PATH 0 63 sets of ...

Page 216: ...et 32 bit data directly different control types have different units Homing function Automatic trigger when power on First servo start Trigger by DI SHOM Automatically trigger by power on first servo start Trigger by DI SHOM Program 0 PATH 0 is homing After the homing is completed the specified program can be automatically executed Software limit protection N A Yes ...

Page 217: ...4 DO Signal CMDOK MC_OK INP Servo In position ready ALM OVF Position command overflow SWPL Software positive limit reached SWNL Software negative limit reached The timing diagram of INP CMDOK and MC_OK are as below Command output INP ON means servo In position ready Get AND from CMD_OK and INP ...

Page 218: ...ld DI when SHOM is activated it will perform homing EVENT DI EV1 EV4 DI the status change of EV1 EV4 is used as a trigger Set the program number in PF83 triggered by event rising edge Set the program number in PF84 triggered by event falling edge Applicable occasions sensor trigger the preset program SOFTWARE PF82 When servo starts directly write the program number in PF82 to trigger the program P...

Page 219: ...oups 15 0 BIT PF49 PF64 Delay time 1 32767 ms Relevant parameters of PR mode Parameter description PA04 Homing mode setting PA08 Homing high speed option 1 PA09 Homing low speed option 2 PE01 Homing path definition PE02 Origin offset value definition PF81 Protection trigger deceleration time PF82 PR command trigger register software PF86 Software forward limit PF87 Software reverse limit PE03 PE98...

Page 220: ...YPE PE04 DATA 32bit In which the TYPE determines the path form and function its definition is as follows TYPE 1 is speed control TYPE 2 is positioning control TYPE 3 is auto positioning control TYPE 7 is program jump TYPE 8 is parameter writing TYPE A is indexing positioning control and TYPE 2 or 3 are both positioning control the difference is that TYPE 3 can automatically execute the next progra...

Page 221: ... its definition is as follows ACC DEC value F E D C B 4 3 2 1 0 Corresponding parameters PF64 PF65 PF64 PF63 PF62 PF53 PF52 PF51 PF50 PF49 DLY the value range is 0 F which can be set as delay time number and its definition is as follows DLY value F E D C B 4 3 2 1 0 Corresponding parameters PF80 PF79 PF78 PF77 PF76 PF69 PF68 PF67 PF66 PF65 Positioning control when TYPE 2 the motor will stop after ...

Page 222: ...NS it means the current PR will interrupt the previous PR OVLP allow overlap to the next path Set DLY to 0 when overlapping CMD the calculation of the position command ending is shown in the above table ACC DEC the value range is 0 F which can be set as the acceleration deceleration time number and its definition is as follows ACC DEC value F E D C B 4 3 2 1 0 Corresponding parameters PF64 PF65 PF...

Page 223: ..._NO jump target program number The definition of OPT option is as follows OPT option Bit 7 0 8 Bit 6 0 4 Bit 5 0 2 Bit 4 0 1 x x x INS interrupts INS if set as INS it means the current PR will interrupt the previous PR DLY the value range is 0 F which can be set as delay time number and its definition is as follows DLY value F E D C B 4 3 2 1 0 Corresponding parameters PF80 PF79 PF78 PF77 PF76 PF6...

Page 224: ...en Bit 6 1 it means the parameter will write to EEPROM in the meantime Target writing parameter the group and number of the writing parameter can be set Target writing parameter Bit 16 19 Bit 12 15 Bit 11 8 Parameter group A 1 B 2 C 3 D 4 E 5 F 6 Parameter number Decimal P 05 05 P 45 45 P 98 98 P 77 77 For example if the writing target parameter is PF34 you can set to 634 DLY the value range is 0 ...

Page 225: ...lue range AL 63 will be displayed If P_Grp is out of range AL 61 will be displayed If P_Idx is out of range AL 62 will be displayed If some parameters cannot be written in when SON is ON AL 64 will be displayed and the following PR command will stop automatically Index positioning Indexing when TYPE A it can be applied in turret application Take PATH 01 for example 31 28 27 24 23 20 19 16 15 12 11...

Page 226: ...ters PF48 PF47 PF46 PF45 PF44 PF37 PF36 PF35 PF34 PF33 DLY the value range is 0 F and it can be set as delay time number its definition is as follows DLY value F E D C B 4 3 2 1 0 Corresponding parameters PF80 PF79 PF78 PF77 PF76 PF69 PF68 PF67 PF66 PF65 The definition of OPT2 option is as follows OPT2 option Bit 27 0 8 Bit 26 0 4 Bit 25 0 2 Bit 24 0 1 x AUTO S_LOW S_LOW the speed unit options S_L...

Page 227: ...s follows ACC value F E D C B 4 3 2 1 0 Corresponding parameters PF64 PF65 PF64 PF63 PF62 PF53 PF52 PF51 PF50 PF49 DEC1 the value range is 0 F and it can be set as the first deceleration time number its definition is shown as below ACC value F E D C B 4 3 2 1 0 Corresponding parameters PF64 PF65 PF64 PF63 PF62 PF53 PF52 PF51 PF50 PF49 The second deceleration time is same as the STP deceleration ti...

Page 228: ...tion after homing Absolute coordinate Homing coordinate ORG_DEF Pull back Origin trigger signal If pull back is not needed set PATH to 0 If pull back is needed set PATH A which means the servo will execute PATH A automatically after homing when PATH A is set to absolute command for positioning control and command value ORG_DEF The homing does not define an offset value Offset and it uses PATH to s...

Page 229: ...n PR the program will follow the original setting sequence If the previous program has set to AUTO sequences the next program will execute automatically after the setting delay time when the previous program is completed 2 Overlapping command if the previous and next program are both positioning control program overlap function can be set in the previous program to enable overlapping to the next p...

Page 230: ... is a typical sequential command of positioning control followed by positioning control In positioning control the delay time starts counting after the positioning is completed PATH 12 AUTO speed control target speed 2000 rpm delay time 200ms PATH 13 Positioning control absolute positioning 0 pulse As shown in the figure below it is a typical sequential command of speed control followed by positio...

Page 231: ...command immediately and helps this 2 positioning control to transit smoothly PATH 12 AUTO positioning control overlap incremental positioning path 104857600 pulse target speed 500 rpm ACC 400 ms PATH 13 Positioning control incremental positioning path 104857600 pulse target speed 700 rpm delay time 0 ms DEC 200 ms From the figure below it can be observed that the two positioning commands can be tr...

Page 232: ...ng of the former program as shown in the following example PATH 12 AUTO positioning control incremental positioning path 10485760 pulse target speed 600 rpm delay time 1500 ms ACC 200 ms DEC 200 ms PATH 13 Positioning control with INS command incremental positioning path 10485760 pulse target speed 600 rpm delay time 0 ms ACC 200 ms DEC 200 ms The execution result of this program is shown in the f...

Page 233: ...760 pulse target speed 600 rpm delay time 0 ms ACC 200 ms DEC 200 ms The above is a preset program control flow if an external DI triggers PATH 07 at 400ms positioning control with INS absolute positioning coordinate 0 pulse target speed 3000 rpm delay time 0 ms ACC 200 ms DEC 200 ms the execution result of the program is shown in below Once the external INS occurs the external INS program will re...

Page 234: ...odes the setting is vanished once power is off the setting is valid after power cycling such as PA01 You are not able to set the parameter when Servo is ON such as PA07 And there are 2 ways to switch off the servo 1 Turn off the SON DI signal 2 Set SON signal to 0 by changing PD16 and ensure to restore PD16 after completion of the modification Below is the group classification according to differe...

Page 235: ...rive receives the speed command and runs the motor to the target speed The speed command can be selected by the DI signal between analog voltage command or internal speed command 7 groups of register Torque mode T The drive receives torque command and runs the motor to the target torque The torque command is provided by analog voltage command and internal torque command Multi mode Pt S Pt S is swi...

Page 236: ...arameters are Pr path assignment related parameter The following table will list all the parameters of Shihlin servo drive which is easier for the user to enquiry 1 Basic parameters NO Abbreviation Name Default value Unit Control mode Pt Pr S T PA01 STY Control mode setting 1000h N A PA02 ATUM AUTO tuning mode setting 0002h N A PA03 ATUL Auto tuning response level setting 10 N A PA04 HMOV Homing m...

Page 237: ... 4500 kHz PA22 DBF Dynamic brake control 0 N A PA23 MCS Memory write inhibit function 0 N A PA24 PRES Resolution of linear scale for full closed loop control 5000 pulse rev PA25 PERR Protection range for feedback position error between motor encoder and linear scale 30000 Pulse PA26 FCON Linear scale for full closed loop switch 0000 N A PA27 FELP Low pass filter time constant for full closed and s...

Page 238: ...N A PA40 SPW Special parameter write option 0000h N A PA41 POSPD Max speed setting of pulse output 6300 rpm mm s PA42 BLK Parameter group write inhibit setting 0000h N A PA43 ENB Encoder type read only N A N A PA44 EGM Electronic gear ratio option 0 N A PA45 FBP Position command pulse number setting per revolution 10000 Pulse PA46 ATST One touch gain tuning option factory setting forbidden to use ...

Page 239: ...0001 PB06 GD1 motor load inertia ratio 70 0 1 times PB07 PG1 Position loop gain 45 rad s PB08 VG1 Speed loop gain 183 rad s PB09 VIC Speed integral gain 34 ms PB10 VFG Speed feed forward gain 0 PB11 CDP Gain switch option 0000h N A PB12 CDS Gain switch condition value 10 Kpps rpm pulse mm s PB13 CDT Gain switch time constant 1 ms PB14 GD2 Servo motor load inertia ratio 2 70 0 1 times PB15 PG2 Posi...

Page 240: ...3 Frequency of machine resonance suppression filter 3 1000 Hz PB26 NHD3 Attenuation of machine resonance suppression filter 3 0 dB PB27 ANCF Auto resonance suppression mode setting 1 N A PB28 ANCL Auto resonance suppression detection level 50 PB29 AVSM Auto low frequency vibration suppression mode 0 N A PB30 VCL Low frequency vibration detection level setting 50 pulse PB31 VSF1 Low frequency vibra...

Page 241: ... Synchronous speed integral compensation 0 rad s PB41 SPI Synchronous position integral compensation 0 Rad PB42 SBW Synchronous control bandwidth 0 Hz PB43 SVL Synchronous speed error low pass filter 0 0 1ms PB44 PPD Position loop compensation gain 0 N A PB45 NHF4 Frequency of machine resonance suppression filter 4 1000 Hz PB46 NHD4 Attenuation of machine resonance suppression filter 4 0 dB PB47 N...

Page 242: ...ilter 2 5 N A PB53 NHW3 Bandwidth of machine resonance suppression filter 3 5 N A PB54 NHW4 Bandwidth of machine resonance suppression filter 4 5 N A PB55 NHW5 Bandwidth of machine resonance suppression filter 5 5 N A PB56 Reserved PB57 TOF z axis torque compensation 0 0 1 PB58 VSD1 Attenuation of low frequency suppression 1 80 dB PB59 VSD2 Attenuation of low frequency suppression 2 80 dB ...

Page 243: ... command 3 1000 rpm mm s PC08 SC4 Internal speed command 4 200 rpm mm s PC09 SC5 Internal speed command 5 300 rpm mm s PC10 SC6 Internal speed command 6 500 rpm mm s PC11 SC7 Internal speed command 7 800 rpm mm s PC12 VCM Maximum motor speed for analog speed command 3000 rpm mm s PC13 TLC Maximum output of analog torque command 100 PC14 MOD Analog monitor output 0100h N A PC15 SVZR Analog input vo...

Page 244: ...orque limit offset 0 mV PC28 MO1 Analog monitor MON1 voltage offset 0 mV PC29 MO2 Analog monitor MON2 voltage offset 0 mV PC30 MOG1 Analog monitor MON1 output proportion 100 PC31 MOG2 Analog monitor MON2 output proportion 100 PC32 CMX2 Electronic gear numerator 2 1 N A PC33 CMX3 Electronic gear numerator 3 1 N A PC34 CMX4 Electronic gear numerator 4 1 N A PC35 VCL Analog speed voltage limit 0 mV P...

Page 245: ...dress of data array 0 N A PC48 CMAX Compare axis position 0 Source pulse PC49 CMNO Compare number of comparing times 1 N A PC50 CMCT Compare activate control 0x0064 0010 N A PC51 CMOF1 Compare data shift 0 Source pulse PC52 CMOF2 Compare data shift can reset to zero 0 Source pulse PC53 CSAX Position for synchronous capture axis 0 Source pulse PC54 CSDS Interval between each synchronous capture act...

Page 246: ...ion 0 Source pulse PC65 PLED E Cam initial lead pulse before engaged 0 Source pulse PC66 ECON E Cam activate E Cam control 0x0000 0000 N A PC67 ECRD E Cam pulse number upon disengagement 0 Source pulse PC68 CPCT Compensation time for the pulse of E Cam master axis 0 ms PC69 CPCL Minimum frequency of pulse compensation for the E Cam master axis 0 Kpps PC70 CMAP1 DO CAM_AREA1 rising edge phase 0 Deg...

Page 247: ... ALCT E Cam alignment control switch 0000h N A PC83 CMSK E Cam master axis pulse masking setting 0000h N A PC84 CSDS Motion control macro command command parameter 4 0 N A PC85 CSDS Motion control macro command command parameter 3 0 N A PC86 CSDS Motion control macro command command parameter 2 0 N A PC87 CSDS Motion control macro command command parameter 1 0 N A PC88 CSDS Motion control macro co...

Page 248: ...Pr S T PC93 AYID Data arrays read write address 0 N A PC94 AYD0 Data arrays read write window 1 0 N A PC95 AYD1 Data arrays read write window 2 0 N A PC96 TBS E Cam curve scaling 100000 0 10 6 PC97 ALER E Cam overall pulse error 0 Source pulse PC98 PC99 Reserved ...

Page 249: ...D12 DO3 Output signal option 3 0007h N A PD13 DO4 Output signal option 4 0005h N A PD14 DO5 Output signal option 5 0001h N A PD15 DIF Digital input filter setting 0002h N A PD16 IOS Digital input source control option 0000h N A PD17 DOP1 LSP LSN stop mode option 0000h N A PD18 DOP2 CR signal clear setting 0000h N A PD19 DOP3 Alarm code output option 0000h N A PD20 DOP4 Operation option when the al...

Page 250: ...tware DI A B contact setting 0000h N A PD30 SDO DO contact source control switch for turret mode 0000h N A PD31 OTST DO communication control contact status for turret mode 0000h N A PD32 SVDL Servo ON delay time when SON is ON 0 ms PD33 SFDO Software DO register 0000h N A PD34 DIS1 DI Uninterruptible Power switch function 0000h N A ...

Page 251: ...efinition 00000000h N A PE14 PDAT6 PATH 6 data 0 N A PE15 PDEF7 PATH 7 definition 00000000h N A PE16 PDAT7 PATH 7 data 0 N A PE17 PDEF8 PATH 8 definition 00000000h N A PE18 PDAT8 PATH 8 data 0 N A PE19 PDEF9 PATH 9 definition 00000000h N A PE20 PDAT9 PATH 9 data 0 N A PE21 PDEF10 PATH 10 definition 00000000h N A PE22 PDAT10 PATH 10 data 0 N A PE23 PDEF11 PATH 11 definition 00000000h N A PE24 PDAT1...

Page 252: ...nition 00000000h N A PE48 PDAT23 PATH 23 data 0 N A PE49 PDEF24 PATH 24 definition 00000000h N A PE50 PDAT24 PATH 24 data 0 N A PE51 PDEF25 PATH 25 definition 00000000h N A PE52 PDAT25 PATH 25 data 0 N A PE53 PDEF26 PATH 26 definition 00000000h N A PE54 PDAT26 PATH 26 data 0 N A PE55 PDEF27 PATH 27 definition 00000000h N A PE56 PDAT27 PATH 27 data 0 N A PE57 PDEF28 PATH 28 definition 00000000h N A...

Page 253: ...77 PDEF38 PATH 38 definition 00000000h N A PE78 PDAT38 PATH 38 data 0 N A PE79 PDEF39 PATH 39 definition 00000000h N A PE80 PDAT39 PATH 39 data 0 N A PE81 PDEF40 PATH 40 definition 00000000h N A PE82 PDAT40 PATH 40 data 0 N A PE83 PDEF41 PATH 41 definition 00000000h N A PE84 PDAT41 PATH 41 data 0 N A PE85 PDEF42 PATH 42 definition 00000000h N A PE86 PDAT42 PATH 42 data 0 N A PE87 PDEF43 PATH 43 de...

Page 254: ...ode Pt Pr S T PE93 PDEF46 PATH 46 definition 00000000h N A PE94 PDAT46 PATH 46 data 0 N A PE95 PDEF47 PATH 47 definition 00000000h N A PE96 PDAT47 PATH 47 data 0 N A PE97 PDEF48 PATH 48 definition 00000000h N A PE98 PDAT48 PATH 48 data 0 N A PE99 Reserved ...

Page 255: ... PDEF55 PATH 55 definition 00000000h N A PF14 PDAT55 PATH 55 data 0 N A PF15 PDEF56 PATH 56 definition 00000000h N A PF16 PDAT56 PATH 56 data 0 N A PF17 PDEF57 PATH 57 definition 00000000h N A PF18 PDAT57 PATH 57 data 0 N A PE19 PDEF58 PATH 58 definition 00000000h N A PF20 PDAT58 PATH 58 data 0 N A PF21 PDEF59 PATH 59 definition 00000000h N A PF22 PDAT59 PATH 59 data 0 N A PF23 PDEF60 PATH 60 defi...

Page 256: ...0 rpm mm s PF41 POV9 Speed setting of internal position command 9 1500 rpm mm s PF42 POV10 Speed setting of internal position command 10 1800 rpm mm s PF43 POV11 Speed setting of internal position command 11 2000 rpm mm s PF44 POV12 Speed setting of internal position command 12 2200 rpm mm s PF45 POV13 Speed setting of internal position command 13 2400 rpm mm s PF46 POV14 Speed setting of internal...

Page 257: ...ion time of internal position command 7 1000 ms PF56 POA8 Acceleration deceleration time of internal position command 8 1200 ms PF57 POA9 Acceleration deceleration time of internal position command 9 1400 ms PF58 POA10 Acceleration deceleration time of internal position command 10 1600 ms PF59 POA11 Acceleration deceleration time of internal position command 11 2000 ms PF60 POA12 Acceleration dece...

Page 258: ...tion reached 300 ms PF69 DLY5 Delay time 5 after position reached 500 ms PF70 DLY6 Delay time 6 after position reached 600 ms PF71 DLY7 Delay time 7 after position reached 800 ms PF72 DLY8 Delay time 8 after position reached 1000 ms PF73 DLY9 Delay time 9 after position reached 1200 ms PF74 DLY10 Delay time 10 after position reached 1500 ms PF75 DLY11 Delay time 11 after position reached 2000 ms P...

Page 259: ...ered by event rising edge 0000h N A PF84 EVOF PR number triggered by event falling edge 0000h N A PF85 PMEM PATH 1 to PATH 2 data vanish after power off 0000h N A PF86 SWLP Positive software limit 231 1 pulse PF87 SWLN Negative software limit 231 1 pulse PF88 BLSP Backlash compensation value setting before Electronic gear ratio 0 pulse PF89 BLST Backlash compensation time constant setting 0 0 1m s...

Page 260: ... sensor phase sequences 0x00 N A PL08 Hall sensor offset angle 0 0 1 Electrical angle PL09 Hall sensor hysteresis width 0 0 1 Electrical angle PL10 Electrical angle correction function 0x00 N A PL11 Z phase signal offset angle 0 0 1 Electrical angle PL12 Current setting for initial magnetic field detection 100 PL13 Initial magnetic field detection condition 0x64 N A PL14 Reserved PL15 Reserved PL1...

Page 261: ... magnet rotary motor rated current 30 0 01A PL30 Permanent magnet rotary motor maximum current 100 0 01A PL31 Permanent magnet rotary motor rated speed 3000 rpm PL32 Permanent magnet rotary motor maximum speed 5000 rpm PL33 Permanent magnet rotary motor torque constant 0 0 001Nm A PL34 Permanent magnet rotary motor rotor inertia 0 10 7 kg m2 PL35 Permanent magnet rotary motor phase resistance 0 0 ...

Page 262: ...otor rated current 30 0 01A PL44 Linear motor maximum current 100 0 01A PL45 Linear motor maximum speed 5000 mm s PL46 Linear motor force constant 0 0 01N A PL47 Linear motor phase resistance 0 0 001 ohm PL48 Linear motor phase inductance 0 0 01 mh PL49 Linear motor back electromotive force constant 0 0 1 Volt m s PL50 Linear compensation option 0 N A PL51 Temperature sensor resistance Read only 0...

Page 263: ...SC3 Internal speed limit 3 1000 rpm PC08 SC4 Internal speed limit 4 200 rpm PC09 SC5 Internal speed limit 5 300 rpm PC10 SC6 Internal speed limit 6 500 rpm PC11 SC7 Internal speed limit 7 800 rpm PC12 VCM Max rotation speed of analog speed limit 3000 rpm PC13 TLC Max output of analog torque command 100 PC25 TL2 Internal torque limit 2 100 PC26 VCO Analog speed command offset 0 mV PC27 TLO Analog t...

Page 264: ... 100 rpm PC06 SC2 Internal speed command 2 500 rpm PC07 SC3 Internal speed command 3 1000 rpm PC08 SC4 Internal speed command 4 200 rpm PC09 SC5 Internal speed command 5 300 rpm PC10 SC6 Internal speed command 6 500 rpm PC11 SC7 Internal speed command 7 800 rpm PC12 VCM Maximum motor speed for analog Speed command 3000 rpm PC25 TL2 Internal torque limit 2 100 PC26 VCO Analog speed command offset 0...

Page 265: ...ection option 0000h N A PC25 TL2 Internal torque limit 2 100 PC32 CMX2 Electronic gear numerator 2 1 N A PC33 CMX3 Electronic gear numerator 3 1 N A PC34 CMX4 Electronic gear numerator 4 1 N A PE01 ODEF Homing definition 00000000h N A PE02 ODAT Origin definition 0 N A PE03 PE98 Refer to section 8 3 for PR related definition PF01 PF87 Refer to section 8 3 for PR related definition PA47 TLP Positive...

Page 266: ...nce suppression filter 2 1000 Hz PB22 NHD2 Attenuation of machine resonance suppression filter 2 0 dB PB23 IGE Current gain enhancement function 0 N A PB25 NHF3 Frequency of machine resonance suppression filter 3 1000 Hz PB26 NHD3 Attenuation of machine resonance suppression filter 3 0 dB PB27 ANCF Auto resonance suppression mode setting 1 N A PB28 ANCL Auto resonance suppression detection level 5...

Page 267: ...eceleration time constant 200 ms PC03 STC S curve acceleration deceleration time constant 0 ms PD17 DOP1 LSP LSN stop mode option 0000h N A PB45 NHF4 Frequency of machine resonance suppression filter 4 1000 Hz PB46 NHD4 Attenuation of machine resonance suppression filter 4 0 dB PB47 NHF5 Frequency of machine resonance suppression filter 5 1000 Hz PB48 NHD5 Attenuation of machine resonance suppress...

Page 268: ...DP Gain switch option 0000h N A PB12 CDS Gain switch condition 10 Kpps Pulse rpm PB13 CDT Gain switch time constant 1 ms PB14 GD2 Servo motor load inertia ratio 2 70 0 1times PB15 PG2 Position loop gain change ratio 100 PB16 VG2 Speed loop gain change ratio 100 PB17 VIC2 Speed integral gain change ratio 100 PB24 VDC Speed differential compensation 980 N A PB44 PPD Position loop compensation gain 0...

Page 269: ...03h N A PD11 DO2 Output signal option 2 pin CN1 42 0008h N A PD12 DO3 Output signal option 3 pin CN1 43 0007h N A PD13 DO4 Output signal option 4 pin CN1 44 0005h N A PD14 DO5 Output signal option 5 pin CN1 45 0001h N A PD15 DIF Digital input filter setting 0002h N A PD16 IOS Digital input source control option 0000h N A PD17 DOP1 LSP LSN stop mode option 0000h N A PD18 DOP2 CR signal clear settin...

Page 270: ...PA23 MCS Memory write inhibit function 0 N A PC41 PC60 Communication mapping relevant parameters Monitor and status display relevant parameters Parameter NO Abbreviation Parameter function Default value Unit Control mode Pt Pr S T PC14 MOD Analog output monitor 0100h N A PC24 DMD Drive status display option 0000h N A PC28 MO1 Analog monitor MON1 voltage offset 0 mV PC29 MO2 Analog monitor MON2 vol...

Page 271: ... PA42 BLK Parameter group write inhibit setting 0000h N A PB06 GD1 Servo motor load inertia ratio 70 0 1times PB14 GD2 Servo motor load inertia ratio 2 70 0 1times PC18 COP1 Stop option and power interruption restart option 0010h N A PC19 COP2 Alarm record clear option 0000h N A PD20 DOP4 Operation option when the alarm reset signal is short circuited 0000h N A ...

Page 272: ...ode T y x Control mode 0 0 PT 1 PT S 2 S 3 S T 4 T 5 P T 1 0 PR 1 PR S 2 S 3 S T 4 T 5 PR T 3 0 PT PR 1 PT PR S 2 S 3 S T 4 T 5 PT PR T z electromagnetic brake function enabled option This function is digital output function you can set it by setting PD10 PD14 It s only valid when using a servo motor with electromagnetic brake z 0 disabled electromagnetic brake function z 1 enable electromagnetic ...

Page 273: ...ing DI DO cannot be planned at this time PA02ATUM Auto tuning mode setting 0 0 0 x x auto gain tuning mode setting options x 0 1 manual gain tuning mode PI control x 2 auto gain tuning mode 1 adjust load inertia ratio and bandwidth continuously x 3 auto gain tuning mode 2 fixed load inertia ratio bandwidth is adjustable x 4 interpolation mode fixed position loop gain PB07 and auto adjust the remai...

Page 274: ...loop response frequency Hz Respon se setting Response Speed loop response frequency Hz 1 Low response Middle response 10 0 17 Middle response High response 67 1 2 11 3 18 75 6 3 12 7 19 85 2 4 14 3 20 95 9 5 16 1 21 108 0 6 18 1 22 121 7 7 20 4 23 137 1 8 23 0 24 154 4 9 25 9 25 173 9 10 29 2 26 195 9 11 32 9 27 220 6 12 37 0 28 248 5 13 41 7 29 279 9 14 47 0 30 315 3 15 52 9 31 355 1 16 59 6 32 4...

Page 275: ...g origin z 3 homing in reverse direction ORGP OFF ON as homing origin z 4 look for Z pulse in forward direction and define it as homing origin z 5 look for Z pulse in reverse direction and define it as homing origin y 0 return to Z y 1 do not return to Z pulse go forward to next Z pulse y 2 do not look for Z pulse z 6 homing in forward direction ORGP ON OFF as homing origin z 7 homing in reverse d...

Page 276: ...parameter torque limit1 or internal parameter torque limit 2 if external input signal TL SG is open circuited the option of torque limit is as follows TL and SG Torque limit Open circuited Torque limit PA05 Short circuited If TLA PA05 torque limit TLA If TLA PA05 torque limit PA05 if external input signal TL1 SG is short circuited the option of torque limit is as follows TL1 and SG Torque limit Op...

Page 277: ...enly unintended acceleration Ensure to do the setting when SERVO is OFF Note limitation 1 50 CMX CDV 64000 Pr Pt 1 1 226 N A PA08 HSPD1 Homing high speed option 1 Pr 100 1 2000 Rpm mm s PA09 HSPD2 Homing high speed option 2 Pr 20 1 500 Rpm mm s PA10 RES1 Regenerative resistor value Model Default value below 500W 100Ω 750W 1KW 40Ω 1 5KW 3KW 13Ω All Refer to the left table 10 750 Ohm ...

Page 278: ...he INP signal of DO will output Model Default value 50W 750W 167772 1KW 3KW 83886 Pt Pr Refer to the left table 0 224 pulse PA13 PLSS Pulse command option Select the type of external input pulse train u z y x u external pulse input source selection u 0 low speed photocoupler CN1 pin PP PG NP NG u 1 high speed differential CN1pin HPP HPG HNP HNG x input pulse train format selection x 0 forward reve...

Page 279: ...phase B phase The output pulses number is varied according to PA39 encoder output pulse setting 2 Set the value 4 times greater than the A phase or B phase pulses In fact the number of A phase and B phase pulses actual output is 1 4 times 3 The maximum output frequency is 20MHZ after multiplication by 4 the operation output frequency should not exceed this limit value Example 1 pulse setting outpu...

Page 280: ...time has taken the AL 20 will occur Note PA15 PA16 function is only applicable for non contact applications such as electrical discharge machines All 1 0 1000 ms PA17 OVL Output overload DO warning level When the setting value is 0 100 and the servo motor continuously output exceeds this level the warning signal is activated PS if the setting value is over 100 this function is disabled All 120 0 1...

Page 281: ...All 0 0 1 N A PA23 MCS Memory write inhibit function 0 EEPROM is writable 1 EEPROM is prohibited to be written Parameter will be vanished after power off It s recommended to use this setting in communication control to avoid continually writing which would shorten the lifetime of the EEPROM Note this parameter will set to 0 automatically after power cycling Cautions 1 Due to this parameter will se...

Page 282: ...r encoder and linear scale When the deviation is too big between the A B counter of full closed loop feedback and encoder position feedback it means the connector may loosen or other mechanical problem occurs Pt Pr 30000 1 231 1 pulse PA26 FCON Linear scale for full closed loop control switch 0 z y x x full closed loop function switch x 0 disable full closed loop function x 1 enable full closed lo...

Page 283: ... incremental operation and the absolute motor can be operated as an incremental motor 1 absolute operation only applicable to absolute motors if applied to incremental motors AL 24 will occur All 0000h 0000h 0001h N A PA29 CAP Absolute position reset Set PA29 to 1 to reset the current absolute position of the encoder This function is the same as the DI ABSC to clear the coordinate All 0000h 0000h ...

Page 284: ...y The parameter displays the position feedback pulse number of the absolute position system and it is valid in absolute system PA28 1 All 0 Pulse number per revoluti on pulse PA33 APP Encoder absolute position number of revolution read only The parameter displays the position feedback revolution number of absolute position system and it is valid in absolute system PA28 1 All 0 32767 32768 rev PA34...

Page 285: ...N the motor runs reversely ST2 is invalid and the SERVO LOCK function is disabled y 2 the motor runs reversely when ST1 is OFF When ST1 is ON the motor runs forwardly ST2 is invalid and the SERVO LOCK function is disabled z option of servo lock when speed control is stopped z 0 servo lock is valid and the stop position is held z 1 servo lock is invalid the stop position is mobile The drive will co...

Page 286: ... disabled x 1 enabled y automatic high frequency resonance suppression function y 0 disabled y 1 enabled z auto low frequency swing arm suppression function z 0 disabled z 1 enabled Note 1 x 1 is necessary condition to enable one touch tuning function before you can set high frequency or low frequency suppression function Note 2 when y 1 and one touch tuning is completed you must set PB27 to 0 Not...

Page 287: ...tion of servo motor Forward pulse train input Reverse pulse train input 0 CCW CW 1 CW CCW y to set the relationship between the motor rotation direction and encoder output pulse z encoder output pulse setting option which is related to PA14 z 0 output pulse z 1 output division ratio Pt S T 0000h 0000h 0111h N A PA40 SPW Special parameter write in function When the parameter is set to 0x0088 the fa...

Page 288: ... PF Group PL Group 0000 Default value readable and writable 0001 readable and writable unreada ble and not writable 0002 readable and writable unreadable and not writable 0003 readable and writable unreadable and not writable 0004 readable and writable unreadable and not writable 0005 readable and writable unreadable and not writable 0006 readabl e and writable unreadable and not writable 0007 Onl...

Page 289: ... test only All PA44 EGM Electronic gear ratio option PA44 0 E Gear ratio is default value PA06 PA07 PA44 1 E Gear ratio conversion is 1 use position command pulse number setting per revolution PA45 FBP is PA45 setting value Pt is resolution pulse number per revolution Pr Pt 0 0 1 N A ...

Page 290: ...g forward rotation The unit of setting value is 0 1 The calculation is as follows All 5000 0 32700 0 1 PA48 TLN Negative torque limit The parameter is to limit the torque generated during reverse rotation The unit of setting value is 0 1 The calculation is as follows All 5000 0 32700 0 1 PA49HMTQL Homing Torque detection level The parameter can only be used in the torque homing mode After triggeri...

Page 291: ...uppression filter 1 The schematic diagram is as follows All 1000 10 4000 Hz PB02 NHD1 Attenuation of machine resonance suppression filter 1 This parameter is to set attenuation rate of machine resonance suppression and it should use together with NHF1 Note 0 turn off the Notch filter function All 0 0 32 dB PB03 NLP Resonance suppression low pass filter This parameter is to set the time constant of...

Page 292: ...3 0 20000 ms PB05 FFC Position feed forward gain If the system runs smoothly in position mode increasing the feed forward gain value will reduce the position tracking errors If the system has resonated in position mode decreasing the gain value will reduce mechanical vibration Pt Pr 0 0 200 PB06 GD1 Servo motor load inertia ratio This parameter is to set ratio of load inertia to servo motor inerti...

Page 293: ...omatically Pt Pr S 183 40 9000 rad s PB09 VIC Speed integral gain this parameter is integral time constant of speed loop Pt Pr S 34 1 1000 ms PB10 VFG Speed feed forward gain value If the system runs smoothly in speed control mode increasing the feed forward gain value will reduce the speed tracking errors If the system has resonance in speed control mode decreasing the gain value will reduce the ...

Page 294: ...e constant when switching the CDP and CDS conditions Pt Pr S 1 0 1000 ms PB14 GD2 Servo motor load inertia ratio 2 This parameter is to set ratio of load inertia to motor inertia which is only valid during gain switching Pt Pr S 70 0 1200 0 1 time 0 1kg PB15 PG2 Position loop gain change ratio This parameter is to set position loop gain change ratio and it s valid only after the auto tuning functi...

Page 295: ...isabled The actual time to catch the speed command is around 5 times of SFLT S T 0 0 1000 ms PB19 TQC Torque command filter time constant This parameter is to set filter time constant of torque command With an appropriate setting the motor can run smoothly when the servo drive encounters a sudden change of torque command The actual time to catch torque command is 5 times of TQC T 0 0 5000 ms ...

Page 296: ...machine resonance suppression filter 2 This parameter is to set the attenuation rate of machine resonance suppression filter and it should use together with NHF2 Note 0 turn off Notch filter function All 0 0 32 dB PB23 Reserved All 0 0 1 N A PB24 VDC Speed differential compensation This parameter is to set speed differential compensation it s valid when DI terminal proportional control signal is O...

Page 297: ...nce suppression detection level Increasing setting of PB28 will reduce the resonance sensitivity On the other hand decreasing the setting of PB28 will increase the resonance sensitivity All 50 1 300 PB29 AVSM Auto low frequency vibration suppression mode 0 fixed 1 after an auto scan then the vibration frequency is fixed Auto mode setting description When the value is 1 it will automatically perfor...

Page 298: ...he mechanism is small it is not easy to search for low frequency vibration Pr Pt 50 1 8000 pulse PB31 VSF1 Low frequency vibration suppression frequency setting 1 To set the frequency 1 of low frequency vibration suppression Note when PB31 is 0 it means the 1st group of low frequency vibration suppression filter is off Pr Pt 100 1 3000 0 1Hz PB32 VSG1 Low frequency vibration suppression gain 1 To ...

Page 299: ... run smoothly So it is recommended to set to 1 Pr Pt 0 0 15 N A PB35 FRCL Friction compensation level Set friction compensation level for the rated torque percentage 0 turn off 1 or above enable friction compensation Pr Pt S 0 0 100 PB36 FRCT Friction compensation smoothing time constant To set friction compensation smoothing time constant Pr Pt S 0 0 1000 ms PB37 FRCM Friction compensation mode o...

Page 300: ...ion to enhance the speed following and reduce the speed errors between two motors Note if the value is too large it may cause vibration and noise Pr Pt S T 0 0 1023 rad s PB41 SPI Synchronous position integral compensation Increasing the synchronous position integral compensation can enhance the position following and reduce the position errors between two motors Note if the value is too large it ...

Page 301: ...ed loop bandwidth and synchronous control bandwidth PB03 response should faster than them Pr Pt S T 0 0 1023 Hz PB43 SVL Synchronous speed error low pass filter When the synchronous control is affected by low resolution meaning that noise less sharp and rough sound is generated you can use low pass filter to suppress the noise This filter must be faster than the synchronous control bandwidth Pr Pt...

Page 302: ...nuation of machine resonance suppression filter 5 This parameter is to set attenuation rate of machine resonance suppression filter and it should use together with NHF5 Note 0 turn off Notch filter function All 0 0 32 dB PB49 DOB External interference compensation gain In position mode increasing this parameter setting value can reduce position overshoot In speed mode increasing this parameter set...

Page 303: ...s function is disabled Note2 PB21 PB22 and PB52 are the second group of machine resonance suppression filter related parameters All 5 1 10 N A PB53 NHW3 Width of machine resonance suppression filter 3 This parameter is to set the third group of machine resonance suppression filter width Note1 if PB26 0 this function is disabled Note2 PB25 PB26 and PB53 are third group of machine resonance suppress...

Page 304: ...ttings may cause system instability All 0 3000 3000 0 1 PB58VSD1 Attenuation of Low frequency suppression 1 This parameter is to set the first group of low frequency suppression attenuation rate Note 1 if PB32 0 this function is disabled Note 2 PB31 PB32 and PB58 are first group of low frequency suppression filter related parameters Pr Pt 80 0 1000 dB PB59 VSD2 Attenuation of Low frequency suppres...

Page 305: ...leration time in JOG mode is also set by this parameter S T 200 0 65550 ms PC02 STB Deceleration time constant The deceleration time is required when the motor decelerates from rated speed to 0 rpm which is defined as the deceleration time constant Please refer to section 6 4 3 for the instruction in Pr mode The deceleration time in JOG mode is also set by this parameter S T 200 0 65550 ms PC03 ST...

Page 306: ...out direction Note the maximum internal speed command value is the maximum speed value of motor S T 100 6000 6000 rpm mm s PC06 SC2 Internal speed command 2 Limit 2 In speed control mode this parameter is used as internal speed command 2 In torque control mode this parameter is used as speed limit 2 and without direction Note the maximum internal speed command value is the maximum motor speed S T ...

Page 307: ...d without direction Note the maximum internal speed command value is the maximum motor speed S T 300 6000 6000 rpm mm s PC10 SC6 Internal speed command 6 Limit 6 In speed control mode this parameter is used as internal speed command 6 In torque control mode this parameter is used as speed limit 6 and without direction Note the maximum internal speed command value is the maximum motor speed S T 500...

Page 308: ... voltage 10 This parameter setting indicates the speed limit value corresponding to maximum voltage S 3000 0 30000 rpm mm s T 3000 0 30000 rpm mm s PC13 TLC Maximum output of analog torque command Set the torque corresponding to 10V maximum voltage for the analog torque command Torque mode Torque command input voltage 10 setting value Example If setting value is 100 and the external voltage input ...

Page 309: ...d 10V max current command 6 dc bus voltage 10V 450V 7 error pulse number 10V 4194304pulse 8 error pulse number 10V 10000 pulse 9 error pulse number 10V 100 pulse All 0100h 0000h 0909h N A PC15 SVZR Analog input voltage zero voltage range When the analog speed voltage is within the setting range the motor speed will be regarded as 0 rpm S T 10 0 1000 mv PC16 MBR Electromagnetic brake sequence outpu...

Page 310: ...ccurs and servo motor stops When power voltage is normal and servo motor will restart without alarm reset x 0 invalid x 1 valid y motor stop mode option Servo stop option in speed control mode y 1 motor stops immediately y 0 motor decelerates to stop All 0010h 0000h 0011h N A PC19 COP2 Alarm history clear option and overload early warning option 0 z y x x alarm record clear When set to clear the c...

Page 311: ...ervo drives If two drives are set to the same device number it will cause communication failure All 1 1 32 Numb er PC21 CMS Communication mode option 0 0 0 x x communication reply delay time the parameter change is valid only after power cycling x 0 reply within 0 5ms delay x 1 reply after 1ms delay x 2 reply after 2ms delay All 0 0 2 N A PC22 BPS Communication protocol option 0 0 y x x communicat...

Page 312: ...U y RS 485 communication speed setting y 0 4800bps y 1 9600bps y 2 19200bps y 3 38400bps y 4 57600bps y 5 115200bps PC23 SIC Serial communication timeout option Time out duration could be set from 1 to 60 seconds Note if it is set to 0 the timeout checking function is disabled All 0 0 60 s ...

Page 313: ...urrent motor speed Linear motor speed x 7 analog speed command limit voltage x 8 speed command limit x 9 analog torque command limit voltage x A torque command limit x B effective load rate x C peak load rate x D DC Bus voltage x E load inertia ratio x F instantaneous torque x 10 regenerative load rate x 11 absolute pulse number of encoder Z phase x 12 feedback pulse number of full closed loop enc...

Page 314: ...ve status displayed after power on Position Motor feedback pulse number Note 1 Position and speed dual mode Motor feedback pulse number Note 1 motor speed Linear motor speed Speed Motor speed Linear motor speed Speed and torque dual mode Motor speed Linear motor speed analog torque command voltage Torque Analog torque command voltage Torque and position dual mode Torque command motor feedback puls...

Page 315: ... offset of analog speed limit VLA S T 0 8000 8000 mV PC27 TLO Analog torque command limit offset Torque mode correct voltage offset of analog torque command TC Speed mode correct voltage offset of analog torque limit TLA S T 0 8000 8000 mV PC28 MO1 Analog monitor MON1 voltage offset Set analog monitor MON1 output voltage offset All 0 999 999 mV PC29 MO2 Analog monitor MON2 voltage offset Set analo...

Page 316: ...MX3 Electronic gear numerator 3 To set the 3rd group of electronic gear numerator Pt 1 1 226 N A PC34 CMX4 Electronic gear numerator 4 To set the 4thh group of electronic gear numerator Pt 1 1 226 N A PC35 VCL Analog speed voltage limit This parameter is to limit the input voltage VC of the analog speed command Setting it to 0 means no limitation For example if the analog voltage of the VC input i...

Page 317: ...ilter is recommended for better smoothing S T 0 0 40 0 1ms PC37 DTA9 AL 09 initialization delay time This parameter is to set AL 09 initialization delay checking time when start up If set the value to 0 means that this function is turned off All 0 0 20000 ms PC38 FNO4 Function option 4 To force output the DO1 DO6 pin type option during initialization The contact status of DO1 to DO6 is defined by ...

Page 318: ...P function is turned off PC44x Bit0 0 All 0 0 799 N A PC42 CAAX Capture axis position Displays the axis position of Capture pulse source Note 1 this parameter is only writable when CAP function is turned off PC44x Bit0 0 Note 2 this parameter is write protected when the axis source of Capture is the feedback position of the motor PC44y Bit 2 All 0 231 1 231 1 Source pulse PC43 CAND Capture number ...

Page 319: ... the first data automatically set the current position as the first position reset data PC45 x Bit2 1 After capturing the first data if PC50 d Bit0 0 activate CMP function PC50 x Bit0 1 and reset PC49 to previously value but this setting is invalid if CMP function is already activated If PC50 d Bit0 1 the high speed CMP function is enabled PC50 x Bit0 1 x Bit3 1 Execute PR 50 after capturing is co...

Page 320: ... start address of data array The first data to be compared is saved at start address in the data array Note this parameter is only writable when CMP turned off PC50x Bit 0 All 0 0 799 N A PC48CMAX Compare axis position This parameter displays the axis position of the CMP pulse source Note1 this parameter is only writable when CMP stops PC50 x Bit 0 Note 2 this parameter is write protected when the...

Page 321: ...al number of data from CAP CMP and E Cam cannot exceed 800 All 1 1 800 PC47 N A PC50 CMCT Compare activate control d c b a u z y x x HEX activate Compare d Bit0 0 DO4 is compare output pin x bit3 x bit2 x bit1 x bit0 x Bit0 1 Start comparing automatically clear after finishing comparing PC49 0 CMP quantity decrease to 0 PC49 0 automatically turn off CMP Note you need turn off the CMP function to e...

Page 322: ... when the source of Compare is the Capture axis the source of Capture cannot be changed z output polarity DO4 trigger logic z 0 trigger by rising edge z 1 trigger by falling edge u trigger PR u 1 execute PR 45 after comparing is completed cba duration of pulse output unit 1 ms When PC50 z 0 the definition is as follows Cba value unit The shortest time Cba value unit When PC50 z 1 the definition is...

Page 323: ... if PC55 z 1 PC52 will reset to 0 automatically All 0 1000 0000 1000 0000 Source pulse PC53 CSAX Position for synchronous capture axis This parameter indicates the position for the synchronous capture axis which can be used as the command source for the E Cam master axis PC66 y 5 When capture operates every two times the servo calculates the error between the moving distance of this axis and the s...

Page 324: ...A PC56 CSDS Pulse error for synchronous Capture axis When the synchronous Capture axis is operating the pulse error should be 0 Each time when capturing data the synchronous axis operates and this parameter updates once It operates as follows PC56 incremental pulse amount between two capturing actions interval pulse number between each synchronous Capture action PC54 PC56 PC53 accumulation PC54 nu...

Page 325: ...creasing PC57 setting will adjust the cutting spot to the target position quickly but the speed synchronize will be worse Pr 10 0 90 PC58 CSOF Error offset compensation for synchronous Capture axis When the synchronous Capture axis is enabled and you want to change the error pulse amount PC56 you can use this parameter to write the offset value Write PC58 output PC56 PC56 after filter Write value ...

Page 326: ...1 1 Note this parameter is only writable when E Cam stops PC66x Bit0 0 Pr 1 1 32767 N A PC62ECMP E Cam master axis pulse number P Please refer to PC61 Note this parameter can be modified at any time But drastic modification may cause sudden unintended acceleration Pr 3600 10 230 1 N A PC63ECME E Cam engaged segment number Sets the segment number when E Cam engages segment number of outlined table ...

Page 327: ...e virtual master axis pulse function refer to PC83 Pr 0 230 1 230 1 Pulse unit of master axis PC66ECON E Cam activate E Cam control d 0 b a u z y x x E Cam function x bit2 x bit1 x bit0 x Bit0 1 E Cam is enabled Note this parameter is only writable when E Cam stops x Bit1 0 when the servo is off the alarm occurs or Pr is performing homing the E Cam is disengages 1 when the servo is off or alarm oc...

Page 328: ...ple conditions but 2 4 and 6 cannot be selected at the same time u 0 remains engaged u 1 disengages when DI CAM is off u 2 disengages when master axis pulse number reaches the setting value of PC67 and stops the sign shows the direction u 6 same as 2 But the speed holds when disengaged The engaged length will exceed PC67 and it will receive Pr positioning command and stop once available u 4 the ma...

Page 329: ...or the pulse of E Cam master Axis This parameter is to compensate the E Cam phase to fix the phase lag during operation The calculation of compensation value Compensation value pulse PC68 E Cam master axis pulse frequency Kpps PC69 Compensation time ms Compensation phase pulse E Cam master axis pulse cycle ms Note this compensation amount is proportional to the frequency of the master axis If mast...

Page 330: ...ising edge phase when E Cam is engaged Pr 0 0 360 Degree PC73CMAN2 E Cam segment 2 falling edge phase setting This parameter is to set E Cam digital output DO CAM_AREA2 falling edge phase when E Cam is engaged Pr 0 0 360 Degree PC74 PLED2E Cam pre engaged pulse number When PC66 u 4 engagement exceeds the specified pulse number it will be dis engaged When E Cam is disengaged it will not stop but en...

Page 331: ...hronous Capture axis captures the signal If both the new and previous correction rates are less than the range set in this parameter they are filtered out Otherwise the error is corrected with the new correction rate yx 00 01 5F Func tion Filter disabled If Error 1 yx then the filter is enabled Z filter intensity Increasing the value will slow down the changes and improve the filter function z 0 1...

Page 332: ...o do the alignment directly yx 00 01 5F Fun ction Filter disabled If Error 1 yx then the filter is enabled uz maximum allowable correction rate When phase alignment is enabled the limitation of the maximum allowable correction rate C is defined as C PC62 PC61 x PC79 uz When the alignment error is large correcting this error once may cause motor vibration or overloading Using this parameter can div...

Page 333: ...alignment target to resolve DI and sensor delays The setting works as follows PC80 PD15 DI response filter time delay time of sensor Pr 0 25000 25000 us PC81 ALTG E Cam alignment alignment target position When the input value is out of range the writing is prohibited and error occurs When the input value is within the setting range but if changes in the value of PC62 or PC61 causes the value to ex...

Page 334: ...applicable for feeding control of reverse rotary shears 1 enable The E Cam displacement value is stored in the PR data location which is assigned by PC79ba Bit Set this bit to 1 to trigger this PR command immediately Otherwise this PR should be triggered and completed before DI ALGN triggered 1 enable When alignment is enabled it will perform E Cam alignment correction if DI ALGN is triggered y fi...

Page 335: ...or noise Note1 y 0 filter is disabled Note 2 if the setting is too large the alignment correction cannot be performed The recommended value is 3 uz alignment forward direction allowable rate 0 100 0 backward alignment only 30 forward 30 backward 70 50 alignment with the shortest distance 80 forward 80 backward 20 100 forward alignment only ...

Page 336: ...aster axis pulse 1 Master axis pulse masked masked Slave axis stops operating but the masked master pulse continues to be stored in the internal variable 2 Continuou s forward running Enable Command source is the virtual pulse frequency unit Kpps set by PC83 uz This function will operate continuously To stop the virtual pulse set x to 1 3 Continuously reverse running 4 Forward JOG Command source i...

Page 337: ...ored in the internal variable A Continuous forward running Enable Command source is the frequency transmitted by the actual master axis PC66 y plus the virtual pulse frequency unit Kpps set by PC83 uz This function will continue to operate To stop the virtual pulse set x to 9 B Continuous reverse running C Forward JOG Command source is the pulse transmitted by the actual master axis PC66 y plus th...

Page 338: ...tual pulse number plus the pulse of one cycle PC62 PC61 to initial lead pulse PC65 0 5 0 6 Plus one cycle and write to ROM Write the virtual pulse number plus the pulse of one cycle PC62 PC61 to initial lead pulse PC65 and write to EEPROM 0 7 8 15 Reserved Example initial lead pulse PC65 2000 pulse number of one cycle is 5000 1 Virtual pulse number is 255 Set PC83 y to 1 and then PC65 2000 255 225...

Page 339: ...ing of master axis at 20 Kpps uzyx 0x1402 Continuous reverse running of master axis at 32 Kpps uzyx 0x2003 Forward JOG of master axis for 255 pulses uzyx 0xFF04 Reverse JOG of master axis for 18 pulses uzyx 0x1205 Complete and adjust for lead uzyx 0x0020 write to EEPROM Stop this function uzyx 0x0000 ...

Page 340: ...ce The function of the parameter is determined by the macro command Not every macro command requires this parameter All 0 2 31 2 31 1 N A PC86 CSDS Motion control macro command command parameter 2 Before executing the macro command you should set the relevant parameters 2 in advance The function of the parameter is determined by the macro command Not every macro command requires this parameter All...

Page 341: ...ion 3 If not supported the failure code F001h is returned All 0 0h 099Fh N A Command code 0005h E Cam disengages after engaged for one cycle Macro parameter PC86 pulse number of master axis This function can set the pulse number of master axis PC62 and pulse number of disengaging time PC67 as the same value synchronously with the disengagement condition PC66u 2 4 6 and the cycle number of master a...

Page 342: ...orrectly set before executing this macro 3 After this macro is executed if the macro parameters have been modified the E Cam table must be recreated and you must execute this macro again 4 Data in the E Cam table is changed after this macro is executed Ensure do not execute the macro when E Cam is engaged 5 In E Cam applications parameters such as PC62 PC61 that are irrelevant to this macro are no...

Page 343: ...h word Hex A number of teeth on the motor C cutting count PC86 L16 low word Hex B number of teeth on the cutter PC87 1000000 R V range1 88 R x V In which R cutting length ratio L target cutting length ℓ perimeter of cutter V speed scaling cutting speed feeding speed Example V 1 0 during cutting the speed of cutter is the same as the feeding speed V 1 1 during cutting the speed of cutter increases ...

Page 344: ...this macro is executed the E Cam table is not saved to EEPROM automatically Failure code F071h The E Cam is engaged so the E Cam table cannot be created Failure code F072h Synchronous speed zone of PC85 exceeds the range 0 330 Failure code F073h S curve smoothing level of PC84 H16 exceeds the range 1 4 Failure code F074h Degree of waiting zone of PC84 L16 exceeds the range 1 to 170 Failure code F0...

Page 345: ...hen E Cam is engaged it can only be changed after one cycle is finished which is to ensure the E Cam can return to the original position without cumulative error Pre engaged Stop Engaged Load in E Cam scaling PC96 前置 Pre engaged 停止 Stop 载入凸轮倍率 Load in E Cam scaling 嚙合 Engaged If it is necessary to change the E Cam scaling immediately in the application there are two methods in below 1 Set PC66x Bi...

Page 346: ...is cut off If you want E Cam to re engage at the last disengaged position and continue its remaining cycle it is recommended that you record the master axis position X of the last disengagement and then execute this macro command 3 Note that when E Cam is disengaged the servo position might shift slightly causing position error when E Cam re engages When E Cam rotates one cycle pulse number of mas...

Page 347: ...ed and to keep calculating the position of E Cam when Servo is Off 2 The indexing coordinates and the E Cam coordinates should be at the same height total index coordinate moving distance PC90 E Cam moving distance when slave axis operates one cycle table the last data the first data 3 Set the E Cam curve scaling PC96 to 1 0 times 4 Have the 0 degree positions in the E Cam table point to the origi...

Page 348: ...am current position Maximum forward rotation limit If target position is within this range onward trip is in forward direction If target position is within this range onward trip is in reverse direction Allowable forward rate 50 onward maximum path 180 Allowable forward rate 75 onward maximum path 270 Allowable forward rate 100 Forward direction only for onward trip Allowable forward rate 0 Allowa...

Page 349: ...acro command might be triggered twice Failure code F0D6h When servo switches to on again E Cam is not engaged Failure code F0D7h E Cam table Y axis height does not equal to the total index moving distance PC90 Failure code F0D8h E Cam table scaling does not equal 1 Failure code F0D9h PC84 ba PC86 data exceeds the range 0 1 Failure code F0DAh PC84 dc reverse inhibit setting exceeds the range 0 1 Fa...

Page 350: ...000 25000 unit μsec PC86 Allowable forward rotate rate 0 100 Refer to macro command D for the setting PC87 Alignment target position X 0 PC62 PC61 1 unit pulse number of master axis During E Cam operation if you want to quickly align the E Cam position with the mechanical referral point you can use the sensor to trigger the DI EVx or use high speed DI7 with Capture to execute this macro command Th...

Page 351: ...2h PC84 yx PR number specified exceeds the range 0 0x3F Failure code F0E3h PC84 uz maximum correction rate exceeds the range 0 0x64 Failure code F0E4h PC85 DI time compensation exceeds the range 25000 25000 Failure code F0E5h PC86 allowable forward rate exceeds the range 0 100 Failure code F0E6h PC87 alignment target position exceeds the range 0 PC62 PC61 1 Failure code F0E7h PC84 dcba setting val...

Page 352: ... is engaged this macro command calculates the moving distance between the current and target position of X and writes the value to the specified PR command Note that PR command must be executed in incremental type in both onward trip or returning trip The macro application when E Cam is operating the master axis is stopped and still engaged if you want to move the slave axis to the specified posit...

Page 353: ...de F0F2h PC84 yx PR onward number exceeds the range 0 0x3F Failure code F0F3h PC84 uz PR returning number exceeds the range 0 0x3F Failure code F0F5h PC86 allowable forward rate exceeds the range 0 100 Failure code F0F6h PC87 alignment target position exceeds the range 0 PC62 PC61 1 Success code 100Fh ...

Page 354: ... prevent mechanical vibration E Cam pause distance table the end point the start point PC96 the activated E Cam ratio This function is accumulative If the command is triggered for N times consecutively it pauses the E Cam for N cycles Note that the accumulated pause distance cannot overflow the range 2 31 otherwise the macro command will have failure code When the pause cycle is complete the slave...

Page 355: ...it in any time smooth the operation reduce the noise and extend the lifetime This function is different from the general filter the traditional filter works regardless the change of command which may cause command lag and reduce system efficiency This function only filter when command change exceeds the limitation When the variation value is small the filter is invalid and no lag occurs The defini...

Page 356: ... PC89 u 0 disabled PC89 u 1 enabled When this function is enabled the reverse command is inhibited and saved inside When the value of forward rotation exceeds this reverse value the forward command output is generated PR command pulse PR command pulse time sec time sec Reverse command Pr 0000h 0000h 107Fh N A ...

Page 357: ...array Note when SON is ON EEPROM write inhibit and shows error code Pr 0 0 65535 N A PC92 AYSZ Total number of data arrays read only The total number of data arrays which is to place CAP CMP and E Cam is 800 Pr 800 32767 32767 N A PC93 AYID Data arrays read write address When you read write specified data in data array you can use panel screen or use communication software to read write PC94 PC95 ...

Page 358: ...s pulse frequency to operate E Cam increase this magnification will increase the E Cam moving distance and also enlarge the rotation speed If negative value is used in PC96 the servo will run reversely Note this parameter can be set at any time but the time when it becomes effective is determined by PC66 xBit 2 Pr 100 0000 214700 0000 2147 000000 10 6 PC97 ALER E Cam overall pulse error During E C...

Page 359: ...e z 1 LSN SG is auto short circuited internally without external wiring u 0 the open short status of EMG SG is controlled by the external circuit of the drive u 1 EMG SG is short circuited internally without external wiring All 0000h 0000h 1111h N A PD02 DI1 Input signal option 1 To define the function of CN1 14 pin input signal In different control modes the input signals are not exactly the same...

Page 360: ...h 0000h 002Fh N A PD06 DI5 Input signal option 5 To define the function of CN1 18 pin input signal CN1 18 can be assigned for any input signal its parameter setting method is same as PD02 you can refer to PD02 setting description All 0002h 0000h 002Fh N A PD07 DI6 Input signal option 6 To define the function of CN1 19 pin input signal CN1 19 can be assigned for any input signal its parameter setti...

Page 361: ... Output signal option 2 To define the function of CN1 42 pin output signal CN1 42 pin can be assigned to any output signal its parameter setting is the same as PD10 you can refer to PD10 setting description All 0008h 0000h 002Fh N A PD12 DO3 Output signal option 3 To define the function of CN1 43 pin output signal CN1 43 pin can be assigned to any output signal its parameter setting is the same as...

Page 362: ... control switch Each bit of this parameter determines the signal input source of 1 DI Bit0 Bit11 is correspond to DI1 DI12 Bit setting shows as below 0 input contact status is controlled by external hardware terminal 1 input contact status is controlled by communication parameter PD25 For DI function assignment please refer to DI1 DI8 PD02 PD09 DI9 DI12 PD21 PD24 All 0000h 0000h 0FFFh N A PD17 DOP...

Page 363: ... x 1 to clear the position pulse error When CR SG is short circuited the position pulse error of drive will be kept cleaning to 0 Pt mode x 2 to stop the positioning function When the CR SG rising edge is triggered the motor will decelerate to stop according to the deceleration time and the remaining unfinished pulses will be ignored When CTRG SG is short circuited again the current position comma...

Page 364: ... 45 0 0 0 AL 09 Serial communication error AL 0A Serial communication timeout AL 0E IGBT overheat AL 0F Memory error AL 10 Overload 2 0 0 1 AL 02 Low voltage 0 1 0 AL 01 Over voltage AL 04 Regenerative alarm 0 1 1 AL 03 Over current 1 0 0 AL 05 Overload 1 0 1 AL 06 Over speed AL 07 Pulse command abnormal AL 08 Position error excess 1 1 0 AL 0B Position detector error 1 AL 0C Position detector erro...

Page 365: ... the function of CN1 23 pin input signal CN1 23 can be assigned for any input signal its parameter setting method is same as PD02 you can refer to PD02 setting description All 0019h 0000h 002Fh N A PD23 DI11 Input signal option 11 To define the function of CN1 12 pin input signal CN1 12 can be assigned for any input signal its parameter setting method is same as PD02 you can refer to PD02 setting ...

Page 366: ...nd DI5 are ON eventually If the value written into PD25 is 0x0011 which means that the communication contacts DI1 and DI5 are ON but it does not mean that the terminal signals of the DI1 and DI5 are ON which is determined by PD16 setting value For the function definition of DI DI1 DI8 you can refer to PD02 PD09 For the function definition of DI DI9 DI12 you can refer to PD21 PD24 Example 1 If set ...

Page 367: ...by bit11 bit0 in binary values Bit11 bit0 indicates DI12 DI1 from left to right DI contact source control switch PD16 111111000000 The external hardware terminal status 111100001111 1 means ON 0 means OFF Communication control digital input contact status PD25 111000111000 ...

Page 368: ...tting is the same as PD10 you can refer to PD10 setting description All 0002h 0000h 002Fh N A PD27 DOD Definition of output signal contact 0 output contact is normally open a contact 1 output contact is normally close b contact To define the output contact of DO1 DO6 signal bit0 bit5 of this parameter defines the contact of DO1 DO6 separately and defines output contact a contact or b contact All 0...

Page 369: ...4 5 and 6 2 CMD_OK indicate if command 3 output is completed and the delay time DLY can be set 3 Command output output the profile of position command based on the acceleration deceleration setting 4 INP indicates if positioning error of the servo drive is within PA12 setting range 5 MC_OK command output and servo positioning are both completed which indicate that DO CMD_OK and DO TPOS are both on...

Page 370: ...sponding DI bit is 1 If DI function is LSP LSN EMG it is A contact If DI function is not LSP LSN EMG it is B contact Note if any DI is assigned to be controlled by Communication refer to PD16 this setting is invalid All 0000h 0000h 0FFFh N A PD30 SDO DO contact source control switch DO Source control switch Each bit of this parameter determines one DO signal output source Bit0 Bit5 is correspond t...

Page 371: ...O contact is off 1 DO contact is on Note you can refer to PD25 setting Turret mode 0000h 0000h 003Fh N A PD32 SDLY Servo ON delay time when SON is ON This parameter is to set the delay time of SERVO ON when the SON is ON All 0 0 3000 msec PD33 SFDO Software DO register The bit0 bit7 of this parameter setting controls DO signal S_DO0 S_DO7 separately All 0000h 0000h 00FFh N A ...

Page 372: ... DI uz Set the 1st group of switchable DI code yx Set the 1st group of switchable DI code dcba The 2nd group of uninterruptible power switch DI dc Set the 2nd group of switchable DI code ba Set the 2nd group of switchable DI code Example PD34 161E0C1F The 1st group of switchable DI is SHOM and EV2 The 2nd group of switchable DI is CTRG and EV1 All 0h 0h 2F2F 2F2Fh N A PD35 PD99 Reserved ...

Page 373: ...for the origin 0 do not execute homing 1 execute homing automatically servo on for the first time after power on 6 Apart from the above definitions the related settings for homing also include a a PA04 homing mode b b PA08 PA09 speed setting of searching for the origin c c PE02 ORG_DEF is the coordinate of the origin and may not be 0 This function is used as a traversal of the coordinate Note1 aft...

Page 374: ... positioning control It automatically loads the next path when finished INS 7 JUMP jump to the specified path AUTO INS 8 write specified parameter to specified path 2 TYPE When 1 2 or 3 is executed it can be stopped by DO STP and software limits 3 INS If INS is set it interrupts the previous program 4 OVLP Allow overlapping of the next path Overlapping is not allowed in Speed mode When overlapping...

Page 375: ...PATH 2 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE07 PDEF3 PATH 3 definition Refer to description of PE03 Pr 00000000h 00000000h FFFFFFFFh N A PE08PDAT3PATH 3 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE09 PDEF4 PATH 4 definition Refer to description of PE03 Pr 00000000h 00000000h FFFFFFFFh N A PE10PDAT4PATH 4 data Refer to description of PE04 Pr 0 Refer to PE04 N A ...

Page 376: ...0h FFFFFFFFh N A PE16PDAT7PATH 7 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE17 PDEF8 PATH 8 definition Refer to description of PE03 Pr 00000000h 00000000h FFFFFFFFh N A PE18PDAT8PATH 8 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE19 PDEF9 PATH 9 definition Refer to description of PE03 Pr 00000000h 00000000h FFFFFFFFh N A ...

Page 377: ...on of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE28 PDAT13 PATH 13 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE29 PDEF14PATH 14 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE30 PDAT14 PATH 14 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE31 PDEF15PATH 15 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE3...

Page 378: ...22 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE47 PDEF23PATH 23 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE48 PDAT23 PATH 23 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE49 PDEF24PATH 24 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE50 PDAT24 PATH 24 data Refer to description of PE04 Pr 0 Refer to P...

Page 379: ...31 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE65 PDEF32PATH 32 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE66 PDAT32 PATH 32 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE67 PDEF33PATH 33 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE68 PDAT33 PATH 33 data Refer to description of PE04 Pr 0 Refer to P...

Page 380: ...h FFFFFFFFh N A PE82 PDAT40 PATH 40 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE83 PDEF41PATH 41 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE84 PDAT41 PATH 41 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE85 PDEF42PATH 42 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE86 PDAT42 PATH 42 data Refer to de...

Page 381: ...N A PE94 PDAT46 PATH 46 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE95 PDEF47PATH 47 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE96 PDAT47 PATH 47 data Refer to description of PE04 Pr 0 Refer to PE04 N A PE97 PDEF48PATH 48 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PE98 PDAT48 PATH 48 data Refer to description of...

Page 382: ...FFFFFh N A PF08 PDAT52 PATH 52 data Refer to description of PE04 Pr 0 Refer to PE04 N A PF09 PDEF53 PATH 53 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PF10 PDAT53 PATH 53 data Refer to description of PE04 Pr 0 Refer to PE04 N A PF11 PDEF54 PATH 54 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PF12 PDAT54 PATH 54 data Refer to descr...

Page 383: ...TH 60 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PF24 PDAT60 PATH 60 data Refer to description of PE04 Pr 0 Refer to PE04 N A PF25 PDEF61 PATH 61 definition Refer to description of PE03 Pr 0000000 0h 00000000h FFFFFFFFh N A PF26 PDAT61 PATH 61 data Refer to description of PE04 Pr 0 Refer to PE04 N A PF27 PDEF62 PATH 62 definition Refer to description of PE03 Pr 0...

Page 384: ...nd 8 Pr 1200 1 6000 rpm mm s PF41 POV9 Speed setting of internal position command 9 Pr 1500 1 6000 rpm mm s PF42 POV10 Speed setting of internal position command 10 Pr 1800 1 6000 rpm mm s PF43 POV11 Speed setting of internal position command 11 Pr 2000 1 6000 rpm mm s PF44 POV12 Speed setting of internal position command 12 Pr 2200 1 6000 rpm mm s PF45 POV13 Speed setting of internal position com...

Page 385: ...372 ...

Page 386: ...1 65550 ms PF55 POV7 Acceleration deceleration time of internal position command 7 Refer to description of PF49 Pr 900 1 65550 ms PF56 POV8 Acceleration deceleration time of internal position command 8 Refer to description of PF49 Pr 1000 1 65550 ms PF57 POV9 Acceleration deceleration time of internal position command 9 Refer to description of PF49 Pr 1200 1 65550 ms PF58 POV10 Acceleration decele...

Page 387: ...reached Refer to description of PF65 Pr 100 0 32767 ms PF67 DLY3 Delay time 3 after position reached Refer to description of PF65 Pr 200 0 32767 ms PF68 DLY4 Delay time 4 after position reached Refer to description of PF65 Pr 300 0 32767 ms PF69 DLY5 Delay time 5 after position reached Refer to description of PF65 Pr 500 0 32767 ms PF70 DLY6 Delay time 6 after position reached Refer to description...

Page 388: ...eached Refer to description of PF65 Pr 2300 0 32767 ms PF77 DLY13 Delay time 13 after position reached Refer to description of PF65 Pr 2500 0 32767 ms PF78 DLY14 Delay time 14 after position reached Refer to description of PF65 Pr 3000 0 32767 ms PF79 DLY15 Delay time 15 after position reached Refer to description of PF65 Pr 4000 0 32767 ms PF80 DLY16 Delay time 16 after position reached Refer to ...

Page 389: ... the second deceleration time of homing DI STOP deceleration time CTO the deceleration time when communication timeout or ABS communication alarm occurs SNL the deceleration time when the software negative limit reaches and alarm occurs SPL the deceleration time when the software positive limit reaches and alarm occurs NL the deceleration time when the LSN reverse limit reaches and alarm occurs PL...

Page 390: ...nd is incomplete the drive reads the current command 1 99 2 If the command is complete the drive reads the current command 10000 3 If the command is complete and DO TPOS is on and motor position is reached the drive reads the current command 20000 4 Commands triggered by DI are also applicable Example if set to 3 which means PR 3 is triggered 1 If the read value is 3 it means PR 3 is incomplete 2 ...

Page 391: ...ber triggered by falling edge Pr 0000h 0000h DDDDh N A Parameter setting UZYX This parameter is to define the executing PR number when EVx is off X 0 no action when EV1 is off X 1 D execute PR 51 63 when EV1 is off Y 0 no action when EV2 is off Y 1 D execute PR 51 63 when EV2 is off Z 0 no action when EV3 is off Z 1 D execute PR 51 63 when EV3 is off U 0 no action when EV4 is off U 1 D execute PR ...

Page 392: ...e before E Gear ratio Pr Pt 231 1 231 1 231 1 pulse PF87 SWLN Negative software limit In PR mode if the motor moves in the negative direction and its position command pulse number exceeds the value of PF87 AL15 will occur Note position command is before E Gear ratio In PT mode of absolute system if the motor moves in the negative direction and its feedback position pulse number exceeds the value o...

Page 393: ...380 PF90 BLSF Backlash compensation option Setting value 0 disable 1 forward direction compensation 2 reverse direction compensation Pr Pt 0 0 2 N A PF91 PF99 Reserved ...

Page 394: ...able motor parameter automatic identification function middle response 3 enable motor parameter automatic identification function low response 4 enable motor parameter manually setting function high response 5 enable motor parameter manually setting function middle response 6 enable motor parameter manually setting function low response All 0 0 6 N A PL03 Motor parameter confirmation 0 motor param...

Page 395: ...st time Note2 It cannot operate the Z axis without spring or balance treatment z AB phase pulse filter setting z 0 turn off the filter z 1 applicable for 16MPPS pulse feedback z 2 applicable for 8MPPS pulse feedback z 3 applicable for 3MPPS pulse feedback u AB phase LA LB pulse output type setting u 0 directly output LA LB LZ of Linear scale u 1 output pulse according to PA14 and PA39 setting outp...

Page 396: ...or per PL42 length is PL42 100000 PL05 512 pulse PL42 mm The number of pulses output per revolution of the rotary motor is the number of pulses per revolution 512 pulse rev PL05 Encoder resolution If PL01 1 PL05 unit is 3 10 um pulse If PL01 2 PL05 unit is pulse rev All 1000 1 229 1 Refer to PL05 PL06 Reserved ...

Page 397: ...description Mode Default Range Unit PL07 Motor UVW and Hall sensor phase sequences 0 0 y x x the relation of UVW phase sequence and encoder feedback signal x 0 phase sequence is consistent x 1 phase sequence is reversed All 0h 0h 11h N A ...

Page 398: ...Abbr Parameter function and description Mode Default Range Unit PL07 y the relation of motor UVW phase sequence and Hall sensor y 0 phase sequence is consistent y 1 phase sequence is reversed All 0h 0h 11h N A ...

Page 399: ...due to different motion directions of the motor the U phase zero point of the Hall sensor will be based on the central angle of the hysteresis For the description of hysteresis refer to the diagram of PL09 All 0 0 3600 0 1 Electr ical angle PL09 Hall sensor hysteresis width Hysteresis width is as follows All 0 0 3600 0 1 Electr ical angle ...

Page 400: ...12 Current setting for initial magnetic field detection If PL04 y 0 the servo drive will automatically detect the motor magnetic field when the servo is On for the first time the detection current is PL12 setting value and the setting is as follows 1 When the friction between the motor and the mechanical parts is too large magnetic field detection error may occur which triggers AL 52 Increasing th...

Page 401: ...gle During initial magnetic field detection motor magnetic field move angle is y 5degree 1 When y 2 the onward and backward move angle is 10 2 Only when x and y conditions are both met at the same time the motor magnetic filed detection is completed successfully 3 If either x or y cannot meet it will detect again in different angle When the number of detection failures reaches 4 times AL 52 will o...

Page 402: ...oop integral gain ki When reading PL17 it displays the integral gain value of auto adjustment It can be manually adjusted base on the user s requirement Decreasing the value of PL17 can reduce the settling time of current loop and it may cause servo unstable and vibration Note when PL01 0 this parameter is invalid All 0 0 99 99999 N A PL18 Current loop gain magnification When PL18 0 the actual cur...

Page 403: ...c PL 20 140 35 20sec PL 20 160 17 60sec PL 20 180 11 20sec PL 20 200 8 00sec PL 20 220 6 10sec PL 20 240 4 80sec PL 20 260 3 90sec PL 20 280 3 30sec PL 20 300 2 80sec PL 20 320 2 50sec PL 20 340 2 20sec PL 20 360 2 00sec PL 20 380 1 80sec PL 20 400 1 60sec PL 20 420 1 40sec PL 20 440 1 30sec PL 20 460 1 20sec PL 20 480 1 10sec PL 20 500 1 00sec PL 20 All 100 15 600 ...

Page 404: ...on the above operating cycle AL 05 will not occur PL21 Overload decrease gain Refer to PL20 for detail All 100 15 600 PL22 Cogging compensation u z y x x Cogging Torque compensation function 1 enable 0 disable y estimate Cogging Torque 1 enable 0 disable z low pass filter for estimation 1 A 30 300 Hz u high pass filter for estimation 1 A 0 5 5K Hz If PL22 yx 11 Cogging data will be saved in EEPROM...

Page 405: ...392 ...

Page 406: ...f CN2L All 0 0 3 N A PL24 Motor over temperature mode option 0 0 0 x x 0 stop immediately if reaches the temperature level x 1 decelerate to stop according to PF81 setting when it reaches the temperature level x 2 stops immediately when the over temperature lasts PL27 setting time x 3 decelerate to stop according to PF81 setting when the over temperature lasts PL27 setting time x 4 displays AL 67 ...

Page 407: ...A PL31 Permanent magnet rotary motor rated speed All 3000 0 6000 rpm PL32 Permanent magnet rotary motor maximum speed All 6000 0 8000 rpm PL33 Permanent magnet rotary motor torque constant All 0 0 13850 0 001 Nm A PL34 Permanent magnet rotary motor rotor inertia All 0 0 214748 3647 10 7 Kg m2 PL35 Permanent magnet rotary motor phase resistance All 0 0 15999 0 001 ohm PL36 Permanent magnet rotary m...

Page 408: ...L38 1 and the Z phase signal is output for the first time every two Z pulse interval must meet the following two conditions otherwise AL 57 will be triggered 1 PL39 2 PL40 PL39 All 400 0 32767 pulse PL40 Pulse loss detection Z phase interval Refer to PL39 for detail All 2000 0 214748 3647 pulse PL41 Reserved PL42 Linear motor pole pitch All 0 0 32767 0 1mm 360 Electri cal angle PL43 Linear motor r...

Page 409: ...All 0 0 177362 0 01N A PL47 Linear motor phase resistance All 0 0 100000 0 001 ohm PL48 Linear motor phase inductance All 0 0 65189 0 01 mH PL49 Linear motor back electromotive force constant All 0 0 11824 0 1Volt m s PL50 Linear Compensation function option 0 disabled 1 enabled automatically after homing is completed All 0 0 1 N A PL51 Linear motor temperature sensor resistance Read only All 0 0 ...

Page 410: ... command In torque mode when this signal is on it will activate forward torque command ORGP 0x0B In internal register position mode when searching for the origin the servo uses this position as the homing origin by turning on this signal SHOM 0x0C In internal position register mode when searching for the origin origin searching function is activated by turning on this signal CM1 0x0D In position m...

Page 411: ...1E Event trigger Pr command 1 EV2 0x1F Event trigger Pr command 2 EV3 0x20 Event trigger Pr command 3 EV4 0x21 Event trigger Pr command 4 ABSE 0x22 Delta ABS transmission mode ABSC 0x23 Delta Mitsubishi ABS origin setting ABSM 0x22 Mitsubishi ABS transmission mode STOP 0x24 In internal register position mode when this signal is on the motor stops MD1 0x28 Mode switching input 1 of turret mode MD2 ...

Page 412: ...motor speed reaches internal speed command 1 7 or analog speed limit VLA VLC SG is on and VLC SG is off when SON is off MBR 0x06 When using this DO PA01 must set to 1 When servo is off or alarm occurs MBR SG is off MBR SG is off when alarm occurs and it s not related to main circuit status WNG 0x07 You should set PD19 for pin assignment before using this signal otherwise this signal is invalid Whe...

Page 413: ...SV is on POS1 0x11 Position output point1 of Turret mode POS2 0x12 Position output point 2 of Turret mode POS3 0x13 Position output point 3 of Turret mode POS4 0x14 Position output point 4 of Turret mode POS5 0x15 Position output point 5 of Turret mode POS6 0x16 Position output point 6 of Turret mode LOPM 0x17 If in control switching mode the current using control mode related to LOP is output Not...

Page 414: ...ystem change parameters and monitor the status of the servo system However RS 485 and USB communication functions cannot be used at the same time and the wiring instructions of RS485 and USB are as follows RS 485 1 External schematic diagram You can operate maximum 32 axis of servo drives from device number 1 to 32 on the same Bus It can connect to the device such as controller or HMI with RS485 L...

Page 415: ...e communication is likely to be interrupted you can short circuit the GND of the communication device or the terminal with the same communication protocol such as HMI and the GND PIN8 of the servo controller CN3 to reduce communication failure ...

Page 416: ...403 USB 1 External schematic diagram Please use standard Mini USB cable It is recommended to use the USB cable with a magnetic ring which has stronger anti interference function L1 L2 CHARGE SDP 010A2C ...

Page 417: ... bit No parity 2 Stop bit Modbus ASCII Mode x 1 7 data bit Even parity 1 Stop bit Modbus ASCII Mode x 2 7 data bit Odd parity 1 Stop bit Modbus ASCII Mode x 3 8 data bit No parity 2 Stop bit Modbus ASCII Mode x 4 8 data bit Even parity 1 Stop bit Modbus ASCII Mode x 5 8 data bit Odd parity 1 Stop bit Modbus ASCII Mode x 6 8 data bit No parity 2 Stop bit Modbus RTU Mode x 7 8 data bit Even parity 1...

Page 418: ...inal Unit You can set the communication mode ASCII or RTU by PC21 according to your requirements Note USB and MODBUS cannot be used at the same time The Shihlin servo drive provides these function codes 0x03 0x04 0x06 0x10 which can do relevant communication control with the host controller 9 3 1 ASCII mode a Code description Every 8 bit data frame consists of two ASCII characters For example if 1...

Page 419: ...t code Name Description STX Start character 3AH of ASCII ADR Device number 1 byte consists of 2 ASCII codes CMD Function code 1 byte consists of 2 ASCII codes DATA n 1 Data content n word 2n byte consists of 4n ASCII codes n 29 DATA 0 LRC Error check 1 byte consists of 2 ASCII codes ...

Page 420: ...32H CMD function code and DATA data word The format of data characters depends on the function code the common used function codes are as follows Example 1 function code 03H reading N words The maximum N is 29 for example read 2 words consecutively from the start address of the servo drive is 0100H in the device number 01H Command message Host Response message Slave STX STX ADR 0 ADR 0 1 1 CMD 0 C...

Page 421: ... example write 325 0145H to the starting address 0100H of the servo drive with device number 01H Command message Host Response message Slave STX STX ADR 0 ADR 0 1 1 CMD 0 CMD 0 6 6 Start data address 0 Start data address 0 1 1 0 0 0 0 Data content 0 Data content 0 1 1 4 4 5 5 LRC check B LRC check B 2 2 End1 0DH CR End1 0DH CR End0 0AH LF End0 0AH LF ...

Page 422: ...H is written to 0113H The maximum allowable data in one single access is 10 Command message Host Response message Slave STX STX ADR 0 ADR 0 1 1 CMD 1 CMD 1 0 0 Start Data Address 0 Start Data Address 0 1 1 1 1 2 2 Data quantity word 0 Data quantity 0 0 0 0 0 2 2 Data quantity byte 0 LRC check D 4 A Content of the 1 st Data 0 End1 0DH CR B End0 0AH LF B 8 Content of the 2nd Data 0 0 0 0 LRC check 1...

Page 423: ... 28H is taken and then calculate complement of 2 The complement is LRC error value For example read 2 words word from the start address 0104h of the servo drive device number 01h 01H 03H 01H 04H 00H 02H 0BH The complement of 2 is F5H thus LRC is F 5 STX ADR 0 1 CMD 0 3 Start Data Address 0 1 0 4 Data quantity 0 0 0 2 LRC error check F 5 End1 0DH CR End0 0AH LF End1 End0 communication is completed ...

Page 424: ...e number 1 byte CMD Function code 1 byte DATA n 1 Data content n word 2n byte n 29 DATA 0 CRC Error check 2 byte End End code To keep an idle more than 6mS STX start communication To keep an idle for more than 6mS ADR Communication device number The device number is from 1 to 32 For example the device number of the servo drive is 18 hexadecimal 12H ADR 12H CMD Function code and DATA Data word The ...

Page 425: ...rd 00H 40H low byte 02H CRC Check low byte C5H low byte CRC Check low byte A3H low byte CRC Check high byte B3H high byte CRC Check high byte D4H high byte Example 2 function code 06H writing single word For example write 100 0064H to the starting address 0200H of the servo drive with device number 01H Command message Host Response message Slave ADR 01H ADR 01H CMD 06H CMD 06H Start data address 0...

Page 426: ...te 00H low byte CRC Check low byte FCH low byte CRC Check high byte EBH high byte CRC error check value calculation RTU mode The error check in RTU mode is CRC Cyclical Redundancy Check The CRC error detection value calculation is explained in the following steps Step 1 load a 16 bit register with the content of FFFFH which is called the CRC register Step 2 perform Exclusive OR calculation between...

Page 427: ...H is sent before 37H ADR 01H CMD 03H Start data address 01H high byte 01H low byte Data quantity 00H high byte 02H low byte CRC Check low byte 94H low byte CRC Check high byte 37H high byte End1 End0 communication is completed Keeping an idle for more than 6mS means communication is completed CRC program example This function calculates the CRC value in the C language It needs two parameters unsig...

Page 428: ...n code 03H indicates reading parameter the maximum allowable parameter in one single access is 29 Function code 04H indicates accessing the read only parameter the maximum allowable parameter in one single access is 29 Function code 06H indicates writing a single parameter Function code 10H indicates writing multiple parameters and the maximum allowance parameter in one single access is 10 Error c...

Page 429: ...ords 2 Check whether the written parameter value exceeds range In current communication address 0x0000 0x20FF most addresses have a defined range If some addresses are reserved and not used the range is 32728 32767 When there is an error in receiving data the function code will be added 0x80 which means an error has occurred The following package will be returned a ASCII mode b RTU mode STX Slave ...

Page 430: ...The value of communication address 0x0235 determines its content Setting value 2 Motor current speed rpm Setting value 2 Motor current speed mm s 2word 0x000A Analog speed command limit voltage V Display 2 decimal point 2word 0x000C The value of communication address 0x0235 determines its content Setting value 2 speed command limit rpm Setting value 2 speed command limit mm s 2word 0x001E Analog t...

Page 431: ...0020 Z phase offset pulse Note 1 2word 0x0022 Input number of pulse commands after E Gear ratio pulse 2word 0x0024 Motor feedback pulse number before E Gear ratio pulse 2word 0x0026 Pulses error number before E Gear ratio pulse 2word Note 1 Z phase offset that is Z phase origin is 0 sets 5000 or 5000 pulses when the motor rotates in the forward or reverse direction It is as below picture shows Eve...

Page 432: ...erminals DI12 DI1 status are represented by bit11 bit0 The following use binary value to illustrate DI contact source control switch PD16 111111000000 The state of the external hardware terminal 111100001111 from left to right are DI12 DI1 1 means ON 0 means OFF Communication control DI contact status PD25 111000111000 In summary the status of DI12 DI7 communication address 0x0204 is determined by...

Page 433: ...of Address 0x0208 will return 0 Address 0x0206 Bit8 Bit15 Bit0 bit7 Bit number DI1 DI2 Pin number 0x00 0x2F 0x00 0x2F Function code Address 0x0207 Bit8 Bit15 Bit0 bit7 Bit number DI3 DI4 Pin number 0x00 0x2F 0x00 0x2F Function code Address 0x0208 Bit8 Bit15 Bit0 bit7 Bit number DI5 DI6 Pin number 0x00 0x2F 0x00 0x2F Function code Address 0x0209 Bit8 Bit15 Bit0 bit7 Bit number DI7 D8 Pin number 0x0...

Page 434: ...0 0x3F Function code Address 0x020E Bit8 bit15 Bit0 bit7 Bit number DO6 DO5 Pin number 0x00 0x3F 0x00 0x3F Function code c Current control mode and servo status Read only Communication address Content Data length 0x0200 Bit0 servo ready status 0 Servo OFF 1 Servo ON 1word 0x0201 Bit0 Bit3 display current control mode of drive 0 Pt position mode 1 absolute Pr position mode 2 incremental Pr position...

Page 435: ...ction code Pt Pr TC2 TC1 Signal Note2 the DO function selection definition table is as follows 0x05 0x04 0x03 0x02 0x01 0x00 Function code TLC VLC HOME INP SA ALM RD N A Signal 0x0B 0x0A 0x09 0x08 0x07 0x06 Function code MC_OK OLW CMDOK ZSP WNG MBR Signal 0x11 0x10 0x0F 0x0E 0x0D 0x0C Function code CAP_OK ABSV ABSW SWNL SWPL OVF Signal 0x17 0x16 0x15 0x14 0x13 0x12 Function code LOPM CAM_AREA2 CAM...

Page 436: ...time high word PG14 1word 0x0115 5th alarm record occurrence time low word PG15 1word 0x0116 5th alarm record occurrence time high word PG16 1word 0x0117 6th alarm record occurrence time low word 1word 0x0118 6th alarm record occurrence time high word 1word 0x0119 7th alarm record occurrence time low word 1word 0x011A 7th alarm record occurrence time high word 1word 0x011B 8th alarm record occurre...

Page 437: ...2 addresses such as PD01 0x0600 0x0601 2word 0x0700 0x07C5 PE group parameters and the data length of each parameter is 32 bits and occupying 2 addresses such as PE01 0x0700 0x0701 2word 0x0800 0x08C5 PF group parameters and the data length of each parameter is 32 bits and occupying 2 addresses such as PF01 0x0800 0x0801 2word 0x0A00 0x0A62 There are 99 parameters in PG group and the data length o...

Page 438: ...ddress Content Data length 0x061E Digital input source control option PD16 1 each bit of this parameter determines the signal input control source of 1 DI Bit0 Bit8 is correspond to DI1 DI9 2 Bit setting shows as below 0 input contact status is controlled by external hardware terminal 1 input contact status is controlled by communication contact PD25 2word Step 2 writing DI contact on off status O...

Page 439: ...ere are no special restrictions on the communication command address For example you can repeat the read command to the communication address 0x0900 to maintain the continuous communication state 3 After entering the test mode terminal forced output control JOG test positioning test the normal external hardware signal and software contact signal are invalid except the EMG signal 8 DO forced output...

Page 440: ...ng range Data length 0x0203 To write DO contact on off status as shown below 0 0x003F 1word Bit6 Bit15 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit number DO6 DO5 DO4 DO3 DO2 DO1 Pin name Step 4 exit Forced DO mode write data 0x0000 to the communication address 0x0901 9 JOG test readable and writable Step 1 read the alarm and Servo ON information from the following communication address Make sure that there ...

Page 441: ...Content Data length 0x0904 0 JOG operation is stopped 1 JOG is operating forwardly 2 JOG is operating reversely The setting range is 0 2 1word Step 6 exit JOG mode write data 0x0000 to communication address 0x0901 10 Positioning test readable and writable Step 1 read the alarm and Servo ON information from the following communication address make sure that currently there is no alarm and the servo...

Page 442: ...ode 0x0905 returns low 16 bits 0x0906 returns high 16 bits The range is 0 231 1 unit pulse 1word Step 6 positioning test operation Communication address Content Data length 0x0907 When the written data is 0 it means that the positioning operation is paused stopped send the command during the operation will pause operation and send the 2nd command will stop the operation When the written data is 1 ...

Page 443: ... 11 2 to take appropriate actions Setting PD19 to xxx1 to output the alarm code The alarm code is output based on the ON OFF status between each PIN and SG and the warning AL12 AL1B has no alarm code When an alarm occurs the related DO will output alarm code in below list In normal operation the related DO output the setting signal before alarm occurs CN1 41 DO1 CN1 42 DO2 CN1 45 DO5 Display Alarm...

Page 444: ... 1 1 0 Encoder error 5 overflow AL 2A 1 1 0 Absolute encoder error 1 AL 2B 1 1 0 Absolute encoder error 2 AL 2E 0 1 1 Control circuit error AL 2F 0 1 1 Regenerative energy error AL 30 0 1 1 Pulse output frequency excess AL 31 0 1 1 Over current 2 AL 32 0 1 1 Control circuit error 2 AL 33 0 1 1 Memory error 2 AL 34 0 0 0 Overload 4 AL 35 1 0 1 STO module abnormal AL 51 1 0 1 Motor parameter automat...

Page 445: ...t warning AL 1C Early overload warning 4 After eliminating the cause it can be automatically released AL 2C Absolute encoder error 3 After eliminating the cause it can be automatically released AL 2D Encoder battery low voltage Eliminate the cause and then cycling the power of servo AL 61 Parameter group source of PR is out of range AL 62 The parameter number of PR is out of range AL 63 The writin...

Page 446: ...yet the error still occurs Send your servo drive back to the distributor or manufacturer Built in regenerative resistor or regenerative device is disconnected Check whether the PD short circuited piece is connected correctly or whether the regenerative resistor or device wiring is disconnected Wire the short circuited piece correctly or change the wiring cable Burned or damaged of the internal reg...

Page 447: ...Over current Alarm cause Checking method Corrective action Motor wiring error Check the wire connection sequence between the motor and the servo drive Followed the wiring sequence as described in this manual The servo drive output is short circuited Check the connection between the motor and servo drive and make sure that the wire is not short circuited Check and make sure that the wire is not sho...

Page 448: ...g Unstable system Acceleration deceleration time constant is too short Increase acceleration deceleration time Incorrect wiring of motor and encoder Check if the wiring of the UVW and the position encoder cables are correct Wiring correctly AL 06 Over speed Alarm cause Checking method Corrective action The input frequency of the pulse command is too high Check whether the input frequency of the pu...

Page 449: ...ting Check if the torque limit parameter PA05 setting is too small Increase the torque limit parameter setting value Gain setting is too low Check if the position gain PB07 is too small Increase the position loop gain value Excessive external load Check the external load Reduce the external load or re evaluate the motor capacity AL 09 Serial communication error Alarm content AL 09 occurs when RS48...

Page 450: ...ring correctly Encoder connector is loose Check the connection Re install Encoder is damaged Check if the motor is abnormal Replace the motor Encoder wiring is poor Check if there is any poor wiring Reconnect the wiring AL 0D Fan error Alarm cause Checking method Corrective action Fan stops working Turn off the power replace the fan by yourself or send your servo drive back to the distributor or m...

Page 451: ...nual adjustment Encoder error Check if encoder is normal Replace servo motor AL 11 Motor combination error Alarm cause Checking method Corrective action Motor and drive capacity is inconsistent Check if they match for each other in capacity Use the correct motor which matches the drive AL 12 Emergency stop Alarm content AL 12 occurs when pressing emergency stop button Alarm cause Checking method C...

Page 452: ... Adjust the pulse number of current position command to be smaller than the software positive limit AL 15 Software negative limit error Alarm cause Checking method Corrective action In Pr Mode when the position command pulse number less than the software negative limit PF87 1 The software negative limit is calculated based on the position command rather than the actual feedback position because th...

Page 453: ...A17 or set the value to more than 100 to disable this function AL 17 ABS timeout warning Alarm cause Checking method Corrective action The signal waiting time of absolute position communication is too long Delta DIO communication in absolute position communication no signal is issued ABSQ within 5 seconds after the servo drive DATA is ready ABSR Mitsubishi DIO communication please refer to section...

Page 454: ... following conditions 1 The feedback position register overflows 2 The homing program has not been executed after changing the E Gear ratio PA06 PA07 3 Execute absolute position command when DO HOME signal is OFF Execute homing AL 20 Motor collision error Alarm cause Checking method Corrective action When the motor current reaches the value of PA15 and the protection time of PA16 has run out 1 Che...

Page 455: ...has an shielding net 1 Connect the U V W ground terminal green wire to the heat sink base of the drive 2 Please separate the encoder cable from the motor power cables and high current cables 3 Use the wire with shielding net 4 If the issue persists send it back to the distributor or manufacturer AL 23 Excessive position error of full closed loop control Alarm cause Checking method Corrective actio...

Page 456: ...ion is not needed please set PA28 to 0 AL 25 Linear scale is disconnected Alarm cause Checking method Corrective action When PA26 1 or 2 and SERVO is ON if linear scale is disconnected AL 25 occurs Check the communication circuit of Linear scale cycling the power AL 26 Encoder error 3 Alarm cause Checking method Corrective action Encoder LED light decay or encoder rotation count value is abnormal ...

Page 457: ...e of the drive 2 Please separate the encoder cable from the motor power cables and high current cables 3 Use the wire with shielding net 4 If the issue persists send it back to the distributor or manufacturer AL 28 Encoder overheat Alarm cause Checking method Corrective action Encoder operating temperature is higher than 95 Put encoder away from heat source and do not operate in high temperature e...

Page 458: ...e the battery and then re execute homing and initialize absolute coordinate according to the description of chapter 14 or PA29 Poor contact or disconnection of battery power supply circuit 1 Check the encoder wiring 2 Check the connection between the battery external box and drive Connect or fix the connection to make sure the encoder power supply is normal and re execute homing and then initializ...

Page 459: ...o chapter 14 or PA29 description AL 2D Encoder battery low voltage Alarm cause Checking method Corrective action Encoder backup battery voltage is too low 1 Check whether the battery voltage is lower than 3 0V TYP 2 Check if the battery voltage is lower than 3 0V TYP Replace the battery with a new one when the drive control power is ON and re power on servo drive to eliminate the AL 2D AL 2E Contr...

Page 460: ...t error which is caused by encoder error Check the error history to see whether it is accompanied with an encoder error AL0B AL0C AL22 AL26 AL27 Follow the corrective action of AL 0B AL 22 AL 26 AL 27 The output pulse exceeds the hardware allowable range Check whether the following conditions exist a Motor feedback speed PA41 b Motor speed 60 detector output pulse number per revolution 20x106 Corr...

Page 461: ...rve which exceeds the drive rated load Check if the frequency of the repeatable operation cycle is too fast Increase motor capacity or reduce operation cycle frequency Unstable system Check whether the acceleration deceleration time setting is too short Increase the setting value of acceleration deceleration time AL 35 STO module abnormal Alarm cause Checking method Corrective action STO safety si...

Page 462: ... then executing auto detection 2 Due to the linear motor will move 1 pole pitch forward or reversely during detection You need to leave the motor moving distance before detection 3 Correct the linear scale problem AL 52 Initial magnetic field detection error Alarm cause Checking method Corrective action When the motor is not using the Hall sensor it will automatically detect the magnetic field aft...

Page 463: ...ontrol magnetic field inside the servo is big 2 Hall sensor three phase UVW are all high or all low and the output time is over1ms 1 Check whether the Hall sensor is abnormal or interfered 2 Check whether there is interference in the feedback signal which caused pulses leakage Eliminate the Hall sensor or feedback signal problem and cycling the power AL 57 Feedback pulse is lost Alarm cause Checki...

Page 464: ...xing function you need to execute homing to define the starting point of the indexing coordinates otherwise an alarm will occur Check whether homing has been executed 1 Before operating the indexing function make sure execute homing first to avoid this alarm 2 Use DI Alm reset function to clear the alarm when alarm occurs 3 This alarm can also be cleared when Servo is ON AL 1B Position shift warni...

Page 465: ...r group setting is out of range when writing the parameter by PR procedure Clear the alarm by any of the following solutions 1 Restart the power 2 Press SET button at alarm display screen 3 Turn on RES signal AL 62 The parameter number of PR command source exceeds the range Alarm cause Checking method Corrective action Parameter number source of PR is out of range The parameter number setting is o...

Page 466: ... button at alarm display screen 3 Turn on the RES signal AL 64 The writing parameter using PR is wrong Alarm cause Checking method Corrective action The PR program TYPE 8 writes the parameter during Servo ON The servo is on or setting value is unreasonable when writing the parameter by PR procedure Adjust PR commands and parameters AL 67 Motor temperature warning Alarm cause Checking method Correc...

Page 467: ... phase or Three phase 200 240VAC Three phase 200 240VAC Permissible voltage variation 50 60Hz Single phase or Three phase 170 264VAC Three phase 170 264VAC Permissible frequency variation 5 output Voltage 110V 140V Current 1 0 A 1 8 A 3 2 A 5 8 A 6 4 A 9 4 A 12 1 A 17 6 A Frequency 0 250 Hz 0 167 Hz Control circuit power Input voltage Single phase 200 240VAC 50 60Hz Permissible voltage variation S...

Page 468: ...ircuit error Feedback encoder 50W 750W motor single turn 24bit Multi turn 24bit 16bit 850W 3KW motor single turn 23bit Multi turn 23bit 16bit HEIDENHAIN Endat 2 2 Incremental absolute encoder Communication interface RS 485 MODBUS USB Safety function STO Position control mode Input pulse frequency Differential transmission method 500Kpps low speed 8Mpps high speed Open collect type transmission typ...

Page 469: ...tion and deceleration curve S curve smoothing Analog speed command input 0 10VDC rated speed input impedance 10 12kΩ Speed change rate Load fluctuation 0 100 maximum 0 01 Power fluctuation 10 maximum 0 01 Ambient temperature fluctuation 0 55 maximum 0 5 analog speed command Torque limit Internal parameter or external analog input 0 10VDC max torque Bandwidth Maximum 3KHz Torque control mode Comman...

Page 470: ...ut ABZ Line driver output Z open collector type output Torque limit reached speed limit reached servo ready zero speed reached target position reached target speed reached servo alarm servo warning homing is completed overload level reached internal position is attained position command overflows software positive limit reached software reverse limit reached Analog input Analog speed command limit...

Page 471: ...458 Weight kg 1 4 1 7 2 6 Note 1 when command is at the rated speed the speed change rate calculation is rotational speed with no load rotational speed with full load rated speed ...

Page 472: ...ption W 30 Control method 3φ sine wave rectification IGBT PWM control SVPWM Dynamic brake Built in software Protection function Over current under voltage over voltage overheat overload electronic accumulated heat fan error protection pulse command error protection encoder error protection regenerative error protection over speed protection excessive deviation protection serial communication error...

Page 473: ...iation excess 3revolutions Torque limit Internal parameter setting or external analog input setting 0 10VDC maximum torque Feed forward compensation Internal parameter setting0 200 Speed control mode Speed control range Analog speed command 1 2000 Internal speed command 1 5000 Command source External analog voltage input Internal register setting Smoothing method Low pass filter Linear acceleratio...

Page 474: ...rigger motor stop pulse input inhibit event trigger command origin point homing E Cam engaged Digital Output ABZ Line driver output Z open collector output Torque limit reached speed limit reached Servo ready Zero speed reached Target position reached Target speed reached Servo alarm Servo warning Homing completed Overload level reached Internal position attained Position command overflows Softwar...

Page 475: ...vo drive 200V series Item Shihlin SDP A frame B frame C frame 100 400W 0 75 1kW 1 5 3kW H mm 162 162 162 L mm 50 70 85 D mm 150 170 190 Screw hole 2 M5 3 M5 3 M5 400V series Item Shihlin SDP D frame 2 7KW H mm 245 L mm 123 5 D mm 205 Screw hole 4 M5 ...

Page 476: ...463 11 3 Dimensions of servo drive 200V AC system SDP 010A2C SDP 020A2C SDP 040A2 C 100W 400W Unit mm Ground terminal screw torque screw Dimensions of the servo drive may be updated without prior notice ...

Page 477: ...464 200VAC system SDP 075A2C SDP 100A2C 750W 1KW Unit mm Ground terminal screw torque screw Dimensions of the servo drive may be updated without prior notice ...

Page 478: ...465 200VAC system SDP 150A2C SDP 200A2C SDP 300A2 C 1 5KW 3KW Unit mm Ground terminal screw torque screw Dimensions of the servo drive may be updated without prior notice ...

Page 479: ...466 400VAC system SDP 200A4C SDP 300A4C SDP 500A4C SDP 700A4C 2KW 7KW Unit mm Ground terminal screw torque screw Dimensions of the servo drive may be updated without prior notice ...

Page 480: ...9 6 25 2 58 5 53 3 Mounting aluminum plate size mm 250 x 250 x 6 Insulation class CE B UL A Insulation impedance 100MΩ DC500V Insulation strength 60sec AC1500V Encoder resolution Single turn resolution24bit 16 777 216 Pulse Multi tun16bit 65 536 Turn Motor structure Note 3 Full closed and Air convection cooling IP rating IP65 Vibration grade V 15 Operation environment Temperature 0 40 Non freezing...

Page 481: ...7 0 85 1 23 1 23 1 59 2 24 2 87 Note 1 in the vertical lift or reciprocating mechanism application please make sure the average load rate is below 75 refer to section 12 1 for S T curve Note 2 is the rotor inertia and weight with electromagnetic brake Note 3 the motor IP65 protection test is for the motor body excluding the output shaft and the connector itself Note 4 the electromagnetic brake is ...

Page 482: ...w s 37 6 58 3 79 3 122 9 22 1 34 2 28 4 33 5 Mounting aluminum plate size mm 300 x 300 x 12 400 x 400 x 20 Insulation class CE F CE B UL A the product only CE certified can be used please refer to section 1 3 1 for detail Insulation impedance 100MΩ DC500V Insulation strength 60sec AC1500V Encoder resolution Single turn resolution 23bit 8 388 608 Pulse Multi turn resolution16bit 65 536 Turn Motor s...

Page 483: ... 3 8 7 7 7 8 1 9 5 9 9 10 2 10 6 12 0 12 4 5 6 5 8 7 4 7 6 6 9 7 2 8 7 9 0 10 5 11 0 15 8 16 3 15 3 15 8 20 6 21 1 Note 1 in the vertical lift or reciprocating mechanism application please make sure the average load rate is below 75 refer to section 12 1 for S T curve Note 2 is the rotor inertia and weight with electromagnetic brake Note 3 the motor IP65 protection test is for the motor body exclu...

Page 484: ... 15 34 33 22 51 34 56 49 7 Mounting aluminum plate size mm 250 x 250 x 6 300 x 300 x 12 Insulation class CE B CE F Insulation impedance 100MΩ DC500V Insulation strength 60sec AC1500V Encoder resolution Single turn resolution 24bit 16 777 216 Pulse Multi turn 16bit 65 536 Turn Single turn resolution 23bit 8 388 608 Pulse Multi turn 16bit 65 536 Turn Motor structure Note 3 Full closed and Air convec...

Page 485: ...or weight Note 2 Kg 0 86 1 23 1 25 1 63 2 27 3 10 5 1 6 9 6 6 8 4 7 8 9 6 Note 1 in the vertical lift or reciprocating mechanism application please make sure the average load rate is below 75 refer to section 12 1 for S T curve Note 2 is the rotor inertia and weight with electromagnetic brake Note 3 the motor IP65 protection test is for the motor body excluding the output shaft and the connector i...

Page 486: ...5 125 134 Insulation class CE F Insulation impedance 100MΩ DC500V Insulation strength 60sec AC1500V Encoder resolution Single turn resolution23bit 8 388 608 Pulse Multi turn resolution16bit 65 536 Turn Motor structure Note 3 Full closed and Air convection cooling IP rating IP65 Axial allowable load Note 5 Fd mm 55 79 113 Radial loading Fr N 880 1270 1556 Axial loading Fa N 320 395 472 Brake specif...

Page 487: ...2 is the rotor inertia and weight with electromagnetic brake Note 3 the motor IP65 protection test is for the motor body excluding the output shaft and the connector itself Note 4 the electromagnetic brake is used for holding when the mechanism stops and it cannot be used for braking during operation Note 5 the diagram for the shaft permissible load is as follows ...

Page 488: ...F LA LB LF LR MH LM FC HB SME L005 B 40 2 5 25 5 5 21 32 64 5 99 2 46 2 ψ4 5 SME L010 B 80 114 7 SME L020 B SME H020 B 60 3 30 6 5 25 42 77 112 70 4 ψ5 8 SME L040 B SME H040 B 97 132 SME L075 B 80 3 40 7 5 34 5 52 101 2 140 2 90 4 ψ6 6 SME H075 B 101 2 145 5 LM length of model with brake ...

Page 489: ...H LM FC HB SME L100 130 3 55 11 50 55 5 113 127 161 145 4 ψ9 0 SME L150 70 141 5 175 5 SME L200 84 5 156 190 SME L300 113 5 185 219 SME M100 55 5 127 161 SME M150 70 141 5 175 5 SME M200 176 3 78 18 5 74 61 5 139 139 189 200 4 ψ13 5 SME M300 91 5 169 219 LM length of model with brake ...

Page 490: ...mensions of 1500rpm motor Model Dimension mm WF ψS ψF LA LB LF LR LP MH LM FC HB SME H085 B 130 3 58 11 40 55 5 113 127 161 145 4 ψ9 0 SME H130 B 70 141 5 175 5 SME H180 B 84 5 156 190 LM length of model with brake ...

Page 491: ...8 11 5 4 400V dimensions of 1500rpm motor Model Dimension mm WF ψS ψF LA LB LM FC ψHB LP MH SMP H180 B 130 ψ 0 0 013 24 ψ 0 0 022 110 6 55 184 9 217 4 145 4 ψ9 0 128 5 104 5 LM length of model with brake ...

Page 492: ...LM FC ψHB LP MH SMP H290 B 180 ψ 0 01 0 35 ψ 0 0 025 114 3 3 2 79 173 3 231 200 4 ψ13 5 118 5 135 5 SMP H440 B 197 3 255 142 5 SMP H550 B ψ 0 0 016 42 113 236 3 278 173 5 172 5 SMP H750 B 282 3 324 219 5 218 5 LM length of model with brake ...

Page 493: ...plicable model L005 B L010 B General keyway Model Dimension QL QK W T U Y L020 B L040 B H020 B H040 B 3 20 5 3 M4x depth 15 L075 B H075 B 5 25 6 3 5 M5x depth 20 L100 B L150 B L200 B L300 B M100 B M150 B 5 35 7 4 M8x depth 20 M200 B M300 B 5 55 8 5 M8x depth 20 ...

Page 494: ...odel Dimension QK W T U Y H085 B H130 B H180 B 25 7 4 M5x depth 12 Model Dimension QK W T U Y SMP H180 B 29 8 7 4 M6x depth 20 SMP H290 B H440 B 65 10 8 5 M12x depth 25 SMP H550 B H750 B 96 12 M16x depth 32 ...

Page 495: ...DP 300A2C SDP 200A4C NF312C20 05 SDP 300A4C SDP 500A4C NF312C30 05 SDP 700A4C Filter is optional purchase item The use of the filter needs to consider the site conditions check whether there is electromagnetic compatibility interference before installation The following schematic diagram describes the wiring of the servo drive with EMI filter to three phase power three phase power supply 200 240VA...

Page 496: ...bution metal box Thick grounding wire Magnetic buckle Thick grounding wire Short cable U shape metal piping clamp Figure 1 recommended wiring diagram The selection of motor power cable and the installation of related accessories are the key to affect electromagnetic interference To reduce the noise interference the following items should be paid attention to when wiring on the distribution board ...

Page 497: ...clamp and the metal plate should be fastened with screws the isolation paint needs to be removed to ensure good contact See the following figure 2 6 The power distribution box and the door should have good conductivity a thick ground wire or metal isolation net should be installed between the doors to avoid interference 7 The magnetic buckle must be wound on the power cable except the ground wire ...

Page 498: ...485 12 Features 12 1 Motor T N curve S T curve Motor performance with three phase 200V power torque feature will be weaker when voltage is insufficient SME L005 SME L010 SME L020 ...

Page 499: ...486 SME L040 SME L075 SME L100 SME L150 ...

Page 500: ...487 SME L200 SME L300 SME M100 SME M150 ...

Page 501: ...488 SME M200 SME M300 SME H020 Short duration running range Continuously running range Speed rpm Torque N m Surrounding air temperature Load ratio ...

Page 502: ...m Surrounding air temperature Load ratio SME H075 Short duration running range Continuously running range Speed rpm Torque N m Surrounding air temperature Load ratio SMP H085 Short duration running range Continuously running range Speed rpm Torque N m Surrounding air temperature Load ratio ...

Page 503: ...ding air temperature Load ratio SME H180 Short duration running range Continuously running range Speed rpm Torque N m Surrounding air temperature Load ratio This feature is applicable to three phase 200 240V power SMP H180 Short duration running range Continuously running range Speed rpm Torque N m ...

Page 504: ...nning range Continuously running range Speed rpm Torque N m SMP H440 Short duration running range Continuously running range Speed rpm Torque N m SMP H550 Short duration running range Continuously running range Speed rpm Torque N m ...

Page 505: ...492 SMP H750 Short duration running range Continuously running range Speed rpm Torque N m This feature is applicable to three phase 380 480V power ...

Page 506: ...heoretically is set when loaded 3 The motor operating torque exceeds the rated range and the operating time is too long 4 Large servo gain setting causes resonance in the motor and yet the motor keeps running 5 Incorrect wiring of the power and encoder cables If the operating servo motor may exceed the rated torque during operation you can refer to the chart of Load and Operating Time as follows W...

Page 507: ...494 When the load reaches 300 the operation time is 3 33 seconds When the load reaches 300 the operation time is 5 51 seconds ...

Page 508: ...495 When the load reaches 300 the operation time is 5 51 seconds When the load reaches 300 the operation time is 5 51 seconds ...

Page 509: ...496 When the load reaches 300 the operation time is 5 51 seconds ...

Page 510: ...ws SME ΔΔM M Absolute servo motor Note When Absolute position lost or Absolute position overflows occurs the origin setting needs to be performed again Please put the battery in the battery box before using it to prevent unexpected factors such as battery is short circuited When using an absolute servo motor please make sure that the motor speed is lower than 50 rpm at the moment of the power is a...

Page 511: ...coder abnormal 1 alarm will occur after power on you can clear the alarm by cycling the power 4 Absolute position loss AL 2C Absolute Encoder error 3 alarm will occur after power on and it is necessary to reset the absolute system origin to clear this alarm The method is as follows a Set PA29 to 1 to complete the coordinate initialization b The absolute coordinate system will be reset after the ho...

Page 512: ...he DI DO handshake communication between the PLC and the drive you can refer to the descriptions in sections 13 1 and 13 2 3 Returning position by parameter setting By setting parameter PA30 with communication the encoder status and motor absolute position are updated If PA30 is set to 1 the drive does not clear the error when reading the position value If PA30 is set to 2 the drive clears the err...

Page 513: ...500 Update encoder absolute position PA30 1 or PA30 2 READ PA31 Absolute coordinate system status PA32 Encoder absolute position pulse number PA33 Encoder absolute position revolution number ...

Page 514: ...transmission mode Enable ABSR ABST ABSB0 ABSB1 DI x ABS request ABSR 17 To turn ABSR ON during accessing ABS data in ABS transmission mode DI 4 fixed ABS data 0 ABSB0 43 Low bit of 2 bit ABS data DO 3 fixed ABS data 1 ABSB1 44 High bit of 2 bit ABS data DO 4 fixed ABS ready ABST 42 Turn ABST on when ABS data is ready in ABS transmission mode DO 2 fixed ABS origin setting ABSC User defined Origin d...

Page 515: ...f AL 2C Absolute Encoder error 3 will occur Please set PA29 to 1 or perform coordinate initialization to clear the alarm 5 Absolute position data transmission confirmation Turn on SON and the absolute position data starts to transmit to the PLC After normal transmission of ABS data a RD ready is ON b ABST ready of PLC is ON c If ABS timeout alarm occurs refer to section 10 1 for how to release thi...

Page 516: ...ansmission protocol 1 Data transmission procedure After the power is applied the PLC reads the current position of the drive when each time SON is turned on Focus When ABSM is off If you turn SON on the main power circuit will be invalid ...

Page 517: ...sion is completed RD turns on and ABSM is OFF When RD is on ABSM can not be turned on 2 Even if SON is turned on the main circuit will not be switched on until the ABSM is turned on When an alarm occurs ABSM can not be enabled when a warning occurs ABSM can be enabled 3 During ABS transmission if ABSM is OFF the ABS transmission mode is interrupted and AL 17 ABS timeout warning occurs During ABS t...

Page 518: ... more than 20mSec b Detailed description of absolute position data transmission timing After the ABSM is turned on the ABS servo turn on timeout will occur if the SON is not turned on within 1 second but the transmission will not be impacted If you want to clear the ABS servo on warning you can just turn the SON on The detailed timing diagram is as follows 1 The PLC turns on ABSM and SON 2 When en...

Page 519: ... mode and AL 17 ABS timeout warning will occur c Checksum The checksum is used to detect whether the ABS data has errors The PLC uses the program to calculate the checksum value of the ABS data and compare it with the checksum value transmitted by the drive Calculation the checksum is calculated by adding up the 2 bit ABS data received each time to obtain a 6 bit checksum value Example ABS data 30...

Page 520: ...warning will occur 2 Timeout check when ABSR data requested signal is on After the ABST ready signal is off if the ABSR data requested signal is not turned off within 5 seconds AL 17 ABS timeout warning will occur 3 Timeout check after the ABSM transmission mode is completed After the ABS data transfer is completed and ABST ready signal is turned on if the ABSM is not turned off within 5 seconds A...

Page 521: ... AL 17 ABS timeout warning will occur This example is to turn ABSM OFF before the 19th ABST data ready 5 SON signal check in ABS transmission mode If the SON signal is turned off during the ABS transmission AL 17 ABS timeout warning will occur This example is to turn SON off before the 19th ABST data ready ...

Page 522: ...ected the ABS data transmission will be restarted After the ABSM is closed for 10mSec the SON will close and then turn them on after 20mSec at least If the absolute position data transmission fails even after 3 retry the ABS checksum error will occur ...

Page 523: ...alarm When an alarm is detected by the servo SON will be OFF and ABSM can not be received when there is an alarm It can only be received when the alarm is cleared After the alarm is cleared ABSM can be turned on ...

Page 524: ...e origin position may shift Move to the target origin position by manual operation JOG test positioning If turning on CR for over 20mSec the current position is regarded as the ABS origin and the data is stored in the non volatile memory the maximum number of writing is 1 million ...

Page 525: ...ansmission ABSQ OFF means the controller has issued the requested command ABSQ ON means the controller has processed the ABSD data DI 4 Fixed ABS signal ready ABSR 43 ABSR OFF means that ABSQ command can be received ABSR ON means that the data is ready and the ABSD data has been updated DO 3 Fixed ABS data content ABSD 44 The output pin of ABS data the data is guaranteed to be correct when ABSR is...

Page 526: ...r setting 3 AL 2A Absolute encoder error 1 Alarm release When the battery is replaced and the power is turned on for the first time an AL 2A Absolute Encoder error 1 alarm will occur You can restart the power to release the alarm 4 Absolute position loss AL 2C Absolute encoder error 3 Alarm release When the absolute system is powered on for the first time an alarm of AL 2C Absolute Encoder error 3...

Page 527: ...initialization by homing When DI ABSE is ON and DI ABSC is switched from OFF to ON the coordinate initialization function will be executed The pulse number of the absolute encoder will be cleared to zero when initiation is completed Please refer to the figure below for the operation sequence Ts ms Tq ms Min PD15 2 Max PD15 10 Description of operation sequence 1 When the host controller switches th...

Page 528: ... Check Sum Encoder pulse number per revolution 0 4194304 22bit Encoder Encode revolution number 32768 32767 PA31 encoder status Checksum method description Check Sum WORD_0 0xA700 xor WORD_1 0x605A xor WORD_2 0x30A5 xor WORD_3 0x5A06 Remind 1 The algorithm has no sign 2 0xA700 0x605A 0x30A5 0x5A06 are hexadecimal constants 3 WORD_0 encoder status Bit15 Bit0 WORD_1 encoder revolution number Bit31 B...

Page 529: ... DI DO communication of absolute system After Ts digital input filter time DI4 DO2 and DO3 will switch to ABSQ ABSR ABSD 2 The controller sets the ABSQ signal to low level which means that the host controller makes a read request to the drive 3 After the Tq confirmation time the drive has the data ready and enabled the ABSR signal to notify the host controller for data reading ...

Page 530: ...troller detects the ABSW communication error it will set ABSE to the low level to make it ready for re communication 10 Re enable ABSE signal and restart the communication 11 The controller sets the ABSQ signal to a low level and sends a reading request 12 After the Tq confirmation time the drive will notify the controller that data can be read 13 When the controller detects that the ABSR is at th...

Page 531: ...ot install the battery in reverse direction 1 Do not place the battery in a high temperature environment over 100 C 212 F or fires as this may cause a fire or an explosion 2 The batteries are non rechargeable Do not charge the batteries as this may result in an explosion 3 Do not directly weld on the surface of the battery Battery specifications Material Lithium thionyl chloride inorganic electrol...

Page 532: ... Battery life The figure above is the life curve provided by the battery manufacturer If the absolute encoder current consumption is 90µA the battery life is about 20000hr which is equivalent to 2 3 years ...

Page 533: ...ddle High inertia 850W 3KW encoder cable 2M SDH ENM 2M L H 2000 100 Low Middle High inertia 850W 3KW encoder cable 5M SDH ENM 5M L H 5000 100 Low Middle High inertia 850W 3KW encoder cable 10M SDH ENM 10M L H 10000 100 400V High inertia 1 8KW 7 5KW encoder cable 2M SDP ENM 2M L H 2000 100 400V High inertia 1 8KW 7 5KW encoder cable 5M SDP ENM 5M L H 5000 100 400V High inertia 1 8KW 7 5KW encoder c...

Page 534: ... 750W power cable 2 with brake SDA PWCNL2 5M L H 5000 100 Low High inertia 50W 750W power cable 3 with brake SDA PWCNL2 10M L H 10000 100 Low 1KW 3KW Middle 1KW 1 5KW High inertia 850W 1 8KW power cable 1 without brake SDA PWCNM1 2M L H 2000 100 Low 1KW 3KW Middle 1KW 1 5KW High inertia 850W 1 8KW power cable 2 without brake SDA PWCNM1 5M L H 5000 100 Low 1KW 3KW Middle 1KW 1 5KW High inertia 850W...

Page 535: ... without brake SDP PWCNH1 10M L H 10000 100 400V High inertia 2 9KW 4 4KW power cable 1 without brake SDP PWCNH2 2M L H 2000 100 400V High inertia 2 9KW 4 4KW power cable 2 without brake SDP PWCNH2 5M L H 5000 100 400V High inertia 2 9KW 4 4KW power cable 3 without brake SDP PWCNH2 10M L H 10000 100 400V High inertia 5 5KW 7 5KW power cable 1 without brake SDP PWCNH3 2M L H 2000 100 400V High iner...

Page 536: ...TN2 3000 Data transmission cable 5meters SNKCBL5GTN2 5000 Data transmission cable 10meters SNKCBL10GTN2 10000 I O connector CN1 I O connector SDA CN1 I O cable SDA TBL05M 500 10 I O cable SDA TB1M 1000 10 I O cable SDA TBL2M 2000 10 I O terminal block SDA TBL50 Battery set CN5 Absolute encoder battery set SDH BAT SET Absolute encoder battery SDH BAT ...

Page 537: ...rtia 200W 400W 750W Part number SDH ENM Low inertia 1KW 1 5KW 2 0KW 3 0KW Middle inertia 1KW 1 5KW 2 0KW 3 0KW High inertia 850W 1 3KW 1 8KW Part number SDP ENM 400V High inertia 1 8KW 2 9KW 4 4KW 5 5KW 7 5KW Part number SDP Endat Encoder cable of Linear motor Endat2 2 communication type ...

Page 538: ...W 400W 750W High inertia encoder cable 200W 400W 750W Low inertia encoder cable 1KW 1 5KW 2 0KW 3 0KW Middle inertia encoder cable 1KW 1 5KW 2 0KW 3 0KW High inertia encoder cable 850W 1 3KW 1 8KW 400V High inertia encoder cable 1 8KW 2 9KW 4 4KW 5 5KW 7 5KW ...

Page 539: ... PWCNL1 50W 100W 200W 400W 750W without brake SDA PWCNL2 50W 100W 200W 400W 750W with brake Part number SDA PWCNM2 Middle inertia 2KW 3KW Part number SDP PWCNH1 400V High inertia 1 8KW Part number SDP PWCNH2 400V High inertia 2 9KW 4 4KW ...

Page 540: ...NS1 400V High inertia 1 8KW 2 9KW 4 4KW 5 5KW 7 5KW Power cable Low inertia power cable 50W 100W 200W 400W 750W High inertia power cable 200W 400W 750W Low inertia power cable 1KW 1 5KW 2 0KW 3 0KW Middle inertia power cable 1KW 1 5KW High inertia power cable 850W 1 3KW 1 8KW ...

Page 541: ...528 Middle inertia power cable Middle inertia 2KW 3KW 400V High inertia power cable 1 8KW 2 9KW 4 4KW 5 5KW 7 5KW ...

Page 542: ... USB communication cable for drive and computer Part number SDA USB3M Full closed loop differential A B Z type Part number SDP CN2 I O cable Part number SDA CN1 STO communication cable Part number SDP CN6 ...

Page 543: ...ble Part number SDA TBL05M SDA TBL1M SDA TBL2M I O terminal block Part number SDA TBL50 Absolute encoder accessory Absolute encoder battery set Absolute encoder battery Part number SDH BAT SET Part number SDH BAT ...

Page 544: ...ernal resistor proposed Resistor Part Number Min allowance resistance value Ω Recommended capacity W PA10 Regenerative resistance value PA11 Regenerative resistance capacity SDP 010A2C 100 300 100 300 ABR 300W100 SDP 020A2C 100 300 100 300 ABR 300W100 SDP 040A2C 100 300 100 300 ABR300W100 SDP 075A2C 40 500 40 500 ABR 500W40 SDP 100A2C 40 500 40 500 ABR 500W40 SDP 150A2C 13 1000 13 1000 ABR 1000W13...

Page 545: ...0x031A PA29 0x0338 PA44 0x0356 PA15 0x031C PA30 0x033A PA45 0x0358 NO address NO address NO address NO address PB01 0x0400 PB16 0x041E PB31 0x043C PB46 0x045A PB02 0x0402 PB17 0x0420 PB32 0x043E PB47 0x045C PB03 0x0404 PB18 0x0422 PB33 0x0440 PB48 0x045E PB04 0x0406 PB19 0x0424 PB34 0x0442 PB49 0x0460 PB05 0x0408 PB20 0x0426 PB35 0x0444 PB50 0x0462 PB06 0x040A PB21 0x0428 PB36 0x0446 PB51 0x0464 P...

Page 546: ... PC41 0x0550 PC66 0x0582 PC91 0x05B4 PC17 0x0520 PC42 0x0552 PC67 0x0584 PC92 0x05B6 PC18 0x0522 PC43 0x0554 PC68 0x0586 PC93 0x05B8 PC19 0x0524 PC44 0x0556 PC69 0x0588 PC94 0x05BA PC20 0x0526 PC45 0x0558 PC70 0x058A PC95 0x05BC PC21 0x0528 PC46 0x055A PC71 0x058C PC96 0x05BE PC22 0x052A PC47 0x055C PC72 0x058E PC97 0x05C0 PC23 0x052C PC48 0x055E PC73 0x0590 PC98 0x05C2 PC24 0x052E PC49 0x0560 PC7...

Page 547: ...x071A PE47 0x075C PE80 0x079E PE15 0x071C PE48 0x075E PE81 0x07A0 PE16 0x071E PE49 0x0760 PE82 0x07A2 PE17 0x0720 PE50 0x0762 PE83 0x07A4 PE18 0x0722 PE51 0x0764 PE84 0x07A6 PE19 0x0724 PE52 0x0766 PE85 0x07A8 PE20 0x0726 PE53 0x0768 PE86 0x07AA PE21 0x0728 PE54 0x076A PE87 0x07AC PE22 0x072A PE55 0x076C PE88 0x07AE PE23 0x072C PE56 0x076E PE89 0x07B0 PE24 0x072E PE57 0x0770 PE90 0x07B2 PE25 0x073...

Page 548: ...x081A PF47 0x085C PF80 0x089E PF15 0x081C PF48 0x085E PF81 0x08A0 PF16 0x081E PF49 0x0860 PF82 0x08A2 PF17 0x0820 PF50 0x0862 PF83 0x08A4 PF18 0x0822 PF51 0x0864 PF84 0x08A6 PF19 0x0824 PF52 0x0866 PF85 0x08A8 PF20 0x0826 PF53 0x0868 PF86 0x08AA PF21 0x0828 PF54 0x086A PF87 0x08AC PF22 0x082A PF55 0x086C PF88 0x08AE PF23 0x082C PF56 0x086E PF89 0x08B0 PF24 0x082E PF57 0x0870 PF90 0x08B2 PF25 0x083...

Page 549: ...x0E0A PL26 0x0E32 PL46 0x0E5A PL07 0x0E0C PL27 0x0E34 PL47 0x0E5C PL0E 0x0E0E PL28 0x0E36 PL48 0x0E5E PL09 0x0E10 PL29 0x0E38 PL49 0x0E60 PL10 0x0E12 PL30 0x0E3A PL50 0x0E62 PL11 0x0E14 PL31 0x0E3C PL51 0x0E64 PL12 0x0E16 PL32 0x0E3E PL13 0x0E18 PL33 0x0E40 PL14 0x0E1A PL34 0x0E42 PL15 0x0E1C PL35 0x0E44 PL16 0x0E1E PL36 0x0E46 PL17 0x0E20 PL37 0x0E48 PL18 0x0E22 PL38 0x0E4A PL19 0x0E24 PL39 0x0E4...

Page 550: ...n who has received professional training can install the SDP servo drive 14 4 3 Compliance with standards 1 Safety regulations SDP general type servo drive complies with IEC EN61800 5 1 standards 2 Compliance with EU standards SDP general type servo complies with EMC directive 2014 30 EU and low voltage directive 2014 35 EU 3 Compliance with USA Canada regulations This servo drive design complies ...

Page 551: ...t protection d Capacitor discharge After the power is turned off do not touch the servo and its terminals immediately The capacitor discharge takes 20 minutes e About wiring protection When installing equipment in the United States branch circuit protection is based on national electrical regulations and local regulations When installing equipment in Canada branch circuit protection is based on th...

Page 552: ...ns of the servo motor 2 Fixed terminal block crimp terminals must comply with UL specifications and insulating sleeves must be used to prevent direct contact Drive Recommended torque Nt m R S T U V W P P1 D C N PE SDP 200A4C 1 53 1 53 1 53 1 4 SDP 300A4C SDP 500A4C SDP 700A4C 3 Example of non fuse circuit breaker selection Drive UL certified current limiting circuit breaker Example SDP 010A2C 240 ...

Page 553: ...lacing conductive objects next to the drive and the drive wiring Servo motor wiring should avoid excessively long bare area and avoid use damaged or broken wire Insulation should be done at the wiring terminal Check whether the external voltage is correctly with AC220V Check whether the operation switch is OFF Check whether power wiring and encoder wiring is correct 14 4 5 2 Maintenance Do not dis...

Page 554: ...is about 100 000 times Cooling fan 10 000 30 000 hours 2 3 years Continuous operation or placing the servo drive in a place with harmful gas will shorten the service life of the fan Normally the lifetime is about 2 to 3 years However if the fan runs with abnormal noise it needs to be replaced Rectified capacitor 10 years If the rectified capacitor is affected by the ripple current its features wil...

Page 555: ...542 14 5 Manual version and revision history Manual version V1 00 Release month July 2022 ...

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