Tsino Dynatron CoolDrive Series User Manual Download Page 159

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Adjustment

147

Basic mode gain adjustment

7.6

Overview

7.6.1

When adopting basic mode gain adjustment, the user can adjust parameters such as position loop proportional gain,

velocity loop proportional gain, velocity loop integration time constant and torque command low pass filter cutoff frequency

respectively to complete the adjustment of system response characteristics.

Velocity

Associated parameters

7.6.2

The parameters related to basic mode gain adjustment are shown in the following table.

Index

Name

Unit

Setting range

Default value

effective

Period

0x21C6

Regulator Basic Control Setting

—

0x00000000-0x00000003

0x00000001

Restart

0x20C0

Inertia Ratio Setting

0-5000

100

Restart

0x2160

Position

Loop

Proportional

Gain1

0.001

0-3000000

1000

Immediately

0x2163

Position

Loop

Proportional

Gain2

0.001

0-3000000

1000

Immediately

0x2161

Positioin Loop Integration Time

Constant 1

μs

125-1000000

1000000

Immediately

0x2164

Positioin Loop Integration Time

Constant 2

μs

125-1000000

10000

Immediately

0x2165

Velocity

Loop

Proportional

Gain1

0.001

1-1000000

6000

Immediately

0x2167

Velocity

Loop

Proportional

Gain2

0.001

1-1000000

4000

Immediately

0x2166

Velocity Loop Integration time

Constant1

μs

125-1000000

10000

Immediately

0x2168

Velocity Loop Integration Time

Constant2

μs

125-1000000

15000

Immediately

Summary of Contents for CoolDrive Series

Page 1: ...CoolDrive Series Smart 7 Servo Drive User Manual Model CDS7S EtherCAT interface Document Version R1 ...

Page 2: ...can occur during misuse The important contents in this manual are related to safety and must be strictly followed Danger Indicates an imminently hazardous situation that is very likely to result in death serious injury or fire if not avoided Warning Indicates an imminently hazardous situation that is likely to result in death serious injury or fire if not avoided Note Indicates a hazardous situati...

Page 3: ... is on or when the power is just cut off Take safety measures such as mounting cover to avoid accidental contact between hands and components cables etc Failure to do so may result in scald Do not damage or forcefully drag the cable do not cause excessive force on the cable do not hang heavy objects on the cable do not let the cables be caught in the lid cabinet door etc Failure to do so may resul...

Page 4: ...of electromagnetic interference Otherwise it will cause electromagnetic interference to electronic devices used near the servo drive Use specified combinations of the servo drive and servo motor Do not touch the servo drive with wet hands Otherwise it may cause malfunction ...

Page 5: ...n or impact does not exceed the limits allowed for running this product That are not exposed to radiation Keeping or installing the product in an environment other than the above may cause product failure or damages Precautions when handling the product Note Use the correct method to handling the product according to its weight When operating the servo drive pay attention to sharp parts such as th...

Page 6: ...owed for running this product Where the relative humidity does not exceed the limits allowed for running this product Where condensation does not occur due to rapid temperature changes Where there is no corrosive gas or flammable gas Without combustibles With less dust salt and metal powder Free of splashing of water oil and liquid medicine Where vibration or impact does not affect the product the...

Page 7: ...rrect wiring of the brake circuit or abnormal voltage may cause mechanical damages personal injury or even deaths Perform wiring correctly and reliably The connector and pin arrangement of the connector vary by model Be sure to confirm the pin arrangement from the technical data of the model you are using Otherwise it may cause malfunction or false actions of the servo drive Be sure to tighten and...

Page 8: ...to the parameter settings Otherwise it may cause unstable movement mechanical damages or personal injury To avoid accidents install a limit switch or stopper at the terminal of the movable part of the machine Otherwise it may result in mechanical damages or personal injury Perform a trial operation after fixing the servo motor and disconnecting it from the machine Otherwise it may result in injury...

Page 9: ...use premature damages to the servo motor After the trial operation of the machine and equipment is completed use the debugging software to create a parameter backup file of the servo drive This backup file is used to reset the parameters when the servo drive is replaced If the parameters are not backed up it will cause malfunction after the faulty servo is replaced and even cause damages to drive ...

Page 10: ...ower is turned off high voltage can still remain inside the servo drive Therefore do not touch the power terminal while the charge indicator CHARGE is on Otherwise it may cause electric shock Before replacing the servo drive back up the parameters of the servo drive Copy the backed up parameters to the new servo drive and confirm that the copy process has been completed correctly If the servo para...

Page 11: ...o connect an electromagnetic contactor between the main circuit power supply and the main circuit power terminal of the servo drive The contactor is designed to cut off the power on the main circuit power supply side of the servo drive If the servo drive fails continued flow of large currents can cause a fire if the electromagnetic contactor is not connected When a failure occurs cut off the main ...

Page 12: ... the final product Additional Notes Note The illustrations in this manual are representative legends or concept diagrams which may differ from actual wiring circuits and real objects Due to product improvements specification changes and the attempt to make the use of this manual easier we may make changes to this manual from time to time We do not guarantee the quality of the products modified by ...

Page 13: ... Technical Specifications of Standard CDS7S 14 1 4 2 1 5 Name of Each Part of the Product 15 1 6 Standards and Certification 20 Chapter 2 Installation 21 2 1 Precautions 21 2 2 Inspection 22 2 3 Dimensions 23 T1 model dimensions 23 2 3 1 T2 model dimensions 24 2 3 2 T3 model dimensions 25 2 3 3 T4 model dimensions 26 2 3 4 2 4 Installation Direction and Space Requirements 27 Drive Installation Dir...

Page 14: ...EtherCAT Wiring 45 EtherCAT Introduction 45 3 5 1 Port Symbols and Functions 46 3 5 2 EtherCAT Wiring Diagram 46 3 5 3 Precautions for EtherCAT Wiring 47 3 5 4 3 6 I O Wiring 48 Port Symbols and Functions 48 3 6 1 I O Port Wiring Diagram 48 3 6 2 3 7 STO Wiring 51 Port Symbols and Functions 51 3 7 1 STO wiring diagram 51 3 7 2 Chapter 4 Settings 53 4 1 Parameter overview 53 Parameter Description 5...

Page 15: ... How to use 112 5 2 3 5 3 Trial Operation 116 Simple Velocity mode 117 5 3 1 Programming Velocity mode 119 5 3 2 Sine Wave Velocity Mode 122 5 3 3 Programming Torque Mode 123 5 3 4 Sine Wave Torque Mode 125 5 3 5 Point to Point Position Mode 126 5 3 6 Chapter 6 Operation control block diagram 128 6 1 Overview 128 6 2 Position Mode Control Block Diagram 129 6 3 Velocity Mode Control Block Diagram 1...

Page 16: ...n real time automatic adjustment 142 7 4 4 7 5 Stiffness mode gain adjustment 143 Overview 143 7 5 1 Associated parameters 143 7 5 2 Invalid parameters in the stiffness mode 144 7 5 3 How to use 145 7 5 4 7 6 Basic mode gain adjustment 147 Overview 147 7 6 1 Associated parameters 147 7 6 2 Invalid parameters in the basic mode 148 7 6 3 How to use 148 7 6 4 7 7 adaptive gains switching 150 Overview...

Page 17: ...ctions 168 Overview 168 7 12 1 Friction torque compensation 168 7 12 2 Static balance torque compensation 170 7 12 3 Static position disturbance compensation 171 7 12 4 Load disturbance compensation 171 7 12 5 Chapter 8 Application functions 173 8 1 Overview of servo application functions 173 8 2 Electronic gear ratio 174 Overview 174 8 2 1 Associated parameters 174 8 2 2 How to use 175 8 2 3 Exam...

Page 18: ...c braking 198 Overview 198 8 8 1 Associated parameters 198 8 8 2 How to use 199 8 8 3 8 9 Digital input and output function 201 Overview 201 8 9 1 Relevant Parameters 201 8 9 2 How to use 203 8 9 3 Chapter 9 Monitoring 204 9 1 Panel monitoring 204 Overview 204 9 1 1 Relevant Parameters 205 9 1 2 General operations of panel monitoring 206 9 1 3 Panel monitoring display selection menu 207 9 1 4 Pane...

Page 19: ...bugging software monitoring data trace 222 9 2 7 Chapter 10 Maintenance 225 10 1 Maintenance overview 225 View alarm and warning records 225 10 1 1 Settings of relevant parameters 225 10 1 2 10 2 Alarm 233 Alarm list 233 10 2 1 Alarm configuration 237 10 2 2 Troubleshooting 239 10 2 3 10 3 Warning 265 Warning list 265 10 3 1 Warning handling methods 266 10 3 2 Chapter 11 Safety features 271 11 1 O...

Page 20: ... drive and the setup and operations of basic functions 5 Running It Introduces the operation method of the servo drive test run function 6 Operation control block diagram Introduces the control block diagram of each control mode of the servo drive 7 Adjustment Introduces the adjustment method of servo drive control parameters and frequently used servo adjustment functions 8 Application functions I...

Page 21: ...effective Period 0x2000 0 Position control switch 0x00000000 0x03010103 0x020000 00 Restart N Index indicates the index number of this parameter in the object dictionary Unit indicates the minimum setting unit scale of the set value that can be set in the parameter Setting range the minimum and maximum values allowed for this parameter Default value indicates the setting value of the parameter whe...

Page 22: ...code Rated power of adapter motor IP code Safety mark Product model Serial number Input and output voltage Input and output frequency Number of input and output phases Input and output rated curren The data plate is on the side of the servo drive housing Check the data plate information before using or replacing the servo drive ...

Page 23: ...ne SA Serial asynchronous encoder Note 2 SC Serial asynchronous encoder Serial synchronous encoder Note 2 Second encoder port Note 3 0 None 1 ABZ incremental encoder 2 Hiperface encoder Control instruction interface E EtherCAT C CANopen Optional configuration 1 0 None 1 STO safety function 2 Safe brake control function 3 STO safety function Safe brake control function Optional configuration 2 0 No...

Page 24: ...s Width mm 30 50 110 210 Height mm 170 170 170 170 Depth mm 170 170 170 170 Output Continuous output current Arms 1 2 3 5 7 10 15 20 30 Instant maximum output current Arms 4 8 11 15 20 30 45 60 90 Typical adaptive motor power kW 0 05 0 1 0 2 0 4 0 75 1 0 1 5 2 0 3 0 5 0 AC input Phase number voltage Vrms Single phase 1PH Three phase 3PH AC 200V 240V 15 10 Three phase 3PH AC 200V 240V 15 10 AC volt...

Page 25: ...ge environment Ambient temperature relative humidity of usage environment No reduced rated power in 0 C 45 C lower rated power in 45 C 55 C 20 85 RH No condensation Ambient temperature relative humidity of storage environment 20 C 65 C 20 85 RH No condensation Vibration 5 88m s 2 10Hz 60Hz Altitude Less than 1000m above sea level IP Level IP20 Applicable standards CE instruction EN61800 3 EN61800 ...

Page 26: ...er Sine cosine differential input signal Control instruction interface EtherCAT CANopen Developing Debugging communication interface USB Bluetooth I O interface DI 6 channels 2 of which are high speed channels DO 3 channels Safety interface STO STO1 STO2 input STOM output Integrated Safety functions Safety torque Off STO Safe Stop 1 SS1 Safe Stop 2 SS2 Safety Brake Control SBC Standard configurati...

Page 27: ...cting with a safety torque off circuit Optional configuration 9 EtherCAT communication port X9 Used for EtherCAT communication connections with other devices Standard Configuration 10 MicroUSB Communication Port X10 Used for connecting with computers for debugging Standard Configuration 11 High precision gantry syncing port X11 Used for connecting with other drives when using the high precision ga...

Page 28: ... by the CDS7 servo drives Some of these parts and functions are optional so when referring to this section take into account the model you actually selected T1 T4 models of CDS7 servo drives are shown below in plan view and the numbers in the figure correspond to the numbers in the table T1 model ...

Page 29: ...Preface 17 T2 model ...

Page 30: ...Preface 18 T3 model ...

Page 31: ...Preface 19 T4 model ...

Page 32: ...e name Applicable standards Certification mark EMC directive 2004 30 EU EN 61800 3 2014 A1 2012 CE Low voltage directive 2014 35 EU EN 61800 5 1 2007 CE Safety standards Equipment models Safety standards Standards CDS7 Servo Drive Functional safety IEC 61508 1 IEC 61508 2 IEC 62061 ISO 13849 1 ISO 13849 2 IEC 61800 5 2 ...

Page 33: ...repairs immediately When installed in a cabinet Fully consider the size of the cabinet the cooling device and the layout inside the cabinet to ensure that the ambient temperature of the servo drive is controlled below 45 C When a vibration source is nearby Install a shock absorber between the servo drive and the base to ensure that the vibration will not be transmitted directly to the servo drive ...

Page 34: ... After the product is delivered to you check the following Is there any damaged or missing packaging during product transportation Does the servo drive model match the ordered product Does the servo drive look complete Are these loose screws of the servo drive Are standard and purchased optional connectors in the box Contact us if there are any discrepancies with the product ...

Page 35: ...Installation 23 Dimensions 2 3 T1 model dimensions 2 3 1 Unit mm Contact us if you want more information of unspecified dimensions in the drawings ...

Page 36: ...Installation 24 T2 model dimensions 2 3 2 Unit mm Contact us if you want more information of unspecified dimensions in the drawings ...

Page 37: ...Installation 25 T3 model dimensions 2 3 3 Unit mm Contact us if you want more information of unspecified dimensions in the drawings ...

Page 38: ...Installation 26 T4 model dimensions 2 3 4 Unit mm Contact us if you want more information of unspecified dimensions in the drawings ...

Page 39: ... the following figure 气流方向安装背板 Install backplane Direction of airflow Since the heat generated by the servo drive is radiated from the bottom to the top in order to ensure the stable performance of this device it is usually required to be installed vertically that is to ensure that the airflow direction of the drive s own forced air cooling is from bottom to top ...

Page 40: ...0mm以上推荐 100mm以上或根据实际布线情况决定通风方向 40mm以上 More than 40mm More than 30mm More than 40mm More than 100mm More than 40mm More than 40mm Ventilation direction 1 Multiple drives are allowed to be installed in parallel 2 Keep the ambient temperature of the servo drive below 45 3 In the case of poor cooling inside the control cabinet use the cooling fan to keep the air flowing ...

Page 41: ...ltage before use The servo drive has passed the voltage withstanding test before delivery so the user should not perform this test again Do not connect the power supply with the motor power output terminals U V W Both the servo drive and motor must be reliably grounded for safety purposes For easier input side overcurrent protection and maintenance at outage the servo drive should be connected to ...

Page 42: ...ween them Do not use the same power supply as electric welding machines electron discharge machines etc Even if it is not the same power supply when there is a high frequency generator nearby connect an anti interference filter to the input side of the main circuit power cable and the control power cable Perform proper grounding Refer to the content below for information about grounding When conne...

Page 43: ...der VCC1 GND CLK CLK DATA DATA 1 2 3 4 5 6 shield X5 Synchronous serial communication encoder wiring X2 DC24V Note symbol Representing twisted pair DI COM HDI1 HDI2 DI3 DI4 DI5 DI6 1 2 3 4 DC24V DI COM HDI1 HDI2 DI3 DI4 DI5 DI6 DI low level DI high level 5 6 7 1 2 3 4 5 6 7 DO3 DO3 DO1 DO2 DO RET 11 12 9 10 8 Controller DC24V L1 L2 L3 Single phase power input only partial models support AC power S...

Page 44: ...Connector illustrations and pin definitions T1 T2 models T3 model T4 model Power supply input port X1 L1 L2 L3 L1 L2 L3 Control power and regenerative braking port X3 B RB P L1C L2C L2C L1C P RB B DC bus port X4 P1 N P1 N P1 N Each connector in the above table is given in a terminal view In actual use pay attention to the installation direction and pin definition to avoid device damages caused by ...

Page 45: ... P When using the built in regenerative resistor short circuit interfaces B and RB and do not use interface P Not supported by T1 model When an external regenerative resistor is connected connect it to interfaces B and P and do not use interface RB DC bus port X4 P1 N Do not use Ground terminal Connect with external circuit ground terminal DC power supply input optional Port name Pin symbol Specif...

Page 46: ...wer supply input P1 N B RB P L1C L2C B RB P When using the built in regenerative resistor only T2 T3 models support External regenerative resistor L1 L2 L3 AC power single phase 200 240V X1 X4 X3 CDS7S AC power Three phase 200 240V Reactor L1 L2 L3 Filter No connection ...

Page 47: ...y T1 T2 models P1 N B RB P L1C L2C B RB P When using the built in regenerative resistor only T2 T3 models support External regenerative resistor L1 L2 L3 AC power single phase 200 240V X1 X4 X3 CDS7S AC power Single phase 200 240V Reactor L1 N Filter No connection ...

Page 48: ... built in regenerative resistor only T2 T3 models support External regenerative resistor L1 L2 L3 AC power single phase 200 240V X1 X4 X3 CDS7S DC DC DC power supply 310V L1 N Note When connecting to the X4 port the X1 port is forbidden to be wired otherwise the drive will be damaged ...

Page 49: ...ce failure or loss of personal property Additional Notes Do not change the wiring while power is on Otherwise it may cause electric shock or personal injury Wiring or inspection must be done by professional technicians Even if the power is turned off high voltage can still remain in the servo drive So make sure that the CHARGE lamp is off after the power is turned off and wait for at least 10 minu...

Page 50: ... connector related to the motor wiring are shown in the following table Port name Connector illustrations and pin definitions T1 T2 models T3 model T4 model Motor output port X2 U V W U V W U V W First encoder Port X5 2 4 6 1 3 5 Second encoder port X6 1 3 5 7 9 2 4 6 8 10 Motor brake control and temperature detection port X12 1 2 3 4 5 6 In order to distinguish the direction of use the outlines o...

Page 51: ...ole of motor brake control output 4 MBK Positive pole of motor brake control output 5 NC Do not use 6 NC Do not use First encoder port connecting with asynchronous serial communication encoder Port name Pin Signal name Functions First encoder Port X5 1 VCC1 Encoder Power 5V 2 GND Encoder Power 0V 3 NC Do not use 4 NC Do not use 5 DATA Serial data 6 DATA Serial data Housing Shielding Before wiring ...

Page 52: ... Second encoder port X6 1 VCC2 Encoder power supply 10V 2 GND Encoder Power 0V 3 DATA Serial data 4 DATA Serial data 5 SIN SIN signal 6 SIN SIN signal 7 COS COS signal 8 COS COS signal 9 NC Do not use 10 NC Do not use Housing Shielding Second encoder port connecting with ABZ UVW wire saving incremental encoder Port name Pin Signal name Functions Second encoder port X6 1 VCC2 Encoder Power 5V 2 GND...

Page 53: ...se 9 NC Do not use 10 NC Do not use Housing Shielding Motor Wiring Diagram 3 4 2 Motor power line wiring M U V W Motor X2 CDS7S shield Motor safety brake control wiring 1 The 24 VDC power used for the brake must be separated from the power used for input and output signals When the power supplies are shared the input and output signal circuits can misoperate 2 The maximum output current of the saf...

Page 54: ...asynchronous serial communication encoder Motor encoder VCC1 GND NC NC DATA DATA 1 2 3 4 5 6 shield X5 Asynchronous serial communication encoder wiring CDS7S First encoder wiring connecting with synchronous serial communication encoder Motor encoder VCC1 GND CLK CLK DATA DATA 1 2 3 4 5 6 shield X5 Synchronous serial communication encoder wiring CDS7S ...

Page 55: ... 7 8 9 10 shield X6 Hiperface encoder wiring Motor encoder CDS7S Second encoder wiring connecting with ABZ UVW wire saving incremental encoder ABZ incremental encoder wiring Motor encoder VCC2 GND NC NC A A B B 1 2 3 4 5 6 7 8 shield X6 10 9 Z Z CDS7S The symbol indicates that the wires need to be a twisted pair wires ...

Page 56: ...he brake current and power supply used The 24 VDC power supply used by the brakes must be separated from the power supply used by the input and output signals When the two share the same power supply the input and output signals can misoperate When wiring the encoder cable select twisted pair cables at the corresponding positions according to this section The cable conductor resistance should not ...

Page 57: ...aged by ETG EtherCAT Technology Group EtherCAT System Structure The EtherCAT network structure is shown in the figure below and the most typical linear topology is used in this example Relevant documentation is available if other structures are selected EtherCAT Master Networking tools ESI file CoolDrive S7 EtherCAT slave EtherCAT slave EtherCAT slave The EtherCAT master station is required to gen...

Page 58: ... Signal name Functions EtherCAT communication port X9 1 8 1 DP_PHY0_ TX Send data 2 DP_PHY0_ TX Send data 3 DP_PHY0_ RX Receive data 4 5 6 DP_PHY0_ RX Receive data 7 8 EtherCAT Wiring Diagram 3 5 3 上位控制器驱动器1 驱动器2 驱动器N 线缆N 线缆3 线缆2 线缆1 EtherCAT Master Slave 1st axis Slave 2nd axis Slave nth axis ...

Page 59: ...ng layer When crimping the plug make sure that the wire core is in good contact with the metal pins of the plug and is securely fixed Crimp the shielding layer of the network cable to the metal shell of the RJ 45 plug The cables used to connect with adjacent devices should not be too short and must meet the requirements of the cable bending radius Use twisted pair cables to connect Pin 3 and Pin 6...

Page 60: ... DI3 Digital Signal Input 3 5 DI4 Digital Signal Input 4 6 DI5 Digital Signal Input 5 7 DI6 Digital Signal Input 6 8 DO RET Digital signal output 9 DO1 Digital signal output 1 10 DO2 Digital signal output 2 11 DO3 Digital signal output 3 12 DO3 Digital signal output 3 I O Port Wiring Diagram 3 6 2 The digital input circuit of the servo drive uses a bidirectional photocoupler and the external circu...

Page 61: ...Wiring 49 DI High level CDS7S Wiring when DI is active low DI Low level CDS7S In DI wiring in order to ensure the primary current of the photocoupler the input power voltage should be greater than 12V ...

Page 62: ...or brake DC24V DO3 DO3 DO3 control motor brake Note 1 When the DO controls the motor brake the safety brake function X12 port is invalid 2 The brake coil must be connected to the freewheeling diode for protection DC24V KA X7 CDS7S When the motor brake control output mode is set to the ordinary mode DO3 must be configured as the motor brake control simultaneously when the motor brake control output...

Page 63: ... not use 3 STOM Safety Torque Off function Monitor 4 STOM RET Safety Torque Off function Monitor 5 STO2 Safety Torque Off function signal input 2 6 STO2 RET Safety Torque Off function signal input 2 7 STO1 Safety Torque Off function signal input 1 8 STO1 RET Safety Torque Off function signal input 1 STO wiring diagram 3 7 2 Wiring when using the STO function CDS7S ...

Page 64: ...Wiring 52 Wiring when not using the STO function CDS7S When the STO function is enabled do not use the NC1 and NC2 interfaces When the STO function is disabled short circuit the NC1 and NC2 interfaces ...

Page 65: ...rop down menu Sub options cannot coexist Only one sub option can be selected at a time Bit selection parameters Such parameters can be selected by ticking in front of the options Numerical setting parameters Values of this type of parameter can be modified directly Grayed out parameters Such parameters cannot be modified Function selection parameters select by drop down sub selection Bit selection...

Page 66: ...et temporary value When setting temporary values the currently set value takes effect immediately After restarting the drive the parameter returns to the previous value Parameter application version To meet the needs of using different servo parameters in different applications you can use the following servo parameters that have been debugged to define the application version and check the applic...

Page 67: ...DO and then modified or modified in SDO An example of using the function selection parameter is given below to explain the procedure for setting parameters with the debugging software 1 Open the debugging software and connect with the servo drive In the menu bar of the main interface select the Servo Parameter option in the Parameter drop down menu Or find the shortcut icon of servo parameter in t...

Page 68: ... need to be modified 4 Click Set Save Value and close the window 5 If you modify the parameters that restart the drive to take effect the main interface will give the following prompt The parameters will take effect after restarting the drive ...

Page 69: ...the factory value of the parameter version in the drive firmware The drive must be restarted after successful operation to make the operation take effect Keep the drive in the Servo OFF state before operation When the operation is complete the parameters are restored to factory settings Back up the original parameters in advance if required Operation steps 1 Select the Servo Parameter in the Param...

Page 70: ...urrent servo parameters Initialize all information of servo parameters and click OK 4 Click Yes in the pop up window 5 When prompted that factory settings are restored successfully click OK to restart the drive for the factory settings to take effect ...

Page 71: ... When DC main power is selected as the input the main power input lack phase main power failure and main power undervoltage alarm will not be detected When DC main power is selected as the input do not connect AC main power to the drive Byte1 Main power phase number selection 0x00 single phase 0x01 three phase When single phase AC main power is selected as the input the main power input lack phase...

Page 72: ...ording to the actual connection state The higher the heat dissipation level of the energy consumption braking resistor the greater the overload capacity of the energy consumption braking resistor Byte0 Regeneration resistor heat dissipation rate 0x00 Level 0 0x01 Level 1 0x02 Level 2 0x03 Level 3 0x04 Level 4 0x05 Level 5 0x06 Level 6 0x07 level 7 0x08 level 8 0x09 level 9 Byte1 Regeneration resis...

Page 73: ...e is lower than this set value and the duration exceeds 0x213B the drive reports a DC bus under voltage fault Index Sub ind ex Name Unit Setting range Default value effective Period 0x2137 0 Under voltage Warning threshold value V 150 300 150 Restart Y Index Sub ind ex Name Unit Setting range Default value effective Period 0x2138 0 Regeneration Brake Deactive Voltage V 350 380 375 Restart Y The re...

Page 74: ...5 2000 Restart Y When the fluctuation of DC bus voltage is less than the set value of this parameter the DC bus is considered to be charged OK Index Sub ind ex Name Unit Setting range Default value effective Period 0x21ED 0 External Regeneration Resistor Overload Protection Threshold 100 65535 1000 Restart Y Set the allowable overload multiples of the external energy consumption braking resistor I...

Page 75: ...tart Y Set the control cycle of speed loop and position loop Byte0 Position loop cycle selection 0x00 Veclocity loop cycle 1 0x01 Veclocity loop cycle 2 0x02 Veclocity loop cycle 4 0x03 Veclocity loop cycle 8 Byte1 Velocity loop cycle selection 0x00 Automatic set 0x01 Current loop cycle 1 0x02 Current loop cycle 2 0x03 Current loop cycle 4 0x04 Current loop cycle 8 When the speed loop cycle is aut...

Page 76: ...x Name Unit Setting range Default value effective Period 0x607E 0 Polarity 0 0x00E0 0 Restart Y Byte0 Polarity setting 0x00 The motor rotates in positive direction according to the positive position velocity torque command 0xE0 The motor rotates in negative direction according to the positive position velocity torque command Select the combination of the command polarities for the target position ...

Page 77: ...tart Y Motor Parameters Settings 4 3 With the upgrade of the servo parameter version this section will be updated simultaneously The current content is applicable to D3 0 00 and later firmware versions Set the following motor parameters correctly The motor parameters can be obtained from the motor selection manual or operation manual When setting motor parameters pay attention to the units of moto...

Page 78: ...e effective Period 0x2054 0 Motor Wire Winding Resistance mΩ 1 4294967295 30300 Restart Y Wire winding resistance phase winding resistance 2 Index Sub ind ex Name Unit Setting range Default value effective Period 0x2055 0 Motor Wire Winding Inductance uH 1 4294967295 34000 Restart Y Wire winding inductance phase winding inductance 2 Index Sub ind ex Name Unit Setting range Default value effective ...

Page 79: ...imum motor current The set value is ratio of the rated current Index Sub ind ex Name Unit Setting range Default value effective Period 0x6075 0 Motor Rated Current mArms 1 4294967295 600 Restart Y Set the effective value of the rated motor current Index Sub ind ex Name Unit Setting range Default value effective Period 0x6076 0 Motor rated torque mNm 1 4294967295 159 Restart Y Set the motor s rated...

Page 80: ... value of this parameter from the motor manufactuer Index Sub ind ex Name Unit Setting range Default value effective Period 0x205A 0 Motor Operation Environment 0 0x07010101 0x00010 000 Immediat ely Y Set the operating environment of the motor Byte0 Cooling mode 0x00 Natural cooling 0x01 Forced air cooling Byte1 Installation mode 0x00 suspended installation 0x01 base plate installation Byte2 Insta...

Page 81: ...Number 1 100 10 Restart Y Set the number of motor coggings Index Sub ind ex Name Unit Setting range Default value effective Period 0x2083 0 Motor Overheat protect Thermocouple Resistance Value Ohm 0 2147483647 0 Restart Y Set the motor overheating protection threshold value Index Sub ind ex Name Unit Setting range Default value effective Period 0x21E5 0 Motor Torque Constant Nm mArms 0 2147483647 ...

Page 82: ...ex Name Unit Setting range Default value effective Period 0x21E7 0 Motor Temperature Sensor Type 0 0x0101010F 0 Restart Y Set the type of the motor s temperature sensor Byte0 Motor Temperature sensor type selection 0x00 No temperature sensor 0x01 PT100 0x02 PT1000 0x03 PTC 0x04 NTC 0x05 KTY84 0x06 temperature switch ON active 0x07 temperature switch OFF active Byte1 Byte2 Byte3 reserved ...

Page 83: ...ation When the feedback purpose of the encoder is set to observation the encoder does not participate in the motor control and the drive only displays the encoder value Byte1 3 Settings are invalid when the encoder is disabled Byte1 Encoder type 0x00 Simulated 0x01 PNS 0x02 Motor Power 0x03 Nicon 0x04 Tamagawa 0x05 SKY 0x07 Hiperface DSL 0x08 Resolver 0x09 BISS C YH 0x0A BISS C PST 0x0B BISS C Lin...

Page 84: ...yte1 Encoder type 0x00 Simulated 0x01 PNS 0x02 Motor Power 0x03 Nicon 0x04 Tamagawa 0x05 SKY 0x06 Hiperface 0x08 Resolver 0x0B BISS C Line 0x0F Pulse type conventional incremental encoder 0x10 Pulse type reduced incremental encoder 0x11 1Vpp Byte2 Encoder multi turn counted by drive 0x00 Disabled 0x01 Enabled Only if the encoder type is single turn absolute encoder can the drive counting the encod...

Page 85: ... value effective Period 0x2018 0 Interface Encoder Setting 0 0x031F031F 0x000A 000A Restart Y Byte0 The single turn bit of first interface encoder 0x00 single turn bit is 10 0x01 single turn bit is 11 0x02 single turn bit is 12 0x03 single turn bit is 13 0x04 single turn bit is 14 0x05 single turn bit is 15 0x06 single turn bit is 16 0x07 single turn bit is 17 0x08 single turn bit is 18 0x09 singl...

Page 86: ...le turn bit is 26 0x11 single turn bit is 27 0x12 single turn bit is 28 0x13 single turn bit is 29 0x14 single turn bit is 30 0x15 single turn bit is 31 Byte3 Single turn bit mode selection of the second interface encoder 0x00 Automatic mode 0x01 Manual mode Description In automatic setting mode interface encoder single turn resolution actual encoder single turn resolution When the interface encod...

Page 87: ...nge Default value effective Period 0x201B 0 First Absolute Encoder Setting 0 0x03031F3F 0x030010 11 Restart Y Set the first absolute encoder parameters Set up the encoder s single turn multi turn number of bits and communication speed according to the information of the specific driving motor For related parameters consult the motor manufacturer Byte0 Single turn bit of absolute encoder 0x00 singl...

Page 88: ...Byte1 Multi turn bit of absolute encoder 0x00 multi turn bit is 0 Bit 0x01 multi turn bit is 1 Bit 0x02 multi turn bit is 2 Bit 0x03 multi turn bit is 3 Bit 0x04 multi turn bit is 4 Bit 0x05 multi turn bit is 5 Bit 0x06 multi turn bit is 6 Bit 0x07 multi turn bit is 7 Bit 0x08 multi turn bit is 8 Bit 0x09 multi turn bit is 9 Bit 0x0A multi turn bit is 10 Bit 0x0B multi turn bit is 11 Bit 0x0C mult...

Page 89: ...rompt and performs a fault triggered shutdown When Byte3 selects 0x03 for encoders that require an external battery if the encoder battery voltage is lower than the alarm threshold and the servo only gives an alarm prompt When the encoder battery voltage is lower than the fault threshold the servo gives both alarm and fault prompts and performs a fault triggered shutdown The Byte3 setting is inval...

Page 90: ...ingle turn bit is 22 Bit 0x17 single turn bit is 23 Bit 0x18 single turn bit is 24 Bit 0x19 single turn bit is 25 Bit 0x1A single turn bit is 26 Bit 0x1B single turn bit is 27 Bit 0x1C single turn bit is 28 Bit 0x1D single turn bit is 29 Bit 0x1E single turn bit is 30 Bit 0x1F single turn bit is 31 Bit Byte1 Multi turn bit of absolute encoder 0x00 multi turn bit is 0 Bit 0x01 multi turn bit is 1 B...

Page 91: ...hreshold or fault threshold the servo will not give an alarm or fault prompt When Byte3 selects 0x01 for encoders that require an external battery if the encoder battery voltage is lower than the alarm or fault threshold the servo only gives an alarm prompt When Byte3 selects 0x02 for encoders that require an external battery if the encoder battery voltage is lower than the alarm or fault threshol...

Page 92: ...ng if the actual multi turn value is smaller than this set value the regulated multi turn value will become to this set value and re down count This parameter is available to absolute encoder with multi turn resolution not 0 When set to 0 the upper limit of the adjusted multi turn value of the encoder is equal to the upper limit of the actual multi turn value of the encoder Only when the servo par...

Page 93: ...d multi turn value of the encoder is always equal to the upper limit of the actual multi turn value of the encoder no matter what the value of this parameter is set The setting value of this parameter must be within the range of interface encoder multi turn bit 0x2017 For example if 0x2017 is set to 10 then the setting value of this parameter cannot exceed 1023 Index Sub ind ex Name Unit Setting r...

Page 94: ...er position command low pass filter positioning vibration suppression software position limit function Byte2 Position offset 0x60B0 compensation function 0x00 Disable 0x01 Enable Byte3 Position following error actual value 0x60F4 definition 0x00 Position target value minus postion actual value 0x01 Position demand value minus postion actual value 0x02 Position demand internal value minus postion a...

Page 95: ...ermined by 0x2000 Byte3 Byte2 Byte3 Reserved Index Sub ind ex Name Unit Setting range Default value effective Period 0x2002 0 Static Position Disturbance Compensation Gain 0 001 0 2147483647 0 Immediat ely N Set the static position disturbance compensation gain When the set value is 0 the static position disturbance compensation function is disabled Index Sub ind ex Name Unit Setting range Default...

Page 96: ...infinite position control mode is enabled Index Sub ind ex Name Unit Setting range Default value effective Period 0x607B 1 Min Position Range Limit PosUn it 2147483648 214748364 7 214748 3648 Restart N The target position value should be greater than the value set by this parameter if infinite position control mode is not used This parameter is read only Index Sub ind ex Name Unit Setting range De...

Page 97: ...unit notation index selection 0x03 1000 0x01 10 0x00 1 0xFF 0 1 0xFE 0 01 0xFD 0 001 0xFA 0 000001 0xF7 0 000000001 When setting the position unit please set the electronic gear ratio parameters correctly at the same time These parameters include 0x608F 0x6091 0x6092 0x6093 If infinite position control mode is enabled the position unit notation index can only be selected by 1 Byte1 Byte2 Byte3 Res...

Page 98: ...ed the position unit dimension index can only be set to EncInc Byte1 Byte2 Byte3 Reserved Index Sub ind ex Name Unit Setting range Default value effective Period 0x6086 0 Motion Profile Type 0 0x00FF 0 Immediat ely N Set the motion profile type in positino control mode Only avaiable when EtherCAT master controller takes control of the drive Byte0 Position profire type 0x01 Linear ramp trapeziodal ...

Page 99: ...d limit when the motor is running in positive direction This parameter is effective in speed control and position control mode The actual motor speed is limited by the minimum of the maximum motor speed and the maximum profile velocity Positive direction of the motor refers to the counterclockwise rotation of the motor shaft end This parameter is not affected by 0x607E Index Sub ind ex Name Unit S...

Page 100: ...range Default value effective Period 0x606F 0 Velocity Threshold VelUnit 1 4294967295 8738 Immediat ely Y Set the zero velocity judgment threshold VelUnit PosUnit s Velocity Notation Index Position unit are determined by 0x6089 and 0x608A Please set this parameter according to the resolution of the actual encoder and the mechanical transmission structure Index Sub ind ex Name Unit Setting range De...

Page 101: ...Position unit are determined by 0x6089 and 0x608A Please set this parameter according to the resolution of the actual encoder and the mechanical transmission structure Index Sub ind ex Name Unit Setting range Default value effective Period 0x6084 0 Profile Deceleration AccUnit 1 4294967295 50000000 Immediat ely Y Set the maximum profile deceleration in PV and PP control modes AccUnit PosUnit s 2 A...

Page 102: ...nsion index per second Only the velocity notation index can set Byte1 Byte2 Byte3 Reserved Index Sub ind ex Name Unit Setting range Default value effective Period 0x608D 0 Acceleration Notation Index 0 0x00FF 0 Restart Y Set the acceleration unit notation index Byte0 Acceleration notation index selection 0x03 1000 0x01 10 0x00 1 0xFF 0 1 0xFE 0 01 0xFD 0 001 0xFA 0 000001 For example if 0x6089 0xF...

Page 103: ... maximum torque 0x6072 the motor s maximum current 0x6073 and the drive s maximum current Negative direction of the motor refers to the clockwise rotation of the motor shaft end This parameter is not affected by 0x607E Index Sub ind ex Name Unit Setting range Default value effective Period 0x2102 0 Torque Control Switch 0 0x01030101 0 Restart N Set the parameters of the torque control switch Byte0...

Page 104: ... 0x2103 0 Velocity Limit During Torque Control Mode rev min 0 100000 1000 Immediat ely Y Set the speed limit in the torque control mode The actual speed is limited by the smallest of the max motor speed 0x6080 positive velocity limit value 0x2081 and negative velocity limit value 0x2082 Index Sub ind ex Name Unit Setting range Default value effective Period 0x6087 0 Torque Slope TN s 1 4294967295 ...

Page 105: ...Set the shaft lock duration when the servo is ON When motor brake control mode is set to drive automatic control the actual servo ON axis lock time is determined by the maximum valuebetween 0x2154 0x2155 and this parameter Index Sub ind ex Name Unit Setting range Default value effective Period 0x2154 0 Motor Brake Release OK Delay Time ms 0 10000 100 Immediat ely Y Set the time frome the drive rec...

Page 106: ... when decouple control is disabled or partial decouple control is used actual torque observations may be inaccurate Byte1 Servo ON shaft lock mode 0x00 Axis lock on current position 0x01 Axis lock with zero velocity When using axis lock with zero speed mode the motor may have position deviation due to disturbance and will not return to the original position To avoid this situation axis lock on the...

Page 107: ...riod 0x2192 0 Active Stop Completed Velocity Threshold rev min 1 200 10 Immediat ely Y Set the judgment speed threshold of completing controlled stop The drive will turn on the motor brake when the velocity actual value is lower than this set value and lasts for more than active stop completed check time during active stop process Active stop method inculdes slow down ramp stop quick stop ramp and...

Page 108: ...otor stops freely Byte1 Fault reaction priority 0x00 Priority 8 Byte2 Byte3 Reserved Index Sub ind ex Name Unit Setting range Default value effective Period 0x2196 0 Fault Reaction Stop Option 1 0 0x00070007 0x00000 004 Restart Y Set the fault stop options for group 1 Fault reaction priority is unsettable Byte0 Fault reaction stop option code 0x00 Disable drive function and the motor stops with dy...

Page 109: ...time option code 0x00 Confirm immediately without delay 0x01 Confirm with 100ms delay 0x02 Confirm with 200ms delay 0x03 Confirm with 400ms delay 0x04 Confirm with 600ms delay 0x05 Confirm with 1000ms delay Byte3 Reserved Index Sub ind ex Name Unit Setting range Default value effective Period 0x2198 0 Fault Reaction Stop Option 3 0 0x00070707 0x00000 302 Restart Y Set the fault stop options for gr...

Page 110: ... Reaction Stop Option 4 0 0x00070707 0x00000 400 Restart Y Set the fault stop options for group 4 Byte0 Fault reaction stop option code 0x00 Disable drive function and the motor stops with dynamic brake ON 0x01 Disable drive function and the motor stops freely 0x02 Slow down on slow down ramp and disable drive function 0x03 Slow down on quick stop ramp and disable drive function 0x04 Stop immediat...

Page 111: ...ynamic brake ON 0x01 Disable drive function and the motor stops freely 0x02 Slow down on slow down ramp and disable drive function 0x03 Slow down on quick stop ramp and disable drive function 0x04 Stop immediately and disable drive function Byte1 Fault reaction priority 0x00 Priority 8 0x01 Priority 7 0x02 Priority 6 0x03 Priority 5 0x04 Priority 4 0x05 Priority 3 0x06 Priority 2 0x07 Priority 1 T...

Page 112: ...ty 3 0x06 Priority 2 0x07 Priority 1 The higher the number the higher the priority Byte2 Fault confirmation delay time option code 0x00 Confirm immediately without delay 0x01 Confirm with 100ms delay 0x02 Confirm with 200ms delay 0x03 Confirm with 400ms delay 0x04 Confirm with 600ms delay 0x05 Confirm with 1000ms delay Byte3 Reserved Index Sub ind ex Name Unit Setting range Default value effective...

Page 113: ...Motor stopped Motor stopped means the motor speed is lower than the value set by servo parameter of Active Stop Completed Velocity Threshold 0x2192 This parameter is defined by bit When the set value 1 dynamic brake is ON When setting value 0 dynamic brake is OFF Only applicable to models that support dynamic brake function Byte0 Bit0 Dynamic brake is ON after motor stopped due to the hard limit s...

Page 114: ...trol of the limited current which may cause some vibration Byte0 Hardware limit switch stop option code 0xFE Reaction as a fault 0xFF Disable drive function and the motor stops with dynamic brake ON 0x00 Disable drive function and the motor stops freely 0x01 Slow down on slow down ramp and disable drive function 0x02 Slow down on quick stop ramp and disable drive function 0x03 Stop immediately and...

Page 115: ...r stops freely 0x01 Slow down on slow down ramp and disable drive function Byte1 Byte2 Byte3 Reserved Index Sub ind ex Name Unit Setting range Default value effective Period 0x21A0 0 STO Option Code 0 0x00030307 0 Restart Y When the STO stop option code is not equal to 0 the motor will stop when STO is triggered and no fault will be reported It should disable STO self diagnose function if STO is n...

Page 116: ...ctual value is lower than active stop completed velocity threshold value and lasts for more than this set value during active stop process Index Sub ind ex Name Unit Setting range Default value effective Period 0x2150 0 Motor Brake Active Holding Delay Time ms 100 10000 500 Immediat ely Y Set the delay time from the moment of turning off the motor brake by the drive to the moment of shuting down t...

Page 117: ...d Byte2 Motor brake control output mode selection 0x00 Normal output mode 0x01 Safety output mode When the motor brake control output mode is set to normal output mode DO3 shall be configured as motor brake output at the same time When motor brake control output mode is set to safety output mode DO3 cannot be configured as motor brake output at this time Byte3 Motor brake forced control selection ...

Page 118: ...e selection 0x00 DC SYNC0 0x01 Free Run Byte2 Port auto negotiation selection 0x00 Enable input port auto negotiation enable output port auto negotiation 0x01 Enable input port auto negotiation disable output port auto negotiation 0x02 Disable input port auto negotiation enable output port auto negotiation 0x03 Disable input port auto negotiation disable output port auto negotiation Index Sub ind ...

Page 119: ...ing 0x02 Alarm detecting state 1 alarm detected 0x03 Homed state 1 homed 0x04 STO status 1 STO Byte2 Object 0x6061 update timing selection 0x00 Consistent with object 0x6060 0x01 Consistent with the actual control mode Byte2 Enter into ready to switch on state automatically switch 0x00 Disable 0x01 Enable Index Sub ind ex Name Unit Setting range Default value effective Period 0x21D9 0 CiA402 setti...

Page 120: ... rising edge 0x02 Configure position encoder rising edge 0x03 Clear fault of position encoder rising edge Byte3 Definition of control word 0x6040 Bit15 0x00 Reserved 0x01 Clear multi turn value of position encoder rising edge 0x02 Configure position encoder rising edge 0x03 Clear fault of position encoder rising edge The position encoder can be the first encoder or the second encoder according to ...

Page 121: ...orrectly During the trial operation do not touch the rotating parts of the motor while the motor is rotating Make sure that there are no persons or other unrelated devices within the movable range of the mechanical moving parts Magnetic Pole Phase Angle Detection 5 2 Overview 5 2 1 Before trial running of each motor shaft the parameter 0x2050 Phase Angle of Motor Magnetic Pole must be set correctl...

Page 122: ...ing Move Threshold inc 1 65535 5 Restart Y 0x21F4 0 Magnetical Pole Detecting Stable Time ms 1 65535 500 Restart Y The setting unit of the magnetic pole phase angle detection torque is one thousandth of the magnetic pole phase angle detection torque The larger the judgment threshold of the magnetical Pole Detecting Move Threshold the larger the motor displacement is during the detection The parame...

Page 123: ...ect the motor phase Byte1 Hall signal detection switch under normal method 0x00 Disabled 0x01 Enabled Byte2 Hall signal detection result automatic save switch 0x00 Disable 0x01 Enable Byte3 Reserved This parameter is only available for motors with incremental encoder When motor brake function is enabled normal method and statical method is prohibited ...

Page 124: ...then click the Magnetic Polar phasing option Or find the shortcut icon of Magnetic Polar phasing in the toolbar and click the icon to enter You can also find the shortcut option of Magnetic Polar phasing under the corresponding drive model on the left side of the main interface and click the icon to enter 2 In the Magnetic Polar phasing dialog box click the General Method button ...

Page 125: ...esults are successful Click the Save button 5 You will be prompted that the general method information was saved successfully Click the OK button 6 After the drive is powered on again the magnetic pole phase angle value becomes effective If the magnetic pole phase angle detection failure code prompts 1 Phase sequence error during the test adjust the motor power line phase sequence and try again ...

Page 126: ...he Magnetic Polar phasing option Or find the shortcut icon of the magnetic pole phase angle in the toolbar and click the icon to enter You can also find the shortcut option of Magnetic Polar phasing under the corresponding drive model on the left side of the main interface and click the icon to enter 2 In the Magnetic Polar phasing dialog box click the Static Method button ...

Page 127: ...reshold When you need to detect the phase sequence select the magnetic pole phase angle phase sequence detection switch as 1 enable phase sequence detection 4 When the static detection is complete you will be prompted that the execution process is complete and the results are successful Click the Save button 5 You will be prompted that the static method information was saved successfully and click...

Page 128: ...de and Point to point Position Tode Trial operation window Click the Function button in the menu bar of the debugging software s main interface and click the Test Operation option in the drop down menu Or find the shortcut icon for trial operation in the toolbar and click the icon to enter You can also find the shortcut option of Test Operation under the model number of the drive on the left side ...

Page 129: ...h the buttons in and on the left side and right side of the variable The variables are described as follows Target speed V Plan the speed of operation and set the upper limit which cannot exceed the Max target speed Ascending time Ta The time it takes for the motor to accelerate from 0 to the planned simple speed target value Descending time Td The time it takes for the motor to decelerate from th...

Page 130: ...ressed and held and the motor stops when the button is released 4 For continuous operation select the Continuous option Then click the Forward button or the Reverse button the button description becomes Stop and the motor continues to run according to the plan At this point just click the Stop button again to stop the motor operation ...

Page 131: ...he Servo OFF button to disable the drive and the operation ends Programming Velocity mode 5 3 2 Schematic diagram V Ts Ta Ts Ts Td Tc Tw Tw 1st cycle 2nd cycle Ts Velocity r min Time Constant direction Alternative direction ...

Page 132: ...ue S curve time Ts The variable acceleration time in which the acceleration changes from zero to a constant value or from a constant value to zero If it is set to 0 the trajectory becomes a T shaped plan Set repetitive counter The speed changing from 0 to the target value and then back to 0 makes a cycle This parameter is the number of cycles that needs to be executed When set to 0 the program wil...

Page 133: ...k the Forward button or the Reverse button The motor executes the program operation 4 After the program execution is complete click the Stop button 5 Click the Servo OFF button to enable the drive and the operation ends ...

Page 134: ... the variables click Set below The variables are described as follows Speed amplitude Vm The amplitude of the sine wave running in the speed mode Speed offset Vo The offset of the sine speed planning value Sinusoidal frequency F The inverse of the sine wave period 2 Click the Servo Enable button The motor runs as planned 3 Click the Stop button to finish the operation ...

Page 135: ...n from the target torque to 0 Duration time Tc The period of time in which the motor keeps running after reaching the target value Set repetitive counter The torque changing from 0 to the target value and then 0 makes a cycle This parameter is the number of cycles that needs to be executed When set to 0 the program will loop indefinitely remain repetitive counter Set the number of total cycles les...

Page 136: ...Running 124 2 Click the Servo ON button 3 Click the Forward button or the Reverse button The motor executes the program operation 4 After the program execution is complete click the Stop button ...

Page 137: ...described as follows Torque amplitude Tm The amplitude of the sine wave under torque planning Torque offset To The offset of the sine wave under torque planning Sinusoidal frequency F The inverse of the sine wave period under torque planning Velocity limit during torque control mode The maximum speed that the motor can reach in torque control mode 2 Click the Servo Enable button The motor runs as ...

Page 138: ...n Alternative direction Position PosUnit Ta Tw V P1 ΔP ΔP Time Constant direction Alternative direction V 1 In the trial operation window select Point to point position mode After setting the variables click Set below The variables are described as follows P2P remain repetitive counter Set the number of cycles less the number of executed cycles P2P position mode There are two options ...

Page 139: ...e current program is repeatedly executed P2P target speed V Set the speed at which the motor runs to the target position P2P acceleration time Ta The time required for the motor to accelerate to the point to point running speed or decelerate to 0 P2P wait time Tw The time to wait before starting program execution and between each cycle Relative target position P Effective when the Relative mode is...

Page 140: ...ic Position Mode csp Homing Position Mode hm Velocity Mode Control Block Diagram Profile Velocity Mode pv Cyclic Velocity Mode csv Torque Mode Control Block Diagram Profile Torque Mode tq Cyclic Torque Mode cst The main graphic symbols used in this section are as follows Position Offset value PosUnit 0x60B0 Icon Description CiA402 standard monitoring variables Including variable name unit servo in...

Page 141: ...Velocity offset VelUnit 0x60B1 Torque offset 0x60B2 0x20D4 Switch 0x2123 Switch Position offset PosUnit 0x60B0 Targer positon PosUnit 0x607A 0x2074 Smooth 0x2075 Lowpass filter Frequency 0x212A 0x21B8 Bandwidth 0x212B 0x21B9 Depth 0x2104 0x2105 0x21BA 0x21BB 0x21BE 0x21BC 0x21BD 0x21BF 1st 2nd 3rd 4th 0x2106 Switch 1st 2nd 0x2160 0x2163 0x2161 0x2164 Propotional gain Integration time 0x21C8 0x21C9...

Page 142: ...ain Integration time 0x2070 Cutoff frequency 0x2081 0x2082 0x6080 0x2071 Cutoff frequency Velocity actual value VelUnit 0x606C Velocity feedback value pu Velocity demand value pu 0x606B Speed control output pu 0x21CA 0x21CB Stiffness gain 0x216B 0x2170 Regulator adaptive control Change high threshold value 0x2171 Velocity reference value pu Torque offset 0x60B2 0x20D4 Switch 0x2123 Switch 0x21C6 0...

Page 143: ...nd 3rd 4th 0x2072 Cutoff frequency 0x6073 Max motor current Current demand value pu Current feedback value pu Torque demand value pu 0x6074 Velocity actual value VelUnit 0x606C 0x2123 Switch DC link circuit voltage mV 0x6079 Torque actual value 0x6077 0x21C4 0x21C5 0x21C3 5th Encoder single turn value EncInc Encoder multi turn value Rev Position actual value PosUnit 0x6064 Torque reference value p...

Page 144: ...by setting the stiffness level of the system or respectively setting the stiffness gains of the position loop and velocity loop Adaptive gains switching According to a preset switching strategy switching between different gains is to achieve the purpose of obtaining better response characteristics under different system operating conditions Third gain switching In addition to the usual gain switch...

Page 145: ... parameters of the servo drive In adjusting the servo parameters the waveform of each target signal can be monitored through the data tracing function to confirm whether the adjustment operation takes effect as expected The practical significance and correlation of each monitoring variable are specified in Chapter 6 Operation control block diagram The debugging software s data tracing function is ...

Page 146: ...s maximum It can reduce the impact in the event of mechanical interference or collision If the torque is set lower than the value required for operation overshoot or vibration can occur Relevant parameters are as follows Index Name Unit Setting range Default value effective Period 0x2100 Positive Direction Torque Limit Value 0 10000 3000 Immediately Y 0x2101 Negative Direction Torque Limit Value 0...

Page 147: ...cted the setting of the parameter Current Loop Proportional Gain 0x2169 and the parameter Current Loop Integration Time Constant 0x216A are invalid Only the parameter Current Control Gain Auto Setting Factor 0x21E4 is effective When Manual Setting is selected the parameter Current Loop Proportional Gain 0x2169 and the parameter Current Loop Integration Time Constant 0x216A become effective Current...

Page 148: ... Gain Auto Setting Factor can be reduced but the system response will also be slowed down accordingly Manual setting 1 Set Byte0 of the parameter Current Loop Control Setting 0x21E3 to 0x01 Manual setting mode restart the servo drive to make the parameter changes take effect 2 Use the data tracing function of the debugging software to trace the response of the system and then adjust relevant param...

Page 149: ...n Motor operating range is small less than 1 revolution The motor s allowable running speed is relatively small lower than 100rpm Accurate identification results cannot be obtained in the following cases Motor acceleration torque is too small The system s inertia moment changes greatly during the identification process The dynamic friction of the system is high The mechanical stiffness of the syst...

Page 150: ...meters How to use 7 4 3 During system parameter identification the motor will reciprocate Ensure that there are no persons or other unrelated devices in the movable range of the mechanical moving parts and that reliable emergency shutdown measures are in place The procedures of system parameter identification are shown below 1 Connect the servo drive to the system under test configure the correct ...

Page 151: ...on It needs to be set in line with the running speed to obtain a larger acceleration torque thereby improving the identification accuracy But too high acceleration will cause mechanical oscillation or motor overload Running speed Used to specify the speed at which the motor continues to run stably during the identification It needs to be set in line with Acceleration time to obtain a larger accele...

Page 152: ...meters are marked in green After confirming that the working environment is safe and correct click Enable below 6 After enabling click Trial run During the trial operation the motor will run one cycle back and forth Observe whether the motor runs as intended ...

Page 153: ...e identification function will be performed automatically After the progress bar reaches 100 the identification process ends 9 After the identification is completed the identification results are presented in the following figure and after confirming that they are correct you can click Save Identification Results below to write the identification results to the corresponding servo parameters 10 Th...

Page 154: ...abled Byte2 and Byte3 are reserved Real time identification can be inaccurate in the following situations The load inertia ratio is more than 10 Motor speed is constantly lower than 1 of the rated speed Acceleration and deceleration are lower than the minimum identified acceleration the speed changes by rated speed within 1s The mechanical rigidity is very low The drive mechanism has nonlinear cha...

Page 155: ...lly adjusts the relevant parameters of the position loop velocity loop and current loop In the manual stiffness mode users can adjust parameters such as position loop stiffness gain velocity loop stiffness gain velocity loop integration time constant and torque command lowpass filter cutoff frequency respectively to complete the adjustment of system response characteristics Associated parameters 7...

Page 156: ...ent and conduct a soft reset to make the parameters effective 2 Some adjustment variables are divided into two parameters such as stiffness level settings and stiffness level settings 2 position loop stiffness gain 1 and position loop stiffness gain 2 When the gain adaptive control function is enabled the two sets of parameters will switch to each other according to the preset conditions to adapt ...

Page 157: ...g parts and that reliable emergency shutdown measures are in place To ensure the effect of system adjustment it is recommended to use the system parameter identification function to obtain the accurate load rotation inertia ratio Automatic stiffness mode 1 Input the accurate Inertia Ratio Setting 0x20C0 or use the system parameter identification function to obtain the accurate load inertia ratio 2...

Page 158: ...e constant the stronger the integration and the better the response to the velocity commands However a small set value can cause mechanical vibration and noise Increasing the velocity loop integration time can reduce the overshoot of response but a too high value might slow down the system response Increasing the torque command lowpass filter cutoff frequency can improve system response while decr...

Page 159: ... Regulator Basic Control Setting 0x00000000 0x00000003 0x00000001 Restart Y 0x20C0 Inertia Ratio Setting 0 5000 100 Restart Y 0x2160 Position Loop Proportional Gain1 0 001 0 3000000 1000 Immediately Y 0x2163 Position Loop Proportional Gain2 0 001 0 3000000 1000 Immediately Y 0x2161 Positioin Loop Integration Time Constant 1 μs 125 1000000 1000000 Immediately Y 0x2164 Positioin Loop Integration Tim...

Page 160: ...ontrol only takes effect when the servo is OFF Major steps for using basic mode gain adjustment are as follows 1 Input the accurate Inertia Ratio Setting 0x20C0 or use the system parameter identification function to obtain the accurate load inertia ratio 2 Set Byte0 of the parameter Regulator Basic Control Setting 0x21C6 to 0x00 to set the regulator to basic mode and restart the servo drive so tha...

Page 161: ...requency 2 Increase the Velocity Loop Proportional Gain 3 Decrease the velocity loop integration time constant 4 Increase Position Loop Proportional Gain To slow down system response to prevent vibration and overshoot 1 Decrease the Position Loop Proportional Gain 2 Increase the velocity loop integration time constant 3 Decrease the Velocity Loop Proportional Gain 4 Decrease the torque command low...

Page 162: ...wn can be increased To improve the following of commands the gain during servo actions can be increased The switching mode of the adaptive gain switching function is shown in the figure below When the adaptive control function is disabled the system always uses the first set of gains When the adaptive control function is enabled the system switches between the first and second sets of gains accord...

Page 163: ...ontrol switching for enabling disabling adaptive position loop gain control Byte1 adaptive velocity loop control switching for enabling disabling adaptive velocity loop gain control Byte2 adaptive position loop switching variable for selecting the variable corresponding to the position loop switching condition Byte3 adaptive velocity loop switching variable for selecting the variable corresponding...

Page 164: ...ting the parameter Regulator Adaptive Control Setting 0x216B select whether to enable the adaptive position loop gain control and the adaptive velocity loop gain control respectively and set the switching variables of the position loop and the velocity loop respectively The switching variable of the velocity loop can be different from that of the position loop or it can follow the adaptive positio...

Page 165: ...position loop regulator switching confirmation time and the position loop regulator adaptive switching transition time are only used for switching when the variable is in positioning completion state The former is used to specify the time between the completion of the switching condition and the start of the gain switching while the latter to specify the time between the start of the gain switchin...

Page 166: ...ve Time ms 0 1000 0 Restart Y 0x20D8 Gain 3rd Scale Factor 50 1000 100 Immediately Y The Gain 3rd Effective Time specifies the duration after gain 3 takes effect When the value is set to 0 gain 3 is invalid The Gain 3rd Scale Factor specifies the multiplier of gain 3 compared to gain 1 i e gain 3 gain 1 the multiplier 100 The gain 3rd switching only affects the position loop s proportional gain an...

Page 167: ... the theoretical velocity value is no longer 0 it will be immediately switched to gain 1 as shown in the figure below Gain 1st theoretical velocity value Actual gain Gain 3rd Gain 3rd Effective Time theoretical velocity value is 0 4 When gain 3rd is effective if the condition for adaptive gain switching is met the adaptive gain switching will be carried out ...

Page 168: ... the velocity control system Velocity feedforward 7 9 2 The parameters for setting the velocity feedforward function are as follows Index Name Unit Setting range Default value effective Period 0x2162 Velocity Feedforward Gain 0 001 0 10000 1000 Immediately Y 0x2073 Velocity Feedforward Lowpass Filter Cutoff Frequency Hz 0 1000 1000 Immediately N How to use 1 Set the Velocity Feedforward Lowpass Fi...

Page 169: ... mode and velocity control mode 2 When the acceleration feedforward gain is set to 0 acceleration feedforward control is invalid 3 When the acceleration feedforward lowpass filter cutoff frequency is set to 0 low pass filtering is disabled How to use 1 By increasing the acceleration feedforward gain the position error during acceleration and deceleration can be reduced but it cannot be completely ...

Page 170: ...city feedforward acceleration feedforward velocity feedforward Position demand Before correcting After correcting Acceleration Feedforward Correction Threshold Acceleration Feedforward Correction Threshold The parameters for setting the acceleration feedforward exception correction function are as follows Index Name Unit Setting range Default value effective Period 0x20D5 Acceleration feedforward ...

Page 171: ...aused by delay in position response and interference between the device and moving parts The parameters for setting the no position deviation control function are as follows Index Name Unit Setting range Default value effective Period 0x21DE Zero Position Deviation Control Gain 0 001 0 10000 0 Immediately Y 1 The no position deviation control function only works in the position control mode 2 For ...

Page 172: ...mmand lowpass filter Available in position control and velocity control 2 Velocity feedback lowpass filter Available in position control and velocity control 3 Velocity feedforward lowpass filter Available in position control 4 Torque command lowpass filter Available in position control velocity control and torque control but invalid in the automatic stiffness mode 5 Position command lowpass filte...

Page 173: ...g and selecting the type of each low pass filter and each Byte is defined as follows Byte0 type of velocity feedback Lowpass filter 0x00 lowpass filter is not used 0x01 first order lowpass filter 0x02 second order lowpass filter Byte1 type of position command Lowpass filter 0x00 lowpass filter is not used 0x01 first order lowpass filter 0x02 second order lowpass filter Byte2 type of torque command...

Page 174: ...Lowpass Filter Cutoff Frequency or Position Command Smooth Setting to 0 if you want to disable the corresponding filter 3 Set the cutoff frequency to a relatively high value observe the actual response and then gradually reduce the cutoff frequency to enhance the filtering effect In general reducing the cutoff frequency can suppress the system vibration and high frequency noise but this will also ...

Page 175: ... suppression is mainly used to eliminate the shaking of the whole or the end of the device during positioning Typical amplitude frequency characteristics of a notch filter are shown in the figure below The operating characteristics of the filter can be changed by adjusting the parameters center frequency bandwidth and depth The center frequency is the frequency point with the strongest attenuation...

Page 176: ...rque Command Notch Filter 2 Center Frequency Hz 50 4000 200 Immediately Y 0x2126 Torque Command Notch Filter 2 Bandwidth Hz 1 2000 10 Immediately Y 0x2127 Torque Command Notch Filter 3 Depth dB 60 0 60 Immediately Y 0x2128 Torque Command Notch Filter 3 Center Frequency Hz 50 4000 300 Immediately Y 0x2129 Torque Command Notch Filter 3 Bandwidth Hz 1 2000 10 Immediately Y 0x21C0 Torque Command Notch...

Page 177: ...r Bandwidth Frequency 2 0 1Hz 1 1500 10 Immediately Y 0x2105 Positioning Vibration Suppressor Depth 2 dB 60 0 60 Immediately Y 0x21BA Positioning Vibration Suppressor Frequency 3 0 1Hz 5 3000 50 Immediately Y 0x21BB Positioning Vibration Suppressor Bandwidth Frequency 3 0 1Hz 1 1500 10 Immediately Y 0x21BE Positioning Vibration Suppressor Depth 3 dB 60 0 60 Immediately Y 0x21BC Positioning Vibrati...

Page 178: ...quency point to be suppressed as the center frequency of the notch filter 3 Adjust the bandwidth of the notch filter by taking into consideration the frequency spectrum of the mechanical vibration or the vibration suppression effect 4 Gradually increase the depth of the notch filter and observe the vibration suppression effect 1 The set value of the bandwidth of the notch filter shall be less than...

Page 179: ... damping filter function 3 The Model type Damping Filter Gain cannot be increased infinitely After the adjustment it is required that the position loop stiffness gain 1 actual value it can be found in the monitoring variables of the debugging software shall be greater than the Model type Damping Filter Gain which in turn shall be greater than the Model type Damping Filter Anti Resonance Frequency ...

Page 180: ...ompensate the torque generated by the equipment s own gravity at the motor shaft end so as to prevent the mechanical equipment from falling down at the instant the servo is enabled The position disturbance compensation function is used to compensate the output torque at the instant of start so as to reduce the position error during the start process The load disturbance compensation function is us...

Page 181: ... the slope of the change defined by the Friction Torque Viscosity Coefficient Value The unit is one thousandth of the rated torque per rated speed How to use 1 Set relevant parameters of friction compensation The Static Friction Torque Compensation Value and the Friction Torque Viscosity Coefficient Value can be obtained through the system parameter identification function or can be set manually T...

Page 182: ...pensation When it is set to 0x00 compensation is disabled when set to 0x01 manual static balance torque compensation is enabled when set to 0x02 automatic static balance torque compensation is enabled 2 When manual static balance torque compensation is selected the user shall set the appropriate manual static balance torque compensation value 0x20DA before the servo is ON according to the actual w...

Page 183: ... and the duration exceeds the set value of the Static Position Disturbance Compensation Confirmation Time the position disturbance compensation takes effect 3 The following performance of position response can be improved by increasing the Static Position Disturbance Compensation Gain and the duration after the position disturbance compensation takes effect can be changed by adjusting the Static P...

Page 184: ...ce Torque Compensation Lowpass Filter Cutoff Frequency to small values gradually increase them during the adjustment and observe the effect of external interference suppression 3 If motor vibration or abnormal noise occurs during the adjustment reduce the Disturbance Torque Compensation Gain or the regulator gain When using this function set the accurate load inertia ratio Otherwise the system can...

Page 185: ...he following of multi axis arc planning trajectory is enhanced Infinite position mode Used in scenarios where the device is required to run continuously in a single direction to ensure that the device can continue to run normally when its stroke exceeds the target position value limit or the motor encoder multi turn value limit Field weakening control mode Used to increase the upper limit of motor...

Page 186: ...n are as follows Index Name Unit Setting range Default value effective Period 0x608F 01 Position Encoder Resolution Encoder Increments EncInc 1 4294967295 131072 Read only Y 0x608F 02 Position Encoder Resolution Motor Revolutions Rev 1 4294967295 1 Read only Y 0x6091 01 Gear Ratio Motor Shaft Revolutions Rev 1 4294967295 1 Restart Y 0x6091 02 Gear Ratio Driving Shaft Revolutions Rev 1 4294967295 1...

Page 187: ... Motor Shaft Revolutions 0x6091 01 Driving Shaft Revolutions 0x6091 02 Feed Displacement 0x6092 01 Driving Shaft Revolutions 0x6092 02 Electronic gear ratio setting mode 2 Setting mode 2 Directly use the Position Factor Numerator 0x6093 01 and the Position Factor Denominator 0x6093 02 to set the electronic gear ratio The electronic gear ratio is calculated by the following formula 𝐸𝑙𝑒𝑐𝑡𝑟𝑜𝑛𝑖𝑐 𝐺𝑒𝑎𝑟 ...

Page 188: ...rns 2 Number of revolutions of the motor corresponding to 3 turns of the lead screw 3 20 1 60 revolutions 3 Encoder increments corresponding to 60 revolutions of the motor 60 2 17 7864320 EncInc Users need to issue position command increments of 7864320 Inc In addition if the command changes the above calculations need to repeated which is complicated When electronic gear ratio is used The calcula...

Page 189: ...projection point x directions path planning CoolDrive Smart7 boasts the Quadrant projection suppression function which can effectively suppress quadrant glitch thus enhancing the following of multi axis arc planning trajectory Associated parameters 8 3 2 The parameters for setting the Quadrant projection compensation function are as follows Index Name Unit Setting range Default value effective Per...

Page 190: ...for the compensation torque to take effect and the unit is a thousandth of the revolution How to use 8 3 3 1 Tick the Byte1 Bit8 of the Application Switch 0x2123 to enable quadrant projection suppression 2 Set the Quadrant Projection Compensation Effective Time to 5 and the Quadrant Projection Compensation Delay Distance Delay Distance to 0 3 Adjust the Quadrant Projection Positive Compensation Va...

Page 191: ...e for scenarios where the device only needs to run continuously in a single direction and the operating positions in a single cycle do not need to be known When using this method the set value of the Encoder Multi Turn Upper Limit Value must be 0 The target position value limit given by the upper computer is limited by the data length of the object 0x607A Target Position i e 2 31 2 31 1 Inc When t...

Page 192: ...n by the upper computer is limited by the Encoder Multi Turn Upper Limit Value When the target position value increases progressively and exceeds the encoder resolution the set value of Encoder Multi Turn Upper Limit Value 1 it is automatically reset to 0 and the increments are counted again Or when the target position value decreases progressively and is less than 0 it is automatically reset to t...

Page 193: ...n control switch to 0x01 to enable the normal infinite position control mode 2 Set the Encoder Multi Turn Upper Limit Value to 0 3 Restart the servo drive to make the parameter changes take effect 4 When the target position value issued by the upper computer increases progressively to the upper limit it shall be switched to the lower limit value and then increased progressively and the actual valu...

Page 194: ...r limit 2 31 1 Inc Position demand lower limit 2 31 Inc Actual operating position of the device Target position value of upper computer Actual position value of the driver Position demand upper limit 2 31 1 Inc Position demand lower limit 2 31 Inc ...

Page 195: ...rs that is 3 10 when setting the encoder multi turn upper limit value In this case the encoder multi turn upper limit value can be set to 9 3 Restart the servo drive to make the parameter changes take effect 4 When the target position value issued by the upper computer increases progressively to the upper limit it shall be switched to the lower limit value and then increased progressively and the ...

Page 196: ...r limit 2 31 1 Inc Position demand lower limit 2 31 Inc Actual operating position of the device Target position value of upper computer Actual position value of the driver Position demand upper limit 2 31 1 Inc Position demand lower limit 2 31 Inc ...

Page 197: ...ator and denominator of the reduction ratio shall be converted into integers that is 3 10 when setting the encoder multi turn upper limit value In this case the encoder multi turn upper limit value can be set to 9 3 Restart the servo drive to make the parameter changes take effect 4 When the target position value issued by the upper computer increases progressively to 2 17 25 1 it shall be switche...

Page 198: ...pplication functions 186 0 0 2 17 x 25 1 2 17 x 25 1 Actual operating position of the device Target position value of upper computer Actual position value of the driver Corresponding position for 2 turns ...

Page 199: ...s for setting the field weakening control function are as follows Index Name Unit Setting range Default value effective Period 0x20DB Flux Weaking Compensation Threshold Velocity 1000 3000 2000 Restart Y 0x20DC Flux Weaking Compensation Ratio 0 001 0 1000 0 Restart Y 0x20DD Max Flux Weaking Current 0 1000 500 Restart Y 1 When the motor speed is greater than the specified value of the parameter Flu...

Page 200: ...s provided by the motor manufacturer and keeping a certain safety margin 3 Set the Flux Weaking Compensation Threshold Velocity according to the actual requirements When the motor speed is greater than the set value field weakening control is enabled 4 Gradually increase the Flux Weaking Compensation Ratio according to the actual field weakening effect 5 When the above parameters change restart th...

Page 201: ...alue 4 PosUnit 2147483648 2147483647 0 Immediately Y 0x2084 Position Comparison Output Mode 0 0x03030303 0 Restart N 1 Byte0 Byte1 Byte2 and Byte3 of the Position Compare Output Assign Setting correspond to the output terminal distribution settings of position comparison values 1 4 respectively The setting options of each byte are as follows 0x00 invalid output 0x01 DO1 0x02 DO2 0x03 DO3 Note that...

Page 202: ...the position comparison value is reached 3 Set the parameters Position Compare Output Pulse Width and Position Compare Output Value whose actual functions are shown in the figure below Position compare output value Position compare output pulse Actual position Pulse width Pulse width Time 4 In case the second pulse output is triggered before the previous pulse output ends the second pulse will las...

Page 203: ...me Due to the delay in the system there may be a deviation between the pulse output time and the actual reaching time In such cases the pulse output time can be adjusted by setting the parameter Position Compare Output Compensation Time to make the two become consistent as shown in the figure below Original Position compare output pulse Adjusting position compare output pulse Position Compare Outp...

Page 204: ...h probe 1 Captured rising edge position value INT32 ro TxPDO inc 0x60BB VAR Touch probe pos 1 neg value Touch probe 1 Captured falling edge position value INT32 ro TxPDO inc 0x60BC VAR Touch probe pos 2 pos value Touch probe 2 Captured rising edge position value INT32 ro TxPDO inc 0x60BD VAR Touch probe pos 2 neg value Touch probe 2 Captured falling edge position value INT32 ro TxPDO inc The Touch...

Page 205: ...on trigger 11 Reserved 0 12 Touch probe 2 rising edge trigger enabling switch 0 Disable Touch probe 2 to enter the captured signal rising edge position value 1 Enable Touch probe 2 to enter the captured signal rising edge position value and save the value 0x60BC 13 Touch probe 2 falling edge trigger enabling switch 0 Disable Touch probe 2 to enter the captured signal falling edge position value 1 ...

Page 206: ...s Selection 1 0 0x8F8F8F8F 0 Restart Y Byte0 and Byte1 of the parameter DI Functions Selection 1 are used to set the digital input signals DI1 and DI2 respectively and the relevant setting options for each byte are as follows 0x00 disabled 0x04 TouchProbe 1 switch off is active 0x05 TouchProbe2 switch off is active 0x84 TouchProbe 1 switch on is active 0x85 TouchProbe2 switch on is active How to u...

Page 207: ...Position actual value Captured rising edge position value Captured falling edge position value Touch probe input signal Touch probe enters the captured signal rising edge position value which is triggered continuously Position actual value Captured rising edge position value Captured falling edge position value Touch probe input signal ...

Page 208: ...Position actual value Captured falling edge position value Captured rising edge position value Touch probe input signal Touch probe enters the captured signal falling edge position value which is triggered continuously Position actual value Captured falling edge position value Captured rising edge position value Touch probe input signal ...

Page 209: ...nly Position actual value Captured falling edge position value Captured rising edge position value Touch probe input signal Touch probe enters the captured signal rising edge falling edge position value which is triggered continuously Position actual value Captured rising edge position value Captured falling edge position value Touch probe input signal ...

Page 210: ...192 The functions of each control bit are as described in the following table Tick a control bit and the corresponding function can be enabled To protect the motor the minimum time interval between two dynamic braking operations shall be over 360 s If the interval between two dynamic braking operations is shorter than this period Dynamic brake overload fault will be reported The functions of each ...

Page 211: ...07 0x00000501 Restart Y 0x219B Fault Reaction Stop Option6 0 0x00070007 0x00000603 Restart Y 0x219C Fault Reaction Stop Option7 0 0x00070007 0x00000701 Restart Y 0x219E Hardware Limit Switch Stop Option Code 0 0x000000FF 0 Immediately Y 0x605A Quick stop option code 0 0x00FF 0x0002 Immediately Y 0x605B Shutdown option code 0 0x00FF 0x0001 Immediately Y 0x605C Disable operation option code 0 0x00FF...

Page 212: ... make the parameter changes take effect The dynamic braking function is the function of a servo drive to implement an emergency stop If starts and stops are performed by switching on off the power supply or switching on the servo when there is command input the dynamic braking circuit will operate frequently which will lead to aging of the internal components of the servo unit Therefore it is reco...

Page 213: ...ions Selection 2 is used to set the signal distribution of digital inputs DI5 and DI6 The set values and corresponding functions of each byte are shown below Set value Signal function 0x00 Disabled 0x01 Positive limit switch switch off is active 0x02 Negative limit switch switch off is active 0x03 Home switch switch off is active 0x04 TouchProbe 1 switch off is active DI1 DI2 Reserved DI3 DI6 0x05...

Page 214: ...Test output 0x0E Synchronous data trace output 1 The signal distribution bytes of DI1 and DI2 can be set to 0x04 0x05 0x84 and 0x85 for access to touch probe signals DI3 DI6 do not have this function 2 The signal distribution byte of DO3 can be set to 0x0C for motor brake control DO1 and DO2 do not have this function The Remote DO Default Setting is used to set the state of digital outputs DO1 DO3...

Page 215: ...luence on the control and only reflects the input state in 0x3006 2 When a port is set for fault reset the clearing action will be performed when the switch changes from the invalid to the valid edge 3 0x60B8 determines the actual valid state when a probe is used for the Touch probe function For digital output port 1 When a port is set for remote output it can be used as a remote DO See the object...

Page 216: ...f the button can be used to visually show the current state of the system The indicator light integrated with the button has three colors blue red and purple as well as three display states constantly on fast blinking and slow blinking The specific correspondence relations are as follows Color Display state System state Blue Constantly on System is normal and servo is not enabled Fast blinking Sys...

Page 217: ...0x00 Constantly on 0x01 Going off after 1 minute 0x02 Going off after 5 minutes 0x03 Going off after 10 minutes 0x04 Going off after 20 minutes 0x05 Going off after 30 minutes Byte 3 Cyclic display settings 0x00 No cyclic display 0x01 Cyclic display at an interval of 3 s 0x02 Cyclic display at an interval of 5 s 0x03 Cyclic display at an interval of 10 s 0x04 Cyclic display at an interval of 15 s ...

Page 218: ...11 Encoder 1 single turn value 0x07 Radiator temperature 0x12 Encoder 1 multi turn value 0x08 Internal temperature of drive 0x13 Encoder 2 single turn value 0x08 Cumulative operating time 0x14 Encoder 2 multi turn value 0x0A Current operating time 0x15 Motor temperature Relevant parameters of button Relevent parameters of button are as follows Index Name Unit Setting range Default value Effective ...

Page 219: ...mmunication state device information and historical alarm which can be selected through the display selection menu Their correlations are shown in the figure below S1 C In NM Operating data Communication status Device information History fault ECAT commu status Commu cycle μs Communication status S1 C In NM 3000 Velocity actual value Rpm Operating data Device information Product model CDS7 Device ...

Page 220: ...istory fault ECAT commu status Commu cycle μs Panel monitoring operating data 9 1 5 The operating data is used to show the state information and operating data of the device during operation S1 C In NM 3000 Velocity Actual Value Rpm The sections in the figure above are defined in detail as follows Number Display information type Display code Code meaning 1 Servo drive state machine S0 X0 Not ready...

Page 221: ...it is the actual motor operating mode when the first letter is X it is the virtual motor operating mode Operating data monitoring operation methods 1 Select the operating data to be displayed by setting the control bytes of the OLED display content settings 0x2089 0x208A 0x208B and 0x208C 2 The operating data selected can be displayed cyclically by setting Byte3 of the OLED display settings 0x2088...

Page 222: ...ion state display interface it is possible to switch among different communication information by pressing the button 1 The communication state does not support cyclic display 2 When the system is working without fault if the button is not operated for over 30 s in the communication state display interface the operating data display interface will then be shown automatically Panel monitoring devic...

Page 223: ...ame as the CPU1 version in the version QR code and used for direct viewing CPU2 version Same as the CPU2 version in the version QR code and used for direct viewing FPGA version Only displayed when there is an FPGA chip Servo parameters version Version of servo parameters Device information monitoring operation methods In the device information display interface you can switch among different devic...

Page 224: ...rt cyclic display 2 When the system is working without alarm if the button is not operated for over 30 s in the historical alarm interface the operating data interface will then be shown automatically Panel monitoring current alarm or warning 9 1 9 When a alarm or warning occurs the OLED screen will show the alarm or warning information with the indicator light blinking as shown in the figure belo...

Page 225: ...tton used to enable data tracing Monitoring data including operating data monitoring alarm and warning monitoring IO state monitoring etc Status information including device operating state servo drive state machine EtherCAT communication state etc View and Monitor menu Data trace Monitor data Status information Debugging software monitoring device information 9 2 2 Go to the View menu and click P...

Page 226: ...f the debugging software Device operating state monitoring The operation status of the equipment can display the current control mode of the equipment the selection of the controller the actual running current value and the motor speed value Servo state machine Servo state machine shows the servo state of servo drive and the switching relationship among different states The current servo state is ...

Page 227: ...CAT communication state is marked with a highlighted color block Debugging software monitoring operating data 9 2 4 Operating data includes operating parameters intermediate variables feedback variables etc which can be viewed in the middle of the main interface of the debugging software as shown in the figure below Monitoring item selection Monitoring area Variable groups ...

Page 228: ...rder of serial number by default Configure variables to data tracing Monitoring variables in the display area can be directly configured as the variables in the data tracing function As shown in the figure below right click the corresponding variable in the display area select Send to Trace tracking in the pop up dialog box and channels of data trace will be displayed in the sub menu where Configu...

Page 229: ... on the target unit and the setting will be completed This operation also affects the unit of the corresponding variable in the data trace function User defined grouping Monitoring variables can be added to user defined group to facilitate users to monitor variables according to the actual needs Right click the corresponding variable select Move to Croup to Custom 1 in the pop up dialog box then c...

Page 230: ...Monitoring 218 ...

Page 231: ... according to the sequence of alarms and the latest alarms are located at the top The Current history warning is used to show the historical warnings of the servo drive Double click the group name and the detailed warning records will be displayed The records are sorted according to the sequence of warnings and the latest warnings are located at the top In Detailed History alarm record double clic...

Page 232: ...f the warning Alarm monitoring interface the Clear historical warning records Clear detailed historical alarm records and Clear alarm counts can be selected in the pop up dialog box This function is only used to clear the historical alarm warning records not the current alarm warning of the servo drive ...

Page 233: ... various types of IO status The Standard digital input and Standard digital output correspond to the object dictionaries 0x60FD Digital Inputs and 0x60FE Digital Outputs and the General digital input and General digital output correspond to the digital input output channels of the servo drive ...

Page 234: ...er sampling points and sampling cycle Variable tracing settings used to set the traced variables corresponding to each channel Trigger settings used to set such trigger conditions as trigger source trigger mode and trigger level Sampling and saving used to configure sampling options starting sampling and saving waveform files Data trace display interface used to show data waveforms collected by ea...

Page 235: ...ta Alternatively traced variables can be configured in the data monitoring interface In addition units of traced variables can also be modified in the monitoring interface Refer to Debugging software monitoring operating data Trigger settings Trigger settings specify the starting conditions for tracing data Trigger channel is used to select a channel as the trigger source which shall be selected f...

Page 236: ...ds CONFIG is used to make the trace configurations mentioned above take effect START is used to start data tracing READ is used to read data files SAVE is used to store collected waveforms as data files After each modification of trace configuration click CONFIG to make the modification take effect and then click on START to start tracing Trace configuration saving The trace settings that need to ...

Page 237: ...ast blinking in red indicates a non resettable alarm slow blinking in red indicates a resettable alarm blinking red and blue alternately indicates an warning See the section Panel monitoring in the chapter Monitoring for details Settings of relevant parameters 10 1 2 The parameters related to alarms and warnings can be divided into two categories detection switch parameters and configuration param...

Page 238: ... state code mapping to 0x603F Bit17 Also reset encoder alarms when resetting drive alarms Bit18 Enable Dynamic braking overload alarm reset delay Byte3 Bit24 Enable Hiperface encoder Satus detection 1 When the emergency stop input switch trigger alarm detection is enabled the motor will stop in fault reaction stop according to the configuration of 0x2196 in the case of a fault otherwise the motor ...

Page 239: ...ts 0x603F and 0x3004 respectively The configuration parameters of alarms and warnings are as follows Index Name Unit Setting range Default value Effective Period 0x2037 First Encoder Max Acceleration Rev s 2 0 4294967295 0 Restart Y 0x2038 Second Encoder Max Acceleration Rev s 2 0 4294967295 0 Restart Y Description The two parameters are used to set the maximum allowed accelerations of the first e...

Page 240: ...value Effective Period 0x20A7 Torque Saturation Monitor Threshold 0 10000 0 Immediately Y 0x20A8 Torque Saturation Monitor Time ms 1 5000 1 Immediately Y Description The unit of torque saturation monitoring threshold is a thousandth of the rated torque of motor When the value is set to 0 torque saturation monitoring is disabled The controller can adjust the set value of this parameter in real time...

Page 241: ...ncoder resolution As long as the position error exceeds the set value of this parameter second excessive position following error will be immediately reported In general set the value of this parameter to be greater than the position following error threshold Index Name Unit Setting range Default value Effective Period 0x20AA Motor Instantaneous Overload Threshold 100 500 200 Immediately Y 0x20AB ...

Page 242: ...iption This parameter is used to set the main power monitoring option code When the main power failure and motor stop option code is not 0 main power supply failure only stops the motor but will not report a fault The main power failure detection function is only applicable to AC main power supply input not DC main power supply input The main power abnormal detection is only applicable to three ph...

Page 243: ... switch Byte2 first encoder data overflow alarm latch switch Byte3 second encoder data overflow alarm latch switch Among them when Byte0 and Byte1 are set to 0x00 latches are disabled when they are set to 0x01 latches are enabled at power on when they are set to 0x02 latches are always enabled When Byte2 and Byte3 are set to 0x00 latches are disabled when they are set 0x01 latches are enabled Desc...

Page 244: ...ttained Byte3 Action selection after positon loop encoder battery under voltage 0x00 Do not report homing not attained 0x01 Report homing not attained on power up 0x02 Always report homing not attained Description Either the first encoder or the second encoder can be selected as the position loop encoder according to the parameter settings ...

Page 245: ...ring attribute Masking attribute Reset attribute Default group 1 Drive short circuit 0x2250 N N N 0 2 Continuous over current Phase U 0x2310 Y N N 1 3 Continuous over current Phase V 0x2311 Y N N 1 4 Continuous over current Phase W 0x2312 Y N N 1 5 Hardware over current 0x2320 Y N N 0 6 Drive output short circuit to ground 0x2330 N Y N 0 7 Main power input abnormal 0x3130 Y Y Y 3 8 DC bus over vol...

Page 246: ...unication abnormal 0xFF11 Y N N 0 32 Second encoder communication timeout 0xFF12 Y N N 0 33 Second encoder internal abnormal 1 0xFF13 N N N 0 34 Control encoder over speed 0xFF14 Y N N 0 35 Drive continuous overload 0xFF15 Y N N 1 36 Drive instantaneous overload 0xFF16 Y N N 0 37 Drive output lack phase 0xFF17 Y Y N 0 38 Motor stalling 0xFF18 Y N N 0 39 Co CPU communication abnormal 0xFF19 Y N N 0...

Page 247: ...AT communication period error 0xFF39 Y N Y 3 60 Profile position operation error 0xFF40 Y N Y 4 61 EtherCAT sync mode error 0xFF41 Y N Y 3 62 Target position value over range 0xFF42 Y N N 1 63 Rectifier overheating 0xFF43 Y N Y 2 64 Heatsink overheating 0xFF44 Y N Y 2 65 Motor instantaneous overload Phase U 0xFF45 Y N N 1 66 Motor instantaneous overload Phase V 0xFF46 Y N N 1 67 Motor instantaneou...

Page 248: ...rcuit abnormal 0xFF66 Y Y N 0 87 CPU overheating 0xFF67 Y N N 1 88 CPU1 overload 0xFF68 Y N N 1 89 CPU2 overload 0xFF69 Y N N 1 90 CPU1 shakehand failed 0xFF70 Y N N 1 91 DrivePro Communication timeout 0xFF71 Y N Y 3 92 ESC internal access error 0xFF76 Y N Y 3 93 Servo ON failed 0xFF77 Y Y Y 5 94 CPU2 shakehand failed 0xFF78 Y N N 0 95 CPU1 main task timeout 0xFF79 Y N Y 2 96 Main power off 0xFF80...

Page 249: ...Y Y N 0 110 Second excessive position following error 0xFF8E Y Y N 0 111 STO wiring abnormal 0xFF8F Y Y N 1 Alarm configuration 10 2 2 The alarm query interface can be visited through View Alarm warning Alarm code query in the menu bar of the debugging software as shown in the figure below Browsing of grouped alarms Alarms can be browsed in groups through the following options Click the correspond...

Page 250: ...ace as shown in the figure below the alarm entries whose default group values are shown in orange can be modified and those whose default group values are shown in gray cannot Modifiable Not modifiable By double clicking a modifiable alarm entry the following dialog box will pop up where the entry s reset attribute and grouping attribute can be modified After modification click Settings ...

Page 251: ...afety 2 Ensure standard wiring especially the ground wire 3 Adjust the parameters of the current loop 4 Use a multimeter to check the drive IGBT to determine if there if a short circuit 5 Replace the drive 2 Continuous over current Phase U 0x2310 1 There is a short circuit in the drive s U phase 2 The motor is overloaded 3 The motor insulation is poor 4 The drive is damaged 5 The parameters of the...

Page 252: ...nal current detection circuit is abnormal 7 The drive s braking circuit is damaged failing to provide 24V output 8 The motor brake is damaged 9 The motor load is too high or the set values of the motor acceleration and deceleration are too big or the set values of the acceleration and deceleration duration is too short 1 Check the transmission mode of the mechanical load to ensure that there is no...

Page 253: ...rmal 1 Adjust the power supply input of the drive to the allowed range 2 Reduce the motor s stop deceleration 3 Check the wiring of the regeneration braking resistor and make sure that it is correct 4 Reduce the resistance of the regeneration braking resistor properly the resistance value cannot be lower than the minimum allowed value and increase the power of the regeneration braking resistor 5 R...

Page 254: ...the motor such as extending the motor stop duration 14 Motor continuous overload 0x8311 1 The motor is overloaded 1 The actual mechanical load is too high 2 The mechanical load is stuck 3 The motor brake is not released 2 The motor acceleration duration and deceleration duration are set too short 3 The motor parameters and the parameters 0x2059 and 0x205A are set incorrectly 4 The drive braking ci...

Page 255: ...f the servo parameters 0x6065 and 0x6066 4 Optimize the parameters of the regulator to improve the position tracing performance 5 Replace the drive 16 Positive software position limited 0x8612 The actual position value is beyond the range of the servo parameter 0x607d 02 1 Increase the set value of the servo parameter 0x607d 02 properly 2 Make the motor operate within the range specified by the se...

Page 256: ... the drive 23 CPU2 memory abnormal 0xFF03 There is a problem inside the drive 1 Restart the drive 2 Replace the drive 24 CPU memory confliction 0xFF04 There is a problem inside the drive 1 Restart the drive 2 Replace the drive 25 Magnetic pole positioning failed 0xFF05 1 The parameters of the position loop velocity loop and current loop regulators are improperly set 2 The motor parameters are not ...

Page 257: ...lace the encoder 2 Check the wiring of the motor encoder and make sure that the wiring is standard and correct 3 Add magnetic rings to the cable of the encoder and the power cable of the motor 4 Connect the ground wire of the drive reliably 5 Remove the strong interference source around the drive or power on the drive separately from the strong interference source 6 Add an incoming line filter for...

Page 258: ...e around the drive or power on the drive separately from the strong interference source 6 Add an incoming line filter for the power supply input of the drive 32 Second encoder communication timeout 0xFF12 1 There is a fault in the encoder 2 The wiring of the motor encoder is abnormal such as broken line 1 Replace the encoder 2 Check the wiring of the motor encoder and make sure that the wiring is ...

Page 259: ...l 3 The temperature of the drive s operating environment is beyond the allowed range 4 The operation of the drive is interrupted e g out of sync 5 The set values of the motor acceleration and deceleration are too big and the duration of the acceleration and deceleration is too short 1 Reduce the actual mechanical load of the motor 2 Conduct standard peripheral wiring for the drive and enhance the ...

Page 260: ...the cable of the encoder for example by adding magnetic ring using shielded twisted pair conducting reliable grounding and so on 5 Replace the encoder 6 Replace the drive 39 Co CPU communication abnormal 0xFF19 1 The ground wire of the drive is not reliably connected 2 There is strong interference source around the drive 1 Add magnetic rings to the cable of the encoder and the power cable of the m...

Page 261: ...t too high 2 The maximum acceleration is set too low Plan the target position value and acceleration parameter reasonably 43 First encoder data overflow on power up 0xFF23 The actual value of the encoder multi turn changes beyond the allowed range at power on 1 Ensure that the difference between the actual value of the motor at power on and the position at the last power off does not exceed the al...

Page 262: ...wiring is poor 2 The STO circuit is abnormal 1 Check STO1 wiring and make sure that it is reliable 2 Verify that the STO1 circuit e g emergency stop switch is not triggered 3 Replace the drive 48 STO2 triggered alarm 0xFF28 1 The STO2 is triggered or the wiring is poor 2 The STO circuit is abnormal 1 Check the wiring of the STO2 and make sure that the wiring is reliable 2 Verify that the STO2 circ...

Page 263: ...tection function can be disabled via the parameter 0x20A1 Bit6 53 Torque saturation alarm 0xFF33 The actual torque current exceeds the alarm limit 1 Properly increase the set values of the parameters 0x20A7 and 0x20A8 2 If not needed this alarm can be ignored by setting 0x20A7 to 0 54 Excessive velocity following error 0xFF34 1 The mechanical load of the motor is stuck and thus the motor cannot mo...

Page 264: ...ize the parameters of the regulator to improve the position tracing performance 56 Homing failed 0xFF36 1 The homing parameters are set improperly 0x6098 0x6099 and 0x609A 2 The limit switch of the motor is triggered when homing starts 3 The system switches to a non HM mode while homing 4 The motor is operating when homing starts 5 The homing method is wrongly set 6 The homing distance is too long...

Page 265: ...nable smooth position command filtering 58 EtherCAT command illegal 0xFF38 The timing sequences of the EtherCAT communication state machine and the control word are wrongly matched Make the upper computer correctly process the timing sequences of the EtherCAT communication state machine and the control word 59 EtherCAT communication period error 0xFF39 1 The EtherCAT communication period is shorte...

Page 266: ...omputer are consistently set 2 If the synchronization mode is configured as the DC SYNC0 mode the DC clock must be enabled 3 Avoid setting the synchronization mode to any mode other than DC SYNC0 or Free Run 62 Target position value over range 0xFF42 The position command value is beyond the allowed setting range Avoid the position command value from going beyond the range of the parameter 0x607B 6...

Page 267: ...Check the drive mode of the mechanical load to ensure that there is no such phenomenon as getting stuck 4 Check the pole phase angle again 5 Check the wiring of the motor brake to ensure reliable connection 6 Check the motor parameters to ensure that they are set correctly e g rated current of the motor instantaneous overload protection threshold of the motor instantaneous overload protection dura...

Page 268: ...e motor 7 Replace the motor with a high power one 8 Replace the drive 9 Check the wiring of the motor s power line for reliable connection 67 Motor instantaneous overload Phase W 0xFF47 1 The motor is overloaded 1 The actual mechanical load is too high 2 The mechanical load is stuck or blocked 3 The motor brake is not released 2 The motor acceleration duration and deceleration duration are set too...

Page 269: ...mal 0xFF50 1 When the motor is running positive it is detected that the negative limit switch is triggered 2 When the motor is running in negative direction it is detected that the positive limit switch is triggered Check the wiring and parameter settings to ensure that the polarity definition and wiring of the limit switches are correct 71 EtherCAT communication abnormal 0xFF51 1 The EtherCAT com...

Page 270: ...ame as the resolution of the interface encoder saved at the last power off Restart the drive 73 First encoder overheating 0xFF53 1 The temperature sampling circuit inside the drive is abnormal 2 The temperature of the drive s operating environment is beyond the allowed range 1 Lower the ambient temperature for example by improving the cabinet s cooling conditions 2 Replace the drive 74 First encod...

Page 271: ...ode illegal 0xFF57 1 When the servo is enabled the set control mode of the controller is not supported by the drive 2 Infinite position control mode is enabled in the PP control mode 3 The control mode is wrongly switched 1 Before enabling the servo set the control mode of the controller correctly 2 Do not enable infinite position control in the PP control mode 3 Only switch among CPS CSV and CST ...

Page 272: ...ower cable of the motor 83 EEPROM data write failed 0xFF63 1 The internal circuit of the drive is abnormal 2 The drive is disturbed 1 Replace the drive 2 Restart the drive and enhance the drive s anti interference measures 84 EEPROM data read failed 0xFF64 1 The internal circuit of the drive is abnormal 2 The drive is disturbed 1 Replace the drive 2 Restart the drive and enhance the drive s anti i...

Page 273: ... circuit of the drive is abnormal 3 The debugging software s functions are over used 1 Conduct standard peripheral wiring for the drive and enhance the anti interference measures 2 Replace the drive 3 Disable some functions of the debugging software 90 CPU1 shakehand failed 0xFF70 There is a problem inside the drive Restart or replace the drive 91 DrivePro Communication timeout 0xFF71 1 The drive ...

Page 274: ...Restart or replace the drive 95 CPU1 main task timeout 0xFF79 There is a problem inside the drive Restart or replace the drive 96 Main power off 0xFF80 1 The main power is off when the servo is ON 2 The wiring of the main power is not reliable when the servo is ON Check the power supply state and wiring of the main power to ensure the stability of the main power supply when the servo is ON 97 DC b...

Page 275: ...4 Second encoder internal abnormal 3 0xFF88 The internal state of the encoder is abnormal 1 Reset the encoder 2 Restart the drive 105 Second encoder acceleration abnormal 0xFF89 The acceleration of the encoder is beyond the allowed range 1 Properly plan the acceleration 2 Set the servo parameter 0x2037 properly 106 STO1 circuit diagnosis abnormal 0xFF8A The STO circuit is abnormal Replace the driv...

Page 276: ...nreasonable settings of the parameters of the drive regulator 5 The internal circuit of the drive is abnormal 1 Check the transmission mode of the mechanical load to ensure that there is no such phenomenon as getting stuck 2 Reduce the planned acceleration of the target position value of the upper computer properly 3 Increase the set value of the servo parameter 0x21F7 properly 4 Optimize the para...

Page 277: ...abnormal 0xE012 14 ADC parameters invalid warning 0xE013 15 CoE communication parameter abnormal 0xE014 16 Servo parmaeters restored to default value 0xE015 17 Contrl mode not supported warning 0xE016 18 First encoder battery undervoltage warning 0xE017 19 Second encoder battery undervoltage warning 0xE018 20 Drive internal warning 0xE019 21 First encoder communication abnormal 0xE020 22 Second en...

Page 278: ... is a problem inside the drive Restart or replace the drive 6 CPU2 overload warning 0xE005 There is a problem inside the drive Restart or replace the drive 7 Reboot effective parameters changed warning 0xE006 The restart effective parameters have been changed Conduct soft reset or restart the drive 8 Emergency stop switch triggered warning 0xE007 The DI channel switch configured as emergency stop ...

Page 279: ... the target velocity value or planned velocity value 2 Replace the motor with one with the highest speed 3 Reset the parameter 0x607F maximum planned velocity according to the actual situation 12 DC bus undervoltage warning 0xE011 1 The voltage of the drive s power supply input is too low 2 The voltage sampling circuit inside the drive is abnormal 1 Adjust the power supply input of the drive to th...

Page 280: ...1C 19 Second encoder battery undervoltage warning 0xE018 1 The encoder is not externally connected to a battery or the battery wiring is poor 2 The encoder battery is under voltage 3 The positive and negative poles of the encoder battery are reversely connected or there is a short circuit to the ground due to broken cable sheath 1 Check the wiring of the encoder battery and make sure the wiring is...

Page 281: ...oder and the power cable of the motor 4 Connect the ground wire of the drive reliably 5 Remove the strong interference source around the drive or power on the drive separately from the strong interference source 23 First encoder communication timeout 0xE022 1 There is a fault in the encoder 2 The wiring of the motor encoder is abnormal such as broken line 1 Replace the encoder 2 Check the wiring o...

Page 282: ... object is not successfully written Execute the alarm reset command 30 Homing configuration error 0xE029 The relevant parameters for homing are wrongly set Correctly set the relevant parameters for homing 31 Encoder Internal warning 0xE030 The voltage of the encoder battery is too low or the encoder is not connected to a battery Maintain the voltage of the encoder battery at a normal level and res...

Page 283: ...cally discussed The CDS7 servo drives have built in safety features to protect operators from dangerous movements of the moving parts of the machine reduce the risk of using the machine and improve its safety The CoolDrive Smart7 servo drives feature safety through Safety Torque Off STO to prevent accidental starts and uncontrolled stops This section describes the features and uses of the CoolDriv...

Page 284: ... motor has been cut off the motor will continue to rotate for some time due to inertia Design a safety system to ensure that no danger will occur before the servo motor stops completely When applied in such cases as vertical gravity axis the motor will move under gravity To prevent this set the mechanical brake system in advance to stop the motor Note that the servo brake circuit and dynamic brake...

Page 285: ...nitoring EDM 11 6 The fault detection monitoring EDM output is used to monitor the signal of any wiring fault between the STO circuit or safety device and the STO input The relationship between STO input signal and fault detection monitoring output is shown in the table below Signal name Logical relationship STO1 input ON ON OFF OFF STO2 input ON OFF ON OFF EDM output OFF OFF OFF ON When the STO2 ...

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