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Veichi SD710 Series, User Manual

The Veichi SD710 Series User Manual is an essential companion for operating and troubleshooting this high-quality product. Easily accessible for free download at manualshive.com, this comprehensive manual provides detailed instructions, ensuring a smooth user experience. Get the most out of your Veichi SD710 Series with this indispensable manual.

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SD710 Series Servo Drive User Manual                                                              Chapter 4 Panel Operation

 

4

 

4.3 Status display   

The status display is discriminated as shown below.   

 

 

 

 

Abbreviated 

symbol 

Meaning 

Abbreviated 

symbol 

Meaning 

 

 

Servo ready. 

Display servo ready 

 

Prohibit reversing drive state 

Indicates that the input signal (N-
OT) is open-circuit 

 

 

Runtime 

Display servo enable status 

 

Servo not ready 

Servo  is  currently  faulty  or  bus 

voltage is not established 

 

 

Prohibit forward drive state 

Indicates that the input signal 

(P-OT) is open-circuit 

 

Alarm Status 

Flashing alarm number 

 

Number

 

Showing 

Meaning 

1 

 

Control power ON display 

Light on when the control power of the servo unit is ON. 
Light off when the control power of the servo unit is OFF. 

2 

 

Servo ready display 

The  servo  unit  main  circuit,  encoder,  etc.  are  normal,  and  the  servo  ON  signal  can  be 
received.

 

3 

 

Servo enable flag 

Light off when the servo is not enabled. 
Light on when the servo is enabled. 

4 

 

Speed consistency (/V-CMP) display (when in speed control mode) 

The light comes on when the difference between the servo motor speed and the commanded 
speed is within the specified value, and goes off when it exceeds the specified value. 

Positioning completion (/COIN) display (at position control) 

The light comes on when the deviation between the position command and the actual motor 
position is within the specified value, and light off when it exceeds the specified value. 

5 

 

Power ready Display 

Lights on when the main circuit power is ON and off when the main circuit power is OFF. 

6 

 

Display in torque command input (at torque control) 

The torque command in the input lights up when it is greater than the specified value and 
light off when it is less than the specified value. 

Display in clear signal input (in case of position control) 

light on when there is a clear signal input and light off when there is no input. 

7 

 

Display in speed command input (at speed control) 

The speed command in the input lights up when it is greater than the specified value and light 
off when it is less than the specified value. 

Display in command pulse input (in position control mode) 

Light on when there is a pulse command input and light off when there is no input. 

Summary of Contents for SD710 Series

Page 1: ... Installation 3 1 5 Precautions When Wiring 4 1 6 Precautions During Operation 5 1 7 Precautions for maintenance and inspection 5 1 8 Maintenance and Inspection of the Servo Unit 6 1 8 1 Servo Motor Overhaul 6 1 8 2 Servo Drive Maintenance 6 1 8 3 Approximate Criteria for replacement of Internal Parts of the Servo Unit 7 ...

Page 2: ...from the drive at any time by the emergency stop switch It is necessary to set the corresponding parameters before running otherwise the drive may not operate properly or may have an unanticipated action due to the load Ask an electrical engineer to do the wiring otherwise there is a risk of electric shock or fire Do not touch the conductive parts directly and do not connect or short circuit the o...

Page 3: ...alt and metal dust places where water oil and medicine drip places where vibration or shock can be transmitted to the main body do not hold the cable or Motor shaft for handling otherwise it may cause injury or malfunction Do not stack the product too much during handling or storage as this may cause injury or malfunction 1 4 Precautions for Installation Attention Do not install this product in pl...

Page 4: ... limit it to less than once a minute Since the power supply part of the servo driver has a capacitor a large charging current charging time 0 2 seconds will flow when the power is turned on off Therefore if the power supply is turned on off frequently the performance of the main circuit components inside the Servo Drive will be degraded When wiring the main circuit connector observe the following ...

Page 5: ...o driver external braking resistor motor etc are in a high temperature state so please do not touch them or they may cause burns Since extreme user parameter adjustments and setting changes can cause the servo system to become unstable in operation do not set extreme parameters as this may cause injury When an alarm occurs please reset and restart operation after removing the cause and ensuring sa...

Page 6: ...e please have it serviced more than once a year See Table 1 2 for specific maintenance details Table 1 2 Servo drive maintenance details Inspection items Inspection time Inspection maintenance essentials Remarks Confirmation of vibration and sound Daily Judging by touch and hearing No increase compared to usual Exterior Inspection Depending on the defacement Wipe with a cloth or use an air gun to ...

Page 7: ...ll judge whether replacement parts are necessary after investigation The servo unit repaired by our company has its user parameters set back to the factory settings Be sure to reset the user parameters to those in use before operation Table 1 3 Servo Drive internal parts replacement mark Parts Name Standard replacement year Conditions of use Cooling Fan 4 years to 5 years Ambient temperature annua...

Page 8: ...ption 2 2 2 3 Technical Specifications 3 2 2 4 Servo Drive Braking Resistor Specifications 4 2 2 5 Drive Mounting Dimensions 4 2 3 Introduction of servo motor 5 2 3 1 Servo motor naming 5 2 3 2 Servo motor parts description 6 2 3 3 Motor technical specifications 7 2 4 Matching cables and models 12 NOTE ...

Page 9: ... N e ve rfa iltoco n n e ctp ro te c tiv eE a rth te rm in a l M o to ro vertem eratu rep ro te ctio nisn o tp ro vid e d 断 电 1 0 分 钟 内 以 及 C H A R G E 充 电 指 示 灯 未 熄 灭 请 勿 触 摸 电 源 端 子 部 位 有 触 电 危 险 请 勿 触 摸 散 热 器 有 烫 伤 的 危 险 R isko fe le ctricsh o ck D o n tto u c hp o w e rte rm in a ls fo r1 0m in u te sa fte rtu rn in gO F Fo rC H A R G E in d ica to rislit H o tsu rfa ce risko fb u rn D o n tto...

Page 10: ...g servo driver operation status and parameters Button For interaction with drive related parameters CN1 terminal Command input and output signals CN2 terminal For connection to encoders CHARGE Used to indicate that the bus capacitor is in a charged state When the indicator is on there is still a charge inside the Servo Drive even if the main circuit power is OFF Power terminals L1 L2 external powe...

Page 11: ...Impact strength 19 6m s2 Protection level IP20 Altitude Less than 1000m when 1000m 2000m need to reduce the rated value after use Other No electrostatic interference strong electric field strong magnetic field radiation etc Speed Control Torque control Speed control range 1 5000 the lower limit of the speed control range is the value at the rated torque load without stopping condition Speed volati...

Page 12: ...ondence between drive form factor and mounting size Structure Dimension mm Mounting dimensions mm Mounting hole diameter W H D W1 H1 A B SIZE A 50 170 170 20 160 7 5 5 2 M4 function USB PC standard compliant with USB 2 0 specification 12Mbps Display Functions CHARGE 8 segment LED 5 bits Panel Operator Function Push button switch 4pcs Recycling process Functions can be built in external Protection ...

Page 13: ... inertia M Medium inertia Marking Gate type H Large inertia 1 No holding brake 2 With holding brake Marking Flange size 40 40 40 Marking Encoder type 60 60 60 D 23 bit multi loop 80 80 80 Q 17 bit single turn magnetic programming R 17 bit multi turn magnetic encoding Marking Voltage Rating E 24 bit multi turn A 220V F 24 bit single turn Marking Power Rating Marking Rated speed R20 0 20kW 10 1000rp...

Page 14: ...formation 6 Figure 2 4 Motor model and nameplate information 2 2 2 Servo Motor Parts Description Figure 2 5 Motor without holding brake Shaft expansion with key Mounting screw through hole Mounting flange surface Motor power cable socket Encoder cable socket ...

Page 15: ... parameter specifications Projects Instructions Work System Continuous Vibration Rating 49m s2 5G or less when rotating 24 5m s2 2 5G or less when stopped Insulation resistance DC DC 500V 10MΩ Operating ambient temperature 0 40 Use of environmental humidity 20 80 no condensation Excitation method Permanent magnet type Installation method Flange Heat resistance grade F grade Insulation voltage AC15...

Page 16: ... M08A R7530 1 4 8 14 4 VM7 M08A R7530 2 VM7 L08A 1R030 1 1000 3 18 9 54 5 3 15 9 VM7 L08A 1R030 2 VM7 M11A 1R230 1 1200 3 82 11 46 5 5 16 5 VM7 M11A 1R230 2 Motor Model Rated speed rpm Maximum speed rpm Torque coefficient N m Arms Rotor inertia 10 4 kg m2 Voltage V VM7 L06A R2030 1 3000 6000 0 44 0 21 220 VM7 L06A R2030 2 0 25 VM7 L06A R4030 1 6000 0 51 0 44 VM7 L06A R4030 2 0 5 VM7 L06A R6030 1 5...

Page 17: ... Model Radial allowable load N Axial allowable load N VM7 L06A R2030 1 245 75 VM7 L06A R2030 2 VM7 L06A R4030 1 245 75 VM7 L06A R4030 2 VM7 L06A R6030 1 245 75 VM7 L06A R6030 2 VM7 L08A R7530 1L 392 147 VM7 L08A R7530 2L VM7 L08A R7530 1 VM7 L08A R7530 2 VM7 M08A R7530 1L 392 147 VM7 M08A R7530 2L VM7 M08A R7530 1 VM7 M08A R7530 2 VM7 L08A 1R030 1 392 147 VM7 L08A 1R030 2 VM7 M11A 1R230 1 392 147 ...

Page 18: ...0 0 5 VM7 L06A R4030 2 VM7 L06A R6030 2 VM7 L08A R7530 2L 4 40 60 VM7 L08A R7530 2 VM7 M08A R7530 2L VM7 M08A R7530 2 VM7 L08A 1R030 2 VM7 M11A 1R230 2 8 2 2 6 Servo Motor Mounting Dimensions Table 2 10 60 flange motor dimensions Motor Model L LL LR S U W QK Unit millimeter mm VM7 L06A R2030 1 116 86 30 14 3 5 22 5 VM7 L06A R2030 2 153 123 30 14 3 5 22 5 VM7 L06A R4030 1 138 108 30 14 3 5 22 5 VM7...

Page 19: ... 35 19 3 5 6 25 VM7 L08A R7530 2 194 159 35 19 3 5 6 25 VM7 M08A R7530 1L 161 126 35 19 3 5 6 25 VM7 M08A R7530 2L 205 170 35 19 3 5 6 25 VM7 M08A R7530 1 161 126 35 19 3 5 6 25 VM7 M08A R7530 2 205 170 35 19 3 5 6 25 VM7 L08A 1R030 1 174 139 35 19 3 5 6 25 VM7 L08A 1R030 2 207 172 35 19 3 5 6 25 Table 2 12 110 flange motor dimensions Motor Model L LL LR S U W QK Unit millimeter mm VM7 M11A 1R230 ...

Page 20: ...无 250 2 5mm2 Marki ng Cable length Marki ng Motor end plug L030 3m A 16M 4A L050 5m K 3108A18 10S L100 10m L150 15m L200 20m L250 25m L300 30m Table 2 12 List of motor power cable Power cable naming Appearance diagram Applicable models VM075 AN Motor plug A 3 4 1 2 40 60 80 flange motor VM150 KN Motor plug K A D C B PE W V U A A D C B 信号定义 线芯颜色 A端脚位号 100 110 130 180 220法兰动力线定义 U 蓝 A V 棕 B W 红 C PE...

Page 21: ...mber of lines 04 4 core twisted shield Marki ng Battery 06 6 core twisted shield N None D With battery Marki ng Cable length L030 3m Marki ng Motor end plug L050 5m A 16M 9A L100 10m L150 15m L200 20m Marki ng Drive end plug L250 25m 2 1394 Plug L300 30m Table 2 13 List of motor encoder cable Encoder cable naming Appearance diagram VE04 2AN 2 1 4 3 6 5 A way view A B 1 2 3 4 5 6 7 8 9 B way view A...

Page 22: ...Cable holding gate L Standard Cable D With battery Marki ng Cable length L030 3m Marki ng Motor end plug L050 5m B 2PIN plastic L100 10m C 2PIN Aerial plug L150 15m L200 20m L250 25m L300 30m Table 2 14 List of motor braking cable Braking cable naming Appearance diagram VB B 1 2 棕 蓝 VB L B VB C 棕 蓝 VB L C 1 2 1 2 棕 蓝 VB L C 1 2 1 2 棕 蓝 VB L C 1 2 1 2 ...

Page 23: ...or holding cable SD710 1R1A 1 6 100 VM7 L04A R1030 1 0 32 1 3000 VM075 AN VE 2A 100 VM7 L04A R1030 2 1 3000 VB B SD710 1R8A 1 8 200 VM7 L06A R2030 1 0 64 1 8 3000 VM075 AN VE 2A VM7 L06A R2030 2 VB B SD710 3R3A 3 3 400 VM7 L06A R4030 1 Matching cables 2 5 3000 VM075 AN VE 2A VM7 L06A R4030 2 VB B 600 VM7 L06A R6030 1 1 91 3 3 3000 VM7 L06A R6030 2 VB B 750 VM7 L08A R7530 1L 2 4 3 3 3000 VM075 AN V...

Page 24: ...al Chapter 2 Product Information 16 SD710 5R5A 5 5 750 VM7 L08A R7530 1 2 4 4 8 3000 VM075 AN VE 2A VM7 L08A R7530 2 VB B VM7 M08A R7530 1 VM7 M08A R7530 2 VB B Notes number of cable cores cable length with battery or not cable material ...

Page 25: ...7 Spring type connector wiring method 7 3 2 Motor power cord 9 3 3 CN2 encoder connection cable 10 3 4 CN6A and CN6B communication terminals 12 3 5 Multifunctional CN1 terminal wiring 15 3 5 1 Position command input signal 16 3 5 2 Digital input and output signals 25 3 5 3 Encoder crossover output signal 29 3 5 4 Gate Wiring 32 3 6 Anti interference countermeasures for electrical wiring 33 3 6 1 E...

Page 26: ...SD710 Series Servo Drive User Manual Chapter 3 Wiring and Installation 2 3 1 Servo Driver Terminal Pins Distribution Figure 3 1 Driver terminal pinout diagram ...

Page 27: ...er input terminals Reference nameplate rated voltage level input control circuit power 2 P N servo busbar terminals DC bus terminal for multiple servo common DC bus P B2 external braking resistor connection terminal When an external braking resistor is required connect it between P and B2 B2 B3 built in braking resistor connection terminal When built in braking resistor is needed short B2 and B3 3...

Page 28: ...User Manual Chapter 3 Wiring and Installation 4 3 1 2 Example of Braking Resistor Wiring Figure 3 3 Schematic diagram of the connection of the built in braking resistor Figure 3 4 Connection diagram of external braking resistor ...

Page 29: ...0 3 1 3 Recommended type and specification of main circuit connection cable Figure 3 5 Schematic diagram of the main circuit terminal block of the drive Table 3 3 Drive main circuit cable specifications Input voltage Drive model Rated input current A Recommended input power cable L1 L2 Rated output current A Recommended output power cable U V W Recommended grounding wire PE mm AWG mm AWG mm AWG 22...

Page 30: ...lation 6 Note Single phase inputs with only two wires L1 and L2 The above cables are copper core cable if the aluminum wire the wire diameter to take the copper wire 1 5 times to 2 times 3 1 4 Example of Power Wiring Figure 3 6 Single phase 220V main circuit wiring ...

Page 31: ...the power is turned off Please do not touch the power terminals within 5 minutes Do not turn the power ON OFF frequently When repeated continuous ON OFF power is required keep it below 1 time minute The power supply part of the Servo Drive has capacitors and a large charging current will flow when the power supply is ON Frequent ON OFF power supply will deteriorate the performance of the main circ...

Page 32: ...n Figure 3 8 drawing a Insert a slotted screwdriver into the terminal opening end width 3 0mm to 3 5mm and press firmly to open the slot as shown in Figure b a Pry open the slot with the matching control bar b Use a screwdriver to open the slot by pressing Figure 3 8 Pressed wire slot usage 4 Insert the Wire into the Slot Once the slot is open the wire is inserted and then the slot is closed by re...

Page 33: ...r Power Cable Figure 3 9 Servo driver output and motor connection Table 3 5 Servo motor power cable definition Terminal Distribution Signal Definition Terminal Pin Definition PE 1 U 2 V 3 W 4 视图A 3 4 1 2 黄绿 PE W V U 蓝 棕 红 A 信号定义 线芯颜色 A端脚位号 40 60 80法兰电机动力线定义 U 蓝 2 V 棕 3 W 红 4 PE 黄绿 1 ...

Page 34: ...N2 encoder connection cable Terminal distribution diagram Signal definition A side pin number B side pin number Terminal distribution diagram 2 1 4 3 6 5 A way view Encoder power supply 5V 1 1 1 2 3 4 5 6 7 8 9 B way view Encoder power supply 0V 2 2 Absolute encoder battery BAT 3 3 Absolute encoder battery BAT 4 4 Serial Data SD 5 5 Serial Data SD 6 6 PE shielding layer Iron shell 7 A B ...

Page 35: ...1 Accessory optional 1394 connector soldering pin definition Attention When using multi turn absolute encoders please pay attention to the battery and serial data connection Please refer to the above diagram for pin definitions when soldering the encoder wiring by yourself ...

Page 36: ...ort is different so you need to confirm the model before using the definition of this interface For field identification bit S standard type or C CANopen bus type the pins of CN6 are defined as shown in Table 4 7 Table 3 7 CN6 interface definition Pin number Signal Name Function Pin number Signal Name Function 1 CANH CAN data 6 2 CANL CAN data 7 GND 3 CANG CAN signal ground 8 4 485 B 485 Data Hous...

Page 37: ... driver as shown in the figure below Figure 3 13 Correct CAN connection method Figure 3 14 Wrong CAN connection method Attention It is recommended that the shield is single ended and grounded The controller side termination resistor needs to be connected or turned on Do not connect the CGND terminal in the upper unit to the GND terminal of the servo driver otherwise the machine will be damaged ...

Page 38: ...er unit and the GND terminal of the servo driver as shown below Figure 3 15 Correct 485 connection method Figure 3 16 Wrong 485 connection method Attention It is recommended that the shield is single ended and grounded Controller side termination resistor needs to be connected or turned on Do not connect the CGND terminal in the upper unit to the GND terminal of the servo driver otherwise the mach...

Page 39: ...nctional CN1 terminal wiring 31 32 33 34 35 36 37 38 39 40 41 42 43 44 30 15 14 29 13 28 12 11 27 26 10 25 09 24 08 23 07 22 06 21 05 04 20 19 03 18 17 02 01 16 CN1 Figure 3 17 Pin 44 definition of multi function CN1 terminal Attention Recommend using 24AWG to 26AWG wire diameter cable ...

Page 40: ...nd symbols PULLHI 35 External power input interface for command pulses GND 29 Signal Ground The upper unit measures the command pulse i e the symbol output circuit which can be selected from either the differential driver output or the open collector output Its maximum input frequency i e minimum pulse width is shown in Table 3 9 Table 3 9 Correspondence between pulse input frequency and pulse wid...

Page 41: ...lse Input Command Differential Input Method Figure 3 18 Example of connection of linear drive inputs Open collector input method a Use of Internal Power Supply Table 3 10 Wiring method of open collector input for internal 24V supply Drive Module Type Wiring Diagram NPN type common cathode ...

Page 42: ...SD710 Series Servo Drive User Manual Chapter 3 Wiring and Installation 18 PNP type common anode Wrong wiring example not connected to pin 14 COM can not form a closed circuit ...

Page 43: ...Wiring and Installation 19 b Using External Voltage Table 3 11 Open collector input wiring method for external 24V supply Drive Module Type Current limiting resistor type Wiring Diagram NPN type Common Cathode Internal resistance External resistance ...

Page 44: ...e External Resistors The selection of resistance R should satisfy the formula 𝑉 𝑐𝑐 1 5 𝑅 240 10𝑚𝐴 Table 3 12 Recommended R1 resistance value Vcc voltage R resistance value R Power 24V 2 4kΩ 0 5W 12V 1 5kΩ 0 5W Example of Incorrect Wiring Error 1 Not connecting the current limiting resistor resulting in port burnout ...

Page 45: ...l Chapter 3 Wiring and Installation 21 Error 2 Multiple ports share the same current limiting resistor resulting in incorrect pulse reception Error 5 Multiple ports share current limiting resistors resulting in incorrect pulse reception ...

Page 46: ...iring and Installation 22 PULSE SIGN 240Ω External 24V 240Ω PULSE SIGN Host device Servo drive A 41 43 37 39 External 0V R1 R1 PULSE SIGN 240Ω 240Ω PULSE SIGN 41 43 37 39 External 0V Servo drive B Current limiting resistor is not connected separately ...

Page 47: ...ring and Installation 23 PULSE SIGN 240Ω External 24V 240Ω PULSE SIGN Host device Servo drive A 41 43 37 39 External 0V R1 R1 PULSE SIGN 240Ω 240Ω PULSE SIGN 41 43 37 39 External 0V R1 R1 Servo drive B Separately connected to current limiting resistor ...

Page 48: ...fferential driver HPULSE CN1 Servo system Host device GND 41 43 29 GND HPULSE HSIGN 37 39 HSIGN Note Be sure that the differential input is a 5V system otherwise the input pulse of the driver is unstable which may result in the following situations i pulse loss when inputting the command pulse ii command reversal when inputting the command direction Be sure to connect GND of the host computer to G...

Page 49: ... RST 33 Fault reset X6 ORGS 32 Origin signal X7 TL SEL 12 Torque limiting switching X8 30 Reserved COM Common end 11 X common terminal Power supply 24V 17 Internal 24V power supply voltage range 20 V to 28V maximum output current 200mA COM 14 Universal Y terminal Y1 RDY 7 Servo ready Y1 RDY 6 Y2 COIN 5 Positioning complete Y2 COIN 4 Y3 BK 3 Holding brake output Y3 BK 2 Y4 Alarm 1 Fault output Y4 A...

Page 50: ...o system 4 7kΩ 17 11 9 14 Relay The wiring diagram when using an external 24V power supply is as follows COM External 24V X1 Servo system 4 7kΩ 11 9 Relay External 0V COM 24V X1 COM Servo system 4 7kΩ 17 11 9 14 Relay External 24V No separate power supply is used 2 Host computer is open collector output Use the servo driver internal 24V power supply wiring diagram as follows ...

Page 51: ... 11 9 14 NPN COM 24V 24V Power X1 COM Servo system 4 7kΩ 17 11 9 14 PNP The wiring diagram when using an external 24V power supply is as follows COM External 24V X1 COM Servo system 4 7kΩ 11 9 14 External 0V NPN COM X1 COM Servo system 4 7kΩ 11 9 14 External 24V External 0V Note NPN and PNP input mixing is not supported ...

Page 52: ... interface 1 Output Control Relay External 0V External 5 24V Relay Y1 Y1 7 6 Servo system Example of Incorrect Wiring External 0V External 5V 24V Y1 Y1 7 6 Servo system Not connected relay External 0V External 5V 24V Relay Y1 Y1 7 6 Servo system Freewheeling diode Polarity reversal Note When outputting a control relay be sure to connect a current continuing diode otherwise the Y terminal connector...

Page 53: ...n Output Signal Table 3 14 Encoder Frequency division Output Signal Specifications Signal name Default function Pin number Functionalities Frequency division output universal signal PAO 21 A phase frequency division output signal The quadrature frequency division output signals of A and B PAO 22 PBO 25 B phase frequency division output signal PBO 23 PZO 13 Z phase frequency division output signal ...

Page 54: ...a position control system for the host computer On the host computer side use a differential or optocoupler receiving circuit with a maximum output circuit of 20mA Servo system Upper device GND PAO GND 36 Ω 36 Ω 36 Ω 36 Ω 36 Ω 36 Ω 13 24 23 25 22 21 PAO PBO PBO PZO PZO 29 Max output current 20mA Servo system Upper device GND PAO GND 36Ω 36Ω 36Ω 36Ω 36Ω 36Ω 13 24 23 25 22 21 PAO PBO PBO PZO PZO 29 ...

Page 55: ...On the host computer side please use an optocoupler circuit relay circuit to receive it External 0V External 5V 24V Optocoupler PZ OUT GND 44 29 Servo system GND Note Be sure to connect the GND of the 5V of the host computer to the GND of the drive and use a twisted shield to reduce noise interference The maximum allowable voltage and current capacity of the servo driver s internal optocoupler out...

Page 56: ...ing braking are shown in the table below Table 3 15 Table of parameters of brake Motor model Maintaining torque N m Supply voltage V 10 Release time ms Attraction time ms Rotary clearance VM7 L06A R2030 2 1 5 24 20 50 0 5 VM7 L06A R4030 2 VM7 L06A R6030 2 VM7 L08A R7530 2L 4 24 40 60 0 5 VM7 L08A R7530 2 VM7 M08A R7530 2L VM7 M08A R7530 2 Note The holding brake coil has no polarity Servo enable S ...

Page 57: ...ssible Install surge suppressors on the coils of relays solenoids and solenoid contactors When wiring separate the strong current line from the weak current line and keep them more than 30cm apart Do not put them into the same conduit or bundle them together Do not share the power supply with a welding machine electrical discharge processing equipment etc When there is a high frequency generator n...

Page 58: ...erence problems Grounding of encoder cable shield Ground both ends of the shield of the motor encoder cable 3 6 2 How to Use The Noise Filter To prevent interference from the power supply line and weaken the influence of the Servo Drive on other sensitive equipment select the appropriate noise filter at the power supply input according to the input current Also install noise filters at the power l...

Page 59: ...net noise filter ground processing method When the noise filter and servo drive installed in the same control cabinet it is recommended to fix the filter and servo drive on the same metal plate to ensure that the contact part is conductive and well lapped and ground the metal plate Noise filter AC L1 L2 L3 Servo drive Servo drive Shielding grounding Grounding Figure 3 21 Schematic of noise filter ...

Page 60: ... secure or bundle wiring in the cable protection chain but only at the two non movable ends of the cable protection chain iii Do not tangle or twist the cable iv Ensuring that the duty cycle within the cable protection chain is below 60 per cent vi Do not mix cables with too different shapes to prevent thick wires from crushing thin wires if you must mix cables install a spacer in the middle of th...

Page 61: ...4 COM External 0V Torque limit switching 30 Reserved X8 2 B phase output Z phase output Forward overrun switch Figure 3 23 Typical wiring example for position control 1 Example is external power supply wiring if using internal 24V power supply connect pin 17 24V to pin 11 and the input terminal corresponding pin connect to pin 14 COM 2 X7 and X8 are high speed input terminals so select them accord...

Page 62: ...Write the Parameter Pn 6 4 5 1 Method of Writing Parameters of the Value Setting Type 6 4 5 2 Method of Writing Parameters for Functionally Selective 7 4 5 3 How to Write the Switching Parameters 7 4 6 Method of Setting Parameter Pn 9 4 6 1 Settings Below 5 digit 9 4 6 2 Settings Above 5 Digits 10 4 6 3 Function Code Setting for Function Selection Type 11 ...

Page 63: ...e the set value DOWN button Decrease the set value DATA SHIFT button Display of set values Shift the digit one place to the left digit blinking How do I get the servo alarm to reset The servo alarm is reset by pressing and holding the UP and DWON buttons simultaneously Note Before resetting the servo alarm be sure to eliminate the cause of the alarm 4 2 Function Switching Press the MODE SET button...

Page 64: ...e light comes on when the difference between the servo motor speed and the commanded speed is within the specified value and goes off when it exceeds the specified value Positioning completion COIN display at position control The light comes on when the deviation between the position command and the actual motor position is within the specified value and light off when it exceeds the specified val...

Page 65: ...5V power 4 4 Operation of the Auxiliary Function Fn The auxiliary function is used to perform functions related to the setting and adjustment of the servo unit Displayed on the panel operator as a number beginning with Fn For example the display example is JOG operation The following is an explanation of how to operate the auxiliary functions with point and click operation Steps panel display Butt...

Page 66: ... of Writing Parameters of the Value Setting Type MODE SET Data MODE SET Data MODE SET Data Pn204 Electronic Gear Numerator Correspondence address 0x0204 Factory value 4 Setting range 1 to 1073741824 Unit instruction unit Control mode P Address for communication Indicates 32 bit data The address is expressed in hexadecimal Function code effective time Indicates immediate effect Indicates re powerin...

Page 67: ...Yes Reserved parameters do not use Reserved parameters do not use 3 rd 2 nd 1 st 0 th X Y Z W W Z Y X indicates the setting value for each Pn001 X indicates the setting value of bits 0 3 Pn001 Y indicates the setting value of bits 4 7 Pn001 Z indicates the setting value of bits 7 11 Pn001 W indicates the setting value of bits 11 12 Expressed in hexadecimal Parameter number Indicates user privilege...

Page 68: ... Virtual input terminal X3 Bit3 Virtual input terminal X4 Internal given input terminal status group 2 Bit4 Virtual input terminal X5 Bit5 Virtual input terminal X6 Bit6 Virtual input terminal X7 Bit7 Virtual input terminal X8 Internal given input terminal status group 3 Bit8 Virtual input terminal X9 Reserved parameters do not use X Y Z W Parameter number Indicates user privilege 2 Indicates manu...

Page 69: ...m 40 0 to 120 0 6 When the set value is valid the screen as shown on the left is displayed 7 Press the DATA SHIFT key for about 1 second to return to the Pn102 display 2 Negative Number Setting with a Setting Range of Less than 5 Digits The following describes how to set the internal speed command 0 Pn304 when the setting value is changed from 100 to 800 Steps Panel display Buttons used Operations...

Page 70: ... code parameter number is not displayed as Pn262 adjust it by pressing UP or DOWN until Pn262 is displayed 2 Press the DATA SHIFT key for about 1 second to display the last 4 digits of the current setting value of Pn262 3 before change of last 4 digits after change of last 4 digits Press the DATA SHIFT key to move the blinking display digit you can change the blinking display digit and set the val...

Page 71: ...lection basic switch 0 Pn000 from position mode to speed mode Steps Panel display Keys used Operations 1 Press the MODE SET key to enter the parameter setting status If the function code parameter number is not displayed as Pn000 adjust it by pressing UP or DOWN until Pn000 is displayed 2 Press the DATA SHIFT key for about 1 second to display the current setting value of Pn300 3 Press the DATA SHI...

Page 72: ...ulse Command Source Selection 15 5 2 Pulse Command Filter Selection 15 5 2 3 Pulse command multiplier 16 5 2 4 Pulse input morphology 17 5 2 5 Electronic Gear Ratios 18 5 2 6 Pulse Deviation Clearance 19 5 2 7 Command Pulse Prohibition 20 5 2 8 Positioning proximity 20 5 2 9 Positioning Completion 21 5 2 10 Position Command Smoothing Setting Position Command Filtering 22 5 2 11 frequency division ...

Page 73: ... 1 Basic Settings for Hybrid Control Mode 35 5 5 2 Speed Position Control Modes 36 5 5 3 Torque position control modes 36 5 5 4 Speed Torque Control Modes 37 5 5 5 Speed Position Torque Control Modes 37 5 6 Absolute Encoders 37 5 6 1Connection of Absolute Encoders 38 5 6 Absolute Encoder Data Reading 38 5 6 3Battery replacement 41 5 7 Maximum number 41 5 7 1 Overview 41 5 7 2 Principles of correla...

Page 74: ...e resistor port B2 B3 must be wired correctly When using an external regenerative resistor the external resistor connection port P B2 must be wired correctly 5 The DC bus terminals P N must not be connected backwards 6 The control signal cable of the servo drive is wired correctly external signal cables such as the holding brake and overtravel protection are reliably connected The power supply to ...

Page 75: ...Table 5 2 Switching Input Operation Procedure Steps Items Operations 1 Power on When the drive is powered up Off is displayed on the panel 2 Terminal Configuration Set the X1 signal to servo enable control signal Pn601 0x0001 In other words CN1 9 pins are selected as servo enable control terminals and the status is normally open normal 3 External terminal use a Close the terminal switch and On is ...

Page 76: ...t terminal Y1 is low Set Pn631 01 0 at this point Un101 01 0 and output terminal Y1 is high 4 Example of Forced Output from Output Terminal In practice you can use the auxiliary function Forced output terminal signal Fn300 to force the corresponding output terminal Y to output accordingly 5 1 4 JOG Test Run JOG operation is an action function to check whether the servo motor can rotate normally by...

Page 77: ...erminals you can perform the corresponding forward and reverse rotation pointing via the configured terminals Table 5 5 Terminal Pointing Example Steps Items Operations 1 Power on a The drive is powered up and Off is displayed on the panel 2 Terminal Configuration Pn605 0x0017 forward JOG active high Pn606 0x0018 reverse JOG active high 3 Trial run When the servo is enabled X5 or X6 is continuousl...

Page 78: ...tion example 5 1 5 Direction of Rotation and Frequency Division Output Setting By setting Rotation direction selection Pn002 the direction of rotation of the motor can be changed without changing the polarity of the input command Servo driver s frequency division output pulse is A phase B phase quadrature pulse from Pn070 to determine the number of pulses output per rotation before quadruple frequ...

Page 79: ...vo driver output pulse and the positive and negative monitoring parameters do not change 5 1 6 Holding Brake Setting A holding brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non operating state and keeps the motor locked in position so that the moving part of the machinery does not move due to self weight or external forces Servo motor Brake devic...

Page 80: ...the motor actually enters the energized state ON OFF ON release OFF Servo ON S ON Motor power on state Braking output Bk Pn00B Motor power off Motor power on Fig 5 5 Timing diagram of the motor start BK signal ON 2 Holding Brake Signal BK OFF Operation When the Motor Stops Locking When the servo motor is stopped the holding brake signal BK and the servo enable signal S ON are turned off at the sam...

Page 81: ...bit reverse side input N OT signal The P OT and N OT signals are installed at a specific position of the mechanical load and the mechanical load is stopped by the P OT and N OT signals when the mechanical load is out of the range of that specific position 1 Use of External Overtravel Signals Switching signals using external limit switches Setting Symbol Functional name Instructions Trigger method ...

Page 82: ...elated Function Code Function code Parameter name Range Default value Unit Pn00D W Absolute position limit switches 0 to 2 0 Pn030 Absolute value limit single turn maximum 2 31to 2 1 31 0 Pn032 Absolute value limit multi turn maximum 2 15to 2 1 15 32767 Pn033 Absolute value limit single turn minimum 2 31to 2 1 31 0 Pn035 Absolute value limit multi turn minimum 2 15to 2 1 15 32768 When using the so...

Page 83: ...the instantaneous overload alarm will be changed accordingly Motor base current after rating reduction equals motor current threshold for starting the calculation of the overload alarm default is 1 15 times the motor multiply motor overload detection base current derating setting Pn016 Example With Pn016 set to 50 as shown in Figure 5 12 the overload alarm can be detected earlier because the motor...

Page 84: ...tput torque can be limited for the purpose of protecting the machine etc The limiting method is divided into internal limiting and external limiting and the torque limiting can be set by the parameter Pn050 Related Function Code Function code Parameter name Range Default value Unit Pn050 Torque limiting method selection 0 to 5 2 Pn051 Internal forward torque limitation 0 to 500 300 Pn052 Internal ...

Page 85: ...ransient power failure or short time supply of the main circuit supply voltage the output current can be optionally limited at this time and the relevant parameters are shown in the table below Function code Parameter name Range Default value Unit Pn045 Function selection in case of main circuit DC undervoltage 0 No undervoltage warning detected 1 Detect undervoltage warning 2 Detect undervoltage ...

Page 86: ...e timing diagram 5 1 10 Shutdown Mode Related function codes Function code Parameter Name Range Default value Unit Pn004 Stop method in case of Gr 1 type of alarm 0 Stopping the motor by DB dynamic brake 1 Stop the motor via DB then disengage DB 2 Without DB set the motor to free run 2 Pn005 Stop method in case of Gr 2 class alarm 0 Zero speed stop 1 DB stop or free running stop same as Pn004 0 Pn...

Page 87: ...d through the braking resistor At this point the braking energy must be required to be consumed otherwise it will cause damage to the drive Note When connecting an external regenerative braking resistor be sure to set the appropriate values for Pn012 and Pn013 otherwise the regenerative overload alarm will not be detected properly and may cause damage to the external regenerative resistor When sel...

Page 88: ...n which can be set by the parameter Pn202 Y Improper selection may cause the servo unit to receive pulses abnormally When the pulse frequency is momentarily too high and the pulse width is less than the filter width setting the pulse will be filtered out as noise Therefore the filter width setting must be less than the actual pulse width It is recommended that the actual pulse width be 4 times or ...

Page 89: ...max 100 times The multiplier is set by the command pulse input multiplier Pn203 Whether or not the multiplier has switched can be confirmed by commanding the pulse input multiplier switching output PSELA signal Related function code Function code Parameter name Range Default value Unit Pn271 External pulse command multiplier selection 0 Invalid 1 Mandatory validity 2 Whether the digital input term...

Page 90: ...e Multi function CN1 terminal wiring for wiring details Note When the input pulse frequency is too low and the Pn203 setting is too large unstable speed may occur Switch the command pulse multiplier when the position command pulse is 0 If you switch when the position command pulse is not 0 the servo motor may cause position deviation or position loss 5 2 4 Pulse Input Form Table 5 7 Descriptions r...

Page 91: ...ic Gear Ratio Setting Routine Steps Elements Mechanical system components Ball screw Round table Belt Pulley 1 Machine specifications Ball screw lead 6mm Reduction ratio 1 1 Rotation angle of 1 turn 360 Deceleration ratio 1 20 Pulley diameter 100mm Pulley circumference 314mm Reduction ratio 1 20 2 Encoders resolution 16777216 24 bits 16777216 24 bits 16777216 24 bits 3 Command unit 0 001mm 0 01 0 ...

Page 92: ...to clear the servo driver pulse deviation counter Related function code Function code Parameter name Range Default value Unit Pn272 Position deviation clear CLR signal status 0 Position deviation cleared at high level H 1 Position deviation cleared at rising edge 2 Position deviation cleared at low level L 3 Position deviation cleared at falling edge 0 Pn273 Position deviation clearing action 0 Se...

Page 93: ...erminal Setting Symbol Function name Instructions Trigger method Running mode 0x0D INHIBIT Command pulse disable This signal is used to control the drive from receiving further pulse commands Valid disables receiving pulse commands and stops counting Invalid allows the pulse command to be received and counted Voltage level trigger P S T 2 Wiring for Command Pulse Prohibition The command pulse disa...

Page 94: ...ositioning proximity signal output 2 Wiring for positioning proximity The positioning proximity signal is a universal configurable switch output see Multi function CN1 terminal wiring for wiring details 5 2 9 Positioning completion A signal indicating the completion of servo motor positioning COIN during position control 1 Positioning of the completed configuration In the factory default switch ou...

Page 95: ...ment position deviation is lower than the setting value of Pn262 and the positioning completion signal is output for the upper unit to confirm that positioning has been completed If the Pn262 setting is too large and the deviation is small in low speed operation the positioning completion signal may be output all the time When this occurs lower the Pn262 setting value Figure 5 18 Schematic diagram...

Page 96: ...ence between the position command low pass filtering time constant and the position command sliding average filtering time is shown below Figure 5 19 Filtering effect of several filters 5 2 11 Crossover output The encoder divider pulse output is a 2 phase pulse A phase and B phase with 90 phase difference that outputs position information to the outside based on the current encoder position inform...

Page 97: ... PBO signal is shown in the figure below PAO PBO 1圈 Pn070 16 Figure 5 20 Timing diagram of pulse division output b Frequency division output Z pulse width Z pulse is a pulse sent by the encoder following the motor shaft rotation for one week which is used to determine the zero position or mark position The servo driver provides Z pulse output width adjustable function which is used to widen the Z ...

Page 98: ...ed 2 Crossover pulse output wiring See Multi function CN1 terminal wiring for details of the crossover pulse output wiring 5 2 12 Example of Position Control Operation In position mode there are two ways to receive pulses one is a low speed pulse interface and the other is a high speed pulse interface The general open collector pulse command frequency is 200kHz maximum and the low speed pulse inte...

Page 99: ...er the received pulse speed matches the actual one sent Monitor Un006 and check that the input pulse counter Un006 matches the actual number sent 5 3 Speed internal setting mode 5 3 1 Summary of functions The speed command source supported by this product is mainly set by internal registers Internal register setting speed is a function that sets the motor speed in advance by the internal user para...

Page 100: ...re calculated by the following equation Actual acceleration time target speed 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑠𝑝𝑒𝑒𝑑 soft start acceleration time Pn310 Actual deceleration time target speed maximum speed soft start deceleration time Pn311 Target speed ACC time DEC time Pn310 Pn311 Maximum speed Figure 5 24 Soft start acceleration and deceleration time effect demonstration 5 3 3 Zero speed clamp function The zero speed cla...

Page 101: ...he zero fixed signal is a universal configurable switch input see Multi function CN1 terminal wiring for wiring details 5 3 4 Rotation detection signal The switching rotation detection signal TGON is output when the motor speed is above the set value of function code Pn317 rotation checkout value 1 Rotation detection signal configuration Related parameters Fn NO Parameter Range Default Unit Pn317 ...

Page 102: ...e actual feedback speed of the motor and the target command speed is within the set value of function code Pn320 Example Pn320 50rpm target speed is 2000rpm motor speed is in the range of 1950rpm to 2050rpm when the V CMP signal is output 1 Configuration of speed consistent signals Related function codes Fn No Parameter Range Default Unit Pn320 Speed consistent signal threshold 0 to 100 10 rpm Ass...

Page 103: ...1 control mode is speed mode Pn300 0 speed command source is Pn304 3 Servo Enable Pn001 0 enable servo 4 Speed adjustment Set the value in function code Pn304 to adjust the motor speed Pn304 100 motor running at 100 rpm in positive rotation Pn304 100 motor running in reverse at 100 rpm Pn304 0 the motor is stationary and locks the shaft Example 2 The user selects the desired target speed via the t...

Page 104: ...y control the internal speed 5 4 Torque internal setting mode 5 4 1 Summary of functions The internal setting torque is a function to perform torque control operation by means of four torque commands set in advance by the user parameters inside the Servo Drive and selected using external input signals and is effective for torque control actions with an operating torque of up to four torques It is ...

Page 105: ...x0F TPR D Torque command direction switching during torque mode This signal is used in the torque control mode to adjust the output direction of the torque command via this terminal a Invalid in the same direction as the torque command Valid reverse of torque command Galvanic trigger T 0x12 TOR A Internal Register Torque Command Buffer Selection 1 TOR B TOR A Command source selection 0 0 Pn409 X s...

Page 106: ...hen the motor speed is low enough and lasts for a preset duration this action ends and waits for the next start trigger signal Related input terminals Value Symbolic Function Instructions Trigger Mode 0x14 T CTRG Torque command trigger a In the case of torque control this signal is used to select the desired torque command The corresponding trigger edge signal is configured via the function code P...

Page 107: ...orque of 50 Pn415 200 speed limit of 200 rpm for torque control When servo is enabled the servo motor does not move 4 Terminal Trigger To close and then break terminal X4 i e rising edge trigger torque operation a Under no load the speed rises to a limiting speed of 200 rpm and then runs at a constant speed with a motor torque of about 5 and remains constant The load is then increased and when the...

Page 108: ... set for the torque mode 6 Servo Enable Pn001 X 1 7 Switching Switching torque switch signals for corresponding control TOR D regulates the direction of operation TOR A and TOR B control the command source for internal torque Pn409 X to Pn409 W 5 5 Hybrid control mode 5 5 1 Basic settings for hybrid control mode The servo unit can switch between two combinations of various control methods for sele...

Page 109: ...lue Control mode switching signal C SEL High level H Low Level L 3 position mode Speed mode Torque mode speed mode 4 position mode Torque mode 5 Torque mode Speed mode Pn000 X Set value Control mode switching signal C Trig Control mode C SEL C SEL2 6 0 0 Speed mode 0 1 Position mode 1 0 Torque mode 5 5 2 Speed position control mode After setting the control mode selection signal C SEL the user sel...

Page 110: ... unit Precautions In Speed Position Torque mode Pn000 X 6 after the drive is powered up the drive is in speed mode until the rising edge signal of the control mode confirmation signal C Trig is triggered 5 6 Absolute encoders When using a multi turn absolute encoder an absolute value checkout system can be constructed with the upper unit The absolute value checkout system eliminates the need to pe...

Page 111: ...able with a battery box install the battery into the battery box Table 5 29 Absolute Encoder Cable Connection Methods Absolute encoder wiring Connection schematic Use of encoder cable with battery compartment 5 6 2 Absolute encoder data reading There are two ways of reading the absolute value of a multi turn encoder via a PLC Communication reading DI DO terminal reading 1 Communication to read the...

Page 112: ...rd_1 calibration value Check Sum Number of encoder turns Number of pulses in one revolution of the encoder 24 bit encoder 0 to 16777216 23 bit encoder 0 to 8388608 20 bit encoder 0 to 1048576 17 bit encoder 0 to 131072 Description To prevent data errors the number of turns of the encoder and the number of pulses in one turn are calibrated with the following calibration formula Check Sum Word_1 0xA...

Page 113: ...ter sets this signal low the drive enters the data request preparation phase After time Td has elapsed the driver has prepared and placed the data on ABS_D and the upper unit can read it after Tr time has elapsed After the reading is complete the ABS_R signal is set high then after time Tn the ABS_R signal is set low and so on until all bits of data have been read When ABS_En is set low before the...

Page 114: ...about 5s after replacing the battery and the warning will be removed automatically The drive panel displays fault Er 830 Replace the battery and reapply power to eliminate the fault 4 Confirm complete elimination of the fault After the drive is re powered there is no fault display on the drive panel indicating a successful battery replacement Precautions When replacing the battery do so with the d...

Page 115: ...otates 5 turns and the turntable rotates 1 turn when the multi turn value of the absolute position coordinate zero position is 0 and the single turn value is 0 the encoder multi turn data will overflow after the turntable rotates about 6554 turns theoretically the motor rotates 32770 turns and the turntable rotates 6554 turns at this time the motor multi turn data overflows 3 turns and the encoder...

Page 116: ...elated function codes Fn No Parameter Range Default Unit Pn276 Upper limit of the number of revolutions 0 to 30 000 0 pen in Pn277 X Direction selection when the upper limit of rotation turns on 0 Motor running direction is CCW counterclockwise direction 1 Motor running direction is CW clockwise direction 0 The direction selection when the upper limit of rotation turns on is mainly to set the init...

Page 117: ...et the direction selection Pn277 X when the upper limit of rotational turns is turned on Step 3 Use the auxiliary function Fn006 or the upper unit to clear the multi turn value of the absolute encoder Precautions This function is only valid when using absolute encoders Set the direction of rotation of the motor correctly and make sure that the actual direction of motor operation is the same as the...

Page 118: ...6 2 2 Parameters that become invalid when the adjustment free function is valid 3 6 2 3 Adjustment Free Function Operation Procedure 4 6 3 Smart Settings 4 6 3 1 Summary of Intelligent Settings 4 6 3 2 Smart Setting Operation Procedure 6 6 4 One Touch Tuning 7 6 5 Function Adjustment 8 6 5 1 Gain Adjustment 8 6 5 2 Gain Switching 16 6 5 3 Speed Feedforward 19 6 5 4 Torque Feedforward 20 6 5 4 PI P...

Page 119: ...ired for operation overshoot or vibration may occur See 5 1 12 Torque Limiting for details 3 Position deviation threshold The excessive position deviation alarm is an effective protection function when using the servo unit for position control If the motor movement does not match the command an abnormal condition can be detected and the motor can be stopped by setting an appropriate alarm value fo...

Page 120: ... speed control 1 For speed control and use of the upper unit as position control 0 Pn175 Z Adjustment free rigidity value 0 to 9 0 Pn175 W Adjustment free load inertia 0 Small load inertia 1 Inertia of the load 2 High load inertia 0 The adjustment free rigidity values correspond to the following bandwidths Value of adjustment free rigidity Pn175 Z Description 0 Response Low 1 2 3 4 5 6 7 8 9 Respo...

Page 121: ... of adjustment free rigidity Pn175 Z Description 0 Response Low 1 2 3 4 5 6 7 8 9 Response High Precautions The adjustment free control function is valid for position control and speed control but not for torque control The motor may vibrate when used in excess of the allowable load inertia of the motor In this case turn down the no adjustment load value Pn175 W During operation perform this funct...

Page 122: ...iction compensation Type A vibration suppression control Vibration suppression 2 Command input type advanced auto tuning When the intelligent adjustment function with command input is on the following items will be adjusted Gain adjustment speed loop gain position loop gain etc Filter adjustment torque command filter notch filter Friction compensation Type A vibration suppression control Vibration...

Page 123: ...during the execution of the setting only 2 Examples of adjustments that could not be performed or failed Intelligent settings will not be executed properly in the following cases Motor is in position control during power on in servo ON when there is commanded intelligent setting When the mechanical system can only operate in one direction Narrower range of motion when under 0 5 turns When the rota...

Page 124: ...ontrol If you cannot obtain satisfactory response characteristics by intelligent setting use one touch tuning If you want to further fine tune the gain of each servo after the one touch tuning refer to Manual tuning function to perform manual tuning If the setting is not correct NO OP will be displayed in the operation and the function cannot be executed Before performing the bandwidth setting be ...

Page 125: ...example in position control the positioning time can be shortened Please use manual adjustment in the following situations When automatic adjustments cannot be successfully carried out When there is a greater need to increase the servo gain than the result of automatic adjustment When the customer wants to determine the servo gain to inertia ratio by himself herself Precautions It is recommended t...

Page 126: ...et to a higher value the response speed will increase and the time required for positioning will be reduced In general the position loop gain cannot be increased beyond the inherent vibration number of the mechanical system Therefore to set the position loop gain to a larger value you need to increase the machine rigidity and increase the inherent vibration number of the machine Fn No Parameter Ra...

Page 127: ...ange that the mechanical system does not vibrate Fn No Parameter Range Default Unit Pn101 Speed loop proportional gain 1 0 to 2000 0 40 0 Hz In order to respond to even small inputs the velocity loop contains an integral element Since this integral element is a delay element for the servo system when the time parameter is set too large overshoot occurs or the positioning time is prolonged making t...

Page 128: ...s Fn No Parameter Range Default Unit Pn104 Torque command filter time constant 0 00 to 655 35 1 00 ms Pn401 Torque command second order low pass filter cutoff frequency 100 to 5000 5000 Hz Pn402 Torque command second order low pass filter Q 0 50 to 1 00 1 00 ms Precautions Torque command second order filters are not valid at Pn401 5000 Hz and are valid at Pn401 5000 Hz The 3rd notch filter is not ...

Page 129: ...eases for the cutoff frequency Pn402 1256 Hz of the torque command 2nd order filter Precautions The above filter frequency characteristics are obtained from theoretical model calculations and simulations and there are some differences with the actual characteristics Example 3 The cut off frequency of the torque command 1st order low pass filter is 1256 Hz and the cut off frequency of the torque co...

Page 130: ...rve is shown in the figure below and the specific frequency hereinafter called the trap frequency has a notch shape This feature enables the elimination or reduction of frequency components near the trap frequency The notch filter is set by three parameters the notch filter frequency the notch filter Q value and the notch filter depth The notch filter Q and the notch filter depth D are described b...

Page 131: ...om theoretical model calculations and simulations and there are some differences with the actual characteristics Notch filter depth The notch filter depth is the depth of depression amplitude that varies depending on the trap depth setting at a certain defined notch center frequency depending on the notch filter depth D The smaller the notch filter depth value D the deeper the depression the bette...

Page 132: ...otch filter 1Q value 0 50 to 10 00 7 00 Pn155 Notch filter 1 depth 0 000 to 1 000 0 00 Pn156 Notch filter 2 frequency 50 to 5000 5000 Hz Pn157 Notch filter 2Q value 0 50 to 10 00 7 00 Pn158 Notch filter 2 depth 0 000 to 1 000 0 00 Pn159 Notch filter 3 frequency 50 to 5000 5000 Hz Pn15A Notch filter 3Q value 0 50 to 10 00 7 00 Pn15B Notch filter 3 depth 0 000 to 1 000 0 00 Pn15C Notch filter 4 freq...

Page 133: ... Positioning completion signal ON 1 Positioning completion signal OFF 2 Positioning proximity signal ON 3 Positioning proximity signal OFF 4 Position command filtered to 0 and pulse input OFF 5 Position command pulse input ON 0 Pn112 Gain switching transition time1 0 to 65535 0 ms Pn113 Gain switching transition time 2 0 to 65535 0 ms Pn114 Gain switching wait time 1 0 to 65535 0 ms Pn115 Gain swi...

Page 134: ...ection of the two gain bands for the speed and position modes Invalid switch to gain 1 Valid switch to gain 2 Level trigger P S T 2 Automatic switching The Auto switching gain is only valid for position control and the switching condition is executed by the following settings Parameters Toggle condition Switching gain Switching wait time Switching time Pn110 Y setting corresponds to switching cond...

Page 135: ...Series Servo Drive Technical Manual Chapter 6 Adjustment 18 Position loop gain Pn103 COIN Switching condition A is established Waiting times Pn113 Transition time Pn111 Second position loop gain Pn107 ON OFF ...

Page 136: ...ue of the speed feedforward gain improves the amount of speed following error when the speed control command changes smoothly if the speed control command does not change smoothly a decrease in the value of the gain reduces the operating vibration phenomenon of the mechanism When the speed feedforward gain Pn121 is close to 100 the more complete the precompensation is the smaller the dynamic track...

Page 137: ...control can be switched when the control mode is speed control or position control and in mixed control mode it is only effective when switching to speed mode and position mode PI P switching can be switched with the manual PI P control signal P CON via the switching signal and becomes P control when the P CON signal is set to ON The conditions for automatic switching can also be selected with the...

Page 138: ... Conditional on internal torque command 1 Conditional on speed command 2 Conditioned on acceleration 3 Conditioned on position deviation pulses 4 No mode switch function 0 Pn132 Speed loop PI P switching condition torque command 0 to 800 200 Pn133 Speed loop PI P switching condition speed command 0 to 10 000 0 rpm Pn134 Velocity loop PI P switching condition acceleration 0 to 30 000 0 rpm s Pn135 ...

Page 139: ...ode switch is used as the speed command the speed loop will switch to P control when the speed command exceeds the speed set in Pn133 Mode switch switching condition as acceleration command When the switching condition of the mode switch is acceleration the speed loop will switch to P control when the speed command exceeds the acceleration set in Pn134 ...

Page 140: ...Pn134 Pn134 PI P PI P PI 0 Switching condition of the mode switch as position deviation If the position deviation exceeds the value set in Pn135 when the switching condition of the mode switch is position deviation the speed loop will switch to P control It should be noted that this setting is only valid for position control ...

Page 141: ...0 to 1000 0 0 Hz Pn165 Friction compensation gain correction 0 to 1000 100 Precautions When using the friction compensation function set the rotational inertia ratio Pn100 as correctly as possible If the rotational inertia ratio is set incorrectly vibration may be caused 2 Friction compensation function operation procedure Steps Item Operations 1 Related parameter settings Pn161 100 friction compe...

Page 142: ... diagram shows the effect before and after the adjustment The effect of friction on response Low friction High friction Position deviation Pulse command speed Pulse command speed Position deviation Increased responsiveness by adding friction compensation Before friction compensation After friction compensation Precautions The higher the setting of the friction compensation gain Pn161 the better th...

Page 143: ...ion addresses the manual adjustment of the friction compensation parameters Workplatform Motor Ends Related function codes Fn No Parameter Range Default Unit Pn232 Low frequency vibration detection sensitivity Positioning completion signal threshold 0 1 to 300 0 40 0 Pn233 Low frequency vibration suppression 1 frequency A 1 0 to 250 0 50 0 0 1Hz Pn234 Low Frequency Vibration Suppression 1 Frequenc...

Page 144: ...monitoring Command speed Position deviation Calculate the vibration frequency 2 Parameter Settings Pn235 low frequency vibration suppression 2 frequency Pn235 Set the vibration frequency obtained in step 1 to Pn235 3 Comparison of adjustment effects After the suppression frequency set in step 2 check whether the suppression effect is as expected and fine tune the corresponding suppression frequenc...

Page 145: ...ying the Software Version Fn012 18 7 13 Displaying Servo Drive Model Information Fn01E 19 7 14 Motor pole position identification Fn080 20 7 15 Adjustment free function Fn200 21 7 16 Intelligent Adjustment without Command Input Fn201 22 7 17 Command Input Type Intelligent Adjustment Fn202 25 7 18 Alarm Reset Fn203 29 7 19 Type A Vibration Suppression Control Function Fn204 30 7 20 Forced Output Te...

Page 146: ... the encoder alarm 7 9 Fn010 Disable parameter writing 7 10 Fn011 Display of motor model information 7 11 Fn012 Display software version information MCU and FPGA 7 12 Fn01E Display of Servo Drive model information 7 13 Fn080 Motor pole position identification 7 14 Fn200 Turningless function 7 15 Fn201 No command input type advanced adjustment 7 16 Fn202 Advanced adjustment with command input type ...

Page 147: ...of the DOWN key displays an old alarm backwards each press of the UP key displays a new alarm backwards The larger the number in the left end digit the older the alarm displayed 4 Pressing the DATA SHIFT key displays the last 4 digits of the time when the fault occurred 5 Pressing the DATA SHIFT key displays the middle 4 digits of the time when the fault occurred 6 Pressing the DATA SHIFT key disp...

Page 148: ...djust by pressing UP or DOWN until Fn001 is displayed 3 Press the DATA SHIFT key for about 1 second then the display will be as shown on the left 4 Press the Up key to set the current display value to trCL2 blinking Press the MODE key to clear the fault record and when the fault record is cleared donE flashes and returns to the display on the left When the display is not trCL2 press the MODE key t...

Page 149: ...own on the left picture 4 Press the UP button until the display shows the figure on the left picture 5 When rst2 is displayed press the MODE key and the drive enters the reset and reboot state Pressing the MODE key while other states are displayed will cause the drive to display the no op disable operation flag 6 Press the MODE SET key and the drive will perform a software reset after the reset is...

Page 150: ...l Fn000 is displayed 2 Adjust by pressing UP or DOWN until Fn003 is displayed 3 Press the DATA SHIFT key for about 1 second then the display will be as shown on the left picture 4 Press and hold the UP key until P Int2 is displayed 5 blinking Press MODE SET to restore the user parameters to their defaults After setting is complete donE flashes for about 1 second When the MODE key is pressed while ...

Page 151: ...d as the reference point for initial entry 4 Adjust the desired tap speed by pressing UP DOWN and DATA SHIFT Note The maximum speed jogging value is 1200 rpm 5 Press the MODE SET key then the display will be as shown on the left 6 Press MODE SET to enter the servo ON state 7 Press the UP key forward rotation or DOWN key reverse rotation and the servo motor rotates at the speed set in step 4 while ...

Page 152: ...low Pn502 0 Waiting time Pn506 Forward move Pn503 Move numbers Pn507 Speed Schematic Note Set Pn507 Move numbers to 0 for an unlimited number of runs Pn502 1 Waiting time Pn506 Forward move Pn503 Move numbers Pn507 Speed Schematic Note Set Pn507 Move numbers to 0 for an unlimited number of runs Pn502 2 Waiting time Pn506 Forward move Pn503 Waiting time Pn506 Forward move Pn503 Move numbers Pn507 W...

Page 153: ...Schematic Note Set Pn507 move numbers to 0 for an unlimited number of runs ACC DEC time Pn 505 Waiting time Pn 506 Speed 0 Move distance Pn 503 Move numbers Pn 507 Waiting time Pn 506 ACC DEC time Pn 505 Move distance Pn 503 Move distance Pn 503 Waiting time Pn 506 Waiting time Pn 506 Move numbers Pn 507 Move Speed Pn 508 ACC DEC time Pn 505 Waiting time Pn 506 Move distance Pn 503 Move numbers Pn...

Page 154: ... Reverse move Pn503 Waiting time Pn506 Forward move Pn503 Move numbers Pn507 Speed Schematic Note Set Pn507 move numbers to 0 for an unlimited number of runs ACC DEC time Pn 505 Waiting time Pn 506 Move distance Pn 503 Move numbers Pn 507 ACC DEC time Pn 505 Move distance Pn 503 Waiting time Pn 506 Move speed Pn 508 Move speed Pn 508 Speed 0 ...

Page 155: ... 4 Waiting time Pn506 Forward move distance Pn503 Waiting time Pn506 reverse move distance Pn503 Move numbers Pn507 5 Waiting time Pn506 Reverse move distance Pn503 Waiting time Pn506 Forward move distance Pn503 Move numbers Pn507 Reserved No change Reserved No change Reserved No change Pn503 Program JOG move distance Address 0x0503 Default 60 000 Setting range 1 to 1073741824 Unit 1 command unit ...

Page 156: ... servo OFF state is entered and the motor stops running If the DATA SHIFT key is pressed for about 1 second during operation it returns to step 2 6 If the program JOG has finished running the blinking display shows End and returns to the left display 7 Press the DATA SHIFT key for about 1 second to return to the display of Fn004 CAUTION Please set the appropriate JOG speed value Make sure that the...

Page 157: ... to write the motor data to the encoder EEProm when the display is not Eepr2 press the MODE key the display will be When the display is not Eepr2 press MODE the display will be no op which means the writing operation is prohibited After the parameter is written successfully the panel will display donE and flash for about 1 second 6 When donE is displayed the status display of EEPr2 is returned 7 P...

Page 158: ...ying donE the display of PGCL2 is returned 7 Pressing the DATA SHIFT key returns the display to Fn008 CAUTION After setting the absolute value encoder the rotation data is the value in the range of 2 revolutions to 2 revolutions Due to mechanical system the reference position of the upper device will change Please determine the reference position of the upper device according to the set position I...

Page 159: ...larm records No Fn002 Software Reset Soft ReSet No Fn003 User parameters restored to defaults No Fn005 JOG runs No Fn006 Program JOG runs No Fn007 Motor parameter writing No Fn008 Setting initialization of the absolute encoder and reset of the encoder alarm No Fn010 Disable parameter writing Yes Fn011 Display of motor model information Yes Fn012 Display software version MCU and FPGA Yes Fn01E Disp...

Page 160: ...T key for about 1 second then the display will be as shown on the left picture 4 Press the UP DOWN key to set the corresponding value P 0000 Allow parameter change factory default P 0001 Prohibition of parameter changes 5 Press the MODE SET button to confirm the setting After successful setting DonE will flash as shown on the left picture after the display Note If a value other than P 0000 or P 00...

Page 161: ...TA SHIFT key for about 1 second displays the servo motor voltage code No Type V 0220 AC220V V 0380 AC 380V 4 Pressing the MODE SET key displays the servo motor capacity The example indicates 200W 5 Pressing the MODE SET key displays the rated current peak of the servo motor The example indicates 3 1A 6 Pressing MODE SET displays the servo motor s encoder type and resolution Encoder type Encoder re...

Page 162: ...djust by pressing UP or DOWN until Fn000 is displayed 2 Adjust by pressing UP or DOWN until Fn012 is displayed 3 Press the DATA SHIFT key for about 1 second to display the software version of the MCU A The example indicates that the MCU software version is 3101 4 Press MODE SET to display the software version of the FPGA F The example indicates that the FPGA software version is 3001 5 Press the DA...

Page 163: ...el display Keys used Operations 1 Press the MODE SET key to select the auxiliary function Adjust by pressing the UP and DOWN keys until Fn000 is displayed 2 Adjust by pressing the UP or DOWN key until Fn01E is displayed 3 Press the DATA SHIFT key for about 1 second to display the servo drive code which corresponds to the following table Code Rated current Rated voltage L011A 1 1A 220V L018A 1 8A 2...

Page 164: ...SET key to display the current level for pole recognition the initial default value is 40 0 in 0 1 5 Press the UP DOWN and DATA SHIFT keys to adjust the desired current which can be adjusted from 20 0 to 120 0 6 blinking Press the MODE SET key to start the pole position and encoder recognition During the recognition process the digital tube is alternately on and off Note During recognition the cur...

Page 165: ...n without adjustment 5 Press UP or DOWN to select the rigidity value The higher the number the higher the gain and the higher the response Notes If the stiffness value is too high vibration may occur so reduce the stiffness value When a high frequency sound occurs press the DATA SHIFT button to automatically adjust the frequency of the notch filter to the vibration frequency 6 Press the MODE SET k...

Page 166: ...ment torque command filter notch filter Friction compensation A type vibration suppression control Vibration suppression 1 Pre implementation recognition matters Be sure to check the settings before performing intelligent adjustment If the settings are not correct NO OP will be displayed and the function cannot be performed The parameter prohibition function Fn010 is not set to Writing prohibition...

Page 167: ...is used Since the factory setting of Pn192 is 100 the redundant maximum is adjusted to the same overshoot amount as the preposition completion threshold If it is changed to 0 adjustment can be made when overshoot occurs within the positioning completion width However the positioning time may be extended after changing this value 4 Setting of relevant parameters before adjustment Moving distance Pn...

Page 168: ...stitution type 1 Conveyor construction 2 Ball Screw Structure 3 Rigid system Use parameter selection during adjustment 0 Current value 1 Default 6 Press the MODE SET key to enter the inertia recognition interface as shown in the figure on the left The drive enters the ON state and the motor locks the shaft 7 blinking Inertia recognition is started by pressing the UP button 8 After the normal recog...

Page 169: ...esult will be updated and saved in Eeprom and after successful saving Done will be displayed on the blinking screen and after about two seconds the symbol t 9 will be displayed as shown on the left After about two seconds the symbol t 9 is displayed as shown on the left picture 12 Press the DATA SHIFT key for about 1 second to return to the Fn201 state Note During the process of making adjustments...

Page 170: ...ms will be adjusted Gain adjustment speed loop gain position loop gain etc Filter adjustment torque command filter notch filter Friction compensation Type A vibration suppression control Vibration suppression 1 Pre implementation recognition matters Be sure to check the settings before performing intelligent adjustment If the settings are not correct NO OP will be displayed and the function cannot...

Page 171: ...ponding selector switches Inertia recognition switch 0 No identify 1 Identify Mode Selection 1 Combining responsiveness and stability tuning 2 Positioning specific adjustments 3 Overshoot suppression on the basis of position specific adjustment Institution type 1 Conveyor construction 2 Ball Screw Structure 3 rigid system Parameter selection 0 current value 1 default value Note In the commanded ty...

Page 172: ... adjustment in progress 8 After completing the advanced adjustment in step 7 the End symbol will flash and after about two seconds of display the symbol t 8 will be displayed as shown on the left picture 9 When you are satisfied with the result in step 8 above press the MODE SET button then the corresponding tuning result will be updated and saved in Eeprom and after successful saving Done will be...

Page 173: ...P or DOWN until Fn000 is displayed 2 Adjust by pressing UP or DOWN until Fn203 is displayed 3 Press the DATA SHIFT key for about 1 second to display the symbol as shown on the left 4 Press the UP key until A rst2 is displayed as shown on the left 5 blinking Press the MODE SET key and the drive will clear the relevant alarm after clearing is complete while donE is displayed flashing for about 1 sec...

Page 174: ...utside the detection range cannot be detected so set the notch filter by turning on single parameter tuning or use the vibration suppression function Increasing the damping gain of the A type vibration suppressor can improve the vibration suppression effect but a large damping gain alone may increase vibration While determining the damping effect gradually increase the damping gain setting by 10 i...

Page 175: ...DATA SHIFT keys to adjust the current vibration suppression damping value While checking the damping effect gradually increase the damping gain setting by 10 in the range of 0 to 200 If the damping gain reaches 200 and the damping effect is still not obtained terminate the setting and reduce the control gain by single parameter adjustment 10 Press the DATA SHIFT key for about 1 second to exit The ...

Page 176: ...ations shall be achieved when enforcing the output The parameter prohibition function Fn010 is not set to Prohibit writing Servo is OFF 2 Operation steps The procedure is shown below Steps Panel display Keys used Operations 1 Press the MODE SET key to select the auxiliary function Adjust by pressing the UP and DOWN keys until Fn000 is displayed 2 Adjust by pressing the UP or DOWN key until Fn300 i...

Page 177: ...SD710 Series Servo Drive User s Manual Chapter 7 Auxiliary Functions 33 assist meritorious deed or service capable 2 CN1 4 5 Y 2 3 CN1 2 3 Y 3 4 CN1 1 26 Y 4 5 CN1 27 28 Y 5 ...

Page 178: ... function Adjust by pressing UP or DOWN until Fn000 is displayed 2 Adjust by pressing UP or DOWN until Fn301 is displayed 3 Press the DATA SHIFT key for about 1 second to display the symbol as shown on the left picture 4 Press the UP key until P CLr2 is displayed as shown on the left picture 5 blinking Press the MODE SET key and the drive will clear the relevant variables after clearing is complet...

Page 179: ...ET to select the auxiliary function Adjust by pressing UP or DOWN until Fn000 is displayed 2 Adjust by pressing UP or DOWN until Fn302 is displayed 3 Press the DATA SHIFT key for about 1 second to display the symbol as shown on the left picture 4 Press the UP key until E CLr2 is displayed as shown on the left 5 blinking Press the MODE SET key and the drive will clear the relevant variables after c...

Page 180: ...ress the DATA SHIFT key for about 1 second to enter the setting interface related to one touch tuning which is displayed as shown in the figure on the left picture 4 The UP DOWN and Data Shift keys are used to adjust the corresponding selector switches Tuning set strength 0 Focus on stability 1 Focus on responsive Rigid type 1 Belt drive 2 Ball screw drive 3 Direct connection of rigid body without...

Page 181: ...vershoot may occur during adjustment To ensure safety perform in a state where an emergency stop is always possible this feature If you want to further fine tune each servo gain after single parameter tuning perform manual tuning Depending on the selected adjustment mode the one touch tuning operation proceeds as follows When Tuning Mode 0 or 1 the model tracking control is disabled and adjustment...

Page 182: ...re is shown below Steps Panel display Keys used Operations 1 Press MODE SET to select the auxiliary function Adjust by pressing UP or DOWN until Fn000 is displayed 2 Adjust by pressing UP or DOWN until Fn304 is displayed 3 Press the DATA SHIFT key for about 1 second to display the symbol as shown on the left picture 4 Press the UP button until orG S2 is displayed as shown on the left picture 5 bli...

Page 183: ...unction Fn010 is not set to prohibit writing Main circuit power ON No alarms have occurred Servo is OFF The encoder is a multi turn absolute encoder 2 Related function codes Pn030 Absolute position limit single turn maximum internal soft limit Address 0x0030 Default 0 Setting range 2 31to 2 131 Unit instruction unit Mode P S T Pn032 Absolute position limiting multi turn maximum internal soft limit...

Page 184: ... the desired tap speed by pressing UP DOWN and DATA SHIFT Note The maximum speed value is 1200rpm 5 Press the MODE SET key then the display will be as shown on the left and enter the positive limit point setting status Adjust the corresponding load to the positive limit point with the UP or DOWN key 6 Press the MODE SET key to set the current positive limit point Also enter the negative limit poin...

Page 185: ...10 is not set to disable writing The driver is not enabled The motor mounted encoder manufacturer is Tamagawa i e PnF15 X 2 and the encoder model number is TS5700N8401 or TS5700N8501 PnF15 Rotary Motor Types Encoder Manufacturers Address 0x0F15 Default 0000 Setting range 0x0000 0x FFFF Unit N A Mode P S T Encoder manufacturers 0 Do not distinguish manufacturers 1 NK 2 DMC 3 RY Rotary Motor Type 0 ...

Page 186: ...t picture 8 Press the DATA SHIFT key for about 1 second to return to the Fn400 display 7 27 EasyFFT Fn401 The EasyFFT function transmits the periodic waveform command from the servo driver to the servo motor allowing the servo motor to rotate slightly several times within a certain period of time causing the machine to vibrate The servo driver detects the resonant frequency based on the vibration ...

Page 187: ...nitial setting of 15 If you increase the command amplitude the detection accuracy will increase but the vibration and noise generated by the machine will become larger in a short period of time When changing the command amplitude gradually increase the vibration amplitude and adjust it while observing The set command amplitude is saved in the Pn723 5 Press the DATA SHIFT key for about 1 second and...

Page 188: ... the command amplitude gradually increase the amplitude value and observe the situation while making the change 9 Press MODE SET to automatically set the resonant frequency for detection When the notch filter is set normally donE flashes and the display returns to the left After the 1st band notch filter frequency has been set the 2nd band notch filter frequency Pn156 is automatically set in Pn150...

Page 189: ...o select the auxiliary function Adjust by pressing the UP and DOWN keys until Fn000 is displayed 2 Adjust by pressing the UP or DOWN key until Fn207 is displayed 3 Press the DATA SHIFT key for about 1 second and F is displayed 4 blinking Press the MODE SET key F will start flashing and the frequency detection will start automatically 5 F stops flashing and the frequency checkout ends If the detect...

Page 190: ...thod 5 8 4 Input Signal X Status Monitoring 6 8 4 1 Display Steps 6 8 4 2 Judgment Method for Display 6 8 5 Output Signal Y Status Monitoring 8 8 5 1 Display Steps 8 8 5 2 Judgment Method for Display 8 8 6 Absolute Encoder Position Information Display 9 8 7 Clearable Monitor Function Code 10 8 8 Partial Monitoring Function Code Details 10 ...

Page 191: ...xE008 Un009 Position deviation valid only for position control user units int32 0xE009 Un00A Cumulative load rate value relative to rated torque at 100 displaying valid values for 10s cycles uint16 0xE00A Un00B Regenerative load factor value at 100 of the regenerative power that can be processed showing the regenerative power consumption for a 10s cycle uint16 0xE00B Un00D Effective gain monitorin...

Page 192: ... chip temperature ambient temperature 0 1 C uint16 0xE10D Un140 DC bus voltage 1V uint16 0xE140 Un141 Current detection value RMS 0 1 A uint16 0xE141 Un142 Cumulative load rate value relative to rated torque at 100 displaying valid values for 2ms cycles 0 1 uint16 0xE142 Un143 Regenerative load accumulation value 0 1 uint16 0xE143 Un144 DB load accumulation value uint16 0xE144 Un203 Set abnormal p...

Page 193: ...rm int16 0xE805 Un806 Input command pulse speed when alarm rpm int16 0xE806 Un807 Deviation counter when alarm position deviation pulse int32 0xE807 Un808 Main circuit bus voltage when alarm V uint16 0xE808 Un809 RMS value of the current feedback when alarm A int16 0xE809 Un80A Cumulative load rate when alarm 2ms uint16 0xE80A Un80B Regenerative load rate when alarm 2ms uint16 0xE80B Un80C Power c...

Page 194: ...d 3 occurrence time 0 1s uint32 0xE836 Un838 Alarm record 4 occurrence time 0 1s uint32 0xE838 Un83A Alarm record 5 occurrence time 0 1s uint32 0xE83A Un83C Alarm record 6 occurrence time 0 1s uint32 0xE83C Un83E Alarm record 7 occurrence time 0 1s uint32 0xE83E Un840 Alarm record 8 occurrence time 0 1s uint32 0xE840 Un842 Alarm record 9 occurrence time 0 1s uint32 0xE842 Notes In the table above ...

Page 195: ...mple to illustrate how to read 32 bit data decimal display Steps Panel display Keys used Operations 1 Press MODE SET to select the auxiliary function Adjust by pressing UP or DOWN until Un000 is displayed 2 Adjust by pressing UP or DOWN until Un008 is displayed 3 last 4 digits If you press the DATA SHIFT key for about 1 second the last 4 digits of the data are displayed 4 middle 4 Pressing the DAT...

Page 196: ...steps The procedure for displaying the input signal SI is shown below Steps Panel Display Keys used Operations 1 Press MODE SET to select the auxiliary function Adjust by pressing UP or DOWN until Un000 is displayed 2 Adjust by pressing UP or DOWN until Un100 is displayed 3 Press the DATA SHIFT key for about 1 second to display the symbol as shown on the left picture 4 Press MODE SET to return to ...

Page 197: ...es Servo Drive User s Manual Chapter 8 Monitoring Parameters 7 Display LED number CN1 input pin number Signal Name 1 CN1 9 X1 2 CN1 10 X2 s3 CN1 34 X3 4 CN1 8 X4 5 CN1 33 X5 6 CN1 32 X6 7 CN1 12 X7 8 CN1 30 X8 9 ...

Page 198: ...UP or DOWN until Un000 is displayed 2 Adjust by pressing UP or DOWN until Un101 is displayed 3 Press the DATA SHIFT key for about 1 second to display the symbol as shown on the left picture 4 Press MODE SET to return to the display on the left picture 8 5 2 Judgment methods for display The assigned output signal is indicated by the lighted status of the drive s panel operator s digital tube When t...

Page 199: ...oder is 24 bits the amount of pulses converted to encoder units is EncFbk 500 x 224 100000 8388708000 Decimal 0x00000001F40186A0 Hexadecimal Then Un603 is shown as Un605 is shown as When using an absolute encoder when the monitoring function code shows a multi turn value Un011 is 500 a single turn value Un010 is 100000 and the encoder is 24 bits the amount of pulses converted to encoder units is E...

Page 200: ...mber s 8 8 Detailed description of some monitoring function codes Un00B Regenerative load factor value at 100 of the regenerative power that can be processed showing the regenerative power consumption for a 10s cycle Unit 1 Communication address 0xE00B Parameter Description This function code is used to record the accumulated value of heat generated by regenerative braking after the servo drive s ...

Page 201: ...lished Un017 Encoder Z signal output number Unit Communication Address 0xE017 Parameter Description This function code is used to record the number of servo drive encoder Z signal outputs The recording method is absolute number actual number of outputs Note Auto zero when re powered or press the UP DOWN keys on the keypad at the same time to clear Un018 Encoder Z signal one way output number Unit ...

Page 202: ...Bit5 Speed loop control method Bit6 Speed command rotation signal speed mode Bit7 Maximum torque reached Internal signal status 02 Bit8 Fully closed loop semi closed loop state Bit9 CN5 port 5V power output status Bit10 Mode key status Bit11 Up key status Internal signal status 03 Bit12 Down key status Bit13 Set key status Bit14 Reserved Bit15 Reserved Caution Bit6 Speed command rotation signal In...

Page 203: ...al signal status 11 Bit4 Speed loop PI P switching Bit5 Torque limiting selection Bit6 Absolute location information request Bit7 Speed direction Internal signal status 12 Bit8 Internal speed option A Bit9 Internal speed option B Bit10 Control mode selection Bit11 Zero speed clamp Internal signal status 13 Bit12 Pulse Prohibition Bit13 Gain Switching Bit14 Torque direction selection Bit15 Pulse co...

Page 204: ...orque triggering Internal signal status 21 Bit4 Reserved Bit5 Fully closed loop semi closed loop switching options Bit6 Forward JOG Bit7 Negative JOG Internal signal status 22 Bit8 Internal built in trigger Bit9 Internal position 0 Bit10 Internal location 1 Bit11 Internal position 2 Internal signal status 23 Bit12 Internal position 3 Bit13 Home return enable Bit14 Mechanical home signal Bit15 Rese...

Page 205: ...peed consistency Bit3 Motor rotation Internal signal status 31 Bit4 Torque limiting in Bit5 Speed limiting in Bit6 Brake holding signal Bit7 Warning signal Internal signal status 32 Bit8 Location close to Bit9 Command pulse input multiplier switching Bit10 Fault signal Bit11 Target torque reached Internal signal status 33 Bit12 Home return completed Bit13 Reserved Bit14 Reserved Bit15 Reserved Un0...

Page 206: ...ng error 3 Confirmation error 4 Bit hidden error 5 Bit obvious error 6 CRC error 7 Set by software 1 Can Receive Error Register 0 to 255 The implementation part of the Can protocol fault isolation mechanism this counter is incremented by 1 if an error occurs during reception After each successful reception this counter is decremented by 1 and reset to 120 if its value is greater than 128 when the ...

Page 207: ...on to 0xE030 Parameter Description This function code is used to record the current operating status of the servo drive so that it is easy for the upper computer and other devices to read the current working status of the drive through communication When the drive is running in different working states different data is displayed to indicate the current state the drive is in specifically Current o...

Page 208: ...ames 0 off 1 active Bit6 Reserved Bit7 Reserved Reserved Reserved Un142 Regenerative load accumulation value Unit 0 1 Communication address 0xE00A Parameter Description This function code is used to record that the servo drive has accumulated the regenerative load and the accumulated value is the heat generated and dissipated during the whole process The drive generates an ER 920 warning when the ...

Page 209: ...3 Position Parameters Pn2xx 42 9 4 Speed parameters Pn3xx 58 9 5 Torque Parameters Pn4xx 65 9 6 Auxiliary Parameters Pn5xx 70 9 7 Terminal Parameters Pn6xx 72 9 8 Extended Parameters Pn7xx 80 9 9 Motion Control Parameters Pn8xx 92 9 10 Drive Parameters PnExx 104 9 11 Motor Parameters PnFxx 119 ...

Page 210: ...0 Standard pulse type 1 CanOpen type 2 EtherCAT type Motor type 0 Rotating motors 1 Reserved 2 Virtual motors Parameter Description Control mode selection Used to set the command signal source of the drive Position mode selects the command source by function code Pn200 speed mode selects the command source by function code Pn300 torque mode selects the command source by function code Pn400 Drive m...

Page 211: ...ed parameters do not use Reserved parameters do not use Pn002 Motor rotation direction selection Communication address 0x0002 Factory value 0x0000 Setting range 0x0000 0x0001 Unit N A Control mode P S T For setting the use of the absolute encoder with battery Setting value Instructions Note 0 Forward rotation in CCW direction counterclockwise 1 With CW direction as forward direction clockwise Faci...

Page 212: ...and Gr 1 alarm Communication address 0x0004 Factory value 0x0002 Setting range 0x0000 0x0002 Unit N A Control mode P S T Used to set how drive will stop when OFF and when a Type 1 fault alarm is generated Setting value Instructions Note 0 Stopping the motor by means of DB dynamic brake Model related 1 Stop the motor via DB then disengage DB Model related 2 No DB set motor to free run Default Pn005...

Page 213: ... Fan runs immediately when servo is enabled When the servo is OFF the fan runs when the temperature exceeds 45 C and stops when it is less than 42 C 2 When servo is enabled the fan runs immediately when servo is OFF the fan stops immediately 3 Forced closure 4 Forced open Pn007 Stop method in case of drive overtravel OT Communication Address 0x0007 Factory value 0x0001 Setting range 0x0000 0x0002 ...

Page 214: ...Control mode P S T Parameter Description When the servo motor is stopped the brake BK signal and the servo ON S ON signal are turned off at the same time By setting this function code the time from when the servo ON S ON signal is turned off to when the motor actually enters the non energized state can be changed When used for vertical axes the self weight or external force of the mechanical movin...

Page 215: ...OFF brake command wait time The brake will act when either of the following conditions holds When the motor enters a non energized state the motor speed is lower than the motor speed setting when the electromagnetic brake hold is released When the motor enters the non energized state after the servo OFF brake command wait time Caution When the stop method for alarm occurrence is zero speed stop th...

Page 216: ...the holding brake can be set to control the time from when the servo receives the ON signal to when the motor actually enters the energized state When used for vertical axis the self weight of the mechanical moving part or external force may cause slight movement of the machine and by setting this function code the holding brake can be released after the motor enable state Caution For a single tub...

Page 217: ...input Speed detection method selection 0 Speed detection method 1 1 Speed detection method 2 motor speed will become smooth Absolute position limit switches soft limit switches 0 Absolute position soft limit invalid 1 Absolute position soft limit active set by function codes Pn030 and Pn032 2 Absolute position soft limit valid set via object dictionary 607Dh Caution Absolute soft limit switches ca...

Page 218: ...he following conditions are in effect 1 The motor encoder is an absolute encoder PnF00 W 1 2 Use the absolute encoder normally Pn040 1 The range of the absolute encoder multi turn count is 32768 32767 beyond which an ER C21 fault is generated The absolute value multi turn overflow fault detection will turn itself off when the rotation turn limit function Pn276 not 0 is turned on The driver and mot...

Page 219: ...dered as low alignment so two input pulses are considered as one pulse Calculation method the maximum pulse frequency sent by the user s upper unit mount is f kHz then Pn011 40000 f 1 Note The custom time is calculated based on when the hardware filter is turned off and the custom time is adjusted according to the actual working conditions after the hardware filter is actually turned on Pn012 Exte...

Page 220: ...ommunication address 0x0013 Factory value 0 Setting range 0 to 65535 Unit 1Ω Control mode P S T Parameter Description When an external regenerative resistor is connected the regenerative resistor resistance value is set to a value that matches the connected external regenerative resistor Caution The minimum regenerative resistance value allowed to be connected to each power section varies see Sett...

Page 221: ...e reduced Note that the detection value of the overload instantaneous maximum alarm ER 710 cannot be changed Motor base current after rating reduction Motor base current Motor overload detection base current derating setting Terminology Description Motor base current motor current threshold to start calculating overload alarms Motor overload detection base current derating setting value the rated ...

Page 222: ...on limit minimum and maximum values are interchanged Only for absolute encoder type motors Pn033 Absolute position limit minimum value internal soft limit Communication address 0x0033 Factory value 0 Setting range 2 31to 2 31 1 Unit Encoder unit Control mode P S T Pn035 Absolute position limiting multi turn minimum value internal soft limit Communication address 0x0035 Factory value 32768 Setting ...

Page 223: ... exiting soft limit state Pn039 Deceleration stop time at servo OFF DEC Communication address 0x0039 Factory value 0 Setting range 0 10000 Unit 1ms Control mode P S T Parameter Description Actual deceleration time 𝑇𝑎𝑟𝑔𝑒𝑡 𝑠𝑝𝑒𝑒𝑑 𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑠𝑝𝑒𝑒𝑑 Deceleration time Pn039 Actual Speed Pn039 Maximum Speed ON OFF Caution When Pn039 is set to 0 the deceleration stop function is disabled when the servo is OFF...

Page 224: ... a battery undervoltage warning or fault alarm Pn041 Absolute encoder alarm alarm selection in case of battery undervoltage Communication address 0x0041 Factory value 0x0000 Setting range 0x0000 0x0001 Unit N A Control mode P S T For setting the use of the absolute encoder with battery Setting value Instructions Note 0 Set battery undervoltage to alarm Er 830 1 Setting battery undervoltage as a wa...

Page 225: ...neously performs torque limiting via Pn046 and Pn047 Pn046 Torque limiting during main circuit descent Communication address 0x0046 Factory value 50 Setting range 0 to 100 Unit 1 Control mode P S T Parameter Description Percentage relative to the rated torque of the motor Pn047 Torque limit release time when main circuit is down Communication address 0x0047 Factory value 100 Setting range 0 1000 U...

Page 226: ...ward and reverse rotation by setting the value with function code Pn051 3 Pn051 Pn0052 Set the maximum torque value for forward rotation via function code Pn051 Set the maximum torque value for reverse via function code Pn052 4 OFF Pn054 The torque limit value is selected via an external terminal When TL SEL is low OFF function code Pn054 sets the value to limit the maximum torque value for forwar...

Page 227: ...odel determination Setting range 0 to 500 Unit 1 Control mode P S T Parameter Description The output torque can be limited for the purpose of protecting the machine etc Internal torque limiting is a limiting method in which the maximum output torque is always limited by a parameter Note 1 The setting unit is a percentage relative to the rated torque of the motor 2 When the torque limit setting is ...

Page 228: ...etection function is turned off Pn057 Speed thresholds for stall speed detection Communication address 0x0057 Factory value 20 Setting range 0 to 200 Unit 1 Control mode P S T Parameter Description When the current torque is greater than the Pn056 set threshold and the speed is greater than the Pn057 set threshold the stall speed detection function is on Note This speed value is relative to the ma...

Page 229: ...meter Description Z pulse is a pulse sent by the encoder following the motor shaft rotation for one week which is used to determine the zero position or mark position The servo driver provides Z pulse output width adjustable function which is used to widen the Z signal of the encoder to meet the needs of different upper units so that the user becomes more flexible in selecting upper motion control...

Page 230: ...and in CN1 2 The source is the high speed pulse instruction in CN1 3 The source is a fully closed loop encoder signal with optical scale Reserved parameters do not use Reserved parameters do not use Pn073 Absolute encoder data request signal ABS_En filtering time Communication address 0x0073 Factory value 0 Setting range 0 to 32 Unit ms Control mode P S T Parameter Description This filtering time ...

Page 231: ...th in 10us FF Parameter Description This function code is used for the function setting where the upper computer needs to calculate the number of revolutions of the motor by the Z signal of the encoder For example as shown below for each revolution of the motor the encoder Z signal is output when the encoder single turn counter is 0 And in actual use there may be a motor zero speed lock with a sin...

Page 232: ...l encoders If the adjustment of the single turn resolution is lower than the actual encoder resolution the actual encoder resolution is used as the reference Pn07F Serial encoder multi turn and fault clearing Communication Address 0x007F Factory value 0x0000 Setting range 0x0000 0xFFFF Unit N A Control mode P S T Parameter Description This function code is used for multiple turns of the serial enc...

Page 233: ...ue 1 Setting range 0 to 255 Unit N A Control mode P S T Parameter Description This function code is used to set the drive axis address 0 Broadcast address the upper computer can write to all drives through the broadcast address the drive receives the frame of the broadcast address to operate accordingly but does not respond 1 to 255 When multiple Servo Drives are networked each Drive can only have...

Page 234: ...bits data 1 stop bit N 8 1 1 Even parity 8 bits of data 1 stop bit N 8 1 2 Odd parity 8 bits data 1 stop bit O 8 1 3 No parity 8 bit data 2 stop bits N 8 2 4 Even parity 8 bit data 2 stop bits N 8 2 5 Odd parity 8 bit data 2 stop bits N 8 2 CAN communication baud rate 0 20K 1 50K 2 100K 3 125K 4 250K 5 500K 6 1000K 1M Reserved parameters please do not change Caution The baud rate and communication...

Page 235: ... 1 Storage CanOpen Newsletter 0 No storage 1 storage Reserved parameters please do not change Reserved parameters please do not change Parameter Description If the changed parameters do not require power down storage please set the corresponding function to not store otherwise a long time to change the function code data in large quantities and store it into the Eeprom will cause the Eeprom to be ...

Page 236: ...pping source address Communication Address 0x0088 Factory value 0x0000 Setting range 0x0000 to 0x1FFF Unit N A Control mode P S T Pn089 1 register mapping destination address Communication address 0x0089 Factory value 0x0000 Setting range 0x0000 to 0x1FFF Unit N A Control mode P S T Pn08A 2 register mapping source address Communication Address 0x008A Factory value 0x0000 Setting range 0x0000 to 0x...

Page 237: ...tion time constant ASR_Ki Communication address 0x0102 Factory value 20 00 Setting range 0 15 to 512 00 Unit ms Control mode P S T Parameter Description Sets the integration time of the speed regulator ASR_Ki which determines the responsiveness of the speed control loop The smaller the ASR_Ki value setting the higher the speed loop response frequency and the better the follow through for speed com...

Page 238: ... be suppressed without changing the control parameters BW Gain Frequency BW Gain Frequency As the torque command filter time parameter is gradually adjusted from 0 to a larger one the corresponding BW point will become smaller and smaller Of course the problem of resonant frequency generation will be solved but the bandwidth and phase boundaries of the system response will be reduced at the same t...

Page 239: ...loop integration time constant Communication address 0x0106 Factory value 20 0 Setting range 0 15 to 512 00 Unit ms Control mode P S T Pn107 2nd position loop proportional gain Communication to 0x0107 Factory value 40 0 Setting range 1 0 to 2000 0 Unit 1 s Control mode P S T Pn108 2nd torque command filter time constant Communication address 0x0108 Factory value 1 00 Setting range 0 00 to 655 35 U...

Page 240: ...signal COIN OFF 2 Positioning proximity signal NEAR ON 3 Positioning proximity signal NEAR OFF 4 Position command filter output equals 0 and command input OFF 5 Position command pulse input ON Reserved parameters please do not change Reserved parameters please do not change Pn112 Gain switching time1 Communication address 0x0112 Factory value 0 Setting range 0 to 65535 Unit ms Control mode P S T P...

Page 241: ...is effective when the Servo Drive is performing position control The speed feedforward is a command generated by differentiating the position command from the upper unit When the position control command changes smoothly the gain value is increased to improve the amount of position following error If the position control command is not smooth decreasing the position feedforward gain value will red...

Page 242: ...he vibration reduced If a larger value is entered it will become a delay element and reduce the corresponding performance causing the loop response to slow down Pn130 Speed loop P PI control switch Communication address 0x0130 Factory value 0x0000 Setting range 0x0000 0x0114 Unit N A Control mode P S T Speed loop P PI control switch selection 0 Conditioned on internal torque command Correlation va...

Page 243: ...ition deviation Communication address 0x010F Factory value 0 Setting range 0 10000 Unit 1 command unit Control mode P S T Pn140 Type A vibration suppression control switch Communication address 0x0140 Factory value 0x0010 Setting range 0x0000 0x0011 Unit N A Control mode P S Type A vibration suppression control switch selection 0 No use of Type A vibration suppression control 1 Use of Type A vibra...

Page 244: ...range 1 0 to 2000 0 Unit Hz Control mode P S T Pn143 Type A vibration damping gain Communication address 0x0143 Factory value 0 Setting range 0 to 300 Unit Control mode P S T Pn144 Type A vibration suppression filter constant 1 compensation Communication address 0x0144 Factory value 0 Setting range 10 00 to 10 00 Unit ms Control mode P S T Pn145 Type A vibration suppression filter constant 2 compe...

Page 245: ...nsation function 1 Using the friction compensation function Pn151 Notch filter function switch 2 Communication address 0x0151 Factory value 0x0101 Setting range 0x0000 0x0101 Unit N A Control mode P S T Notch filter 1 adjustment selection 0 Segment 1 notch filter is not automatically adjusted by the auxiliary function 1 Segment 1 notch filter automatically adjusted by auxiliary function Reserved p...

Page 246: ... 0 000 Setting range 0 000 to 1 000 Unit N A Control mode P S T Pn156 Frequency of notch filter 2 Communication address 0x0156 Factory value 5000 Setting range 50 to 5000 Unit Hz Control mode P S T Pn157 Q value of the notch filter 2 Communication address 0x0157 Factory value 0 70 Setting range 0 50 to 10 00 Unit N A Control mode P S T Pn158 Depth of notch filter 2 Communication to 0x0158 Factory ...

Page 247: ...ilter When the frequency of the notch filter is set to 5000 the notch filter is invalid Pn15D Q value of the notch filter 4 Communication Add 0x015D Factory value 0 70 Setting range 0 50 to 10 00 Unit N A Control mode P S T Pn15E The depth of the notch filter 4 Communication Add 0x015E Factory value 0 000 Setting range 0 000 to 1 000 Unit N A Control mode P S T Pn161 Friction compensation gain Com...

Page 248: ...djustment free invalid 1 M Adjustment free valid Speed control method in adjustment free 0 Used for speed control 1 For speed control and use of the upper unit as position control Adjustment free rigidity value 0 Rigidity value 0 Response Low 1 Rigidity value 1 2 Rigidity value 2 3 Rigidity value 3 4 Rigidity value 4 5 Rigidity value 5 6 Rigidity value 6 7 Rigidity value 7 8 Rigidity value 8 9 Rig...

Page 249: ...Factory value 0x0000 Setting range 0x0000 0x0002 Unit N A Control mode P Motor abnormal vibration detection switch 0 Non detectable vibration 1 Warning after detection of abnormal vibrations Er 911 2 Fault issued after detection of abnormal vibration Er 520 Reserved parameters please do not change Reserved parameters please do not change Reserved parameters please do not change Pn186 Motor abnorma...

Page 250: ...ion during normal operation Pn192 Position overshoot detection sensitivity relative positioning completion during advanced tuning Communication address 0x0192 Factory value 100 Setting range 0 to 100 Unit Control mode P S T Pn193 Exploring maximum gain during advanced tuning Communication address 0x0193 Factory value 300 0 Setting range 1 0 to 400 0 Unit Hz Control mode P S T ...

Page 251: ...ng selection 0 Pulse filter 1 52Kpps 9 6us 1 Pulse filter 2 104Kpps 4 8us 2 Pulse filter 3 208Kpps 2 4us 3 Pulse filter 4 416Kpps 1 2us 4 Pulse filter 5 832Kpps 0 6us 5 Pulse filter 6 1664Kpps 0 3us 6 Pulse filter 7 3328Kpps 0 15us 7 Pulse filter 8 4Mpps 0 125us 8 Pulse filter time Pn011 setting Reserved parameters please do not change Reserved parameters please do not change Caution The maximum p...

Page 252: ... 1 Negative logic reverse Reserved parameters please do not change Reserved parameters please do not change Reserved parameters please do not change Pn203 External pulse command multiplier Communication address 0x0203 Factory value 1 Setting range 1 to 100 Unit x 1 Control mode P Parameter Description Used to process the corresponding multiplier for external pulse commands which can be switched vi...

Page 253: ...thing it out with an S curve or low pass filter For example when the electronic gear ratio is equal to 1 the motor encoder enters at 10 000 ppr per week and when the electronic gear ratio is equal to 0 5 every two pulses on the command side corresponds to one pulse wave of motor rotation The servo motor is prone to surge when set incorrectly so the user should set the electronic gear ratio reasona...

Page 254: ...on the current position until after the current position segment is completed and is not effective when the next position segment is executed When an external pulse command is used the electronic gear ratio change is immediately applied to the input pulse The setting range of the electronic gear ratio is 0 001 Electronic gear ratio N M 64000 the ER d04 fault alarm occurs when this setting range is...

Page 255: ... in the position command Cautions When set to 0 the position command linear filtering function is turned off Pn220 Gap compensation function switch Communication address 0x0220 Factory value 0x0000 Setting range 0x0000 0x0011 Unit N A Control mode P Gap compensation function switch 0 Close 1 Turn on Direction of backlash compensation 0 Positive compensation 1 Reverse compensation Reserved paramete...

Page 256: ...anism Pn220 Y 0 forward compensation Pn220 Y 1 negative compensation Pn221 Tooth gap compensation amount О Communication address 0x0221 Factory value 0 0 Setting range 5000 0 to 5000 0 Unit 0 1 command unit Control mode P Pn223 Gap compensation filtering time constant О Communication address 0x0223 Factory value 10 00 Setting range 0 00 to 100 00 Unit ms Control mode P Gear Gap Position instructio...

Page 257: ...requency vibration suppression 1 frequency A О Communication address 0x0233 Factory value 50 0 Setting range 1 0 250 0 Unit Hz Control mode P Pn234 Low Frequency Vibration Suppression 1 Frequency B О Communication address 0x0234 Factory value 70 0 Setting range 1 0 250 0 Unit Hz Control mode P Pn235 Low Frequency Vibration Suppression 2 Frequency О Communication address 0x0235 Factory value 200 0 ...

Page 258: ... Model tracking control gain О Communication address 0x0241 Factory value 50 0 Setting range 1 0 2000 0 Unit 1 s Control mode P Pn242 Model Tracking Control Gain Correction О Communication address 0x0242 Factory value 100 0 Setting range 50 0 200 0 Unit Control mode P Pn243 Model tracking control speed feedforward compensation О Communication address 0x0243 Factory value 100 0 Setting range 0 0 10...

Page 259: ...tion address 0x0248 Factory value 0x0011 Setting range 0x0000 0x0011 Unit N A Control mode P S T MFC control type selection 0 Control with Type I MFC 1 Controlled with Type II MFC Type of adjustment exemption 0 Use Type I debugging free 1 Use Type II debugging free Reserved parameters please do not change Reserved parameters please do not change Pn260 Position Proximity Signal Near Threshold О Com...

Page 260: ...eshold О Communication address 0x0262 Factory value 7 Setting range 0 1073741824 Unit instruction unit Control mode P Parameter Description The signal is output when the difference between the number of command pulses of the upper unit and the servo motor movement position deviation is lower than the Pn262 setting Notes The parameter has no effect on the final positioning accuracy If the set value...

Page 261: ...g range 10 100 Unit Control mode P Parameter Description This parameter sets the excessive position deviation warning threshold when the current position deviation value Pn264 Pn266 100 When the current position deviation value is the drive generates a position deviation too large warning Pn267 Maximum threshold for fault with excessive position deviation at servo ON О Communication address 0x0267...

Page 262: ...0002 Unit N A Control mode P In position mode used to set how the position deviation generated by the drive is cleared setpoint instructions note 0 Position deviation cleared at high level H 1 Clear position deviation at rising edge 2 Position deviation cleared at low level L 3 Clearing position deviations on falling edge Position deviation clear CLR signal status Rising edge clearing Falling edge...

Page 263: ...a rotary table In order to keep the number of rotations of the motor to the number of rotations of the turntable as an integer ratio and to avoid fractions the upper limit of the number of rotations is used Pn201 is 0 Pn201 is not 0 Cautions Setting of the upper limit of the number of rotations valid only when using absolute encoders When Pn201 0 the upper limit setting for the number of rotation ...

Page 264: ... the shaft end the motor rotates counterclockwise CCW Facing the shaft end the motor rotates clockwise CW Pn277 0 Pn277 1 Cautions When the motor rotation direction Pn277 is set incorrectly an abnormal absolute position is caused resulting in an ER 840 fault alarm Pn290 Home return mode setting О Communication address 0x0290 Factory value 0 100 Setting range 0x0000 0x23A4 Unit N A Control mode P S...

Page 265: ...int are motor Z signal 4 Forward zero return deceleration point is home switch home point is motor Z signal 5 Reverse zero return deceleration point is home switch home point is motor Z signal 6 Positive return to zero deceleration point home point for positive overtravel switch 7 Reverse zero return deceleration point home point for reverse overtravel switch 8 Forward return to zero deceleration ...

Page 266: ... find the home point or find the home point error is large Pn293 Home return acceleration deceleration time О Communication address 0x0293 Factory value 3000 Setting range 0 3000 Unit ms Control mode P Parameter Description Home return acceleration time which is the time required for the motor to accelerate from 0 rpm to 3000 rpm Home return deceleration time which is the time it takes for the mot...

Page 267: ...to set the maximum search home signal time If this function code is set too small or if the home signal is not searched for within the time set by this function code the drive will generate a home return timeout fault ER 8A1 Note When set to 0 this function is turned off 9 4 Speed parameters Pn3xx Pn300 Speed command source selection Communication address 0x0300 Factory value 0000 Setting range 0x...

Page 268: ...ions Note 0 Same direction as current speed command 1 Reverse with current speed command Pn302 Speed command low pass filtering О Communication address 0x0302 Factory value 0 40 Setting range 0 00 655 35 Unit ms Control mode S Parameter Description Applying 1 low pass filter to the speed command input makes the speed command smooth Note Valid for both internal digital analog and external analog Pn...

Page 269: ...000 10000 Unit 1rpm Control mode S Pn305 Internal speed 1 О Communication address 0x0305 Factory value 200 Setting range 10000 10000 Unit 1rpm Control mode S Pn306 Internal speed 2 О Communication address 0x0306 Factory value 300 Setting range 10000 10000 Unit 1rpm Control mode S Pn307 Internal speed 3 О Communication address 0x0307 Factory value 400 Setting range 10000 10000 Unit 1rpm Control mod...

Page 270: ...id only for internal speed commands Pn304 Pn307 Pn310 Soft start acceleration time ACC during speed control mode О Communication address 0x0310 Factory value 200 Setting range 0 10000 Unit 1ms Control mode S Pn311 Soft start deceleration time DEC during speed control mode О Correspondence to 0x0311 Factory value 200 Setting range 0 10000 Unit 1ms Control mode S ...

Page 271: ...t speed Maximum speed softstart DEC time Pn311 Pn313 Zero fixed speed threshold О Communication address 0x0313 Factory value 10 Setting range 0 10000 Unit rpm Control mode S Parameter Description The zero fix function is a function that performs servo lock when the input voltage of the speed command is lower than the speed set by the zero fix speed threshold when the zero fix signal ZCLAMP is ON I...

Page 272: ...cription Used to set the condition range of the TGON signal When the actual feedback speed of the motor is within the range set by this function code the corresponding motor rotation signal TGON outputs the corresponding signal Pn318 Maximum operating speed О Communication address 0x0318 Factory value 10000 Setting range 0 10000 Unit rpm Control mode P S Parameter Description Set the maximum opera...

Page 273: ...tween the motor feedback speed and the speed given is within the threshold value it indicates that the user speed is reached and the output of the V CMP signal assigned to the output terminal is output high ON For example Pn320 50rpm target speed is 2000rpm and motor speed is output in the range of 1950rpm 2050rpm V CMP signal Target speed Time Speed same threshold Pn320 V CMP OFF ON OFF Motor fee...

Page 274: ... Pn409 Z setting 1 1 Pn409 W setting 4 Single trigger mode 5 Reserve Reserve Speed limiting source selection for torque control 0 Reserve 1 Reserve 2 Internal numeric feed mode 1 Function code Pn415 given 3 DI terminal selection given OFF Pn415 ON Pn416 4 Internal numeric feed mode 2 Positive command Pn415 Reverse Pn416 Reserved parameters please do not change Reserved parameters please do not cha...

Page 275: ...internal register torque command The logic for combining function code Pn403 with the external terminal torque command direction TPR D is as follows using the CCW direction as a positive reference Given Torque command External terminals TPR D Pn403 X Reality direction of instruction Positive instruction OFF 0 positive instruction 1 anti directive ON 0 anti directive 1 positive instruction Negative...

Page 276: ...orque command source 2 0 Internal digital give Pn411 Torque command source 3 0 Internal digital give Pn412 Torque command source 4 0 Internal digital give Pn413 Pn410 Internal torque command 1 setting value О Communication address 0x0410 Factory value 0 0 Setting range 500 0 500 0 Unit Control mode T Pn411 Internal torque command 2 setting value О Correspondence to 0x0411 Factory value 0 0 Setting...

Page 277: ... value during torque control2 О Communication address 0x0416 Factory value 1000 Setting range 0 10000 Unit rpm Control mode T Pn420 Target torque reaches set value О Communication address 0x0420 Factory value 100 0 Setting range 0 0 500 0 Unit Control mode P S T Pn421 Target torque arrival time window О Correspondence to 0x0421 Factory value 5 Setting range 0 1000 Unit ms Control mode P S T Parame...

Page 278: ...t О Communication address 0x0431 Factory value 20 Setting range 0 500 Unit rpm Control mode T Pn432 Duration after arrival of single trigger torque О Communication address 0x0432 Factory value 30 Setting range 0 500 Unit ms Control mode T Parameter Description When the actual value of the current torque reaches the set torque while the motor speed is less than the threshold value set by function c...

Page 279: ...of moves Pn536 Waiting time Pn535 reverse movement Pn531 number of moves Pn536 3 Waiting time Pn535 reverse movement Pn531 number of moves Pn536 Waiting time Pn535 forward movement Pn531 number of moves Pn536 4 Waiting time Pn535 forward movement Pn531 Waiting time Pn535 reverse movement Pn531 number of moves Pn536 5 Waiting time Pn535 reverse movement Pn531 Waiting time Pn535 forward movement Pn5...

Page 280: ...ommunication address 0x0506 Factory value 100 Setting range 0 10000 Unit ms Control mode P S T Pn507 Number of program JOG movement О Communication address 0x0507 Factory value 1 Setting range 0 1000 Unit times Control mode P S T Parameter Description Used to set the number of cycle periods during program JOG Cautions When Pn502 is set to 2 or 3 while Pn507 is set to 0 the program JOG function is ...

Page 281: ...nal X filter time is valid for all X1 to X9 The input terminal X status bit for monitoring function code Un100 monitoring is the filtered status Pn601 Input terminal X1 configuration CN1 9 О Communication address 0x0601 Factory value 0x0001 Setting range 0x0000 0x112F Unit N A Control mode P S T Function assignment value 00 Invalid 01 See Schedule 1 Input Terminal Function Definitions 2F Input ter...

Page 282: ...put terminal signal source 0 External hardware terminal X2 1 Internal software status bit given by Pn630 Bit1 Pn603 Input terminal X3 configuration CN1 34 О Communication address 0x0603 Factory value 0x0003 Setting range 0x0000 0x112F Unit N A Control mode P S T Function assignment value 00 Invalid 01 See Schedule 1 Input Terminal Function Definitions 2F Input terminal contact properties 0 Normall...

Page 283: ...ut terminal signal source 0 External hardware terminal X4 1 Internal software status bit given by Pn630 Bit3 Pn605 Input terminal X5 configuration CN1 33 О Communication address 0x0605 Factory value 0x0004 Setting range 0x0000 0x112F Unit N A Control mode P S T Function assignment value 00 Invalid 01 See Schedule 1 Input Terminal Function Definitions 2F Input terminal contact properties 0 Normally...

Page 284: ...put terminal signal source 0 External hardware terminal X6 1 Internal software status bit given by Pn630 Bit5 Pn607 Input terminal X7 configuration CN1 12 О Communication address 0x0607 Factory value 0x0007 Setting range 0x0000 0x112F Unit N A Control mode P S T Function assignment value 00 Invalid 01 See Schedule 1 Input Terminal Function Definitions 2F Input terminal contact properties 0 Normall...

Page 285: ...put terminal signal source 0 External hardware terminal X8 1 Internal software status bits given by Pn630 Bit7 Pn611 Output terminal Y1 configuration CN1 6 7 О Communication address 0x0611 Factory value 0x0001 Setting range 0x0000 0x110F Unit N A Control mode P S T Function assignment value 00 See Schedule 2 Output Terminal Function Definitions 0F Output terminal contact properties 0 Normally open...

Page 286: ...rminal signal source 0 Function Code Pn610 Distribution Signal Control 1 Function code Pn631 Bit1 bit control Pn613 Output terminal Y3 configuration CN1 2 3 О Communication address 0x0613 Factory value 0x0007 Setting range 0x0000 0x110F Unit N A Control mode P S T Function assignment value 00 See Schedule 2 Output Terminal Function Definitions 0F Output terminal contact properties 0 Normally open ...

Page 287: ...rminal signal source 0 Function code Pn614 Distribution signal control 1 Function code Pn631 Bit3 bit control Pn615 Output terminal Y5 configuration CN1 27 28 О Communication address 0x0615 Factory value 0x0000 Setting range 0x0000 0x110F Unit N A Control mode P S T Function assignment value 00 See Schedule 2 Output Terminal Function Definitions 0F Output terminal contact properties 0 Normally ope...

Page 288: ...minal X2 Bit2 Virtual input terminal X3 Bit3 Virtual input terminal X4 Internal given input terminal status group 2 Bit4 Virtual input terminal X5 Bit5 Virtual input terminal X6 Bit6 Virtual input terminal X7 Bit7 Virtual input terminal X8 Internal given input terminal status group 3 Bit8 Virtual input terminal X9 Reserved parameters do not use Pn631 Internal software gives the output terminal Y s...

Page 289: ...arameters do not use 9 8 Extended parameters Pn7xx Pn702 Advanced adjustment of the moveable range О Communication address 0x0702 Factory value 3 0 Display range 0 5 10 0 Unit circle Control mode P S T Pn705 Initial value of inertia identification О Communication address 0x0705 Factory value 300 Display range 0 20000 Unit Control mode P S T Pn706 Vibration detection threshold in inertia identifica...

Page 290: ... 1 800 Unit Control mode P S T Parameter Description Used to set the amplitude value of the EasyFFT Scan Torque command Pn740 Speed pulsation compensation function О Communication address 0x0740 Factory value 0x0000 Display range 0x0000 0x0011 Unit N A Control mode P S T Speed pulsation compensation function switch 0 No speed pulsation compensation function is used 1 Using the speed pulsation comp...

Page 291: ...pensation needs to be set accordingly Pn742 Speed pulsation compensation gain Communication address 0x0742 Factory value 80 Setting range 0 100 Unit Control mode P S T Pn743 Speed pulsation compensation component 1 frequency Communication address 0x0743 Factory value 0 Setting range 0 100 Unit N A Control mode P S T Pn744 Speed pulsation compensation 1st component amplitude value correspond to max...

Page 292: ...o 10 0 Unit Control mode P S T Pn748 Speed pulsation compensation 2nd component phase Communication address 0x0748 Factory value 0 Setting range 0 360 Unit deg Control mode P S T Pn749 Speed pulsation compensation 3rd component frequency Communication address 0x0749 Factory value 0 Setting range 0 100 Unit N A Control mode P S T Pn74A Speed pulsation compensation 3rd component amplitude value corr...

Page 293: ...74D Factory value 0 0 Setting range 10 0 10 0 Unit Control mode P S T Pn74E Speed pulsation compensation component 4 phase Communication address 0x074E Factory value 0 Setting range 0 360 Unit deg Control mode P S T Pn755 Weak magnetic control function switch О Communication address 0x0755 Factory value 0x0001 Display range 0x0000 0x0001 Unit N A Control mode P S T Weak magnetic control function 0...

Page 294: ... P S T Pn759 Weak magnetic control voltage threshold О Communication address 0x0759 Factory value 115 Setting range 50 150 Unit Control mode P S T Pn75A Maximum weak magnetic current during weak magnetic control О Communication address 0x075A Factory value 95 Setting range 50 150 Unit Control mode P S T Pn75B Main circuit voltage filtering time during weak magnetic control О Communication address ...

Page 295: ... needs such as vertical axis applications Pn780 External input power down detection signal filtering time О Communication address 0x0780 Factory value 2 Setting range 0 1000 Unit ms Control mode P S T Pn781 Drive bus over voltage point О Communication address 0x0781 Factory value Model determination Setting range 0 1000 Unit V Control mode P S T Parameter Description Set the bus voltage overvoltag...

Page 296: ...iption In order to avoid frequent access to the bus relief the number of frequent accesses to regenerative braking can be effectively reduced by this function code The value cannot be set too large too large can easily cause large fluctuations in the DC bus Pn784 Drive bus undervoltage point Communication address 0x0784 Factory value Model determination Setting range 160 500 Unit V Control mode P ...

Page 297: ...rameter Description Used to set the type of motor the drive is configured for the specific code setting is based on the value indicated in the motor nameplate mark The motor code setting is only available for photoelectric incremental encoder motors Serial encoder motor factory value 0x1000 When this function code is set to 0x1000 the drive recognizes the encoder type by itself Currently only Niko...

Page 298: ...ting to 1000 and set the corresponding value to function code Pn791 encoder type according to the actual encoder installed When the value set for Pn790 is an incremental encoder motor in the motor bank the type of encoder is set automatically and function code Pn791 is invalid Pn790 has the highest priority The drive automatically determines the type of encoder after the value in Pn790 Pn792 Motor...

Page 299: ...lues 1 Use external Pn796 to Pn79B setting values How to use the encoder Z signal latch value 0 Use internal factory setting values 1 Use external Pn79C to set the value How to use incremental encoder resolution 0 Use internal factory setting values 1 Use external Pn793 to set the value Reserved parameters do not use Pn796 Angle value when incremental encoder Hall signal WVU is 1 001 Communication...

Page 300: ...Setting range 0 0 359 9 Unit Control mode P S T Pn79B Angle value when incremental encoder Hall signal WVU is 6 110 Communication address 0x079B Factory value 60 0 Setting range 0 0 359 9 Unit Control mode P S T Pn79C Incremental encoder Z signal corresponding to angle value О Communication address 0x079C Factory value 330 0 Setting range 0 0 359 9 Unit Control mode P S T Pn79E Reserved О Communic...

Page 301: ... 0x0000 0x0000 Unit N A Control mode P Internal position command source 0 Internal multi segment position Pr command 1 Reserved Reserved parameters do not use Reserved parameters do not use Reserved parameters do not use Pn802 Internal multi stage position speed operation mode О Communication address 0x0802 Factory value 0x0000 Setting range 0x0000 0x1113 Unit N A Control mode P 3rd 2nd 1st 0th u ...

Page 302: ...ter Description When Pn802 Z 0 the DI terminal or the communication given Pr instruction is first stored in the buffer and the current instruction is executed and then the instruction given by the previous communication is taken out from the buffer When Pn802 Z 1 the communication command is executed immediately after it is given Pn803 Multi segment position speed endpoint path О Communication add...

Page 303: ...nter 1000 to force the end of home return Pn810 PR path 1 control word L О Communication address 0x0810 Factory value 0x0000 Setting range 0x0000 0x0121 Unit N A Control mode P PR Type TYPE 0 Positioning control 1 Fixed speed control Type of positioning control 0 Positioning control as incremental position 1 Positioning control as absolute position 2 Positioning control as relative position Fixed ...

Page 304: ...ition arrival function code Pn8A0 Pn8AF 7 Pn812 PR1 information О Communication address 0x0812 Factory value 0 Setting range 2 31 2 31 1 Unit N A Control mode P Pn814 PR2 control word L О Communication address 0x0814 Factory value 0x0000 Setting range 0x0000 0x0121 Unit N A Control mode P Pn815 PR2 control word H О Communication address 0x0815 Factory value 0x0000 Setting range 0x0000 0x7777 Unit ...

Page 305: ...information О Correspondence to 0x081A Factory value 0 Setting range 2 31 2 31 1 Unit N A Control mode P Pn81C PR4 control word L О Correspondence to 0x081C Factory value 0x0000 Setting range 0x0000 0x0121 Unit N A Control mode P Pn81D PR4 control word H О Communication address 0x081D Factory value 0x0000 Setting range 0x0000 0x7777 Unit N A Control mode P Pn81E PR4 information О Communication add...

Page 306: ...t N A Control mode P Pn824 PR6 control word L О Communication address 0x0824 Factory value 0x0000 Setting range 0x0000 0x0121 Unit N A Control mode P Pn825 PR6 control word H О Communication address 0x0825 Factory value 0x0000 Setting range 0x0000 0x7777 Unit N A Control mode P Pn826 PR6 information О Communication address 0x0826 Factory value 0 Setting range 2 31 2 31 1 Unit N A Control mode P Pn...

Page 307: ...ting range 0x0000 0x0121 Unit N A Control mode P Pn82D PR8 control word H О Communication address 0x082D Factory value 0x0000 Setting range 0x0000 0x7777 Unit N A Control mode P Pn82E PR8 information О Communication address 0x082E Factory value 0 Setting range 2 31 2 31 1 Unit N A Control mode P Pn830 PR9 control word L О Communication address 0x0830 Factory value 0x0000 Setting range 0x0000 0x012...

Page 308: ... H О Communication address 0x0835 Factory value 0x0000 Setting range 0x0000 0x7777 Unit N A Control mode P Pn836 PR10 information О Communication address 0x0836 Factory value 0 Setting range 2 31 2 31 1 Unit N A Control mode P Pn838 PR11 control word L О Communication address 0x0838 Factory value 0x0000 Setting range 0x0000 0x0121 Unit N A Control mode P Pn839 PR11 control word H О Communication a...

Page 309: ...range 0x0000 0x7777 Unit N A Control mode P Pn83E PR12 information О Communication address 0x083E Factory value 0 Setting range 2 31 2 31 1 Unit N A Control mode P Pn840 PR13 control word L О Communication address 0x0840 Factory value 0x0000 Setting range 0x0000 0x0121 Unit N A Control mode P Pn841 PR13 control word H О Communication address 0x0841 Factory value 0x0000 Setting range 0x0000 0x7777 ...

Page 310: ...N A Control mode P Pn848 PR15 control word L О Communication address 0x0848 Factory value 0x0000 Setting range 0x0000 0x0121 Unit N A Control mode P Pn849 PR15 control word H О Communication address 0x0849 Factory value 0x0000 Setting range 0x0000 0x7777 Unit N A Control mode P Pn890 Acceleration and deceleration time No 0 О Communication address 0x0890 Factory value 30 Display range 0 65500 Unit ...

Page 311: ...ctory value 500 Display range 0 65500 Unit ms Control mode P Pn895 Acceleration and deceleration time No 5 О Communication address 0x0895 Factory value 600 Display range 0 65500 Unit ms Control mode P Pn896 Acceleration and deceleration time No 6 О Communication address 0x0896 Factory value 800 Display range 0 65500 Unit ms Control mode P Pn897 Acceleration and deceleration time No 7 О Communicati...

Page 312: ...0000 Unit ms Control mode P Pn89C Delay time after position arrival number 4 О Communication address 0x089C Factory value 500 Display range 0 60000 Unit ms Control mode P Pn89D Delay time after position arrival number 5 О Communication address 0x089D Factory value 800 Display range 0 60000 Unit ms Control mode P Pn89E Delay time after position arrival No 6 О Communication address 0x089E Factory va...

Page 313: ...ontrol mode P Pn8A4 Internal target speed setting No 4 О Communication address 0x08A4 Factory value 300 0 Display range 0 0 6000 0 Unit rpm Control mode P Pn8A5 Internal target speed setting No 5 О Communication address 0x08A5 Factory value 500 0 Display range 0 0 6000 0 Unit rpm Control mode P Pn8A6 Internal target speed setting No 6 О Communication address 0x08A6 Factory value 600 0 Display rang...

Page 314: ...20V 0x033A 0002 SD700P 3R3A Rated current 3 3A Main circuit power supply specifications Single phase 220V 0x055A SD700P 5R5A Rated current 5 5A Main circuit power supply specifications Single phase 220V PnE01 Servo Power Communication address 0x0E01 Default value model determined Set range 0 65535 Unit W Control mode P S T nE02 Voltage level Communication address 0x0E02 Default value model determi...

Page 315: ...n address 0x0E05 Default value model determined Set range 60 0 100 0 Unit Control mode P S T Communica tion address Explanation Used to set up the temperature detection alarm threshold of the module When the temperature value of the module is greater than this threshold will issue a module overheating fault PnE06 Overload detection current Communication address 0x0E06 Default value model determine...

Page 316: ... 0x0E07 Default value model determined Set range 0x0000 0xFFFF Unit N A Control mode P S T Intermediate time of overload detection 00 Set range0 255 Unit1s FF Maximum overload detection time 00 Set range0 255 Unit1s FF Communica tion address Explanation Used to set s overload protection time No 3 No 2 No 1 No 0 X Y Z W ...

Page 317: ...Set range0 255 Unit 1 FF Maximum overload detection time fine tuning 00 Set range0 255 Unit 1 FF PnE09 Motor Overload detection time fine tuning Communication address 0x0E09 Default value model determined Set range 0x0000 0xFFFF Unit N A Control mode P S T Motor overload detection intermediate time fine tuning 00 Set range0 255 Unit 1 FF Motor Maximum overload detection time fine tuning 00 Set ran...

Page 318: ...lculated as follows FF PnE0B Built in regenerative braking resistor resistance Communication address 0x0E0B Default value model determined Set range 0 65535 Unit Ω Control mode P S T PnE0C Built in regenerative resistance capacity Communication address 0x0E0C Default value model determined Set range 0 0 6553 5 Unit Control mode P S T PnE0D Built in dynamic brake DB resistance value Communication a...

Page 319: ...se it may cause irreversible damage to the PnE11 P N voltage detection low pass filter time constant Communication address 0x0E11 Default 0 Set range 0 10000 Unit us Control mode P S T PnE12 P N voltage detection and zero adjustment Communication address 0x0E12 Default Factory setting Set range 50 50 Unit V Control mode P S T PnE13 P N voltage detection gain fine tuning Communication address 0x0E1...

Page 320: ...ection filter 0 Set range0 7 Unit 250us 7 Overvoltage alarm detection filter 0 Set range0 7 Unit 250us 7 Regenerative braking start filter time 0 Set range0 7 Unit 250us 7 Filter time at the end of regenerative braking 0 Set range0 7 Unit 250us 7 PnE15 Alarm muting switch 1 Communication address 0x0E15 Default 0x0000 Set range 0x0000 0x003F Unit N A Control mode P No 3 No 2 No 1 No 0 X Y Z W ...

Page 321: ...switch 0 off 1 on Bit2 Non standard CanOpen life protection automatic switch 0 off 1 on Bit3 Reserved Reserve Communication address Do not use Bit0 FPGA backup program running detection switch 0 off 1 on Bit1 MicroChip ESC Manual selection 0 9253 1 9252 Bit2 MicroChip ESC options 0 automatic 1 manual Bit3 Reserve Reserve Communication address Do not use PnE17 Single tube fail safe time single tube...

Page 322: ... on Bit1 Incremental encoder Z signal Er C92 Anomaly detection switch 0 off 1 on Bit2 FPGA to ARM monitoring Error Detection switch 0 off 1 on Bit3 EtherCat Automatic model detection switch 0 off 1 on System switch 2C Bit0 ACR work method 0 Method 1 1 Method 2 Bit1 Current feedback mode selection 0 Method 0 1 Method 1 Bit2 Silent mode switch 0 off 1 on Bit3 Single tube bootstrap charging manual sw...

Page 323: ...tion address 0x0E1E Default value model determined Set range 0x0000 0x00FF Unit N A Control mode P S T Permitted number of consecutive failures of serial communication 00 Set range0 255 Unit Times FF Reserve Communication address Do not use Communica tion address Explanation When the number of consecutive communication failures between the set r and the serial encoder is greater than the set value...

Page 324: ... 0x0E22 Default value model determined Set range 0 65535 Unit us Control mode P S T PnE23 Current loop integral time constant Q axis Communication address 0x0E23 Default value model determined Set range 0 65535 Unit us Control mode P S T PnE24 Current loop integral limit value D axis Communication address 0x0E24 Default 10430 Set range 0 65535 Unit N A Control mode P S T PnE25 Current loop integra...

Page 325: ...turer s permission as this may cause irrecoverable damage to the PnE29 Voltage compensation gain Communication address 0x0E29 Default value 115 Set range 0 to 300 Units Control mode P S T Communica tion address Description Set the gain value for the compensation voltage value PnE2A Carrier frequency Communication address 0x0E2A Default value type determination Set range 2000 to 16000 Unit HZ Contr...

Page 326: ...ss 0x0E2C Default value type determination Set range 0 00 to 100 00 Unit N A Control mode P S T PnE2D Current detection gain 2 Communication address 0x0E2D Default value type determination Set range 0 to 16384 Unit N A Control mode P S T PnE30 Maximum value allowed for overvoltage setting Communication address 0x0E30 Default value type determination Set range 100 to 1000 Unit V Control mode P S T ...

Page 327: ... 255 units 1 6us FF External hardware overcurrent signal filtering time 00 Set range 0 to 255 unit 1us FF PnE33 overcurrent protection thresholds Communication address 0x0E33 Default value type determination Set range 0 0 to 6553 5 Unit A Control mode P S T Communica tion address Description Set s hardware overcurrent thresholds which vary from model to model and do not change the parameters yours...

Page 328: ...cation address 0x0F00 Default value type determination Set range 0x0000 to 0x22FF Unit N A Control mode P S T Reserved do not use Voltage level code 0 Reserved 1 AC220V 2 AC 380V Encoder type 1 Multi turn absolute Coder 2 Incremental Code device or single turn absolute Code device PnF02 Motor Power Communication address 0x0F02 Default value type determination Set range 0 to 65535 Unit W Control mo...

Page 329: ...e type determination Set range 0x0000 to 0xFFFF Unit N A Control mode P S T Rated speed Set range 0 to 255 Unit 100rpm Incremental encoders Maximum speed Set range 0 to 255 Unit 100rpm Incremental encoders PnF06 Number of motor poles overspeed detection thresholds Communication address 0x0F06 Default value type determination Set range 0x0000 to 0xFF32 Unit N A Control mode P S T No 3 No 2 No 1 No ...

Page 330: ...P S T PnF08 Maximum torque Communication address 0x0F08 Default value type determination Set range 0 to 65535 Units Control mode P S T PnF09 Motor rated current peak Communication address 0x0F09 Default value type determination Set range 0 0 to 6553 5 Unit A Control mode P S T PnF0A Maximum instantaneous motor current peak Communication address 0x0F0A Default value type determination Set range 0 0...

Page 331: ...nductance Communication address 0x0F0E Default value type determination Set range 0 00 to 655 35 Unit mH Control mode P S T PnF0F Motor overload detection base current Communication address 0x0F0F Default value type determination Set range 0 to 65535 Units Control mode P S T PnF10 Intermediate current for motor overload detection Communication address 0x0F10 Default value type determination Set ra...

Page 332: ...Control mode P S T PnF15 Rotary motor types encoder manufacturers Communication address 0x0F15 Default value 0000 Set range 0x0000 to 0xFFFF Unit N A Control mode P S T Encoder manufacturers 0 No distinction between manufacturers 1 NK 2 DMC 3 RY Rotary motor types 0 Surface Mounted SPM 1 Inline IPM Reserved do not use Reserved do not use PF16 Convex pole motor inductance Lq Communication address 0...

Page 333: ...que index Unit n Range 128 to 127 10 n Rotor inertia index Unit n Range 128 to 127 10 n PnF19 Speed index Unit Power index Unit Communication address 0x0F19 Default value type determination Set range 0x0000 to 0xFFFF Unit N A Control mode P S T Power index units n 10 n Speed Index Unit n 10 n PnF1B Motor pole starting position value Communication address 0x0F1B Default value type determination Set...

Page 334: ...0x0000 to 0xFFFF Unit N A Control mode P S T Flag bit switch 1 0th place Reserved Bit 1 Reserved Bit 2 Speed feedback second filter on 0 off 1 on Bit 3 Reserved Flag bit switch 2 Bit 4 Reserved Bit 5 Reserved Bit 6 Reserved Bit 7 Reserved Reserved please do not change Reserved please do not change No 3 No 2 No 1 No 0 X Y Z W ...

Page 335: ...perating anomalies in torque mode 4 10 2 Fault and warning handling during operation 5 10 2 1 Classification of faults and warnings 5 10 2 2 Fault and warning logs 6 10 2 3 Fault and warning outputs 6 10 2 4 Historical Fault Queries 6 10 2 5 Current fault information query 7 10 2 6 List of faults 8 10 2 7 List of Warnings 10 10 2 8 Reasons for different alarms and handling methods 12 NOTE ...

Page 336: ...lag bit In the case of an invalid main circuit ready flag bit flag bit is in the not lit state the main circuit voltage needs to be monitored accordingly via the Un140 AC220V The normal monitoring value for the Un140 is 310V When the actual monitoring of the Un140 value deviates significantly from the normal value mentioned above it is necessary to measure and compare the P interval voltage and to...

Page 337: ...type of pulse Check that the external pulse type set by Pn201 is related to the upper unit Whether the position commands sent are consistent No position command entered Check if the pulse command disable function is used Use an oscilloscope to see if there is a pulse input high or low pulse to the pulse interface Upper unit sends position command Servo motor reverses The pulse command counter Un00...

Page 338: ...rom the upper computer command output device PLC motion controller etc is interrupted check whether there is an open pulse command forbidden to receive or a pulse deviation clear signal on the side Whether the motor encounters a forward reverse overtravel limit switch during operation 2 s pulse counter B Un006 and motor feedback pulse counter C Un007 are not the same caused by If the motor is equi...

Page 339: ...d command is negative Select internal digital timing Pn300 0 check Pn304 Set whether it is less than 0 Select the internal digital mixing feed Pn300 4 and check Whether the setting of Pn300 to Pn303S is less than 0 Check that the X input terminal SPD D direction signal is normal 10 1 4 Abnormal operation in torque mode After troubleshooting the above 10 1 1 Unable to enable problem the Servo panel...

Page 340: ...ing is zero speed stop with zero speed command Is the fault resettable Yes can be de activated by a fault reset No the fault cannot be lifted by a fault reset Can be lifted by fault reset means that the user can stop the panel fault display by resetting the signal Specific operation method Method 1 Press the Up Down keys on the keyboard panel at the same time Method 2 Fault reset release via auxil...

Page 341: ...onitoring Fault and warning logs are viewed by Method 1 View via the auxiliary function Fn000 Method 2 By monitoring function codes Un800 to Un842 10 2 3 Fault and warning outputs The Servo can output the current fault or warning signal flag Relevant output signals Set value 0x08 Symbols Warning Signals Trigger method Control mode Warning When this signal is on a warning signal is output High and ...

Page 342: ...s uint32 0xE83A Un83C Alarm log 6 time of occurrence 0 1s uint32 0xE83C Un83E Alarm log 7 time of occurrence 0 1s uint32 0xE83E ǞǞǞǞǞ Alarm log8 time of occurrence 0 1s uint32 0xE840 Un842 Alarm log 9 time of occurrence 0 1s uint32 0xE842 Cautions For recurring fault messages when the current fault is the same as the previous fault message and in the 30s If it occurs within the time the current fa...

Page 343: ... Un80A Cumulative load factor at the time of the alarm 2ms uint16 0xE80A ǞǞǞǞǞ Regenerative load factor when an alarm occurs 2ms uint16 0xE80B Un80C DB resistor consumes power when an alarm occurs 2ms uint16 0xE80C Spacecra ft Un80D Maximum cumulative load factor at the time of the alarm uint16 0xE80D Un80E Rotational inertia ratio at the time of the alarm uint16 0xE80E Un80F Number of serial Code...

Page 344: ...overtemperature Gr 1 Yes ER 450 Digital input terminal X function assignment repeat Gr 2 Yes ER 451 Digital output terminal Y function assignment repeat Gr 2 Yes ER 452 Abnormal distribution of analogue signal ai in torque mode Gr 2 Yes ER 520 Vibration faults Gr 2 Yes ER 521 Vibration during free adjustment Gr 2 Yes ER 710 instant overload Gr 2 Yes ER 711 Instantaneous motor overload Gr 2 Yes ER ...

Page 345: ...d01 Excessive position deviation at ServoON Gr 1 Yes ER D02 Excessive position deviation due to speed limitation during ServoON Gr 1 Yes ER d03 Excessive mixing deviation excessive deviation between motor feedback position and optical scale Gr 2 Yes ER d04 Electronic gear ratio setting Overrun Gr 1 Yes ER E03 Zero return setting Exception CanOpen EtherCAT mode Gr1 No ER E05 Operating modes not sup...

Page 346: ...signals are given For normal use the positive or negative jog signal is given separately ER 940 ServoON signal anomaly Enabled when bus voltage is not established When the DC bus voltage has not yet been established the enable signal SON is given via the input terminals or the internal register For normal use wait until the bus voltage has been established before assigning the corresponding enable...

Page 347: ...that can cause data storage malfunctions After initializing the parameters setting value and resetting the function code parameters it still occurs frequently Take measures to prevent noise disturbance 5 Servo unit failure Reset function parameters after multiple initialization the corresponding fault still occurs It is possible that the servo is faulty Replace the servo Error code ER 021 Function...

Page 348: ...izations the corresponding fault still occurs It is possible that the servo is faulty Replace the servo Error code ER 023 MCU and FPGA communication exception Reason During the initialization process the MCBU writes relevant data to a specific address of the FPGA and then reads the relevant data from the specific address to verify the normal status of the address bus data bus and relevant signals ...

Page 349: ...ogram JOG movement speed Pn508 3 Due to changes in the electronic gear ratio or the servo motor encoder resolution the advanced adjustment does not move at the required speed range Decrease the value of the electronic gear ratio Error code ER 050 Wrong combination of motor capacities Reason The capacity of the motor and do not match Treatment Reasons Confirmation method Handling measures 1 The cap...

Page 350: ...ne if the insulation is poor 3 Motor burnout Check that the resistance between the wires of the motor is balanced If it is not balanced the motor needs to be replaced 4 Poor contact with the motor power cable Check whether the connector terminals of U V and W of the motor connection are off If loose and dislodged tighten 5 The gain setting is not reasonable and vibration occurs during motor operat...

Page 351: ...istance value regeneration resistance capacity 3 The set capacity is less than the capacity of the actual external regeneration resistor Confirm the connection and capacity value of regeneration resistor Calibration of the capacity value of the regeneration resistor 4 The external regeneration resistor has too large a resistance Check that the regeneration resistance value is correct Correctly set...

Page 352: ...ower for lightning strikes and measure if the input power is stable and meets the above specifications After connecting the surge suppressor switch on the control power and mains power and replace the Servo if a fault still occurs 3 Failure of the built in braking resistor If the built in brake resistor is used confirm whether B2 B3 is connected reliably with wires if so measure the resistance val...

Page 353: ...t value 380V Treatment Reasons Confirmation method Handling measures 1 The main circuit power supply is unstable or a momentary power failure occurs Check the input power specifications and measure the input voltage on the side of the main circuit L1 L2 L3 for compliance with the following specifications AC220V Valid values 220V 240V Allowable deviation 10 196V 264V AC380V Valid values 380V 440V A...

Page 354: ...he same function is assigned to different digital inputs x or the assigned function is abnormal Treatment Reasons Confirmation method Handling measures 1 The same function is assigned to different input terminals x Check that function codes Pn601 YX Pn609 YX are set to the same function number Readjust input terminal X which has been assigned the same function number to assign a different function...

Page 355: ...e torque command and the speed limit command in torque mode Check that the analogue input signal 1 is used as a torque command and also as a source for speed limitation in torque mode Check that the analogue input signal AI2 is used as a torque command and also as a source for speed limitation in torque mode Correct setting of the torque command source and the speed limit command source in torque ...

Page 356: ...1 2 1 Canopen performance parameters 7 11 2 2 Network configuration parameters 8 11 2 3 Service data objects SDO 11 11 2 4 Process data objects PDO 15 11 2 5 Synchronous objects SYNC 19 11 2 6 Emergency object service EMCY 20 11 2 7 Control mode 21 11 2 8 Object dictionary 31 11 2 9 Canopen transmission abort code 62 11 3 Canopen object group 2000h description 90 11 4 Canopen fault code definition...

Page 357: ...le if you send 30H you can directly input 30H into the packet 2 Baud rate Setting range 4800bps 9600bps 19200bps 38400bps 57600bps 115200bps 3 Data frame format The data frame format for RTU mode is as follows Table 11 1 RTU Data Frame Format Start bit position address command data CRC check Stop bit T1 T2 T3 T4 1 byte 1 byte N bytes 2 bytes T1 T2 T3 T4 4 03H command code reads N consecutive words...

Page 358: ... data 00H Number of data 00H 02H 02H byte number 04H CRC check code 40H Data content 1st word high byte 00H 34H Data content 1st word low byte 64H Data content 2nd word high byte 01H Data content 2nd word low byte 90H CRC check code BEH 1CH 7 RTU mode check code calculation RTU mode uses CRC Cyclical Redundancy Check to detect error values The calculation of the CRC detection value is illustrated ...

Page 359: ...H Command 03H Start data address 00H high byte 04H low byte Number of data in word 00H 02H CRC check low 85H CRC check high CAH 8 Error message The driver replies with the corresponding error code to the master when a command error function code address exception and CRC check error are sent from the master 11 1 2 Communication related settings 1 Related function codes Function code Name Setting r...

Page 360: ...ervo drive can communicate with the master computer at one time If two or more Servo Drives upload data at the same time bus contention will occur Not only will this result in communication failure but it may also cause high currents to some components and damage them 3 Grounding and termination Terminal resistors of 120Ω are to be used for the termination of RS485 networks to weaken the reflectio...

Page 361: ...o read or write the corresponding register address without changing some specific register address in the existing configuration software HMI or PLC program in the process of using 485 communications PLC R W register value Register mappingsource address Register mapping destination address Address Mapping Servo Drive Driver Register Management Module Related Function Code Function code Name Settin...

Page 362: ...t s 250 Kbit s 125Kbit s 100 Kbit s 50 Kbit s 20 Kbit s Maximum number of stations 63 CAN frame length 0 to 8 Application layer CAN frame type standard frame Terminal resistor 120Ω Supported sub protocols CiA 301 Canopen Application Layer and Communication Protocol Supported Services NMT Network Management SDO Service Data Object PDO Process Data Object SYNC Synchronization Generator PDO Transmiss...

Page 363: ...cription of COB ID Composition 10 9 8 7 6 5 4 3 2 1 0 Function Code Node ID Each of Canopen s communication objects has a default COB ID that can be read and partially modified through SDO The list of objects is shown in Table 11 10 below Table 11 10 Object COB ID communication object Function Code Node address COB ID Corresponding object index Network management 0000b 0 0h Synchronized objects 00...

Page 364: ...ere is one and only one Network Management System NMT master in the entire Canopen network that can configure the Canopen network including itself The Network Management System NMT message format is shown in Table 11 12 Table 11 12 NMT Message Format COB_ID RTR Data bytes 0 1 0x000 0 command word Node_ID The COB_ID of the NMT message is fixed to 0x000 The data area consists of two bytes the first ...

Page 365: ...terval of remote frames received for monitoring the slave Node protection follows a master slave model where each remote frame must be answered The objects associated with node lifetime protection include the protection time 100Ch and the lifetime factor 100Dh The value of 100Ch is node protection remote frame interval under normal circumstances Unit ms and the product of 100Ch and 100Dh determine...

Page 366: ...ve monitoring the master considers the master dropped if it does not receive the heartbeat messages within the object 1016 Sub index time Object 1016h sub index time master producer time 2 otherwise it causes the slave to mistakenly consider the master as dropped Each object of the slave sends a heartbeat message at 1017h time and the master that monitors the slave and does not receive the heartbe...

Page 367: ...ssage is shown in table 11 20 Table 11 20 SDO Transmission Messages COB ID 0 1 2 3 4 5 6 7 600h Node_ID command code index Sub index data area 580h Node_ID index Sub index data area For example The data area needs to send or receive data as 32 bit 0x11223344 which is arranged as 44 33 22 11 when sending or receiving 1 SDO accelerated write transmission message For reading and writingienot higher t...

Page 368: ...SDO which is 16 bits and the data 64h is written to this object the data command is sent as Frame format Cob_ID 0 1 2 3 4 5 6 7 data frame 601 2B 05 20 01 64 00 If the parameter is written successfully the returned data frame is Frame format Cob_ID 0 1 2 3 4 5 6 7 data frame 581 60 05 20 01 2 SDO accelerated read transmission messages The SDO read data operation is accelerated when the object mess...

Page 369: ...ode_ID is 1 Read factory parameter P204 2002h 05 with SDO and send the following command Frame format Cob_ID 0 1 2 3 4 5 6 7 data frame 601 40 02 20 05 If the drive electronic gear ratio is 16777216 10000 i e Pn204 16777216 the data frame returned under normal conditions is frame format Cob_ID 0 1 2 3 4 5 6 7 data frame 581 4B 02 20 05 00 00 00 01 ...

Page 370: ...t not exceed 8 bytes The mapping configuration process for PDO is as follows Start Invalid PDO Eliminate original mapping content Write to PDO mapping content Total number of objects written to this PDO map Valid PDO END The highest bit of COB_ID of PDO is written 1 Write 0 to the subindex 0 of the mapped object Define the mapping object according to the mapping object The number of mappings is wr...

Page 371: ...ation parameters and the mapping parameters This servo drive is designed with 4 RPDO and 4 TPDO to implement the data transmission of PDO and the list of related objects is shown in Table 11 24 Table 11 24 List of PDO Objects Name COB_ID Communication object Mapping object RPDO RPDO1 200h Node_ID 1400h 1600h RPDO2 300h Node_ID 1401h 1601h RPDO3 400h Node_ID 1402h 1602h RPDO4 500h Node_ID 1403h 160...

Page 372: ...ication parameter 1800h to 1803h to prevent the CAN network from being continuously occupied by a PDO with a lower priority The time unit of this parameter is 125us and after setting the value the transmission interval of the same TPDO must not be smaller than the time corresponding to this parameter For example if the prohibition time of TPDO1 is 16 the minimum transmission interval of TPDO1 is 2...

Page 373: ... Table 11 26 PDO Mapping Parameter Content Definitions Bits 31 16 15 8 7 0 Definition index Sub index Object Length Bit length 08h 8 bit 10h 16 bit 20h 32 bit For example RPDO1 mapping object 6040h RPDO1 Figure 11 7 RPDO1 Mapping TPDO1 mapping object 6041h TPDO1 Figure 11 8 TPDO1 Mapping ...

Page 374: ...ta to each slave and each slave that receives a control command from the master only saves the command temporarily and the master sends out a synchronous object SYNC broadcast message only after all the slave commands have been sent After receiving the synchronous object SYNC messages all the slaves that support synchronous transmission mode will simultaneously execute the previously received cont...

Page 375: ...0 1 2 3 4 5 6 7 0x80 Node_ID error code error register Reserved auxiliary byte Note The error register is always the same as 1001h 1 When an abnormality occurs in communication the error code remains the same as required by the DS301 and the auxiliary byte is zero in the event of a communication abnormality 2 When an abnormality specified by the user occurs the error code is 0xFF00 and the auxilia...

Page 376: ... Control word 6040h Bit Name Description 0 Servo Ready Switch On 0 invalid 1 valid 1 Turn on main circuit power Enable Voltage 0 invalid 1 valid 2 Quick Stop 0 valid 1 invalid 3 Servo operation Enable Operation 0 invalid 1 valid 4 New Set Point Rising edge triggers a new target position 5 Change Set Immediately 0 not immediately updated 1 immediately updated 6 Absolute position command Relative po...

Page 377: ...eed RW UINT32 Command unit s 0 to 232 1 0x6083 00 acceleration RW UINT32 Command unit s2 0 to 232 1 0x6084 00 deceleration RW UINT32 Command unit s2 0 to 232 1 Before using profile position mode set the drive to position mode Pn000 X 0 and select the position command source as Canopen given Pn200 3 The profile position mode operation setup procedure is shown in the following table Item Steps Param...

Page 378: ...f g S1 S2 Figure 11 11 Timing sequence diagram for immediate update mode of relative position command value The timing sequence diagram shown in Figure 11 11 corresponds to the operational steps shown in the following table Steps Item Operations 1 Position command assignment Assign a value to 607Ah given the target position 2 Position command trigger 6040h Bit5 1 given an immediate update position...

Page 379: ...ely Control word Bit6 Absolute relative selection Statusl word Bit12 Set Point Acknowledge Status word Bit10 Target Reach Position command value New Position Speed T a b c d e f g h S1 S2 Figure 11 12 Timing sequence diagram for non immediate update mode of relative position command value The timing sequence diagram shown in Figure 11 12 corresponds to the operational steps shown in the following ...

Page 380: ...h 11 2 7 2 Profile speed mode pv In profile speed mode the master transmits the required target speed acceleration time and deceleration time to the servo drive which performs speed and torque regulation Speed control Torque control M S Actual position value 0x6064 Actual speed value 0x606C Actual torque value 0x6077 Target speed 0x60FF Profile acceleration 0x6083 Profile deceleration 0x6084 Figur...

Page 381: ...and is updated immediately in profile speed mode and its timing sequence diagram is shown in Figure 11 14 0 1000 2000 Speed command value a b Spee d T Figure 11 14 Timing sequence diagram for profile speed mode operation The timing sequence diagram shown in Figure 11 13 corresponds to the operational steps shown below Steps Item Operations 1 Speed command giving After the speed command is given th...

Page 382: ...NT16 1 0x6087 0x00 Torque ramp time RW UINT32 ms 0 to 2 32 1 Before using the profile torque mode set the drive to position mode Pn000 X 2 and select the position command source as Canopen given Pn400 X 5 The following table shows the operating procedure for the profile speed mode Item steps Parameter input Status word display 6041h Servo Enable 0 0 0x8240 1 6040h 0x06 0x8221 2 6040h 0x07 0x8233 3...

Page 383: ...O UINT16 0 to 65535 0x6040 00 control word RW UINT16 0 to 65535 0x6041 00 status word RO UINT16 0 to 65535 0x6060 00 operating mode RW INT8 0 to 10 0x6061 00 Mode Display RO INT8 0 to 10 0x6064 00 Physical position feedback RO INT32 command unit 0x606C 00 Actual speed feedback RO INT32 Command unit s 0x6067 00 Position reaches threshold RO UINT32 User units 0x6098 00 Home return method RW INT8 1 t...

Page 384: ... curve Position control Speed control Torque control M S Actual position value 0x6064 Actual speed value 0x606C Actual torque value 0x6077 Periodic unit 0x60C2_02 Interpolation period 0x60C2_01 Absolute position 0x60C1_1 Curve Figure 11 17 Block diagram of interpolation mode control Position T t0 t1 t2 t3 Synchronization period Position Period Figure 11 18 Schematic diagram of interpolation positi...

Page 385: ... Interpolation position absolute position value RW INT32 command unit INT32 0 60C2 01 Interpolation period value RW UINT8 UINT8 1 02 Interpolation cycle unit RW INT8 INT8 3 The interpolation command values are generated through the master computer planning and each synchronization cycle the master computer plans the interpolation command values and sends them to the servo drive to control the moto...

Page 386: ...ue Int8 128 to 127 1 byte 2 Uint8 0 to 255 1 byte 5 Int16 32768 to 32767 2 bytes 3 Uint16 0 to 65535 2 bytes 6 Int32 2147483648 to 2147483647 4 bytes 4 Uint32 0 4294967295 4 bytes 7 String ASCII 9 Read Write Type see Table 11 29 for details Table 11 29 Description of Read and Write Types Read Write Type Description RW Read and Write WO Write only RO Read only CONST Constant read only Object struct...

Page 387: ...es Uint8 RO N 1h Consumer Heartbeat Time Uint32 RW N 2h Consumer Heartbeat Time Uint32 RW N 3h Consumer Heartbeat Time Uint32 RW N 4h Consumer Heartbeat Time Uint32 RW N 1017h Producer heartbeat time VAR Uint16 RW N 1018h Device Object Description REC 0h Support for maximum Sub indexes Uint8 RO N 1h Manufacturer ID Uint32 RO N 2h Device Code Uint32 RO N 3h Device revision number Uint32 RO N 1029h ...

Page 388: ...RPDO4 maximum Sub index Uint8 RO N 1h RPDO4COB ID Uint32 RW N 2h Type of transmission of RPDO4 Uint8 RW N 3h Prohibited time not supported Uint16 RW N 4h Reserved Uint8 RW N 5h Event timer not supported Uint16 RW N 1600h RPDO1 mapping parameters REC 0h Number of valid mappings for RPDO1 Uint8 RW N 1h RPDO1 mapping object 1 Uint32 RW N 2h RPDO1 mapping object 2 Uint32 RW N 3h RPDO1 mapping object 3...

Page 389: ...um Sub index Uint8 RO N 1h TPDO2COB ID Uint32 RW N 2h TPDO2 transmission type Uint8 RW N 3h Prohibition time Uint16 RW N 4h Reserved Uint8 RW N 5h event timer Uint16 RW N 1802h TPDO3 Parameters REC 0h TPDO3 maximum Sub index Uint8 RO N 1h TPDO3COB ID Uint32 RW N 2h TPDO3 Transmission Type Uint8 RW N 3h Prohibition time Uint16 RW N 4h Reserved Uint8 RW N 5h event timer Uint16 RW N 1803h TPDO4 param...

Page 390: ... 2 Uint32 RW N 3h TPDO4 Mapping Object 3 Uint32 RW N 4h TPDO4 Mapping Object 4 Uint32 RW N 11 2 8 3 List of 6000h cluster objects The Canopen6000h group object dictionary assignment is shown in the following table Index Sub index Name Access rights Mapping option Data type Unit Range Default 6039 00 error code RO Y UINT16 UINT16 6040 00 control word RW Y UINT16 UINT16 0 6041 00 status word RO Y UI...

Page 391: ...que value RO Y INT16 0 1 INT16 607A 00 Target position value RW Y INT32 command unit INT32 0 607C 00 Home return bias RW Y INT32 command unit INT32 0 607D 01 Software limit min RW Y INT32 command unit INT32 2 31 02 Software limit maximum RW Y INT32 command unit INT32 2 31 607F 00 Maximum speed limit RW Y UINT32 0 1rpm UINT32 50 000 6080 00 Maximum motor speed RO Y UINT32 rpm UINT32 6081 00 Profile...

Page 392: ...32 command unit INT32 0 60C2 01 Interpolation period value RW Y UINT8 UINT8 1 02 Interpolation cycle unit RW Y INT8 INT8 3 60F 4 00 User position deviation RO Y INT32 command unit INT32 60FC 00 Motor position command RO Y INT32 Encoder units INT32 60FD 00 Digital input status RO Y UINT16 UINT16 60FE 00 Number of digital outputs RO N UINT8 1 1 01 Digital output status RO Y UINT16 UINT16 0 60FF 00 P...

Page 393: ...tion Include error type information by bit as in the following table bit description bit description 0 common 4 communications 1 current 5 Sub protocols 2 currents 6 Reserved 3 temperature 7 Manufacturer Definition When an error occurs the corresponding bit of the error is 1 and bit 0 must be 1 whenever there is an error Object 1003h index 1003 h Name Pro defined Error Field Object structure ARR D...

Page 394: ...ator does not operate Activates the sync generator when 0x40000080h is written The sync cycle period 1006h must be configured to be non zero before activating the sync generator Object 1006h index 1006 h Name Synchronization Cycle Period Communication Cycle Period Object structure VAR Data type Uint32 Data range Uint32 Mapping option NO accessibility RW Default 0 Function description The cycle tim...

Page 395: ...dex of the save area and no other value can be saved successfully The correspondence of writing is as follows MSB LSB ASCII e v a s hexadecimal 65h 76 61h 73h The corresponding Sub index read return value indicates the way in which the Sub index holds its parameters Return value format and meaning as follows MSB LSB 31 2 1 0 Reserved 0 1 0 1 value description 0 No automatic saving of parameters an...

Page 396: ... restore the default parameters Object 1014h index 1014 h Name Emergency Message COB ID COB ID Emergency Message Object structure VAR Data type Uint32 Data range Uint32 Mapping option NO accessibility RW Default 0x80 Node_ID Function description Bit31 of 0 indicates that the Emergency EMCY function is on the servo will wait to send EMCY commands Bit31 of 1 indicates that the Emergency EMCY functio...

Page 397: ...pe Uint32 Data range Uint32 Mapping option NO accessibility RW Default 0 Function description Holds all parameters of the object dictionary list Object 1017h index 1017 h Name Producer Heartbeat Time Object structure VAR Data type Uint16 Data range Uint16 Mapping option NO accessibility RW Default Function description Units ms The producer heartbeat time defines the cycle time of the heartbeat Obj...

Page 398: ...ject structure Data type Uint32 Data range Mapping option NO accessibility RO Default Function description Corresponding to the software version number 100Ah the meaning is as follows 31 16 15 0 Main Revised Version revised version MSB LSB Object 1029h index 1029 h Name Error Behavior object Error Behavior Object structure ARR Data type Uint8 Data range Uint8 Mapping option NO accessibility RW Fac...

Page 399: ...ity RO Default Function description The highest bit is 0 to indicate that the SDO is valid and the highest bit is 1 to indicate that the SDO is invalid The default SDO is always present and is a read only constant MSB LSB 31 30 to 11 100 0 1 000000000000000000000000 11 bits verification COB ID Sub index 00 h Name Number of projects Object structure Data type Uint8 Data range 2 Mapping option NO ac...

Page 400: ...2 Data range Uint32 Mapping option NO accessibility RW Default See functional description Function description Only the highest bit can be changed A 0 indicates that the PDO is valid and a 1 indicates that the PDO is invalid MSB LB 31 30 to 11 10 0 0 1 000000000000000000000000 11 bits verification COB ID The Default are as follows Node_ID defaults to 1 1400h 0x80000200 Node_ID 1401h 0x80000300 Nod...

Page 401: ...tructure Data type Uint8 Data range 0 to 4 Mapping option NO accessibility RW Default Function description Writing 0 invalidates other Sub index mapping objects Sub index 1 hto 4 h Name RPDO Mapping for the nth Application Object to be Mapped Object structure Data type Uint32 Data range Uint32 Mapping option NO accessibility RW Default Function description The mapped object content index and Sub i...

Page 402: ...e REC Data type Data range Mapping option NO accessibility RW Default Sub index 00 h Name Largest Sub index Supported Object structure Data type Uint8 Data range 0 to 4 Mapping option NO accessibility RO Default 5 Sub index 01 h Name COB ID Used by TPDO COB ID Used by TPDO Object structure Data type Uint32 Data range Uint32 Mapping option NO accessibility RW Default See functional description Func...

Page 403: ...dified if the PDO is invalid The unit is 125us Note The ban time is invalid when set to 0 Sub index 04 h Name Reserved Object structure Data type Uint8 Data range Uint8 Mapping option NO accessibility RW Default 0 Sub index 05 h Name Event Timer Object structure Data type Uint16 Data range Uint16 Mapping option NO accessibility RW Default 2 Function description This object can only be modified if ...

Page 404: ...e Data type Uint32 Data range Uint32 Mapping option NO accessibility RW Default Function description The mapped object content index and Sub indexes must exist in the object dictionary list have the attributes in a writable state and be mappable Write the corresponding mapping object in the following format MSB LSB 31 16 15 8 7 0 index Sub index Object Length TPDO default mapping content 1 TPDO1 1...

Page 405: ...on mode 0 invalid 1 valid 6 0x0040 Absolute relative position selection 0 absolute position 1 relative position 7 0x0080 Fault Reset 8 0x0100 Reserved 9 0x0200 Reserved 10 0x0400 Reserved 11 0x0800 Reserved 12 0x1000 Reserved 13 0x2000 Reserved 14 0x4000 Reserved 15 0x8000 Reserved Bit4 is a multiplexed bit for different control modes position mode indicates a new position command trigger rising e...

Page 406: ...0 Position mode 0 Allow receiving position command 1 Do not allow receiving position command Speed mode 0 non zero speed 1 zero speed Return to zero mode 0 not completed 1 return to zero is completed Interpolation mode 0 Interpolation mode is not active 1 Interpolation mode is active 13 0x2000 Home return failure flag 0 no error occurred in return to zero 1 error occurred in return to zero 14 0x40...

Page 407: ...mode 0 means the home return is not completed 1 means the home return is completed Bit13 is a position home point dedicated bit In position mode this position bit when the position deviation value exceeds the set threshold in origin mode the home return fails this position bit Bit15 is the all modes common bit The servo drive all performs home return and has completed home return this bit is set w...

Page 408: ...ult 0 Parameter Description Position feedback value in command units Object 6065h index 6065 h Name User Position Deviation Excess Threshold Following Error Window Object structure VAR Data type UINT32 Data range UINT32 Mapping option Y accessibility RW Default 60 000 Parameter Description Position deviation value threshold during motor operation in command units If the position deviation exceeds ...

Page 409: ...m Object 606Ch index 606C h Name Speed Actual Value Object structure VAR Data type INT16 Data range INT16 Mapping option Y accessibility RO Default 0 Parameter Description Actual motor running speed value in 0 1rpm Object 606Dh index 606D h Name Speed Window Object structure VAR Data type UINT16 Data range UINT16 Mapping option Y accessibility RW Default 100 Parameter Description The speed deviati...

Page 410: ...VAR Data type INT16 Data range 5000 to 5000 Mapping option Y accessibility RW Default 0 Parameter Description For profile torque mode only reflecting the torque command unit 0 1 Object 6074h index 6074 h Name Torque demand value Object structure VAR Data type INT16 Data range 5000 to 5000 Mapping option Y accessibility RO Default 0 Parameter Description Output value for profile torque mode only to...

Page 411: ... of the servo motor unit 0 1 Object 607Ah index 607A h Name Target Position Object structure VAR Data type INT32 Data range INT32 Mapping option Y accessibility RW Default 0 Parameter Description Sets the servo target position in Profile position mode unit command unit When bit 6 of control word 6040h is 0 607Ah is the target absolute position of the current segment when bit 6 of control word 6040...

Page 412: ... unit Object 607Fh Index 607Fh Name Max Profile Velocity Structure VAR Data Type Uint32 Range Uint32 Mapping Option Y Accessibility RW Default 50000 Description Set the maximum running speed Unit 0 1rpm Object 6080h Index 6080h Name Max Motor Speed Structure VAR Data Type Uint32 Range Uint32 Mapping Option Y Accessibility RO Default Maximum speed limit Description Max motor speed referring to sevr...

Page 413: ...witch or receive the Z pule singal 2 Homing when reach forward limit switch or receive the Z pule singal 3 4 Homing when reachfoward home position switch or receive the Z pule singal 5 6 Homing when reach reverse home position switch or receive the Z pule singal 7 14 Homing when reach home position switch or receive the Z pule singal 15 16 Reserved 17 30 Homing is not correlated with Z pulse signa...

Page 414: ...e Home Position Return Acceleration Time Homing Acceleration Structure VAR Data Type UINT16 Range UINT16 Mapping Option Y Accessibility RW Default 1000 Description During home position return process the acceleration time from 0rpm to the 3000ms Unit ms Object 60C1h Index 60C1h Name Interpolation data record Structure ARR Data Type INT32 Range INT32 Mapping Option Y Accessibility RW Default 0 Desc...

Page 415: ... Sub index 2 Name Interpolation period time unit Interpolation Time Index Structure VAR Data Type INT8 Range INT8 Mapping Option Y Accessibility RW Default 3 Description Set the unit of interpolation period When set 3 the unit of interpolation period is1 ms When set 4 the unit of interpolation period is 0 1ms When set 2 the unit of interpolation period is 10ms Object 60F4h Index 60F4h Name User Po...

Page 416: ...pping Option N Accessibility RO Default 1 Sub index 1 Name Physical Outputs Structure VAR Data Type Uint32 Range Uint32 Mapping Option Y Accessibility RO Default 0 Description Indicating the DI terminal logic of the drive 0 indicates invalid and 1 indicates valid 31 16 15 1 0 Factory defined Resevered Break output signal Object 60FFh Target Velocity Index 60FFh Name Digital input Structure VAR Dat...

Page 417: ...0x05040001 Invalid commands SDO only supports 0x40 0x2F 0x2B 0x23 commands 0x06010002 Attempt to write a read only object 0x06020000 The object in the object dictionary does not exist 0x06040041 Object cannot map to PDO 0x06040042 The number and length of mapped objects exceed the PDO length 0x06070010 Written length does not match written length inconsistent with object dictionary definition 0x06...

Page 418: ...Option NO Accessibility RO Default 0x0 Description The definition of each bit shown as follows Bit Definition Bit Definition 0 General 4 Communication 1 Current 5 Subprotocol 2 Voltage 6 Reserved 3 Temperature 7 Factory defined When an error occurs the value of corresponding bit will be 1 and Bit 0 must be 1 whenever there is an error Object 1008h Index 1008h Name Manufacturer Device Name Structur...

Page 419: ...roduct series and model of the e label as follows 31 16 15 0 Product Series Product Model MSB LSB Sub index 03h Name Revision Number Structure Data Type Uint32 Range Mapping Option NO Accessibility RO Default Description This parameter corresponds to the software version number 100Ah MSB LSB 31 16 15 0 Primary Version Secondary Version Object 1600 Object 1601 Object 1602 Object 1603 Index 1600h 16...

Page 420: ...able Write the corresponding sub index in the following format MSB LSB 31 16 15 8 7 0 Index Sub index Length of object RPDO Default Mapping Content 1 RPDO1 1600h Sub index Value Description 0 1 Map 1 object 1 0x60400010 Control word 2 RPDO2 1601h Sub index Value Description 0 2 Map 2 objects 1 0x60410010 Control word 2 0x60600008 Operation mode selection 3 RPDO3 1602h Sub index Value Description 0...

Page 421: ...fault Description The Index and sub index of the mapped object must be in the object dictionary list The properties shall be writable and mappable Write the corresponding mapped object in the following format 31 16 15 8 7 0 Index Sub index Length of object TPDO default mapping content 1 TPDO1 1A00h Sub index Value Description 0 1 Map 1 object 1 0x60410010 Status word 2 TPDO2 1A01h Sub index Value ...

Page 422: ...d configures the RPDOx mapped object e g 1600h c 1C12 00h write value 1 Object 1C13h Sync Manager 2 TPDO Assignment Index 1C13h Name Sync Manager 2 TPDO Assignment Structure ARR Data Type Uint16 Range Mapping Option NO Accessibility RW Default 1 Sub index 00h Name Max Sub index of Sync Manager 2 TPDO Assignment Structure Data Type Uint8 Range 0 1 Mapping Option NO Accessibility RW Default 1 Sub in...

Page 423: ...ibuted clock synchronization 0 mode Sub index 02h Name Cycle time ns Structure Data Type Uint32 Range Mapping Option NO Accessibility RO Default 0 Description Indicates the period of SYNC0 Sub index 04h Name Sync Tpye Supported Structure Data Type Uint16 Range Mapping Option NO Accessibility RO Default 4 Description Indicates the distribution clock type 0x0004 indicates the distribution clock sync...

Page 424: ...Range Mapping Option NO Accessibility RO Default Sub index 0Ch Name Cycle over count Structure Data Type Uint16 Range Mapping Option NO Accessibility RO Default Description Due to too small setting period Sub index 20h Name Synchronization error Structure Data Type BOOL Range Mapping Option NO Accessibility RO Default Description TURE Sync is active and no error occurred False Sync is not active o...

Page 425: ...scription Indicates the distribution clock type 0x0004 indicates the distribution clock synchronization 0 mode Sub index 05h Name Minimum period time ns Structure Data Type Uint32 Range Mapping Option NO Accessibility RO Default 125000 Description Indicates the minimum synchronization period supported by the slave Sub index 06h Name Calculate and copy time ns Structure Data Type Uint32 Range Mappi...

Page 426: ... is not active or no sync error occurred 11 3 6 4 6000h Parameter Group Object Details Character Descriptions Character Description HM Home position return mode CSP Periodic synchronous position mode PP Profile position mode CSV Periodic synchronous velocity mode PV Profile velocity mode CST Periodic ProfileTorque Mode PT Profile torque mode Object 603Fh HM CSP PP CSV PV CST PT Index 603Fh Name Er...

Page 427: ...n immediate update 1 Update Now Reserved Reserved Reserved 6 0 Absolute position 1 Relative position Reserved Reserved Reserved 7 Fault Reset bit7 rising edge valid bit7 is held at 1 All other control commands are invalid 8 Pause Temporarily unsupported 9 10 NA Reserved 11 15 Factory defined Reserved Object 6041h HM CSP PP CSV PV CST PT Index 6041h Name Status Word Structure VAR Data Type Uint16 R...

Page 428: ...ches the internal software position limit 12 Zero speed signal Speed mode 0 Non zero speed 1 Zero speed Position mode 0 Allow to receive new position 1 Do not allow to receive new position Home position return mode 0 Home position return not completed 1 Home position return has been completed 13 Home position return error Home position return failure flag 0 No error occurred in home position retur...

Page 429: ...l servo operation mode in the same format content as the 6060h Object 6062h HM CSP PP Index 6062h Name Position Demand Value Structure VAR Data Type Int32 Range Int32 Mapping Option Y Accessibility RO Default 0 Description Indicates real time position commands unit user unit Object 6063h HM CSP PP CSV PV CST PT Index 6063h Name Position Actual Value Structure VAR Data Type Int32 Range Int32 Mappin...

Page 430: ...on feedback 6064h is within 6067h and when the time reaches 6068h the position is considered to be arrived and bit10 1 of status word 6041h in profile position mode Object 6068h HM CSP PP Index 6068h Name Position arrival time window Position Window Time Structure VAR Data Type Uint16 Range Uint16 Mapping Option Y Accessibility RW Default 0 Description Set the time window unit 2ms for determining ...

Page 431: ... Structure VAR Data Type UInt16 Range UInt16 Mapping Option Y Accessibility RW Default 0 Description Set the time window unit 2ms for determining the validity of speed arrival If the difference between the target speed 60FFh and the actual user speed 606Ch is within 606Dh and the time reaches 606Eh the speed is considered to have arrived and bit 10 of status word 6041h is 1 in the profile speed mo...

Page 432: ... torque mode and cycle synchronous torque mode Object 6072h HM CSP PP CSV PV CST PT Index 6072h Name Maximum torque limit Structure VAR Data Type Uint16 Range 5000 5000 Mapping Option Y Accessibility RW Default 3000 Description Set the maximum output torque value of the servo drive unit 0 1 Object 6074h HM CSP PP CSV PV CST PT Index 6074h Name Torque demand value Structure VAR Data Type Uint16 Ran...

Page 433: ... absolute target position of the current segment When bit6 of control word 6040h is 1 607Ah is the target incremental displacement of the current segment Object 607Ch Index 607Ch Name Home Offset Structure VAR Data Type Int32 Range Int32 Mapping Option Y Accessibility RW Default 0 Description In the position control mode the physical position that mechanical zero point deviates from the motor orig...

Page 434: ...r units Sub index 0 Name Number of Sub index Number of Entries Structure VAR Data Type Uint8 Range 2 Mapping Option Y Accessibility RO Default 2 Sub index 1 Name Min Position Limit Structure VAR Data Type Int32 Range Int32 Mapping Option Y Accessibility RW Default 231 Sub index 2 Name Max Position Limit Structure VAR Data Type Int32 Range Int32 Mapping Option Y Accessibility RW Default 231 1 Objec...

Page 435: ...on The maximum permissible operating speed of the motor which can be obtained from the instruction manual of the servo motor unit rpm Object 6081h PP Index 6081h Name Position Profile Speed Profile Velocity Structure VAR Data Type Uint32 Range Uint32 Mapping Option Y Accessibility RW Default 10000 Description The running speed in PUU s of the uniform section reached after the completion of the acc...

Page 436: ...n Curve Structure VAR Data Type Int16 Range Int16 Mapping Option Y Accessibility RW Default Description Curve type of motor position command or speed command 0 linear Object 6087h PT Index 6087h Name Torque Slope Time Torque Slope Structure VAR Data Type Uint32 Range 0 65535 Mapping Option Y Accessibility RW Default 1000 Description Sets the torque command acceleration in profile torque mode which...

Page 437: ...y RW Default 1 Object 6091h HM Index 6098h Name Homing method Structure VAR Data Type Int8 Range 0 35 Mapping Option Y Accessibility RW Default 0 Description Select the home position return method Value Description 1 Homing when reach reverse limit switch or receive the Z pulse singal 2 Homing when reach forward limit switch or receive the Z pulse singal 3 4 Homing when reach forward home switch o...

Page 438: ...ata Type Uint32 Range 0 232 1 Mapping Option Y Accessibility RW Default 27962027 Description This Sub index is used to set the speed of searching for the deceleration point signal This speed can be set to a higher value to prevent the home position return time from being too long and causing a home position return timeout fault Sub index 2 Name Search Speed of Origin Signal Speed During Search for...

Page 439: ...sition instruction offset in the cycle synchronous position mode Unit command unit Servo target position 607Ah 60B0h Object 60B1h CSV Index 60B1h Name Velocity offset Structure VAR Data Type Int32 Range int32 Mapping Option Y Accessibility RW Default 0 Description Set the servo speed command offset in the cycle synchronous speed mode Unit command unit s Servo target speed 60FFh 60B1h Object 60B2h ...

Page 440: ...f Probe 1 and Probe 2 Bit Description Range 0 Probe 1 enable 0 Non Enablment 1 Enablement 1 Probe 1 trigger mode 0 Single Trigger 1 Continuous triggering 2 Probe 1 trigger signal selection 0 DI44 input signal 1 Z signal 3 NA 4 Probe 1 rising edge falling edge selection 0 falling edge latching 1 Rising edge latching 5 7 NA 8 Probe 2 enable 0 Non Enablment 1 Enablement 9 Probe 2 trigger mode 0 Singl...

Page 441: ... rising edge latch not executed 1 Probe 2 rising edge latch is executed 10 0 Probe 2 falling edge latch not executed 1 Probe 2 falling edge latch executed 11 13 NA 14 0 DI45 input signal 1 Z signal 15 0 DI45 is low level 1 DI45 is high level Object 60BAh Index 60BAh Name Probe 1 Rising Edge Position Feedback Touch Probe Pos1 Pos Value Structure VAR Data Type Int32 Range int32 Mapping Option Y Acce...

Page 442: ...ue limit Positive Torque Limit Structure VAR Data Type Uint16 Range Uint16 Mapping Option Y Accessibility RW Default 3000 Description Limits the maximum value of forward positive torque unit 0 1 Object 60E1h HM CSP PP CSV PV CST Index 60E1h Name Reverse torque limit Negtive Torque Limit Structure VAR Data Type Uint16 Range Uint16 Mapping Option Y Accessibility RW Default 3000 Description Limits th...

Page 443: ...tch Reverse overtravel switch Object 60FEh Index 60FEh Name Digital Output Structure ARR Data Type Uint32 Range Uint32 Mapping Option Y Accessibility RO Default 0 Sub index 0 Name Number of Sub index Number of Entries Structure VAR Data Type Uint8 Range 1 Mapping Option N Accessibility RO Default 1 Sub index 0 Name Number of Sub index Number of Entries Structure VAR Data Type Uint8 Range 1 Mapping...

Page 444: ...ata Type Uint32 Range Uint32 Mapping Option N Accessibility RO Default 6Dh Description The servo operation mode supported by the drive 0 means not supported 1 means supported Bit Description Value 0 Profile position mode 1 1 N A 0 2 Profile speed mode 1 3 Profile Torque Mode 1 4 N A 0 5 Home position return mode 1 6 Interpolation position mode 0 7 Cyclic synchronous position mode csp 1 8 Cyclic sy...

Page 445: ...Sub index Description Data Type Read Write Option Mapping Option 2000h Pn0xx Basic Control Parameter Group 00h Support max sub index Uint8 RO N 01h Pn000 Function selection basic switch 0 Uint16 RW N 02h Pn001 Function selection basic switch 1 Uint16 RW N 03h Pn002 Motor rotation direction selection Uint16 RW N RW N 82h Pn081 Local communication format Uint16 RW N 83h Pn082 EtherCat station alias ...

Page 446: ...00h Support max sub index Uint8 RO N 01h Pn600 Filtering time of digital input terminal X Uint16 RW N 02h Pn601 Digital input terminal X1 configuration Uint16 RW N RW N 31h Pn630 Internal software given the status of input terminal X Uint16 RW N 2010h Un0xx Monitoring Parameters N 00h Support max sub index Uint8 RO N 01h Un000 Motor feedback speed Int16 RO N 02h Un001 Command speed Int16 RO N RO N...

Page 447: ...tions The last two digits of the function code correspond to the Sub index The function code is a hexadecimal number and the Sub index is also a hexadecimal number Example When reading or writing function code Pn299 the corresponding object dictionary is 2002_9Ah 11 4 Canopen Fault Code Definition Code Definition Address Auxiliary Code Er 020 User Function Parameter and verification anomaly 0x6000...

Page 448: ... 0x601D 0x00000721 Er 730 DB overload 0x601E 0x00000730 Er 7A0 Drive over temperature 0x6020 0x000007A0 Er 810 Multi turn data abnormality in absolute encoder 0x6023 0x00000810 Er 820 Data verification abnormality in absolute encoder 0x6024 0x00000820 Er 830 Absolute encoder battery anomaly 0x6025 0x00000830 Er 840 Directional anomaly at the upper limit of encoder turns 0x6026 0x00000830 Er 860 Hi...

Page 449: ...x6053 0x00000D03 Er D04 Electronic gear ratio setting exceeds the limit 0x6054 0x00000D04 Er E03 Abnormal home position return mode 0x6058 0x00000E03 Er E05 Operation mode not supported by the drive 0x605A 0x00000E05 Er E20 CAN master dropout life factor 0x6064 0x00000E20 Er E21 CAN master dropout consumer time 0x6065 0x00000E21 11 5 Home Position Return Method Description Home position return met...

Page 450: ...method 2 6098 00h 2 a Start the home position return search for the forward limit at high speed forward direction encounter the forward limit rising edge decelerate to 0 search for the falling edge of forward limit at low speed reverse direction search for Z pulse in reverse direction b Start the home position return forward limit valid search for the falling edge of forward limit at low speed rev...

Page 451: ...ome position return home position signal is OFF search for the rising edge of home position signal at high speed forward direction decelerate to 0 search for the falling edge of home position signal at low speed reverse direction search for Z pulse in reverse direction a Search for the rising edge of home position signal in forward direction and then decelerate to find Z in reverse direction 3 a H...

Page 452: ...ON Search for the falling edge of home position at low speed reverse direction search for Z pulse in reverse direction 3 b L H Motor Home position signal Forward direction Home position signal Z pulse Running route b Start from home position signal and find Z in reverse direction Fig 11 37 Home position return method 3 ...

Page 453: ... direction Home position signal Z pulse Running route a Search for the home position signal in forward direction and then decelerate to find Z in forward direction b Start the home position return home position signal ON search for the falling edge of home position at low speed reverse direction search for the rising edge of home position at high speed forward direction search for Z pulse in forwa...

Page 454: ... Home position signal Forward direction Home position signal Z pulse Running route a Search for the rising edge of home position signal in reverse direction and then decelerate to find Z in forward direction b Start the home position return home position signal ON search for the falling edge of home position at low speed forward direction search for Z pulse in forward direction 5 b L H Motor Home ...

Page 455: ...ction Home position signal Forward direction 6 a Home position signal Z pulse Running route Motor H L H L a Search for the rising edge of home position signal in reverse direction and then decelerate to find Z in reverse direction b Start the home position return Home position signal ON Search for the falling edge of home position at low speed forward direction Search for the rising edge of home p...

Page 456: ... Z pulse in reverse direction Motor Home position signal Forward direction 7 a Home position signal Z pulse Running route Limit signal Limit signal H H L a Search for the home position signal in forward direction and then deceleration not encounter the limit to find Z in reverse direction b Start the home position return Home position signal ON Search for the falling edge of home position at low s...

Page 457: ...lse in reverse direction Motor Home position signal Forward direction 7 c Home position signal Z pulse Running route Limit signal Limit signal H L H L H c Forward running and encounter the forward limit search for the falling edge of home position signal in reverse direction and then decelerate to find Z in reverse direction Fig 11 41 Home position return method 7 Home position return method 8 609...

Page 458: ...rection Search for the rising edge of home position at low speed forward direction Search for the Z pulse in forward direction Motor Home position signal Forward direction 8 b Home position signal Z pulse Running route Limit signal Limit signal L L H b Start from home position signal and then find Z in forward direction c Start the home position return Home position OFF Search for the rising edge ...

Page 459: ...ction and then decelerate to find Z in forward direction Fig 11 42 Home position return method 8 Home position return method 9 6098 00h 9 a Start the home position return Home position signal OFF Search for the falling edge of home position at high speed forward direction Decelerate to 0 Search for the rising edge of home position at low speed reverse direction Search for the Z pulse in reverse di...

Page 460: ...lse in reverse direction Motor Home position signal Forward direction 9 b Home position signal Z pulse Running route Limit signal Limit signal H L H b Start from home position signal and then find Z in reverse directionc Start the home position return Home position OFF Search for the falling edge of home position at high speed forward direction Touch the forward limit Search for the rising edge of...

Page 461: ...rn Home position signal OFF Search for the falling edge of home position at high speed forward direction Decelerate to 0 Search for the rising edge of home position at low speed reverse direction Search for the falling edge of home position at low speed forward direction Search for the Z pulse in forward direction Motor Home position signal Forward direction 10 a Home position signal Z pulse Runni...

Page 462: ...ectionc Start the home position return Home position OFF Search for the falling edge of home position at high speed forward direction Touch the forward limit Search for the rising edge of home position at high speed reverse direction Decelerate to 0 Search for the falling edge of home position at low speed forward direction Search for the Z pulse in forward direction Motor Home position signal For...

Page 463: ...irection 11 a Home position signal Z pulse Running route Limit signal Limit signal Motor H H L a Search for rising edge of home position signal in reverse direction and then decelerate not encounter the limit to find Z in forward directionb Start the home position return Home position signal ON Search for the falling edge of home position at low speed forward direction Search for the Z pulse in fo...

Page 464: ...e position signal Z pulse Running route Limit signal Limit signal Motor H H H L L c Reverse running and encounter the reverse limit search for the falling edge of home position signal in reverse direction and then decelerate to find Z in forward direction Fig 11 45 Home position return method 11 Home position return method 12 6098 00h 12 a Start the home position return Home position signal OFF Se...

Page 465: ... for the rising edge of home position at low speed reverse direction Search for the Z pulse in reverse direction Home position signal Forward direction 12 b Home position signal Z pulse Running route Limit signal Limit signal Motor L H L b Start from home position signal and then find Z in reverse directionc Start the home position return Home position signal OFF Search for the rising edge of home...

Page 466: ...sition return method 12 Home position return method 13 6098 00h 13 a Start the home position return Home position signal OFF Search for the falling edge of home position at high speed reverse direction Decelerate to 0 Search for the rising edge of home position at low speed forward direction Search for the Z pulse in forward direction Home position signal Forward direction 13 a Home position signa...

Page 467: ... then find Z in forward directionc Start the home position return Home position signal OFF Search for the falling edge of home position at high speed reverse direction Touch the reverse limit Search for the rising edge of home position at high speed forward direction Decelerate to 0 Search for the falling edge of home position at low speed reverse direction Search for the rising edge of home posit...

Page 468: ...ow speed reverse direction Search for the Z pulse in reverse direction 14 a H L L H Home position signal Z pulse Limit signal Home position signal Forward direction Running route Limit signal Motor a Search for falling edge of home position signal in reverse direction and then decelerate not encounter the limit to find Z in reverse directionb Start the home position return Home position signal ON ...

Page 469: ...orward direction Decelerate to 0 Search for the falling edge of home position at low speed reverse direction Search for the Z pulse in reverse direction 14 c H L H H Home position signal Z pulse Limit signal Home position signal Forward direction Running route Limit signal Motor c Reverse running and encounter the reverse limit search for the rising edge of home position signal in reverse directio...

Page 470: ...r searching for the falling edge of reverse limit at low speed forward direction b Start the home position return Reverse limit valid Stop after searching for the falling edge of reverse limit at low speed forward direction a Search for the rising edge of reverse limit in reverse direction b Start from rever limit and search for the falling edge of limit signal in forward direction Fig 11 49 Home ...

Page 471: ...erate to 0 Stop after searching for the falling edge of forward limit at low speed reverse direction b Start the home position return Forward limit valid Stop after searching for the falling edge of forward limit at low speed reverse direction a Search for the rising edge of forward limit in forward direction b Start from forward limit and search for the falling edge of limit signal in reverse dir...

Page 472: ...r the falling edge of home position at low speed reverse direction b Start the home position return Home position valid Stop after searching for the falling edge of home position at low speed reverse direction a Search for the rising edge of home position signal in forward direction and stop at the right side of edge signal b Start from the home position signal and search for the falling edge of h...

Page 473: ...r the rising edge of home position at low speed forward direction b Start the home position return Home position signal ON Search for the falling edge of home position at low speed reverse direction Stop after searching for the rising edge of home position at low speed forward direction a Search for the rising edge of home position signal in forward direction and stop at the left side of edge sign...

Page 474: ... the falling edge of home position at low speed forward direction b Start the home position return Home position signal ON Stop after searching for the falling edge of home position at low speed forward direction a Search for the rising edge of home position signal in reverse direction and stop at the left side of edge signal b Start from the home position signal and search for the falling edge of...

Page 475: ...r the rising edge of home position at low speed reverse direction b Start the home position return Home position signal ON Search for the falling edge of home position at low speed forward direction Stop after searching for the rising edge of home position at low speed reverse direction a Search for the rising edge of home position signal in reverse direction and stop at the right side of edge sig...

Page 476: ...igh speed forward direction Touch the forward limit Search for the falling edge of home position at high speed reverse direction Decelerate to 0 Search for the rising edge of home position at low speed forward direction Stop after searching for the falling edge of home position at low speed reverse direction 23 a H L Home position signal Limit signal Home position signal Forward direction Running ...

Page 477: ... for the rising edge of home position at low speed forward direction b Start the home position return Home position signal ON Search for the falling edge of home position at low speed reverse direction Stop after searching for the rising edge of home position at low speed forward direction c Start the home position return Home position OFF Search for the rising edge of home position at high speed ...

Page 478: ...home position return Home position signal OFF Search for the falling edge of home position at high speed forward direction Decelerate to 0 Stop after searching for the rising edge of home position at low speed reverse direction b Start the home position return Home position signal ON Search for the falling edge of home position at high speed forward direction Decelerate to 0 Stop after searching f...

Page 479: ...osition signal Forward direction Running route Limit signal Motor Home position signal Limit signal b Start from the home position signal and search for the falling edge of home position signal in forward direction 25 c H H L L Home position signal Forward direction Running route Limit signal Motor Home position signal Limit signal c Touch the forward limit in forward direction then search for the...

Page 480: ...ling edge of home position at low speed forward direction c Start the home position return Home position OFF Search for the falling edge of home position at high speed forward direction Touch the forward limit Search for the rising edge of home position at high speed reverse direction Decelerate to 0 Stop after searching for the falling edge of home position at low speed forward direction 26 a H L...

Page 481: ... the falling edge of home position at low speed forward direction b Start the home position return Home position signal ON Stop after searching for the falling edge of home position at low speed forward direction c Start the home position return Home position signal OFF Search for the rising edge of home position at high speed reverse direction Touch the reverse limit Search for the falling edge o...

Page 482: ...t the home position return Home position signal OFF Search for the rising edge of home position at high speed reverse direction Decelerate to 0 Search for the falling edge of home position at low speed forward direction Stop after searching for the rising edge of home position at low speed reverse direction b Start the home position return Home position signal ON Search for the falling edge of hom...

Page 483: ...in reverse direction not touch the limit signal and stop at the right side of edge signal 28 b L L Home position signal Forward direction Running route Limit signal Motor Home position signal Limit signal b Start from the home position signal and search for the falling edge of home position signal in forward direction 28 c H H L Home position signal Forward direction Running route Limit signal Mot...

Page 484: ...f home position at low speed forward direction c Start the home position return Home position signal OFF Search for the falling edge of home position at high speed reverse direction Touch the reverse limit Search for the rising edge of home position at high speed forward direction Decelerate to 0 Search for the falling edge of home position at low speed reverse direction Stop after searching for t...

Page 485: ...erse direction b Start the home position return Home position signal ON Search for the falling edge of home position at high speed reverse direction Decelerate to 0 Search for the rising edge of home position at low speed forward direction Stop after searching for the falling edge of home position at low speed reverse direction c Start the home position return Home position signal OFF Search for t...

Page 486: ... in reverse direction then search for the rising edge of home position signal in forward direction and stop at the right side of edge signal Fig 11 62 Home position return method 30 Home position return method 31 6098 00h 31 Reserved Home position return method 32 6098 00h 32 Reserved Home position return method 33 6098 00h 33 Start the home position return Find the first Z pulse in the reverse di...

Page 487: ...Chapter 11 Communication 132 Fig 11 63 Home position return method 33 Home position return method 34 6098 00h 34 Start the home position return Find the first Z pulse in the forward direction Fig 11 64 Home position return method 34 NOTE ...

Page 488: ...return method 6 10 12 1 7 Home position return method 8 10 12 1 8 Home position return method 10 11 12 2 Internal multi segment position 11 12 2 1 Internal position basic settings 11 12 2 2 Internal multi segment position operation method 12 12 2 3 Internal multi segment position functional operating parameters 14 12 2 4 Single segment position operation 16 12 2 5 Single continuous operation 17 12...

Page 489: ... return a large speed value is given to ensure the speed of finding the home position Define the first time that touches the home position signal as deceleration point After the deceleration point is touched the home position return speed is switched to low speed to find home position accurately The accuracy of the home position during home position return is affected by the speed of finding the h...

Page 490: ...er to table 12 1 for details 0 Pn290 Z Home position return trigger method 0 Run at low level stop at high level falling edge trigger 1 Rising edge trigger 2 Falling edge trigger 3 Run at high level stop at low level rising edge trigger 1 Pn290 W Home position return timeout time unit 0 ms 1 10ms 2 100ms 0 Pn291 Speed at high speed home position return 0 30 000 0 1rpm 1000 Pn292 Speed at low speed...

Page 491: ...ack to zero running to the specified position This absolute position is set by Pn296 and Pn297 Home position return method 0 Home position switch signal Forward limit signal The deceleration point signal is OFF while starting the home position return The forward limit is not touched while home position return The deceleration point signal is OFF while starting the home position return The forward ...

Page 492: ...ome position return method 3 H L H L L H L L L Home position switch signal Forward limit signal The deceleration point signal is OFF while starting the home position return The forward limit is not touched while home position return The deceleration point signal is OFF while starting the home position return The forward limit is touched while home position return The deceleration point signal is O...

Page 493: ...Home position return method 6 H L L Forward limit signal The deceleration point signal is OFF while starting the home position return The deceleration point signal is ON while starting the home position return Motor Z signal Home position return method 7 H L L Reverse limit signal The deceleration point signal is OFF while starting the home position return The deceleration point signal is ON while...

Page 494: ... return process in details 12 1 3 Home position return method 0 Home position return method 0 is the home position return method in forward direction The deceleration point and home position are both home position switch 1 Home position return method 0 running route 1 Home position return method 0 running route 1 start running in forward direction decelerate after touching the forward rising edge ...

Page 495: ...ation the current home position signal is high level that is already in the deceleration point So the motor directly starts from the starting point and reverse runs at low speed of home position return to find the home position switch reverse falling edge The home position return method 0 running route 3 is shown in Figure 12 4 0 3 Home position switch Forward direction Home position signal Runnin...

Page 496: ...s the home position signal The running route is shown in Figure 12 6 2 2 Home position switch Forward direction Home position signal Running route 2 Limit signal Limit switch Motor Z pulse Fig 12 6 Home position return method 2 running route 2 3 Home position return method 2 running route 3 Home position return method 2 running route 3 While starting the operation the current home position signal ...

Page 497: ...eturn method 4 running route 1 is shown in Figure 12 8 4 1 Forward direction Running route 1 Limit signal Limit switch Motor Fig 12 8 Home position return method 4 running route 1 2 Home position return method 4 running route 2 The forward limit signal is valid while starting that is the motor starts from the deceleration point then the system reverses to find the home position and use the reverse...

Page 498: ...1 2 Home position return method 6 running route 2 Start in the forward limit signal and run in reverse direction decelerate after touching the reverse falling edge of the limit switch find the deceleration point and use the first Z pulse in the reverse direction as the home position signal The home position return method 6 running route 2 is shown in Figure 12 11 6 2 Forward direction Running rout...

Page 499: ...10 the single turn value is 0 then the motor runs directly at high speed for 5 turns 12 2 Internal multi segment positions 12 2 1 Basic internal position settings Function code Parameter Name Range Setting value Pn000 X Control mode selection 0 Position control mode 1 Speed control mode 2 Torque control mode 3 Speed position control mode 4 Torque position control mode 5 Speed torque control mode 0...

Page 500: ... are the maximum operation speeds target speeds for the xth and yth segments respectively Sx and Sy are the xth and yth segment displacements respectively 1 Single time multi segment position Automatic incremental switching between segment numbers a settable delay between segments the motor stops after 1 round operation CTRG is active at high level and stops at low level V t S1 S2 Delay Segment 1 ...

Page 501: ...ion codes Function code Parameter Name Range Default Pn802 X Internal position operation mode 0 Single segment operation 1 Single continuous operation 2 Cyclic continuous operation 3 Sequential operation 0 Pn802 Y Multi segment position margin handling 0 Continue running the untracked path start from the next section when paused 1 Restarting from Pr1 0 Pn802 Z New command processing for single seg...

Page 502: ...d the starting segment number is Pn804 12 2 3 Internal multi segment position functional parameters The point position function plans the corresponding position running route according to the set speed acceleration and deceleration time delay and target position value The operation parameters of the first position command segment are used as an example for illustration 1 Position command In positi...

Page 503: ...osCmd0 PosCmd1 Pos0 PosRem0 0 Fig 12 15 Schematic diagram of absolute position command operation 2 Acceleration and deceleration time During the operation of the point position control function the acceleration and deceleration times for motor operation are calculated with the acceleration and deceleration base value of 3000rpm For example if the acceleration time for motor operation is 300ms and ...

Page 504: ...egment is changed and triggered by the user through an external DI terminal or communication function code Pn806 When the Pr path is selected through an external terminal the terminal Pr path relationship is shown in Table 12 3 When triggered by the communication function code the home position return is executed when Pn806 0 and the corresponding Pr path is executed when it is 1 15 During the ope...

Page 505: ... runs only once per trigger The end segment of the internal position is controlled by the value of Pn803 e g Pn803 3 and the single multi segment position runs from Pr1 to Pr3 when triggered Table 12 5 Example of a single multi segment position run Steps Items Specific actions 1 Mode Selection Pn000 X 0 control mode is position control Pn002 X 2 Position control command source is internal multi se...

Page 506: ... X 2 select cyclic continuous operation mode Pn204 0 Pn206 20000 23 bit encoder moto electronic gear ratio is 8388608 20000 2 Terminal Assignment Pn601 YX 0x01 assign terminal X1 as servo enable terminal S ON Pn604 YX 0x20 assign terminal X4 as internal position trigger terminal CTRG 3 Multi segment position Pr command setting Pn803 4 the internal multi segment position endpoint is set to Pr4 Pr1 ...

Page 507: ...SD710 Series Servo Drive User s Manual Chapter 12 Motion Control 19 v rpm t 100 200 500 1000 ...

Page 508: ...000 23 bit encoder motor electronic gear ratio is 8388608 20000 2 Terminal Assignment Pn601 YX 0x01 assign terminal X1 as servo enable terminal S ON Pn604 YX 0x20 assign terminal X4 as internal position trigger terminal CTRG 3 Multi segment position Pr command setting Pn803 4 the internal multi segment position endpoint is set to Pr4 Pr1 Pn810 0x0000 Pn811 0x0000 Pn812 100000 Pr2 Pn814 0x0000 Pn81...

Page 509: ...Appendix Schedule 1 Input Terminal Function Definition 1 Schedule 2 Output Terminal Function Definition 8 NOTE ...

Page 510: ...isable reverse rotation drive Trigger method Control mode N OT This signal is used to disable motor from reverse rotation when an external reverse rotation command is sent Invalid motor continues in reverse rotation Valid Motor is stationary high and low levels P S T Setting value 0x04 Symbol Alarm Reset Trigger method Control mode ALM RST This signal is used to clear a fault alarm that has occurr...

Page 511: ...absolute multi turn position information DI DO function Valid Enables the absolute multi turn position information DI DO function high and low levels P S T Setting value 0x08 Symbol Speed command direction selection in speed mode Trigger method Control mode SPD D This signal is used to adjust the direction of the speed command in speed mode Invalid Same direction with the original speed command Va...

Page 512: ...mbol Command pulse disable Trigger method Control mode INHIBIT This signal is used to control the drive from receiving further pulse commands Invalid Disable the reception of pulse commands and stop counting Valid Allow the reception of pulse command and continue counting high and low levels P Setting value 0x0E Symbol Gain Switching Trigger method Control mode G SEL This signal is used to select ...

Page 513: ...n accumulated by the servo driver is cleared high and low levels edge trigger P Setting value 0x12 0x13 Symbol Internal register torque command buffer selection Trigger method Control mode TOR A TOR B TOR A Internal register torque command buffer selection 1 TOR B Internal register torque command buffer selection 2 TOR B TOR A Command Source Selection 0 0 Pn409 X setting 0 1 Pn409 Y setting 1 0 Pn...

Page 514: ...rminal is used to input a JOG speed command to the drive Invalid Stop the input of JOG speed command Valid Forward JOG speed command input high and low levels P S T Setting value 0x18 Symbol Reverse JOG Trigger method Control mode JOGN This terminal is used to input a JOG speed command to the drive Invalid Stop the input of JOG speed command Valid Reverse JOG speed command input high and low level...

Page 515: ...de the position command selected by POS0 POS5 is read into the controller at the moment of CTRG conduction rising edge high and low levels P Setting values 0x21 0x22 0x23 0x24 Symbol Position command source selection Trigger method Control mode POS0 POS1 POS2 POS3 POS0 POS3 are combined into a 4 bit binary number i e the values 0 15 which represent the home position return when 0 and 1 15 represen...

Page 516: ...in position mode the home position return command is read into the controller high and low levels edge trigger P Setting value 0x28 Symbol Mechanical home position signal Trigger method Control mode ORGS This signal is used as the home position signal source during the home position return Invalid home position signal not touched Valid The home position signal is touched Rising edge P ...

Page 517: ...tion is beyond the positioning completion signal threshold Pn262 high and low levels P Setting value 0x03 Symbol Speed consistency Trigger method Control mode V CMP This signal output is ON when the deviation between the motor feedback speed and the given speed is within the speed consistency signal threshold Pn315 This signal output is OFF when the deviation between the motor feedback speed and t...

Page 518: ...er method Control mode BK Brake output signal When this signal is invalid the brake power is off The brake acts and the motor is in position lock state When valid the holding brake power is on the holding brake is released and the motor can rotate high and low levels P S T Setting value 0x08 Symbol Warning signal Trigger method Control mode WARN This signal output is ON when the current drive is i...

Page 519: ...er method Control mode TorqR The corresponding timing sequence is set by function codes Pn420 and Pn421 high and low levels P S T Setting value 0x11 Symbol PR position send completed Trigger method Control mode CMDOK This flag bit is used to mark whether the current PR position command send is completed including the delay ON when the current PR position command is sent OFF when the current PR pos...

Page 520: ... when the current PR position command is sent and the target position is reached otherwise OFF high and low levels P Setting value 0x15 Symbol Home position return completion marker Trigger method Control mode ORGC After the home position return function is used the home position return fails and this signal is OFF This signal is ON if the home position return function is not enabled or if the hom...

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