Xinje DF3E Series User Manual Download Page 1

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DF3E

series servo driver

User manual

Wuxi Xinje Electric Co., Ltd.

Data No. SF3 01 20210607 1.0

Summary of Contents for DF3E Series

Page 1: ... 1 DF3E series servo driver User manual Wuxi Xinje Electric Co Ltd Data No SF3 01 20210607 1 0 ...

Page 2: ...Declaration of liability Although the contents of the manual have been carefully checked errors are inevitable and we cannot guarantee complete consistency We will often check the contents of the manual and make corrections in the subsequent versions We welcome your valuable comments If there is any change to the contents introduced in the manual please understand without further notice Contact in...

Page 3: ... causing electric shock and fire hazards 3 Do not touch the conductive part of the product directly which may cause misoperation and malfunction Cautions for wiring 1 Please connect AC power to LN or L1 L2 L3 or R S T on the dedicated power terminal of the driver Do not connect the output terminals U V W of the driver to the three phase power supply 2 Please connect the ground wire correctly Poor ...

Page 4: ...ntly If you need to switch power many times please control it once in 2 minutes Maintenance and inspection 1 Do not touch the inside of servo driver and servo motor otherwise it may cause electric shock 2 When the power is started it is forbidden to remove the driver panel otherwise it may cause electric shock 3 Within 10 minutes of power off the terminal should not be contacted Otherwise the resi...

Page 5: ...ION 12 2 3 1 Cable selection 12 2 3 2 Xinje cable specification 13 2 4 SERVO DRIVER DIMENSION 16 2 5 SERVO MOTOR DIMENSION 16 3 WIRING OF SERVO SYSTEM 18 3 1 MAIN CIRCUIT WIRING 18 3 1 1 Servo driver terminal arrangement 18 3 1 2 CN4 terminals 19 3 1 3 CN2 terminals and DIP switch 19 3 1 4 Communication port 20 3 2 CLASSIFICATION AND FUNCTION OF CN0 SIGNAL TERMINALS 21 3 2 1 Pulse signal 21 3 2 2 ...

Page 6: ...RVO GAIN ADJUSTMENT 108 5 1 1 Overview and process 108 5 1 2 The difference of these adjustment modes 109 5 1 3 Model loop control 109 5 1 4 Torque disturbance observation 111 5 2 ROTARY INERTIA PRESUMPTION 111 5 2 1 Overview 111 5 2 2 Notes 111 5 2 3 Operation tool 112 5 2 4 Operation steps 112 5 3 FAST ADJUSTMENT 114 5 3 1 Overview 114 5 3 2 Fast adjustment steps 114 5 3 3 Rigidity level corresp...

Page 7: ... parameters 173 Appendix 7 3 Internal position mode general parameters 173 Appendix 7 4 Internal torque control general parameters 174 Appendix 7 5 Internal speed control general parameters 174 Appendix 7 6 External pulse speed control general parameters 174 APPENDIX 8 TORQUE SPEED CHARACTERISTIC CURVE 176 APPENDIX 9 LIST OF MODEL SELECTION AND CONFIGURATION 177 APPENDIX 10 SERVO SOFTWARE 178 Appe...

Page 8: ...rmal if it can be turned smoothly by hand Servo motors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdrive Is the motor code the same with the code in drive Check the motor code marked on the nameplates of the s...

Page 9: ...o driver Code Rated output current 05 5A 10 10A 20 20A Code Rated output power 01 100W 02 200W 04 400W 07 750W Code Product series 3 Series number Code Specification Z Servocan drive the brake Servo cannot drive the brake Code Control function E Pulse RS485 Canopen C EtherCAT Power LED and alarm LED Enable LED and Can communication LED CN1 RS232 port CN2 signal IO port CN3 communication encoder fe...

Page 10: ...indicator green flashing after CAN communication 1 1 3 Performance specification Servo unit DF3E series servo driver Applicable encoder Standard 17 bit communication encoder Input power supply DF3E single phase DC48V Control mode Three phase full wave rectifying MOSFET controlled sine current drive mode Using condition Using temperature 10 40 Storage temperature 20 60 Environment humidity Below 90...

Page 11: ...esolution S Single turn 17 bits M Multi turn 17 bits L Multi turn 23 bits Display 15 20 Rated speed rpm 1500 2000 30 3000 Display Plug type 1 AMP plug 2 Aviation plug Display Voltage level 2 24V 5 48V 6 60V Display Power 01 100W 02 200W 04 400W 07 750W 15 1 5KW Display Shaft A With key no oil seal B With key and oil seal C No key no oil seal D No key with oil seal Display Brake No brake Z With bra...

Page 12: ...2 03 3 05 5 BM With battery box Power cable Display Length M Display Plug type P 4 core amp plug V 6 core waterproof small aviation plug Display Cable type CM Normal CMT High flexibility L 4 core small aviation plug CM P15 01 Display Diameter mm 07 0 75 15 1 5 20 2 0 01 1 02 2 03 3 05 5 Brake cable explanation The cable model for motor brake motor CB P03 length common material CBT P03 length high ...

Page 13: ...motor has external battery box which contains a 3 6V 2 7Ah large capacity battery and has the function of replacing batteries when power cut The using life is more than two years Please refer to chapter 4 6 2 change battery Power cable 1 Pin definition of power cable on servo driver side Connector appearance Pin definition Color Definition Brown U Black V Blue W Yellow green PE Connector pins Pin ...

Page 14: ... 4 1 U 60 flange 2 W 3 V 4 PE 1 3 4 2 No Definition 80 flange 1 PE 2 U 3 V 4 W 3 Brake cable connection Connector pins Pin definition Suitable model No Definition 2 1 1 BK Motor with brake 2 BK Brake pins The cable including BK pin is used for the brake motor The cable of the non brake motor has no BK pin ...

Page 15: ... values DF3E 0103 27Ω Above 100W DF3E 0410 10Ω Above 100W DF3E 0720 5Ω Above 100W Note 1 The smaller the resistance is the faster the discharge will be but the smaller the resistance is the easier the breakdown resistance will be Therefore please close to the the lower limit but not be less than the lower limit when choosing the type 2 When wiring please use high temperature flame retardant wire a...

Page 16: ...t environment No vibration place 2 1 2 Environment condition Item Description Use ambient temperature 20 60 Use ambient humidity 10 40 Storage temperature 20 90 RH no condensation Storage humidity 20 90 RH no condensation 2 1 3 Installation standard Be sure to comply with the installation standard in the control cabinet shown in the figure below This standard is applicable to the situation where m...

Page 17: ...e above make at least 10mm between and at least 50mm above and below each servo drive Install cooling fans above the servo drives to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Servo driver working ambient Temperature 10 40 Humidity 90 RH or less Vibration 4 9m s2 Condensation and Freezing None Note when i...

Page 18: ...e treatment of motors However in order to seal the through part of the shaft please specify the motor with oil seal Connectors should be installed downward MS series servo motors are for indoor use Please use them under the following installation conditions Item Description Use ambient temperature 20 60 relative humidity Use ambient humidity 10 40 no freeze Storage temperature 20 90 RH no condensa...

Page 19: ...g in places where water droplets are dropping please use it on the basis of confirming the protection level of servo motor except for the shaft through part When oil droplets will drip into the shaft through part please specify the servo motor with oil seal Conditions for use of servo motors with oil seals Make sure the oil level is below the lip of the oil seal when using Please use the oil seal ...

Page 20: ...le connector for motors with 80 flange or less is divided into aviation plug and amp plug The cable selected by the customer needs to define the operating conditions on site If the cable is used in general occasions please select the cable from other manufacturers 2 3 2 specifications of Xinje cable in strict accordance with the specifications given by Xinje If the cable is used in unconventional ...

Page 21: ...o mix the wiring partition device is arranged in the middle of the cable End of cable 2 Greasy and humid occasions It is recommended to select cable with aviation plug as connector instead of AMP interface cable It is necessary to make corresponding protection glass glue insulating cloth binding etc for the used AMP interface cable on site Use special cable 3 Interference high current high power o...

Page 22: ...mm 750W 4 0 2mm 2 0 3mm 4 2 0mm 3 Cable performance specification Performance Normal cable High flexible cable Ordinary temperature resistance 20 80 relative humidity 20 80 relative humidity Encoder cable withstand voltage 1000V 1000V Power cable withstand voltage 3000V 3000V Mobile installation Bending radius Travel 10m 7 5 D Travel 10m 10 D Travel 10m 7 5 D Travel 10m 10 D Bending resistance tim...

Page 23: ...15 Fixed installation Bending radius 5 D 5 D Note D represents the finished product cable diameter ...

Page 24: ...42 P9 11 0 00 0 10 M5深8 Motor model Inertia Matched driver MF3S 60CS CM30B1 504 Low inertia MF3S series 60 series motor with brake installation dimensions Unit mm Ø50h7 30 0 50 3 Ø14h6 20 155 50 8 70 60 4 5 50 5 P9 M5深8 11 0 00 0 10 Motor model Inertia Matched driver MF3S 60CS CM30BZ1 504 Low inertia MF3S series 101 5 174 36 9 Left Front Right Installation hole Frame installtion 4 3 5 2 28 3 4 4 3...

Page 25: ... P9 15 5 0 0 1 M5深 10 Motor model Inertia Matched driver MF3S 80CS CM30B2 507 Low inertia MF3S series 80 series motor with brake installation dimensions Unit mm Ø70h7 Ø19h6 25 3 8 35 0 5 155 80 4 6 5 90 6 P9 15 5 0 0 1 M 5 深 1 0 Motor model Inertia Matched driver MF3S 80CS CM30BZ2 507 Low inertia MF3S series ...

Page 26: ...For the signal wire and the feedback wire of the encoder PG please use the multi stranded wire and the multi core stranded integral shielding wire 3 For wiring length the longest instruction input wire is 3m and the longest PG feedback wire is 20m 4 Even if the power supply is off there may still be a high voltage in the servo unit Please do not touch the power terminal temporarily 10 minutes 3 1 ...

Page 27: ...1 SI2 SI3 24V P P 5V SO1 SO2 SO3 COM D 5V SI4 P 24V D 24V D SI1 SI2 SI3 24V P P 5V SO1 SO2 SO3 COM D 5V 24VS GNDS P 24V D 24V Name Explanation Name Explanation P Pulse SI3 Input terminal P 5V Pulse 5v SI4 24VS Input terminal brake output 24VS P 24V Pulse 24v 24V Input 24V D Direction SO1 Output terminal D 5V Direction 5v SO2 Output terminal D 24V Direction 24v SO3 Output terminal SI1 Input termina...

Page 28: ...nication parameters baud rate500kbps RS 232 port 5 1 Driver side 5 pin trapezoidal interface Pin Name Explanation 1 TXD RS232 send 2 RXD RS232 reveive 3 GND RS232 ground Note please use the special cable provided by Xinje company RS232 port default communication parameters baud rate 19200bps data bit is 8 bit stop bit is 1 bit even parity Modbus station no Parameter Function Default setting Range ...

Page 29: ...nhance the anti interference it is recommended to use twisted pair shielded wire 3 The servo pulse input port is on at 10mA 4 If the controller is Xinje PLC and the rated current of pulse output port is 50mA according to this data it can be judged that theoretically one pulse can drive five servos at most It is recommended that the maximum number should not be more than 3 3 2 2 SI input signal wit...

Page 30: ...COM2 Y2 0 V 24 V R 3 3KΩ Upper device servo driver R 3 3KΩ 24 V 0 V Y2 COM2 24V SI Note the maximum allowable voltage and current capacity of open collector output circuit are as follows Voltage DC 30V maximum Current DC 50mA maximum 3 2 3 SO output signal Type Output terminal Function Digital output SO1 SO3 Multifunctional output terminal Defaulted assignment of output terminals Terminal SO1 SO2 ...

Page 31: ... Speed control is to control the speed of machinery by speed command The servo driver can control the mechanical speed quickly and accurately by the speed command given by digital analog voltage or communication Torque control is to control the output torque of motor by torque command Torque command can be given by digital analog voltage or communication The current of servo motor is linear with t...

Page 32: ...mal vibration abnormal sound and other problems Inching operation can be carried out by panel group F parameters or our upper computer debugging software xinje servo tuner Inching operation can be divided into two modes inching operation and trial operation Inching operation is closed loop control trial operation is open loop control and general steps are trial operation first and then inching ope...

Page 33: ... 20 n 0010 This setting mode can make the servo system in the enabling state as soon as it is powered on without external terminal control and the servo enabling state will remain when it is powered on again 3 External SI terminal control enable When P0 03 is set to 1 the external terminal enable control is effective Parameter setting P0 03 1 default P5 20 n 000 n 001 is the SI terminal number for...

Page 34: ... 0 2 Servo bb At once P0 29 Alarm stop mode 2 0 2 Servo bb At once P0 31 Deceleration stop time 25 1ms 0 5000 Servo bb At once Parameter Value Meaning P0 27 P0 29 0 inertia stop and maintain the inertia operation state after stop 2 deceleration brake stop and maintain the inertia operation state after stop Note 1 P0 27 P0 29 0 inertia stops and maintains inertia operation state after stopping When...

Page 35: ...run prevention At this time there is no need to connect the overrun prevention with input signals Parameter setting Signal POT terminal input status Overtravel signal POT NOT terminal logic P5 22 P5 23 n 0000 No need to connect external input invalid P5 22 P5 23 n 000 SI terminal has no signal input P5 22 P5 23 n 001 SI terminal has signal input P5 22 P5 23 n 0010 No need to connect external input...

Page 36: ... 2 5 Power off brake When the servo motor controls the vertical load the purpose of using the brake servo motor is when the power supply of the system is placed in the OFF the movable part will not move under the action of gravity Electric loss brake Prevent from falling due to self weight when power supply OFF Mechanical Motion part Brake When the power supply is off prevent falling due to pullin...

Page 37: ... Servo enable Invalid Holding brake power off motor in position locked state Servo disable Valid The holding brake power is connected and the motor is in rotatable state Note 1 When SO terminal is used to control holding brake when servo enable is on holding brake power is on and motor is in rotatable state 2 If the motor fails to rotate during the debugging of the new machine please confirm wheth...

Page 38: ...on stop or free stop Servo ON Servo OFF Brake locked Brake release P5 09 S ON input or alarm power off Motor rotation speed Rpm BK output P5 08 Deceleration stop or free stop Servo ON Servo OFF Brake locked Brake release P5 09 Since the brake of the servo motor is designed for position holding it must be enabled at the right time when the motor stops While observing the action of the machine adjus...

Page 39: ...2 Recommended brake resistance specifications Servo driver model External regeneration resistance recommended resistance External regeneration resistance recommended power value DF3E 0103 27Ω Above 100W DF3E 0410 10Ω Above 100W DF3E 0720 5Ω Above 100W Note 1 The smaller the resistance is the faster the discharge will be but it is easy to break down the resistance if it is too small Therefore the l...

Page 40: ...ection Negative direction Homing on index pulse 1 34 Encoder 131072 17 bit ball screw pitch 6mm Do not change the electronic gear ratio Change the electronic gear ratio Without changing the ratio of the electronic gear to the motor the rotating cycle is 131072 pulses P 0 11 0 P 0 12 0 If the workpiece is moved 6 mm in one turn the number of pulses needed is 131072 If the workpiece is moved 10 mm i...

Page 41: ... encoder resolution encoder Note 1 In step 6 the effective priority of the number of pulses per revolution is higher than the electronic gear ratio that is when P0 11 P0 12 are all 0 P0 13 P0 14 will take effect In special cases if the number of pulses per revolution is calculated as a decimal the electronic gear ratio should be considered 2 When P0 13 and P0 14 exceed the setting range please div...

Page 42: ...lt setting Unit Range Change Effective P5 00 Positioning completion width 11 Command unit 0 65535 Anytime At once P5 01 Positioning completion detection mode 0 0 3 Anytime At once P5 02 Positioning completion hold time 0 ms 0 65535 Anytime At once Parameter Signal name Default setting Suitable mode Meaning Modif y Effecti ve P5 37 COIN HD n 0000 All Positioning complete holding Anyti me At once P5...

Page 43: ...nd COIN signal is output U0 08 Pulse offset P5 00 ON S ON Signal status COIN Signal status ON ON OFF ΔU0 12 Pulse command P5 01 setting Content Diagram 2 When the instruction ends and the motor speed is under the rotation detection speed P5 03 and the absolute deviation is less than P5 00 the COIN signal is output U0 08 Pulse offset P5 00 ON S ON Signal status COIN Signal status ON ON OFF ΔU0 12 P...

Page 44: ...ioning completion signal output is but the signal output does not affect the actual operation state of the motor 10000 default 11 default 20000 22 5000 6 3000 4 2000 3 2 The positioning completion width can also be set separately and its change will not affect the number of command pulses required for one revolution of the motor 4 3 1 3 Positioning near signal NEAR The servo motor is located near ...

Page 45: ...command prohibition including internal and external position commands Stop the function of command pulse input during position control When the INHIBIT signal is on the pulse command is no longer counted Related parameters Parameter Signal name Default setting Suitable mode Meaning Modify Effective P5 32 INHIBIT n 0000 All Command pulse prohibition Anytime At once Parameter range n 0000 001A assig...

Page 46: ... external terminal input Valid P5 34 n 000 SI terminal has signal input P5 34 n 001 SI terminal has no signal input 2 CLR signal explanation Send the pulse to the servo execute the CLR input signal the servo will lock the current pulse counts then update the current position of the encoder to the position feedback in the control at the same time clear the intermediate quantity of the position loop...

Page 47: ...ng table and make it as the coordinates origin of point position control Users can select finding reference origin at forward or reverse side Function setting Parameter Meaning Default setting Unit Range Change Effective P4 00 n xx x Origin function 0 0 1 Servo OFF At once Note This function is applicable to position mode 5 and 6 when this parameter is set to 0 the function of Origin finding is in...

Page 48: ...on forward side Steps 1 Install limit switch at forward and reverse side At the rising edge of SPD A motor runs forward at the speed of P4 01 to find the reference origin on forward side 2 After the working table hit the limit switch the motor stop as the mode set by parameter P0 28 3 Motor leaves the limit switch at the speed of P4 02 After the working table left the limit switch the motor run at...

Page 49: ...ction of pulse instruction Parameter Meaning Default setting Unit Range Change Effective P0 09 0 n xxx forward direction of pulse instruction 0 0 1 Servo bb Re power on P0 09 will change the counting direction of the internal counter in the servo system The counting direction determines the rotation direction of the motor Therefore this parameter can be adjusted if the actual rotation direction of...

Page 50: ... 03 internal position mode P4 04 valid segment number P4 10 P4 254 internal position 1 to 35 parameters Control mode setting of internal position mode including step change mode positioning mode and adjustment time Configuration of pulse displacement speed acceleration and deceleration time of each segment 4 3 3 3 P5 35 change step signal GHGSTP P5 32 pause present segment signal INHIBIT P5 31 jum...

Page 51: ... for the motor to be positioned after outputing a position instruction in internal position mode It takes effect in all Step Changing modes Waiting mode 0 adjust time 0ms Waiting mode 0 adjust time 0ms P t t1 P5 00 Pulse offset COIN Signal status ON OFF After the drive output 1 segment position command it will wait for the completion of motor positioning and then start the next position command at...

Page 52: ...that segment without the execution of the next segment 3 In this mode the step change signal CHGSTP is triggered at high level 4 When the servo enable is off during a certain section of operation the motor stops according to the servo off shutdown mode After the shutdown the positioning is invalid 5 After each operation completion positioning completion and positioning approach signal are all effe...

Page 53: ... are all effective 4 When the servo enable is off during a certain section of operation the motor stops according to the servo off shutdown mode After the shutdown the positioning is invalid 5 The adjustment time is valid in this mode 3 set segment no through communicati on Servo is ON set parameter P2 09 0 then set the running segment The motor will run the setting segment Refer to chapter 4 4 8 ...

Page 54: ...he overtravel signal is cancelled 6 PREFA P5 57 PREFB P5 58 PREFC P5 59 Choose the segment through terminal the range is segment 1 8 Note Firmware version 3730 and later supports 1 8 segments of step change mode 6 Firmware version 3740 and later supports 1 16 segments of step change mode 6 PREFD PREFC PREFB PREFA Segment no 0 0 0 0 1 segment 1 position 0 0 0 1 2 segment 2 position 0 0 1 0 3 segmen...

Page 55: ...00 0014 distribute to input terminal through P5 60 3 Positioning mode n xxx Meaning 0 Relative positioning 1 Absolute positioning 0 relative positioning 1 absolute positioning take the reference origin as the absolute positioning origin P t Segment 1 Segment 2 P t Segment 1 Segment 2 4 3 3 3 Position segment 1 to 35 parameter settings Parameter Meaning Default setting Unit Range Change Effective P...

Page 56: ... 0 to rated speed 11 If the speed of a certain segment is set to 0 the position command of this segment will be ignored in step change mode 0 1 2 In the step change mode of 4 5 6 when the step change is triggered at this position the motor will not rotate 12 The position commands of pulse high position and pulse low position in the parameters of internal position segment are still affected by the ...

Page 57: ...hanging modes the function of skipping the current segment will have different effects as follows Change step mode P4 03 n xx x Skip the present segment Actions 0 Z CLAMP Cancel current segment execute the next segment at once 1 Cancel current segment execute the next segment when the change step signal is ON 2 Cancel current segment execute the next segment at once 3 Cancel current segment set th...

Page 58: ... Soft start Parameter Meaning Defaulted setting Unit Range Modify Effective P3 09 Soft Start Acceleration Time 0 ms 0 65535 Servo bb At once P3 10 Soft Start deceleration Time 0 ms 0 65535 Servo bb At once Soft start acceleration and deceleration time is suitable for mode 3 4 7 Smooth speed control can be carried out when step speed instruction is input or internal setting speed is selected P3 09 ...

Page 59: ...ntents 0 ZCLAMP input signal is ON forced speed command is 0 when the speed below P3 13 switch to position mode and the servo lock in this position 1 ZCLAMP input signal is ON forced set the speed command to 0 2 ZCLAMP input signal is ON the speed below P3 13 switch to position mode and the servo lock in the position Note after entering zero clamp mode present setting speed is higher than P3 13 mo...

Page 60: ...nternal speed control mode 4 4 2 1 P3 05 Internal speed 1 P3 06 Internal speed 2 P3 07 Internal speed 3 Speed value setting of internal 3 segment speed in rpm 4 4 2 1 P5 28 internal speed selection SPD A P5 29 internal speed selection SPD B The combination of terminals determines the speed of corresponding section 4 4 2 1 P5 27 internal speed direction selection SPD D Direction changing default is...

Page 61: ... terminal signal Input signal Running speed SPD D P5 27 SPD A P5 28 SPD B P5 29 0 forward run 0 0 Internal speed is zero 0 1 P3 05 SPEED1 1 1 P3 06 SPEED2 1 0 P3 07 SPEED3 1 reverse run 0 0 Internal speed is zero 0 1 P3 05 SPEED1 1 1 P3 06 SPEED2 1 0 P3 07 SPEED3 Note 1 SPD D signal is direction control input SI terminal can be changed according to P5 27 The validity of the terminal signal determi...

Page 62: ...minal no signal input P5 27 n 001 SI terminal has signal input P5 27 n 0010 No need external terminal input Valid P5 27 n 000 SI terminal has signal input P5 27 n 001 SI terminal no signal input 3 Running example 0 SPEED1 Stop SPEED2 SPEED3 SPEED1 SPEED2 SPEED3 Speed 1 Speed 2 Speed 3 stop Speed 1 Speed 2 Speed 3 Stop Speed up down is decided by P3 09 P3 10 SPD A SPD B SPD D OFF OFF OFF OFF OFF OF...

Page 63: ...quantity The wiring is the same as position command Select CW CCW mode or direction pulse mode AB phase pulse mode 4 4 3 2 Pulse frequency command Pulse frequency command is the same as external pulse command position control refer to chapter 4 3 2 4 4 3 3 Command pulse frequency at rated speed Parameter Meaning Default setting Unit Range Modify Effective P0 15 command pulse frequency at rated spe...

Page 64: ...forward run with 50 of the rated torque P3 33 20 motor reverse run with 20 of the rated torque In addition to using the torque to control the direction of servo operation it can also use SPD D to control the direction 4 5 1 2 Internal speed limit of torque control Parameter Meaning Default setting Unit Range Modify Effective P3 16 internal forward speed limit in torque control mode Motor rated rpm...

Page 65: ... protocols but does not define the content of the object or the type of object being communicated it only defines how and does not define what which is the entry point of CANopen CANopen is developed on the basis of CAL which uses a subset of CAL communication and service protocols and provides a realization scheme of distributed control system CANopen can ensure the interoperability of network no...

Page 66: ...ers UINT32 RW NO 02 VAR Restore Communication Default Parameters UINT32 RW NO 03 VAR Restore APPlication Default Parameters UINT32 RW NO 1014 VAR COB ID EMCY UINT32 RW NO 1017 VAR Producer Heartbeat Time UINT16 RW NO 1018 Identity Object 01 VAR Vendor ID UINT32 RO NO 02 VAR Product Code UINT32 RO NO 03 VAR Revision Number UINT32 RO NO 04 VAR Serial Number UINT32 RO NO 1400 RECORD 1 receive PDO par...

Page 67: ...ect UINT32 RW NO 07 VAR 7 maPPed object UINT32 RW NO 08 VAR 8 maPPed object UINT32 RW NO 1603 RECORD 4 receive PDO maPPing 01 VAR 1 maPPed object UINT32 RW NO 02 VAR 2 maPPed object UINT32 RW NO 03 VAR 3 maPPed object UINT32 RW NO 04 VAR 4 maPPed object UINT32 RW NO 05 VAR 5 maPPed object UINT32 RW NO 06 VAR 6 maPPed object UINT32 RW NO 07 VAR 7 maPPed object UINT32 RW NO 08 VAR 8 maPPed object UI...

Page 68: ...bject UINT32 RW NO 07 VAR 7 maPPed object UINT32 RW NO 08 VAR 8 maPPed object UINT32 RW NO 1A03 RECORD 4 transmit PDO maPPing 01 VAR 1 maPPed object UINT32 RW NO 02 VAR 2 maPPed object UINT32 RW NO 03 VAR 3 maPPed object UINT32 RW NO 04 VAR 4 maPPed object UINT32 RW NO 05 VAR 5 maPPed object UINT32 RW NO 06 VAR 6 maPPed object UINT32 RW NO 07 VAR 7 maPPed object UINT32 RW NO 08 VAR 8 maPPed object...

Page 69: ...device sub protocol object dictionary list CiA402 Index Sub Index Type Name Description DateType Access PDO Op mode 6040h 00h VAR Controlword U16 rw YES All Control word Refer to chapter 4 6 2 2 6041h 00h VAR Statusword U16 ro YES All Status word Refer to chapter 4 6 2 3 605Ah 00h VAR Quickstop Option Code I16 rw NO All To select the action when servo system responses urgent stop command Default v...

Page 70: ...rque I16 rw YES TQ When the servo driver is in TQ mode the user s target torque input the unit is 0 1 of the rated torque which is only valid in TQ mode 6072h 00h VAR Max Torque U16 rw YES All The maximum torque that the servo drive system can produce the unit is 0 1 of the rated torque The default value is 3000 which is 300 of the rated torque 6073h 00h VAR Max Current U16 rw YES All The maximum ...

Page 71: ...tion The unit is command unit s2 which is only valid in PP mode and PV mode The default value is 5000000 6084h 00h VAR Profile Deceleration U32 rw YES PP PV In position trajectory planning or speed trajectory planning the deceleration speed in the process of motor deceleration The unit is command unit s2 which is only valid in PP mode and PV mode The default value is 5000000 6085h 00h VAR Quick St...

Page 72: ...processing result of object dictionary 0x607E Polarity processed 0x6062 it is the input of position loop 60FDh 00h VAR Digital Inputs U32 ro YES All To represent the input status of POT NOT SPD D through the function signal distributed by panel parameter P5 22 POT P5 23 NOT P5 27 SPD D it is 32 bit shown as the following Bit31 Bit3 Bit2 Bit1 Bit0 reserved SPD D POT NOT 60FFh 00h VAR Target Velocit...

Page 73: ...ondition and the action at migration time PDS migration while getting handshake the status migration is performed through 6041h Statusword confirm that the status has been converted and send the next migration instruction PDS conversion Event Action 0 Auto skip 0 After the power supply is put into operation or after the application layer is reset it will migrate automatically After the power suppl...

Page 74: ...on after the fault occurrence factor is removed The fault factor does not exist reset the fault state 16 Enable operation Quick stop selection code is 5 6 7 receive Enable operation command Driving function is effective 4 6 2 2 Controlword 6040h The command to control the slave station servo driver PDS status migration is set through 6040h control word Index Sub Index Name Description Range DateTy...

Page 75: ...ch on disabled oms operation mode specific qs quick stop control mode based on bit ve voltage enabled ila internal limit active f fault tr target reached oe operation enabled rm remote so switched on rtso ready to switch on bit6 5 3 0 switch on disabled quick stop fault operation enabled switched on ready to switch on confirm the PDS status according to this Bit The status and corresponding bit ar...

Page 76: ...No control mode change no control mode assignment 1 Profile position mode Profile position control mode PP YES 3 Profile velocity mode Profile speed control mode PV YES 4 Torque profile mode Profile torque control mode TQ YES 6 Homing mode origin reset position mode HM YES 7 127 Reserved As 6060h Modes of operation is default No mode change no mode assigned please set the control mode value after ...

Page 77: ...ation function selection code defined by CoE CiA402 are used together PDS selection code list Index Sub Index Name Description Range Date Type Access PDO Op mode 605Ah 00h Quick stop option code 0 7 I16 rw NO All 605Bh 00h Shutdown option code 0 1 I16 rw NO All 605Ch 00h Disable operation option code 0 1 I16 rw NO All 605Dh 00h Halt option code 1 3 I16 rw NO All 605Eh 00h Fault reaction option cod...

Page 78: ...PP PV HM after motor stop through 0x60C6 Max Deceleration PDS state migrates to Switch on disabled Control mode is TQ after motor stop through torque 0 state migrates to Switch on disabled 5 Control mode is PP PV after motor stop through 0x6084 Profile Deceleration PDS state migrates to Quick stop active Control mode is HM after motor stop through 0x609A Homing Acceleration PDS state migrates to Q...

Page 79: ... is receiving Value Definition 0 Stop at once PDS state migrates to Switch on disabled 1 The control mode is PP PV motor stop through 0x6084 Profile deceleration PDS state migrates to Switch on disabled The control mode is HM motor stop through 0x609Ah Homing acceleration PDS state migrates to Switch on disabled The control mode is TQ motor stop through 0x6087 Torque Slope PDS state migrates to Sw...

Page 80: ...Set the time sequence of Halt It is different according to the definition of control mode The setting is prohibited except the following values Value Definition 1 The control mode is PP PV motor stop through 0x6084 Profile Deceleration PDS status migrates to Operation enabled The control mode is HM motor stop through 0x609A Homing Acceleration PDS status migrates to Operation enabled The control m...

Page 81: ...ol mode is PP PV motor stop through 0x6084 Profile deceleration PDS status migrates to Fault The control mode is HM motor stop through 0x609Ah Homing acceleration PDS status migrates to Fault The control mode is TQ motor stop through 0x6087 Torque Slope PDS status migrates to Fault 2 The control mode is PP PV HM motor stop through 6085h Quick stop deceleration PDS status migrates to Fault The cont...

Page 82: ...the smaller one of 607Fh Max profile velocity and 6080h Max motor speed 2 Changing the set value of 607Fh Max profile velocity or 6080h Max motor speed is not reflected in the action PP control mode related object command monitor type Register Explanation Unit TXPDO 0x6041 Status word TXPDO 0x6061 Mode query TXPDO 0x6063 Internal actual position Command unit TXPDO 0x6064 Position feedback motor ac...

Page 83: ...tatus word 6041h PP control mode function Index Sub Index Name Description Range Date Type Access PDO Op mode 6041h 00h Statusword 0 65535 U16 ro TxPDO All Indicates the servo driver status Bit information 15 14 13 12 11 10 9 8 r oms ila oms rm r set point acknowledge Target Reached 7 6 5 4 3 2 1 0 w sod qs ve f oe so rsto r reserved Not corresponding w warning sod switch on disabled oms operation...

Page 84: ...w set point is from 0 to 1 607Ah Target position is considered as target position to start positioning action At this time 6041h status word bit12 set point acknowledge is from 0 to 1 Main station confirm 6041h Statusword bit12 set point acknowledge is from 0 to 1 6040h Controlword bit4 new set point returns 0 Slave station confirm 6040h Controlword bit4 new set point is 0 6041h status word bit12 ...

Page 85: ...word bit12 set point acknowledge has changed from 0 to 1 6040h Controlword bit4 new set point returns 0 Slave station confirm 6040h Controlword bit4 new set point is 0 6041h Statusword bit12 set point acknowledge is 0 Actual speed Main station Slave station new set point controlword bit 4 Target position set point set point acknowledge statusword bit 12 Target reached statusword bit 10 t t t t t h...

Page 86: ...orrespondence is as follows First set P0 00 to 1 to start CiA402 motion control function then modify D6257 6060h is 1 to PP mode modify D6256 control word 6040h is 0x06 0x07 0x0f to enable the slave station and then modify the control word 0x4F 0x5F to realize relative position movement and 0x0F 0x1F to realize absolute position movement after setting position speed acceleration and deceleration p...

Page 87: ...Command unit s PV control mode related object command monitor type Register Explanation Unit TXPDO 0x6041 State word TXPDO 0x6061 Mode query TXPDO 0x6063 Internal actual position Command unit TXPDO 0x6064 Position feedback motor actual position Command unit TXPDO 0x606C Speed feedback Command unit s TXPDO 0x6077 Actual torque 0 1 2 Control word 6040h PV control mode function Index Sub Index Name D...

Page 88: ...ormal speed control completed halt 1 stop as halt axis stop axis speed is 0 4 PV control mode action explanation PV control mode generates speed command based on below parameters Target Velocity 60FFh Profile acceleration 6083h Profile deceleration 6084h Turn off motor enable set object word 6060h to 3 set target speed 60FFh acceleration and deceleration 6083h and 6084h speed 6080h and torque limi...

Page 89: ...ify the mapping of object dictionary The specific correspondence is as follows First set P0 00 to 1 to start CiA402 motion control function then modify D6257 6060h is 3 to PV mode After setting speed and acceleration deceleration parameters through D6258 60FFh modify D6256 control word 6040h is 0x06 0x07 0x0F to enable the slave station start to run in speed mode Other parameters are monitored thr...

Page 90: ...ed object command monitor type Register Explanation Unit TXPDO 0x6041 Status word TXPDO 0x6061 Mode query TXPDO 0x6064 Position feedback motor actual position Command unit TXPDO 0x606C Speed feedback Command unit s TXPDO 0x6077 Actual torque 0 1 2 Control word 6040h TQ control mode function Index Sub Index Name Description Range Date Type Access PDO Op mode 6040h 00h Controlword 0 65535 U16 rw RxP...

Page 91: ...et torque is 6071h Target torque torque slope is 6087h Torque slope The max speed is limited through 6080h Max motor speed the max torque is limited by the min value among 6072h Max torque 2312h P3 28 2313h P3 29 Operation steps 1 Turn off motor enable set object word 6060 to 4 set target torque 6071h max motor speed 6080h and max torque 6072h 2 Turn on the motor enable the motor should increase t...

Page 92: ...oad configuration slave station state machine automatically switches from PreOp to OP state SDO and PDO can receive and send messages at this time XDPPro software can monitor or modify the mapping of object dictionary The specific correspondence is as follows ...

Page 93: ...al signals POT NOT SPD D must be used together 1 Related parameters HM control mode related object command setting type Register Explanation RXPDO 0x6040 Control word modify the control word to turn on the origin return RXPDO 0x6060 Set to 6 when the motor is disabled RXPDO 0x607F Max internal speed RXPDO 0x6080 Max motor speed RXPDO 0x60C5 Max acceleration speed RXPDO 0x60C6 Max deceleration spee...

Page 94: ... 6041h HM control mode function Index Sub Index Name Description Range Date Type Access PDO Op mode 6041h 00h Statusword 0 65535 U16 ro TxPDO All Indicates the servo driver status Bit information 15 14 13 12 11 10 9 8 r oms ila oms rm r r r Targetreached 7 6 5 4 3 2 1 0 w sod qs ve f oe so rsto r reserved No correspondence w warning sod switch on disabled oms operation mode specific qs quick stop ...

Page 95: ...ed the initial moving direction is left The origin position is at the first Z phase pulse one the right side of the position where negative limit switch becomes invalid 6099h 01h 6099h 02h 1 Index Pulse NegativeLimit Positive direction Negative direction Homing on negative limit switch and index pulse Mode 2 When using method 2 if the forward limit switch is not triggered the initial movement dire...

Page 96: ...5 Mode 7 14 The origin switch and z phase signal are used in 7 14 The initial action direction of mode 7 and 8 is negative if the origin switch has been activated at the beginning of action The initialization action direction of mode 9 and 10 is positive if the origin switch has been activated at the beginning of the action The initialization action direction of mode 11 and 12 is positive if the o...

Page 97: ...ng on home switch and index pulse Negative initial motion Negative Limit 7 8 7 8 7 8 9 11 8 7 9 11 11 12 12 12 13 13 13 14 14 14 13 13 14 14 12 12 11 11 Mode 17 This method is similar to mode 1 The difference is that the location of origin detection is not Index pulse but the location of Limit switch changed please refer to the figure below When NOT is not allocated Homing error 1 6099h 01h 6099h ...

Page 98: ...o mode 3 4 The difference is that the detection position of the origin is not the Index pulse but the changed position of the Home switch please refer to the figure below When HOME is not allocated Homing error 1 6099h 01h 6099h 02h 19 Home Switch Positive direction Negative direction Homing on positive home switch 3 4 4 19 20 20 Mode 21 22 This method is similar to mode 5 6 The difference is that...

Page 99: ...e refer to the figure below When HOME POT are not allocated Homing error 1 6099h 01h 6099h 02h Home Switch Positive Limit Positive direction Negative direction Homing on home switch and index pulse positive initial motion 23 24 23 24 24 23 25 26 25 26 26 25 Mode 27 28 29 30 This method is similar to mode 11 12 13 14 The difference is that the detection position of the origin is not the Index pulse...

Page 100: ... 27 28 28 27 28 27 Mode 33 34 Using method 33 or 34 the return to origin direction is negative or positive respectively The original position is located near the z phase of the selected direction 6099h 01h 6099h 02h 33 Positive direction Negative direction Homing on index pulse 1 34 Mode 35 37 In mode 35 and 37 the position after power on is the origin position 35 37 ...

Page 101: ...e or configure P OT N OT SPD D signal for index 2516 2517 251B through SDO read write command If the assignment is not correct then Homing error 1 click scan or add slave station in CANopen configuration interface configure the object binding of TxPDO and RxPDO Here several common objects of HM mode are bound If you have other requirements you can add them by yourself and enable the configured PDO...

Page 102: ...gin mode through D6258 6098h after setting return to origin speed through D6259 D6263 6099h 609Ah modify D6256 control word 6040h is 0x06 0x07 0x0F to enable the slave station and then modify D6256 control word 6040h is 0x0F 0x1F to start the return to origin mode Other monitoring parameters are monitored by D6000 D6011 In the process of returning to the origin if the origin signal is triggered it...

Page 103: ...encoder as incremental encoder and no longer remember position 2 Use as absolute encoder ignore the multi loop overflow alarm 4 7 2 Replace the battery When replacing the battery please replace the battery while keeping the driver and motor connected well and the control power is connected If the battery is replaced when the control power between the driver and the motor is closed the data stored ...

Page 104: ...nnect the power supply of the servo unit again 7 Make sure the error display disappears and the servo unit can operate normally 4 7 3 The upper limit of turns The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables For example suppose there is a machine whose turntable moves only in one direction as shown in the figure below ...

Page 105: ...n position read 0x100A and 0x100B hexadecimal address through Modbus RTU U0 10 U0 11 10000 is present encoder single turn position U0 11 U0 91 present turns of multi turn absolute Read 0x105F hex address through ModbusRTU which is the current number of encoder turns U0 57 absolute encoder present position feedback low 32 bit Read 0x1039 hex address through ModbusRTU doubleword which is the current...

Page 106: ...ct and after clearing write address 0x2106 to 0 The decimal 3 can be written into the Modbus address 0x2106 through Modbus RTU communication and U0 94 97 is used to display the absolute position of the motor after calibration 4 8 Auxiliary functions 4 8 1 Anti blocking protection Anti blocking alarm When the motor speed is lower than P0 75 unit 1 rpm and the duration reaches the set value of P0 74...

Page 107: ... Range Modify Effective P3 30 Forward external torque limit 300 0 300 Anytime At once P3 31 Reverse external torque limit 300 0 300 Anytime At once The unit is the percent of motor rated torque the default value is 300 Parameter Signal name Default setting Meaning Range Modify Effective P5 25 P CL n 0000 The necessary condition to use forward external torque limit Range 0000 0014 can be distribute...

Page 108: ... filter time n 0000 Not distribute to terminal input n 000x Input always open signal from SIx n 0010 Set the signal to be always valid n 001x Input always close signal from SIx Note The basic filtering time refers to input terminal filtering time 2 default setting of input terminal Input terminal SI1 SI2 SI3 SI4 Signal S ON ALM RST P OT N OT 3 Filtering time of input terminal Related parameter Par...

Page 109: ...for hardware wiring details P5 41 parameter setting range is n 0000 0014 which is assigned to other output terminals through parameters If it is necessary to output signal from SO2 P5 41 can be set to n 0002 0012 Servo ready signal output conditions When P5 70 is set to 0 after the driver initialization is completed and the servo has no alarm status S RDY is valid When P5 70 is set to 1 after enab...

Page 110: ...tation detection speed P5 03 the same speed detection speed P5 04 the arrival detection speed P5 05 all contain 10 rpm hysteresis For example the rotation detection speed P5 03 is set to 50 and the rotation detection TGON output port is SO3 rpm TGON 60rpm 50rpm 40rpm Ring width ON OFF OFF 4 8 5 3 Same speed detection V CMP Parameter Signal Default setting Suitable mode Meaning Modify Effective P5 ...

Page 111: ...signal is output from the SO1 terminal n 0012 When the servo alarm the SO2 and COM are switched off Note 1 When an alarm occurs the servo unit is forced to set OFF and the motor will move with external forces including gravity If you need to keep the motor in position please select the motor with power loss brake also known as brake and use BK signal Refer to Section 5 2 5 2 The output of the func...

Page 112: ...P5 11 SOx output 2 P5 10 absolute value P5 11 SOx output 3 P5 10 absolute value P5 11 SOx output P5 13 User defined output 1 hysteresis loop Unit Default setting Range Suitable mode Change Effective Related to trigger condition 0 0 65535 All the modes Anytime At once P5 52 Output terminal setting of user defined output 1 Signal name Default setting Meaning Change User defined output 1 n 0000 Defau...

Page 113: ...2 CLT Torque limit detection 5 8 2 VLT Speed limit detection 5 5 1 3 MRUN Internal position mode motion start 5 3 2 7 V RDY Speed arriving signal 5 4 1 3 PREFA Internal position selection signal 5 3 2 1 PREFB Internal position selection signal 5 3 2 1 PREFC Internal position selection signal 5 3 2 1 4 8 6 Input terminal function 4 8 6 1 Proportion action command P CON Parameter Signal Type Default...

Page 114: ...signal can not be set to be always valid n 0010 4 8 6 3 Other SI terminal function Terminal name Description Chapter S ON Servo enable 5 2 2 P OT No forward driving 5 2 4 N OT No reverse driving 5 2 4 P CL Forward side external torque limit 5 8 2 N CL Reverse side external torque limit 5 8 2 SPD D Internal speed direction 5 4 2 SPD A Internal setting speed 5 4 2 Position mode reference origin trig...

Page 115: ... used for the judgment of alarm output and the protection of overload operation It is recommended to use it within the continuous operation stage of torque speed curve For the torque speed curve please refer to appendix 8 400W suitable model motor code 50F4 58F4 750W suitable model motor code 50F7 58F7 ...

Page 116: ...have different requirements for servo responsiveness the following figure is the basic process of gain adjustment please adjust according to the current machine status and operation conditions Start adjusting Use self tuning function Are you satisfied with responsiveness YES Fast adjusting Are you satisfied with responsiveness NO YES NO Auto tuning external or internal instruction Are you satisfie...

Page 117: ... mode besides the gain of speed loop and position loop there is also the gain of model loop which has a great influence on the servo responsiveness When the model loop is not open the servo responsiveness is determined by the gain of the position loop and when the model loop is open the servo responsiveness is determined by the gain of the model loop The model loop is equivalent to feed forward fu...

Page 118: ...on Parameter Meaning Default setting Modification Effective P2 47 n 0 Model loop turn off n 0 At anytime At once n 1 Model loop turn on Taking DF3E series servo auto tuning mode and using 750W servo 5 times load inertia as an example Model loop function turns off soft mode Low Rigidity and Low Response High Rigidity and Medium Response Speed instruction Speed feedback Load inertia ratio P0 07 500 ...

Page 119: ...e n 1 Turn on of disturbance observer Parameter Meaning Default setting Unit Setting range Modify Effective P2 41 Disturbance observer gain 85 0 100 Anytime At once 5 2 Rotary inertia presumption 5 2 1 Overview Rotational inertia estimation is the function of automatic operation forward and reverse in the driver and estimate the load inertia in operation Rotational inertia ratio the ratio of load ...

Page 120: ...s reached the upper limit and can not be used please replace the motor with larger rotor inertia Other notes At present the inertia switching function is not supported and the second inertia ratio is invalid The inertia ratio upper limit changes to 500 times for the driver firmware 3700 and higher version parameter upper limit value is 50000 5 2 3 Operation tool The presumptive tools of load momen...

Page 121: ...113 2 select jog setting or manual setting to configure the inertia estimation trip 3 Set the auto tuning interface ...

Page 122: ...justment steps 1 estimate the load inertia through servo driver panel or XinJeServo software refer to chapter 5 2 2 shut down adaptive mode set P2 01 0 to 0 3 set the rigidity level P0 04 Note P2 01 0 is the first bit of P2 01 P2 01 n 0 0 1 0 P2 01 0 5 3 3 Rigidity level corresponding gain parameters P0 04 Rigidity level P1 00 Speed loop gain P1 01 speed loop integral P1 02 Position loop gain P2 3...

Page 123: ...crease The following is the recommended rigidity level of the load for reference only 1 20 32 Large load of flexible structure High rigidity load Flexible structure large load refers to the type of synchronous belt structure large load inertia equipment High rigid load refers to the mechanism of screw rod or direct connection and equipment with strong mechanical rigidity Driver power Default param...

Page 124: ... automatic adjustments are as follows Load moment of inertia Gain parameters speed loop position loop model loop gain Filter notch filter torque instruction filter 5 4 2 Notes Untunable occasions Mechanical systems can only operate in one direction Setting occasions that are prone to failure Excessive load moment of inertia The moment of inertia varies greatly during operation Low mechanical rigid...

Page 125: ...117 5 4 4 Internal instruction auto tuning steps 1 click auto tuning on the XinJeServo software main interface 2 set the auto tuning trip in jog mode or manually 3 set the auto tuning interface ...

Page 126: ...118 4 click ok to estimate the inertia 5 set the auto tuning parameters ...

Page 127: ... pay attention to adjusting without overshoot Besides gain adjustment the model loop gain and notch filter are automatically adjusted Load type Description Synchronous belt Fit for the adjustment of lower rigidity mechanism such as synchronous belt mechanism Screw rod It is suitable for adjustment of higher rigidity mechanism such as ball screw mechanism If there is no corresponding mechanism plea...

Page 128: ...120 7 Wait for the end of the auto tuning ...

Page 129: ...xternal instruction auto tuning steps 1 Click auto tuning on the main interface of XinJeServo software 2 Select jog or manual setting to configure the trip of inertia identification 3 Set the auto tuning interface ...

Page 130: ... loop gain and notch filter are automatically adjusted Rapid positioning control overshoot In the use of positioning we should pay attention to adjusting without overshoot Besides gain adjustment the model loop gain and notch filter are automatically adjusted Load type Description Synchronous belt Adjustment of lower rigidity mechanism such as synchronous belt Screw It is suitable for adjusting hi...

Page 131: ...123 Rigid connection It is suitable for the adjustment of rigid body system and other mechanisms with higher rigidity 6 Start auto tune 7 Open the servo enable then click ok ...

Page 132: ...124 8 The upper device starts to send pulses wait the completion of auto tuning 9 Auto tuning is finished click ok ...

Page 133: ...3 Active vibration suppression damping P2 64 Active vibration suppression filter time 1 P2 65 Active vibration suppression filter time 2 P2 66 Second group of active vibration suppression damping P2 67 Second group of active vibration suppression frequency P2 69 0 First notch switch P2 69 1 Second notch switch P2 71 First notch frequency P2 72 First notch attenuation P2 73 First notch band width P...

Page 134: ... turn on the model loop Servo unit consists of three feedback loops current loop speed loop and position loop from inside to outside The more inner loop the more responsive it is Failure to comply with this principle will result in poor response or vibration Among them the current loop parameters are fixed values to ensure adequate responsiveness and users do not need to adjust Please use manual a...

Page 135: ... Anytime At once Integral time constant of speed loop In order to respond to small inputs the speed loop contains integral elements Because this integral factor is a delay factor for servo system when the time constant is too large it will overshoot or prolong the positioning time which will make the response worse The relationship between the gain of the speed loop and the integral time constant ...

Page 136: ...Name Default setting Unit Range Modify Effective P2 35 Filter time constant of torque instruction 1 100 0 01ms 0 65535 Anytime At once Model loop gain When the model loop is valid P2 47 0 1 the response of the servo system is determined by the gain of the model loop If the gain of the model loop is increased the responsiveness is increased and the positioning time is shortened At this time the res...

Page 137: ...tion 2 Before performing the vibration suppression operation please set the inertia ratio and gain parameters correctly otherwise it can not be controlled properly 5 6 2 Operation tools Adjustment mode Operation tools Control mode Operation steps Limitation Adaptive mode XinJeServo Mechanical Characteristic Analysis Position mode 5 6 4 Vibration Suppression PC Software All versions of PC software ...

Page 138: ...t manually If there are multiple resonance points the third to fifth notch can be configured in turn 5 6 4 Vibration suppression manual setting If the resonance frequency of the mechanical system is known the vibration can be eliminated by setting the vibration frequency manually Please configure the third to fifth notches The related parameters are detailed in 5 6 5 notch filter 5 6 5 Notch filte...

Page 139: ...notch filter P2 71 P2 72 P2 73 Second notch filter P2 74 P2 75 P2 76 Third notch filter P2 77 P2 78 P2 79 Fourth notch filter P2 80 P2 81 P2 82 Fifth notch filter P2 83 P2 84 P2 85 Torque instruction after filter Torque instruction before filter P2 69 control P2 70 control Parameter Meaning Default setting Change Effective P2 69 n 0 First notch off n 0 Anytime At once n 1 First notch on n 0 Second...

Page 140: ... once P2 82 Fourth notch bandwidth 0 Hz 0 1000 Anytime At once P2 83 Fifth notch frequency 5000 Hz 50 5000 Anytime At once P2 84 Fifth notch attenuation 70 0 1dB 50 1000 Anytime At once P2 85 Fifth notch bandwidth 0 Hz 0 1000 Anytime At once Note 1 In the adaptive mode if the vibration is detected the second notch filter will be automatically configured 2 In the auto tuning mode the second and fir...

Page 141: ...loshing Countermeasure 1 Reducing gain parameters 2 Optimize the instructions of the upper device and reduce the acceleration of the instructions 5 7 2 Vibration The following causes cause machine vibration 1 Vibration due to inappropriate servo gain Countermeasure Reduce gain 2 Mechanical resonance point Countermeasure Setting notch parameters manually or through mechanical characteristic analysi...

Page 142: ... password error Yes Servo enable 02 0 E 020 Parameter loading error Yes Servo enable 1 E 021 Parameter range over limit No Servo enable 2 E 022 Parameter conflict No Servo enable 3 E 023 Sampling channel setting error Yes Servo enable 4 E 024 parameter lost No Servo enable 5 E 025 Erase FLASH error No Servo enable 6 E 026 InitializationFLASHerror No Servo enable 8 E 028 EEPROM write in error No Se...

Page 143: ...generative resistance overload No Servo enable 22 0 E 220 Communication error of absolute servo encoder No Servo off 1 E 221 Too many CRC errors in encoder communication No Servo off 2 E 222 Absolute value servo encoder battery low voltage alarm No Servo off 3 E 223 Absolute value servo encoder data access alarm No Servo off 7 E 227 Power on encoder multi turn signal data error No Servo off 8 E 22...

Page 144: ... the agent or the manufacturer 3 E 013 FPGA loading error program damaged device damaged Please contact the agent or the manufacturer 4 E 014 FPGA Access error 1 Program damage 2 Device damage 3 serious external interference Please contact the agent or the manufacturer 5 E 015 Program running error Program damage Please contact the agent or the manufacturer 6 E 016 Hardware error program damaged h...

Page 145: ...e refer to chapter 1 4 1 48V bus voltage U0 05 73 discharge starts U0 05 60 discharge ends 2 Increasing Acceleration and Deceleration Time 3 Reducing load inertia 4 Reduce start stop frequency 5 Replacement of larger power drivers and motors Main type Sub type Code Description Reasons Solutions 03 0 E 030 Bus voltage U0 05 is higher than the actual preset threshold 48V Power Supply Machine U0 05 8...

Page 146: ...gher than 95 Check whether the motor fan is abnormal Contact the manufacturer for technical support 3 E 063 Thermocouple disconnection alarm The motor false opening detection and disconnection alarm Check the external thermocouple connection Shield thermocouple disconnection alarm P0 69 1 1 08 0 E 080 Overspeed actual speed P3 21 P3 22 The maximum forward speed is P3 21 and the maximum reverse spe...

Page 147: ...ODE if not please change to the same one then power on again UVW wiring error Inspection of motor UVW wiring need to be in phase sequence brown U black V blue W Driver UVW Output Short Circuit or Motor Failure 1 Measure whether the UVW phase resistance of the motor is balanced If the phase resistance is unbalanced replace the motor 2 Measure whether there is short circuit between UVW and PE of the...

Page 148: ...ill be considered improper selection of the motor Increase the capacity of drivers and motors Extend the acceleration and deceleration time and reduce the load Monitor the U 00 whether it is running over speed Mechanisms are impacted suddenly weighted and distorted Eliminate mechanical distortion Reduce load Motor action when motor brake is not opened Measure the voltage of the brake terminal and ...

Page 149: ...f the brake It is suggested to use servo BK brake signal to control the brake lock If it is not servo control attention must be paid to the timing of brake opening and motor action 3 Monitor the actual output torque range of U0 02 and check whether the setting of P3 28 29 torque limit is reasonable After version 3760 the output torque limit setting parameters of anti locked rotor alarm are P3 38 a...

Page 150: ...n shield this alarm Battery Voltage in Battery Box of Encoder cable is less than 2 75V Please replace the battery while keeping the power supply ON of the servo driver in order to avoid the error of encoder position information Battery specification No 5 battery 3 6V model CP B BATT CPT B BATT Power on alarm for new machine 1 When the absolute value motor is powered off the memory position depends...

Page 151: ...r responding data scrambling The received encoder data is wrong and the number of errors exceeds the value in encoder error retry number register P0 56 Check the arrangement of transmission cables to ensure that the strong and weak current are wired separately High current equipment is supplied separately The grounding is good Main type Sub type Code Description Reasons Solutions 26 0 E 260 Over r...

Page 152: ...used together read the alarm shielding position of motor parameters through P0 53 and set the motor code correctly 31 0 E 310 Power mismatch between driver and motor Such as 750W driver with 200W motor Match the correct motor and driver and use it after setting the motor code correctly 1 E 311 When the motor code is read automatically the motor parameter is 0 Motor code not set On the premise that...

Page 153: ... in P0 33 Check U3 00 and motor label If the two values are the same change P0 33 motor code or set P0 33 to 0 to read motor code automatically If the two values are different contact the manufacturer for technical support 85 2 E 852 Interruption of data interaction with CANopen master station Communication interruption between master and slave station Check whether the CAN network wiring is disco...

Page 154: ...ontrol mode 0 General mode 1 Bus mode 1 0 1 P0 01 Control mode 1 1 Internal Torque Mode 3 Internal speed Model 5 Internal Location Mode 6 External Pulse Position Mode 7 External Pulse speed Mode 1 1 7 1 3 5 6 7 4 1 1 P0 02 Control mode 2 ditto 1 1 10 1 3 5 6 7 4 1 1 P0 03 Enabling mode 0 not enabled 1 IO enable 2 Software Enablation 3 0 3 1 3 5 6 7 4 2 2 P0 04 Rigidity grade 5 0 63 1 3 5 6 7 5 3 3...

Page 155: ...l Power protection mode of discharge resistance version 3700 and later 0 cumulative discharge time 1 average power mode 1 2 average power mode 2 0 0 1 1 3 5 6 7 4 2 6 P0 25 Power Value of Discharge Resistance W 100 1 65535 1 3 5 6 7 4 2 6 P0 26 Discharge resistance value Ω 80 1 500 1 3 5 6 7 4 2 6 P0 27 Servo shutdown the enable stop mode 0 Inertial Operation Stop 2 deceleration stop 0 0 5 1 3 5 6...

Page 156: ...m time ms 0 0 5000 1 3 5 6 7 4 8 1 P0 75 Blocking alarm speed rpm 50 5 9999 1 3 5 6 7 4 8 1 P0 79 Absolute Encoder Battery Undervoltage Alarm Switch firmware version 20160304 and later 0 used as absolute value encoder 1 1 used as incremental encoder 2 used as absolute value encoder ignoring multi turn overflow alarm 1 0 2 1 3 5 6 7 4 7 1 P0 80 Thermal Power Protection of Motor 0 current protection...

Page 157: ...tering time 0 1ms 0 0 65535 5 6 4 3 1 7 P1 25 position instruction smooth filter time 0 1ms 0 0 65535 5 6 4 3 1 7 P2 XX Parameter Function Unit Default value Range Effective Suitable mode Reference chapter P2 00 0 Disturbance observer switch 0 OFF 1 ON 1 0 1 1 3 5 6 7 5 1 4 P2 01 0 Adaptive mode switch 0 OFF 1 ON 0 0 1 1 3 5 6 7 P2 01 1 Adaptive level 0 high response 1 low noise 1 0 1 1 3 4 6 7 P2...

Page 158: ...ensation Coefficient Non adaptive Mode Effective 85 0 100 1 3 5 6 7 5 1 4 P2 47 0 Model Loop Switch 0 OFF 1 ON 1 0 f 1 3 5 6 7 5 1 3 P2 49 Model loop gain 0 1Hz 175 10 20000 3 5 6 7 5 5 3 P2 60 0 Active Vibration Suppression Switch 0 OFF 1 ON 0 0 1 3 5 6 7 5 4 6 P2 60 1 Active Suppression Auto tuning Switch 0 Active Vibration Suppression is not Configured in auto tuning 1 configure the Active Vibr...

Page 159: ...Fourth notch frequency Hz 5000 50 5000 1 3 5 6 7 5 7 7 P2 81 Fourth notch attenuation 0 1dB 70 50 1000 1 3 5 6 7 5 7 7 P2 82 Fourth notch band width Hz 0 0 1000 1 3 5 6 7 5 7 7 P2 83 Fifth notch frequency Hz 5000 50 5000 1 3 5 6 7 5 7 7 P2 84 Fifth notch attenuation 0 1dB 70 50 1000 1 3 5 6 7 5 7 7 P2 85 Fifth notch band width Hz 0 0 1000 1 3 5 6 7 5 7 7 P3 XX Parameter Function Unit Default value...

Page 160: ...4 2 P3 19 forward warning speed rpm 3000 0 10000 1 3 5 6 7 4 8 5 4 P3 20 reverse warning speed rpm 3000 0 10000 1 3 5 6 7 4 8 5 4 P3 21 forward alarming speed rpm 4000 0 10000 1 3 5 6 7 P3 22 reverse alarming speed rpm 4000 0 10000 1 3 5 6 7 P3 23 T REF Function Allocation 0 Input as Torque Instruction 1 As a necessary condition for limiting input of external torque the minimum value is valid comp...

Page 161: ...00 1 Search the origin function 0 OFF 1 ON 0 0 1 5 6 4 3 1 8 P4 00 2 return to zero overrun prohibition 0 not prohibit 1 prohibit 0 0 1 5 6 4 3 1 8 P4 01 Speed of hitting the proximity switch rpm 600 0 65535 5 6 4 3 1 8 P4 02 Speed of leaving proximity switch rpm 100 0 65535 5 6 4 3 1 8 P4 03 0 Internal Location Given Mode Sets Location Mode 0 relative positioning 1 Absolute positioning 0 0 1 5 4 ...

Page 162: ...5 2 P5 04 Same speed detection speed rpm 50 0 10000 1 3 5 6 7 4 8 5 3 P5 05 Reached detection speed rpm 1000 0 10000 1 3 5 6 7 4 4 1 3 P5 06 Positioning near output width Comman d unit 50 1 65535 5 6 4 3 1 3 P5 07 Servo OFF delay time ms 500 500 9999 1 3 5 6 7 4 2 5 P5 08 Brake instruction output speed rpm 30 20 10000 1 3 5 6 7 4 2 5 P5 09 Brake instruction waiting time ms 500 0 65535 1 3 5 6 7 4 ...

Page 163: ...2 2 SI terminal filtering time ms 0 0 f 1 3 5 6 7 4 8 4 1 P5 23 0 1 N OT forbidden reverse driving 04 0 ff 1 3 5 6 7 4 2 4 P5 23 2 SI terminal filtering time ms 0 0 f 1 3 5 6 7 4 8 4 1 P5 24 0 1 ALM RST alarm clear 02 0 ff 1 3 5 6 7 4 8 6 2 P5 24 2 SI terminal filtering time ms 0 0 f 1 3 5 6 7 4 8 4 1 P5 25 0 1 P CL External Torque Limitation at Forward Rotation Side 00 0 ff 1 3 5 6 7 4 8 2 P5 25 ...

Page 164: ...put reverse Signal from SO3 terminal 0000 0 ffff 5 6 4 3 1 2 P5 38 COIN positioning completion 0001 0 ffff 5 6 4 3 1 2 P5 39 V CMP same speed detection 0000 0 ffff 3 7 4 8 5 3 P5 40 TGON rotation detection 0000 0 ffff 1 3 5 6 7 4 8 5 2 P5 41 S RDY ready 0000 0 ffff 1 3 5 6 7 4 8 5 1 P5 42 CLT torque limit 0000 0 ffff 1 3 5 6 7 4 8 2 P5 43 VLT speed limit detection 0000 0 ffff 1 4 5 1 3 P5 44 BK br...

Page 165: ...ion Unit Default value Range Effective Suitable mode Reference chapter P6 05 Adaptive Mode Speed Loop Gain Large Inertia 0 1Hz 200 1 65535 1 3 5 6 7 5 2 4 P6 07 Adaptive mode inertia ratio Large inertia 50 0 10000 1 3 5 6 7 5 2 4 P6 08 Gain of adaptive mode speed observer large inertia Hz 40 10 1000 1 3 5 6 7 5 2 4 P6 12 Maximum Inertia Ratio of Adaptive Mode Large Inertia 50 1 10000 1 3 5 6 7 5 2...

Page 166: ... 1 500 1 3 5 6 7 7 2 P7 04 Xnet slave station data 15 1 500 1 3 5 6 7 7 2 P7 05 Xnet slave station numbers 10 1 256 1 3 5 6 7 7 2 P7 06 Number of communication overtime retries times 10 1 500 1 3 5 6 7 7 2 P7 07 Bus instruction refresh cycle 1us 3000 1 65535 1 3 5 6 7 7 2 P7 08 Compensation Threshold of Position Deviation 0 0 1 3 5 6 7 7 2 P7 09 Compensation times for Position Deviation 0 0 1 3 5 ...

Page 167: ...t Stop bit 2 0 2 1 3 5 6 7 7 2 P7 11 3 RS232 parity bit 0 no parity 1 odd parity 2 even parity Parity bit 2 0 2 1 3 5 6 7 7 2 P7 20 Return to zero direction bus 1 9999 9999 1 3 5 6 7 7 2 P7 21 Filtering time after return to zero bus ScanA Cycle 400 1 65525 1 3 5 6 7 7 2 P7 31 CANbus baud rate 00 100000 01 125000 02 250000 03 500000 04 800000 05 1000000 Baud rate 3 0 5 1 3 5 6 7 7 2 ...

Page 168: ... U0 25 Input pulse frequency 0000 9999 1 Hz U0 26 0000 9999 10000 U0 41 Instantaneous output power 1W U0 42 Average output power 1W U0 43 Instantaneous thermal power 1W U0 44 average thermal power 1W U0 49 position feedforward 1 command unit U0 50 speed feedforward rpm U0 51 torque feedforward rated U0 52 Instantaneous Bus Capacitor Power 1W U0 53 Average Bus Capacitor Power 1W U0 54 Discharge pow...

Page 169: ...V U1 05 IGBT temperature when alarming 0 1 U1 06 torque current when alarming 0 1A U1 07 excitation current when alarming A U1 08 position offset when alarming Instruction pulse U1 09 speed when alarming rpm U1 10 Seconds low 16 bit when alarming cumulated seconds from the first time power on s U1 11 Seconds high 16 bit when alarming cumulated seconds from the first time power on s U1 12 this time...

Page 170: ...rage thermal power from the first time enabled average power in the process of enabling 1W U2 17 Average bus capacitor filter power from the first time power on average power in the process of power on 1W U2 18 Motor accumulated turn 0000 9999 1 Turn U2 19 0000 9999 10000 Turn U2 20 Device serial no low 16 bit U2 21 Device serial no high 16 bit U2 22 Firmware generation date year U2 23 Firmware ge...

Page 171: ...5 P7 00 P7 xx 0x0700 0x0763 Modbus address is added 1 in turn from 0x0700 for example Modbus address of P7 11 is 0x070B U0 00 U0 xx 0x1000 0x1063 Modbus address is added 1 in turn from 0x1000 for example Modbus address of U0 05 is 0x1005 U1 00 U1 xx 0x1100 0x1163 Modbus address is added 1 in turn from 0x1100 for example Modbus address of U1 14 is 0x110E U2 00 U2 xx 0x1200 0x1263 Modbus address is ...

Page 172: ...P1 28 0x011C 284 P1 14 0x010E 270 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal P2 00 0x0200 512 P2 15 0x20F 527 P2 01 0x0201 513 P2 16 0x210 528 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal P3 00 0x0300 768 P3 19 0x0313 787 P3 01 0x0301 769 P3 20 0x0314 788 P3 02 0x0302 770 P3 21 0x0315 789 P3 03 0x0303 771 P3 22 0x0316 790 P3 04 0x0304 772...

Page 173: ...291 P5 38 0x0526 1318 P5 12 0x050C 1292 P5 39 0x0527 1319 P5 13 0x050D 1293 P5 40 0x0528 1320 P5 14 0x050E 1294 P5 41 0x0529 1321 P5 15 0x050F 1295 P5 42 0x052A 1322 P5 16 0x0510 1296 P5 43 0x052B 1323 P5 17 0x0511 1297 P5 44 0x052C 1324 P5 18 0x0512 1298 P5 45 0x052D 1325 P5 19 0x0513 1299 P5 46 0x052E 1326 P5 20 0x0514 1300 P5 47 0x052F 1327 P5 21 0x0515 1301 P5 48 0x0530 1328 P5 22 0x0516 1302 ...

Page 174: ... U0 47 0x102F 4143 U0 20 0x1014 4116 U0 48 0x1030 4144 U0 21 0x1015 4117 U0 49 0x1031 4145 U0 22 0x1016 4118 U0 50 0x1032 4146 U0 23 0x1017 4119 U0 51 0x1033 4147 U0 24 0x1018 4120 U0 52 0x1034 4148 U0 25 0x1019 4121 U0 53 0x1035 4149 U0 26 0x101A 4122 U0 57 0x1039 4153 U0 27 0x101B 4123 U0 58 0x103A 4154 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal U1 00 0x1100 4352 U...

Page 175: ... 4372 U1 21 0x1115 4373 U1 22 0x1116 4374 U1 23 0x1117 4375 U1 24 0x1118 4376 U1 25 0x1119 4377 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal F0 00 0x2000 8192 F1 00 0x2100 8448 F0 01 0x2001 8193 F1 01 0x2101 8449 F0 02 0x2002 8194 F1 02 0x2102 8450 F2 09 0x2209 8713 F1 03 0x2103 8451 F1 04 0x2104 8452 F1 05 0x2105 8453 F1 06 0x2106 8454 ...

Page 176: ... is set to 0 which can be responded Q6 The initial direction is not what I want How can I change it through a servo driver Change the initial direction by modifying P0 05 set the value to 0 or 1 and take effect after re energizing For mode 2 4 6 7 only If the internal speed mode mode 3 is used the positive and negative values of the speed setting can be changed Q7 How do the two modes switch to ea...

Page 177: ... is 50 mm Q10 How to connect bus control BD board and JA NE L A A1 B B1 SG SG when one axis running the PLC BD board and the terminal resistor of the last JA NE L board of electrical connection should be ON when multi axis running and the terminal resistance of JA NE L board in the middle should be OFF ...

Page 178: ... the servo power light is always on 4 Read the parameter U3 00 through the upper computer and check the motor code value on the motor label If U3 00 motor code on the motor nameplate please write the motor code on the motor nameplate into P0 33 through the upper computer If necessary contact the manufacturer for technical support 5 Check the running state of the motor during trial operation If the...

Page 179: ...sis 1 Make sure the work mode 6 2 It needs to judge whether 2 and 3 touch 1 when finding the symmetrical point first time The sign is servo output torque will increase It needs to use torque limit P3 28 P3 29 and torque limit output signal CLT 3 As the dimension of workpiece 1 is larger than standard offset pulse will remain in servo when the symmetrical point is found CLR signal can clear the pul...

Page 180: ...ulse command state P0 10 2 Electronic gear ratio P0 11 0 P0 12 0 P0 13 16384 P0 14 625 Forward torque limit P3 28 150 Reverse torque limit P3 29 150 Positioning finished width P5 00 7 S ON P5 20 0010 CLR P5 34 0001 COIN P5 38 0001 CLT P5 42 0002 ...

Page 181: ...guration P7 02 RS485 communication protocol Communication setting related parameters Appendix 7 2 External pulse position mode general parameters External pulse position mode general parameters Parameter Overview P0 01 control mode selection Set to 6 external pulse mode P0 10 pulse instruction format Set pulse format 0 CW CCW 1 AB 2 P D P0 11 set motor pulses per revolution 1 P0 12 set motor pulse...

Page 182: ...mit max speed P3 15 reverse maximum speed limit max speed Speed limit in torque mode P5 27 speed direction switch SPD D Change direction default is n 0000 If the direction changing is given through SI2 terminal p5 27 can be set to n 0002 Appendix 7 5 Internal speed control general parameters Internal speed control Parameter Overview P0 01 control mode selection Set to 3 internal speed control mode...

Page 183: ...peed Determine the linear relationship between the command pulse frequency and the speed P0 16 Speed command pulse filtering time When the command pulse frequency is relatively low setting this parameter properly can reduce the speed fluctuation ...

Page 184: ...176 Appendix 8 Torque speed characteristic curve ...

Page 185: ...ckage MF3S 60CS CM30B1 504 DF3E 0410 Z CP T SP M le ngth CM T P07 M L ength JAM P9 P4 MF3S 60CS CM30BZ1 504 CP T SP M L ength CM T P07 M L ength CB T P03 L ength JAM P9 P4 P2 MF3S 80CS CM30B2 507 DF3E 0720 Z CP T SP M L ength CM T P07 M L ength JAM P9 P4 MF3S 80CS CM30BZ2 507 CP T SP M L ength CM T P07 M L ength CB T P03 L ength JAM P9 P4 P2 ...

Page 186: ...n mode is as follows Appendix 10 2 start driver communication There are two ways to open the communication window First click communication on the main interface toolbar to open the communication with driver window Second double click communication status offline in the main interface to open the communication with drive window If the communication status is online double click it to change to off...

Page 187: ...32 parameters Note if the serial port configuration is correct the information will be displayed in area 1 and area 2 If the configuration is wrong or the serial port is occupied the communicate with drive window will display current serial port is not available please check and configure the serial port again Area 4 auto connect The automatic connection is only valid when the station number is 1 ...

Page 188: ...or servo not powered up click OK to exit communicate with drive starts reading data at the same time As shown in the following figure the progress bar data reading progress is displayed in the lower right corner of the interface during data reading Area 7 cancel Close communicate with servo window ...

Page 189: ...Wechat ID WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7 Originality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 510 85134136 Fax 510 85111290 www xinje com ...

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