Xinje DS5E Series User Manual Download

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164

Power

(KW)

Inertia

level

Motor model

Suitable servo

driver

Voltage
level

Encoder
cable

Power cable

0.4

High

inertia

MS5H-60ST□-CS01330B-20P4-
S02

DS5E/L-20P4

-PTA

Single

phase

220V

CPT-SW-M-
length

CMT-W07-M
-length

MS5H-60ST□-CM01330B-20P4-
S02

CPT-SW-B
M-length

CMT-W07-M
-length

MS5H-60ST□-CS01330BZ-20P4
-S02

CPT-SW-M-
length

CMBT-W07-
M-length

MS5H-60ST□-CM01330BZ-20P
4-S02

CPT-SW-B
M-length

CMBT-W07-
M-length

0.7

low

inertia

MS5S-80ST□-CS02430B-20P7-S
02

DS5E/L-20P7

-PTA

CPT-SW-M-
length

CMT-W07-M
-length

MS5S-80ST□-CM02430B-20P7-
S02

CPT-SW-B
M-length

CMT-W07-M
-length

MS5S-80ST□-CS02430BZ-20P7-
S02

CPT-SW-M-
length

CMBT-W07-
M-length

MS5S-80ST□-CM02430BZ-20P7
-S02

CPT-SW-B
M-length

CMBT-W07-
M-length

High

inertia

MS5H-80ST□-CS02430B-20P7-
S02

CPT-SW-M-
length

CMT-W07-M
-length

MS5H-80ST□-CM02430B-20P7-
S02

CPT-SW-B
M-length

CMT-W07-M
-length

MS5H-80ST□-CS02430BZ-20P7
-S02

CPT-SW-M-
length

CMBT-W07-
M-length

MS5H-80ST□-CM02430BZ-20P
7-S02

CPT-SW-B
M-length

CMBT-W07-
M-length

1.0

low

inertia

MS5S-80ST(E)-CS03230B(Z)-21
P0-S02

CPT-SW-M-
length

CM(B)T-W0
7-M-length

MS5S-80ST(E)-CM03230B(Z)-2
1P0-S02

CPT-SW-B
M-length

CM(B)T-W0
7-M-length

High

inertia

MS5H-80ST(E)-CS03230B(Z)-2
1P0-S02

CPT-SW-M-
length

CM(B)T-W0
7-M-length

MS5H-80ST(E)-CM03230B(Z)-2
1P0-S02

CPT-SW-B
M-length

CM(B)T-W0
7-M-length

4 pole-pairs long-body magnetic encoder motor -S03/S04

Power

(KW)

Inertia

level

Motor model

Suitable servo

driver

Voltage
level

Encoder
cable

Power cable

0.4

low

inertia

MS5S-60ST-CS01330B-20P4-S03

DS5E/L-20P4

-PTA

CP(T)-SP-M
-length

CM(T)-P07-
M-length

MS5S-60STE-CS01330B-20P4-S
03

CP(T)-SP-M
-length

CM(T)-P07-
M-length

MS5S-60ST-CS01330B-20P4-S04

CPT-SW-M-
length

CMT-W07-M
-length

MS5S-60STE-CS01330B-20P4-S
04

CPT-SW-M-
length

CMT-W07-M
-length

Summary of Contents for DS5E Series

Page 1: ...DS5E DS5L series servo drive User manual WUXI XINJE ELECTRIC CO LTD Data No SC5 04 20190108 1 1 ...

Page 2: ......

Page 3: ...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 grounding may cause electric shock Please use 2mm2...

Page 4: ... 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 residual voltage may cause electric shock Wiring atten...

Page 5: ...inal arrangement 21 3 1 2 Main circuit terminals and explanations 21 3 1 3 CN0 CN1 CN2 terminal 23 3 1 4 Communication port 24 3 2 Classification and function of signal terminals 26 3 2 1 Pulse signal 26 3 2 2 SI input signal 26 3 2 3 SO output signal 27 3 2 4 Analog input circuit DS5E 5L not support 27 3 2 5 Encoder feedback output signal DS5E 5L not support 27 4 Operate panel 28 4 1 Basic operat...

Page 6: ...election 63 5 6 2 Internal speed setting 63 5 6 3 Soft start 63 5 6 4 Input signal setting 64 5 6 5 Speed command limit 65 5 6 6 Zero clamp ZCLAMP 65 5 6 7 Torque limit 66 5 6 8 Same speed detection V CMP 67 5 6 9 Speed reach signal V RDY 67 5 6 10 Alarm speed 68 5 6 11 Filter 68 5 6 12 Proportion action command P CON 68 5 7 Speed control pulse frequency command 69 5 7 1 Control mode selection 70 ...

Page 7: ...iew 99 6 4 2 Fast adjustment steps 99 6 4 3 Rigidity level corresponding gain parameters 99 6 4 4 Notes 102 6 5 Auto tuning 102 6 5 1 Overview 102 6 5 2 Notes 102 6 5 3 Operation tools 103 6 5 4 Internal instruction auto tuning steps 103 6 5 5 External instruction auto tuning steps 107 6 5 6 Related parameters 112 6 6 Manual adjustment 113 6 6 1 Overview 113 6 6 2 Adjustment steps 114 6 6 3 Gain p...

Page 8: ... 4 Appendix 5 Q A 156 Appendix 6 General debugging steps 158 Appendix 7 Application examples 159 Appendix 8 Model list 160 ...

Page 9: ...or shaft rotate smoothly The servo motor shaft is normal 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 Ch...

Page 10: ...7 750w 1P5 1 5KW 2P3 2 3KW 2P6 2 6KW Name Meaning DS Servo drive Name Product series 5E Xnet fieldbus 5L Pulse model Name Rated input voltage 2 AC220V 4 AC380V 1 1 2 Description of each part RS232 port CN0 pulse direction I O signal CN1 Used for Extending Bus Function To connect extension bus module CN2 encoder cable for drive Power supply Motor wiring Regenerative resistor ...

Page 11: ...ase AC200 240V 50 60Hz when the value is above 1 5KW including 1 5KW For the single phase power supply please connect to L1 and L3 otherwise the power failure will affect the memory of parameters DS5 4 P PTA three phase AC340 420V 50 60Hz Control mode Three phase full wave rectifier IPM PWM control sinusoidal current drive mode Using condition Using temperature 10 40 Storage temperature 20 60 Envi...

Page 12: ...ST Sine drive motor Name Encoder type C Magnetic encoder T Photoelectric encoder Name Rated torque N m 00630 0 637 01330 1 3 Rated speed rpm 3000 3000 Name Encoder accuracy S Single circle 17 bit M Multi circle 17 bit U Single circle 23 bit L Multi circle 23 bit Name Design number S01 standard 02430 2 39 3000 Name Product name empty No oil seal E With oil seal S02 Small Aviation Plug Type Note At ...

Page 13: ...ic type Power cable model Name Length m 03 3 05 5 08 8 Name Plug type P Small power 4 core amp plug L 4 core small aviation plug Name Cable type CP Normal CPT High flexibility Name Cable type M Magnetic encoder Empty Photoelectric encoder W Small power 6 core water proof aviation plug XL 4 core medium aviation plug CM L 15 M 03 CMBT High flexibility aviation plug with brake Name Diameter mm 07 0 7...

Page 14: ...9 1 3 4 5 6 7 2 No Definition 40 60 80 flange S02 motor 1 Shielded cable 2 Battery 3 Battery 4 485 5 485 7 5V 8 GND 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 No Definition 110 and above flange motor 1 Shielded cable 2 3 485 4 485 5 6 GND 7 Battery 8 5V 9 Battery Battery box description 1 The encoder including the cable definition of battery battery is for the absolute motor and the non absolute motor ca...

Page 15: ...efinition Suitable model No Definition 1 2 3 4 1 U 40 60 80 flange S01 motor 2 W 3 V 4 PE 2 1 No Definition 40 60 80 flange S01 motor brake 1 BK 2 BK 1 2 3 4 5 6 No Definition 750W and below S02 small aviation plug motor 1 PE 2 U 3 V 4 W 5 BK 6 BK 1 2 3 4 No Definition 110 and above motor 1 PE 2 U 3 V 4 W Brake pins The cable including BK pin is used for the brake motor The cable of the non brake ...

Page 16: ...istance value Note if software version U2 07 3700 the parameter P0 24 should be set The value of 0 is for the built in resistance to take effect and the value of 1 is for the external resistance to take effect The following table is the recommended specifications of external regenerative resistance for each type of motor Servo driver model Rmin Not less than this value External regenerative resist...

Page 17: ... humidity dust metal dust environment No vibration place 2 1 2 Environment condition Item Description Use ambient temperature 10 40 Use ambient humidity 20 90 RH no condensation Storage temperature 20 60 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 ...

Page 18: ...stall servo drives side by side as shown in the figure 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 Vibrati...

Page 19: ...i salt etc In places with grinding fluid oil mist iron powder cutting etc please choose motor with oil seal A place away from heat sources such as stoves Do not use motor in enclosed environment Closed environment will lead to high temperature and shorten service life of motor 2 2 2 Environment condition When used in places with water droplets or oil droplets the protection effect can be achieved ...

Page 20: ...oupling or similar methods are used When the pulley is dismantled the pulley mover is used to prevent the bearing from being strongly impacted by the load To ensure safety protective covers or similar devices such as pulleys installed on shaft are installed in the rotating area Centering When installing the servo motor make it conform to the centering accuracy requirement shown in the picture belo...

Page 21: ... to the following items When connecting the connector please make sure that there is no foreign matter such as garbage or metal sheets in the connector When connecting the connector to the servo motor it is necessary to connect the connector from the side of the main circuit cable of the servo motor first and the grounding wire of the main cable must be connected reliably If one side of the encode...

Page 22: ...L 20P2 PTA DS5E L 20P4 PTA Unit mm 45 0 175 0 175 1 178 0 164 0 33 8 Ø5 5 Ø5 5 DS5E L 20P7 PTA Unit mm 60 0 183 0 182 9 181 3 48 8 172 0 Ø5 5 Ø5 5 DS5E L 21P5 PTA DS5E L 22P3 PTA DS5E L 22P6 PTA DS5E 41P5 PTA Unit mm 193 3 186 60 85 0 175 0 74 0 Ø5 5 ...

Page 23: ...15 DS5E 45P5 PTA DS5E 47P5 PTA Unit mm 135 0 251 0 239 5 123 5 4 φ6 0 ...

Page 24: ... 129 5 Low inertia 60 series motor installation dimensions Unit mm a60 7 0 4 5 5 11 0 0 1 5 0 0 03 M5深 8 50h7 30 0 5 14h6 2 LA 83 20 2 Motor model LA 1 Inertia level Normal With brake MS5S 60ST CS00630 20P2 S01 S02 79 114 Low inertia MS5S 60ST CS01330 20P4 S01 S02 99 134 MS5S 60ST CS01330B 20P4 S03 S04 107 142 MS5H 60ST CS00630 20P2 S01 S02 91 126 High inertia MS5H 60ST CS01330 20P4 S01 S02 111 14...

Page 25: ... 21P0 S01 S02 140 177 MS 80ST T02430 20P7 150 199 MS 80ST T03520 20P7 179 219 110 series motor installation dimensions Unit mm LA 12 5 2 40 2 5 55 0 5 19h6 95h7 a110 1 3 0 4 9 15 5 0 0 1 6 0 0 018 M 5 深 2 5 Motor model LA 1 Inertia level Normal With brake MS5S 110ST CS03230 21P0 S01 157 Low inertia MS5S 110ST CS04830 21P5 S01 166 MS5S 110ST CS06430 22P0 S01 181 MS5S 110ST TL03230 21P0 S01 157 205 ...

Page 26: ...1 159 5 189 5 MS5G 130STE CS11515 21P8 S01 MS5G 130STE CS14615 22P3 S01 180 5 210 5 MS5G 130STE CS14615 42P3 S01 MS5G 130STE TL05415 20P8 S01 134 5 164 5 MS5G 130STE TL07220 21P5 S01 149 5 179 5 MS5G 130STE TL11515 21P8 S01 176 5 206 5 MS5G 130STE TL11515 21P8 S01 MS5G 130STE TL14615 22P3 S01 197 5 227 5 MS5G 130STE TL14615 42P3 S01 MS 130ST T04030B 21P2 164 223 14 MS 130ST T06025 21P5 179 238 MS ...

Page 27: ...del LA 1 Inertia level Normal With brake MS5G 180ST TL19015 42P9 S01 221 303 Middle inertia MS5G 180ST TL28015 44P4 S01 247 329 LA 114 3h7 102 20 3 3 42h6 113 0 5 2 2 0 0 4 1 3 5 a180 37 0 0 1 12 0 0 03 M16深 16 Motor model LA 1 Inertia level Normal With brake MS5G 180ST TL35015 45P5 S01 277 359 Middle inertia MS5G 180ST TL48015 47P5 S01 318 400 ...

Page 28: ...wiring please keep the power wire and signal wire more than 30 cm apart 2 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 ser...

Page 29: ...z Vacant terminal U V W Motor terminals Connect the motor Note the ground wire is on the cooling fin please check it before power on P D C Internal regenerative resistor Short P and D disconnect P and C External regenerative resistor Connect regenerative resistor between P and C disconnect P and D P0 25 power value P0 26 resistor value RS232 port CN0 pulse direction I O signal CN1 insert module fo...

Page 30: ...t terminal U V W Motor terminals Connect the motor Note the ground wire is on the cooling fin please check it before power on P D C Internal regenerative resistor Short P and D disconnect P and C External regenerative resistor Connect regenerative resistor between P and C disconnect P and D P0 25 power value P0 26 resistor value Power supply input of main circuit Connect to ground terminal of moto...

Page 31: ...tput terminal 1 Name Description Name Description D 24V Open collector input SO2 Output terminal 2 SI1 Input terminal 1 SO3 Output terminal 3 SI2 Input terminal 2 COM Output terminal ground CN0 terminal description above 1 5KW 4 input 4 output Name Description Name Description P Pulse input PUL SI4 Input terminal 4 P 24V Open collector input 24V Input 24V D Direction input DIR SO1 Output terminal ...

Page 32: ...ld be used to achieve the best communication reliability 3 1 3 3 CN2 terminal description The terminals of the CN2 connector are arranged as follows faced solder plates 1 2 6 5 4 3 No Definition 1 5V 2 GND 3 4 5 485 6 485 3 1 4 Communication port RS 232 communication 5 1 Driver side 5 pin trapezoidal interface Pin Name Description 1 TXD RS232 send 2 RXD RS232 receive 3 GND RS232 signal ground Note...

Page 33: ...s baud rate 19200bps data bit is 8 bit stop bit is 1 bit even parity Modbus station no can be set freely set by P7 00 Parameter Function Default setting Range Modification Effective P7 00 Modbus station no 1 0 255 Servo OFF Immediately Note 1 Support the standard Modbus RTU protocol which is used as the slave device of Modbus RTU 2 RS232 and RS485 communication ports can be used simultaneously ...

Page 34: ...alies 2 In order to resist interference twisted pair shielding wire must be used 3 Servo pulse input port will turn on for 10 mA 4 If the controller is XINJE PLC the rated current of the output port of the pulse is 50mA According to this data theoretically a single pulse can drive at most five servos No more than three are recommended 3 2 2 SI input signal Please use a relay or an open collector t...

Page 35: ...nal Type Output terminal Function Reference chapter Optocoupler output SO1 SO3 750W and below SO1 SO4 above 1 5KW Multifunctional output terminal 5 12 7 Optocoupler type Relay type Servo driver upper device COM SO X3 COM 0V 24V Servo driver upper device Note The maximum load current is 400 mA if the brake motor is controlled by SOx please confirm the brake current first and if it is larger than 40...

Page 36: ...og Alarm code Alarm code Present speed Alarm clear state Parameter Monitor Auxiliary Alarm STA ESC switch Parametric setting Px xx The first X represents the group number and the last two X represents the parameter serial number under the group Monitor status Ux xx The first X represents the group number and the last two X represents the parameter number under the group Auxiliary function Fx xx Th...

Page 37: ...40 Rotate detection TGON P5 03 单位 rpm When the motor speed is higher than the rotating speed turn on the lamp Rotation detection speed P5 03 unit rpm P5 31 Zero clamp ZCLAMP When the zero clamp signal starts to operate turn on the light P5 43 Speed limit VLT When the speed exceeds the set value turn on the light when the torque is controlled Forward speed limit in torque control P3 16 reverse spee...

Page 38: ... the actual position turn on the light Near signal width P5 06 P5 40 Rotate detection TGON When the motor speed is higher than the rotating speed turn on the lamp Rotation detection speed P5 03 unit rpm 2 Short code display contents Short code Display contents Standby status Servo OFF status The motor is in a non electrified state In operation Servo enabling state The motor is on line Need reset s...

Page 39: ...CL forward side external torque limit 7 N CL reverse side external torque limit 8 SPD D internal speed selection 9 SPD A internal speed selection 10 SPD B internal speed selection Note When reading through communication the binary numbers read from right to left correspond to the position of S ON P CON 0 means that the position signal is not input 1 means that the position signal has input Example...

Page 40: ...t signal status STA ESC INC DEC ENTER 1 2 3 4 5 6 7 8 9 10 Lighting means that the corresponding item has signal output Lighting means that the corresponding item has no signal output U0 23 output signal 1 distribution Segment code Description Segment code Description 1 Positioning completion hold COIN_HD 2 Positioning completion COIN 3 Same speed detection V CMP 4 Rotate detection TGON 5 Ready S ...

Page 41: ...l 2 distribution Segment code Description Segment code Description 11 Alarm ALM 12 Reserved 13 Reserved 14 Reserved 15 Speed reach V RDY 16 Custom output 1 17 Custom output 2 18 Reserved 19 Reserved 20 Reserved Note When reading the state through communication the binary numbers correspond to ALM position in turn from right to left 0 means that the position signal has no input and 1 means that the...

Page 42: ... Set F0 02 1 to clear the offset 4 Clear up historical alarm records F0 04 Set F0 04 1 can clear up historical alarm records from U1 14 to U1 53 5 Panel inertia identification F0 07 Refer to panel inertia identification operation steps chapter 6 3 4 6 Panel external instruction auto tuning F0 08 Refer to external instruction auto tuning chapter 6 5 5 7 Panel internal instruction auto tuning F0 09 ...

Page 43: ...in bb status Starting with the 3700 firmware version the jog run function changes from position mode to speed mode The acceleration and deceleration time is controlled by P3 09 and P3 10 DEC INC Long press ENTER Short press ENTER Parameter Meaning Default setting Unit Setting range Change Effective P3 18 JOG speed 100 1rpm 0 1000 Servo OFF At once 3 Current sampling zero correction F1 02 When the ...

Page 44: ...how P3 00 4 STA ESC INC DEC ENTER Press ENTER the last 0 will flash 5 STA ESC INC DEC ENTER Press INC for 9 times 6 STA ESC INC DEC ENTER Long press ENTER to show the value of P3 09 7 STA ESC INC DEC ENTER Press INC DEC ENTER to increase decrease or shift after changing long press ENTER to confirm 8 END Note When the setting parameter exceeds the range that can be set the driver will not accept th...

Page 45: ...37 Note Errors in motor code setting will prompt E 310 motor code error which can be set again after F0 00 clears the alarm ...

Page 46: ...ons and speed limitation Position control mode is mainly used in situations requiring positioning control such as manipulators grinders engraving machines CNC machine tools and so on Speed control refers to the control of mechanical speed through speed instructions Through digital analog voltage or communication given speed instructions the servo driver can achieve fast and accurate control of mec...

Page 47: ...Parameter Name Setting Meaning Change Effective P0 03 Enable mode 0 Not enable Servo OFF At once 1 default I O enable S ON set P5 20 2 Software enable F1 05 or enabled by software 3 Fieldbus enable Parameter Name Setting Meaning Range P5 20 enable S ON n 0001 default When the SI1 terminal is connected the servo motor is in run state and can be operated The range of parameters is 0001 0014 The para...

Page 48: ...rtial stop process In the process of inertial stopping if the timing time is longer than P0 30 and the motor speed has not been reduced below P5 03 the servo will stop freely and give the stop timeout alarming 2 When the stopping mode is set to 2 the motor will produce a braking torque of P3 32 after the occurrence of servo OFF and alarm The motor will start braking and stop until the speed is les...

Page 49: ...4 Servo motor Limit switch Limit switch POT NOT Motor forward direction Servo unit Rotary applications such as round tables and conveyors do not need the function of overrun prevention At this time there is no need to connect the overrun prevention with input signals 2 Set the overrun signal Parameter Signal name Setting Meaning Range P5 22 Forward prohibition P OT n 0003 default When the SI3 term...

Page 50: ...o motor is a fixed special brake without excitation It can not be used for dynamic braking Please use it only when the servo motor is in a stop state 1 Connection examples The ON OFF circuit of the brake is composed of the sequential output signal of the servo unit BK and brake power supply A typical connection example is shown below M PG BK U V W PE 24V 24V CN0 SO1 COM BK RY BK RY Power supply Se...

Page 51: ...tion detection TGON is invalid when the motor is stopped When setting the servo motor with brake the output signal of the control brake BK and the time of ON OFF action of the servo SON signal are shown below That is before the output BK signal lock in is opened the servo motor has entered the power on enabling state after not output BK signal and brake is locked the servo motor is disconnected fr...

Page 52: ...et to 0001 the 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 out...

Page 53: ...sitioning completion P5 00 Positioning completion width 5 3 6 P5 01 Positioning completion detection mode P5 02 Positioning completion hold time P5 37 COIN HD Positioning completion hold P5 38 COIN Positioning completion signal output Positioning near P5 46 Positioning near output NEAR 5 3 7 P5 06 Positioning near output signal width Pulse prohibition P5 32 Instruction pulse prohibition INHIBIT 5 ...

Page 54: ...tation Reverse rotation 0 CW CCW CCW CW OFF CCW CW OFF 1 AB 90 Phase A Phase B 90 Phase A Phase B 2 P D pulse direction ON pulse direction OFF 5 3 3 Electronic gear ratio Parameter Meaning Default setting Unit Range Change Effective P0 11 Pulse numbers per rotation 1 0 pul 0 9999 Servo OFF At once P0 12 Pulse numbers per rotation 10000 1 pul 0 9999 Servo OFF At once P0 13 Electronic gear ratio num...

Page 55: ...es required by the motor to rotate one turn to ensure that the motor speed can meet the required speed For example the maximum pulse frequency of the upper computer PLC is 200 KHz If the electronic gear ratio is not modified the motor needs 10 000 pulses to rotate one circle then the maximum speed of the motor is 1200 rpm If the ratio of the electronic gear is 131072 5000 or the number of pulses p...

Page 56: ...alculate the command pulses per rotation f based on the command unit 5 Calculate the pulses per rotation P0 11 P0 12 For example the mechanical reduction ratio of motor shaft and load shaft is m n servo motor run m circles while load shaft run n circles P0 11 P0 12 f m n 6 Calculate the electronic gear For example the mechanical reduction ratio of motor shaft Max speed 1200rpm Two circle radius ra...

Page 57: ... not represent the processing accuracy The precision of servo positioning can be improved by refining the instruction unit on the basis of mechanical accuracy For example in the application of the screw the accuracy of the machine can reach 0 01mm so the 0 01mm instruction unit equivalent is more accurate than the 0 1mm instruction unit equivalent 2 Example of setting the electronic gear ratio Ste...

Page 58: ...P1 25 P1 25 100 Command pulse frequency T Before filtering After filtering P1 25 P1 25 100 Command pulse frequency T Before filtering After filtering 5 3 5 Pulse offset clear CLR Pulse deviation value refers to the difference between the command pulse of the command controller such as PLC and the feedback pulse of the servo unit in the position mode Its unit is 1 command unit which is related to t...

Page 59: ...ng Range P5 38 Positioning completion output COIN n 0001 default When the servo positioning is completed SO1 and COM are connected and the positioning signal is output The range of parameters is 0001 0014 can be assigned to other output terminals through P5 38 n 0011 When the servo positioning is completed the SO1 and COM are switched off Parameter Meaning Default setting Unit Range Change Effecti...

Page 60: ... OFF ΔU0 12 Pulse command U0 00 Actual speed P5 03 3 At the end of instruction the absolute deviation value under P5 00 it outputs COIN signal If COIN maintains P5 02 time COIN HOLD signal is output U0 08 Pulse offset P5 00 ON S ON Signal status COIN Signal status ON ON OFF ΔU0 12 Pulse command COIN HOLD Signal status ON OFF P5 02 P5 02 5 3 7 Positioning near signal NEAR Parameter Signal name Sett...

Page 61: ...INHIBIT Parameter Signal name Setting Meaning Change P5 32 Instruction pulse prohibition INHIBIT n 0000 default Default unallocated input terminal The range of parameters is 0001 0014 can be assigned to other input terminals through P5 32 n 0002 input signal from SI2 terminal Represents the function of stopping instruction pulse input in position control When the INHIBIT signal is ON the pulse ins...

Page 62: ...in in position mode P5 28 SPD A find reference origin on forward side in position mode P5 29 SPD B find reference origin on reverse side in position mode Pulse offset clear P5 34 pulse offset clear 5 3 5 Positioning completion P5 38 Positioning completion signal output COIN 5 3 6 P5 00 positioning completion width Positioning near P5 46 Positioning near signal output NEAR 5 3 7 P5 06 positioning n...

Page 63: ...on command at once T1 is positioning time which means the time from pulse output complete to the output of positioning completion signal P t t1 P5 00 Pulse offset COIN Signal status ON OFF t2 After the drive output 1 segment position command it will wait for the completion of motor positioning and pass the adjust time then start the next position command T1 is positioning time t2 is adjust time Re...

Page 64: ... ineffective The servo will run the next command once the current pulse is finished and the new command is coming 2 Start at the rising edge of the signal sequential run all not recycling P CHGSTP Signal status ON OFF t1 t Suppose there are 2 segments t1 P4 11 CHGSTP signal is ineffective when one cycle has not been finished such as the second CHNGSTP signal in the diagram 3 set segment no through...

Page 65: ... through P5 58 P5 59 PREFC internal position segment 3 n 0000 5 Range 0000 0014 distribute to input terminal through P5 59 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 5 4 3 Position segment 1 to 35 parameter se...

Page 66: ... wait mode is effective The internal position has 35 segments P4 04 can set the effective segment For example P4 04 set to 5 means segment 1 5 are effective Parameter Meaning Default setting Range Change Effective P4 04 Effective segment 0 0 35 Servo OFF At once 5 4 4 Change step signal CHGSTP Parameter Name Setting Meaning Range P5 35 Change step signal CHGSTP n 0000 Defaulted is not distribute t...

Page 67: ...t 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 invalid when it is set to n 001x the function of Origin finding can be used Signal setting Parameter Signal Default Meaning Modify P5 28 SPD A n 0000 Mode 3 internal speed selecting signal Range 0000 0014 distributes to input terminal through P5 28 When it set to 0001 ...

Page 68: ...er 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 the Z phase signal position of No n optical encoder This position is considered as the coordinates origin n is decided by parameter P4 00 P OT N OT Speed P4 01 Direction CW Stop mode P0 28 Speed P4 02 Direction CCW P4 00 Speed P4 01 Direction CCW Stop mode P0 28 Speed P4 02...

Page 69: ...te segment 2 Set F2 09 0 then set F2 09 02 5 4 9 Motion start signal MRUN Parame ter Meaning Default setting Meaning Change P5 50 Motion start MRUN n 0000 Defaulted is not distribute to output terminal It is only valid in internal position mode similar to positioning complete signal in external pulse mode It will output when the motor is running and will not output when the motor stop Range 0000 0...

Page 70: ...LAMP 5 6 6 P3 12 Zero clamp mode P3 13 Zero clamp speed Same Speed checking P5 39 V CMP speed coincidence checking 5 6 8 P5 04 speed coincidence checking signal width V CMP Torque limit P3 28 Internal forward torque limit 5 6 7 P3 29 Internal reverse torque limit P3 30 Forward external torque limit P3 31 Reverse external torque limit P5 25 Forward external torque limit P CL P5 26 Reverse external ...

Page 71: ...ce P3 07 Internal speed 3 0 rpm 9999 9999 Anytime At once 5 6 3 Soft start Parameter Meaning Defaulted setting Unit Range Modify Effective P3 09 Soft Start Acceleration Time 0 ms 0 65535 Servo OFF At once P3 10 Soft Start deceleration Time 0 ms 0 65535 Servo OFF 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 ...

Page 72: ...istribute to input terminal through P5 28 P5 29 Internal speed SPD B n 0000 Range 0000 0014 Distribute to input terminal through P5 29 1 Function realization 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 SP...

Page 73: ...will configure the position loop inside the servo the motor will do zero clamp within 1 pulse at this position The motor will return to zero clamp position even it is run by external force The present speed must be smaller than zero clamp speed when using zero clamp function it can clamp the motor shaft from moving The motor will switch from speed mode to position mode when starting the zero clamp...

Page 74: ...her than P3 13 motor doesn t run the ZCLAMP signal must be OFF then motor will run again 3 ZCLAMP signal is ON the setting speed is less than P3 13 switch to position control mode and servo is locked at this position At this time if setting speed is over P3 13 the motor will run again 5 6 7 Torque limit 1 Internal torque limit Parameter Meaning Default setting Unit Range Modify Effective P3 28 Int...

Page 75: ...ting Suitable mode Meaning Modify Effective P5 42 Torque limit CLT n 0000 All Output signal when motor output torque up to P3 28 P3 29 Anytime At once No terminals are assigned by default The parameter range is 0000 0014 which is assigned to the output interface through parameter P5 42 When set to 0002 the signal is output from the SO2 terminal 5 6 8 Same speed detection V CMP Parameter Signal Def...

Page 76: ...g Unit Range Modify Effective P1 22 Speed command filter selection 0 0 1 Servo OFF At once P1 23 Speed command filter time 0 0 1ms 0 65535 Servo OFF At once P1 22 Contents 0 First order Inertial Filter 1 Smooth filter 5 6 12 Proportion action command P CON Parameter Signal Type Default State Meaning Modify Effective P5 21 P CON Input n 0000 Valid Run in P control mode Anytime At once Invalid Run i...

Page 77: ...o clamp P5 31 Zero clamp ZCLAMP 5 6 6 P3 12 Zero clamp mode P3 13 Zero clamp speed Same speed detection P5 39 V CMP speed coincidence checking 5 6 8 P5 04 speed coincidence checking signal width V CMP Torque limit P3 28 Internal forward torque limit 5 6 7 P3 29 Internal reverse torque limit P3 23 T REF distribution P3 30 Forward external torque limit P3 31 Reverse external torque limit P5 25 Forwa...

Page 78: ... 5 7 3 Command pulse frequency at rated speed Parameter Meaning Default setting Unit Range Modify Effective P0 15 command pulse frequency at rated speed 1000 100Hz 0 10000 Servo OFF At once Note the unit is 100Hz Example P0 15 300 command pulse frequency at rated speed 30kHz P0 15 1000 command pulse frequency at rated speed 100kHz 5 7 4 Speed command pulse filter time Parame ter Meaning Default se...

Page 79: ...que by internal torque command 5 9 2 Internal torque command Parameter Meaning Default setting Unit Range Modify Effective P3 33 Internal torque command 0 1 rated torque 1000 1000 Anytime At once The unit of this parameter is 1 of the rated torque For example P3 33 50 motor 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 torqu...

Page 80: ... It used XINJE industrial bus communication protocol support all the products of XINJE XDC series PLC which adopts bus motion control mode replaces the traditional pulse transmission mode It uses bus communication and 3M communication baud rate The system has faster speed simple wiring and sharing wiring Bus parameters parameter Function Range Set value Default value Modify Effective P0 01 Control...

Page 81: ... controller Fieldbus technology is used to communicate between bus type multi axis motion controller and servo driver so it has the advantages of high performance high reliability simple maintenance and saving wiring wiring sharing Servo control system bus connection of X NET motion bus XDC XDE inserts RS485 extended BD board XD NE BD into the BD card slot located on the front of the PLC double BD...

Page 82: ...matical reset after enable SD2008 60 N 1 Present position 32 bit integer Pulse numbers Absolute position converted by the number of target position feedback pulses SD2010 60 N 1 Present speed 32 bit integer Pulse numbers Calculating by Feedback Value Public parameters Address Definition Connecting 10 axes Including less than 10 axes Connecting 20 axes Including more than 10 axes SFD2990 Instructio...

Page 83: ...ing motor output torque In practical application given a value of torque the value of torque is related to load and speed The coils and registers related to torque mode Address Definition Type Initial value Setting value Note SFD3000 60 N 1 Running mode 16 bit integer 0 3 0 position ontrol with motion planning 3 user defined motion planning SFD3029 60 N 1 Upper limit of Position feedback offset 16...

Page 84: ...o 3 SD2032 60 N 1 Speed control 32 bit integer Pulse number second Note the details please refer to XNET manual 5 10 5 Bus speed mode The speed mode of X NET bus is a kind of control system which takes speed as the control target and achieves the action requirement through constant given speed Address Definition Type Initial value Setting value Note SFD3000 60 N 1 Running mode 16 bit integer 0 3 0...

Page 85: ...1 to 1 otherwise SD2002 60 N 1 will report position deviation 20006 2 In the speed mode only the speed curve can be generated by controlling the motor speed with given SD2032 60 N 1 which is independent of SD2034 60 N 1 and SD2036 60 N 1 3 the PLC address details please refer to XNET manual ...

Page 86: ...t Use multi loop absolute encoder as single loop encoder and no longer remember position use absolute encoder as single loop encoder without battery 5 11 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...

Page 87: ...e servo unit 6 Connect the power supply of the servo unit again 7 Make sure the error display disappears and the servo unit can operate normally 5 11 3 The upper limit of revolving circles 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 belo...

Page 88: ...which is the current encoder position U0 57 absolute encoder present position feedback low 32 bit The hexadecimal address of 0x1039 is read by Modbus RTU double word which is the current encoder position with positive and negative pulses U0 58 U0 59 absolute encoder present position feedback high 32 bit The hexadecimal address of 0x1041 is read by Modbus RTU double word which is the high position ...

Page 89: ...abnormality will output alarm signal Alarm reset ALM RST Parameter Signal Default setting Suitable mode Meaning Modify effective P5 24 ALM RST n 0002 All Input normally open signal from SI2 terminal anytime At once 1 The parameter range is 0000 0014 which is allocated to other input terminals through parameter P5 24 2 When an alarm occurs find out the cause of the alarm and remove it then clear th...

Page 90: ...rameters Parameter Meaning Default value Unit Range Modify Effective P5 03 Rotating detection speed TGON 50 rpm 0 10000 Servo OFF At once If the speed of the servo motor exceeds the set value of P5 03 it is judged that the servo motor is rotating and the output of the rotation detection TGON signal Note Rotation detection has a hysteresis of 10 rpm 3 Hysteresis Hysteresis is set up to prevent the ...

Page 91: ...ation of the driver is completed and the servo has no alarm state 3 P5 70 is set to 1 This terminal will not be turned on until it is enabled and the servo has no alarm status 5 12 5 Encoder Z phase output Z parameter Meaning Default setting Unit Range Modify Effective P5 48 Z phase output Z n 0000 0000 0014 Anytime At once P5 19 Z phase pulse width 2 ms 2 20 Anytime At once 1 Z signal can be dist...

Page 92: ...output 0 All the modes Servo OFF At once 1 P5 10 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 Servo OFF At once P5 52 Output terminal setting of user defined output 1 Signal name Default settin...

Page 93: ...5 or P5 14 P5 15 SOx output Setting value Function Default setting Suitable mode Change Effecti ve 0 P5 14 P5 15 SOx output 0 All the modes Servo OFF At once 1 P5 14 P5 15 SOx output 2 P5 14 absolute value P5 15 SOx output 3 P5 14 absolute value P5 15 SOx output P5 17 User defined output 2 hysteresis loop Unit Default setting Range Suitable mode Change Effecti ve Related to trigger condition 0 327...

Page 94: ... Meaning P5 37 P5 47 P5 51 P5 53 n 0 Distribute output terminal no 0 NO signal 1 NC signal No meaning No meaning n 0000 Not distribute to terminal input n 000x Output always open signal from SOx n 0010 Set the signal to be always valid n 001x output always close signal from SOx Default setting of output terminal Output terminal SO1 SO2 SO3 Signal COIN ALM S RDY 5 12 8 Input SI filter time SI input...

Page 95: ...87 Parameter Meaning Default setting Unit Range Modify Effective P5 18 IO filtering time multiple 1 times 0 10000 Anytime At once ...

Page 96: ...ve different requirements for servo responsiveness The following figure is the basic process of gain adjustment Please adjust according to the current state and operation conditions of the machine Start adjusting Use adaptive 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 satisfi...

Page 97: ...atic adjustment high 10ms Manual adjusting high Determined by parameters 6 1 3 Model loop gain In the auto tuning 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...

Page 98: ...sition loop gain P1 02 700 Model loop gain P2 49 300 Model loop gain P2 49 300 Model loop gain P2 49 4000 Phenomenon Running jitter slow response Phenomenon smooth operation and slow response Phenomenon smooth operation and fast response Note The above curves only show the effect of the parameters not the real running curves 6 1 4 Torque disturbance observation Disturbance observer can reduce the ...

Page 99: ...y settings are self adaptive effective without modifying other parameters The effectiveness of self adaptation is controlled by the following parameters Parameter Meaning Default setting Modification Effective P2 01 n 0 Adaptive shutdown n 1 Servo OFF Re power on n 1 Adaptive Opening 6 2 4 Inertia mode The adaptive default parameter is defined as small inertia mode If the load inertia far exceeds ...

Page 100: ...rs Motor flange Inertia Parameters 40 90 Within 20 times inertia Adaptive small inertia mode default parameters 20 30 times inertia Set P2 08 50 P2 12 40 30 40 times inertia Set P2 08 50 P2 12 40 P2 07 10 40 50 times inertia Set P2 08 50 P2 12 40 P2 07 30 50 80 times inertia Switch to adaptive large inertia mode or set P2 08 40 P2 12 50 P2 07 50 110 130 Within 10 times inertia Adaptive small inert...

Page 101: ...ficient 100 50 200 Adjust according to the need increasing will make the response fast reducing will make the response slow P2 16 Adaptive motor rotor inertia coefficient 100 100 200 Increasing will improve the servo rigidity and enhance anti disturbance ability can solve operation jitter P2 19 Adaptive bandwidth 50 70 40 80 Increasing will improve the inertia capacity slightly and has little effe...

Page 102: ...irm the range or direction of movement and ensure that the load runs in a safe journey If the presumed inertia under default parameters runs jitter indicating that the present load inertia is too large please switch to large inertia mode P2 03 3 1 and operate again It is also possible to set the initial inertia to about twice the current one and execute again under larger loads Driver inertia rati...

Page 103: ...sic smooth operation of the servo and then identify the inertia Servo entering parameter F0 07 in BB state Press ENTER servo is enabled Press INC or DEC to run forward or reverse select one of them or At this point start action under the condition of P 05 0 initial positive direction if press INC then turn forward and then reverse if press DEC turn reverse and then forward If the inertia identific...

Page 104: ...tion error The presumed inertia trip is too small It is suggested that the minimum for P2 15 should no be less than 50 0 5 cycles If the trip is too small the identification of inertia ratio will be inaccurate Contact us Err 5 Unrestrained Vibration in the Process of Inertia Identification Unhandled vibration occurs Unhandled vibration occurs Err 6 Driver is not currently in BB state Enable have b...

Page 105: ...97 2 select jog setting or manual setting to configure the inertia estimation trip 3 Set the auto tuning interface ...

Page 106: ... inertia identification Note 1 If the auto tuning interface is closed directly the driver only configures inertia ratio parameters 2 The detailed steps of XinJeServo s presumptive inertia refer to XinJeServo s help document ...

Page 107: ...igidity level of firmware 3640 P0 04 Rigidity level P1 00 Speed loop gain P1 01 speed loop integral P1 02 Position loop gain P2 35 Torque instruction filter P2 49 Model loop gain 1 100 6600 100 100 100 2 200 3300 200 100 300 3 300 2200 300 100 400 4 400 1650 400 100 500 5 450 1467 400 90 600 6 500 1320 450 80 700 7 550 1200 450 70 800 8 600 1100 500 60 900 9 650 1015 550 50 1000 10 700 943 600 40 ...

Page 108: ... 16 320 1989 320 100 400 17 340 1872 340 100 400 18 360 1768 360 100 450 19 380 1675 380 100 450 20 400 1591 400 100 500 21 450 1414 400 90 600 22 500 1273 450 80 700 23 550 1157 450 70 800 24 600 1061 500 60 900 25 650 979 550 50 1000 26 700 909 600 40 1100 27 750 848 650 30 1200 28 800 795 700 20 1300 29 850 748 750 10 1400 30 900 707 800 10 1500 31 950 670 900 10 1500 32 1000 636 900 10 1600 33...

Page 109: ...to continue to increase The following is the recommended rigidity level of the load for reference only 1 20 40 60 Large Load of Flexible Structure High Rigid Load Light load Ultra high Response 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 ...

Page 110: ...nstruction auto tuning Auto tuning internal instruction refers to the function of automatic operation forward and reverse reciprocating motion of servo unit without instructions from the upper device and adjusting according to the mechanical characteristics in operation Auto tuning external instruction is the function of automatically optimizing the operation according to the instructions from the...

Page 111: ...right now 4 Press INC or DEC panel display is tune and flashing enter auto tuning status 5 Driver will automatically send pulse instructions if the auto tuning is successful the panel shows done and flashing 6 Press STA ESC to exit internal instruction auto tuning Note In the process of auto tuning press STA ESC will exit the auto tuning operation and use the gain parameters at the exit time If au...

Page 112: ...104 XinJeServo software 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 113: ...ball screw mechanism If there is no corresponding mechanism please choose this type Rigid connection It is suitable for the adjustment of rigid body system and other mechanisms with higher rigidity Auto tuning mode Description Soft Make a soft gain adjustment Besides gain adjustment notch filter is automatically adjusted Fast positioning Make special adjustment for positioning purpose Besides gain...

Page 114: ...gain of the model loop and runs softly It is suitable for the occasion where the mechanical rigidity is insufficient and the response requirement is not high 2 Rapid positioning P2 02 0 2 This method has the fastest response for auto tuning parameters but has no special suppression to overshoot 3 Rapid positioning control overshoot P2 02 0 3 This method has quickly response for auto tuning paramet...

Page 115: ...efrence Auto tuning 4 Press ENTER if the enabler is not open the panel displays Son and flickers waiting for the enabler to open if the enabler has been opened skip this step 5 Turn on the servo enabler the panel displays tune and flickers enter auto tuning status 6 The upper device starts to send pulse if the auto tuning is successful it displays done and flickers 7 Press STA ESC to exit the exte...

Page 116: ...alarm before auto tuning Make sure that the enable is not closed during auto tuning Err 3 Current non position control mode Please auto tune in position mode Err 4 Unclosed adaptive function Set P2 01 0 to 0 before auto tuning Err 7 Driver alarm during auto tuning Driver alarmed Err 8 Positioning completion signal instability Short instruction interval XinJeServo software auto tuning steps 1 Click...

Page 117: ...109 4 Click ok to start the inertia identification 5 Configure the auto tuning parameters ...

Page 118: ...chronous belt Screw It is suitable for adjusting higher rigidity mechanism such as ball screw mechanism If there is no corresponding mechanism please choose this type Rigid connection It is suitable for the adjustment of rigid body system and other mechanisms with higher rigidity Selection of auto tuning mode 1 Soft P2 02 0 1 This method does not open the gain of the model loop and runs softly It ...

Page 119: ...111 6 Start auto tune 7 Open the servo enable then click ok 8 The upper device starts to send pulses wait the completion of auto tuning ...

Page 120: ...gral time constant of the first speed loop P1 02 First position loop gain P2 00 0 Disturbance observer switch P2 01 0 Adaptive mode switch P2 35 Torque command filter time constant 1 P2 41 Disturbance observer gain P2 47 0 model loop switch P2 49 model loop gain P2 55 model speed feedforward gain P2 60 0 Active vibration suppression switch P2 61 Active vibration suppression frequency P2 62 Active ...

Page 121: ...x speed P2 90 auto tuning acceleration deceleration time Note P2 60 P2 63 are automatically modified in auto tuning process Users are not allowed to modify them manually Manual modification may lead to the risk of system runaway 6 6 Manual adjustment 6 6 1 Overview error counter Position loop gain Kp Speed control Kv Ti Torque instruction filter Tf Current control M PG Servo motor encoder Current ...

Page 122: ... the gain When the expected effect is not achieved by automatically adjusting the gain 6 6 2 Adjustment steps In position mode if the soft mode P2 02 0 1 is selected by auto tuning the function of model loop will be turned off in speed mode the gain of position loop will be invalid Increasing response time 1 Reducing the filter time constant of torque instruction P2 35 2 Increasing Speed Loop Gain...

Page 123: ...t is determined by the gain of the position loop The higher the position loop gain is the higher the responsiveness is and the shorter the positioning time is Generally speaking the gain of position loop cannot be increased beyond the natural vibration number of mechanical system Therefore in order to set the position loop gain to a larger value it is necessary to improve the rigidity of the machi...

Page 124: ...peration please set the inertia ratio and gain parameters correctly otherwise it can not be controlled properly 6 7 2 Operation tools Adjustment mode Operation tools Control mode Operation steps Limitation Adaptive mode XinJeServo Mechanical Characteristic Analysis Position mode 6 7 4 Vibration Suppression PC Software All versions of PC software support Auto tuning mode Panel vibration suppression...

Page 125: ... large inertia ratio too weak rigidity of mechanism Err 2 1 Overrun alarm occurs during auto tuning 2 External instruction auto tuning Vibration Suppression Mode Servo turns off the Enabler in auto tuning process Please make sure that there is no overrun and alarm before auto tuning Make sure that the enabler is not turned off when auto tuning Err 3 Non position control mode please auto tune in po...

Page 126: ...t manually If there are multiple resonance points the third to fifth notch can be configured in turn 6 7 5 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 6 7 6 notch filter 6 7 6 Notch filte...

Page 127: ...itch of the notch filter is controlled by P2 69 and P2 70 Torque command filter P2 35 First 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 ...

Page 128: ...if the vibration is detected the second notch filter will be automatically configured 2 In the auto tuning mode the second and first notches will be automatically configured if the vibration is detected the second notches will be preferentially opened when there is only one vibration point 3 Whether in self adaptive or auto tuning mode if the mechanical characteristic analysis is sued it belongs t...

Page 129: ...educing Model Loop Gain P2 49 1 Noise due to mechanical resonance Countermeasure Refer to 6 8 2 vibration 7 Alarm 7 1 Alarm code list Effective time means record the historical alarm empty means not record means can clear the alarm empty means power off clear the alarm Alarm code Code Description Property Servo status when alarming type Historical records Can be cleared EEE E 1 EEEE1 Communication...

Page 130: ...ine U0 05 350V 1 E 041 Driver power down 3 E 043 Bus Voltage Charging Failure Servo OFF 06 0 E 060 Module temperature is too high Module temperature U 06 90 alarm U 06 70 Warning 08 0 E 080 Overspeed actual speed P3 21 P3 22 The maximum forward speed is P3 21 and the maximum reverse speed is P3 22 09 2 E 092 Analog Tref Zero Calibration Over limit 3 E 093 Analog Vref Zero Calibration Over limit 10...

Page 131: ...e of panel program 1 Stable power supply to ensure the stability of power supply voltage 2 after repower on the driver if the alarm cannot be removed please contact the agent or the manufacturer 2 EEEE2 3 EEEE3 4 EEEE4 01 0 E 010 Firmware version mismatch Downloaded firmware version error please contact the agent or the manufacturer 2 E 012 System Loading Error Program damage please contact the ag...

Page 132: ...r Supply Machine U0 05 390V 380V Power Supply Machine U0 05 50V High voltage of power grid Check the fluctuation of power grid 220V driver normal voltage range 200V 240V 380V driver normal voltage range 360V 420V If the voltage fluctuation is large it is recommended to use the correct voltage source and regulator Excessive load moment of inertia insufficient regeneration capacity 1 connect externa...

Page 133: ...ge 1 414 U0 05 error within 10V then the servo driver is faulty and needs to be sent back for repair 1 E 041 Driver power down Driver power off Check the power supply 3 E 043 Bus Voltage Charging Failure low voltage of power grid when normal power on low voltage of power grid when normal power on Hardware damage When the driver is on please pay attention to whether there is relay actuation sound 6...

Page 134: ...ithout analog voltage 10 0 E 100 Position offset too large In position control the difference between the given position and the actual position exceeds the limit value 1 Observe whether the motor is blocked or not 2 Reducing the given speed of position 3 Increase the deviation pulse limit P0 23 11 0 E 110 External UVW Short Circuit Discovered in Self Inspection Not match the motor code Check if t...

Page 135: ...k whether grounding is normal or not If alarm cannot be ruled out please contact the agent or manufacturer 13 0 E 150 Power cable disconnection Any phase in UVW of driver cable or motor broken Disconnect the power supply of the driver and check the connection of the power cable It is suggested that the multimeter be used to test the condition After eliminating the errors the driver should be re en...

Page 136: ...e are servo cross test or motor empty shaft on site F1 01 trial operation F1 00 jog run can not rotate uniformly Replace the new driver or motor and send the malfunction machine back to the manufacturer for repair 5 E 165 Anti blocking alarm Judging that the current motor output torque is greater than P3 28 P3 29 internal forward reverse torque limit and the time reaches P0 74 unit ms and the spee...

Page 137: ...prohibited and special cables are required for tank chains Received encoder data errors and the number of errors exceeds the number of error retries of encoder registers P0 56 Encoder wire and strong power do not have the same pipeline wiring install filter on servo driver power input side encoder wire sleeves magnetic ring shut down welding machine type of equipment with large interference 2 E 22...

Page 138: ...62 Control stop timeout 1 Excessive inertia 2 Stop timeouts too short 3 The setting of braking torque is too small 1 Reduce inertia or use brake motor 2 Increase the stop timeout time P0 30 3 Increase braking torque P3 32 4 E 264 Excessive vibration 1 Oscillation caused by external forces 2 Load inertia is large and the setting of load inertia ratio is wrong or the gain is too small which leads to...

Page 139: ...fect at once means modifying when servo OFF and take effect when power on again means modifying anytime and take effect when the motor doesn t rotate For parameters set in hexadecimal system the prefix n is added to the setting value to indicate that the current setting value is hexadecimal number Composition of parameters PX XX n x x x x PX XX 0 PX XX 1 PX XX 2 PX XX 3 P0 XX Parameter Function Un...

Page 140: ...ositive mode 1 negative mode 0 0 1 1 2 3 4 5 6 7 10 5 2 2 P0 07 First inertia ratio 1 20P1 800 20P1 200 0 50000 1 2 3 4 5 6 7 10 P0 09 Forward Direction of Input Pulse Instruction 0 Forward Pulse Counting 1 Reverse Pulse Counting 0 0 1 6 7 5 3 2 P0 10 0 0 CW CCW 1 AB 2 P D 2 0 2 6 7 5 3 2 P0 11 P0 12 Number of instruction pulses per cycle 0 Electronic gear ratio Non 0 Number of command pulses requ...

Page 141: ...stance W 20P7 50 Others 100 80 set as driver model 1 65535 1 2 3 4 5 6 7 10 1 4 1 P0 26 Discharge resistance value Ω 50 set as driver model 1 500 1 2 3 4 5 6 7 10 1 4 1 P0 27 Servo shutdown the enable stop mode 0 Inertial Operation Stop 2 deceleration stop 0 0 5 1 2 3 4 5 6 7 10 5 2 3 P0 28 Servo Overrun Stop Mode 0 deceleration stop 1 1 Inertial Stop 2 deceleration stop 2 3 Alarm Stop 2 0 3 1 2 3...

Page 142: ...9999 1 2 3 4 5 6 7 10 5 2 7 P0 79 Absolute Encoder Battery Undervoltage Alarm Switch firmware version 20160304 and later 0 Battery Undervoltage Alarm Effective 1 Shielded Battery Undervoltage Alarm 1 0 1 1 2 3 4 5 6 7 10 5 11 1 P0 80 Thermal Power Protection of Motor 0 current protection 1 Average Thermal Power Protection 2 Analog Thermal Power Protection 2 0 2 1 2 3 4 5 6 7 10 P0 92 P0 93 32 bit ...

Page 143: ...00 5 6 7 10 6 1 P1 22 Speed Instruction Filter Selection 0 first order low pass filter 1 Smooth Average Filter 0 0 1 3 4 7 5 6 P1 23 speed instruction filter time 0 1ms 0 0 65535 3 4 7 5 6 P1 24 position instruction first order low pass filter time 0 1ms 0 0 65535 5 6 10 5 3 P1 25 position instruction smooth filter time 0 1ms 0 0 65535 5 6 10 5 3 P2 XX Parameter Function Unit Default value Range E...

Page 144: ...20P1 20P2 20P4 20P7 60 21P5 40 10 1000 1 2 3 4 5 6 7 10 6 1 P2 12 Maximum Inertia Ratio of Adaptive Mode Standard 30 1 10000 1 2 3 4 5 6 7 10 6 1 P2 15 Inertia Identification and Internal Instruction Auto tuning Maximum Travel 0 01r 100 1 3000 1 2 3 4 5 6 7 10 6 3 P2 17 Maximum Speed of Inertia Identification and Internal Instruction Auto tuning 0 0 65535 1 2 3 4 5 6 7 10 6 3 P2 18 Initial Inertia...

Page 145: ...Vibration Suppression damping 100 0 300 1 2 3 4 5 6 7 10 6 5 P2 64 Active Vibration Suppression frequency 1 0 10000 10000 1 2 3 4 5 6 7 10 P2 65 Active Vibration Suppression frequency 2 0 10000 10000 1 2 3 4 5 6 7 10 P2 69 0 Notch filter 1 switch 0 0 1 1 2 3 4 5 6 7 10 6 5 P2 69 1 Notch filter 2 switch 0 0 1 1 2 3 4 5 6 7 10 6 5 P2 69 3 Notch filter 3 switch 0 0 1 1 2 3 4 5 6 7 10 P2 70 0 Notch fi...

Page 146: ...P2 85 Fifth notch band width Hz 0 0 1000 1 2 3 4 5 6 7 10 6 7 P3 XX Parameter Function Unit Default value Range Effective Suitable mode Reference chapter P3 00 V REF Function Allocation 0 V REF as Speed Instruction Input 1 V REF will be used as input reference value of external speed limit The actual speed limit depends on the speed limit of external analog quantity 2 Speed Feedforward 0 0 2 1 2 4...

Page 147: ...se Speed Limitation in Torque Control rpm 2000 5 10000 1 2 5 9 3 P3 18 Jogging speed rpm 100 0 1000 1 2 3 4 5 6 7 10 4 4 2 P3 19 forward warning speed rpm 3000 0 10000 1 2 3 4 5 6 7 10 5 12 2 P3 20 reverse warning speed rpm 3000 0 10000 1 2 3 4 5 6 7 10 5 12 2 P3 21 forward alarming speed rpm 4000 0 10000 1 2 3 4 5 6 7 10 5 6 10 P3 22 reverse alarming speed rpm 4000 0 10000 1 2 3 4 5 6 7 10 5 6 10...

Page 148: ... 0 9999 1 2 P4 XX Parameter Function Unit Defau lt value Range Effecti ve Suitab le mode Referen ce chapter P4 00 0 Z phase signal numbers The Z phase signal numbers after leaving the limit switch note stop when N 1 Z phase signal reached pcs 2 0 f 5 6 10 5 4 7 P4 00 1 Search the origin function 0 OFF 1 ON 0 0 1 5 6 10 5 4 7 P4 00 2 return to zero overrun prohibition 0 not prohibit 1 prohibit 0 0 ...

Page 149: ...0 0 65535 5 5 4 3 P4 16 Adjusting time 1ms 0 0 65535 5 5 4 3 P4 10 n 1 7 P4 16 n 1 7 segment 1 to 35 pulse parameters n is segment number 5 5 4 3 P5 XX Paramete r Function Unit Default value Range Effective Suitable mode Reference chapter P5 00 Positioning completion width COIN Comman d unit 11 1 65535 5 6 10 5 3 6 P5 01 Location Completion Detection Mode 0 0 3 5 6 10 5 3 6 P5 02 Location completi...

Page 150: ... condition of custom output 2 Relating to trigger condition 0 9999 9999 1 2 3 4 5 6 7 10 5 12 6 P5 16 Select custom output 2 mode 0 0 3 1 2 3 4 5 6 7 10 5 12 6 P5 17 Setting custom output 2 hysteresis Relating to trigger condition 0 0 65535 1 2 3 4 5 6 7 10 5 12 6 P5 18 IO Filtering time multiple 1 0 10000 1 2 3 4 5 6 7 10 5 12 8 P5 19 Z phase output maintain time ms 2 1 65535 1 2 3 4 5 6 7 10 5 1...

Page 151: ...5 6 7 10 P5 25 0 1 P CL External Torque Limitation at Forward Rotation Side 00 0 ff 1 2 3 4 5 6 7 10 5 6 7 P5 25 2 SI terminal filtering time ms 0 0 f 1 2 3 4 5 6 7 10 P5 26 0 1 N CL External Torque Limitation at Reverse Rotation Side 00 0 ff 1 2 3 4 5 6 7 10 5 6 7 P5 26 2 SI terminal filtering time ms 0 0 f 1 2 3 4 5 6 7 10 P5 27 0 1 SPD D Internal Speed Direction Selection 00 0 ff 1 2 3 4 7 5 6 ...

Page 152: ...inal filtering time ms 0 0 f 1 2 3 4 5 6 7 10 P5 37 COIN_HD Location Completion Maintenance 00 No output to terminal 01 Output positive signal from SO1 terminal 02 Output positive signal from SO2 terminal 03 Output positive signal from SO3 terminal 11 Output reverse signal from SO1 terminal 12 Output reverse signal from SO2 terminal 13 Output reverse Signal from SO3 terminal 0000 0 ffff 5 6 10 5 3...

Page 153: ...al A 00 0 ff 5 5 4 2 P5 57 2 SI terminal filtering time ms 0 0 f 5 P5 58 0 1 PREFB intenral position selection signal B 00 0 ff 5 5 4 2 P5 58 2 SI terminal filtering time ms 0 0 f 5 P5 59 0 1 PREFC internal position selection signal C 00 0 ff 5 5 4 2 P5 59 2 SI terminal filtering time ms 0 f f 5 P5 60 0 1 SYNC Modbus analog motion bus update instruction 00 0 ff 5 P5 60 2 SI terminal filtering time...

Page 154: ...4 P6 12 Maximum Inertia Ratio of Adaptive Mode Large Inertia 50 1 10000 1 2 3 4 5 6 7 10 6 2 4 P7 XX Parameter Function Unit Default value Range Effective Suitable mode Reference chapter P7 00 RS485 station no 1 0 100 1 2 3 4 5 6 7 10 3 1 4 P7 01 0 1 RS485 baud rate 00 300 01 600 02 1200 03 2400 04 4800 05 9600 06 19200 07 38400 08 57600 09 115200 0A 192000 0B 256000 0C 288000 0D 384000 0E 512000 ...

Page 155: ...e station numbers 10 1 20 10 5 10 P7 06 Number of communication overtime retries times 10 1 500 10 5 10 P7 07 Bus instruction refresh cycle 1us 3000 1 65535 10 5 10 P7 08 Compensation Threshold of Position Deviation 0 0 0 10 5 10 P7 09 Compensation times for Position Deviation 0 0 0 10 5 10 P7 10 RS232 station no 1 0 100 1 2 3 4 5 6 7 10 P7 11 0 1 RS232 baud rate 00 300 01 600 02 1200 03 2400 04 4...

Page 156: ...truction Rpm U0 02 Torque instruction rated U0 03 Mechanical angle 1 U0 04 Electric angle 1 U0 05 Bus voltage V U0 06 IPM temperature U0 07 Torque feedback rated U0 08 pulse offset 0000 9999 1 Instruction pulse U0 09 0000 65535 10000 U0 10 Encoder feedback 0000 9999 1 Encoder pulse U0 11 0000 65535 10000 U0 12 input instruction pulse numbers 0000 9999 1 Instruction pulse U0 13 0000 65535 10000 U0 ...

Page 157: ...on feedback high 32 bit 0000 65536 1 Encoder pulse U0 60 0000 65536 10000 U0 61 Xnet communication error amounts U0 62 Xnet Communication Waiting Synchronization Frame State Interference U0 63 Xnet Communication Waiting for Synchronization Frame State Receiving Data Frame U0 64 Xnet Communication Waiting Data Frame State Interference U0 65 Xnet Communication Waiting for Data Frame Status Receive S...

Page 158: ...2 01 series U2 02 Model low 16 bit U2 03 Model high 16 bit U2 04 out of factory date year U2 05 out of factory date month U2 06 out of factory date day U2 07 Firmware version U2 08 Hardware version U2 09 Total running time from the first time power on hour U2 10 Total running time from the first time power on minute U2 11 Total running time from the first time power on second U2 12 This time runni...

Page 159: ... of P2 16 is 0x0210 P3 00 P3 xx 0x0300 0x0324 Modbus address is added 1 in turn from 0x0300 for example Modbus address of P3 13 is 0x030D P4 00 P4 xx 0x0400 0x041F Modbus address is added 1 in turn from 0x0400 for example Modbus address of P4 25 is 0x0419 P5 00 P5 xx 0x0500 0x0535 Modbus address is added 1 in turn from 0x0500 for example Modbus address of P5 20 is 0x0514 P6 00 P6 xx 0x0600 0x06xx ...

Page 160: ...Parameter Modbus address Hex Decimal Hex Decimal P1 00 0x0100 256 P1 15 0x010F 271 P1 01 0x0101 257 P1 16 0x0110 272 P1 02 0x0102 258 P1 17 0x0111 273 P1 03 0x0103 259 P1 18 0x0112 274 P1 04 0x0104 260 P1 19 0x0113 275 P1 05 0x0105 261 P1 20 0x0114 276 P1 06 0x0106 262 P1 21 0x0115 277 P1 07 0x0107 263 P1 22 0x0116 278 P1 08 0x0108 264 P1 23 0x0117 279 P1 09 0x0109 265 P1 24 0x0118 280 P1 10 0x010...

Page 161: ...ss Hex Decimal Hex Decimal P5 00 0x0500 1280 P5 27 0x051B 1307 P5 01 0x0501 1281 P5 28 0x051C 1308 P5 02 0x0502 1282 P5 29 0x051D 1309 P5 03 0x0503 1283 P5 30 0x051E 1310 P5 04 0x0504 1284 P5 31 0x051F 1311 P5 05 0x0505 1285 P5 32 0x0520 1312 P5 06 0x0506 1286 P5 33 0x0521 1313 P5 07 0x0507 1287 P5 34 0x0522 1314 P5 08 0x0508 1288 P5 35 0x0523 1315 P5 09 0x0509 1289 P5 36 0x0524 1316 P5 10 0x050A ...

Page 162: ...128 U0 05 0x1005 4101 U0 33 0x1021 4129 U0 06 0x1006 4102 U0 34 0x1022 4130 U0 07 0x1007 4103 U0 35 0x1023 4131 U0 08 0x1008 4104 U0 36 0x1024 4132 U0 09 0x1009 4105 U0 37 0x1025 4133 U0 10 0x100A 4106 U0 38 0x1026 4134 U0 11 0x100B 4107 U0 39 0x1027 4135 U0 12 0x100C 4108 U0 40 0x1028 4136 U0 13 0x100D 4109 U0 41 0x1029 4137 U0 14 0x100E 4110 U0 42 0x102A 4138 U0 15 0x100F 4111 U0 43 0x102B 4139 ...

Page 163: ... 0x110B 4363 U2 11 0x120B 4619 U1 12 0x110C 4364 U2 12 0x120C 4620 U1 13 0x110D 4365 U2 13 0x120D 4621 U1 14 0x110E 4366 U2 14 0x120E 4622 U1 15 0x110F 4367 U2 15 0x120F 4623 U1 16 0x1110 4368 U2 16 0x1210 4624 U1 17 0x1111 4369 U2 17 0x1211 4625 U1 18 0x1112 4370 U2 20 0x1214 4628 U1 19 0x1113 4371 U1 20 0x1114 4372 U1 21 0x1115 4373 U1 22 0x1116 4374 U1 23 0x1117 4375 U1 24 0x1118 4376 U1 25 0x1...

Page 164: ... 44 defines the terminal of the brake output signal As shown in the figure above the SO1 controls brake that is P5 44 0001 2 Extend the delay time of servo OFF P5 07 default 500ms and the waiting time of braking instruction P5 09 is set to 0 which can be responded Q7 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 ...

Page 165: ...1 1 P D C interface model Remove the short joint between P D and connect the external regenerative resistance to P C 2 P PB interface model connect external regenerative resistance to P PB 3 Version number parameter U2 07 3700 set P0 24 1 P0 25 power value P0 26 resistance value 4 Version number parameter U2 07 3700 P0 24 need not be set P0 25 power value P0 26 resistance value Note Before 3700 ve...

Page 166: ...wer supply immediately and re check the wiring situation Long press ENTER Short press ENTER Press DEC Press INC C jog run Enter F1 00 Short press ENTER to enable the motor In the enabled status press INC for run forward press DEC to run reverse Press STATUS ESC to exit Four status when jog running status Panel display status Panel display Idle Forward run enabled Reverse run 2 Debug the motor with...

Page 167: ...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 168: ... S01 DS5E L 20P2 PTA CP T SP M l ength CM T P07 M length MS5S 60ST CM00630B 20P2 S01 CP T SP BM length CM T P07 M length MS5S 60ST CS00630BZ 20P2 S01 CP T SP M l ength CM T P07 M length MS5S 60ST CM00630BZ 20P 2 S01 CP T SP BM length CM T P07 M length High inertia MS5H 60ST CS0O630B 20P2 S01 CP T SP M l ength CM T P07 M length MS5H 60ST CM0O630B 20P 2 S01 CP T SP BM length CM T P07 M length MS5H 6...

Page 169: ...T P07 M length MS 80ST T02430B 20P7 CP T SP B 0 3 CM T P07 le ngth MS 80ST T03520B 20P7 CP T SP B 0 3 CM T P07 le ngth 0 85 Middle inertia MS5G 130STE CS05415B 20P8 S01 CP T SC M l ength CM T L15A l ength MS5G 130STE CS05415BZ 20P 8 S01 CP T SC M l ength CMB T L15A length MS5G 130STE TL05415B 20P8 S01 CP T SC B l ength CM T L15A l ength MS5G 130STE TL05415BZ 20P 8 S01 CP T SC B l ength CMB T L15A ...

Page 170: ... 8 Middle inertia MS5G 130STE CS11515B 21P8 S01 DS5E L 22P3 PTA CP T SC M length CM T L15 l ength MS5G 130STE CS11515BZ 21P 8 S01 CP T SC M length CMB T L15 length MS5G 130STE TL11515B 21P8 S01 CP T SC B length CM T L15 l ength MS5G 130STE TL11515BZ 21P 8 S01 CP T SC B length CMB T L15 length 2 0 low inertia MS5S 110STE TL06430B 22P 0 CP T SL B length CM T L15 l ength MS5S 110STE CS06430B 22P 0 No...

Page 171: ...W07 M length MS5S 40ST CM00330B 20P1 S 02 CPT SW B M length CMT W07 M length MS5S 40ST CS00330BZ 20P1 S02 CPT SW M length CMBT W07 M length MS5S 40ST CM00330BZ 20P1 S02 CPT SW B M length CMBT W07 M length 0 2 low inertia MS5S 60ST CS00630B 20P2 S0 2 DS5E L 20P2 PTA CPT SW M length CMT W07 M length MS5S 60ST CM00630B 20P2 S 02 CPT SW B M length CMT W07 M length MS5S 60ST CS00630BZ 20P2 S02 CPT SW M...

Page 172: ...W07 M length MS5H 80ST CM02430B 20P7 S02 CPT SW B M length CMT W07 M length MS5H 80ST CS02430BZ 20P7 S02 CPT SW M length CMBT W07 M length MS5H 80ST CM02430BZ 20P 7 S02 CPT SW B M length CMBT W07 M length 1 0 low inertia MS5S 80ST E CS03230B Z 21 P0 S02 CPT SW M length CM B T W0 7 M length MS5S 80ST E CM03230B Z 2 1P0 S02 CPT SW B M length CM B T W0 7 M length High inertia MS5H 80ST E CS03230B Z 2...

Page 173: ...165 ...

Page 174: ...We chat 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 ...

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