YAKO ES2 Series User Manual Download Page 5

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Chapter 1: Selection of Servo System ES2 Series Servo User Manual Lite V1.0

1.3 Servo driver and servo motor matching

Table 1-2 Servo drive and motor matching table

Servo motor model

Flange Power

Rated

Max

Drive model

Drive

speed

Speed

ES2-□□B**

SIZE

all

e i

rti

ASMD-06-0630B

600W

3000rpm 5000rpm

04B

ASMJ-06-0230B

200W

3000rpm 5000rpm

04B

ASMJ-06-0430B

400W

3000rpm 5000rpm

04B

ASMJ-08-0830B

750W

3000rpm 4500rpm

10B

ASMJ-08-1025B

1KW

2500rpm 3000rpm

10B

ASMJ-09-0830B

750W

3000rpm 3900rpm

10B

ASMJ-09-1025B

1KW

2500rpm 3300rpm

10B

ASMJ-11-1830B

110

1.8KW

3000rpm 3200rpm

15B

ASMJ-11-1230B

110

1.2KW

3000rpm 3500rpm

15B

ASMJ-11-1530B

110

1.5KW

3000rpm 3100rpm

15B

ASMJ-13-1025B

130

1KW

2500rpm 2600rpm

15B

ASMJ-13-1525B

130

1.5KW

2500rpm 2900rpm

15B

ASMJ-13-2025B

130

2KW

2500rpm 2700rpm

30B

ASMJ-13-2625B

130

2.6KW

2500rpm 2700rpm

30B

ert

ASMH-13-1010B

130

1KW

1000rpm 1300rpm

15B

ASMH-13-1515B

130

1.5KW

1500rpm 1800rpm

15B

ASMH-13-2315B

130

2.3KW

1500rpm 1700rpm

30B

Summary of Contents for ES2 Series

Page 1: ...anual Shenzhen YAKO Automation Technology Co Ltd 0 Series AC Servo Drive User Manual Lite Version V1 2019 03 12 Shenzhen YAKO Automation Technology Co Ltd www yankong com V1 0 Shenzhen YAKO Automation Technology Co Ltd ...

Page 2: ...3 4 2 1 Position mode 23 Chapter 5 Auxiliary Functions 27 5 1 JOG run 27 5 2 Alarm reset 28 5 3 Parameter initialization 29 5 4 Digital signal forced input and output function 30 5 5 Offline inertia identification 32 Chapter 6 Troubleshooting 35 6 1 Fault diagnosis and treatment 35 6 1 1 Non resettable NO 1 fault 36 6 1 2 Resettable NO 1 fault 36 6 1 3 Resettable NO 2 fault 37 6 2 Reasons for warn...

Page 3: ...ommon Output 5 common Pulse signal Input 2 Low speed pulse Output 4 3 frequency output 1 open collector output Communication USB Connect with PC Panel operator LED display Regeneration function Built in braking resistor for 750W and above models Protection function Overcurrent overload overvoltage low voltage over speed overheat encoder error communication error position deviation etc Control mode...

Page 4: ... type description ASM D 08 10 30 B U 1 1 1 XX Series YAKO ES2 series AC servo motor Feature D Small inertia J Large inertia H High inertia Flange 04 40mm 06 60mm 08 80mm 09 90mm 10 100mm 11 110mm 13 130mm Power 04 400W 10 1KW 15 1 5KW 30 3KW Rated speed rpm 10 1000rpm 15 1500 rpm 20 2000 rpm 30 3000 rpm Voltage level B 200V Encoder type U 2500 line incremental Shaft connection type 1 Plain 2 Solid...

Page 5: ...750W 3000rpm 4500rpm 10B B ASMJ 08 1025B 80 1KW 2500rpm 3000rpm 10B B ASMJ 09 0830B 90 750W 3000rpm 3900rpm 10B B ASMJ 09 1025B 90 1KW 2500rpm 3300rpm 10B B ASMJ 11 1830B 110 1 8KW 3000rpm 3200rpm 15B C ASMJ 11 1230B 110 1 2KW 3000rpm 3500rpm 15B C ASMJ 11 1530B 110 1 5KW 3000rpm 3100rpm 15B C ASMJ 13 1025B 130 1KW 2500rpm 2600rpm 15B C ASMJ 13 1525B 130 1 5KW 2500rpm 2900rpm 15B C ASMJ 13 2025B 1...

Page 6: ... 09 0830B U 12 ASMJ 08 1025B U 101 ASMJ 09 1025B U 115 ASMJ 11 1830B U 108 ASMJ 11 1230B U 112 ASMJ 11 1530B U 103 ASMJ 13 1025B U 104 ASMJ 13 1525B U 105 ASMJ 13 2025B U 109 ASMJ 13 2625B U 110 ASMH 13 1010B U 106 ASMH 13 1515B U 107 ASMH 13 2315B U 117 1 5 Auxiliary cable Power cable naming rule P1 ES2 03 P08 M Wire type P1 normal plug P2 Aviation plug Drive series ES2 series drives Cable length...

Page 7: ...r cable naming rules Wire type P1 normal plug P2 Aviation plug Drive series ES2 series drives Cable length 03 3 meter 05 5 meter 10 10 meter Encoder spec U 2500 lines Installation methods F Fixed M Movable Auxiliary cable appearance Table 1 4 Auxiliary cable appearance pecication Table 1 5 Built in braking resistor specifications Built in braking resistor specifications Minimum allowable resistanc...

Page 8: ...llation and Dimensions 2 1 Servo drive dimensions Frame B ES2 04B ES2 08B ES2 10B Frame C ES2 15B ES2 30B Table 2 1 Driver Dimensions Model L mm H mm D mm L1 mm H1 mm D1 mm Screw hole Frame C 90 160 183 80 150 75 4 M4 Frame B 58 160 177 48 150 75 2 2 Servo drive installation Figure 2 1 Servo drive installation ...

Page 9: ...he drive are as follows 1 Servo drive main circuit terminal name and function Description AC control circuit power Input control circuit power according to specifications main power terminal Input main circuit power according to specifications The default wiring is P connected with D When using an external regenerative resistor disconnect P and D first and connect an external regenerative resistor...

Page 10: ...terminal P D C By default short wires are connected between P D When the braking force is insufficient please make an open circuit between P D remove the short wiring and connect external braking resistor between P C External braking resistors should be purchased separately Common DC terminal P 一 Servo DC bus terminal for common bus connection when multiple units are connected in parallel Servo mo...

Page 11: ...hapter 3 Servo Drive and Motor Connection Chapter 3 Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1 0 10 Table 3 4 Servo motor side connectors ES2 Series Servo User Manual Lite V1 0 ...

Page 12: ...nput PULS 43 SIGN 37 Pulse command below 2Mpps Dir CCW B Phase SIGN 39 PULL HI 35 COM power input port internal connected with current limiting resistor GND 29 Differential signal ground Encoder output PAO 21 Encoder pulse divider output PAO 22 PBO 25 PBO 23 PZO 13 PZO 24 PZ OUT 44 Home pulse collector open output GND 29 Home pulse collector open circuit output signal ground differential signal gr...

Page 13: ...ON Servo enable DI6 32 ZCLAMP Zero fixed set motor in static when the speed of motor is 0 in speed control mode to avoid minor movement DI7 31 GAIN SEL Gain switching DI8 30 Home Switch Home switching 24V 17 Internal 24 power supply voltage range 20 28V maximum output current 200 mA COM 14 Internal 24V ground open collector pulse input ground COM 11 Power input 12 24V DO1 7 S RDY Servo ready DO1 6...

Page 14: ...Chapter 3 Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1 0 13 Figure 3 2 General view of the control mode ...

Page 15: ...al input circuit Take DI1 as an example DI1 DI a When the host computer is relay output Chapter 3 Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1 0 14 Digital input and output signal DI1 DI8 When the host computer is relay output ES2 Series Servo User Manual Lite V1 0 ...

Page 16: ... Connection b When the host computer is open collector output Chapter 3 Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1 0 15 When the host computer is open collector output ES2 Series Servo User Manual Lite V1 0 ...

Page 17: ... Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1 0 16 Note NPN and PNP input mixing is not supported Digital output circuit Use DO1 as an example DO1 DO5 circuit is the same When the host computer is a relay input Note When the host computer is relay input be sure to connect the freewheeling diode in the correct direction otherwise the DO port may be damaged When the host com...

Page 18: ...Lite V1 0 17 Note 1 Be sure to connect a current limiting resistor 2 The maximum allowable voltage and current of the internal optocoupler circuit of the servo driver are as follows Voltage DC30V maximum Current DC50mA maximum Position command input signal 6 Correspondence between pulse input frequency and pulse width Maximum frequency HZ Minimum pulse width 2M 0 25 Open collector 2M 0 25 Note The...

Page 19: ... Servo Drive and Motor Connection ES2 Series Servo User Manual Lite V1 0 18 Use an external power supply Option 1 Use the internal resistance of the drive recommended Option 2 Use external resistors and NPN type ...

Page 20: ...otor Connection ES2 Series Servo User Manual Lite V1 0 19 Option 3 Use external resistors and PNP type 10mA voltage R1 resistance R1 power 24V 2 4KΩ 0 5W 12V 1 5KΩ 0 5W 5V 200Ω 0 5W communication CN5 Through CN5 communication between PC and driver can be established and implement operations such as drive status monitoring test operation and parameter reading and writing ES2 Series Servo User Manua...

Page 21: ... is powered initialization indicating the serial number of the drive Displays this character when the drive is powered initialization indicating the model of the drive Not ready after the start or reset is completed the servo is not ready for example the main circuit is not powered Ready the servo system passed self test waiting for host control device to give a servo enable signal Run servo is in...

Page 22: ...et to the desired When the desired group number is set press the SET button to enter the setting status of the parameter number in the group Pxx xx also called level 1 menu is displayed is confirmed press the SET button to enter the parameter setting state also menu If the parameter can be modified the lowest bit will flash the odify as shown below When the SET button is pressed after modification...

Page 23: ...ample suppose the current flashing bit is thousand When using SHIFT it will itch to the middle four digit display and the 10 000 digit that is the rightmost digit of this segment will flash Press at this time the increase or decrease is 10000 For the parameters that can be modified the corresponding modifications can be made by only parameter you can only use the long press key to scroll through t...

Page 24: ...eed to set the functions such as return to origin and frequency division output For details see the product manual 5 Enable the servo and control the servo motor rotation by sending a position command from the host computer First let the motor rotate at a low speed to confirm whether the rotation direction and the electronic gear ratio are normal and then adjust gain setting Please refer to the de...

Page 25: ...t exceed the maximum allowable current otherwise the drive can not work properly 3 The encoder frequency devided output signal is fixed to 1 1 4 2 1 2 Position control mode related function code setting Parameter setting in position control mode including mode selection command pulse type electronic gear ratio DI DO etc 1 Position command input setting a Position command source Set the function co...

Page 26: ...logic and orthogonal pulse Function code Name Setting range Min unit Factory setting Effecti ve time Type Related mode P04 21 Pulse shape 0 direction pulse positive logic Defaults 1 direction pulse negative logic 2 A phase B phase orthogonal pulse positive logic 3 A phase B phase orthogonal pulse negative logic 1 0 Re power Setting after motor stop P The principle of the three pulse command type i...

Page 27: ...n P04 05 0 the motor and the load are connected through the reduction gear Assuming that the reduction ratio of the motor shaft to the load machine side is n m motor rotate m round load shaft rotate n round the calculation of the electronic gear ratio is as follows electronic gear ratio This model drive supports up to 2 sets of electronic gear ratios and the gear ratio selection can be completed b...

Page 28: ...hapter 5 Auxiliary Functions ES2 Series Servo User Manual Lite V1 0 27 Chapter 5 Auxiliary Functions 5 1 JOG run SET SET SET JOG running flow chart Change JOG speed by Chnange motor direction by Complete ...

Page 29: ...Chapter 5 Auxiliary Functions ES2 Series Servo User Manual Lite V1 0 28 5 2 Alarm reset SET SET SET Complete Alarm reset flow chart ...

Page 30: ...r 5 Auxiliary Functions ES2 Series Servo User Manual Lite V1 0 29 5 3 Parameter initialization SET SET SET SET Parameter initialization flow chart Complete 1 Parameter initialization 2 Clear the fault record ...

Page 31: ...ble 3 forced DI and DO enable 1 0 Immediately Set when running PST P11 11 Set DI forced input 0 0x01FF 1 0x01FF Immediately Set when running PST P11 12 Set DO forced output 0 0x001F 1 0 Immediately Set when running PST Among them P11 11 is used to forcibly set the DI level and the panel is displayed in hexadecimal After converting to binary 1 indicates high level and 0 indicates low level The DI t...

Page 32: ...output setting procedure Among them P11 12 is used to force set whether the DO function is valid The panel is displayed in hexadecimal After converting to binary 0 means the DO function is invalid 1 means the DO function is valid P18 23 It is used to monitor the DO level status the level is displayed on the panel and P18 23 is a decimal number For example DO1 terminal is invalid and DO2 DO5 termin...

Page 33: ...ia identification should be stopped immediately and the gain should be reduced In addition the large backlash of the transmission mechanism may cause the inertia identification to fail Before performing offline inertia identification first confirm the following 1 The motor s movable distance should meet the following 2 requirements a There is a movable distance of more than one round between the m...

Page 34: ...Chapter 5 Auxiliary Functions ES2 Series Servo User Manual Lite V1 0 33 The general operation flow of offline inertia identification is as follows ...

Page 35: ... Related function code Function code Name Setting range Min unit Function Factory setting Effective time Setting method P08 20 Inertia recognition maximum speed 200 1000 1rpm Set the maximum speed of offline inertia identification 500 Immediately Setting after motor stop P08 21 Inertia identification acceleration and deceleration time 50 800 1 ms Set the time for the motor to accelerate from 0 rpm...

Page 36: ...ult diagnosis and treatment Faults can be divided into Non resettable NO 1 failure Resettable NO 1 fault Resettable NO 2 fault Among them resettable indicates that after fault handled we can clear the servo fault status by set P11 01 to 1 or configure DI function FunIN 2 ALM RST alarm resets Non resettable means that after the fault is handled drive needs to be re powered The NO 1 and NO 2 faults ...

Page 37: ...re incorrect 2 UVW phase to phase short circuit 3 motor burned out 4 motor is shorted to ground 5 drive failure NO 1 No 9 Overcurrent fault 1 The drive or motor parameters are incorrect 2 UVW phase to phase short circuit 3 the motor burned out 4 The motor is shorted to ground 5 drive failure NO 1 No 11 Encoder disconnection Encoder disconnection No 1 No 12 Encoder AB signal abnormal Encoder AB sig...

Page 38: ...eeds the position deviation value P09 09 No 2 Yes 44 Main circuit input phase lack When lack power input phase the protection selects parameter P09 00 0 enable fault disable warning or P09 00 1 enable fault and warning 1 Three phase input line is poorly connected 2 Three phase drive operates under single phase power No 2 Yes 46 Drive overload The load operation exceeds the inverse time curve of th...

Page 39: ...ment by the driver Or parameter setting error 94 DI emergency brake External emergency brake E_STOP terminal trigger 96 Homing timeout 1 Home switch failure 2 Time limit to find home is too short 3 The high speed for searching home signal is too small 97 Mechanical home point offset error 1 When the home return mode parameter P16 09 6 or P16 09 8 or P16 09 14 the mechanical home offset parameter P...

Page 40: ...rs P05 Speed control parameters P06 Torque control parameters P07 Gain parameters P09 Fault and protection parameters P11 Auxiliary function parameters P12 Keyboard display parameters P13 Multi segment position function parameters P14 Multi speed function parameters P16 Special function parameters P17 Drive parameters P18 Display parameters Note The above parameters are not completely listed For m...

Page 41: ...rward direction reverse mode OA lag OB 1 0 Re power Settin g after motor stop PST P00 03 Self adjusting mode 0 invalid 1 standard mode 2 positioning mode 1 0 Effectiv e immedia tely Settin g after motor stop PST P00 04 Rigidity level setting 0 31 1 11 Effectiv e immedia tely Set when runnin g PST P00 05 Inertia ratio 0 3000 0 01 1 00 Effectiv e immedia tely Set when runnin g PST P00 07 Maximum spe...

Page 42: ...rpm Effectiv e immedia tely Set when runnin g PST P00 17 Rotation state delay between servo enable OFF and brake output OFF 0ms 10000ms 1ms 500ms Effectiv e immedia tely Set when runnin g PST P00 18 Energy consumption resistance setting 0 Use built in power consumption resistor 1 Use external power consuming resistors and cool naturally 2 Use external power consuming resistors and force air cooled...

Page 43: ...0xFFFF Bit0 corresponds to FunIN 1 Bit1 corresponds to FunIN 2 Bit15 corresponds to FunIN 16 1 0 Re power Set when runnin g PST P02 01 DI1 terminal function selection Input function code 0 1 40 0 no definition 1 to 40 FunIN 1 to 40 refer to the DIDO basic function coding table 1 13 Effective immediately Set when runnin g PST P02 02 DI2 terminal function selection Input function code 0 1 40 0 no de...

Page 44: ...o definition 1 to 40 FunIN 1 to 40 refer to the DIDO basic function coding table 1 32 Effective immediately Set when runnin g PST P02 10 FunINH signal unassigned state HEX 0 0xFFFF Bit0 corresponds to FunIN 17 Bit1 corresponds to FunIN 18 Bit15 corresponds to FunIN 32 1 0 Re power Set when runnin g PST P02 11 DI1 terminal logic selection Input polarity 0 4 0 low level effective 1 high level effect...

Page 45: ...DI7 terminal logic selection Input polarity 0 4 0 low level effective 1 high level effective 2 rising edge is valid 3 falling edge is valid 4 rising and falling edges are valid 1 0 Effective immediately Set when runnin g PST P02 18 DI8 terminal logic selection Input polarity 0 4 0 low level effective 1 high level effective 2 rising edge is valid 3 falling edge is valid 4 rising and falling edges a...

Page 46: ...immediately Settin g after motor stop PST P02 32 DO2 terminal logic level selection Output polarity inversion setting 0 1 0 conduct when active normally open 1 not conduct when active normally closed 1 0 Effective immediately Settin g after motor stop PST P02 33 DO3 terminal logic level selection Output polarity inversion setting 0 1 0 conduct when active normally open 1 not conduct when active no...

Page 47: ...on command FIR filter 0 0ms 128 0ms 0 1ms 0 0ms Effective immediate ly Settin g after motor stop P P04 05 Number of instruction unit required for one round 32 bit 16 Unit Turn 1073741824 Unit Turn 1Unit 0Unit Re power Settin g after motor stop P P04 07 Electronic gear 1 numerator 32 bit 1 1073741824 1 4 Effective immediate ly Set when runnin g P P04 09 Electronic gear 1 denominator 32 bit 1 107374...

Page 48: ...solute position deviation value is smaller than positioning completion range and position command is 0 1 0 Effective immediate ly Settin g after motor stop P P04 24 Positioning completion range 1P 65535P 1P 7P Effective immediate ly Settin g after motor stop P P04 25 Positioning close range 1P 65535P 1P 65535P Effective immediate ly Settin g after motor stop P P05 group speed control parameters Fu...

Page 49: ...0rpm 1rpm 9000rp m Effective immediately Set when runnin g S P05 15 Fixed speed for 0V input setting 0rpm 6000rpm 1rpm 10rpm Effective immediately Set when runnin g S P05 16 Speed threshold of motor running signal output 0rpm 1000rpm 1rpm 20rpm Effective immediately Set when runnin g PS P05 17 Speed uniform signal width 0rpm 100rpm 1rpm 10rpm Effective immediately Set when runnin g PS P05 18 Speed...

Page 50: ...ternal torque limit 0 0 500 0 based on rated motor torque 0 1 300 0 Effective immediate ly Set when runnin g PST P06 11 Backward side external torque limit 0 0 500 0 based on rated motor torque 0 1 300 0 Effective immediate ly Set when runnin g PST P06 12 Emergency stop torque 0 0 300 0 based on rated motor torque 0 1 100 0 Effective immediate ly Set when runnin g PST P06 15 Positive speed limit d...

Page 51: ...ring 1 126 65535 0 01m s 126 Effective immediate ly Set when runnin g PST P07 05 Position loop gain 2 1 2000 0 0 1HZ 380 Effective immediate ly Set when runnin g P P07 06 Speed loop gain 2 1 2000 0 1HZ 180 Effective immediate ly Set when runnin g PS P07 07 Speed loop integral time 2 15 51200 0 01m s 51200 Effective immediate ly Set when runnin g PS P07 08 Speed detection filter 2 0 200 0 01m s 0 E...

Page 52: ...y Set when runnin g PS P07 12 Gain switching delay 0 1000 0ms 0 1ms 5 0ms Effective immediate ly Set when runnin g PS P07 13 Gain switching level 0 20000 unit according to the gain switching mode description 1 50 Effective immediate ly Set when runnin g PS P07 14 Hysteresis time of gain switching 0 20000 unit according to the gain switching mode description 1 33 Effective immediate ly Set when run...

Page 53: ...en through communication 1 1 Effective immediate ly Settin g after motor stop PS P07 23 Torque feedforward gain 0 0 100 0 0 1 0 0 Effective immediate ly Set when runnin g PS P07 24 Torque feedforward filter time parameter 0 00ms 64 00ms 0 01m s 0 50ms Effective immediate ly Set when runnin g PS P07 25 Speed offset superimposed threshold 0P 100P 1P 7P Effective immediate ly Settin g after motor sto...

Page 54: ...Effective immediate ly Set when runnin g PST P09 09 Position deviation excessive threshold 32 bit 1P 1073741824P encoder unit 1P 32767P Effective immediate ly Set when runnin g PST P09 12 Command pulse input pin filter time 0 255 20ns 360ns Re power Settin g after motor stop P P09 13 Quadrature encoder filter time 0 255 20ns 720ns Re power Settin g after motor stop PST P11 group auxiliary function...

Page 55: ...tely outputs warning message 1 LED does not output warning message 1 0 Effective immediate ly Set when runnin g PST P12 01 Default display settings 1 1 Effective immediate ly Set when runnin g PST P12 03 Speed display filter time 0 1000 0ms 0 1 ms 5 0ms Effective immediate ly Set when runnin g PST P12 12 Software version number VV B DD 1 0 N A Displa y param eter P12 14 Product series code PP XXX ...

Page 56: ... immediate ly Set when runnin g P P13 11 Segment 1 acceleration decel eration time 0 65535 1ms 1s 10ms s Effective immediate ly Set when runnin g P P13 12 Segment 1 waiting time after completion 0 10000 1ms s 1000ms s Effective immediate ly Set when runnin g P P13 13 Segment 2 movement displacement 32 bits 1073741824 1073741824 command unit 1Un it 10000U nit Effective immediate ly Set when runnin ...

Page 57: ...p m 200rpm Effective immediate ly Set when runnin g P P13 31 Segment 5 acceleration decel eration time 0 65535 1ms 1s 10ms s Effective immediate ly Set when runnin g P P13 32 Segment 5 waiting time after completion 0 10000 1ms s 1000ms s Effective immediate ly Set when runnin g P P13 33 Segment 6 movement displacement 32 bits 1073741824 1073741824 command unit 1Un it 10000U nit Effective immediate...

Page 58: ... 200rpm Effective immediate ly Set when runnin g P P13 51 Segment 9 acceleration decel eration time 0 65535 1ms 1s 10ms s Effective immediate ly Set when runnin g P P13 52 Segment 9 waiting time after completion 0 10000 1ms s 1000ms s Effective immediate ly Set when runnin g P P13 53 Segment 10 movement displacement 32 bits 1073741824 1073741824 command unit 1Un it 10000U nit Effective immediate l...

Page 59: ... m 200rpm Effective immediate ly Set when runnin g P P13 71 Segment 13 acceleration decel eration time 0 65535 1ms 1s 10ms s Effective immediate ly Set when runnin g P P13 72 Segment 13 waiting time after completion 0 10000 1ms s 1000ms s Effective immediate ly Set when runnin g P P13 73 Segment 14 movement displacement 32 bits 1073741824 1073741824 command unit 1Un it 10000U nit Effective immedia...

Page 60: ...n 0 10000 1ms s 1000ms s Effective immediate ly Set when runnin g P P14 group Multi speed command Function code Name Setting range Min unit Default setting Effective time Type Mode P14 00 Multi speed command operation mode 0 stop after the end of single operation P1401 for segment number selection 1 cycle operation P1401 for segment number selection 2 DI switching operation selected by DI 1 1 Effe...

Page 61: ...nd down time of speed segment 1 0 zero acc dec time 1 acc dec time 1 2 acc dec time 2 3 acc dec time 3 4 acc dec time 4 1 0 Effective immediately Setting after motor stop S P14 10 Speed segment 2 9000 9000rpm 1rpm 0rpm Effective immediately Setting after motor stop S P14 11 Running time of speed segment 2 0 6553 5 0 1s min 5 0s min Effective immediately Setting after motor stop S P14 12 Speed up a...

Page 62: ... speed segment 4 0 zero acc dec time 1 acc dec time 1 2 acc dec time 2 3 acc dec time 3 4 acc dec time 4 1 0 Effective immediately Setting after motor stop S P14 19 Speed segment 5 9000 9000rpm 1rpm 0rpm Effective immediately Setting after motor stop S P14 20 Running time of speed segment 5 0 6553 5 0 1s min 5 0s min Effective immediately Setting after motor stop S P14 21 Speed up and down time of...

Page 63: ... speed segment 7 0 zero acc dec time 1 acc dec time 1 2 acc dec time 2 3 acc dec time 3 4 acc dec time 4 1 0 Effective immediately Setting after motor stop S P14 28 Speed segment 8 9000 9000rpm 1rpm 0rpm Effective immediately Setting after motor stop S P14 29 Running time of speed segment 8 0 6553 5 0 1s min 5 0s min Effective immediately Setting after motor stop S P14 30 Speed up and down time of...

Page 64: ...peed segment 10 0 zero acc dec time 1 acc dec time 1 2 acc dec time 2 3 acc dec time 3 4 acc dec time 4 1 0 Effective immediately Setting after motor stop S P14 37 Speed segment 11 9000 9000rpm 1rpm 0rpm Effective immediately Setting after motor stop S P14 38 Running time of speed segment 11 0 6553 5 0 1s min 5 0s min Effective immediately Setting after motor stop S P14 39 Speed up and down time o...

Page 65: ...speed segment 13 0 zero acc dec time 1 acc dec time 1 2 acc dec time 2 3 acc dec time 3 4 acc dec time 4 1 0 Effective immediately Setting after motor stop S P14 46 Speed segment 14 9000 9000rpm 1rpm 0rpm Effective immediately Setting after motor stop S P14 47 Running time of speed segment 14 0 6553 5 0 1s min 5 0s min Effective immediately Setting after motor stop S P14 48 Speed up and down time ...

Page 66: ... 0 6553 5 0 1s min 5 0s min Effective immediately Setting after motor stop S P14 54 Speed up and down time of speed segment 16 0 zero acc dec time 1 acc dec time 1 2 acc dec time 2 3 acc dec time 3 4 acc dec time 4 1 0 Effective immediately Setting after motor stop S P16 group special function parameters Function code Name Setting range Min unit Default setting Effective time Type Mode P16 08 Homi...

Page 67: ...7 backward homing deceleration and home points are backward overtravel switch 8 forward homing deceleration point is forward overtravel switch home is motor Z signal 9 backward homing deceleration point is backward overtravel switch home is motor Z signal 10 forward homing no deceleration point home is home switch 11 backward homing no deceleration point home is home switch 12 forward homing no de...

Page 68: ...g range Min unit Default setting Effective time Type Mode P18 00 Servo status rdy run Err 00 99 error AL 00 10 warning 1 N A Displa y param eter PST P18 01 Motor speed feedback 32 bit 9000rpm 9000rpm 1rpm N A Displa y param eter PST P18 03 Speed command 9000rpm 9000rpm 1rpm N A Displa y param eter PST P18 04 Internal torque command based on rated torque 500 0 500 0 0 1 N A Displa y param eter PST ...

Page 69: ...comman d unit 1Unit N A Displa y param eter PST P18 21 Digital input signal monitoring N A Displa y param eter PST P18 23 Digital output signal monitoring N A Displa y param eter PST P18 25 Total power on time 32 bit 0 0 429496729 6s 0 1s N A Displa y param eter PST P18 31 Module temperature value 1 C N A Displa y param eter PST P18 40 Display of fault record 0 current fault 1 the first fault befo...

Page 70: ... Assign FunIN 3 GAIN_SWITCH Proportional motion switching gain switching When P07 10 0 Invalid speed control loop is PI control Valid speed control loop is P control When P07 10 1 Invalid use the first set of gains Valid use the second set of gains Assign FunIN 4 CMD_SWITCH Main and auxiliary running command switching Invalid the current run command is A Valid the current run command is B Assign F...

Page 71: ...d Invalid stop input run command Assign FunIN 18 N_JOG Backward JOG Valid input reversely according to given command Invalid stop input run command Assign FunIN 23 GEAR_SWITCH Electronic gear selection Invalid electronic gear ratio 1 Valid electronic gear ratio 2 Assign FunIN 24 POS_DIR Position command reversal Invalid no reversal effective reversal Assign FunIN 25 SPD_DIR Speed command reversal ...

Page 72: ... failure Motor ROM data check error or no data No 1 No 4 Fault in parameter storage 1 parameter storage device failure 2 parameters read and write too frequently 3 control power supply instability 4 drive failure No 1 No 6 Program exception 1 system parameter abnormal 2 drive internal failure No 1 No 7 Control circuit undervoltage Control circuit undervoltage No 1 No 8 Short circuit to ground dete...

Page 73: ...eds the position deviation fault value P09 09 No 2 Yes 44 Main circuit input lack phase When the power input lack phase protection selects parameter P09 00 0 enable fault disable warning or P09 00 1 enable fault and warning 1 three phase input line is wrongly connected 2 three phase drive operates under single phase power No 2 Yes 46 Drive overload The load operation exceeds the inverse time curve...

Page 74: ...the high speed of searching home switch signal is too small 97 Mechanical home offset error 1 When the home return mode parameter P16 09 6 or P16 09 8 or P16 09 14 the mechanical home offset parameter P16 14 is set to a value greater than 0 2 When the home return mode parameter P16 09 7 or P16 09 9 or P16 09 15 the mechanical home offset parameter P16 14 is set to less than 0 98 Main circuit input...

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