Wecon VD2 SA Series User Manual Download

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Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)

Wecon VD2 SA Series

Servo Drives User

Manual

(Full V1.0)

Website:

http://www.we-con.com.cn/en

Phone:

86-591-8786886

Summary of Contents for VD2 SA Series

Page 1: ...Wecon VD2 SA Series Servo Drives User Manual Full V1 0 Wecon VD2 SA Series Servo Drives User Manual Full V1 0 Website http www we con com cn en Phone 86 591 8786886...

Page 2: ...ans for relevant assistance to use this equipment smoothly The company s products are constantly being improved and upgraded and the contents of this manual are subject to change without notice This m...

Page 3: ...Wecon VD2 SA Series Servo Drives User Manual Full V1 0 2 WECON technology Co Ltd User manual change record Date Changed version Change content October 2021 V1 0 The first edition is released...

Page 4: ...10 3 1 2 Installation site 10 3 1 3 Installation environment 11 3 1 4 Installation matters 11 3 2 Installation of servo motor 13 3 2 1 Dimensions unit mm 13 3 2 2 Installation site 16 3 2 3 Installati...

Page 5: ...t setting 56 6 2 2 Electronic gear ratio 66 6 2 3 Position instruction filtering 68 6 2 4 Clearance of position deviation 69 6 2 5 Position related DO output function 69 6 3 Speed control mode 71 6 3...

Page 6: ...scription 104 8 4 1 Variable address description 104 8 4 2 Variable value type description 105 8 4 3 Numerical unit description 105 Chapter 9 Parameters 106 9 1 Basic settings 106 9 2 Control Setting...

Page 7: ...ON technology Co Ltd 11 5 Vibration suppression 156 11 6 Signal input and output 157 11 7 DIDO configuration 157 11 8 Multi position 158 11 9 Accessibility 161 11 10 Communication parameters 161 11 11...

Page 8: ...he power supply and the main circuit power supply of the servo drive Otherwise when the equipment fails it may cause fire because it cannot cut off the large current In the servo drive and servo motor...

Page 9: ...g to the weight of the product Do not hold the motor cable or motor shaft for transportation When operating the servo unit and servo motor please pay attention to sharp parts such as the corners of th...

Page 10: ...be within 15M When using in the following places please take adequate shielding measures When interference occurs due to static electricity Places where strong electric or magnetic fields are generate...

Page 11: ...r failure occurs during operation the machine may restart suddenly so please do not approach the machine and press the stop button when the power is off and operate after the power supply is stable 1...

Page 12: ...he manual and connect PE well in case of accident Incorrect wiring may cause servo overspeed and injury to the servo WARNING Danger Hot Caution Electric D141312008281XXXXXXX MADE IN CHINA V1 0 0 WECON...

Page 13: ...o or power failure within 15min to avoid electric shock Do not touch the radiator to avoid burns WARNING Danger Hot Caution Electric D141312008281XXXXXXX MADE IN CHINA V1 0 0 WECON Technology Co Ltd M...

Page 14: ...ervo drives are shown in Table 2 1 Drive model VD2 series servo drive Main circuit power supply Use single phase 200V 240V AC 50 60Hz power supply below 750W 1 0kW 2 6kW can use single phase 220V AC o...

Page 15: ...upport independent power supply for control power supply and type A drives have no separate control power supply 2 2 Servo motor products 2 2 1 Servo motor model naming Figure 2 7 Servo motor naming F...

Page 16: ...X 80 0 75 2 39 220 3000 17 bit absolute value WD80M 10025S E1X 80 1 00 4 220 2500 2500 line incremental WD130M 10025S E1X 130 1 00 4 220 2500 2500 line incremental WD130M 15015S E1X 130 1 50 10 220 15...

Page 17: ...85 160 185 70 152 5 2 Figure 3 2 Installation dimensions of type B servo drive 3 1 2 Installation site Please install it in an installation cabinet free from sunlight and rain In a place without vibr...

Page 18: ...60Hz non continuous operation Power Systems TN system Note The neutral point of the power system is directly connected to the ground and the exposed metal components are connected to the ground throug...

Page 19: ...distance between each other should be 20mm and the distance between each other should be at least 100mm Please refer to Figure 3 4 and Figure 3 5 for details To prevent temperature rise a cooling fan...

Page 20: ...stalling the servo drive please face the front of the servo drive panel control interface to the operator so that the servo drive is perpendicular to the wall 3 2 Installation of servo motor 3 2 1 Dim...

Page 21: ...ons of 80 flange servo motor Motor series 1 Specification 80 flange series motor Rated torque N m 1 27 LA without brake mm 98 5 LA with brake mm 128 5 Figure 3 7 Installation dimension drawing of 80 f...

Page 22: ...ke mm 159 189 204 219 LA with brake mm 224 254 269 284 M6xL25 4 9 130 15 5 0 0 1 6 0 0 0 3 6 2 5 40 9 5 0 0 0 3 5 1 9 0 0 0 1 3 5 55 12 4 8 L 110 1 1 0 Figure 3 9 Installation dimension drawing of 110...

Page 23: ...on the normal function of the motor and its service life Therefore the installation environment of the servo motor must meet the following conditions Project Illustrate Ambient temperature 10 40 no fr...

Page 24: ...n a state with a good degree of splashing of oil foam When the servo motor is installed vertically upwards please be careful not to accumulate oil on the oil seal lip Stress condition of the cable Do...

Page 25: ...input terminal Single phase 220V AC input is connected to L1 and L3 L2 L3 P Braking resistor terminal Use internal braking resistor short circuit C D factory default Use an external braking resistor p...

Page 26: ...d L3 L2 L3 L1C Control power input terminal Single phase 220V AC input is connected to L1C and L2C L2C P Braking resistor terminal Use internal braking resistor short circuit C D factory default Use e...

Page 27: ...l Full V1 0 20 WECON technology Co Ltd 4 1 2 Power wiring example 1 Wiring of type A drive Single phase 220V power supply Figure 4 3 Wiring of type A drive Single phase 220V main circuit 2 Wiring of t...

Page 28: ...econ VD2 SA Series Servo Drives User Manual Full V1 0 21 WECON technology Co Ltd Figure 4 4 Wiring of type B drive Single phase 220V main circuit 3 Wiring of type B drive three phase 220V main circuit...

Page 29: ...deterioration of heat dissipation conditions please consider the allowable current reduction rate When the temperature in the cabinet is higher than the cable temperature limit please choose a cable w...

Page 30: ...tor Flange 2 4 1 3 A 2 4 1 3 A Pin number Pin name Color 1 U Red 2 V Brown 3 W Yellow 4 PE Yellow green 60 80 Pin number Pin name Color 1 PE Yellow green 2 U Red 3 V Blue 4 W Yellow 110 130 Pin number...

Page 31: ...nnector shape Terminal pin distribution Pin description Pin number Pin name Pin number Pin name 1 5V 4 E 2 GND 5 SD 3 E 6 SD Table 4 4 Encoder cable servo drive side connector Connector shape and term...

Page 32: ...anual are all cables of Wecon Connector shape and terminal pin distribution Adapted motor Flange 110 130 Pin number Pin name Cable color CN1 terminal pin number Pin number Pin name Cable color CN1 ter...

Page 33: ...distribution Adapted motor Flange 80 1 5 4 7 4 5 7 1 Pin number Pin name Cable color CN1 terminal pin number Pin number Pin name Cable color CN1 terminal pin number 1 Shield Shell 5 0V Orange 2 2 BAT...

Page 34: ...9 40 SIGN 41 42 PULS 43 PULS 44 PL 15 PZO PE 45 PE 46 DB 44 CN2 485_ 485_ AI_1 AI_1 AI_1 SIGN GND AI_2 DO3 DO1 DO4 DO2 AI_2 485_ AI_2 Figure 4 7 The pin distribution of the drive input and output term...

Page 35: ...Servo Drives User Manual Full V1 0 28 WECON technology Co Ltd 4 4 2 Wiring diagram of each pulse mode Figure 4 8 Wiring of each mode Note Please refer to 4 4 1 Table 4 7 CN2 Definition for the pin nu...

Page 36: ...nal power input interface for instruction pulse The instruction pulse and sign output circuit on the host device side can be selected from differential output or open collector output The maximum inpu...

Page 37: ...range 10V 10V 33 AI_1 2 AI_2 AI_2 analog input signal resolution 12 bits input voltage range 10V 10V 3 AI_2 17 GND Analog input signal ground 34 GND Figure 4 12 Analog input wiring 4 4 5 Digital inpu...

Page 38: ...put terminal 12 24V 4 DO1 Rotation detection 5 DO1 6 DO2 Alarm 7 DO2 19 DO3 Servo ready 20 DO3 21 DO4 Positioning completed 22 DO4 1 Digital input circuit When the upper device is relay output Figure...

Page 39: ...Servo Drives User Manual Full V1 0 32 WECON technology Co Ltd 2 Digital output circuit When the upper device is relay input Figure 4 15 Relay input When the upper device is optocoupler input Figure 4...

Page 40: ...ion ports The appearance is shown in Figure 4 18 1 2 3 4 5 6 7 8 Figure 4 18 RJ45 communication port appearance and pin definition 4 5 1 Communication signal connector The signal connectors appearance...

Page 41: ...eives negative 2 RX Computer sends terminal driver receives positive 3 TX Computer receives negative terminal driver sends negative 4 GND Ground terminal 5 NC Not used 6 TX Computer receives positive...

Page 42: ...gh the CN5 or CN6 interface on the top of the servo drive Pin Name Function description 1 485 Computer sends negative terminal driver receives negative 2 485 Computer sends positive terminal driver re...

Page 43: ...echnology Co Ltd Chapter 5 Panel 5 1 Panel composition The panel composition of the VD2 series servo drive is shown in and Figure 5 1 and Figure 5 2 Figure 5 1 The appearance of the type A servo drive...

Page 44: ...lashing bit View the high bit value of data with a length greater than 4 bits Enter OK Enter the next menu Execute instructions such as storing parameter setting values Table 5 1 Brief introduction of...

Page 45: ...rvo drive to give an enable signal Servo enable signal is valid The servo drive is in an operational state waiting for the host computer to give instructions Servo drive is in jog operation Jog operat...

Page 46: ...age Display method current page current value as shown switch the current page by pressing the shift key For example 2147483646 is displayed as follows Figure 5 4 2147483646 display operation For exam...

Page 47: ...highest fault code is displayed When a fault occurs when switching from the auxiliary function to the parameter display function the corresponding fault or warning code will be displayed You can view...

Page 48: ...utput signal status Indicates the level status corresponding to the 4 DO terminals The upper half of the LED light indicates high level and the lower half light indicates low level Table 5 6 Monitorin...

Page 49: ...te Adjust the function code to P10 01 after power on Press the Enter key to enter the next menu to set the JOG jog speed After the JOG jog speed is completed press the Enter key the panel displays JOG...

Page 50: ...nction code to P10 02 Press the Enter key to enter the next menu to set the parameters After the parameter setting is completed press the confirm key to display P init Long press the Enter key for 3s...

Page 51: ...Wecon VD2 SA Series Servo Drives User Manual Full V1 0 44 WECON technology Co Ltd Figure 5 8 Steps for restoring factory settings...

Page 52: ...nment and Machinery 1 There is no iron filings metal etc that can cause short circuits inside or outside the servo drive 2 The servo drive and external braking resistor are not placed on combustible o...

Page 53: ...P10 01 JOG speed Operation setting Effective immediately 100 0 3000 JOG speed rpm Table 6 JOG speed parameter details 6 1 4 Rotation direction selection By setting the P00 4 rotation direction you ca...

Page 54: ...P00 10 External braking resistor resistance Operation setting Effective immediately 50 0 655 35 It is used to set the external braking resistor resistance of a certain type of drive P00 11 External b...

Page 55: ...peed shutdown The servo drive outputs reverse braking torque and the motor quickly decelerates to zero Rapid deceleration with mechanical shock but the deceleration process is fast Table 6 5Comparison...

Page 56: ...n The overtravel shutdonw is fixed at zero speed and the motor shaft remains locked The corresponding configuration and selection can be selected through the DI terminal function of the function code...

Page 57: ...tting again Power on 4 0 32 0 off not used 01 SON Servo enable 02 A CLR Fault and Warning Clear 03 POT forward drive prohibition 04 NOT Reverse drive prohibition 05 ZCLAMP Zero speed 06 CL Clear devia...

Page 58: ...motor stops turn off the servo enable S ON in time The brake coil has no polarity When the brake coil is energized that is the brake is open magnetic flux leakage may occur at the shaft end and other...

Page 59: ...terminal must be determined Related function codes DO function code Function name Function 144 BRK OFF solenoid valve brake Invalid the brake power is turned on the brake acts and the motor is in posi...

Page 60: ...state of the servo drive and the brake sequence in the fault state of the servo drive 3 Servo drive brake timing in normal state The brake timing of the normal state can be divided into The servo mot...

Page 61: ...P1 30 do not input position speed torque instructions otherwise the instructions will be lost or operation errors will be caused When the servo motor rotates the servo enable is OFF and the servo moto...

Page 62: ...he servo system Position control refers to controlling the position of the motor through position instructions and determining the target position of the motor by the total number of position instruct...

Page 63: ...ruction Table 6 10 Details of position instruction source parameters 1 The source of position instruction is pulse instruction P01 06 0 1 Low speed pulse instruction input Figure 6 7Position instructi...

Page 64: ...own in Figure 6 9 Figure 6 9 Open collector input connection 2 Position pulse frequency and anti interference level When low speed pulses input pins you need to set a certain pin filter time to filter...

Page 65: ...instruction 0 no filtering 1 Filtering time 128ns 2 Filtering time 256ns 3 Filtering time 512ns 4 Filtering time 1 024us 5 Filtering time 2 048us 6 Filtering time 4 096us 7 Filtering time 8 192us 8 F...

Page 66: ...14Pulse shape description 2 The source of position instruction is internal position instruction P01 06 1 The VD2 series servo drive has a multi position operation function which supports maximum 16 i...

Page 67: ...sition instruction Table 6 15 Multi position operation mode parameter table The VD2 series servo drives have three multi position operation modes and the user selects the best operation mode according...

Page 68: ...operation position number 22 Internal multi position selection 2 To form a multi position operation position number 23 Internal multi position selection 3 To form a multi position operation position...

Page 69: ...maining positions In this processing way the multi position instruction enable is OFF during operation the servo drive will abandon the unfinished displacement part and shutdown and the positioning co...

Page 70: ...bandon the uncompleted displacement part and shutdown After the shutdown is completed the positioning completion signal is valid When the multi position enable is ON and the servo drive will start to...

Page 71: ...isplacement Figure 6 21 Absolute position indication Figure 6 22 Displacement image 2 Multi position operation curve setting The multi position operation function supports maximum 16 different positio...

Page 72: ...on curve parameters table After setting the above parameters the actual operation curve of the motor is shown in Figure 6 23 Figure 6 23 The 1st position operation curve of motor 3 Multi position inst...

Page 73: ...tronic gear ratio 1 or multiplication electronic gear ratio 1 of the electronic gear ratio the actual the motor rotation or movement displacement can be set when the input position instruction is 1 in...

Page 74: ...gear ratio switching function can be used The user can switch between electronic gear 1 and electronic gear 2 as needed There is only one set of gear ratios at any time Related function codes are sho...

Page 75: ...tch 1 ON in position control mode select the 1st group of electronic gear ratio Table 6 20 Switching conditions of electronic gear ratio group P00 16 DI terminal level corresponding to DI port functio...

Page 76: ...struction average filter time constant Shutdown setting Effective immediately 0 0 128 The filter time constant of position instruction average filter ms Table 6 22 Position instruction filter function...

Page 77: ...n confirm the completion of the positioning of the servo drive after receiving the signal Figure 6 26 The waveform of positioning completion signal output When using the positioning completion approac...

Page 78: ...ting positioning Valid in the position control mode the absolute value of the position deviation satisfies the setting conditions of P05 12 indicating that the servo positioning is completed 135 P NEA...

Page 79: ...the 2nd to 8th internal speed the corresponding number of DI terminals must be configured as functions 13 14 and 15 The detailed parameters and function codes are as shown respectively Function code N...

Page 80: ...ion to be effective rpm P01 29 Internal speed Instruction 7 Operation setting Effective immediately 0 3000 3000 Internal speed instruction 7 When DI input port 15 INSPD3 1 14 INSPD2 1 13 INSPD1 1 Sele...

Page 81: ...o the speed instruction with gentle acceleration In the speed control mode excessive acceleration of the speed instruction will cause the motor to jump or vibrate Therefore a suitable acceleration and...

Page 82: ...0 P01 12 The amplitude of negative speed command min Maximum motor speed P01 10 P01 13 Function code Name Setting method Effective time Defaults Range Definition Unit P01 10 Maximum speed threshold Op...

Page 83: ...0 1000 Set the speed threshold of zero speed clamp function rpm Table 6 30 Zero speed clamp related parameters Figure 6 31 Zero speed clamp waveform 6 3 5 Speed related DO output function The feedback...

Page 84: ...speed threshold parameters DO function code Function name Function 132 T COIN rotation detection Invalid the absolute value of the motor speed after filtering is less than the set value of function co...

Page 85: ...me Function 133 ZSP zero speed signal Invalid when the difference between the motor speed feedback and the given value is greater than the set value of P05 19 Valid when the difference between the mot...

Page 86: ...tion 136 V COIN consistent speed Invalid the absolute value of the deviation between the actual motor speed and the speed instruction after filtering is greater than the set value of P05 17 Valid the...

Page 87: ...gnal threshold rpm Table 6 37 Speed approaching signal threshold parameters DO function code Function name Function 137 V NEAR speed approach Invalid the absolute value of the motor speed feedback aft...

Page 88: ...0 1 Table 6 39 Torque instruction keyboard setting value parameter details 6 4 2 Torque instruction filter In the torque mode the servo drive can realize low pass filtering of the torque instruction...

Page 89: ...input by the host computer At any time there is one and only one torque limit value valid And the positive and negative torque limit values do not exceed the maximum torque of the drive and motor and...

Page 90: ...er use At this time one DO terminal of the driver should be assigned to function 139 T LIMIT in torque limit And confirm that the terminal logic is valid DO function code Function name Function 139 T...

Page 91: ...old Table 6 43 Torque arrival parameter details DO function code Function name Function 138 T COIN torque arrival Valid the absolute value of the torque instruction reaches the set value Invalid the a...

Page 92: ...e motor This series of servo drives are equipped with a maximum of 23 bit encoders and can memorize 16 bit multi turn data and positiion speed torque control modes can be used Especially in position c...

Page 93: ...Compared with the single turn absolute value it can additionally memorize the number of turns of the 16 bit encoder The multi turn absolute encoder is equipped with a battery the battery is installed...

Page 94: ...the two feedback data is shown in Table 6 49 Monitoring number Category Name Unit Type of data U0 54 Device Absolute encoder position within 1 turn Encoder unit 32 bit U0 55 Device Rotations number of...

Page 95: ...nction operation again Function code Name Setting method Effective time Defaults Range Definition Unit P10 06 Multi turn absolute encoder reset Shutdown setting Effective immediately 0 0 1 0 No operat...

Page 96: ...imize the mechanical performance gain adjustment is required The process of gain adjustment is shown in Figure 7 1 Figure 7 1 Gain adjustment process The servo gain is composed of multiple sets of par...

Page 97: ...load inertia ratio is an important parameter of the servo system and setting of the load inertia ratio correctly helps to quickly complete the debugging The load inertia ratio can be set manually and...

Page 98: ...otation direction Shutdown setting Effective immediately 0 0 2 0 Forward and reverse reciprocating rotation 1 Forward one way rotation 2 Reverse one way rotation Table 7 2 Related parameters of gain a...

Page 99: ...servo is in the ready state the panel displays rdy and the communication line is connected Step2 Open the host computer debugging software enter the trial run interface set the corresponding parameter...

Page 100: ...side are the position loop the speed loop and the current loop The basic control block diagram is shown in Figure 7 2 Figure 7 2 Basic block diagram of servo loop gain The more the inner loop is the h...

Page 101: ...ll is will easily cause speed overshoot or vibration When the time constant is set too large the integral action will be weakened resulting in a deviation of the speed loop Related function codes are...

Page 102: ...n is calculated from speed control instruction and the torque instruction calculated by comparing with the speed feedback is added to obtain the torque feedforward which can improve the response of th...

Page 103: ...ely suppressed You can try to increase the servo gain The principle of the notch filter is shown in Figure 7 3 7 4 2 Notch filter The VD2 series servo drives have 2 sets of notch filters each of which...

Page 104: ...finition Unit P04 05 1st notch filter frequency Operation setting Effective immediately 300 250 5000 Set the center frequency of the 1st notch filter When the set value is 5000 the function of the not...

Page 105: ...of the 2nd notch filter When the set value is 5000 the function of the notch filter is invalid Hz P04 09 2nd notch filter depth Operation setting Effective immediately 100 0 100 0 all truncated 100 al...

Page 106: ...aces of the servo drive take the VD2B drive as an example The servo drive adopts RS485 half duplex communication mode The 485 bus should adopt the hand in hand structure instead of the star structure...

Page 107: ...cient a repeater is needed 8 2 Modbus communication protocol analysis 8 2 1 Modbus data frame format The VD2 series servo drives currently support the RTU communication format The typical data frame f...

Page 108: ...ddress low byte Data high byte Data low byte CRC check code 1 byte 06 1 byte 1 byte 1 byte 1 byte 2 bytes If the setting is successful the original is returned There should be a message interval not l...

Page 109: ...ariable is 7716 0x1E24 Request format Address Function code Register address high byte Register address low byte Data high byte Data low byte CRC check code 1 byte 06 1 byte 1 byte 1 byte 1 byte 2 byt...

Page 110: ...e communication rate of the host computer must be set consistently otherwise the communication cannot be carried out 3 Set the serial port data format P12 3 The data bit check methods of servo communi...

Page 111: ...34 little endian mode low byte first high byte behind The description of related function codes are as follows Function code Name Setting method Effective time Defaults Range Definition Unit P12 02 Ba...

Page 112: ...operation 8 4 2 Variable value type description When writing function codes with signed numbers you need to convert the pre written data into hexadecimal complements The conversion rules are as follow...

Page 113: ...ree state 1 Stop at zero speed and the motor shaft remains in a free state P00 09 Braking resistor setting Operation setting Effective immediately 0 0 3 0 Use built in braking resistor 1 Use external...

Page 114: ...time 25 5us P00 16 per rotation of the motor Number of instructi on pulses Shutdown setting Effective immediately 10000 0 131 072 Set the number of instruction pulses per rotation of the motor When th...

Page 115: ...1 When the motor rotation direction is CCW A leads B P00 22 The number of output pulses per circle of the motor Operation setting Power on again 0 0 250 0 Quadrature encoding output Set the number of...

Page 116: ...own setting Effective immediatel y 0 0 1 0 Internal speed instruction 1 AI_1 analog input P01 02 Internal speed Instruction 0 Operation setting Effective immediatel y 0 3000 3000 Internal speed instru...

Page 117: ...ediatel y 0 0 1 0 internal value 1 AI_2 analog input 0 1 P01 15 Forward torque limit Operation setting Effective immediatel y 3000 0 3000 When P01 14 selects internal torque limit this function code v...

Page 118: ...NSPD2 0 13 INSPD1 1 select the speed instruction to be effective rpm P01 24 Internal speed Instruction 2 Operation setting Effective immediatel y 0 3000 3000 Internal speed instruction 2 When DI input...

Page 119: ...from brake output ON to instruction reception Operation setting Effective immediatel y 250 0 500 Set the delay time from the brake BRK OFF output is ON to the servo drive allows to start receiving in...

Page 120: ...ion setting Effective immediately 1000 100 6553 5 Set the speed loop integral constant The smaller the set value the stronger the integral effect 0 1ms P02 04 2nd position loop gain Operation setting...

Page 121: ...on setting Effective immediately 0 0 2 0 Rigidity grade self adjusting mode Position loop gain speed loop gain speed loop integral time constant torque filter parameter settings are automatically adju...

Page 122: ...1 Average filtering P04 02 Position instruction first order low pass filter time constant Shutdown setting Effective immediately 0 0 1000 The filter time constant of position instruction first order...

Page 123: ...1 channel input first order low pass filter time constant 0 01ms P05 03 AI_1 dead zone Operation setting Effective immediately 20 0 1000 Set AI_1 channel analog quantity dead zone value mV P05 04 AI_1...

Page 124: ...hold 1 The absolute value of the position deviation is less than the positioning completion threshold positionin g approach threshold and the output is valid when the input position instruction is 0 2...

Page 125: ...n setting Effective immediately 100 0 20000 Set the hold time of positioning completion output ms P05 16 Rotation detection speed threshold Operation setting Effective immediately 20 0 1000 Set the mo...

Page 126: ...r with Torque arrival threshold 9 7 DI DO configuration Function code Name Setting method Effective time Defaults Range Definition Unit P06 02 DI_1 channel function selection Operation setting Power o...

Page 127: ...ve low level switch on 1 Normally closed input Active high level switch off P06 04 DI_1 input source selection Operation setting Effective immediately 0 0 1 0 Hardware DI1 1 VDI1 P06 05 DI_2 channel f...

Page 128: ...Normally closed input Active high level switch off P06 07 DI_2 input source selection Operation setting Effective immediately 0 0 1 0 Hardware DI2 1 VDI2 P06 08 DI_3 channel function selection Operat...

Page 129: ...ve high level switch off P06 10 DI_3 input source selection Operation setting Effective immediately 0 0 1 0 Hardware DI3 1 VDI3 P06 11 DI_4 channel function selection Operation setting Power on again...

Page 130: ...06 13 DI_4 input source selection Operation setting Effective immediately 0 0 1 0 Hardware DI4 1 VDI4 P06 14 DI_5 channel function selection Operation setting Power on again 07 C SIGN 0 32 0 Off not u...

Page 131: ...rce selection Operation setting Effective immediately 0 0 1 0 Hardware DI5 1 VDI5 P06 17 DI_6 channel function selection Operation setting Power on again 11 INH 0 32 0 Off not used 01 SON Servo enable...

Page 132: ...tion setting Effective immediately 0 0 1 0 Hardware DI6 1 VDI6 P06 20 DI_7 channel function selection Operation setting Power on again 0 Not used 0 32 0 Off not used 01 SON Servo enable 02 A CLR Fault...

Page 133: ...immediately 0 0 1 0 Hardware DI7 1 VDI7 P06 23 DI_8 channel function selection Operation setting Power on again 0 Not used 0 32 0 Off not used 01 SON Servo enable 02 A CLR Fault and Warning Clear 03...

Page 134: ...selection Operation setting Effective immediately 132 TGON 128 142 128 Close not used 129 RDY Servo ready 130 ALM fault signal 131 WARN warning signal 132 TGON rotation detection 133 ZSP zero speed si...

Page 135: ...n Operation setting Effective immediately 0 0 1 Output logic function selection 1 Set to 0 the output transistor is on when the output is valid and the output transistor is off when the output is inva...

Page 136: ...eted 135 P NEAR Positioning approach 136 V COIN Consistent speed 137 V NEAR Speed approach 138 T COIN Torque reached 139 T LIMIT Torque limit 140 V LIMIT Speed limited 141 BRK OFF Solenoid valve brake...

Page 137: ...ive immediately 0 0 2 0 single operation 1 Cycle operation 2 DI switching operation P07 02 Starting position number Shutdown setting Effective immediately 1 1 16 1st position NO in non DI switching mo...

Page 138: ...n and deceleration of the 2nd position ms P07 16 Waiting time after completion of the 2nd position displacement Operation setting Effective immediately 100 1 6553 5 Delayed waiting time from the compl...

Page 139: ...n displacement Operation setting Effective immediately 100 1 5000 Steady state operating speed of the 5th position rpm P07 27 Acceleration and deceleration time of the 5th position displacement Operat...

Page 140: ...from the completion of the 7th position to the beginning of the next position Determi ned by P07 6 P07 37 The 8th position displacement Operation setting Effective immediately 10000 21474 83647 21474...

Page 141: ...etting Effective immediately 100 1 6553 5 The time required for the acceleration and deceleration of the 10th position ms P07 48 Waiting time after completion of the 10th position displacement Operati...

Page 142: ...n positive and negative values can be set P07 58 Maximum speed of the 13th position displacement Operation setting Effective immediately 100 1 5000 Steady state operating speed of the 13th position rp...

Page 143: ...553 5 Delayed waiting time from the completion of the 15th position to the beginning of the next position Determi ned by P07 6 P07 69 The 16th position displacement Operation setting Effective immedia...

Page 144: ...condition of the motor modifying this value can make the overload protection time fluctuate up and down the reference value 50 corresponds to 50 that is the time is reduced by half 300 corresponds to...

Page 145: ...te to EEPROM and do not store after power failure 1 Write to EEPROM power down storage 9 11 Virtual input terminal Function code Name Setting method Effective time Defaults Range Definition Unit P13 1...

Page 146: ...32 bit U0 12 Universal Reserved Instruction unit 16 bits U0 13 Universal Encoder cumulative position Lower 32 bits Encoder unit 32 bit U0 14 Universal Reserved Encoder unit 16 bits U0 15 Universal Enc...

Page 147: ...ur A 16 bits U1 05 Warning Bus voltage when faults occur V 16 bits U1 06 Warning IGBT temperature when faults occur C 16 bits U1 07 Warning Torque component when faults occur 16 bits U1 08 Warning Exc...

Page 148: ...evice Date of manufacture day Day 16 bits U2 09 Device Device serial number 1 16 bits U2 10 Device Device serial number 2 16 bits U2 11 Device Device serial number 3 16 bits U2 12 Device Device serial...

Page 149: ...ter P00 01 is set correctly Panel display Er xx Refer to 10 2 Handling of faults and warnings during operation After troubleshooting the servo drive panel should display run Input position instruction...

Page 150: ...ntrol mode error Check whether the parameter P00 01 is set correctly Panel display Er xx Refer to 10 2 Handling of faults and warnings during operation After troubleshooting the servo drive panel shou...

Page 151: ...rol mode error Check whether the parameter P00 01 is set correctly Panel display Er xx Reference 1 0 2 Handling of faults and warnings during operation After troubleshooting the servo drive panel shou...

Page 152: ...the causes before they can be cleared but clearing does not mean that the changes take effect For the changes that need to be re powered to take effect the power must be re powered For the changes th...

Page 153: ...the parameters after restoring the factory default settings 3 Confirm whether the host computer writes parameters frequently and modify the corresponding parameter writing method Category 1 ADC refere...

Page 154: ...model Er 26 Check whether the function code motor model setting is correct Category 1 Encoder Z pulse lost No Z pulse signal appears when the motor rotates more than one turn The possible reasons are...

Page 155: ...raking resistor feedback detection faults Er 24 The circuit of the brake release part may be damaged please contact the manufacturer 2 The 2nd category category 2 for short clearable faults Category E...

Page 156: ...1 When using the internal braking resistor the shorting cap between C and D is disconnected 2 When using an external braking resistor the resistor is not connected 3 The braking resistor status detect...

Page 157: ...e electronic gear ratio range is 0 001 500 For a 23 bit encoder the electronic gear ratio range is 0 001 32000 Er 35 Check whether the electronic gear numerator and denominator setting values of funct...

Page 158: ...tion Er 39 1 Check whether it is a man made emergency shutdown protection if so wait for other system faults to be removed and then power on again 2 If it is triggered by mistake please check whether...

Page 159: ...15 or the electronic gear ratio P0 16 P0 19 is reasonable Category 4 Reserved Reserved A 87 Reserved Category 4 Main circuit momentary power off The main circuit input voltage is momentarily too low...

Page 160: ...encoder battery voltage Warning of Encoder battery voltage is less than 3 1V A 92 Replace with a new encoder battery Category 4 Encoder read and write check abnormal and frequency is too high Encoder...

Page 161: ...16 bits P0 16 0x0010 16 Number of instruction pulses when the motor rotates one circle Instruction pulse unit 32 bit P0 17 0x0012 18 Electronic gear 1 numerator 32 bit P0 18 0x0014 20 Electronic gear...

Page 162: ...5 0x010F 271 Forward torque limit 0 1 16 bits P1 16 0x0110 272 Reverse torque limit 0 1 16 bits P1 19 0x0113 275 Torque saturation timeout period ms 16 bits P1 21 0x0115 277 Zero speed clamp function...

Page 163: ...16 bits P3 2 0x0302 770 Load rigidity grade selection 16 bits P3 3 0x0303 771 Self adjusting mode selection 16 bits P3 4 0x0304 772 Online inertia recognition sensitivity 16 bits P3 5 0x0305 773 Numb...

Page 164: ...sition detection window time ms 16 bits P5 15 0x050F 1295 Positioning signal hold time ms 16 bits P5 16 0x0510 1296 Rotation detection speed threshold rpm 16 bits P5 17 0x0511 1297 Speed consistent si...

Page 165: ...565 DO_2 channel logic selection 16 bits P6 30 0x061E 1566 DO_3 channel function selection 16 bits P6 31 0x061F 1567 DO_3 channel logic selection 16 bits P6 32 0x0620 1568 DO_4 channel function select...

Page 166: ...5th position displacement rpm 16 bits P7 27 0x0720 1824 Acceleration and deceleration time of the 5th position displacement ms 16 bits P7 28 0x0721 1825 Waiting time after completion of the 5th posit...

Page 167: ...completion of the 11th position displacement Determined by P7 6 16 bits P7 53 0x0740 1856 The 12th position displacement 32 bit P7 54 0x0742 1858 Maximum speed of the 12th position displacement rpm 1...

Page 168: ...0 3 0x0A03 2563 Fault clearing 16 bits P10 4 0x0A04 2564 Motor overload protection time factor 16 bits P10 5 0x0A05 2565 Motor model 16 bits P10 6 0x0A06 2566 Multi turn absolute encoder reset 16 bits...

Page 169: ...oder unit 32 bit U0 14 0x1E12 7698 Reserved Encoder unit 16 bits U0 15 0x1E13 7699 Encoder cumulative position high 32 bits Encoder unit 32 bit U0 16 0x1E15 7701 Reserved Encoder unit 16 bits U0 17 0x...

Page 170: ...urns high 32 bits Circle 32 bit U0 52 0x1E3B 7739 Reserved 16 bits U0 53 0x1E3C 7740 Motor model code 16 bits U0 54 0x1E3D 7741 Absolute encoder position within 1 circle Encoder unit 32 bit U0 55 0x1E...

Page 171: ...19 7961 The 4th warning code of the most recent 16 bits U1 25 0x1F1A 7962 The 5th warning code of the most recent 16 bits U2 01 0x2001 8193 Product Series 16 bits U2 02 0x2002 8194 Model 16 bits U2 03...

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