Xinje DP3C Series User Manual Download

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DP3C

series closed loop stepping driver

User manual

Wuxi Xinje Electric Co., Ltd.

Data No. D3C06 20201104 1.0

Summary of Contents for DP3C Series

Page 1: ...DP3C series closed loop stepping driver User manual Wuxi Xinje Electric Co Ltd Data No D3C06 20201104 1 0 ...

Page 2: ...anual Statement of responsibility Although the contents of the manual have been carefully checked errors are inevitable and we can not guarantee that they are completely consistent We will always check the contents of the manual and make corrections in subsequent versions We welcome your comments The contents described in the manual are subject to change without prior notice Contact us If you have...

Page 3: ...NTERFACE 10 3 3 1 Interface functions 10 3 4 ENCODER SIGNAL INPUT PORT 11 3 4 1 Power supply requirements 11 3 5 MOTOR WINDING TERMINAL 11 3 6 POWER SUPPLY TERMINAL 12 3 7 UPPER COMPUTER COMMUNICATION PORT 12 4 PARAMETER AND SETTING 13 4 1 PARAMETER LIST 13 Group P0 basic function 13 Group P1 gain control 13 Group P2 IO configuration 14 Group P3 protection function 14 Group P4 motor parameters 14 ...

Page 4: ...eration steps 21 6 4 3 Related object list 21 7 MODE COMMON FUNCTION 22 7 1 TOUCH PROBE FUNCTION 22 7 1 1 Overview 22 7 1 2 Operation steps 22 7 1 3 Related object list 22 8 ETHERCAT PARAMETER LIST REFER TO XML FILE FOR DETAILS 24 8 1 COE OBJECT WORD 24 8 1 1 Communication Profile area 24 8 1 2 Driver Profile area 24 9 ETHERCAT ALARM INFORMATION 26 10 SUITABLE MOTOR AND CABLE 29 10 1 SUITABLE MOTO...

Page 5: ...ration of interference and clutter and significantly improve the reliability and anti interference ability of the system EtherCAT bus technology combined with the latest control algorithm has greatly improved the performance 7 channel signal input and 7 channel signal output which can be used for probe input positive and negative limit origin input alarm output in place output holding brake signal...

Page 6: ...tromagnetic interference Driver model DP3C 305 DP3C 705 DP3C 808 Input power supply voltage VDC 20 50 20 50 20 80 Output peak current A 1 3 1 7 1 8 Matched motor base 42 57 60 86 Input signal Probe input origin input positive and negative limit emergency stop user defined input Output signal Alarm output in place output holding brake signal output custom output Alarm function Overcurrent overvolta...

Page 7: ... within 60 and the working temperature of the motor is within 80 To ensure that the driver works within the reliable working temperature range the driver shall be installed in an electric cabinet with good ventilation and proper protection If necessary a fan shall be installed near the driver to dissipate heat forcibly so as to avoid using in the occasions of dust oil mist corrosive gas too high h...

Page 8: ...plies multiple drives parallel connection shall be adopted at the power supply side and chain connection from one to another is not allowed 3 It is strictly forbidden to connect the conductor head with tin to the wiring terminal otherwise the terminal may be overheated and damaged due to the increase of contact resistance 4 The terminal head shall not be exposed outside the terminal to prevent acc...

Page 9: ...me is 5s in total After that it enters the normal operation stage Operation Speed r s Operation mode state machine display in hex format default Node address always ON display Note during initialization and normal operation if the node address is changed the LED display flashes at an interval of 1s 0 5s on 0 5s off and continues to return to the original display state after 5s The specific display...

Page 10: ...0 E_TX EtherCAT data send 3 11 E_RX EtherCAT data receive 4 12 5 13 6 14 E_RX EtherCAT data receive 7 15 8 16 Note LED1 and LED3 are RUN status lights The yellow light is on during normal connection but it is not on after connection failure LED2 is the L A OUT status light LED4 is the L A IN status light Note the cable length between EtherCAT bus nodes is recommended to be no more than 50m It is r...

Page 11: ...ltage 30VDC default alarm output 12 SO1 13 SO2 Output Differential output signal OUT2 maximum output current 100mA withstand voltage 30VDC default in place signal 14 SO2 15 SO3 Output Single ended output common cathode maximum current 100mA withstand voltage 30VDC 16 SO6 Output Single ended output common cathode maximum current 100mA withstand voltage 30VDC 17 SO4 Output Single ended output common...

Page 12: ... recommended to use 48V 72V DC power supply to avoid grid fluctuation exceeding the working range of driver voltage If the regulated switching power supply is used it shall be noted that the output current range of the switching power supply shall be set to the maximum Note 1 Do not reverse the power supply voltage 2 Do not exceed the working range of the power supply to ensure the normal operatio...

Page 13: ... 24 36VDC 86 motor or high speed application recommended value is 48V DP3C 808 range 20 80VDC recommended value is above 48V 3 7 Upper computer communication port The definition of RS232 interface pin arrangement is shown in the following table Diagram Pin Function Notes 1 TXD RS232 send 2 RXD RS232 receive 3 GND RS232 ground Note please use the cable supplied by Xinje company RS232 default commun...

Page 14: ... holding current percentage 1 100 30 Closed loop holding current closed loop holding current closed loop mode max current P0 10 0x000A Operation direction 0 1 1 P0 11 0x000B Operate panel display mode 0 2 0 0 mode 1 address 2 speed per second Group P1 gain control Parameter Address Meaning Range Default Note P1 00 0x0100 Auto tuning 0 1 1 0 OFF 1 ON P1 01 0x0101 Current Kp 1 65535 1500 P1 02 0x010...

Page 15: ...0208 Return to zero 0 65535 5 Bit0 3 output terminal Bit4 effective voltage P2 09 0x0209 Probe 1 0 65535 1 Bit0 3 output terminal Bit4 effective voltage P2 10 0x020A Probe 2 0 65535 2 Bit0 3 output terminal Bit4 effective voltage Group P3 protection function Parameter Address Meaning Range Default Note P3 00 0x0300 Tracking error limit 1 65535 4000 For the current 1000ppr encoder the default is 40...

Page 16: ...ampling channel 15 0 65535 0 P8 15 0x080F Sampling channel 16 0 65535 0 P8 16 0x0810 Sampling mode 0 8 1 P8 17 0x0811 Sampling interval 1 65535 36 P8 18 0x0812 Sampling time 0 65535 1024 P8 19 0x0813 Trigger channel 0 65535 0 P8 20 0x0814 Trigger threshold low bit 0 65535 0 P8 21 0x0815 Trigger threshold high bit 0 65535 0 P8 22 0x0816 Trigger slope 0 65535 0 P8 23 0x0817 Sampling proportion 0 100...

Page 17: ...31 0x101F Reference setting current mA U0 32 0x1020 Bus voltage V Group U1 Parameter Address Contents Note U1 00 0x1100 Current alarm code U1 01 0x1101 Phase A current when alarm occurs U1 02 0x1102 Phase B current when alarm occurs U1 03 0x1103 Reference current when alarm occurs U1 04 0x1104 Bus voltage when alarm occurs U1 05 0x1105 Position offset when alarm occurs U1 06 0x1106 Speed value whe...

Page 18: ...6 bit U2 14 0x120E Firmware generation date year U2 15 0x120F Firmware generation date month day U2 16 0x1210 Firmware generation date hour minute Group U3 Parameter Address Contents Note U3 00 0x1300 PDI period U3 01 0x1301 PDI time U3 02 0x1302 PDI period max time U3 03 0x1303 PDI period min time U3 04 0x1304 Sync0 period U3 05 0x1305 Sync0 time U3 06 0x1306 Sync0 period max time U3 07 0x1307 Sy...

Page 19: ...utput area FMMU2 Mailbox status Application layer protocol CoE CANopen over EtherCAT Synchronous mode DC synchronous mode SYNC0 Communication object SDO aperiodic data object PDO periodic data object LED light on the RJ45 port EtherCAT ERR ER 1 EtherCAT Link Activity L A 2 EtherCAT RUN RN 1 Application layer specification IEC61800 7 CiA402 Drive Profile Support CIA402 operation mode Homing Mode HM...

Page 20: ...the homing operation 8 read status word 6041h to know the driver status 6 1 3 Related object list Index Name Unit Read write 6040h Controlword RW 6041h Statusword RO 6060h Modes of operation RW 6061h Modes of operation display RO 6098h Homing method RW 6099h Homing speed command unit s RW 609A Homing acceleration command unit s2 RW 6 2 Cyclic synchronous position mode 6 2 1 Overview The upper comp...

Page 21: ...0 1 RO 60F4h Following error actual value Command unit RO 60FAh Control effort Command unit RO 60FCh Position deamnd internal value Command unit RO 6 3 Profile position mode 6 3 1 Overview After receiving the position command from the upper computer controller the servo driver controls the servo motor to reach the target position 6 3 2 Operation steps 1 set control mode 6060h to profile position m...

Page 22: ...erview The driver can receive speed commands and plan acceleration and deceleration 6 4 2 Operation steps 1 set control mode 6060h to profile velocity mode 0x03 2 set control word 6040h to 0x06 0x07 0x0F make the driver start and the motor to run 3 set profile acceleration 6083h plan acceleration slope unit command unit s 4 set profile deceleration 6084h plan deceleration slope unit command unit s...

Page 23: ... RW 60B9h Touch probe status RO 60BAh Touch probe pos1 pos value Command unit RO 60BBh Touch probe pos1 neg value Command unit RO 60BCh Touch probe pos2 pos value Command unit RO 60BDh Touch probe pos2 neg value Command unit RO The user can obtain the current setting of the probe function from the object 60B8h Under the same probe do not set the rising edge and falling edge at the same time The fo...

Page 24: ...ing to 60B9h Bit Value Explanation 0 0 Touch probe1 is switch off Probe 1 action stop 1 Touch probe1 is enabled Probe 1 in action 1 0 Touch probe1 no positive edge value stored Rising edge probe 1 incomplete status 1 Touch probe1 positive edge value stored Rising edge probe 1 completion status 2 0 Touch probe1 no negative edge value stored Falling edge probe 1 incomplete state 1 Touch probe1 negat...

Page 25: ...O 6065h VAR Following error window UNSIGNED32 RW 6067h VAR Position windows UNSIGNED32 RW 6068h VAR Position window time UNSIGNED16 RW 606Bh VAR Velocity demand value INTEGER32 RO 606Ch VAR Velocity actual value INTEGER32 RO 606Dh VAR Velocity window UNSIGNED16 RW 606Eh VAR Velocity window time UNSIGNED16 RW 606Fh VAR Velocity threshold UNSIGNED16 RW 6071h VAR Target torque INTEGER16 RW 6072h VAR ...

Page 26: ...ouch probe pos1 neg value INTEGER32 RO 60BCh VAR Touch probe pos2 pos value INTEGER32 RO 60BDh VAR Touch probe pos2 neg value INTEGER32 RO 60C0h VAR Interpolation sub mode select INTEGER16 RW 60C1h ARRAY Interpolation data record UNSIGNED16 32 RW 60C2h RECORD Interpolation time period SIGNED8 RW 60C5h VAR Max acceleration UNSIGNED32 RW 60C6h VAR Max deceleration UNSIGNED32 RW 60F2h VAR Positioning...

Page 27: ...tion Accept the following state transition requests 3 Request Bootstrap State ESM status after alarming Init ESC register AL Status Code 0013h Confirm the status conversion requirements of the upper device E 803 PLL incomplete abnormal protection 1s after synchronization the phase combination PLL locking of communication and servo still cannot be completed ESM status after alarming PreOP ESC regis...

Page 28: ...cManager0 1length ESC register 0802h 0803h 080Ah 080Bh setting is error SyncManager0 out the range of 32 256byte SyncManager1 out the range of 40 256byte SyncManager0 1 Control Register ESC register 0804h 080Ch setting is error Set other than 100110b to 0804h bit5 0 Set other than 100110b to 080Ch bit5 0 ESM status after alarming Init ESC register AL Status Code 0016h Set correct SyncManager accor...

Page 29: ...gister AL Status Code 0024h Make sure the TxPDO mapping data size is in the range of 24 bytes E 851 RxPDO distribution abnormal protection RxPDO mapping data size is over 24 bytes ESM status after alarming PreOP ESC register AL Status Code 0025h Make sure the RxPDO mapping data size is in the range of 24 bytes E 881 Control mode setting abnormal protection When the set value of 6060h is 0 and the ...

Page 30: ...8 0 5 1 5 5 DP3C 305 MP3 42T060 1 8 0 8 1 5 5 MP3 57T056 57 1 8 1 3 4 8 DP3F 705 MP3 57T076 1 8 2 3 5 8 MP3 57T088 1 8 3 5 8 MP3 60T088 60 1 8 3 5 8 MP3 86T080 86 1 8 4 5 6 14 DP3F 808 MP3 86T118 1 8 8 5 6 14 MP3 86T150 1 8 12 6 14 10 2 Encoder cable The models are as the following Model Length m CP MD 2 2 CP MD 3 3 CP MD 5 5 CP MD 8 8 CP MD 10 10 CP MD 12 12 CP MD 16 16 10 3 Power cable The model...

Page 31: ...0 2 JC CB 0P3 0 3 JC CB 0P5 0 5 JC CB 01 1 JC CB 03 3 JC CB 05 5 JC CB 10 10 JC CB 20 20 10 5 Power supply cable A power supply cable will be delivered free of charge when the driver leaves the factory Please purchase it yourself if necessary Model Length m JC PM 20 2 ...

Page 32: ...WECHAT ID WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7 Originality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 400 885 0136 Fax 510 85111290 www xinje com ...

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