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5.2 Servo power on

Chapter 6 Control Function

6.1Operating mode selection

The driver has seven basic operating modes: speed, position and torque control, can through

internal command control, external pulse signal and analog voltage control.

Mode name

P0-01para

meters

Instruction

Main mode

Test mode

Debug mode

Submode

Torque mode

(internal command)

Set the internal parameters of the driver,

directly control the torque

Torque mode

(analog voltage)

Connect outside analog voltage signal

Adjust the voltage

Proportional control of torque

Proportion can be set

Speed mode

(internal command)

Set the internal parameters of the drive

directly

Control speed

Support for setting multiple speeds at the

Power line L1L2

Check before

power-on

UVW power line

Encoder line

Alarm or not

yes

Display bb

JOG tunning F5

Find alarm code

Clear alarm factor

Restart

Refer to f. in section 4.2

Содержание SC1-3003

Страница 1: ...AC servo system Brasiltec Technical Manual Safety notification Indicates an error in use it will leads to hazardous conditions and result in death or serious injury Dangerous ...

Страница 2: ...etect the location of the deviation is very big it cause mechanical moved to the location of the unexpected and very dangerous Please do not remove the main positive before the upper outer garment cable connectors and choose a class in the condition of electricity Otherwise it will cause electric shock Please do not damage or pulling on the cable and don t make the cable to bear too much force und...

Страница 3: ...ation treatment of wood packaging electrical products monomer or installed on the mechanical product the packaging materials produced by the gas and steam may cause fatal damage of electronic products Especially halogen disinfectant fluorine chlorine bromine iodine etc will cause corrosion to the capacitor inside Installation Note Do not be splashed with water or place in an environment prone to c...

Страница 4: ...ubject then wiring Please within the terminal row of a wire connector socket insert 1 wire When inserted into the wire please do not make the core of burr and the adjacent wire short circuit Please use the specified power supply voltage Otherwise it will cause fire or failure In the case of a bad power supply when using it please ensure that the specified input voltage change within the scope of s...

Страница 5: ... by hand means it s normal However motors with electromagnetic brakes cannot be rotated by hand Is the screw loose or lost If it is please tighten it A fully operational servo components shall include Servo driver Servo motor UVW power line Encoder line Input and output signal lines optional 1 2 Driver and motor model reference Server driver model Driver specification output voltage current Matche...

Страница 6: ... four screws of the motor must be locked 2 2 Storage condition This product must be placed in its packaging before installation If not use now please pay attention to the following instruction of storage 1 Must be placed in a dust free and dry place 2 The temperature of storage must be in the range of 20 degree to 65 degree Power Indicator Servo ON indicator Cooling base High temperature during wo...

Страница 7: ...egree to ensure product reliability If it s installed in a power distribution box please assure that all internal electronic devices are not at risk of overheating Also please pay attation to the vibration of machine In addition to this the conditions used include 1 no high heat device around 2 free of water droplets vapors dust and oily dust 3 non corrosive flammable gases and liquids 4 non float...

Страница 8: ...ith the specified installation spacing to ensure good ventilation and heat dissipation Chapter 3 Wiring 3 1 Servo system schematic 100mm 100mm Input and output terminals are connected to PLC and analog and pulse input Voltage 50mm 50mm 50mm ...

Страница 9: ...F generated by the motor is feed back to the bus capacitor causing the bus voltage to rise When the voltage reaches the alarm limit P0 14 the servo output alarm EN 03 Therefore to ensure that the bus voltage does not exceed the voltage limit of device the system will conduct the discharge terminal when the voltage rises to the limit and quickly balance the bus voltage through the brake resistor Mo...

Страница 10: ...tuation when the speed is lower than the setting value of P5 07 the brake is on 3 5 CN1 input and output signal line and terminal description 3 3 1 CN1 connector terminal arrangement is as follows face to solder tab Pin Name Signal Pin Name Signal Pin Name Signal P in Name Signal 1 SO1 Output1 2 6 SI COM Input Public side 24V 2 SO1 CO M Output 10V 3 SO2 Output2 27 SI COM Input Public side 24V 2 8 ...

Страница 11: ...3 6 AGND Input negative of analog 12 13 37 V REF Speed analog 3 8 T REF Torque analog 14 15 PULS Pulse Input 39 10V Output 4 0 10V Output 16 17 PULS 5V Pulse 5V 41 485 A Bus communic ation 4 2 485 B Bus line Communicatio n 18 19 PULS 24V Pulse24 V 43 4 4 20 21 DIR Direction 45 B Encoder feedback 4 6 B Encoder feedback 22 ZOC Z pulse Negative electrode 23 DIR 5V Direction 5V 47 A Encoder feedback 4...

Страница 12: ... 01 Parameter setting 7 3 Input and output signal circuit Optocoupler output circuit Host device Servo driver Host device side Pulse command input wiring Servo driver PULS PULS 24V DIR 24V DIR 3 3K 3 3K 24V 0V Y0 COM0 Y1 COM1 Collector open drain input SI COM SI 3 3K 24V 0V Y0 COM Host device side Servo driver ...

Страница 13: ... connector terminal arrangement is as follows face to solder tab Driver interface Name Driver interface Name Driver interface Name Driver interface Name 1 A 2 A 11 U 12 U 3 B 4 B 13 V 14 V 5 Z 6 Z 15 W 16 W 7 5V 8 5V 17 GND 18 GND 9 5V 10 5V 19 GND 20 GND 9 10 20 1 12 11 2 19 Relay input 24V 0V Y0 3 3K COM SI SI COM Host device side Servo driver ...

Страница 14: ... CRCL CRCL Eg Set P0 01 data Use the default parameters of the servo the station number is 1 sending data 01 06 00 01 00 05 CRCH CRCL Reading correct feedback data 01 06 00 01 00 05 CRCH CRCL Reading error feedback data 01 86 CRCH CRCL error code 2 Continuously setting servo multiple register values Sending Servo correct feedback Servo error feedback Hexadecimal Hexadecimal Hexadecimal Station No ...

Страница 15: ... to 6 Station number is 1 sending data 01 10 00 01 00 02 00 05 00 06 CRCH CRCL Reading correct feedback data 01 10 00 01 00 02 CRCH CRCL data Reading error feedback data 01 90 CRCH CRCL error code 3 Read Servo Register Value Sending Servo correct feedback Servo error feedback Hexadecimal Hexadecimal Hexadecimal Station No 01 Station No 01 Station No 01 Function code 03 Function code 03 Function co...

Страница 16: ...n 4 1 Panel introduction Name Function STA ESC State switching return INC Increase display data value continous increase for long press DEC Reduce display data value continous reduce for long press ENT Confirmation key enter to setting parameters view parameters SHIFT shift COM Custom key Power indicator POWER It s ligh up when power on Running indication light RUN Light up while the servo is runn...

Страница 17: ...automatic adjustment function same operation c F2 alarm View d Serial External Communications F3 Select F3 00 into the external serial communication mode prompting COE which is in an external monitor status serial port 1 COM1 effective monitoring panel failure this time through the host computer PC of the servo unit for tuning Press the STA ESC to return and exit the COE restore panel monitor e Re...

Страница 18: ...ion h Program download Long press ESC before power on then power on and shows P000 now can use the series to download program COM port 2pin short circuited with 8pin 4 3 Parameter setting Here s the example of change the parameter of P2 09 from 2000 to 1000 1 Press the STATUS ESC key to enter the parameter setting state then press the ENTER key 2 At this time the second LED from left flashes press...

Страница 19: ...damage An abnormal operation caused by setting parameters during debugging There is a command send to motor but it does not run no alarm check if P3 09 value is 0 if it is then restore the factory setting Steps 1 Turn off the enable signal first External enable Please disconnect the external signal Internal power on enable set P0 01 to n 0101 and then power off and restart 2 Enter F4 00 Refer to e...

Страница 20: ...o the servo motor including the coupler and other accessories Then doing testing according to normal operating procedures After testing is OK can connect with load Test items Pre boot detection cut off the power supply Ensure that the servo driver and motor have no mechanical damage Ensure that the terminal wiring is secure and there is no danger of electric shock Ensure that the wiring is complet...

Страница 21: ...al command 1 Set the internal parameters of the driver directly control the torque Torque mode analog voltage 2 Connect outside analog voltage signal Adjust the voltage Proportional control of torque Proportion can be set Speed mode internal command 3 Set the internal parameters of the drive directly Control speed Support for setting multiple speeds at the Power line L1L2 Check before power on UVW...

Страница 22: ...ernal pulse 7 External pulse signal Adjust pulse frequency Control motor speed Mixed mode Set submode 1 and submode 2 to different modes Switch by CSEL signal 0 submode 1 1 submode 2 6 2 Basic function setting Parameter Name Refer P5 10 Servo ON Setting S ON 6 2 1 P0 05 Switching direction of motor rotation 6 2 2 P0 06 Motor stop mode setting 6 2 3 P4 06 Servo emergency stop torque 6 2 3 P5 12 For...

Страница 23: ...nal from SI1 terminal 82 Input reverse signal from SI2 83 Input reverse signal from SI3 84 Input reverse signal from SI4 85 Input reverse signal from SI5 86 Input reverse signal from SI6 87 Input reverse signal from SI7 L 00 External input is completely based on factory settings the setting of P5 10 H P5 19 H is invalid 01 External input signal can be set freely the setting of P5 10 H P5 19 H is v...

Страница 24: ...e motor stops at the overtravel signal arrives when the overtravel stop mode is 2 as long as the servo enable signal is always active it will not be forced OFF The criterion of stop condition is the rotation speed detection P5 02 unit rpm L 0 2 inertial operation stop After stopping keep inertia SC1 series servo drive does not have a built in DB brake so no matter the value of P0 06 L it defaults ...

Страница 25: ...wn method 6 2 5 Input and output signal assignment instructions Hardware In the CN1 terminal of the servo driver there are 7 input signals of SI1 SI7 and four output signals of SO1 SO4 Signal All input and output signals can be assigned to any input and output port through the address P5 XX setting be careful not to repeat the assignment if you want to assign the terminal yourself you must set P5 ...

Страница 26: ...O1 terminal 02 Output positive signal from SO2 terminal 03 Output positive signal from SO3 terminal 04 Output positive signal from SO4 terminal 81 Output counter signal from SO1 terminal 82 Output counter signal from SO2 terminal 83 Output counter signal from SO3 terminal 84 Output counter signal from SO4 terminal H The same as P5 21 L 6 3 Position mode external pulse Introduction Position control...

Страница 27: ...e 6 3 2 Electronic gear ratio P2 02 Electronic gear ratio molecular 0X0202 P2 03 Electronic gear ratio denominator 0X0203 Electronic gear ratio B A 03 2 02 2 P P Parameter Setting value Meaning Modify Take effect P0 01 6 Position External pulse Servo OFF immediate B A F F 1 2 B A Command pulse input F1 F2 Position command Motor received real command ...

Страница 28: ... 10000 m 1 Note The electronic gear ratio has effect to speed In the position external pulse mode the rotation speed of the motor depends on the command pulse frequency and the real pulse frequency received by the motor external pulse frequency x electronic gear ratio 6 3 3 Instruction filtering P2 01 Position command filter selection 0X0201 Initial value 2 Control mode 6 7 Unit Setting range 0 1 ...

Страница 29: ...rameter Signal name Factory setting Meaning Applicati on mode Modify Take effect P5 17 H CLR 00 Unallocated 5 6 Arbitrary Power off and restart Note 1 CLR signal can be assigned to the input terminal by parameter setting 2 pulse deviation value can be monitored by U 08 Function description After the CLR signal is turned ON the deviation counter inside the servo unit is set to 0 and the position lo...

Страница 30: ...l name Factory setting Unit Applicatio n mode Modify Take effect P5 00 Positioning completion width 7 One pulse 5 6 Servo OFF imme diate Function When the pulse deviation value of the servo driver is lower than the setting value the positioning completion signal COIN is output The pulse deviation value can be monitored via parameter U 08 Deviation pulse Signal 6 3 6 Positioning proximity signal NE...

Страница 31: ...ive time can be modified at any time and will take effect by power off and restart Parameter function the same as P5 10 H 6 4 Position mode internal command Basic parameters Parameter address Function Unit Defaul t value Setting range Effective time P0 01 Control mode P5 18 H CTRGPulse trigger signal P2 25 Multi segment position mode P2 26 First pulse number 1 0 9999 9999 P2 27 First pulse number ...

Страница 32: ...h 6 3 5 Positioning proximity P5 25 L Positioning proximity signal output NEAR 6 3 6 P5 04 Positioning proximity signal width 6 3 6 6 4 1Control mode 6 4 2 Pulse trigger signal CTRG Parameter Name Setting Function P5 18 H Pulse trigger CTRG Need to be assigned to the input port Send a pulse when the signal is valid 6 4 3 Multi section position description Parame ter Function Unit Factory setting A...

Страница 33: ...tion signal output then after the waiting time settable start next position All step change mode 1 Not wait for positioning to complete After the drive completes a position command it does not wait for the positioning completion signal output and only through the waiting time settable to start the next position 2 Step change mode n xx x Meaning 0 Change the step when the signal is ON it can be cyc...

Страница 34: ... position is triggered When the second pisition is triggered the driver will excute pulse command number is 10000 minus 5 000 pulses 6 5 Speed analog voltage Basic Parameter Parameter Name Reference P0 01 Control method selection 6 5 1 P3 00 Rated speed corresponds to analog 6 5 2 P5 10 H Servo ON signal S ON 6 2 1 P5 14 H SPD A Forward P5 15 L SPD B Reverse Optional Parameter Keyword Parameter Fu...

Страница 35: ...g P3 00 Rated speed corresponds to analog 0X0300 Initial value 1000 Control mode 4 Unit 0 01V Setting range 150 3000 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function Set the speed command voltage V REF according to the servo motor operation at the rated speed Eg P3 00 500 when the analog input voltage is 5 00V the motor runs at the rated speed P3 00...

Страница 36: ...ignal Operation in PI proportional integral control mode 6 5 5 Zero clamp ZCLAMP P5 16 L ZCLAMP Zero clamp input signal 0X0510 The higher level device uses the speed command input without configuration position loop system using this function This means using it even if the input voltage of the speed command V REF is not 0V stop the motor and keep the servo in locked state When the zero clamp Func...

Страница 37: ...ny time immediately take effect Parameter function The setting value of this parameter is always valid If this value is smaller than the external torque limit value the final limit value is based on this setting value P4 03 Internal anti torque limit 0X0403 Initial value 300 Control mode ALL Unit 1 Setting range 0 300 Modify effective time can modify at any time immediately take effect Parameter f...

Страница 38: ...erforms torque limitation via analog voltage command T REF is used as the analog voltage command terminal so this limit function cannot be used when using external analog torque control P0 07 T REF distribution 0X0007 Initial value 2 Control mode Speed mode Unit Setting range 0 3 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function 0 No definition 1 Use...

Страница 39: ...g time parameter 0X0307 Initial value 0 Control mode 3 4 5 6 7 Unit 0 01ms Setting range 0 65535 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function The speed command input is passing through one time delay filter to smooth the speed command If the setting value is too large it will affact response P3 08 Speed feedback filter time parameter 0X0308 Init...

Страница 40: ...xternal torque limit P5 13 L Forward external torque limit P CL P5 13 H Reverse external torque limit N CL Soft start P3 05 Soft start acceleration time P3 06 Soft start deceleration time Filter P3 07 Speed command filtering time parameter P3 08 Speed feedback filtering time parameter 6 6 1Control method selection 6 6 2 Internal speed setting P3 01 Internal setting speed 1 0X0301 Initial value 0 C...

Страница 41: ... direction Speed 1 speed 2 speed 3 can be switched by external input signals SPD A SPD B and the direction is changed by SPD D SPD D SPD A SPD B input signal need to assigned to the output port first Input signal Meaning SPD D SPD A SPD B Speed 0 Forward 1 Reverse 0 0 Internal command 0 speed 0 1 Speed 1 P3 01 1 1 Speed 2 P3 02 1 0 Speed 3 P3 03 6 7 Speed external pulse Basic Parameter User Parame...

Страница 42: ...l method selection 6 7 2 Command pulse frequency at rated speed P2 06 Command pulse frequency at rated speed 0X0206 Initial value 5000 Control mode 7 Unit 100Hz Setting range 1 10000 Modify effective time can modify at any time will take effect immediately Parameter function When P2 06 Parameter is set to 1000 the command pulse frequency corresponding to the rated speed is 100KHz When the P2 06 Pa...

Страница 43: ...EF Function distribution 6 8 4 P5 23 L Speed reaches the limit output 6 8 4 6 8 1 Control method selection 6 8 2 Rated torque corresponding to analog P4 00 Rated torque corresponding to analog 0X0400 Initial value 1000 Control mode 2 Unit 0 01V Setting range 150 3000 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function Set the speed command voltage T RE...

Страница 44: ...ameter function Even if the setting value of speed is greater than the rated speed the speed limit of the actual is only the rated speed P3 09 Maximum operating speed 0X0309 Initial value 4000 Control mode ALL Unit rpm Setting range 0 5000 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function No matter what mode the motor is running the running speed wil...

Страница 45: ...e are 9 parameters of SC1 series servo driver Function parameter P0 XX Set basic functions such as running mode Control parameter P1 XX Set gain and integration Position parameter P2 XX Basic parameter required when using location mode Speed parameter P3 XX Basic Parameter required when using speed mode Torque parameter P4 XX Basic Parameter required when using torque mode Signal parameter P5 XX I...

Страница 46: ...ately 7 2 Parameterdatasheet P0 XX Function Parameters Modbus address 0000 00FF Parameterc ode Function Unit Factory default Setting range Effective time P0 00 Main mode 0 0 3 P0 01 Submode 1 6 0 7 P0 02 Submode 2 0 0 7 P0 03 Modbus Stack number 1 1 255 P0 04 Serial port parameters n 2206 n 0000 n 2209 P0 05 Rotation direction 0 0 1 P0 06 L Shutdown method 0202 0 2 P0 07 T REF distribution 0 0 3 P...

Страница 47: ...p gain 2 1 s 80 1 2000 P1 07 Parameter reserved P1 08 Parameter reserved P1 09 Position loop feedforward gain 1 0 0 100 P1 10 Feedforward filtering time 0 01ms 0 0 65535 P2 XX Position Parameter Modbus address 0200 02FF Parameter code Function Unit Factory default Setting range Effective time P2 00 Command pulse form 2 1 2 3 P2 01 Position command filter 0 0 1 P2 02 Electronic gear ratio molecule ...

Страница 48: ...21 Origin return speed 1 rpm 1000 1 2000 P2 22 Origin return speed 2 rpm 50 1 150 P2 23 Origin return offset laps rotate 0 9999 9999 P2 24 Origin return offset pulse number 1 pulse 0 9999 9999 P2 25 Multi segment position mode P2 26 First stage pulse number 1 0 9999 9999 P2 27 First stage pulse number 10000 0 P2 28 First stage speed 0 1rpm 0 P2 29 First stage waiting time ms 0 P2 30 First stage ac...

Страница 49: ...th stage acceleration and deceleration time ms 0 9999 9999 P2 46 Position S type acceleration and deceleration time ms 0 9999 9999 P3 XX Speed parameter Modbus address 0300 03FF Paramete r code Function Unit Factory default Setting range Effective time P3 00 Rated speed corresponds to analog 0 01V 1000 150 3000 P3 01 Internal speed 1 rpm 100 5000 5000 P3 02 Internal speed 2 rpm 200 5000 5000 P3 03...

Страница 50: ...limit 1 300 0 300 P4 04 Forward external torque limit 1 100 0 300 P4 05 Reverse external torque limit 1 100 0 300 P4 06 Emergency stop torque 1 300 0 300 P4 07 Internal speed limit during torque control rpm 2000 0 5000 P4 08 P4 09 Internal torque given 1 0 300 300 P4 10 Dead zone voltage 0 01V 0 0 100 P5 XX Signal parameter Modbus address 0500 05FF Paramete r code Function Unit Factory default Set...

Страница 51: ...ernal torque limit 06 00 FF P5 13 H N CL Reverse external torque limit 07 00 FF P5 14 L SPD D Internal speed direction 00 00 FF P5 14 H SPD A Internal speed selection 00 00 FF P5 15 L SPD B Internal speed selection 00 00 FF P5 15 H C SEL Control method selection 00 00 FF P5 16 L ZCLAMP Zero clamp 00 00 FF P5 16 H INHIBIT Command pulse prohibition 00 00 FF P5 17 L G SEL Gain switching 00 00 FF P5 1...

Страница 52: ...0X0808 CLR 0X080E N OT 0X0803 SPD B 0X0809 ORGP 0X080F ALM RST 0X0804 C SEL 0X080A CTRG 0X0810 P CL 0X0805 ZCLAMP 0X080B SHOM 0X0811 Output signal Modbus address 0800 08FF Signal Name Modbus address Signal Name Modbus address Signal Name Modbus address COIN 0X0812 CLT 0X0816 NEAR 0X081A V CMP 0X0813 VLT 0X0817 ALM 0X081B TGON 0X0814 BK 0X0818 HOM 0X081C S RDY 0X0815 WARN 0X0819 F0 XX Motor informa...

Страница 53: ... mode needs to be set to zero when using submode 1 JOG mode Submode set to zero 2 matched sub mode 1 can be used to debug the system Main mode 1 sub mode 1 0 JOG mode Main mode 2 sub mode 1 0 Current deviation correction S ON on 1 and complete the check after five seconds Main mode 2 sub mode 1 2 Open loop without encoder Main mode 2 sub mode 1 3 Open loop with encoder P0 01 Submode 0 When the C S...

Страница 54: ...olled by the pulse train position command The position is controlled by the number of input pulses and the speed is controlled by the frequency of the input pulse 7 Speed control pulse train frequency command The frequency of the input pulse train is used to control the speed of the motor without controlling the position of the motor P0 02 Submode 1 Same as submode 0 When the C SEL signal is inval...

Страница 55: ...ameter function H 0 1 Inertia operation stops After stopping keep inertia 2 The deceleration operation stops After stopping change to zero clamp Torque set value PEmergency stop torque of P4 06 3 The deceleration operation stops After stopping change to the inertia running Torque set value Emergency stop torque of P4 06 Note 1 When the overtravel stop mode is 0 or 1 the servo enable signal is forc...

Страница 56: ... Undefined 1 Use V REF as the external speed limit input Initial value 88 Control mode All Unit Setting range 00 FF Modify effective time can be modified at any time and will take effect by power off and restart Parameter function xx Un xx Eg set 00 power on indicate Un 00 Other Power on indicate 88 Operating status 23 Power on indicate P0 00 P1 XX Control Parameter P1 00 Speed loop gain 0X0100 In...

Страница 57: ...ct immediately Parameter function Big value of the position loop gain will have high responsiveness and small offset of the position control but subject to mechanical characteristics P1 03 Parameter reserved 0X0103 P1 04 Second speed loop gain The same as P1 00 Through P5 17L G SEL signal can switch between first gain and second gain 0X0104 P1 05 Second speed loop integration time The same as P1 0...

Страница 58: ...will take effect immediately Parameter function The filtering time of the position feedback signal before the position loop P2 XX Position parameter P2 00 Command pulse form 0X0200 Initial value 2 Control mode 6 7 Unit Setting range 0 2 Modify effective time Can modify when servo OFF Will Take effect by power off and restart Parameter function 1 A B pulse mode 2 Pulse direction DIR 1 Forward DIR 0...

Страница 59: ...y servo ON Parameter function If the electronic gear ratio numerator is 2 and the denominator is 1 in the position internal command mode the command pulse is set to 5000 10000 pulses are required for the motor to make one revolution After trigger pulse the motor received real pulse is 2 5000 10000 so the motor should be rotated 1 circle P2 04 Position command acceleration deceleration time Paramet...

Страница 60: ...t 0 1ms Setting range 0 1000 Modify effective time can modify at any time will take effect immediately Parameter function When the command pulse frequency is relatively low setting this parameter appropriately can reduce the fluctuation of the speed P2 08 PG number of divisions Parameter reserved 0X0208 P2 09 PG number of divisions Parameter reserved 0X0209 P2 10 Command pulse input rate 0X020a In...

Страница 61: ...ion type and searching direction Short distance movement to the origin Origin trigger start mode Origin stop mode Unused W Z Y X W Z Y X X origin detection type and searching direction 0 Forward direction origin back POT as back origin 1 Reverse direction origin back NOT as back origin 2 Forward direction origin back ORGP as back origin 3 Reverse direction origin back ORGP as back origin 4 Directl...

Страница 62: ...dify effective time can modify when servo OFF and take effective by servo ON Parameter function P2 24 OPR offset pulse number 0X0216 Initial value 0 Control mode OPR mode Unit Puls Setting range 9999 9999 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function Z origin trigger start mode 0 Turn off the origin return function 1 When the power is turned on t...

Страница 63: ...ting range 3000 3000 Modify effective time can modify at any time will take effect immediately Parameter function set value of speed 1 P3 02 Internal speed setting 2 0X0302 Initial value 0 Control mode Speed control internal speed setting selection Unit r m rpm Setting range 3000 3000 Modify effective time can modify at any time will take effect immediately Parameter function set value of speed 2 ...

Страница 64: ...g value too large will affect the system response time P3 07 Speed command filter time parameter 0X0307 Initial value 0 Control mode 3 4 5 6 7 Unit 0 01ms Setting range 0 65535 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function The speed command input is through the primary delay filter to smooth the speed command If the setting value is too large wil...

Страница 65: ...function The torque command input is through the primary delay filter to smooth the torque command If the setting value is too large will reduce responsiveness P4 02 Internal positive torque limit 0X0402 Initial value 300 Control mode Non torque mode Unit 1 Setting range 0 300 Modify effective time can modify at any time will take effect immediately Parameter function This parameter is always vali...

Страница 66: ...ive time can modify at any time will take effect immediately Parameter function the same as external positive torque limit P4 06 Emergency stop torque 0X0406 Initial value 300 Control mode ALL Unit 1 Setting range 0 300 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function If this Parameter setting is too small it will cause the motor stop slowly P4 07 S...

Страница 67: ...or device using the speed command input will us this function in the case of a system without a position loop This means even input voltage of the speed command V REF is not 0V still need to use it when the motor is stoped and the servo is locked When the zero clamp Function is set to ON the position loop is temporarily placed inside so the motor clamps within 1 pulse at this position Even if it i...

Страница 68: ...value can be monitored via the Parameter U 08 P5 05 Deviation pulse limit 0X0505 Initial value 1000 Control mode 5 6 Unit 256 instruction pulses Setting range 0 65535 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function During position control an alarm will occur when the offset pulse exceeds a certain limit This threshold is the deviation pulse limit W...

Страница 69: ...y effective time can modify when servo OFF and take effective by servo ON Parameter function Reduce the servo motor speed to the set value during rotation P5 08 Brake command waiting time 0X0508 Initial value 500 Control mode All Unit 1ms Setting range 0 500 Modify effective time can modify when servo OFF and take effective by servo ON Parameter function In using a servo motor with a brake setting...

Страница 70: ...active 81 Input reverse signal from SI1 terminal 82 Input reverse signal from SI2 83 Input reverse signal from SI3 84 Input reverse signal from SI4 85 Input reverse signal from SI5 86 Input reverse signal from SI6 87 Input reverse signal from SI7 L 00 External input is completely based on factory settings the setting of P5 10 H P5 19 H is invalid 01 External input signal can be set freely the sett...

Страница 71: ... 07 06 H L Control mode All Unit Setting range Modify effective time can be modified at any time and will take effect by power off and restart Parameter function The same as P5 10 H P5 14 L SPD D Internal setting speed rotation direction selection H SPD A Internal set speed selection 0X050e Initial value n 00 00 H L Control mode All Unit Setting range Modify effective time can be modified at any t...

Страница 72: ...function The same as P5 10 H P5 17 L G SEL Gain switching H CLR Pulse deviation clear 0X0511 Initial value n 00 00 H L Control mode All Unit Setting range Modify effective time can be modified at any time and will take effect by power off and restart Parameter function The same as P5 10 H P5 18 L ORGP Origin detection signal H CTRG Pulse trigger 0X0512 Initial value n 00 00 H L Control mode Origin...

Страница 73: ...utput positive signal from SO1 terminal 02 Output positive signal from SO2 terminal 03 Output positive signal from SO3 terminal 03 Output positive signal from SO3 terminal 04 Output positive signal from SO4 terminal 81 Output reverse signal from SO1 terminal 82 Output reverse signal from SO2 terminal 83 Output reverse signal from SO3 terminal 84 Output reverse signal from SO4 terminal H The same a...

Страница 74: ... 25 L NEAR Approaching H ALM Alarm 0X0518 Initial value n 02 00 H L Control mode Unit Setting range Modify effective time can be modified at any time and will take effect by power off and restart Parameter function The same as P5 21 L P5 26 L HOM Complete 0X0519 Initial value n 00 04 H L Control mode Setting range Modify effective time can be modified at any time and will take effect by power off ...

Страница 75: ...er value 1 0X70A Un 11 Rotation angle encoder value 10000 0X70B Un 12 Pulse number of input command 1 0X70C Un 13 Pulse number of input command 10000 0X70D Un 14 Pulse number of feedback command 1 0X70E Un 15 Pulse number of feedback command 10000 0X70F Un 16 Current position Cumulative value 1 0X710 Un 17 Current position Cumulative value 10000 0X711 Un 18 Current current 1 decimal place 0 1A 0X7...

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