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DMM Technology Corp.

DYN4 AC Servo Drive Instruction Manual

REV. ZM7-A10A

CT1

CAN Communication

The DYN4-

□□□

C2-00 servo drive models are compatible with CAN 2.0A specification. The data frame format is

a proprietary DYN servo drive format with efficient data packaging and high transmission rates up to 1Mbit/s for

fastest cycle time.

Please refer to the CAN communication manual for detailed specificaitons.

DYN servo drive CAN Protocol Data Framing:

Start of frame

11-bit Identifier

IDE

Reserved

Data

Length

Data

(1~4 Bytes)

15-bit CRC

CRC delimiter

ACK slot

ACK delimiter

7-bit

End of frame

IFS

0 0 0

11-bit Identifier Consists both Drive ID and Command Function Code:

b4~b0 =

b5~b10 =

5-bit Function Code

Drive ID 0~64

0 = Broadcast

Function Code:

CAN Command

5-bit Function Code

Data Length (Bytes)

Set_Origin

0x00

Go_Absolute_Pos_PTP

0x01

1~4

Make_LinearLine

0x02

1~4

Go_Relative_Pos_PTP

0x03

1~4

...

Содержание DYN4 Series

Страница 1: ...TYPE C CAN MANUAL CODE DYN4MS ZM7 A10A REVISION A1 0A RELEASE DATE DECEMBER 2018 This manual must be kept accessible for the user or operator Copyright 2018 DMM Technology Corp DYN232M DYN232M D Y N A...

Страница 2: ...y result if specifi cations outlined in this document are not followed Take extra precaution when the following warning convention is used for certain specifications Notations Used All specification a...

Страница 3: ...Chart 28 3 5 Software Communication 31 4 Operation 33 4 1 Position Servo Mode 33 4 2 Speed Servo Mode 37 4 3 Torque Servo Mode 39 4 4 RS232 Command Input Mode 40 4 5 Encoder Output 40 4 6 Servo Drive...

Страница 4: ...4 DMM Technology Corp DYN4 AC Servo Drive Instruction Manual REV ZM7 A10A CT1 This page is intentionally blank...

Страница 5: ...t Serial Number Note the name plate is region specific and may vary between each region model D Y N 4 H 0 1 A 2 0 0 DMM Servo Drive Series DYN4 Series AC Servo Drive Frame Size L01 Rated 3 5A H01 Rate...

Страница 6: ...ow Encoder Error CRC Error Position Servo Command Reference Pulse 1 Pulse Sign A B Phase Quadrature 90 Phase Differential CW CCW Max Input Frequency 500kHz Input Voltage 5VDC 5 Higher voltage availabl...

Страница 7: ...S 16 00 Absolute Single Turn 16 bits 65 536ppr 4 Wire Serial Differential Driver Receiver Magnetic 5VDC A ABS 16 MB1 Absolute Multi Turn With Battery 16 bits Single Turn 16 bits Multi Turn 6 Wire Seri...

Страница 8: ...20V 130mm 4 4 12 1500 3000 8 5 DYN4 H01 11A DST A6HKB 1 0kW Brake 220V 130mm 4 4 12 1500 3000 10 2 DYN4 H01 115 DST A6HK1 1 3kW 220V 130mm 8 27 23 3 1500 3000 18 9 DYN4 T01 115 DST A6HKB 1 3kW Brake 2...

Страница 9: ...ED 3 JP2 PC interface connection RS232 Modbus CAN connection 4 JP3 Encoder feedback connector 5 JP4 Main signal I O 6 JP5 Encoder output connector 7 T2 Servo motor power output 8 T3 Regenerative resis...

Страница 10: ...r to Section 2 3 Refer to Section 2 3 JP5 Encoder output connector Refer to Section 2 4 T2 Servo motor power output Connector Type Terminal Block Drive Header Phoenix GMSTB 2 5 3 GF 7 62 Plug Connecto...

Страница 11: ...0 BKO 19 ALM 18 14VOUT 17 24VIN 16 ENA 15 Pin Details 2 3 1 JP4 Specification Pin No Symbol Details I O Interface Circuit 1 GND Internal Signal Ground NA NA See section 2 3 2 for interface circuit typ...

Страница 12: ...meter setting details Output B Pin No Symbol Details I O Interface Circuit 7 SRDY Servo Ready Output Photo transistor ON output Low when servo ready for command Output B Pin No Symbol Details I O Inte...

Страница 13: ...ls I O Interface Circuit 18 ALM Servo alarm output Photo transistor ON when servo alarmed output Low When servo drive alarmed output toggled Low High at 1Hz period interval Output B Pin No Symbol Deta...

Страница 14: ...in No Symbol Details I O Interface Circuit 23 PUL PUL A CW pulse reference Input C Pin No Symbol Details I O Interface Circuit 24 5VOUT Servo drive internal 5VDC output Max current draw 50mA Output NA...

Страница 15: ...wer supply JP4 17 Max 30VDC input 10mA Do not use same 24VDC power supply as holding brake Circuit Example Sink Circuit Notes Open Collector NPN Transistor Relay Switch 2 3 2 JP4 Interface Circuit Exa...

Страница 16: ...General Output Circuit Interface Type Applicable Signals Specification B JP4 5 COM JP4 6 ONPOS JP4 7 SRDY JP4 18 ALM Max 30VDC 50mA Recommended 24VDC or 5VDC Circuit Example Notes Collector Photocoup...

Страница 17: ...equired Max pulse frequency 500kHz Minimum pulse width 800us Circuit Example Notes Line Driver Twisted pair cable with shield grounded on receiver side Open Collector DYN4 Internal Power Supply Twiste...

Страница 18: ...Signals Specification D JP4 13 AIN JP4 25 AIN Max 12VDC Max 0 1mA Circuit Example Notes 13 25 AIN AIN D A Converter Op amp Potentiometer etc Analog Output Circuit Interface Type Applicable Signals Sp...

Страница 19: ...DIR B CCW DIR B CCW DYN4 Servo Drive 270 270 13 AIN 25 JP4 Shell 11 23 22 10 ABS_H 2 SHOLD 3 DIN4 14 ENA 15 24VIN 16 14VIN 4 3k 3k 3k 3k ONPOS 6 SRDY 7 ALM 18 BKO 19 COM 5 5VOUT 24 14VOUT 17 Drive In...

Страница 20: ...nnected to D Sub 9 shell When using encoder output make sure ground between host device and DYN4 servo drive is connected together A 6 GND 5 Z 4 B 3 A 2 ZRI 1 ZRI 9 Z 8 B 7 Connection Circuit Line Dri...

Страница 21: ...5A F1 Logic Fuse 1A NF1 Logic Noise Filter 1A Schaffner FN2030 1 06 For Single Phase input connect the power supply to the R and S terminals of the Main Circuit Power Supply T4 Voltage across any two...

Страница 22: ...0 6 06 10A FN2030 10 06 15A FN2030 16 06 LR1 AC Line Reactor optional 5A 10A 15A MC1 Magnetic contactor 5A 10A 15A F1 Logic Fuse 1A NF1 Logic Noise Filter 1A Schaffner FN2030 1 06 A C B T2 R1 R2 T R S...

Страница 23: ...MC1 ESTOP ON OFF T R S L2 L1 T4 PE Main Circuit Power Supply Control Logic Power Supply A C B T2 PE Servo Motor Power DYN4 Servo Drive JP3 Servo Motor A C B Encoder S FG T R S L2 L1 T4 PE Main Circui...

Страница 24: ...l Switch T R S L2 L1 T4 Main Circuit Power Supply Control Logic Power Supply DYN4 Servo Drive T R S L2 L1 T4 Main Circuit Power Supply Control Logic Power Supply DYN4 Servo Drive Do not jumper the con...

Страница 25: ...tor Shell Signal Ground Regenerative Resistor The DIPM power module unit built into the DYN4 servo drive is designed with a very efficient bus voltage attenuation control circuit It is much more effic...

Страница 26: ...not energized In this case connect an additional relay to control BKO circuit logic Do not use the holding brake to decelerate or stop the servo motor under normal operation Check the servo motor bra...

Страница 27: ...the servo drive onto a grounded and electrically conductive surface See Appendix A for mounting dimensions Cables and Wire Management Keep all cables wires as short as possible and avoid loops Keep hi...

Страница 28: ...frame Residual voltage may remain in the circuit after immediate power off 60 seconds is needed for full discharge The residual voltage may cause the servo motor to rotate for a short period even afte...

Страница 29: ...can cause unwanted or dangerous results Ensure that in the control program the below timing is satisfied Once Disabled do not Enable the servo drive during motor coast or any time motor shaft is rota...

Страница 30: ...gaged brake disengaged t2 t1 t1 5ms t2 5ms not energized energized servo locked alarmed normal not energized energized Timing 3 Servo OFF Disable ENA Disable BKO Motor Energy brake engaged brake disen...

Страница 31: ...ion 3 5 1 DMMDRV Software Communication PC Requirements Operating System Windows XP SP3 or higher Recommended Windows 7 32 bit 64 bit Processor Pentium 1 GHz or higher RAM 512 MB or more Framework NET...

Страница 32: ...ter settings of the connected servo drive Ensure that the Driver Status indicates ServoOnPos to indicate that the drive has closed the position loop with the motor and is fully operational Test Moveme...

Страница 33: ...if higher level such as 12 24VDC is required Max pulse frequency 500kHz Minimum pulse width 0 8 s t1 t1 t4 0 8 s t2 t3 1 0 s t5 t6 5 0 s t2 t3 t4 t5 t6 PUL DIR Pulse Direction A B phase quadrature wi...

Страница 34: ...JP4 22 PUL JP4 11 DIR JP4 22 CW CCW Forward Reference Reverse Reference CW JP4 11 CCW JP4 22 CW JP4 11 CCW JP4 22 A B phase quadrature with 90 phase differential Forward Reference Reverse Reference A...

Страница 35: ...ne Drive Output Open Collector Output External Power Supply Open Collector Output Internal Power Supply 270 11 23 270 22 10 PUL A CW PUL A CW DIR B CCW DIR B CCW 270 11 23 24 5VDC 1 9 12 GND 270 22 10...

Страница 36: ...ion Gear number Gear_Num is set from 500 to 16 384 default value is 4 096 Gear number provides an electrical gear ratio 4096 Gear_Num from 0 25 8 192 For example if Gear number 4 096 then 16 384 input...

Страница 37: ...d the peak torque of the motor in use Control Reference The DYN4 servo drive accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from motor shaft side Positive reference voltage rota...

Страница 38: ...to 90 time 59 98 Max Acceleration 2 seconds Physical acceleration time 1 2 59 98 Max Acceleration 2 seconds Rough Motion Smooth Motion Max Acceleration Torque Filter Constant TrqCons is a first order...

Страница 39: ...accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from motor shaft side Positive reference voltage rotates the servo motor in the FORWARD CLOCKWISE direction and negative reference...

Страница 40: ...YN Drives RS232 protocol The PC or RS232 controller is working as Master and the servo drive is always working as Slave Several servo drives could be RS485 networked for integrated multi axis control...

Страница 41: ...ve to the real time single turn absolute posi tion of the servo motor The signal can be used to track servo motor position or can be used to calculate servo motor speed according to the signal period...

Страница 42: ...monitored from JP4 8 The position error can be monitored relative to both positive CCW from motor shaft and negative CW from motor shaft directions The ana log output has a domain of 0V 3 3V Servo Mot...

Страница 43: ...ue of Speed Gain means narrower frequency range of servo loop relatively Physically heavier loads or higher inertia loads should have lower dynamic ability so the servo loop fre quency range should be...

Страница 44: ...out or saved Position Speed Torque RS232 485 On Position Range 1 127 On position range is a value used for determining whether the motor has reached the command position On posi tion range is selecta...

Страница 45: ...nertia slow and sweeping movements low acceleration Once the load becomes smooth and stable the user can then fine tune the parameters to make the motor harder faster response more rigid motion or sof...

Страница 46: ...ecrease Integration Gain if load inertia is high and system oscillates In speed torque servo mode if relative load inertia is very high high Speed Gain can increase motor torque noise then decrease th...

Страница 47: ...an unusually high temperature inside the drive The control power transistor tempera ture is too high Check that the drives ventilation openings and heat sink are not being blocked Consult the servo d...

Страница 48: ...is coupled to a vertical axis that can drop due to gravity when alarm triggered and the shaft becomes free take measure to prevent injury or damage when the drive alarm is triggered Amotor with holdi...

Страница 49: ...tion controller The host device is working as a master and the servo drive is always working as a slave Several drives can be linked for a serial network in RS485 DYN232M DYN232M D Y N A C S E RV O S...

Страница 50: ...has the level shift buffer built in RxD and TxD RS232 signal from connector JP2 is TTL CMOS level Do not connect servo drive directly to PC RS232 port without buffer component Communication Format Ba...

Страница 51: ...ost controller must ensure each data packet is complete and accurate before transmission 7 1 Interface and Format Reception The DYN servo drive follows same data packet format and structure when retur...

Страница 52: ...7 and does not affect the overall function of that packet ID One byte Start byte packetLength functioncode One byte data One to four bytes checksum One byte 7 2 1 Structure 7 2 3 Start byte Bn The MSB...

Страница 53: ...ee section 7 4 2 Square_Wave 0x0b 1 3 See section 7 4 2 Sin_Wave 0x0c 1 3 See section 7 4 2 SS_Frequency 0x0d 1 3 See section 7 4 2 General_Read 0x0e 1 4 Read Drive position set ForMotorDefine 0x0f 1...

Страница 54: ...e 1 4 7 2 Packet Definition 7 2 5 Bn 2 B1 bytes Bn 2 B1 n 2 are used for representing the data in the packet 7bits of a byte is used for containing the data The first bit MSB is always 1 Minimum packe...

Страница 55: ...0 0x80 S 128 S 128 B0 128 255 After receiving a packet then calculate Temp Mod S 128 if Temp B0 there is no error otherwise there is error during the packet transmission Example manual calculation Giv...

Страница 56: ...ve linear circular motion completed waiting for next motion b5 1 means buit in S curve linear circular motion is busy on current motion b6 pin2 status of JP3 used for Host PC to detect CNC zero positi...

Страница 57: ...Ratio Maximum Motor Acceleration rpm s MaxAcl 635 78 Gear Ratio Motor Movement Position Command Position Gear Ratio 4 Set parameter Output Gear_Num 4096 MaxSpd 48 MaxAcl 30 Command Position 140 000 Ge...

Страница 58: ...uare Wave Motion Function Sent by host b 4 0 Data Bytes Square_Wave 0x0b 1 3 SS_Frequency 0x0d 1 3 The servo motor makes a square wave motion with instantaneous acceleration and deceleration com mand...

Страница 59: ...to the S Curve to maintain smoothest servo motor motion At each S Curve transition point the normally rigid path is curved into smooth speed transitions Efficiency When the axis is command to a new p...

Страница 60: ...ion accura cy is not affected Transition Points Speed Time t1 t2 t1 Safety warning hazard detected axis commanded to retract t2 Current positioning reached axis commanded to retract Dynamic Target Pos...

Страница 61: ...tion Function Code Data Bytes Read_Drive_Status 0x09 1 dummy Received Packet from DYN drive Is_Status 0x19 1 0xx xxx xx Bn 10 001000 Bn 1 1 b6 b5 b4 b3 b2 b1 b0 Bn 2 1xxxxxxx B0 Dummy bits 0xx xxx xx...

Страница 62: ...sing set absolute zero function 0x00 EXAMPLE 2 Condition Make 3th axis motor back to absolute zero position 0 ID 3 Move to position 0 0x00 One byte data PacketLenght 4 Method B3 0x03 B2 0x80 PacketLen...

Страница 63: ...B1 0x03 0xa3 0xff 0x88 0x22d B0 0x80 Mod S 128 0x80 0x2d 0xad EXAMPLE 5 Condition Make 2th axis motor turn at 60rpm ID 2 Method Speed is 60 One Byte data is enough 60 0x3c Packet Length 4 B3 0x02 B2 0...

Страница 64: ...PLE CODE it will generate a packet as above exam ples EXAMPLE 8 Condition Make a circular arc on X Y Plane Suppose right now position for three motors are X0 Y0 0 0 and the End point of arc is X1 Y1 2...

Страница 65: ...a relative number according to the RMS current output by servo drive This value is different between each servo motor capacity and varies between the DYN2 and DYN4 servo drive The customer can measure...

Страница 66: ...ive connected then assigned a new ID number to that drive without checking the RS485 232 Net check box in the DMMDRV software The RS485 network is a serial network if there is a packet in the network...

Страница 67: ...unsigned char Read_Package_Buffer 8 Read_Num Read_Package_Length Global_Func unsigned char MotorPosition32Ready_Flag MotorTorqueCurrentReady_Flag MainGainRead_Flag long Motor_Pos32 int MotorTorqueCurr...

Страница 68: ...os32 Cal_SignValue Read_Package_Buffer MotorPosition32Ready_Flag 0x00 break case Is_TrqCurrent MotorTorqueCurrent Cal_SignValue Read_Package_Buffer MotorTorqueCurrentReady_Flag 0x00 break case Is_Main...

Страница 69: ...ned char TempLong 0x0000007f TempLong TempLong 7 B 4 unsigned char TempLong 0x0000007f TempLong TempLong 7 B 3 unsigned char TempLong 0x0000007f TempLong TempLong 7 B 2 unsigned char TempLong 0x000000...

Страница 70: ...xt byte in OutputBuffer to send void DlgRun ReadMotorTorqueCurrent void Below are the codes for reading the motor torque current Read motor torque current char ID 0 Suppose read 0 axis motor Global_Fu...

Страница 71: ...is 28bits motor position32 MotorPosition32Ready_Flag 0xff While MotorPosition32Ready_Flag 0x00 ReadPackage MotorPosition32Ready_Flag is cleared inside ReadPackage or inside Get_Function exactly after...

Страница 72: ...ffer pointers for i 0 i 8 i Read_Package_Buffer i 0 Read_Num Read_Package_Length 0 Reading motor 32bits position char ID 0 Suppose read 0 axis motor Global_Func General_Read Send_Package ID Is_AbsPos3...

Страница 73: ...data packet is received from the servo drive each byte received is sequentially saved into the InputBuffer with the InBfTopPointer incremented each time This is done until the host hardware RS232 rec...

Страница 74: ...8 Modbus RTU RS485 Communication The DYN4 B2 00 servo drive models are compatible with Modbus RTU communication over 2 Wire RS485 Please refer to the following manual for Modbus communication specific...

Страница 75: ...cation manual for detailed specificaitons DYN servo drive CAN Protocol Data Framing Start of frame 11 bit Identifier RTR IDE Reserved Data Length Data 1 4 Bytes 15 bit CRC CRC delimiter ACK slot ACK d...

Страница 76: ...DWG NO SCALE 1 5 SHEET 1 OF 1 WEIGHT Assem1_manual_ M M D DynamicMotorMotion Technology Corporation H01 DYN4 AC Servo Drive S1 JP2 JP3 J P 4 J P 5 EXT1 T 2 T 3 T 4 M M D DynamicMotorMotion Technology...

Страница 77: ...same NF1 Logic filter between multiple drives Ensure the noise filter is properly grounded 4 If the servo drive commonly faults with over voltage error during operation connect a regenerative resistor...

Страница 78: ...er value OnPosRange 64 11 8 12000mV 4096 253 to 253 mV Dead Zone Center Ex OnPosRange 64 center will be zero 3 Analog speed input reference scaling For analog input speed servo mode GEAR_NUM parameter...

Страница 79: ...uding falling heavy impact vibration or shock Damages resulting from transportation or shipping after the original factory delivery Unauthorized alterations or modifications that have been made to the...

Страница 80: ...features and specifications of the DYN4 AC Servo Drive and may be changed at any time to reflect corrections improvements or changes to the product or information in this manual Servo Drive Revision...

Страница 81: ...ix B Added Application Note AP15 48 DYN4 Servo Drive AC Power Supply Guidelines July 2016 A1 7a ZM1 1 2 1 3 1 6 Added L01 and T01 model information 2 5 Revised wiring diagram Added encoder cable shiel...

Страница 82: ...ww dmm tech com SALES sales dmm tech com INFO info dmm tech com Copyright 2018 DMM Technology Corp Published In Canada A4P DYN4 Series AC Servo Drive AC SERVO DRIVE INSTRUCTION MANUAL TYPE A GENERAL P...

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