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param

eter

code

parameter Name & functions

Set range

unit

Default

value

Effective

acceleration/deceleration for S-curves.

6.1.4 Position control parameters

param

eter

code

parameter Name & functions

Set range

unit

Default

value

Effective

PA025

Encoder pulse output frequency division coefficient

1~255

re-power

PA026

Encoder pulse output logic negation

0~1

re-power

PA027

command pulse Input logic negation

0~1

PA028

command pulse Input mode selection

：

pulse /direction

：

CW/CCW pulse

：

A/B pulse

0~2

re-power

PA031

First Electronic gear ratio numerator

1~65535

PA032

First Electronic gear ratio denominator

Electronic gear ratio Set range

：

1/200 ~ 200

1~65535

PA141

Second Electronic gear ratio numerator

1~65535

PA142

Second Electronic gear ratio denominator

1~65535

PA083

Internal position0 first place

-9999~9999

PA084

Internal position0 second place

-9999~9999

pulse

PA085

Internal position1 first place

-9999~9999

PA086

Internal position1 second place

-9999~9999

pulse

PA087

Internal position2 first place

-9999~9999

PA088

Internal position2 second place

-9999~9999

pulse

PA089

Internal position3 first place

-9999~9999

PA090

Internal position3 second place

-9999~9999

pulse

PA091

Internal position4 first place

-9999~9999

PA092

Internal position4 second place

-9999~9999

pulse

PA093

Internal position5 first place

-9999~9999

PA094

Internal position5 second place

-9999~9999

pulse

PA095

Internal position6 first place

-9999~9999

PA096

Internal position6 second place

-9999~9999

pulse

PA097

Internal position7 first place

-9999~9999

PA098

Internal position7 second place

-9999~9999

pulse

PA099

Internal position sections to execute

1~8

PA102

Internal position Speed 0

0~5000

rpm

120

PA103

Internal position Speed 1

0~5000

rpm

130

PA104

Internal position Speed 2

0~5000

rpm

140

PA105

Internal position Speed 3

0~5000

rpm

150

PA106

Internal position Speed 4

0~5000

rpm

160

Содержание 110DNA-04C

Страница 1: ...1 AC Servo Systems EPS EB Series User Manual DORNA http www cn dorna com V1 00 ...

Страница 2: ...l failure or fire Please set a stop device on the machine side to ensure the safety The holding brake of the servo motor equipped with a brake is not a stop device used to ensure safety Otherwise there may be injuries Please ensure to connect the earth terminal of servo driver with the earth electrode the earth resistance of servo driver for power input is below 100Ω Otherwise there may be electri...

Страница 3: ... signal 13 2 2 2 Motor Power Terminal appearance and signal 14 2 3 STANDARD WIRINGS 15 2 3 1 Position control wiring diagrams 15 3 2 2 Speed torque control wiring diagrams 16 CHAPTER III CONTROL OPERATION 17 3 1 CONTROL MODE SELECTION 17 3 2 CONTROL SIGNALS 18 3 2 1 Input signals 18 3 2 2 Output signals 20 CHAPTER 4 MONITORING AND OPERATIONS 22 4 1 PANEL OPERATOR 22 4 2 MODE SWITCH 22 4 3 MONITORI...

Страница 4: ...4 6 1 8 Other function parameters 33 6 1 9 RS485 communication parameters 34 ...

Страница 5: ... otherwise i it may cause troubles The air inlet and outlet shall not be blocked or placed inversely when the AC servo driver is installed otherwise it may cause fault WORNING CAUTION C N 2 C N 3 WORNING CAUTION C N 2 C N 3 C N 2 CORRECT WRONG In order to lower the wind resistance to the radiator fan and let heat dissipation effectively users shall follow the recommended installation spacing dista...

Страница 6: ...6 1 2 Dimensions of servo drivers EPS EB Series AC Servo Driver dimensions unit mm 100W 750W 1KW 1 5KW 1 8KW 3 0KW ...

Страница 7: ...tion dimensions unit mm 1 3 2 90 series servo motors Model Flange face dimensions Shaft end dimensions LL LR LE LG LC LA LB LZ S LJ J LF1 LF2 60DNMA1 0D20D 60 70 50 5 5 14 11 20 5 5 103 30 3 8 60DNMA1 0D40D 60 70 50 5 5 14 11 20 5 5 123 30 3 8 80DNMA1 0D75D 80 90 70 6 5 19 15 5 25 6 6 129 7 35 3 9 8 ...

Страница 8: ... 20 5 5 152 35 3 12 90DNA 10D 90 100 80 6 16 13 20 5 5 162 35 3 12 Model Flange face dimensions Shaft end dimensions LL LR LE LG LC LA LB LZ S LJ J LF1 LF2 110DNA 04C 110 130 95 9 19 15 5 25 6 6 164 40 5 14 110DNA 09C 110 130 95 9 19 15 5 25 6 6 184 40 5 14 110DNA 12D 110 130 95 9 19 15 5 25 6 6 184 40 5 14 110DNA 12C 110 130 95 9 19 15 5 25 6 6 204 40 5 14 110DNA 15D 110 130 95 9 19 15 5 25 6 6 2...

Страница 9: ...e face dimensions Shaft end dimensions LL LR LE LG LC LA LB LZ S LJ J LF1 LF2 130DNMA1 0D85C 130 145 110 9 22 18 5 36 6 6 163 57 5 13 130DNMA1 0001C 130 145 110 9 22 18 5 36 6 6 172 57 5 13 130DNMA1 01D2C 130 145 110 9 22 18 5 36 6 6 181 57 5 13 130DNMA1 01D5C 130 145 110 9 22 18 5 36 6 6 197 57 5 13 ...

Страница 10: ... terminal and motor earth terminal for grounding CN2 I O connector Connected with upper controller or RS485 CN3 Encoder connector Connected with the motor encoder 2 1 1 Appearance and signal of CN3 terminal Appearance of CN3 terminal Signal of CN3 terminal Terminal mark Name Function Terminal mark Name Function 9 A PG input A phase 6 U PG input U phase 1 A PG input A phase 14 U PG input U phase 2 ...

Страница 11: ...38 PULS24 24 S_ON 9 PULS 39 SIGN24 25 COM 10 PULS 40 COM 26 C_MODE 11 SIGN 41 27 TLC 12 SIGN 42 28 ZSP 13 OZ 43 29 OZ 14 OB 44 OA 30 OA 15 OB Notes 1 Please do not use unoccupied terminal 2 Please connect the shielding layer of input output signal cable to the enclosure of connector Conduct frame grounding FG through the connector at servo driver side 3 Above are default signal arrangements Except...

Страница 12: ...eached in speed control mode TLC 27 Target torque reached ZSP 28 Zero speed output COM 25 40 Output signal common grounding terminal Position Control PULS 9 Pulse command input channel Pulse command can have three different input forms and can be selected using PA28 0 Sign pulse train 1 CCW CW pulse train 2 A B pulse train For 24VDC use PULS24 PULS SIGN24 SIGN PULS 10 SIGN 11 SIGN 12 PULS24 38 SIG...

Страница 13: ...0 W PG input W phase 12 W PG input W phase 1 PE Shielding Non line saving encoder B 2 5V PG power supply 5V 1 2 3 5 6 10 11 13 14 15 Compatible encoder line BC 002 3 0V PG power supply 0V 4 A PG input A phase 7 A PG input A phase 5 B PG input B phase 8 B PG input B phase 6 Z PG input Z phase 9 Z PG input Z phase 10 U PG input U phase 13 U PG input U phase 11 V PG input V phase 14 V PG input V phas...

Страница 14: ... saving1024 line E line saving 2500 line K line saving 5000 line 2 2 2 Motor Power Terminal appearance and signal Motor Flange Terminal Mark Name Function Appearance 60 80 90 1 U Motor U phase power 2 1 4 3 Compatible power line DA 002 2 V Motor V phase power 3 W Motor W phase power 4 PE Casing 110 130 3 U Motor U phase power 1 2 4 3 Compatible power line DB 002 DC 002 DD 002 DE 002 2 V Motor V ph...

Страница 15: ...shield wire stubs properly Power Supply Brake Encoder BRK 24V 5V GND UVW ABZ R S T L1 L2 MC MCCB AC220V Three phase 50 60HZ CN2 RS485 16 RS485 17 CANH 41 CANL 42 2 INH 26 23 ZEROSPD C_ MODE CN2 COM Alarm clearance Pulse input prohibited Zero speed clamping EMGS CW prohibited Control mode switch 25 40 ZSP TLC COIN ZO BRK_OFF ALM S_RDY Servo ready Brake release Z Signal output Position reached Zero ...

Страница 16: ...6 RS485 17 CANH 41 CANL 42 26 23 ZEROSPD C_ MODE CN2 COM A_CLR Zero speed clamp EMGS CW Prohibited Control mode switch 25 40 ZSP TLC COIN ZO BRK_OFF ALM S_RDY Servo ready Brake release Z Signal output Speed reached Torque reached Zero speed detected CN3 W V U PE 4 5 7 8 3 27 28 3K 0 V DC12 24V Common power supply Common ground terminal COM Speed reference 10V 2K 34 T REF 32 AGND 10V 2K 33 S REF 32...

Страница 17: ...e train inputs and external analog speed command inputs PA110 4 External position control internal torque control switch Use C_MODE to switch between position command pulse train inputs and external analog torque command inputs Internal torque control keep constant motor torque output Torque output is set by PA128 speed limit is set by PA45 TRQ_INV is torque command negation signal PA04 1 PA110 0 ...

Страница 18: ...mand select 1 TRQ1 2 CW prohibited CWL Torque command select 2 TRQ2 3 Reset deviation counter CLE Speed command select 1 SPD1 4 Release alarms A CLR Speed command select 3 SPD3 5 Pulse Input prohibited INH Speed command select 2 SPD2 6 Servo enabled S ON 7 Zero speed clamp ZEROSPD Internal position pause PHOLD 8 JOG forward JOG1 Speed command negation SPD_INV 9 JOG backward JOG2 Internal position ...

Страница 19: ...NV ORG PA147 PA148 2 自定义配置情况下如 CN2引脚号 PA148 0xC654 50772 PA147 0x3210 12816 将第23脚配置成转矩指令取反信号十六进制数 2 Input signal status selections parameter number Name Set range Default value Effective time PA64 Input signal status selection 0 65535 0 Immediately 第0位 0 0 0 0 PA64 二进制数说明输入信号0形态选择 0 L电平有效 1 H电平有效第1位第2位第3位第12位 0 0 0 0 第13位第14位第15位输入信号1形态选择 0 L电平有效 1 H电平有效输入信号2形态选择 0 L电平有效 1 H电平有效输入信号3形...

Страница 20: ...Servo ready S RDY 1 Servo alarm ALM 2 Brake release BRK_OFF 3 Position reached COIN 4 Torque reached TLC 5 Zero speed signal ZSP 6 Homing reached RZ PA149 PA150 can configure 6 output signal pins except ZO as shown below 第4脚 0 1 2 3 第3脚第7脚第5脚第27脚 4 5 6 7 第28脚 0 1 2 3 4 5 6 7 代号接点功能 S_RDY ALM BRK_OFF TLC ZSP COIN PA149 PA150 默认情况下 CN2引脚号 PA148 0x7654 30292 PA147 0x3210 12816 十六进制数 RZ 2 Output s...

Страница 21: ...制数说明输出信号0形态选择 0 L电平有效 1 H电平有效第1位第2位第3位第4位 0 0 0 0 第5位第6位第7位输出信号1形态选择 0 L电平有效 1 H电平有效输出信号2形态选择 0 L电平有效 1 H电平有效输出信号3形态选择 0 L电平有效 1 H电平有效输出信号5形态选择 0 L电平有效 1 H电平有效输出信号6形态选择 0 L电平有效 1 H电平有效输出信号4形态选择 0 L电平有效 1 H电平有效 ...

Страница 22: ...Mark Key name Functions MOD Mode Escape Switch between different modes or escape to last operation Left Move to digits leftwards in loops Increase Increase value or switch between SET Set Confirm Confirm operations or value changes 4 2 Mode switch Press MODE SET keys to switch between modes 电源ON JOG Display monitoring mode Set parameters Save parameter changes MOD 按键 SET 按键 SET 按键 ...

Страница 23: ... 4 place 1encoder pulse dP 06 Position deviation pulse quantity higher 5 place 10000encoder pulse dP 07 Speed command analog Input 0 0025V dP 08 Speed command r min dP 09 Torque command analog Input 0 0025V dP 10 Torque command dP 11 Internal Torque feedback dP 12 Input signal monitor dP 13 Output signal monitor dP 14 command pulse frequency 0 1KHz dP 15 Load current A dP 19 encoder number of revo...

Страница 24: ...directly encoder line malfunction Check encoder line wiring model and check cable terminal contact status motor power line malfunction Check motor power line wiring phase sequence and check cable terminal contact status Motor encoder malfunction Replace servo motor Motor stall or overload Motor torque is more than rated torque Re confirm load status or replace a bigger servo Increase torque limit ...

Страница 25: ... 8192 to ingore Err 16 parameter mistake Cannot read correct value from EEPROM Reset to factory default EE 1 Err 20 Power module IGBT alarm encoder line motor power line malfunction Check encoder line motor power line Motor model parameter PA9 not match Contact DORNA parameter setting not appropriate Adjust position loop gain and speed loop gain PA11 PA14 Load inertia too high Re confirm load stat...

Страница 26: ...re Err 31 Magnetic encoder initialization status error Motor encoder error Check motor nameplate to confirm whether the encoder is magnetic encoder encoder line malfunction Check encoder wiring Err 32 Electronic gear ratio protection Electronic gear ratio value overflow Adjust electronic gear ratio PA31 PA32 Err 33 Input signal configuration error Input signal pin configuration duplicates or un de...

Страница 27: ... selection parameter param eter code parameter Name functions Set range unit Default value Effective PA006 Function selection parameter 0 65535 0 re power on Place Definition Status setting 0 1 bit0 CWL CCWL control signal signal valid signal invalid bit1 Input direction signal SIGN negation invalid operation valid operation bit2 Input pulse signal PULSE negation invalid operation valid operation ...

Страница 28: ...eter Name functions Set range unit Default value Effective PA011 Position loop gain It decides the responsiveness characteristics of position control system Positioning time can be shorted if larger position loop gain value is set However vibration may be caused if the set value is too large so please pay attention to this problem in modification 100 9000 2000 PA012 Speed feedforward gain In the s...

Страница 29: ...ger this parameter the more obvious filter effect for commands however the lower cut off frequency parameter set value Cut off frequency KHz parameter set value Cut off frequency KHz 20 200 80 50 40 100 100 40 60 67 120 33 PA079 Speed analog input filter parameter The larger this value the more obvious filter effects however over large value will cause slow speed response 1 32 10 PA080 Torque anal...

Страница 30: ... second place 9999 9999 pulse 0 PA085 Internal position1 first place 9999 9999 r 0 PA086 Internal position1 second place 9999 9999 pulse 0 PA087 Internal position2 first place 9999 9999 r 0 PA088 Internal position2 second place 9999 9999 pulse 0 PA089 Internal position3 first place 9999 9999 r 0 PA090 Internal position3 second place 9999 9999 pulse 0 PA091 Internal position4 first place 9999 9999 ...

Страница 31: ...ive PA039 Acceleration time constant 1 9999 ms 200 PA040 Deceleration time constant 1 9999 ms 200 PA042 Speed command Input zero speed clamp place threshold 1 300 0 1rpm 0 PA043 Speed command Input gain 10 1000 200 PA044 Speed command Input logic negation 0 1 0 PA045 Speed command Input offset compensation 9000 9000 0 1rpm 0 PA118 Maximum speed multiplier Percentage of motor maximum speed to rated...

Страница 32: ...erminal Output signal select2 0 65535 30292 PA030 Z pulse Output width 1 6500 4000 re power on The larger the wider Z pulse parameter set value Z pulse width ms parameter set value Z pulse width ms 500 4 4000 32 1000 8 6000 48 2000 16 PA050 Position reached signal Output threshold Position control mode position deviation is less than this value COIN valid 0 9000 pulse 50 PA078 Speed reached signal...

Страница 33: ...alarm invalid 0 1 0 PA111 Stall alarm threshold 0 9000 0 1rpm 3000 PA112 Stall alarm time 0 9000 0 1ms 30 PA119 Over speed alarm threshold 50 300 150 PA081 Over load alarm threshold 1 0 300 130 PA082 Over load alarm time 1 0 9000 ms 3000 PA120 Over load alarm threshold 2 0 300 150 PA121 Over load alarm time 2 0 9000 ms 1000 PA122 Over load alarm threshold 3 0 300 180 PA123 Over load alarm time 3 0...

Страница 34: ...ication mode 0 RTU 1 ASCII 0 1 0 PA072 RS485 communication address 1 127 1 PA073 RS485 bit rate 0 2400bps 1 4800bps 2 9600bps 3 19200bps 4 38400bps 5 57600bps 6 115200bps 0 6 2 PA074 RS485 protocol Modbus protocol setting 0 7 N 2 1 7 E 1 2 7 O 1 3 8 N 2 4 8 E 1 5 8 O 1 6 8 N 1 N No verification E Even verification O Odd verification 0 6 3 ...

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