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AC SERVO SYSTEM 

EPS-BS SERIES 

User Manual 

  (V1.3) 

 

 

 

 

 

Содержание EPS-BS Series

Страница 1: ...1 AC SERVO SYSTEM EPS BS SERIES User Manual V1 3 ...

Страница 2: ...lation of EMI filter 18 2 4 2 Installation of AC DC reactor 18 2 5 SELECTION OF REGENERATIVE RESISTORS 18 CHAPTER 3 WIRING 20 3 1 SYSTEM STRUCTURE WIRING 20 3 1 2 Wiring of the main circuit 20 3 2 CN1 WIRING 22 3 2 1 Arrangement of connector CN1 terminal 22 3 2 2 I O Signal allocations 23 3 2 3 Examples of connection to the host device 25 3 3 CN2 WIRING 29 3 4 STANDARD WIRING DIAGRAM 30 CHAPTER 4 ...

Страница 3: ...APTER 7 OPERATIONS 43 7 1 CONTROL MODE SELECTION 43 7 2 SETTING OF GENERAL BASIC FUNCTIONS 44 7 2 1 SERVO ON setting 44 7 2 2 Motor over travel prohibitation 44 7 2 3 Overtravel settings 45 7 2 4 Holing brake settings 45 7 3 POSITION CONTROL OPERATIONS 47 7 3 1 User parameter settings 47 7 3 2 Electronic gear setting 47 7 3 3 Position instructions 48 7 3 4 Positioning completed signal COIN 49 7 3 ...

Страница 4: ... 2 1 Communication modes 67 10 2 2 Byte structure 67 10 2 3 Communication data structure 68 10 2 4 Communication troubleshooting 74 10 2 5 Communication parameters 75 10 2 6 Servo drive parameter address 75 ...

Страница 5: ... Otherwise it may cause electric shock due to residual voltage Please carry out trial operation according to the steps and instructions described in the user manual corresponding to the product If the servo motor is installed in a mechanical state if an operation error occurs it will not only cause mechanical damage but may also cause personal injury Never modify this product and do not set up dis...

Страница 6: ...r shock will be transmitted to the subject s place Do not hold the cable motor shaft or detector for transportation Doing so may cause injury or malfunction Installation Do not block the air inlet and air outlet Also do not allow foreign matter to enter the product Failure to do so may cause malfunction or fire due to aging of internal components Be sure to observe the requirements of the installa...

Страница 7: ...for input and output signal cables and encoder cables The wiring length of the input and output signal cables up to 3 m encoder cables up to 30 m Even if the power is turned off high voltage may remain in the servo drive Therefore do not touch the power terminal while the charging indicator is on After confirming that the charging indicator is off perform wiring and inspection Please install a saf...

Страница 8: ... to prevent the workpiece from falling in the state of alarm overtravel etc When overtravel occurs set a fixed stop with zero position Failure to do so may cause the workpiece to fall under overtravel Extreme parameter adjustment and setting changes will cause the operation of the servo system to become unstable Do not perform such operations Failure to do so may result in personal injury or machi...

Страница 9: ...d L1 L2 L3 see section 3 1 for details It can be connected to three phase AC 220V or any two terminals can be connected to single phase AC 220V 2 the motor power line U V W These three wires need to be connected to U V W marked on the driver one by one Connect the PE wires to the driver s wiring screws 3 Encoder line see section 3 3 for signal definition Motor flange Motor Power Power line model E...

Страница 10: ...ive 9 COM Switching value common terminal positive 12V 24V Switching power supply 12V 24V 10 DI1 Digital input 1 Default S ON PA145 can be redefined 11 DI2 Digital input 2 Default Alarm clear PA146 can be redefined 12 DI3 Digital input 3 Default Deviation clear PA147 can be redefined 13 COM Switching value common terminal negative 0V Switching power 0V 14 DO1 Digital output 1 Default Servo alarm P...

Страница 11: ... K Line saving incremental 5000 line Q Magnetic encoder 5000 line Check whether the motor current parameter PA9 is consistent with the motor nameplate PA9 parameter Motor rated current PA9 parameter Motor rated current 0 20 10A 1 0 5A 21 11A 2 1 0A 22 12A 3 1 5A 23 13A 4 2 0A 24 14A 5 2 5A 25 15A 6 3 0A 26 16A 7 3 5A 27 17A 8 4 0A 28 18A 9 4 5A 29 19A 10 5 0A 30 20A 11 5 5A 31 21A 12 6 0A 32 22A 1...

Страница 12: ...ft is normal However a motor with an electromagnetic brake cannot run by hand Is the appearance damaged Check visually for any damage Are there loose screws Use a screwdriver to check whether the screws of the servo drive are locked If you encounter any of the above situations please contact the agent or manufacturer for a proper solution A complete servo system should include the following items ...

Страница 13: ... 2 Name 3 Inertia Symbol Specifications Symbol Specifications Symbol Specifications 60 60 flange DN MA Medium 220V 80 80 flange HA High 220V 130 130 flange 180 180 flange 4 Pole pair 5 Rated power 6 Rated speed Symbol Specifications Symbol Specifications Symbol Specifications 1 4 pole pairs 0D20 200W A 1000rpm 2 5 pole pairs 0D40 400W B 1500rpm 0D75 750W C 2000rpm 0001 1 0KW D 3000rpm 01D2 1 2KW 0...

Страница 14: ...mented according to the following items Types Cycle Check item Daily inspection daily Ambient temperature humidity dust and foreign matter Is there abnormal vibration abnormal sound The INPUT power supply voltage is normal Is there a smell Are the vents sticky fiber thread Clean situation drives the front of the connector The control device the device motor connector portion for loose core leg dep...

Страница 15: ... with the adjacent items and baffle wall must have enough space otherwise it will cause malfunctions The AC servo drive s suction exhaust hole cannot be sealed nor placed upside down otherwise it will cause malfunctions In order to lower the wind resistance to the radiator fan and let heat discharge effectively users shall follow the recommended installation spacing distance of one or several AC s...

Страница 16: ... drive dimensions Unit mm 1 A type case EPS BS 0D20AA EPS BS 0D40AA 2 B type case EPS BS 0D75AA EPS BS 0D75AA G EPS BS 0001AA EPS BS 01D5AA 3 C type case EPS BS 01D5AA G EPS BS 02D2AA EPS BS 02D2AA G EPS BS 0003AA ...

Страница 17: ...it of servo drive uses a high speed switching device so the peripheral wiring and earthing of servo drive may be affected by the noise of the switching device In order to prevent noise the following measures can be taken Please install EMI filter on the main power supply side Connection of AC DC reactor for suppression of higher harmonic Please install the command input equipment such as PLC and E...

Страница 18: ...imum contact 2 4 2 Installation of AC DC reactor An AC DC reactor can be connected to the servo drive for suppression of higher harmonic Please connect the reactor according to the figure below AC Reactor DC Reactor Servo drive L1 L2 L3 AC Reactor Power Servo drive 1 2 DC reactor 2 5 Selection of regenerative resistors When the motor is outputting torque opposite to the rotating direction energy i...

Страница 19: ...ease confirm whether the resistance value satisfies the limiting conditions 3 In natural environment when the disposable regenerated capacity mean value of regenerative resistor is used within the limit of nominal capacity the temperature of resistor will rise to be above 120 under continual regeneration In order to ensure safety it is suggested to use a regenerative resistor with a thermo switch ...

Страница 20: ... Terminal symbol Wire diameter mm2 AWG EPS BS A type chassis EPS BS B type chassis EPS BS C type chassis 0D02A 0D04A 0D75A 0001A 01D5A 02D2A 0003A Main circuit power cable L1 L2 L3 1 25 AWG 16 2 0 AWG 14 3 0 AWG 14 Motor power line U V W 1 25 AWG 16 2 0 AWG 14 3 0 AWG 14 External regeneration resistance line P D C 1 25 AWG 16 Ground wire 2 0 AWG 14 or more 2 Typical main circuit wiring example Whe...

Страница 21: ... 1 MC OFF ON 1 Ry 1 Ry PL Peak voltage suppressor 1PH 200 230VAC 50 60 Hz 10 15 R T 1 MC 1 MC 1 MC 3PH AC220V input EMI Filter M P G Motor Encoder CN2 4 3 ALM COM 1 Ry 24V 0V 2 3 4 1 U V W L1 L2 L3 L1C L2C 1 MC OFF ON 1 Ry 1 Ry PL Peak voltage suppressor 1PH 200 230VAC 50 60 Hz 10 15 R T 1 MC 1 MC 1 MC S 1 MC ...

Страница 22: ...lse negative 7 S Sign positive 5V 8 S Sign negative 9 COM Switching value common terminal positive 12V 24V Switching power supply 12V 24V 10 DI1 Digital input 1 Default S ON PA145 can be redefined 11 DI2 Digital input 2 Default Alarm clear PA146 can be redefined 12 DI3 Digital input 3 Default Deviation clear PA147 can be redefined 13 COM Switching value common terminal negative 0V Switching power ...

Страница 23: ...l negation 15 Internal position selection 3 6 Immediate PA146 Control terminal DI2 input signal function selection 4 Immediate PA147 Control terminal DI3 input signal function selection 3 Immediate 2 Description of input signal form selection PA64 bit number b7 b6 b5 b4 b3 b2 b1 b0 Corresponding function number 7 6 5 4 3 2 1 0 Input signal polarity selection 0 or 1 0 or 1 0 or 1 0 or 1 0 or 1 0 or...

Страница 24: ...LM 2 Motor holding brake BRK 3 Position reached COIN 4 Torque reached TLC 5 Zero speed ZSP 6 Z signal Restart to take effect 1 Immediate PA149 Control terminal DO2 input signal function selection 2 Immediate PA150 Control terminal DO3 input signal function selection 3 Immediate 2 Description of output signal form selection PA66 digit number b6 b5 b4 b3 b2 b1 b0 Corresponding function number 6 5 4 ...

Страница 25: ... can be monitored in DP13 5 Relevant matters needing attention Brake signal is a differential signal others are single ended output signals open collector 3 2 3 Examples of connection to the host device Servodrive input output signals and their connection examples with the host device are shown below I Instruction input loop 1 Position instruction input loop Linear driver output ...

Страница 26: ...t When the host device is with open collector output and provides VCC 24VDC signal power connection method 1 When the host device is with an open collector output and provides 5VDC 12VDC 24VDC signal power connection method 2 ...

Страница 27: ...C is 5V R 180Ω 2 Sequential input loop Connected by a relay or an open collector transistor circuit When using relay connections select the micro current relay If you do not use small current relay it will cause bad contact Servo drive 3 3KΩ 24VIN S ON etc 24VDC Above 50mA Servo drive 3 3KΩ 24VIN S ON etc Relay Open collector transistor 24VDC Above 50mA ...

Страница 28: ...ce output circuit Servo alarm brake output and other sequence output signals are composed of photocoupler output circuits Please use relay connections Servo drive DC 5V 24V 0V Relay Maximum DC voltage 30VDC Maximum DC current 50mA ...

Страница 29: ... PD BAT BAT FG 9P CODE 1 2 DESCRIPTION PA PB 3 4 5 PZ 5V 6 PA 7 8 9 PB PZ 0V FG DESCRIPTION PD 5V PD 0V FG Encoder cable for aviation plug CABLE CODE 1 2 DESCRIPTION FG 5V 3 4 5 0V PA PB 6 PZ 7 8 9 PA PB PZ DESCRIPTION FG 5V 0V PD BAT PD BAT 9P CODE 1 2 DESCRIPTION PA PB 3 4 5 PZ 5V 6 PA 7 8 9 PB PZ 0V FG DESCRIPTION PD 5V PD 0V FG ...

Страница 30: ...30 3 4 Standard wiring diagram ...

Страница 31: ...ration of the servo driver The names and functions of the panel operator keys are shown below SET MOD button Function Description MOD Switch between modes or exit as a cancel button Cyclic shift left Cyclic increase If the data is the sign value it shifts between and SET Enter parameter and display menu equivalent to ENTER Hold press keys together can clear servo drive alarms BUT please find out t...

Страница 32: ...om 40 to 200 Step Panel display Keys Operations 1 SET MOD Press MOD key to select parameter setting interface 2 SET MOD Press the SET key to enter the parameter setting function 3 SET MOD Press or to display PA100 4 SET MOD Press SET to enter the parameter edit screen displaying as left indicating the current value of 40 ...

Страница 33: ...odified to 200 If the value set in this parameter within the setting range the display will be shown as left 4 4 Operation example of parameter management function EEPOP Parameter management features include parameter storage in EEPROM parameter initialization 4 4 1 Parameter storage function EE 0 example Method 1 Step Panel display Keys Operations 1 SET MOD Press MOD key to enter parameter manage...

Страница 34: ... display then release the SET key 5 When the left figure is displayed the operation is complete 6 SET MOD Press the MOD key to exit this function and return to the display of step 2 Method 2 Set PA10 to 1 press the SET button note PA10 will automatically change back to 2 so when you view again PA10 becomes 2 It does not matter and then restart power to finish Chapter 5 Monitor Display 5 1 Monitor ...

Страница 35: ...iation Pulse Number Encoder Unit upper 4 bits In position control the upper 4 digits of total deviation pulse quantity is displayed 10000 Encoder Pulse 0X0606 dP 07 Analog input speed instruction not available 0 0025V 0X0607 dP 08 Internal speed instruction R min 0X0608 dP 09 Analog input torque instruction not available 0 0025V 0X0609 dP 10 Internal torque instruction 0X060A dP 11 Internal torque...

Страница 36: ... software version 0X0625 dP48 Current alarm number 0X0630 5 2 Operation example of monitor display Take dP0 as an example the operation example of the monitoring display is shown below The following is an example of the display when the servo motor speed is 1600 rpm Step Panel display Keys Operations 1 SET MOD Press MOD key to select monitor display function dISP 2 SET MOD Press the SET key once 3...

Страница 37: ...ET MOD Press SET or MOD key to returns to the step 3 5 3 2 DP12 display explanations The assigned input signal is displayed by the lighting status of the segment LED of the panel operator The corresponding relationship of input pin LED number is shown in the table below When the input signal is valid the upper segment LED lights up When the input signal is L level input optocoupler is on the lower...

Страница 38: ...yed 5 SET MOD Press SET or MOD key to returns to the step 3 5 4 2 DP13 display explanations The assigned output signal is displayed by the lighting status of the segment LED of the panel operator When the output signal is valid the upper segment LED lights up When the output signal is L level the output optocoupler is on the lower segment LED lights up The corresponding relationship of input pin L...

Страница 39: ...tting determines the display on the operation panel when the power is turned on PA Name Range Unit Defaults Effective PA03 Initial display selection For example if set to 0 when power is turn on the display shows motor speed 0 to 40 0 Turn on the power again ...

Страница 40: ... JOG run is the function to confirm the servo motor action through speed control without connecting to the upper controller During JOG run the overtravel prevention function CWL CCWL is inactive User shall pay close attention to mechanical movement of the machinery caused by JOG run 1 Preparing for JOG run Before JOG run the following settings are necessary When S ON input signal is ON please swit...

Страница 41: ...tion setting of the servo driver is correct 6 3 1 Input signal circuit wiring and confirmation For the test run of position control by the host command the connection confirmation shown in step 1 below is required Follow the steps below to confirm the connection and status of the input signals Step Operation 1 Please connect the input signal circuit required for trial operation to CN1 The followin...

Страница 42: ...nfirm the number of command pulses input to the servo driver 8 According to the feedback pulse counter dP0 1 dP02 monitor the pulse change amount before and after the command is issued to confirm the actual rotation amount of the motor 9 Check if the servo motor rotates in the direction specified 10 Stop the pulse command and turn the servo off 6 4 JOG run after connecting the servo motor to the m...

Страница 43: ... trial operation of a servo motor with a brake check the operation of the servo motor and the holding brake before the servo motor and the machine are disconnected After no problem connect the servo motor to the machine and perform trial operation again 3 Use the BRK signal of the servo driver to control the holding brake operation Chapter 7 Operations 7 1 Control mode selection The following desc...

Страница 44: ... motor servo OFF state 2 Input level selection of servo ON signal The input level can be selected through user parameters That is the effective level of the servo ON signal is set User parameters Said Ming PA64 0 The S ON signal input from the input terminal CN1 is active low factory setting 64 The S ON signal input from input terminal CN 1 is active high 7 2 2 Motor over travel prohibitation The ...

Страница 45: ...s in vertical axis Work piece might fall when overtravel To prevent this please set the servo into zero speed clamp when overtravel Connection of overtravel signals To use the overtravel function make sure the following overtravel signals are being correctly connected to the servo drive CN1 Type Signal name Set up Significance Input CCWL ON L level Prohibition of forward drive forward overtravel O...

Страница 46: ...ion loop because the servo motor is under servo locked state at stop the mechanical brake shall not function 1 Example of connection The sequential output signal of servo drive BK and brake power supply forms the ON OFF of the brake Standard connection of a circuit is illustrated as follows M PG 电机 Encoder L2C L1C U V W 2CN Servo drive FG BK U V W FG Servo motor with brake BK RY 24V BK RY AC DC 24...

Страница 47: ...tive logic PULS SIGN 90 degrees PULS SIGN 90 degrees To negate logic user can change PA06 bit1 bit2 7 3 2 Electronic gear setting 1 Encoder resolution Encoder lines Encoder resolution 4 times 1024 4096 2500 10000 5000 20000 Remarks encoder resolution is 4 times quadruple frequency of physical encoder pulses per revolution 2 Electronic gear The function of electronic gear is for setting the work pi...

Страница 48: ...deviation due to interference changes should be made in the following user parameters 1 Input output signal time sequence S ON ON Excited t1 t2 H H L t3 S S P P Puls Sign t3 40ms t1 30ms t2 6ms ON ON t4 t5 t6 t7 COIN CLR OFF Motor excitation The interval between S ON signal and input pulse instructions should be above 40ms If this interval is less than 40ms servo drive may fail to receive the puls...

Страница 49: ...d Range Unit Default Effective 0 100 Pulse 50 Immediate If the difference between the upper controller s instruction pulse input count and the servo motor s movement amount deviation pulse is lower than the set value of this use parameter then the COIN signal will output this also depends on the electronic gear setting If the set value of PA50 is too high and servo is running in low speed COIN sig...

Страница 50: ...ack OFF ON Type Signal Level Name Input INH ON L level INH function is ON OFF H level INH function is OFF 7 4 Internal speed control Internal speed control is to set 8 speeds beforehand through parameters inside servo drive and to select among them by using external input signals INSPD2 INSPD1 and INSPD0 It s unnecessary to configure speed generator or pulse generator outside Servo drive DI1 DI2 D...

Страница 51: ...parameter Meaning PA004 7 Control mode selection internal speed control PA145 3 Use DI1 as internal speed selection 1 PA146 5 Use DI2 as internal speed selection 2 PA147 4 Use DI3 as internal speed selection 3 ...

Страница 52: ...rror Yes ERR 20 IGBT alarm Caused by over current No ERR 21 Current detection abnormity 1 Internal circuit error No ERR 22 Current detection abnormity 2 Internal circuit error No ERR 26 Encoder AB Pulse loss No ERR 27 Encoder UVW error No ERR 28 Encoder UVW broken cable No ERR 29 Encoder ABZ broken cable No ERR 30 Encoder Z Pulse loss No ERR 31 Encoder status error Magnetic encoder wrong initital ...

Страница 53: ...large and if the system gain parameter setting is small there will be a greater overshoot causing this alarm ERR 06 Overload 2 The motor was continuously running with a torque exceeding 160 of the rated value 1 check motor U V W Connection 2 check motor parameters PA2 PA7 PA8 PA9 are correct 3 check the mechanical structure 4 the actual operating load of the machine is too large and it needs to be...

Страница 54: ...ternal circuit abnormal Power failure over 1 Minutes on again if the power is still on the police you need to Depot Repair ERR 22 Current detection channel 2 abnormal Internal circuit abnormal Power off and power on again after 1 minute If this alarm still persists contact the manufacturer ERR 26 Encoder AB Pulse is missing Incremental Encoder AB Pulse is lost Check Encoder wiring ERR 27 Encoder U...

Страница 55: ... 36 Drive power error Reset PA7 parameter 1 view DP21 determine the drive power is correct Then set correctly PA7 value ERR 37 Match alarm The motor current PA9 set by the driver is much larger than the rated current of the driver 1 view DP21 determine the drive power is correct Then set correctly PA7 value 2 set the correct PA9 matching value 3 replace with a higher capacity drive ...

Страница 56: ...00 Speed fluctuation rate Load fluctuation 0 100 load below 0 01 at rated speed Voltage fluctuation Rated voltage 10 0 001 at rated speed Temperature fluctuation 25 25 below 0 1 at rated speed Torque control precision 3 repeatable Soft start time 0 10s acceleration or deceleration Sequential input signals Pin number 3 Functions S ON C MODE etc Sequential output signals Pin number 3 Functions ALM C...

Страница 57: ...speed rpm 3000 3000 3000 3000 Maximum speed rpm 5000 5000 5000 5000 Torque constant N m Amp 0 45 0 508 0 64 0 62 Back EMF constant V Krpm 29 33 43 41 Rotary inertia with brake 10 4Kg m2 0 14 0 16 0 67 0 68 1 5 1 53 1 12 1 15 Resistance line line Ω 8 4 4 28 1 5 1 2 Inductance line line mH 26 5 15 4 7 9 6 1 Mass with brake kg 1 03 1 53 1 59 2 05 2 93 4 03 3 12 4 12 LL with brake mm 105 140 140 175 1...

Страница 58: ...N m Arms 0 93N m Arms 1 07N m Arms Back EMF constant V Krpm 66V Krpm 59 8V Krpm 72 6V Krpm 76V Krpm Rotary inertia with brake 10 4 Kg m2 7 1 7 5 10 6 11 1 13 8 14 3 20 4 20 9 Resistance line line Ω 1 08 0 543 0 52 0 32 Inductance line line mH 12 8 6 3 6 8 4 7 Mass with brake kg 6 5 8 8 8 10 5 9 6 11 9 12 6 14 9 LL with brake mm 154 198 173 217 192 236 230 274 LR mm 58 58 58 58 LE mm 6 6 6 6 LG mm ...

Страница 59: ...4N 5 3 EPS BS 0D40AA 3 0 60DNMA1 0D40D 0 4 3000 6000 2 8A 1 27N 4 6 EPS BS 0D40AA 3 0 60DNMA2 0D40D 0 4 3000 6000 2 5A 1 27N 5 5 EPS BS 0D75AA 4 0 80DNMA1 0D75D 0 75 3000 4500 4A 2 4N 4 8 EPS BS 0D75AA 4 0 80DNMA2 0D75D 0 75 3000 4500 3 7A 2 4N 5 8 EPS BS 0D75AA G 6 0 80DNMA1 0D75C 0 75 2000 3000 5 5A 3 5N 4 11 EPS BS 0D75AA 4 5 80DNMA2 0D75C 0 75 2000 4000 4 5A 3 5N 5 9 EPS BS 0001AA 6 0 80DNMA1 ...

Страница 60: ...AA 7 6 130DNMA2 01D5C 1 5 2000 3000 8A 7 2N 5 16 EPS BS 01D5AA G S 11 5 130DNMA1 01D5B 1 5 1500 2250 10 5A 10 5N 4 21 EPS BS 01D5AA G S 11 5 130DNMA2 01D5B 1 5 1500 2250 10 3A 9 55N 5 21 EPS BS 01D5AA 7 6 130DNMA1 01D2D 1 2 3000 4000 6 3A 4N 4 13 EPS BS 01D5AA 7 6 130DNMA1 01D5D 1 5 3000 4000 7 9A 5N 4 16 EPS BS 01D5AA 7 6 130DNMA2 01D5D 1 5 3000 3200 5 3A 4 77N 5 11 EPS BS 02D2AA 11 5 130DNMA1 02...

Страница 61: ...D edge selection bit A Dividing machine 0 zero torque 1 rated torque bit B Position control internal torque control switch 0 normal output 1 not output position control bit C Position torque control switch 0 internal torque 1 only 1 switch to 4 internal torques bit D Internal speed control reciprocate movement 0 electrical level 1 rising edge 0 65535 0 Restart PA007 Servo drive capacity selection ...

Страница 62: ... Pulse Sign 1 CW CCW 2 A B 0 2 0 Restart PA029 CLE signal trigger selection 0 by electric level 1 by edge 0 Immediate PA030 Z Pulse output width PA030 Z Pulse width ms 500 4 1000 8 2000 16 4000 32 6000 48 1 6500 4000 Restart PA031 First electronic gear ratio numerator 1 65535 1 Immediate PA032 First electronic gear ratio denominator 1 65535 1 Immediate PA035 Pulse input filter 1 1000 1 Restart PA0...

Страница 63: ... 9000 ms 150 Immediate PA066 Output signal polarity selection 0 65535 0 Immediate PA070 RS485 communication standard 0 RTU 1 ASCII 0 1 0 Restart PA072 RS485 communication address 1 31 1 Restart PA073 RS485 bit rate 0 2400bps 1 4800bps 2 9600bps 3 19200bps 4 38400bps 5 57600bps 6 115200bps 0 6 5 Restart PA074 RS485 protocol 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 0 6 5 Restart PA075...

Страница 64: ... 0 Immediate PA102 Internal position 0 speed 0 5000 rpm 120 Immediate PA103 Internal position 1 speed 0 5000 rpm 130 Immediate PA104 Internal position 2 speed 0 5000 rpm 140 Immediate PA105 Internal position 3 speed 0 5000 rpm 150 Immediate PA106 Internal position 4 speed 0 5000 rpm 160 Immediate PA107 Internal position 5 speed 0 5000 rpm 170 Immediate PA108 Internal position 6 speed 0 5000 rpm 18...

Страница 65: ...torque selection 2 3 Deviation Clearance CLE Internal position homing Internal speed selecition 1 4 Alarm Clearance A CLR Internal speed selecition 3 5 Pulse input prohibited INH Internal position stop Internal speed selecition 2 6 Servo enabled S ON 7 Zero speed clamp ZEROSPD Internal position pause 8 Forward JOG 9 Reverse JOG Internal position selection 1 10 Internal position start 11 Homing sta...

Страница 66: ...2 Waiting time after internal position 2 1 9000 PA116 100 PA163 Waiting time after internal position 3 1 9000 PA116 100 Immediate PA164 Waiting time after internal position 4 1 9000 PA116 100 Immediate PA165 Waiting time after internal position 5 1 9000 PA116 100 Immediate PA166 Waiting time after internal position 6 1 9000 PA116 100 Immediate PA167 Waiting time after internal position 7 1 9000 PA...

Страница 67: ...4 5 6 7 ASCII code 30H 31H 32H 33H 34H 35H 36H 37H Byte symbol 8 9 A B C D E F ASCII code 38H 39H 41H 42H 43H 44H 45H 46H 2 RTU mode Every 8 bits data consists of two 4 bits hexadecimal bytes 10 2 2 Byte structure 10 bits byte box used for 7 bits data Start bit 0 1 2 3 4 5 6 Stop bit Stop bit 7 data bits 10 bits character frame 7 N 2 Modbus ASCII Start bit 0 1 2 3 4 5 6 Even parity Stop bit 7 data...

Страница 68: ...a bits 11 bits character frame 8 E 1 Modbus ASCII RTU Stop bit 7 Start bit 0 1 2 3 4 5 6 Odd parity 8 data bits 11 bits character frame 8 O 1 Modbus ASCII RTU Stop bit 7 10 2 3 Communication data structure ASCII mode STX Communication starting byte 3AH ADR Communication address 1 byte contains 2 ASCII codes CMD Command code 1 byte contains 2 ASCII codes DATA n 1 Data content n 12 Word number n Byt...

Страница 69: ...X Communication starting ASCII mode byte 3AH RTU mode Static time exceeding 3 5 bytes under current communication speed ADR communication address Valid communication address is between 1 and 127 For example to communicate with servo drive of Axis 16 hexadecimal 10H ASCII mode ADR 1 0 1 31H 0 30H RTU mode ADR 10H CMD command code DATA data content DATA format is determined by CMD Common CMD listed ...

Страница 70: ...0 Data quantity WORD 0 B 0 1 0 Second address 0200H high to low 1 2 F LRC Check high to low F 4 8 0 End 1 0DH CR LRC Check high to low E End 0 0AH LF 8 End 1 0DH CR End 0 0AH LF RTU mode Command Response ADR 01H ADR 01H CMD 03H CMD 03H Starting address high to low 02H Data quantity bytes 04H 00H Starting address 0200H high to low 00H Data byte number high to low 00H B1H 02H Second address 0200H hi...

Страница 71: ... 0 0 0 Data content high to low 0 Data content high to low 0 0 0 6 6 4 4 LRC Check high to low 9 LRC Check high to low 9 3 3 End 1 0DH CR End 1 0DH CR End 0 0AH LF End 0 0AH LF RTU mode Command Response ADR 01H ADR 01H CMD 06H CMD 06H Starting address high to low 02H Starting address high to low 02H 00H 00H Data content high to low 00H Data content high to low 00H 64H 64H CRC check low 89H CRC che...

Страница 72: ... CMD 1 0 0 Starting address high to low 0 Starting address high to low 0 2 2 0 0 0 0 Data word number high place 0 Data word number high to low 0 0 0 Data word number low place 0 0 2 2 Data byte number 0 LRC Check high to low 9 4 3 Data 1 content high to low 0 End 1 0DH CR 0 End 0 0AH LF 6 4 Data 2 content high to low 0 0 6 6 LRC Check high to low 1 D End 1 0DH CR End 0 0AH LF ...

Страница 73: ...alculate supplement number of 2 RTU mode RTU mode uses CRC Cyclical Redundancy Check detected error value Step 1 CRC register is a 16 bits register whose content is FFFFH Step 2 Exclusive OR compute first byte of command low place byte of 16 bits CRC register and store the result back to CRC register Step 3 Check lowest place LSB of CRC register If this place is 0 then move to the right by 1 place...

Страница 74: ...Slave address Command Data address Verification Servo drive feedback error frame Start Slave address Response code Error code Verification Error frame response code command 80H Error code 00H communication normal 01H servo drive cannot recognize the request 02H data address of the request does not exist in the servo drive 03H data of the request is not allowed exceeding upper lower limit 04H servo...

Страница 75: ...73 RS485 baud rate setting 0 2400bps 1 4800bps 2 9600bps 3 19200bps 4 38400bps 5 57600bps 6 115200bps 0 6 5 Restart PA074 RS485 protocol 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 0 6 5 Restart 10 2 6 Servo drive parameter address 1 User parameter PA address is the same as parameter number change decimal value to hexadecimal For example PA0 communication address is 0x0000 H PA3 commun...

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