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GT610/GT620 Series High Performance Servo Driver User Manual

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Chapter IX Communication Instructions

9.1 MODBUS Communication Protocol

9.1.1 MODBUS communication protocol introduction

MODBUS communication protocol is a kind of master-slave serial asynchronous

half-duplex communication protocol. It adopts master-slave structure, to make one

primary site realize dual-way communication with multiple secondary sites, and it

provides two communication modes of ASCII and RTU. Physical interface

includes standard interface RS232/RS422/RS488.

MODBUS protocol is a completely open and transparent one, and hardware

circuit it requires is also very simple, which makes it become a universal

industrial standard gradually. Almost all control devices and smart instruments

support MODBUS Communication Protocol. Via MODBUS protocol, control

devices and smart instruments produced by different manufactures could form an

industrial network, to carry out a centralized control.

Viewing from hardware aspect, MODBUS serial link system could use different

physical interfaces (i.e. RS485 and RS232).The most frequently used is TIA/EIA

(RS485) two-wire system interfaces. As an additional option, it could also realize

RS485 four-wire system interfaces. When only short-distance point-to-point

communication is required, TIA/EIA-232-E

（

RS232

）

serial interfaces could also

be used. Generally, “232 communication” and “485 communication” mean

interface standards for communication.

MDBUS protocol is the one for software, a communication protocol in a real

sense, which is realized via software programming.

Here we’ll describe MODBUS Communication Protocol realized by software

programming in details.

Содержание GT610 Series

Страница 1: ...make the spindle possess servo function participate interpolation control of coordinate axis and accomplish functions such as rigid tapping and thread cutting etc Its unique position control function...

Страница 2: ...anual could reach final users Conventions in this Manual Symbol Conventions Note Occasions which may cause injuries to medium or slight extent because of failing to operate according to requirements D...

Страница 3: ...ccidents Wiring Danger 1 Before wiring please make sure the input power has been switched off There re dangers of electric shock and fire 2 Please ask electrical engineering technicians to carry out w...

Страница 4: ...he driver 6 Do not connect phase shifting capacitor and LC RC noise filter into output circuit It will cause internal damages to the driver 7 Do not connect electromagnetic switches or electromagnetic...

Страница 5: ...oard and driving circuit please take caution during usage Do not touch the circuit board directly with your fingers for electrostatic induction may damage integrated chips on circuit board 2 When powe...

Страница 6: ...31 Chapter IV Operation and Debugging 32 4 1 Display Panel and Function Introduction 32 4 2 Debugging Guide 34 Chapter V Parameter Table 38 5 1 Debugging Parameter Table 38 5 2 Display Monitoring Par...

Страница 7: ...d Countermeasures 88 7 2 Failure Inquiry 92 Chapter VIII Application Functions 93 8 1 Trial run Operation 93 8 2 Speed Control 96 8 3 Position Control 101 8 4 Positioning Control 102 8 5 Carry Control...

Страница 8: ...M Spindle Servo Series 610 621 620 622 610 Series 621 Series 620 Series 622 Series Code 4 Voltage Level 380V Code T Input Voltage 3 phase Code M Configurable Encoder Photoelectric Encoder R P Electrom...

Страница 9: ...ge Braking Unit Standard Built in Protection Grade IP20 Cooling Mode Forced Air Cooling 1 4 Technical Specification Output Max output voltage Outlet Input voltage 380V corresponds to max output 390V O...

Страница 10: ...orthogonal pulse 5V Encoder output interface 1 Max receiving frequency 500kHz 5V Bus interface RS485 standard Spindle Function Speed control Range 0 30000rpm Rotation forward and backward speed instru...

Страница 11: ...andard resistor value in the above table otherwise it will cause damages to braking pipe Try to avoid using wire wound resistor with a relatively large spurious inductance which will damage driver bra...

Страница 12: ...8 to connect with external interface is very flexible Typical wiring methods are as follows 1 Connection mode using a 24V internal power supply of the servo driver and adopting switch control is as sh...

Страница 13: ...s NPN PNP Control Mode 1 Connection mode using a 24V power supply inside the driver and adopting an NPN typed output external controller is as shown in Fig 2 3 1 8 External Control Interface Shielding...

Страница 14: ...elding Wire Near end Grounded 24V COM PLC DI1 DI8 24V DC 5V 5V Driver Internal Circuit Fig 2 4 Connection Mode Using a 24V Internal Power Supply of the Driver 3 NPN connection mode using an external p...

Страница 15: ...wn in Fig 2 6 1 8 External Control Interface Shielding Wire Near end Grounded PLC DI1 DI8 5V 5V 24V Driver Internal Circuit Fig 2 6 Connection Mode Using an External Power Supply 2 12 Digital Quantity...

Страница 16: ...Connection Method I Using Servo Internal Power Supply Connection mode II DO1 DO2 DO3 CME COM Relay 5V Servo Internal Circuit External Circuit Interface 24V Fig 2 8 Connection Method II Using Servo Int...

Страница 17: ...xternal Power Supply Connection method II DO1 DO2 DO3 CME Relay 5V Driver Internal Circuit External Circuit Interface 24v Fig 2 10 Connection Method II Using Servo External Power Supply 2 13 Analog Qu...

Страница 18: ...nalog voltage it is required to connect short circuit cap of J9 J8 to pin 1 and 2 and jumper terminal corresponding to AI1 is J9 while jumper terminal corresponding to AI2 is J8 J10 J9 J8 10V Fig 2 11...

Страница 19: ...al corresponding to AI2 is J8 J10 J9 J8 24V Fig 2 12 Analog Voltage Input Port Using an External Power Supply 3 AI1 AI2 analog current signal 4mA 20mA input wiring is as shown in Fig 2 13 3 1 2 AI1 AI...

Страница 20: ...ng pin 2 and 3 it outputs a 4 20mA current signal and jumper terminal corresponding to AO1 is J11 while jumper terminal corresponding to AO2 is J12 Fig 2 14 A01 A02 Analog Output 2 14 Pulse Quantity I...

Страница 21: ...er Side Driver Side 24V 12V EZ EZ 24V 12V 24V 12V 24V 12V Fig 2 16 Input Pulse Quantity Single Ended Driving Mode 2 15 Encoder Output Interface Encoder signal output interface is as shown in Fig 2 17...

Страница 22: ...communication with PC or PLC etc and could carry out real time monitoring and control Its connection is as shown in Fig 2 18 Note to use a shielded twist pair with shielded layer single end grounded...

Страница 23: ...inal users are not allowed to connect at this terminal 2 Control terminals are described as follows Port No Name Functions Remarks J4 1 10V Internal 10V power supply 10mA 2 10V Internal 10V power supp...

Страница 24: ...DI7 F2 07 8 default 8 DI8 F2 08 7 default 9 DI9 Reserved 10 COM Digital ground 11 PLC Input terminal common port 12 24V Digital 24V power supply 200mA 13 14 CME Terminal output public port 15 COM Dig...

Страница 25: ...U 5 V 6 W 7 GND Power supply ground 8 KTY KTY temperature sensor positive negative is GND KTY84 130 9 A Encoder differential input negative port 10 B 11 Z 12 U 13 V 14 W 15 5V 5V power supply CN2 1 P...

Страница 26: ...ive port or orthogonal pulse input B 11 EZ EZ differential input negative port 12 12V Single end 12V interface refer to Fig 2 16 13 AOUT Encoder output signal positive port 14 BOUT 15 ZOUT 2 Rotary en...

Страница 27: ...nput B 3 EZ EZ differential input positive port 4 24V Single end 24V interface refer to Fig 2 16 5 Reserved 6 AOUT Encoder output signal negative port 7 BOUT 8 ZOUT 9 PULS Pulse differential input neg...

Страница 28: ...ded twist pair shielded layer is grounded via single driver end while control signal could not be parallel to strong electrical signal line or bound together with it if parallel a distance above 20 60...

Страница 29: ...d Ready Terminal Output Public Terminal Connects to 24V Terminal Output Public Terminal Connects to 24V Failure Reset Failure Input Enables Enable Direction Positioning Tangent Position Ring Rigid Tap...

Страница 30: ...erminal Connects to 24V Terminal Output Public Terminal Connects to 24V Failure Reset Failure Input Enables Enable Direction Positioning Tangent Position Ring Rigid Tapping Zero Servo Emergency Stop J...

Страница 31: ...Manual 31 Chapter III Installation Dimension D D1 D2 D3 W W1 H H1 H2 Fig 3 1 2 2KW 7 5KW 2 2KW 7 5KW dimension table Unit mm Dimension W W1 H H1 H2 D D1 D2 D3 Installation Hole Diameter Reference Fig...

Страница 32: ...cription PRG Menu shift key PRG To shift menu interfaces of all parameter groups Shift key During modifying or viewing parameters user could press this shift key to shift all nixie tube positions Conf...

Страница 33: ...river running while running command channel could be selected via F0 09 Channels for three running commands to be selected are as follows 1 Operation keyboard running command channel Use RUN STOPand J...

Страница 34: ...3 Speed instruct originates from pulse assignment 4 Speed instruct originates from trial run speed 5 Speed instruct originates from communication assignment 4 2 Debugging Guide Please carry out wirin...

Страница 35: ...ed Disconnec Display P OFF Relay Closes And Displays O Done Yes No Yes Yes Yes No Fig 4 2 Power on Process 4 2 2 Debugging process Before debugging usage function it is required to carry out self lear...

Страница 36: ...Communication modified parameters saving process When user is using the driver please note that parameters modified via keyboard would save automatically after the driver powers off and no saving ope...

Страница 37: ...User Manual 37 Establish Communication Modify Application Parameters via Communication Via Communication Set F0 08 2 Select Parameter Saving Mode Via Keyboard Set F0 08 2 Saved Successfully Fig 4 4 C...

Страница 38: ...Scope Min Unit Factory Settings Modification Restriction F0 Group System Parameters F0 00 STOP key function selection 0 Only effective to keyboard control 1 Effective to both keyboard and terminal con...

Страница 39: ...2 Output current 3 Bus voltage 4 Input terminal status 5 Output terminal status 6 Analog input AI1 value 7 Analog input AI2 value 8 14 Reserved 15 Software version 16 Radiator temperature 17 18 Reserv...

Страница 40: ...detection F0 07 Motor tuning selection only effective when F0 09 is 0 0 no action 1 Motor static self learning 2 Motor dynamic self learning 3 Encoder phase order self learning 4 Encoder phase order g...

Страница 41: ...1 F0 13 Motor overload protection coefficient 20 0 120 0 0 1 100 0 F0 14 Reserved F0 15 Motor protecting temperature 40 0 120 0 0 1 120 0 F0 16 Shielding failure protection start control Bit0 Input p...

Страница 42: ...ing F1 03 Motor rated frequency 0 01Hz 400 00Hz 0 01Hz 50Hz F1 04 Motor rated rotation speed 0 36000RPM 1RPM Model setting F1 05 Motor pole pairs number 0 50 1 2 F1 06 Motor rated current 0 1 2000 0A...

Страница 43: ...riction coefficient 0 001 0 500 0 001 0 001 F1 19 Speed observer convergence rate 0 1 12 0 0 1 1 0 F1 20 Speed observer enable 0 Turn off enable 1 Turn on enable 1 0 F1 21 Reserved Group F2 DI DO Term...

Страница 44: ...ode 43 Orientation position selection 1 44 Orientation position selection 2 45 Orientation position selection 3 46 Positioning point collection terminal 47 forward rotating carry command 48 Reversal c...

Страница 45: ...ower on 0 Invalid terminal operation command during power on 1 Valid terminal operation command during power on 1 0 F2 16 Position ring speed ring switching terminal with enable option 0 Without enabl...

Страница 46: ...F4 Speed Ring Parameters F4 00 Speed ring ASR proportional gain 1 0 500Hz 1 60Hz F4 01 Speed ring ASR integration time 1 0 0 1000 0ms 0 1ms 40 0ms F4 02 Reserved F4 03 Reserved F4 04 Reserved F4 05 Re...

Страница 47: ...ard filtering time 0 5 000s 0 001s 0 001s F5 06 Position servo feed forward gain 1 100 00 0 01 0 00 F5 07 Carry circle number 0 65535 1 0 F5 08 Carry pulse count 0 65536 1 0 F5 09 Swing mode accelerat...

Страница 48: ...09 AI2 zero offset 500 500 1 0 F6 10 AI2 input minimum rotation speed 0 0 100 0 0 1 0 0 F6 11 AI2 10V corresponds to max rotation speed setting 100 0 100 0 0 1 100 0 F6 12 AI2 terminal after switching...

Страница 49: ...01 10 00 F6 23 AO2 output lower limit 0 0 100 0 0 1 0 0 F6 24 Lower limit corresponds to AO2 output 0 00 10 00V 0 01 0 00 F6 25 AO2 output upper limit 0 0 100 0 0 1 100 0 F6 26 Upper limit correspond...

Страница 50: ...ition arrival detection level 0 65535 PLUS 1 PLUS 5 PLUS F8 05 Positioning direction 0 Pre positioning speed direction 1 Forward 2 Backward 1 0 F8 06 Spindle gear ratio numerator 1 65535 1 1 F8 07 Spi...

Страница 51: ...1 247 Secondary site 1 1 F9 01 Communication baud rate setting 0 4800BPS 1 9600BPS 2 19200BPS 3 38400BPS 4 115200BPS 1 3 F9 02 Data format LED unit digit Frame format selection 0 RTU 1 ASCII LED ten b...

Страница 52: ...l status 0 FFH D 05 Output terminal status 0 3H D 06 Analog input AI1 V mA 0 0 10 0V 0 20m A D 07 Analog input AI2 V mA 0 0 10 0V 0 20m A D 08 Motor actual position 0 4 F1 12 PLUS 1 D 09 Encoder pulse...

Страница 53: ...535H D 21 Last two failures type 0 23 D 22 Last failure type 0 23 D 23 Current failure type 0 23 D 24 Run speed during current failure 0 Max rotation speed D 25 Output current during current failure 0...

Страница 54: ...tage during deceleration running E 06 Over voltage during constant speed running E 07 Undervoltage of bus E 08 Motor overload E 09 Driver overload E 10 Power module failure E 11 Phase failure on input...

Страница 55: ...to 2 function key STOP controls driver s stop or reset 3 Under any run command channel mode function key STOP could all control driver s stop or reset F0 01 Speed ring instruct source 0 Analog port AI...

Страница 56: ...speed of the driver will be limited to 1500 rpm to protect the motor F0 03 Torque upper limit 0 0 300 0 0 1 200 0 This parameter is torque upper limit allowed to be output by driver For example Rated...

Страница 57: ...06 Shutdown status monitoring parameters selection 0 Motor rotation speed 1 Target rotation speed 2 Output current 3 Bus voltage 4 Input terminal status 5 Output terminal status 6 Analog input AI1 val...

Страница 58: ...2 Motor dynamic self learning 3 Encoder phase order self learning 4 Encoder phase order gear ratio self learning 5 Motor dynamics Encoder phase order self learning 6 Motor dynamics Encoder phase order...

Страница 59: ...ions Before motor s self learning please make sure whether the motor shaft used is allowed to rotate if no load is connected to motor shaft please check whether motor shaft key or sleeve etc has been...

Страница 60: ...ich is host computer assignment F0 10 Shutdown mode 0 Deceleration stop 1 Free stop 1 0 When F0 10 is set to 0 driver will carry out deceleration stop according to the set deceleration time after rece...

Страница 61: ...or rated current Driver rated output current 100 F0 15 Motor protecting temperature 40 0 120 0 0 1 120 0 When shielding failure protection start control is set to 0002 or 0003 this parameter is used t...

Страница 62: ...nput phase failure will occur to the driver if it is set to 0002 start motor overheat protection after that if motor temperature is higher than setting value of protection temperature F0 15 failure E...

Страница 63: ...ut freely after power failure When F0 20 is set to 1 power off deceleration stop will start and deceleration stop will be carried out according to power off deceleration stop time after power failure...

Страница 64: ...er 0 4 900 0KW 0 1KW Model setting F1 02 Motor rated voltage 0 1000V 1V Model setting F1 03 Motor rated frequency 0 01Hz 400 00Hz 0 01Hz 50Hz F1 04 Motor rated rotation speed 0 36000RPM 1RPM Model set...

Страница 65: ...ng function of drivers of GT610 GT620 series and above it is required to guarantee normal encoder feedback signal encoder lines consistent with F1 F13 parameter values and F1 01 F1 06 parameters consi...

Страница 66: ...ng 1 Open loop flux weakening under generating state 1 1 F1 18 Friction coefficient 0 001 0 500 0 001 0 001 F1 19 Speed observer convergence 0 1 12 0 0 1 1 0 F1 20 Speed observer enable 0 Turn off ena...

Страница 67: ...if DI1 closes motor will rotate forward if DI1 and DI2 close or open at the same time motor will stop running if only DI2 closes motor will reverse Its logic is as shown in the following chart 0 repr...

Страница 68: ...pindle enable 33 Spindle forward rotating enable 34 Spindle reversal enable 35 Spindle forward and reverse 36 Spindle positioning 37 Spindle zero servo 38 Spindle emergency stop 39 Spindle reaming res...

Страница 69: ...failure occurs to the machine which could be reset via detection reset could be done by setting this function via this terminal 8 External failure input users could set this function via terminal to i...

Страница 70: ...itch analog quantity gain 42 Spindle swing mode to set this function when this terminal is closed it is swing function F5 09 is swing plus deceleration time while F5 10 is swing pulse count 43 Orienta...

Страница 71: ...DO1 setting 0 No output 1 Ready 2 Orientation completed 3 Failure output 4 Speed arrival 5 Zero speed output 6 Speed Position state output 1 1 F2 11 Open circuit collector output terminal DO2 setting...

Страница 72: ...er on will be inactive before disconnecting It will activate when closed once disconnected when this parameter is set to 1 if the terminal is closed before power on function of this terminal will acti...

Страница 73: ...ection means to increase decrease this deflection on the basis of the rotation speed instruct provided when the current rotation speed is within this range open circuit collector will output a speed a...

Страница 74: ...ing Parameter Description F4 00 Speed ring ASR proportional gain 1 0 500Hz 1 60Hz Higher set value of speed ring proportional gain 1 will lead to higher gain while greater rigidity will lead to faster...

Страница 75: ...e of this parameter will lead to stronger filtering effect smaller noise and slower response 6 6 Group F5 Position Ring Parameter Description F5 00 Position ring mode 0 Pulse position control 1 Positi...

Страница 76: ...n ring proportional gain 1 200 1 20 Proportional gain when servo receives a host computer pulse instruct and works at position ring Larger set value of this parameter will lead to higher position ring...

Страница 77: ...sition instruct lagging smoother position instruct and lower motor noise otherwise it will lead to louder motor noise F5 06 Position servo feed forward gain 1 100 00 0 01 0 00 Higher position ring ser...

Страница 78: ...e electronic gear ratio and its formula is as follows Position ring pulse electronic gear ratio G Position ring pulse electronic gear ratio numerator F5 11 Position ring pulse electronic gear ratio de...

Страница 79: ...e corresponds to max rotation speed setting 100 0 100 0 0 1 100 0 AI1 input max rotation speed means rotation speed corresponding to max analog quantity assigned by analog port AI1 For example When th...

Страница 80: ...n between analog quantity input instruct and rotation speed For example If AI1 port instruct assigns to 10V and corresponding rotation speed is 1000RPM rotation speed corresponding to 10V after changi...

Страница 81: ...current 3 AI1 4 AI2 1 0 F6 17 AO2 multi function analog quantity output terminal function option 1 0 For A01 and AO2 multi function analog quantity output terminals their default outputs are both run...

Страница 82: ...port output is 0V when under 200RPM if increases from 200RPM to 1000RPM AO1 port output will increase from 0V to 10V gradually in a linear manner F6 20 Lower limit corresponding to AO1 output 0 00 10...

Страница 83: ...0 00 10 00V 0 01 10 00 Setting method for parameters corresponding to AO2 is the same with that of AO1 parameters 6 8 Group F7 Pulse Setting and Electronic Gear Ratio Parameter Description F7 00 Posit...

Страница 84: ...parameter will lead to smoother pulse instruct and smaller motor noise otherwise larger motor noise F7 02 Speed ring pulse gear ratio numerator 1 65535 1 1 F7 03 Speed ring pulse gear ratio denominat...

Страница 85: ...speed orientation speed limit 0 300RPM 1RPM 150RPM F8 04 Position arrival detection level 0 65535 PLUS 1 PLUS 5 PLUS F8 05 Positioning direction 0 Speed direction before positioning 1 Forward 2 Rever...

Страница 86: ...cription F9 00 Localhost address 0 Primary site 1 247 Secondary site 1 1 This parameter is used to set the address during the driver is carrying out RS485 communication 0 Primary site It represents th...

Страница 87: ...bit Stop bit 0 1 stop bit 1 2 stop bits 1 0000 This parameter regulates the data format when driver is communicating with host computer while normal communication between both two parties could be ach...

Страница 88: ...of our company Failure Code Name Possible Reasons Countermeasures E 01 Over current during acceleration running Acceleration time too short Over large load inertia Over low power grid voltage Driver...

Страница 89: ...t speed running Input voltage abnormal Large load inertia Check input power supply Decrease load inertia E 07 Undervoltage of bus Input voltage abnormal Check power voltage E 08 Motor overload Power g...

Страница 90: ...r supply E 13 Rectifier bridge radiator overheat Over high ambient temperature Fan damaged Windhole blocked Reduce ambient temperature Change the fan Clean windhole and improve ventilation conditions...

Страница 91: ...acturer or agents E 20 Motor overheat Motor temperature too high Temperature sensor is damaged Temperature detection interface is short circuited Check motor temperature Check temperature sensor Exami...

Страница 92: ...esistor ring Seek for service of the manufacturer or agents Detect braking resistor 7 2 Failure Inquiry Drivers of this series record failure codes of those occurred in the last three times as well as...

Страница 93: ...run Operation 8 1 1 Preparation before power on Confirm position of primary cable R S T U V W PE is correct Confirm braking resistor is connected to P and PB Confirm control panel terminal wiring is c...

Страница 94: ...setting F1 05 Motor pole pairs number 0 50 1 2 F1 06 Motor rated current 0 1 2000 0A 0 1A Model setting F1 13 Encoder lines 100 20000 1 1024 F1 14 Encoder phase order 0 A surpassing B 1 B surpassing A...

Страница 95: ...ncoder phase order self learning 4 Encoder phase order gear ratio self learning 5 Motor dynamics encoder phase order self learning 6 Motor dynamics encoder phase order gear ratio self learning 1 0 If...

Страница 96: ...ally after self learning is completed keyboard will display good Then press reset key STOP to return to normal display interface 8 1 4 Trial run Function Code Name Set Range Min Unit Factory Settings...

Страница 97: ...ange Restriction s F6 00 AI1 zero offset 500 500 1 0 F6 01 AI1 input minimum rotation speed 0 0 100 0 0 1 0 0 F6 02 AI1 10V voltage corresponding max rotation speed setting 100 0 100 0 0 1 100 0 F6 03...

Страница 98: ...ch max rotation speed required when using max analog input For inconsistent linearity among different CNC system analog output quantities it is required to carry out adjusting according to specific si...

Страница 99: ...01 are percentages relative to max rotation speed F0 02 For example when F0 02 6000rpm and F6 02 100 rotation speed corresponding to 10V is F0 02 F6 02 6000 100 6000 rpm 2 When F6 06 1 and AI1 is a bi...

Страница 100: ...m pulse quantity When speed instruct originates from pulse please set related parameters in group F7 as well as values of encoder lines F1 13 Set rotation speed Pulse frequency KHz 1000 60 gear ratio...

Страница 101: ...1ms 40 0ms F4 07 Speed feedback filtering 0 0 10 0ms 0 1 3 0 For details please view parameter detailed description on F4 00 F4 01 and F4 07 8 3 Position Control Related parameters Function Code Name...

Страница 102: ...sor mode realized via terminal switching Position ring via parameter F5 00 is divided into two modes of pulse position control and carry control 1 Pulse position control mode F7 00 0 During applicatio...

Страница 103: ...ntation position 1 0 4 F1 12 PLUS 1 1 PLUS 0 PLUS F8 02 Positioning search speed 0 1500RPM 1RPM 300RPM F8 03 Low speed orientation speed limit 0 300RPM 1RPM 150RPM F8 04 Position arrival detection lev...

Страница 104: ...000ms 1 500ms Function application Sensor mode Stability check of Z signal during normal closed loop operation observe D 13 Z signal real time sampling value if homodromous operation is normal it shal...

Страница 105: ...4 1 1 0 Orientation position 5 0 0 1 Orientation position 6 1 0 1 Orientation position 7 0 1 1 Orientation position 8 1 1 1 Orientation position configuration and collection Orientation position is ce...

Страница 106: ...ore positioning Spindle positioning terminal in terminal enable F0 09 1 control mode it has enable function If it is currently controlled by speed ring after receiving a spindle positioning signal it...

Страница 107: ...pindle rotate at 1 1 please make sure the setting is 1 1 Otherwise if the gear ratio is known you could set manually if not known this could also be obtained via self learning if self learning effect...

Страница 108: ...trol 1 Position carry control 1 0 F5 01 Positioning Carry proportional gain 1 120 1 10 F5 07 Carry circles 0 65535 1 0 F5 08 Carry pulse count 0 65536 1 0 Select a corresponding terminal function and...

Страница 109: ...among which pulse count uses 4 times of encoder lines as a circle For terminals selects spindle swing mode under enable state when spindle swing mode terminal is under ON state if current speed is no...

Страница 110: ...n in Position Control 1 Use the terminal s spindle position ring and speed ring switching terminal function switch the system to position ring This terminal is not equipped with enable 2 Use the termi...

Страница 111: ...ol devices and smart instruments support MODBUS Communication Protocol Via MODBUS protocol control devices and smart instruments produced by different manufactures could form an industrial network to...

Страница 112: ...ta Area Check Code Stop bit Start bit Uses and ASCII code is 3AH Address Code Address of secondary site 8 bits Function Code Primary site is sent informing secondary site the function 8 bits to be exe...

Страница 113: ...ain controller others are reserved for later usage The following are common function codes adaptable to all controllers Code Name Function 01H Read coil state To obtain current state of a group of log...

Страница 114: ...ion protocol When MODBUS protocol is adopted if host computer inquires it is an initiative state if slave computer responds it is a passive state Notice Not all host inquiry frames will be responded b...

Страница 115: ...ven parity Stop bit 0 1 2 3 4 5 6 7 8 data bits 11 bit character frame Information format 8 0 and 1 Start bit Odd parity Stop bit 0 1 2 3 4 5 6 7 8 data bits 11 bit character frame Communication data...

Страница 116: ...ss for communication ranging from 0 to 31 decimal 00H It is a broadcast address and information frames sent via broadcast address will not be responded by slave computer 01H 1FH For driver at a specif...

Страница 117: ...the result into CRC latch register Step 5 Repeat step 3 step 4 and complete all 8 bit operations Step 6 Repeat step 2 step 5 and obtain information instruct of the next 8 bit till operation of all inf...

Страница 118: ...he end Function Code Detailed Explanation and Communication Frame Example 03H Read out register content Read slave computer hold register s binary data which does not support broadcast Inquire informa...

Страница 119: ...frame format Slave Address 03H Bytes Occupied by Data N 2 Register Value CRC CHK Length 2 bytes Length 1 byte Length 1 byte Length 1 byte Length N 2 bytes Slave Address 1 31 Decimal 1 Byte Function co...

Страница 120: ...ion 03H Data Byte Number 02H Data Content 02H 14H CRC CHK Low B9H CRC CHK High 2BH Inquiry frame 01H 03H 00H 05H 00H 01H 94H 0BH Detailed significance is as follows Address 01H Device ID is 01H Functi...

Страница 121: ...read out content CRC CHK Refer to obtaining method for RTU mode check code CRC Check 06H To write one data into register To write one value into a hold register during broadcasting this function writ...

Страница 122: ...1 byte Length 1 byte Length 2 bytes Slave Address 1 31 Decimal 1 Byte Function code 06H 1 byte Register address Address high 8 bits 2 Bytes Address low 8 bits Data content High 8 bits 2 Bytes Low 8 b...

Страница 123: ...frame format Address 01H Function 06H Data Address 01H DDH Data Content 01H F4H CRC CHK Low 18H CRC CHK High 1BH Response information frame format Address 01H Function 06H Data Address 01H DDH Data Co...

Страница 124: ...on code Data address 01DDH Register address is 0x01DD indicating that data has been written into this register Data content 01F4H Indicates data content written into register CRC CHK Refer to obtainin...

Страница 125: ...igh 8 bits Response information frame format Slave Address 10H Start Address Register Number CRC CH Length 2 bytes Length 2 bytes Length 1 byte Length 1 byte Length 2 bytes Slave Address 1 31 Decimal...

Страница 126: ...s 00H 1AH Data quantity word 00H 02H Data quantity byte 04H The first data 03H E8H The second data 03H 20H CRC CHK Low F3H CRC CHK High 84H Response frame Address 01H Function 10H Data start address 0...

Страница 127: ...CHK Refer to obtaining method for RTU mode check code CRC Check on the last page Response frame 01H 10H 00H 1AH 00H 02H 60H 0FH Detailed significance is as follows Address 01H This device ID is 01H Fu...

Страница 128: ...F6 05 EA F9 01 187 F0 04 3B F2 03 10D F6 06 EB F9 02 188 F0 05 1DD F2 04 10E F6 09 EE F9 03 189 F0 06 12C F2 05 10F F6 10 EF D 00 1AB F0 07 5E F2 06 110 F6 11 F0 D 01 1C1 F0 08 1D9 F2 07 111 F6 12 F1...

Страница 129: ...D9 F7 03 1EB D 19 1B7 F1 04 3D F5 00 140 F7 04 1EC D 20 1B8 F1 05 1C F5 01 64 F8 00 7D D 21 1B9 F1 06 32 F5 02 CF F8 01 7E D 22 1BA F1 07 30 F5 03 78 F8 02 7C D 23 1BB F1 08 2F F5 04 79 F8 03 7A D 24...

Страница 130: ...ter table Definition Parameter Address Hexadecimal Data Composition Command Content Significance Run mode information 0002H Low 8 bits Run mode information Bit0 0 voltage abnormal 1 voltage normal Bit...

Страница 131: ...speed Set value 27648 F0 02 Max rotation speed Read failure address 0001H The content is failure number which is zero when there s no failure Note When sending command via using 10H function code it...

Страница 132: ...arameters For example Read the value of D 03 bus voltage monitoring parameter from a slave at address 01H and find out the address is 0005H hexadecimal from the table Host sends hexadecimal 01 03 00 0...

Страница 133: ...uration parameters For example Modify the parameter of slave address 01H to 01F4H Host sends hexadecimal 01 06 01 DD 01 F4 18 1B Slave responds hexadecimal 01 06 01 DD 01 F4 18 1B All response informa...

Страница 134: ...set instruct 01 06 20 00 00 04 83 C9 Respond 01 06 20 00 00 04 83 C9 Note It is especially stated that all parameters modified via communication of this model will not be saved during power off To sav...

Страница 135: ...onditions occurs a certain repair fee shall also be charged a Damages to the servo driver caused by error operation not complying with user manual b Damages to the servo driver caused by flood fire an...

Страница 136: ...d Address Zip Code Contact Person Tel Fax Machine No Power Machine Model Contract No Purchase Date Service Company Contact Person Tel Maintenance Person Tel Repair Date User Suggestions and Comments E...

Страница 137: ...GT610 GT620 Series High Performance Servo Driver User Manual 137 Memorandum Debugging notes...

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