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ProNet Plus Series AC Servo User's Manual

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4. Press the ENTER key, the display will be shown as below.

5. Release the ENTER key to complete position teaching function.

5.2.9 Static Inertia Detection

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the utility function number Fn009.

3. Press the ENTER key, the display will be shown as below.

4. Press the MODE key to rotate the servomotor, and the servomotor dynamic speed will be displayed.

5. The unit of the servomotor and load total inertia displayed when servomotor stops is kg.cm²

Thus, the static inertia detection is complete.

Note:

Make sure that the servomotor completes at least 6 full revolutions in the CCW direction before detection.

5.2.10 Absolute Encoder Multiturn Data and Alarm Reset

1.Press the MODE key to select the utility function mode.

2.Press the INC or DEC key to select the utility function number Fn010.

3. Press the ENTER key, the display will be shown as below.

4. Press the MODE key to reset the absolute encoder multiturn data and alarm.

5. Thus the absolute encoder multiturn data and alarm reset is complete.

Important:

This function will clear the absolute position of the encoder; the mechanical safety must be noted.

When the multiturn data is cleared, other encoder alarms will be reset at the same time.

5.2.11 Absolute Encoder Related Alarms Reset

1. Press the MODE key to select the utility function mode.

2. Press the INC or DEC key to select the utility function number Fn011.

Содержание ProNet Plus Series

Страница 1: ...ProNet Plus Series AC Servo User s Manual Version V1 05...

Страница 2: ...cation may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of ESTUN...

Страница 3: ...ives and servomotors Procedures for wiring the servo drives and servomotors Procedures for operating of the servo drives Procedures for using the panel operator Communication protocols Ratings and cha...

Страница 4: ...ly in the circuit Conduct a voltage resistance test for the servo drive under the following conditions 1 Input voltage AC 1500Vrms 1 minute 2 Braking current 100mA 3 Frequency 50 60Hz 4 Voltage applie...

Страница 5: ...rvo Drive 20 2 2 1 Storage 20 2 2 2 Installation Sites 20 2 2 3 Installation Orientation 21 2 2 4 Installation Method 21 Chapter 3 23 Wiring 23 3 1 Main Circuit Wiring 23 3 1 1 Names and Functions of...

Страница 6: ...troller 62 4 2 Control Mode Selection 63 4 3 Setting Common Basic Functions 64 4 3 1 Setting the Servo ON Signal 64 4 3 2 Switching the Servomotor Rotation Direction 65 4 3 3 Setting the Overtravel Li...

Страница 7: ...oltage Reference 108 4 10 Control Mode Selection 109 4 10 1 Setting Parameters 109 4 10 2 Switching the Control Mode 109 4 11 Other Output Signals 110 4 11 1 Servo alarm output 110 4 11 2 Rotation Det...

Страница 8: ...2 11 Absolute Encoder Related Alarms Reset 131 Chapter 6 133 MODBUS Communication 133 6 1 RS 485 Communication Wiring 133 6 2 MODBUS Communication Related Parameters 134 6 3 MODBUS Communication Proto...

Страница 9: ...2 With oil seal Without brake 02 0 2kW 3 Without oil seal With brake 04 0 4kW 5 Designing Sequence 4 With oil seal and brake 08 0 75kW Code Spec 10 1 0kW A B D H M Designing sequence 3 Voltage 6 Shaft...

Страница 10: ...ntal encoder 1048576P R 1 Without oil seal and brake 15 1 5kW S 17 bit absolute encoder 131072P R 2 With oil seal Without brake 20 2 0kW L 23 bit absolute encoder 8388608 P R 3 Without oil seal With b...

Страница 11: ...0VAC D 400VAC 6 Shaft End Code Spec 2 Straight with key and tap EM3 A 02 A F A 2 4 1 ESTUN Servomotor 1 2 3 4 5 6 7 8 9 10 EM3 Model 1 Servomotor Type 2 3 Rated Output 7 Shaft End Code Spec Code Spec...

Страница 12: ...t 10 A E G EC Rated Output A5 0 05kW 01 0 1kW 02 0 2kW 04 0 4 kW 08 0 75 kW 10 1 0 kW 15 1 5 kW 20 2 0 kW 30 3 0 kW 50 5 0 kW Voltage A200VAC D400VAC Control Mode M Pulse analog CANopen control E Supp...

Страница 13: ...ProNet Plus Series AC Servo User s Manual 11 ProNet Servo Drive Appearance ProNet A5A 01A 02A 04A ProNet A5A 01A 02A 04A EC ProNet 08A 10A ProNet 08A 10A EC...

Страница 14: ...ProNet Plus Series AC Servo User s Manual 12 ProNet 15A 20A 10D 15D 20D ProNet 15A 20A 10D 15D 20D EC ProNet 30A 50A 30D 50D ProNet 30A 50A 30D 50D EC...

Страница 15: ...nual 13 ProNet Servo Drive Nameplate Servodrive model Applicable power supply Applicable servomotor capacity Serial number 1 2 Part Names 1 2 1 Servomotor Servomotor without gear and brake Encoder She...

Страница 16: ...Used for reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor ProNet A5A 01A 02A 04A EC Charge indicator Lights when the main circuit power supp...

Страница 17: ...reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor ProNet 08A 10A EC Charge indicator Lights when the main circuit power supply is ON and stay...

Страница 18: ...reference input signals and sequence I O signals Encoder connector Connects to the encoder in the servomotor ProNet 15A 20A 10D 15D 20D EC Charge indicator Lights when the main circuit power supply is...

Страница 19: ...ence I O signals Encoder connector Connects to the encoder in the servomotor CN3 CN4 CN1 CN2 CHARGE POWER L1 L2 L3 L1C L2C B1 B2 B3 U V W 1 2 ProNet 30A 50A 30D 50D EC Power on indicator Lights when t...

Страница 20: ...an off the anticorrosive paint thoroughly using a cloth moistened with thinner Avoid getting thinner on other parts of the servomotor when cleaning the shaft Anticorrosive paint 2 1 1 Storage When the...

Страница 21: ...rancy is incorrect vibration will occur resulting in damage to the bearings Mechanical shock to the shaft end is forbidden otherwise it may result in damage to the encoder of the servomotor 2 1 4 Inst...

Страница 22: ...nected 2 2 2 Installation Sites Notes on installation are shown below Situation Notes on installation When installed in a control panel Design the control panel size unit layout and cooling method so...

Страница 23: ...od Colling Fan Colling Fan Installation Orientation Install servo drive perpendicular to the wall so that the front panel containing connectors faces outward Cooling Provide sufficient space around ea...

Страница 24: ...2 Install cooling fans above the servo drives if necessary Working conditions 1 Temperature 0 55 2 Humidity 5 95 RH 3 Vibration 4 9m s 2 or less 4 Ambient temperature to ensure long term reliability 4...

Страница 25: ...s Terminal Symbol Name Main Circuit Voltage V Servo Drive Model ProNet Functions L1 L2 L3 Main circuit power supply input terminal 200 A5A 04A Single phase 200 230VAC 10 15 50 60Hz 200 08A 50A Three p...

Страница 26: ...Power ON 1KM 1SUP 1KM 1Ry L1 L2 W V U M PG A 1 B 2 C 3 D 4 L2C L1C CN2 1Ry 1D 24V 0V 1Ry 1PL Servo Alarm Display ALM ALM ProNet Series Servodrive 1 2 Ground Terminal Encoder Servodrive Magnetic Contac...

Страница 27: ...ontactor and relay ProNet Series Servodrives 1 2 B1 B2 B3 B2 B1 External Regenerator Resistor B3 Ground Terminal Three phase 400V ProNet 10D 50D Noise Filter L1 L2 L3 Three phase 380 440V 50 60Hz 10 1...

Страница 28: ...ition 24V P P P P PG Divided Ratio Output Applicable Line Output AM26LS32A Manufactured by TI or the Equivalent Signal Allocations can be Modified V CMP Speed Coincidence COIN Positioning Completion T...

Страница 29: ...which shall be connected to external signals 3 2 2 I O Signal Names and Functions Input Signals The input signals description of ProNet MG servo drives is as shown in the following table Control Mode...

Страница 30: ...Name Pin No Function Speed Position Torque S ON 15 Servo ON Turns the servomotor on P CON 16 Function selected by parameter Proportional control reference Switches the speed control loop from PI to P...

Страница 31: ...travel signal output RD Servo enabled motor excitation output HOME Home completion output BK 4 18 19 29 35 36 37 38 43 44 45 47 49 Not used The output signals description of ProNet EG EC servo drives...

Страница 32: ...rvo ON 39 ALM RST Alarm reset 15 P CON P PI control input 40 CLR Position error pulseclear input 16 P OT Forward run prohibited 41 PCL Forward torque limitinput 17 N OT Reverse run prohibited 42 NCL R...

Страница 33: ...Circuit This section shows examples of servo drive I O signal connection to the host controller Interface for Analog Reference Input Circuit Analog signals are either speed or torque reference signals...

Страница 34: ...it in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller Interface for Sequence...

Страница 35: ...presents multi core twisted pair shielded wires Phase A Output line driver AM26LS31 manufactured by TI or the equivalent CN1 CN2 7 8 17 18 9 19 FG Applicable line receiver SN75175 manufactured by TI o...

Страница 36: ...ed pair shielded wires Phase A Output line driver AM26LS31 manufactured by TI or the equivalent CN1 CN2 7 8 5 6 9 10 19 20 FG Applicable line receiver SN75175 manufactured by TI or the equivalent PBO...

Страница 37: ...4 Communication Connection 3 4 1 Communication Connector CN3 Terminal Layout The signals description in CN3 terminal of ProNet MG servo drives is as shown in the following table Terminal No Name Func...

Страница 38: ...RS 485 communication terminal 4 ISO_GND Isolated ground 5 ISO_GND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal The signals description in CN...

Страница 39: ...Computer 1Ry 1D 24V 0V Surge Protector Magnetic Contactor Molded case Circuit Breaker 1Ry 1PL Servo Alarm Display 1 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 N C 1 N C 2 485 3 ISO_GND 4 ISO_GND...

Страница 40: ...Completion TGON Rotation Detection S RDY Servo Ready CLT Torque Limit Detection BK Brake Interlock PGC Encoder C Pulse Output OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Complet...

Страница 41: ...omputer 1Ry 1D 24V 0V Surge Protector Magnetic Contactor Molded case Circuit Breaker 1Ry 1PL Servo Alarm Display 1 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 N C 1 N C 2 485 3 ISO_GND 4 ISO_GND 5...

Страница 42: ...C 5 RD 6 N C 7 N C 8 1 2 3 4 5 6 7 8 Shield Shell Shield Shell ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA TD TD RD N C N C RD N C N C TD T...

Страница 43: ...0V Surge Protector Magnetic Contactor Molded case Circuit Breaker 1Ry 1PL Servo Alarm Display 1 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL 8 N C 1 N C 2 485 3 ISO_GND 4 ISO_GND 5 485 6 CANH 7 CANL...

Страница 44: ...3 N C 4 N C 5 RD 6 N C 7 N C 8 1 2 3 4 5 6 7 8 Shield Shell Shield Shell ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA TD TD RD N C N C RD N...

Страница 45: ...ON P Control P OT Forward Run Prohibited N OT Reverse Run Prohibited ALM RST Alarm Reset CLR Clear Error Pulse P CL Forward Torque Limit N CL Reverse Torque Limit SHOM Home ORG Zero Position Shell Con...

Страница 46: ...ll Connect Shield to Connector Shell Signal allocatons can be modified S ON Servo ON P CON P Control P OT Forward Run Prohibited N OT Reverse Run Prohibited ALM RST Alarm Reset CLR Clear Error Pulse P...

Страница 47: ...ohibited N OT Reverse Run Prohibited ALM RST Alarm Reset CLR Clear Error Pulse P CL Forward Torque Limit N CL Reverse Torque Limit SHOM Home ORG Zero Position Connect Shield to Connector Shell Represe...

Страница 48: ...is placed near a high frequency generator install a noise filter on the input side of the power supplyline As for the wiring of noise filter refer to 1 Noise Filter shown below For proper grounding t...

Страница 49: ...r peripheral devices The noise filter should be installed on the metal plate and closed to the hole drill through power lines on control panel Use screws to fix the noise filter to the metal plate The...

Страница 50: ...tput lines in the same duct or bundle them together x Noise Filter Ground plate Separate these circuits Noise Filter Noise Filter Noise Filter Ground plate Ground plate Ground plate Separate the noise...

Страница 51: ...s Control Panel Servodrive Servodrive Ground plate Ground Noise Filter 3 7 Installation Conditions of EMC Directives To adapt a combination of a servomotor and a servodrive to EMC Directives EN61326 1...

Страница 52: ...Shield cable Notes The example above shows three phase 200VAC servo drive connection 2 Cable Core and Cable Clamp a Attaching the Ferrite Core The diagram shows two turns in the cable The table shows...

Страница 53: ...box opening should be as small as possible Note Please arrange the system according to the above methods For electromagnetic interference caused by customers not using recommended arrangement ESTUN wi...

Страница 54: ...L3 L1C L2C CN1 L1 L2 L3 L1C L2C CN1 L1 L2 L3 L1C L2C CN1 ALM ALM ALM ALM ALM ALM Servo Drive Servo Drive Servo Motor Servo Motor Servo Motor Note Wire the system so that the phase S power supply will...

Страница 55: ...refer to step 1 4 2 Trial operation for servomotor with host reference Refer to 4 1 2 To power supply Secure the servomotor flange to the machine but do not connect the servomotor shaft to the load s...

Страница 56: ...ry for trial operation to the servo drive 6 Check input signals Use the internal monitor function to check the input signals Turn the power ON and check the emergency stop brake overtravel and other p...

Страница 57: ...not connect the servomotor shaft to the machine The servomotor may tip over during rotation 2 Check the power supply circuit servomotor and encoder wiring With the I O signal connector CN1 disconnect...

Страница 58: ...Step Display after operation Panel operator Description 1 MODE key Press the MODE key to select the function mode 2 INC or DEC key Press the INC key or DEC key to select Fn002 3 ENTER key Press the EN...

Страница 59: ...out Load from Host Reference NOTE this function is available for ProNet MG servo drives only Check that the servomotor move reference or I O signals are correctly set from the host controller to the s...

Страница 60: ...EF from 0 V The factory setting is 6V rated rotation speed 4 Check the speed reference input to the servo drive Un001 rpm Refer to 5 1 6 Operation in Monitor Mode 5 Check the Un000 motor speed rpm Ref...

Страница 61: ...xtremely slow speed refer to 4 5 3 Adjusting Reference Offset and use the reference voltage offset to keep theservomotor from moving 11 Send the command for the number of servomotor rotations Check th...

Страница 62: ...on in Monitor Modefor how it is displayed 6 Check whether the actual number of servomotor rotationsUn009 Un010 coincides with the number of input reference pulses Refer to5 1 6 Operation in Monitor Mo...

Страница 63: ...eference 4 6 Operating Using Position Control and 4 7 Operating Using Torque Controlfor control mode used 3 Connect the servomotor to the machine with the coupling etc while the power is OFF 4 Check t...

Страница 64: ...ation for servomotor without load Speed control Position control Host Controller Servodrive Analog speed reference Reference from the Host Controller Check Item Check Method Review Items JOG Operation...

Страница 65: ...nce Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required 4 6 H 2 Torque Control Analog voltage reference Control...

Страница 66: ...use the S ON signal to start or stop Doing so will degrade internalelements and may cause the servo drive to malfunction A parameter can be used to re allocate the input connector number for the S ON...

Страница 67: ...rom the servo drive do not change The standard setting for forward rotation is counterclockwise as viewed from the servomotor load end Parameter Name Reference Forward reference Reverse reference Pn00...

Страница 68: ...ProNet MG CN1_17 ProNet EG EC CN1_18 factory setting ON low level Reverse rotation Normal operation status OFF high level Reverse rotation prohibited Reverse overtravel Connect limit switches as show...

Страница 69: ...n to enable the new settings A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 2 2 I O Signal Names and Functions 3 Selecting the Servomotor Stop M...

Страница 70: ...erence and position reference to control the starting and the stopping of the servomotor 4 Setting the Stop Torque for Overtravel Pn405 Plug braking torque limit Setting Range Setting Unit Factory Set...

Страница 71: ...rlock output Type Signal Name Connector Pin Number Setting Meaning Output BK Must be allocated ON Low level Releases the brake OFF High level Applies the brake This output signal controls the brake an...

Страница 72: ...rameter Parameter No Name Unit Setting Range Default Pn505 Servo ON waiting time ms 2000 2000 0 Pn506 Basic waiting flow 10ms 0 500 0 Pn507 Brake waiting speed rpm 10 100 100 Pn508 Brake waiting time...

Страница 73: ...e during the time until the brake operates 5 Setting the Brake ON OFF Timing When Servomotor Running The following parameters can be used to change the BK signal output conditions when a stop referenc...

Страница 74: ...he multiturn data is 32767 The absolute position can be read by the MODBUS protocol In the actual control the MODBUS protocol can read the initial position when the servomotor is stopped S OFF then th...

Страница 75: ...ith only the servo drive control power supply turned ON 2 After replacing the battery using the panel operator with utility function Fn011 to cancel the absolute encoder battery alarm A 48 3 Turn ON t...

Страница 76: ...ALM RST 3 Any other alarms that monitor the inside of the encoder should be cancelled by turning OFF the power 4 5 Operating Using Speed Control with Analog Reference NOTE this function is available f...

Страница 77: ...ut reference At 0V the servomotor rotation due to drift will be reduced but servomotor rigidity holding force drops when the servomotor is stopped Note A parameter can be used to reallocate the input...

Страница 78: ...Note The speed reference offset must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the following procedure 1 Turn OFF the servo drive and input the 0V...

Страница 79: ...nit Adjust the speed reference offset manually in the following procedure 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select parameter Fn004 3 Press the ENTE...

Страница 80: ...the servomotor starts until the servomotor maximum speed is reached Pn307 The time interval from the time the servomotor is operating at the servomotor maximum speed until it stops Before soft start A...

Страница 81: ...is turned ON and will still return to the zero clamp position even if it is forcibly rotated by an external force Host Controller Speed Reference V REF Zero Clamp P CON When the P CON signal is turne...

Страница 82: ...g Type Signal Name Connector Pin Number Setting Meaning Input P CON CN1 15 ON low level Zero clamp function ON enabled OFF high level Zero clamp function OFF disabled ZCLAMP Not including this setting...

Страница 83: ...circuit CN1 Phase A PAO Phase B PBO Phase C PCO These outputs explained here Servodrive The dividing output phase form is the same as the standard setting Pn001 0 0 even if inreverse rotation mode Pn0...

Страница 84: ...utput signal is output when the actual servomotor speed during speed control is the same as the speed reference input The host controller uses the signal as an interlock Type Signal Name Connector Pin...

Страница 85: ...4 6 1 Basic Setting in Position Control 1 Setting a reference pulse sign Type Signal Name Connector Pin Number Name Input PULS CN1 30 Reference pulse input PULS CN1 31 Reference pulse input SIGN CN1 3...

Страница 86: ...ce Pulse Input Signal Timing Reference pulse signal form Electrical specifications Remarks Sign pulse train input SIGN PULS signal Maximum reference frequency 500kpps For open collector output 200kpps...

Страница 87: ...le line driver SN75174 manufactured by TI or MC3487 or the equivalent Host controller Line driver Servodrive Photocoupler PULS PULS 30 31 150 CN1 SIGN SIGN 32 33 150 Represents twisted pair wires b Co...

Страница 88: ...Sign Name Connector Pin Numbe Function Input CLR ProNet MG CN1_40 ProNet EG EC manually set error counter clear When the CLR signal is set to low level clear error counter The error counter inside the...

Страница 89: ...is Used workpiece workpiece No of encoder pulses 32768 Ball screw pitch 6mm No of encoder pulses 32768 Ball screw pitch 6mm One revolution is 6mm Therefore 10 6 1 6666 revolutions 32768 4 pulses is on...

Страница 90: ...ing Validation 1 9999 10000 0 After restart Pn708 32 Bit Electronic Gear Ratio Denominator L Setting Range Setting Unit Factory Setting Setting Validation 1 9999 1 1 After restart The deceleration rat...

Страница 91: ...isc Table Belt and Pulley 17 bit encoder Ball screw pitch 6mm Reference unit 0 001mm Load shaft Reference unit 0 1 Load shaft 17 bit encoder Deceleration ratio 3 1 Reference unit 0 01mm Load shaft Dec...

Страница 92: ...able the new setting 2 Filter related Parameters Pn204 Position Reference Acceleration Deceleration Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 32767 0 1ms 0 Immediat...

Страница 93: ...bration suppression function is enabled in both speed control mode and position control mode Low frequency vibration suppression function is disabled or can not reach the expected effect in the follow...

Страница 94: ...tting Meaning Output COIN CN1 11 CN1 12 Factory setting ON low level Positioning has been completed OFF high level Positioning is not completed This output signal can be allocated to an output termina...

Страница 95: ...This function inhibits the servo drive from counting input pulses during position control The servomotor remains locked clamped while pulses are inhibited Error Counter Feedback pulse OFF ON Pn005 1...

Страница 96: ...oints 1 Forward direction 2 Reverse direction Adjusting offset Offset of each points has two correspondent parameters one unit of the parameter is x 10000 reference pulse and the other is x 1 referenc...

Страница 97: ...nd users may choose to find a reference point either in forward or reverse side How to find a reference point Mount a limit switch in the forward or reverse side Find a reference point in the forward...

Страница 98: ...nge steps after the end point is completed during multi points single run Pn681 1 Change step and start mode 0 Delay changing steps the start signal is not needed 1 Change steps by P CON start signal...

Страница 99: ...nt from the host controller is disabled when homing Homing operation is disabled when in switching control mode Control mode switching is not allowed during homing After changing these parameters turn...

Страница 100: ...output from output terminal CN1 9 10 After changing Pn510 turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings HOME signal is only enabled at lo...

Страница 101: ...tor will find C pulse directly the figure is shown as below Speed rpm Pn 685 Pn 686 Find C pulse without returning 0rpm SHOM Rising edge ORG Homing offset distance Pn 690 10000 Pn 691 Encoder C pulse...

Страница 102: ...eference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 10 100 0 1V 100 33 Immediately This sets the analog voltage level for the torque reference T REF that is necessary to...

Страница 103: ...n400 30 Rated torque at 3V 3V input Rated torque in forward direction 9V input 300 rated torque in forward direction 0 3V input 10 rated torque in reverse direction The voltage input range can be chan...

Страница 104: ...the servo drive The amount of offset can be checked in the manual adjustment of torque reference offset Fn004 The automatic adjustment of analog reference offset Fn003 cannot be used when a position l...

Страница 105: ...d limit 2 Speed Limit During Torque Control Pn406 Speed Limit During Torque Control Setting Range Setting Unit Factory Setting Setting Validation 0 6000 rpm 1500 Immediately Set the servomotor speed l...

Страница 106: ...ntact inputs SPEED2 Pn317 SPEED3 Pn318 SPEED4 Pn319 SPEED5 Pn320 SPEED6 Pn321 SPEED7 Pn322 4 8 1 Setting Parameters Parameter Meaning Pn005 H 3 Control mode selection Speed control contact reference S...

Страница 107: ...operating speed Type Signal Name Connector Pin Number Meaning Input P CON CN1 15 Selects the internally set speed Input P CL CN1 41 Selects the internally set speed Input N CL CN1 42 Selects the inte...

Страница 108: ...ON L SPEED7 4 9 Limiting Torque The servo drive provides the following three methods for limiting output torque to protect the machine NO Limiting Method Reference Section 1 Internal torque limit 4 9...

Страница 109: ...e the torque limits previously set in parameters 1 Related Parameters Pn403 Forward External Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 0 300 1 100 Immediately Pn404 Re...

Страница 110: ...age to the T REF terminals CN1 26 27 This function can be used only during speed or position control not during torque control Refer to the following block diagram when the torque limit with an analog...

Страница 111: ...ontrol pulse train reference Speed control analog voltage reference H 8 Position control pulse train reference Torque control analog voltage reference H 9 Torque control analog voltage reference Speed...

Страница 112: ...ervo drive Signal Status Output level Comments ALM ON ProNet MG CN1_07 CN1_08 L level ProNet EG EC CN1_12 CN1_14 L level Normal state OFF ProNet MG CN1_07 CN1_08 H level ProNet EG EC CN1_12 CN1_14 H l...

Страница 113: ...or rotation speedsignal TGON is output The rotation detection signal can also be checked on the panel operator 4 11 3 Servo Ready S RDY Output Type Signal Name Connector Pin Number Setting Meaning Out...

Страница 114: ...ctory Setting Setting Validation 0 1111 0 After restart Pn000 1 1 external POT disabled Pn000 2 1 external NOT disabled Pn000 1 1 and Pn000 2 1 OT signal is ON 4 11 6 Servo Enabled Motor Excitation Ou...

Страница 115: ...case of ProNet EG EC servo drives there is no output Pn511 H 3 CN1 05 CN1 06 In the case of ProNet MG servo drives the CLT signal is output fromCN1 05 06 In the case of ProNet EG EC servo drives the...

Страница 116: ...gains are consistent with the loadrigidity Online autotuning may not be effective in the following cases The motor high speed is lower than 100 rpm The motor acceleration or deceleration is lower than...

Страница 117: ...tuning Pn100 2 3 5 6 Operation OK Adjust the machine rigidity setting Set at Pn101 Operation OK Do not perform online autotuning Set Pn100 0 End Yes No No No No Yes Yes Yes Load moment of inertia vari...

Страница 118: ...0 1ms Position Loop Gain s 1 Speed Loop Gain rad s Speed Loop Integral Time Constant 0 1ms Pn100 1 1 Standard Pn100 1 2 Steadily Pn100 1 3 High precision Pn104 Pn102 Pn103 Pn104 Pn102 Pn103 Pn104 Pn1...

Страница 119: ...34 194 1162 43 509 1162 17 36 298 1193 34 199 1193 42 522 1193 17 4 13 Inertia Overvoltage A 13 may happen if the servomotorexceeds30 times the load inertiain acceleration Regeneration error A 16 may...

Страница 120: ...ng Servo Alarms Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode Servo alarms can also be resetusing the CN1 39 ALM RST input signal There is no need to clea...

Страница 121: ...operation references The basic mode is selected in the following order Power ON Status display mode Parameter setting mode Monitor mode Utility function mode 5 1 4 Status Display Mode The status displ...

Страница 122: ...is input Not lit if no reference pulse is input 5 Torque reference input Lit if input torque reference exceeds preset value Not lit if input torque reference is below preset value Preset value 10 of r...

Страница 123: ...4 Press the INC or DEC key to change the data to the desired number 00085 Hold the key to accelerate the changing of value When the maximum value or minimum value is reached pressing INC or DEC key re...

Страница 124: ...011 Error pulse counter Un013 Number of pulses given Un015 Load inertia percentage Un016 Servomotor overload ratio Un017 Servomotor winding temperature Only used in ProNet 7 5kW 22kW when equipped wit...

Страница 125: ...sh display shows the high 3 bit 3 When the parameter value is negative the decimal point of the 5th digital tube will be lit No matter which page it is on And the fourth digital tube of the third page...

Страница 126: ...current detection Fn007 Software version display Fn008 Position teaching Fn009 Static inertia detection Fn010 Absolute encoder multiturn data and alarm reset Fn011 Absolute encoder related alarms rese...

Страница 127: ...erAlarm Code 4 Press the INC or DEC key to display other recent alarms that have occurred 5 Press the ENTER key the display will return to Fn000 Note Hold the ENTER key for one second with alarm code...

Страница 128: ...us when the servomotor is running 6 Press the INC or DEC key to rotate the servomotor Forward rotation Reverse rotation 7 Press the ENTER key to return to utility function mode display Fn002 Now the s...

Страница 129: ...ero clamp speed control function can be used to force the servomotor to stop while the zero speed reference is given Note The speed reference offset must be automatically adjusted with the servo OFF A...

Страница 130: ...fset adjustment range Analog voltage input Offset adjustment range 1024 1024 Offset setting unit Note When the offset using in automatic adjustment exceeds the manual adjustment range 1024 1024 manual...

Страница 131: ...n the characteristics Automatic Offset adjustment of Servomotor Current Detection Signal Adjust the servomotor current detection signal automatically in the following procedure 1 Press the MODE key to...

Страница 132: ...n Display Select Fn007 in utility function mode to check the current software version of the drive 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the uti...

Страница 133: ...servomotor completes at least 6 full revolutions in the CCW direction before detection 5 2 10 Absolute Encoder Multiturn Data and Alarm Reset 1 Press the MODE key to select the utility function mode 2...

Страница 134: ...oNet Plus Series AC Servo User s Manual 132 3 Press the ENTER key the display will be shown as below 4 Press the MODE key to clear the alarms 5 Thus the absolute encoder related alarms reset is comple...

Страница 135: ...l No Name Function 1 Reserved 2 Reserved 3 485 RS 485 communication terminal 4 ISO_GND Isolated ground 5 ISO_GND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN commun...

Страница 136: ...102 drive in the host computer In addition the definitions of the communication connector terminals are as follows Terminal No Name Function 1 5V Isolated Power 2 D Communication terminal 3 D Communic...

Страница 137: ...ASCII code for number 0 to 9 character A to F are as follows Character 0 1 2 3 4 5 6 7 ASCII Code 30 H 31 H 32 H 33 H 34 H 35 H 36 H 37 H Character 8 9 A B C D E F ASCII Code 38 H 39 H 41 H 42 H 43 H...

Страница 138: ...STX Start character 3A H ADR Communication address 1 byte contains two ASCII codes CMD Reference code 1 byte contains two ASCII codes DATA n 1 Data content n word 2n byte contain 4nASCII codes n 12 DA...

Страница 139: ...erence information Response information STX STX ADR 0 ADR 0 1 1 CMD 0 CMD 0 3 3 Data start address 0 Data number count as byte 0 2 4 0 Content of data start address 0200H 0 0 0 Data number count as wo...

Страница 140: ...alue The exceeded parts e g the total value is 128H of hex then take 28H only is taken off by the unit of 256 in the total value from ADR to the last information then calculate and compensate the fina...

Страница 141: ...oves one bit to right if it is 1 CRC register moves one bit to right then run XOR calculation with A001H Step 4 Go to step 5 till the third step has been executed for 8 times otherwise return to step...

Страница 142: ...means the communication is finished Example The following example uses C language to generate CRC value The function needs two parameters unsigned char data unsigned char length The function will ret...

Страница 143: ...ommand 80 H Error frame responses code command 80H Error code 00H Normal communication 01H Servo drive cannot identify the required functions 02H The required data address does not exist in the servo...

Страница 144: ...nal torque referencepercentage Relative ratedtorque Read only 080A Low 16 bits of the encoder rotation pulse number Used in conjunction with 081D Read only 080B Input signal state Read only 080C Encod...

Страница 145: ...5 JOG reverse rotation 01 Reverse rotation 00 Stop Write only 1026 JOG forward rotation at node position start signal has been set 01 Forward rotation 00 Stop 1027 JOG reverse rotation at node positio...

Страница 146: ...6H Therefore the speed setting is 1258r m 4 MODBUS communication IO signal Use communication to control digital IO signal This data will not be saved after power off It is operated with Pn512 and Pn51...

Страница 147: ...3 3 4 2 8 4 12 0 21 0 28 0 42 0 46 0 64 0 9 6 15 0 19 2 27 0 45 0 Main Input Power Supply Capacity kVA 0 2 0 3 0 5 0 9 1 3 1 8 2 5 3 5 4 5 7 5 1 8 2 8 3 5 5 0 8 2 DC24V Power Supply Capacity W 30 0 30...

Страница 148: ...perature Regulation 25 25 0 1 or less at rated speed Torque Control Analog Reference Input Reference Voltage 10VDC at rated torque Variable setting range 0 10VDC Max input voltage 12V Input Impedance...

Страница 149: ...t ALM RST position error clear CLR forward run prohibited P OT reverse run prohibited N OT forward current limit P CL reverse current limit N CL and so on Sequence Output Number of channels 4 channels...

Страница 150: ...04A ProNet A5A 01A 02A 04A EC 5 150 160 Mounting Hole Diagram 3M 10320 3M 10320 75 180 Nameplate 40 160 180 2 M4 5 ProNet 08A 10A ProNet 08A 10A EC 3M 10320 3M 10320 75 180 Nameplate 10 186 84 Airflow...

Страница 151: ...connect all power and wait 5 minutes before servicing WARNING May cause electric shock CAUTION 100 Ground Terminal 2 M4 Screw 3M 10320 3M 10320 75 180 Airflow Mounting Hole Diagram 175 186 89 5 5 100...

Страница 152: ...Rotor inertia 10 4kg m2 0 019 0 05 0 035 0 052 0 19 0 23 0 31 0 35 0 7 0 74 1 35 1 47 1 74 1 87 Weight kg 0 374 0 566 0 508 0 7 1 21 1 71 1 52 2 02 1 52 2 17 2 96 3 66 3 69 4 29 Rated voltage of brak...

Страница 153: ...g 7 8 5 8 9 10 4 10 8 12 3 16 63 20 23 24 3 27 9 Rated voltage of brake DC24V 10 Rated power of brake W 19 5 35 Hold torque of brake N m 12 40 Encoder 20 bit incremental encoder 1048576P R 17 bit abso...

Страница 154: ...Thermal endurance class F Ambient temperature 0 40 No frozen Ambient humidity 20 80 RH No condensation Anti vibration performance 24 5m s2 Protected mode Fully enclosed self cooling IP65 exclude the s...

Страница 155: ...Fully enclosed self cooling IP65 equipped with an oil seal exclude the cable connection Note 1 The values in parentheses are for servo motors with holding brake 2 The above specification can be achie...

Страница 156: ...tors with holding brake EMJ L LL Dimension S Tap depth Key LR LE LF LC LA LB LZ QK QL W T U 02AFD 142 182 112 152 30 3 6 60 70 50 5 14 M5 10L 16 4 5 5 3 02ASA 154 194 124 164 04AFD 161 201 131 171 04A...

Страница 157: ...5 170 212 5 102 125 2 153 5 196 20 B D 247 289 5 192 234 5 124 147 2 175 5 218 Note The dimensions in parentheses are for servo motors with holding brake EMG L LL KB1 KB2 KL1 KL2 Dimension S Tap depth...

Страница 158: ...20L 40 5 8 7 4 Note The dimensions in parentheses are for servo motors with holding brake EML L LL KB1 KB2 KL1 KL2 Dimension S Tap depth Key LR LE LF LC LA LB LZ QK QL W T U 20 A D 332 401 253 322 168...

Страница 159: ...0 3 8 80 90 70 6 6 19 M6X12 25 6 6 3 5 37 10ALA 155 198 125 158 40 3 8 80 90 70 6 6 19 M6X12 25 6 6 3 5 37 02AFA 126 5 155 5 96 5 125 5 30 3 7 60 70 50 5 5 14 M5X10 20 5 5 3 27 04AFA 147 5 176 5 117 5...

Страница 160: ...Pn001 Binary Pn001 0 CCW CW selection Pn001 1 Analog speed limit enabled Pn001 2 Analog torque limit enabled Pn001 3 2nd electronic gear enabled 0 1111 0 After restart Pn002 Binary Pn002 0 Electronic...

Страница 161: ...009 1 Reserved Pn009 2 Electronic gear selection Pn009 3 Reserved 0 0100 0 After restart Pn010 Hex Pn010 0 Automatic identification motor function enabled Pn010 1 Reserved Pn010 2 Reserved Pn010 3 Res...

Страница 162: ...n126 Hysteresis switching 0 20000 0 Immediately Pn127 Low speed detection filter 0 1ms 0 100 10 Immediately Pn128 Speed gain acceleration relationship during online autotuning 0 3 3 Immediately Pn129...

Страница 163: ...0 10 100 33 Immediately Pn401 Forward internal torque limit 1 0 400 300 Immediately Pn402 Reverse internal torque limit 1 0 400 300 Immediately Pn403 Forward external torque limit 1 0 350 100 Immediat...

Страница 164: ...lete time 0 1ms 0 60000 500 Immediately Pn521 Binary Pn521 0 If connected externally regenerative resistor Pn521 1 Reserved for manufacturer Pn521 2 Reserved for manufacturer Pn521 3 Reserved for manu...

Страница 165: ...step 0 15 1 Immediately Pn685 Search travel speed in position control contact reference Speed of finding reference point hitting the origin signal ORG in position homing control rpm 0 3000 1500 Immed...

Страница 166: ...2 bit electronic gear denominator H 0 9999 0 After restart Pn708 32 bit electronic gear denominator L 0 9999 1 After restart Pn709 32 bit 2st electronic gear numerator H 0 9999 0 After restart Pn710 3...

Страница 167: ...loss ALM 0 Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period with alarm output Pn001 Binary After restart Pn001 0 ALL Pn001 1 T Pn001 2 P S Pn001 3...

Страница 168: ...ic gear numerator 1 t1 t2 t3 t4 1ms Error time sequence t1 t2 PCON disabled PCON enabled PCON disabled Reference pulse Pn201 Electronic gear numerator 1 Pn203 Electronic gear numerator 2 Pn201 Electro...

Страница 169: ...FF stops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 1 Error counter clear mode 0 Clear error pulse when S OFF do not when overtravel 1 Do not clear error...

Страница 170: ...PCL NCL OFF Switches to position control pulse train reference 6 Speed control contact reference torque Control analog reference PCON PCL NCL OFF Switches to position control analog reference 7 Posit...

Страница 171: ...Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibration suppression function disabled 1 Low frequency vibration suppression function enabled Pn006 3 Reference input filte...

Страница 172: ...served Pn010 2 Reserved Pn010 3 Reserved Pn100 Online autotuning After restart P S Pn100 0 Load inertia setting 0 Manual setting 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variatio...

Страница 173: ...op gain Decreases this value to enhance servo rigidity but vibration will occur if the value is too large Unit 1 s Pn105 Torque reference filter time constant Immediately P S T Torque reference filter...

Страница 174: ...106 correctly to enable this function in manual gain adjustment mode Unit Pn115 Torque feedforward filter time constant Immediately P S It is used to ease mechanical vibration due to torque feedforwar...

Страница 175: ...utotuning Immediately P S The increasing multiple of speed loop gain is the same rigidity during online autotuning The speed loop gain is larger when this value is higher Pn129 Low speed correction co...

Страница 176: ...ck time during homing method 1 2 3 4 Immediately P The allowed time for the stalled during homing method 1 2 3 4 Unit 0 125ms Pn300 Analog speed reference input gain Immediately S The corresponding sp...

Страница 177: ...atingspeed P CON P CL N CL OFF H OFF H OFF H Zerospeedorswitch toothercontrolmodes OFF H ON L SPEED1 ON L OFF H SPEED2 ON L ON L SPEED3 ON L OFF H OFF H SPEED4 OFF H ON L SPEED5 ON L OFF H SPEED6 ON L...

Страница 178: ...diately T Pn415 Analog torque given zero bias Immediately T This parameter is used to set zero bias of analog torque given and it is related with torque reference input gain Pn400 Analog torque refere...

Страница 179: ...when servo ON signal is input and then BK signal is created after delaying the parameter setting time Basic waiting flow Standard setting BK output braking action and servo OFF are at the same time No...

Страница 180: ...CN1_17 CN1_39 CN1_40 CN1_41 CN1_42 Corresponding signal of each data is shown as following 0 S ON 1 P CON 2 P OT 3 N OT 4 ALMRST 5 CLR 6 P CL 7 N CL 8 G SEL 9 JDPOS JOG A JDPOS JOG B JDPOS HALT C HmRe...

Страница 181: ...ly P S T 0 Do not inverse signal 1 Inverse signal Pn516 0 CN1_14 inversion Pn516 1 CN1_15 inversion Pn516 2 CN1_16 inversion Pn516 3 CN1_17 inversion Pn517 0 CN1_39 inversion Pn517 1 CN1_40 inversion...

Страница 182: ...Torque detection output signal time Unit ms Pn531 Reserved for manufacturer Pn600 Position pulse in JPOS0 point to point control high level Immediately P The two parameters are used in combination and...

Страница 183: ...ngle operation PCL start signal NCL search reference point in forward direction 2 Cyclic operation NCL start operation PCL search reference point in forward direction 3 Single operation NCL start oper...

Страница 184: ...used in combination and the algebraic sum of them is the current position of position teaching When performing the position teaching by utility function the algebraic sum of the two parameters are giv...

Страница 185: ...nic gear numerator H After restart ALL The parameters are valid when Pn009 2 1 The electronic gear enables the reference pulse to relate with the servomotor travel distance so the host controller does...

Страница 186: ...ntrol Mode Function and Meaning 1 0 4kW servo drive 2 0 75kW servo drive 3 1 0 kW servo drive 4 1 5kW servo drive 5 2 0kW servo drive 6 3 0kW servo drive 7 5 0kW servo drive 8 7 0kW 7 5kW servo drive...

Страница 187: ...Binary Pn002 0 Electronic gear switching mode Pn002 1 Reserved Pn002 2 Absolute encoder selection Pn002 3 Reserved 0 0111 0010 After restart Pn003 Binary Pn003 0 Reserved Pn003 1 Reserved Pn003 2 Low...

Страница 188: ...ed 0 0x0036 0x0000 After restart Pn101 Machine rigidity setting 0 36 6 Immediately Pn102 Speed loop gain rad s 1 4000 250 Immediately Pn103 Speed loop integral time constant 0 1ms 1 4096 200 Immediate...

Страница 189: ...ately Pn147 Notch filters 2 trap width 0 15 2 Immediately Pn200 PG divided ratio Puls 16 16384 16384 After restart Pn201 16 bit 1st electronic gear numerator 1 65535 1 After restart Pn202 16 bit elect...

Страница 190: ...orque control rpm 0 6000 1500 Immediately Pn407 Notch filter 1 frequency Hz 50 5000 5000 Immediately Pn408 Notch filter 1 depth 0 23 0 Immediately Pn409 Notch filter 2 frequency Hz 50 5000 5000 Immedi...

Страница 191: ...26 Temperature threshold of motor overheat alarm Only enabled in ProNet 75 1A 1E 2B 50 180 110 Immediately Pn527 Reserved 10mv 0 520 500 Pn528 Output signal inverse 0 1111 0 Immediately Pn529 Torque d...

Страница 192: ...ce Speed of finding reference point leaving the origin signal ORG in position homing control rpm 0 200 30 Immediately Pn687 Position teaching pulse 10000puls 9999 9999 0 Immediately Pn688 Position tea...

Страница 193: ...708 32 bit electronic gear denominator L 0 9999 1 After restart Pn709 32 bit 2st electronic gear numerator H 0 9999 0 After restart Pn710 32 bit 2st electronic gear numerator L 0 9999 1 After restart...

Страница 194: ...r loss ALM 0 Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period with alarm output Pn001 Binary After restart Pn001 0 ALL Pn001 1 T Pn001 2 P S Pn001...

Страница 195: ...nic gear numerator 1 t1 t2 t3 t4 1ms Error time sequence t1 t2 PCON disabled PCON enabled PCON disabled Reference pulse Pn201 Electronic gear numerator 1 Pn203 Electronic gear numerator 2 Pn201 Electr...

Страница 196: ...FF stops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 1 Error counter clear mode 0 Clear error pulse when S OFF do not when overtravel 1 Do not clear error...

Страница 197: ...PCL NCL OFF Switches to position control pulse train reference 6 Speed control contact reference torque Control analog reference PCON PCL NCL OFF Switches to position control analog reference 7 Posit...

Страница 198: ...Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibration suppression function disabled 1 Low frequency vibration suppression function enabled Pn006 3 Reference input filte...

Страница 199: ...t read the motor parameters from Pn parameters Pn010 1 Reserved Pn010 2 Reserved Pn010 3 Reserved Pn100 Online autotuning After restart P S Pn100 0 Load inertia setting 0 Manual setting 1 2 3 Normal m...

Страница 200: ...ermines position loop gain Decreases this value to enhance servo rigidity but vibration will occur if the value is too large Unit 1 s Pn105 Torque reference filter time constant Immediately P S T Torq...

Страница 201: ...106 correctly to enable this function in manual gain adjustment mode Unit Pn115 Torque feedforward filtertime constant Immediately P S It is used to ease mechanical vibration due to torque feedforward...

Страница 202: ...utotuning Immediately P S The increasing multiple of speed loop gain is the same rigidity during online autotuning The speed loop gain is larger when this value is higher Pn129 Low speed correction co...

Страница 203: ...torque Pn208 Lock time during homing method 1 2 3 4 Immediately P The allowed time for the stalled during homing method 1 2 3 4 Unit 0 125ms Pn209 Touch Probe input channel selection After restart P P...

Страница 204: ...0 Slope 1 S curve 2 1 st order filter 3 2 nd order filter Pn311 S form selection After restart S This value determines the transition form of S curve Pn312 DP communication JOG speed Immediately P S...

Страница 205: ...w frequency vibration with load Unit 0 1Hz Pn412 Low frequency vibration damp Immediately P S Attenuation damp of low frequency vibration with load Pn413 Torque control delay time Immediately T These...

Страница 206: ...is created after delaying the parameter setting time 2For the parameter is minus servomotor excitation signal is output firstly when servo ON signal is input and then BK signal is created after delayi...

Страница 207: ...N OT 4 ALMRST 5 CLR 6 P CL 7 N CL 8 G SEL 9 JDPOS JOG A JDPOS JOG B JDPOS HALT C HmRef D SHOM E ORG F ZCLAMP Pn510 Allocate input port to signal one port with four bits hex After restart P S T Pn511 O...

Страница 208: ...S T Motor dynamic brake time Unit ms Pn519 Serial encoder error time Immediately P S T In the range of this parameter there will be no warning of serial encoder error Unit 0 1ms Pn520 Position comple...

Страница 209: ...aning of other point to point control related parameters are the same Pn630 Position pulse in JPOS15 point to point control high level Immediately P The two parameters are used in combination and the...

Страница 210: ...e pulse can not stop when PCON off 2 Delay to change step need start signal canceling start signal can immediately stop inside pulse Return to programmed start point process step when reset 3 PCON cha...

Страница 211: ...n690 is exceeded in the forward rotation direction the multi turn data is 0 When the lower limit 0 is exceeded in the reverse rotation direction the multi turn data is Pn690 Pn691 Setting value of enc...

Страница 212: ...ses 708 10000 707 min 710 10000 709 706 10000 705 Pn Pn ator Deno Pn Pn or Pn Pn Numerator Pn706 32 bit 1st electronic gear numerator L After restart ALL Pn707 32 bit electronic gear denominator H Aft...

Страница 213: ...hannel of current detection is wrong Something wrong with the inside chip of the 1st channel A 09 The 2nd channel of current detection is wrong Something wrong with the inside chip of the 2nd channel...

Страница 214: ...A 47 Battery voltage below 2 5V Absolute encoder multiturn information is lost A 48 Battery voltage below 3 1V Battery voltage is too low A 49 The position of the encoder was changed Not connect the...

Страница 215: ...is less than half of the set synchronization period A 69 Synchronization signal monitoring cycle is longer than setting The filling time and the cycle of the synchronous signal does not match A 70 Et...

Страница 216: ......

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