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User Manual of EL6-CAN AC Servo 

                                                                         

    www.leadshine.com

 

56 

COB-ID description 

Parallel to CAN, every node on a CANopen network must have a unique node-ID. The range of valid values 

comprises from 1 to 127. Zero is not allowed. 

Similarly, the priority is determined by the COB-ID and RTR bits. As expected, the RTR bit on the arbitration 

field is used to request information from a remote node. In particular, it is used to implement the node guarding 

and TPDO request features, explained in the following chapters. With the exception of these two 

circumstances, the RTR bit is always set to zero. 

The function cade determines the communication object, which should be one of the allowed in CANopen. 

The final COB-ID od the object depends on the ID of which node receives or transits the message, which 

allows to further establish priorities between nodes for the same function code. 

 

In a master/slave communication, the message could be divided into two groups, as shown in the following 

tables. 

 

CANopen broadcast messages: 

Communication Object 

Function code(binary) 

COB-ID(hex) 

NMT service 

0000b 

0x000 

SYNC 

0001b 

0x080 

 

CANopen peer-to-peer messages: 

Communication Object 

Function code(binary) 

COB-ID(hex) 

Object Dictionary 

Emergency 

0001b 

0x080+Node-ID 

1024H,1015H 

TXPDO1(transmit) 

0011b 

0x180+Node-ID 

1800H 

RXPDO1(receive) 

0100b 

0x200+Node-ID 

1400H 

TXPDO2(transmit) 

0101b 

0x280+Node-ID 

1801H 

RXPDO2(receive) 

0110b 

0x300+Node-ID 

1401H 

TXPDO3(transmit) 

0111b 

0x380+Node-ID 

1802H 

RXPDO3(receive) 

1000b 

0x400+Node-ID 

1402H 

TXPDO4(transmit) 

1001b 

0x480+Node-ID 

1803H 

RXPDO4(receive) 

1010b 

0x500+Node-ID 

1403H 

SDO(transmit) 

1011b 

0x580+Node-ID 

1200H 

SDO(receive) 

1100b 

0x600+Node-ID 

1200H 

NMT error control 

1110b 

0x700+Node-ID 

1016H~1017H 

The COB-ID of No. 4 slave station TPDO2 = 0x280 + 4 = 0x284 

5.2.2 CANopen objects 

In the CANopen protocol, there are defined three main sets of objects, organized in profile areas: 

 

Communication profile area (0x1000 to 0x1FFF)

: These objects relate to CANopen communication, as 

defined in the DS301 communication profile. Objects in this address range are used to configure CANopen 

messages, and for general CANopen network setting. 

 

Manufacturer profile area (0x2000 to 0x5FFF)

: These objects are manufacturer specific. Detailed 

information about the specific objects implemented in EMCL can be found all through this document. 

 

Device profile area (0x6000 to 0x9FFF)

: These objects are standardized device profile objects as defined 

in the DSP402 profile, which is the CANopen profile for servo drives. 

This chapter is focused on the Communication profile area. DS301 defines special objects for the 

Содержание EL6-CAN

Страница 1: ...User Manual of EL6 CAN AC Servo www leadshine com 1 User Manual of EL6 CAN AC Servo ...

Страница 2: ...sult in loss of life or serious injury Caution indicates that the error operation could result in operator injured also make equipment damaged Attention indicates that the error use may damage product and equipment Safety precautions Warning The design and manufacture of product doesn t use in mechanic and system which have a threat to operator The safety protection must be provided in design and ...

Страница 3: ...ervo drive and servo motor installed correctly After correctly connecting cables insulate the live parts with insulator Caution The wiring must be connected correctly and steadily otherwise servo motor may run incorrectly or damage the equipment We mustn t connect capacitors inductors or filters between servo motor and servo drive The wire and temperature resistant object must not be close to radi...

Страница 4: ...signal before restart Keep away from machine because of restart suddenly if the drive is powered on again after momentary interruption the design of the machine should be assured to avoid danger when restart occurs System selection Attention The rate torque of servo motor should be larger than effective continuous load torque The ratio of load inertia and motor inertia should be smaller than recom...

Страница 5: ...al 16 3 2 3 RS232 RS485 Communication Port CN4 CN5 Terminal 16 3 2 4 Encoder output Port CN6 Terminal 17 3 2 5 Power Port 17 3 3 I O Interface Principle 18 3 3 1 Digital Input Interface 18 3 3 2 Digital Output Interface 19 Chapter 4 Parameter 21 4 1 Parameter List 21 4 1 1 Drive Parameters Group 2000h 21 4 1 2 Manufacturer Parameters Group 5000h 24 4 1 3 Device Profile Parameters Group 6000h 26 4 ...

Страница 6: ... 72 6 6 Common Functions for All Modes 73 6 6 1 Motor Rotation Direction 73 6 6 2 Drive Stop 73 6 6 3 Electronic Gear Ratio 73 6 6 4 Control Word 74 6 6 5 Status Word 74 6 6 6 Drive Enable 75 6 7 Profile position mode 76 6 7 1 Controlword in profile position mode 76 6 7 2 Statusword in profile position mode 77 6 7 3 Related objects 78 6 7 4 Example of profile position mode 78 6 6 Profile velocity ...

Страница 7: ...rtia ratio identification 100 6 10 1 On line inertia ratio identification 100 6 10 2 Off line inertia ratio identification 100 6 10 3 Motion Studio inertia ratio identification 101 6 11 Vibration Suppression 101 6 12 Friction torque compensation 103 6 13 Third gain switching 103 6 14 Regenerative resister setting 104 6 15 Multi turn absolute encoder 105 6 15 1 Parameters setting 105 6 15 2 Read ab...

Страница 8: ...protocol Improve motion performance The trajectory planning of bus communication servo is realized in the drive The controller only needs to transfer the target position speed acceleration and other information to the drive Therefore the drive can predict the motion parameters of the next moment in advance internally and then take feedforward measures to improve the motion performance Reduce syste...

Страница 9: ...peed current position deviation drive type version and address ID value etc Configuration software Can adjust parameters of current loop velocity loop position loop change the value of input and output signals and the parameter of motor and save the values to the files which can be downloaded and uploaded monitor the waveform of velocity and position in the ladder Communication interface RS232 for...

Страница 10: ...eaning a EL6 series servo drive EL6 CAN 1000 Z NO Details Series EL6 Servo drive series Command source D Standard version RS RS485 CAN CANopen Power 0400 400W 0750 750W 1000 1000W Encoder Z Serial encoder a Servo motor type The EL6 series AC servo drive can be matched with ELM series AC servo motor 1 3 Accessory selection 1 Power cable 1 2m 2 2m 3m 5m 7m 10m selectable CABLE RZ3M0 S motor with SS ...

Страница 11: ...as or flammable gas no oil or dust Indoor no exposure no corrosive gas or flammable gas no oil or dust Altitude Lower than 1000m Lower than 2500m Vibration Less than 0 5G 4 9m s2 10 60Hz non continuous working Protection level IP20 no protection IP54 or IP65 2 2 Servo Drive Installation Notice Must install in control cabinet with sufficient safeguarding grade Must install with specified direction ...

Страница 12: ...s prevent motor by vibration or shock The motor shaft can t bear the load beyond the limits Motor shaft does not bear the axial load radial load otherwise you may damage the motor Use a flexible with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permissible value Install must be steady prevent drop from vibr...

Страница 13: ...y to cut off the external power supply if drive error occurs 2 The control signal CN1 CN2 and feedback signal CN3 Diameter shielded cable twisting shield cable is better the diameter of CN1 0 14mm2 the diameter of CN2 0 25mm2 the shield should be connected to FG terminal Length of line cable length should be as short as possible and control CN1 cable is no more than 3 meters the CN3 cable length o...

Страница 14: ...ancel the built in resistance If the brake resistance burns out try to reduce the regenerative energy power or put an external resistance of the same specification or even more power in this case cancel the built in resistance If d14 is too large or accumulates too fast it means that the regenerative energy is too large and the built in resistance cannot consume the generated energy the regenerati...

Страница 15: ...rogrammable digital inputs allows sink input source input within the range from 12 VDC to 24 VDC 30mA 2 3 programmable digital outputs 2 single ended 1 differential 3 2 Drive Terminals Function Port Function CN1 Pulse Direction Signal Port for EL6 D and EL6 RS version only CN2 Digital input output Port CN3 Encoder Input Port CN4 RS232 for configuration software connection CANopen CN5 CANopen CN6 E...

Страница 16: ...he range from 12 VDC to 24 VDC 30mA 7 SO1 Digital output 1 8 SO2 Digital output 2 9 SO3 Differential Digital output 3 1 programmable digital differential output within the range from 12 VDC to 24 VDC 30mA 10 SO3 3 2 2 Encoder Input Port CN3 Terminal Table 3 3 Encoder Input Port CN3 Terminal Signal Explain Port Pin Signal CN3 1 VCC5V 2 GND 3 BAT 4 BAT 5 SD 6 SD PE 3 2 3 RS232 CANopen Communication ...

Страница 17: ...ation transformer can be used for power supply Do not access the 380VAC power supply otherwise it will cause serious damage to the drive In the case of serious interference it is recommended to use noise filter for power supply It is recommended to install a non fusible circuit breaker to cut off external power supply in time when the drive fails Port Pin Signal Detail X1 P DC bus terminal Drive D...

Страница 18: ...refer to the following table Signal Symbol Setup value 0x60FD bit Normally open Normally closed Invalid 00h Do not setup Positive direction over travel inhibition input POT 01h 81h 1 Negative direction over travel inhibition input NOT 02h 82h 0 Alarm clear input A CLR 04h Do not setup Forced alarm input E STOP 14h 94h HOME SWITCH HOME SWITCH 16h 96h 2 Normally open means input signal comes from ex...

Страница 19: ...6 Single ended output Pin9 Pin10 Differential output Pr4 10 Name Output selection DO1 Mode F Range 0 00FFFFFFh Unit Default 0x81 Index 2410h Pr4 11 Name Output selection DO2 Mode F Range 0 00FFFFFFh Unit Default 0x02 Index 2411h Pr4 12 Name Output selection DO3 Mode F Range 0 00FFFFFFh Unit Default 0x03 Index 2412h Assign functions to digital outputs This parameter use 16 binary system do setup Fo...

Страница 20: ...Servo www leadshine com 20 Homing process finish HOME OK 22h A2h Normally open Active low Normally closed Active high Don t setup to a value other than that specified in the table Pr4 10 Pr4 11 correspond to DO1 DO2 respectively ...

Страница 21: ...6h Pr_016 F 17 External regenerative resistance power value 2017h Pr_017 F 23 CAN Node ID 2023h Pr_023 F 24 CAN baud rate 2024h Pr_024 25 Synchronous compensation time 1 2025h Pr_025 26 Synchronous compensation time 2 2026h Pr_026 PP HM Class 1 Gain Adjust 00 1st gain of position loop 2100h Pr_100 F 01 1st gain of velocity loop 2101h Pr_101 F 02 1st time constant of velocity loop integration 2102h...

Страница 22: ...lass 3 Speed Torque Control 12 time setup acceleration 2312h Pr_312 PV 13 time setup deceleration 2313h Pr_313 PV 14 Sigmoid acceleration deceleration time setup 2314h Pr_314 PV 16 Speed zero clamp level 2316h Pr_316 23 Speed mode zero speed static 2323h Pr_323 F Class 4 I F Monitor Setting 00 input selection DI1 2400h Pr_400 F 01 input selection DI2 2401h Pr_401 F 02 input selection DI3 2402h Pr_...

Страница 23: ...01h Pr_601 PP HM 04 JOG trial run command speed 2604h Pr_604 PP HM 05 Position 3rd gain valid time 2605h Pr_605 PP HM 06 Position 3rd gain scale factor 2606h Pr_606 F 07 Torque command additional value 2607h Pr_607 F 08 Positive direction torque compensation value 2608h Pr_608 F 09 Negative direction torque compensation value 2609h Pr_609 11 Current response setup 2611h Pr_611 12 Setting of torque...

Страница 24: ...atchdog counter 0 0 65535 09 Sync0 Drift watchdog limit 4 0 65535 73C alarm threshold set to 0 is shielding 0A SM2 watchdog counter 0 0 65535 0B SM2 Watchdog limit 4 0 65535 73A alarm threshold set to 0 is shielding 0C Application layer SM2 Sync0 watchdog counter 0 0D Application layer SM2 Sync0 watchdog limit 4 0E Reserved 0 500 0F Time interval between SM2 and Sync0 ns 0 0 100000 0000 832h Alarm...

Страница 25: ...t 6041h bit13 1 1 As normal continue homing process 5400 01 Set synchronization cycle minimum value us 250 125 1000 02 Set synchronization cycle maximum value us 10000 4000 20000 5500 01 Absolute encoder multi turn number r 02 Encoder single turn position Pulse 03 Encoder feedback position 32 bit low Pulse 04 Encoder feedback position 32 bit high Pulse 05 The actual mechanical position 32 bit low ...

Страница 26: ...op option code 6 0 7 ALL 605B 0 Shut down code 0 0 1 ALL 605C 0 Disable operation code 0 0 1 ALL 605D 0 Halt option code 1 1 4 ALL 605E 0 Alarm stop code 0 0 2 ALL 6060 0 Mode of operation 8 1 11 ALL 6061 0 Mode of operation display ALL 6062 0 Position demand value Command unit pp hm 6063 0 Actual internal position value Encoder unit ALL 6064 0 Actual feedback position value Command unit ALL 6065 ...

Страница 27: ...unit s s 10000 1 2147483 647 pp pv 6085 0 Quick stop deceleration Command unit s s 100000 00 1 2147483 647 pp pv hm 6087 0 Torque change rate 0 1 s 100 1 2147483 647 pt 608F 1 Encoder resolution Encoder unit ALL 2 Motor turns 6091 1 Electron gear molecule 1 1 2147483 647 ALL 2 Electronic gear denominator 1 1 2147483 647 ALL 6092 1 Number of pulses per rotation Command unit 10000 1 2147483 647 ALL ...

Страница 28: ... hm 60FD 0 Status of input ALL 60FE 1 Output valid ALL 2 Output enable ALL 60FF 0 Target speed Restricted by 6080 Command unit s 0 214748 3648 2147483 647 pv 6502 0 Supported operation mode ALL 4 2 Parameters Function Here is the explanation of parameters you can check them or modify the value using configuration software or the front panel of drive Contact tech leadshine com if you need more tech...

Страница 29: ...al time auto gain tuning Setup value Mode Varying degree of load inertia in motion 0 invalid Real time auto gain tuning function is disabled 1 standard Basic mode do not use unbalanced load friction compensation or gain switching It is usually for interpolation movement 2 positioning Main application is positioning it is recommended to use this mode on equipment without unbalanced horizontal axis ...

Страница 30: ...the ratio of the load inertia against the rotor of the motor inertia Pr0 04 load inertia rotate inertia 100 Notice If the inertia ratio is correctly set the setup unit of Pr1 01 and Pr1 06 becomes Hz When the inertia ratio of Pr0 04 is larger than the actual value the setup unit of the velocity loop gain becomes larger and when the inertia ratio of Pr0 04 is smaller than the actual value the setup...

Страница 31: ...ulti turn position and reset multi turn alarm open multi turn absolute function It will become 1 when normal clearance if it s still 9 after 3seconds please deal with according to 153 alarm processing Please remember to do mechanical homing Notes Set to 9 after homing process finished and servo disabled valid after restart power supply Pr0 16 Name External regenerative resistance value Mode F Rang...

Страница 32: ...h position loop gain you need higher setup of this velocity loop gain as well However too high setup may cause oscillation Pr1 02 Name 1st Time Constant of Velocity Loop Integration Mode F Range 1 10000 Unit 0 1ms Default 310 Index 2102h You can set up the integration time constant of velocity loop Smaller the setup value faster you can dog in deviation at stall to 0 The integration will be mainta...

Страница 33: ...Pr1 07 Name 2nd Time Constant of Velocity Loop Integration Mode F Range 1 10000 Unit 0 1ms Default 10000 Index 2107h Pr1 08 Name 2nd Filter of Velocity Detection Mode F Range 0 31 Unit Default 15 Index 2108h Pr1 09 Name 2nd Time Constant of torque filter Mode F Range 0 2500 Unit 0 01ms Default 126 Index 2109h Position loop velocity loop velocity detection filter torque command filter have their 2 ...

Страница 34: ...aintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active Pr1 13 Name Torque feed forward filter Mode PP PV HM Range 0 6400 Unit 0 01ms Default 0 Index 2113h Set up the time constant of 1st delay filter which affects the input of torque feed forward zero positional deviation is impossible in actual situat...

Страница 35: ...id for position control Shift to the 2nd gain when the absolute value of the actual speed exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the actual speed was kept below level hysteresis r min previously during delay time with the 2nd gain 10 Have position command actual speed Valid for position control Shift to the 2nd gain when the p...

Страница 36: ...ield the over speed alarm 1A0 8 0x0100 Reserved 2 0x0004 Enable virtual IO in homing mode 9 0x0200 shield UVW wire break alarm 0A3 3 0x0008 Reserved 10 0x0400 Reserved 4 0x0010 shield the motor over load error 100 11 0x0800 shield Over current alarm 0E0 5 0x0020 Torque limit signal output threshold selection in torque mode shield 6071 12 Reserved 6 0x0040 shield the motor vibration error 190 13 Re...

Страница 37: ...shallower the notch depth and smaller the phase delay you can obtain Pr2 04 Name 2nd notch frequency Mode F Range 50 2000 Unit Hz Default 2000 Index 2204h Set the center frequency of the 2nd notch filter Notice the notch filter function will be invalidated by setting up this parameter to 2000 Pr2 05 Name 2nd notch width selection Mode F Range 0 20 Unit Default 2 Index 2205h Set the width of notch ...

Страница 38: ... 2222h Set up the time constant of the1st delay filter in response to the positional command When a square wave command for the target speed Vc is applied set up the time constant of the 1st delay filter as shown in the figure below Pr2 23 Name positional command FIR filter Mode PP HM Range 0 10000 Unit 0 1ms Default 0 Index 2223h Set up the time constant of the1st delay filter in response to the ...

Страница 39: ...eleration time ms Vc 1000 Pr3 12 1ms Deceleration time ms Vc 1000 Pr3 13 1ms Pr3 14 Name Sigmoid acceleration deceleration time setup Mode PV Range 0 1000 Unit ms Default 0 Index 2314h Set S curve time for acceleration deceleration process when the speed command is applied According to Pr3 12 Acceleration time setup and Pr3 13 Deceleration time setup set up sigmoid time with time width centering t...

Страница 40: ...iple assignment error 2 E STOP Associated parameter Pr4 43 Pr4 10 Name Output selection DO1 Mode F Range 0 00FFFFFFh Unit Default 0x81 Index 2410h Pr4 11 Name Output selection DO2 Mode F Range 0 00FFFFFFh Unit Default 0x02 Index 2411h Pr4 12 Name Output selection DO3 Mode F Range 0 00FFFFFFh Unit Default 0x03 Index 2412h Assign functions to digital outputs This parameter use 16 binary system do se...

Страница 41: ...31 positioning complete range 3 The signal will turn on when there is no position command and the positional deviation is smaller than Pr4 31 positioning complete range Then holds ON states until the next position command is entered Subsequently ON state is maintained until Pr4 33 INP hold time has elapsed After the hold time INP output will be turned ON OFF according to the coming positional comm...

Страница 42: ...th positive and negative direction regardless of the motor rotating direction There is hysteresis of 10 r min Pr4 35 Name Speed coincidence range Mode PV Range 10 2000 Unit RPM Default 50 Index 2435h Set the speed coincidence V COIN output detection timing Output the speed coincidence V COIN when the difference between the speed command and the motor speed is equal to or smaller than the speed spe...

Страница 43: ...fter setting up Pr4 37 tb then compose the sequence so as the drive turns to servo off after the brake is actually activated Pr4 38 Name Mechanical brake action at running setup Mode F Range 0 10000 Unit 1ms Default 0 Index 2438h Mechanical brake start delay time setup mainly used to prevent servo off galloping phenomenon Set up time from when detecting the off of servo on input signal SRV ON is t...

Страница 44: ...e free run to stop Pr5 08 Name LV trip selection at main power OFF Mode F Range 0 1 Unit Default 1 Index 2508h You can select whether or not to activate Err0d 0 main power under voltage protection function while the main shutoff continues for the setup of Pr5 09 The main power OFF detection time Setup value Action of main power low voltage protection 0 When the main power is shut off during Servo ...

Страница 45: ...ecomes 1 2 times of the motor max speed by setting up this to 0 Pr5 20 Name Position setup unit select Mode F Range 0 2 Unit Default 2 Index 2520h Specify the unit to determine the range of positioning complete and excessive positional deviation Setup value unit 0 Encoder unit 1 Command unit 2 Standard 2500 line unit Pr5 21 Name Selection of torque limit Mode F Range 0 2 Unit Default 0 Index 2521h...

Страница 46: ...type 9 Control mode 24 Encoder positional deviation encoder unit 39 Whether DC is running or not 10 I O signal status 25 Motor electromechanical angle 40 ACC DEC 11 26 Motor mechanical Angle 41 Sub index of OD index 12 Error factor and reference of history 27 Voltage across PN 42 The value of sub index of OD index 13 Alarm code 28 Software version 14 Regenerative load factor 29 Notes Valid after r...

Страница 47: ...ex 2601h The Angle of the encoder after zero correction Pr6 04 Name JOG trial run command speed Mode F Range 0 10000 Unit r min Default 300 Index 2604h You can set up the command speed used for JOG trial run velocity control Pr6 05 Name Position 3rd gain valid time Mode PP HM Range 0 10000 Unit 0 1ms Default 0 Index 2605h Set up the time at which 3rd gain becomes valid When not using this paramete...

Страница 48: ...of the motor ratio PR6 13 load inertia rotor inertia 100 Pr6 14 Name Emergency stop time at alarm Mode F Range 0 3000 Unit ms Default 200 Index 2614h Set up the time allowed to complete emergency stop in an alarm condition exceeding this time puts this system in alarm state Pr6 20 Name Trial run distance Mode F Range 0 1200 Unit 0 1rev Default 10 Index 2620h The distance of running each time in JO...

Страница 49: ...high level holding time of Z signal 1 Z signal for 60FDH 2 Z signal for homing process Pr6 62 Name Overload warning threshold Mode F Range 0 99 Unit Default 0 Index 2662h Before an overload alarm pre alarm Pr6 63 Name upper limit of multi turn absolute position Mode F Range 0 32766 Unit r Default 0 Index 2663h While Pr0 15 2 the feedback position will loop between 0 Pr6 63 1 Encoder resolution 4 3...

Страница 50: ... deceleration keeping Switch on disabled 3 Stop according to 60C6h Max deceleration keeping Switch on disabled 5 Stop according to 6084h Profile deceleration keeping Quick stop active 6 Stop according to 6085h Quick stop deceleration keeping Quick stop active 7 Stop according to 60C6h Max deceleration keeping Quick stop active HM Mode 0 Stop according to 3506h Sequence at Servo off keeping Switch ...

Страница 51: ... Default 0 NO Mode 1 Profile position mode PP 3 Profile velocity mode PV 4 profile Torque mode PT 6 Homing mode HM Index 6061H Name Mode of operation display Structure VAR Type int 8 Access R0 Mapping TPDO Mode ALL Range 0 10 Default 0 NO Mode 1 Profile position mode PP 3 Profile velocity mode PV 4 profile Torque mode PT 6 Homing mode HM Index 6063H Name Actual internal position value Structure VA...

Страница 52: ...e VAR Type Dint 32 Access RW Mapping RPDO Mode ALL Range Command unit Default Set the number of pulses required for one motor rotation Index 6092H 01 Name Number of pulses per rotation Structure VAR Type Dint 32 Access RW Mapping RPDO Mode ALL Range Command unit Default If 6092h_01 is not equal to 608Fh Position encoder resolution then Electronic gear ratio Encoder resolution 6092h_01 If 6092h_01 ...

Страница 53: ... point is homing switch homing point is motor Z signal the falling edge on the same side of homing switch must come before Z signal 12 Search the homing point in negative direction deceleration point is homing switch homing point is motor Z signal the rising edge on the same side of homing switch must come before Z signal 13 Search the homing point in negative direction deceleration point is homin...

Страница 54: ... Bit Sub index 31 21 21 20 19 18 17 16 15 0 01h Reserve d DO6 valid DO5 valid DO4 valid DO3 valid DO2 valid DO1 valid Reserved Index 60FEH 0 2 Name Output enable Structure VAR Type Uint 32 Access RW Mapping Mode ALL Range 0 ffff Default 0 The bits of a 60FEh object are functionally defined as follow Bit Sub index 31 21 21 20 19 18 17 16 15 0 02h Reserved DO6 enable DO5 enable DO4 enable DO3 enable...

Страница 55: ...vices off road and rail vehicles maritime electronics building automation power generation etc The CANopen protocol defines basically two aspects of the communication protocol how the communication should be formatted CANopen frame and what objects are defined in common Those objects may be used to configure or arbitrate the communication or simply to exchange application data Communication object...

Страница 56: ...Dictionary Emergency 0001b 0x080 Node ID 1024H 1015H TXPDO1 transmit 0011b 0x180 Node ID 1800H RXPDO1 receive 0100b 0x200 Node ID 1400H TXPDO2 transmit 0101b 0x280 Node ID 1801H RXPDO2 receive 0110b 0x300 Node ID 1401H TXPDO3 transmit 0111b 0x380 Node ID 1802H RXPDO3 receive 1000b 0x400 Node ID 1402H TXPDO4 transmit 1001b 0x480 Node ID 1803H RXPDO4 receive 1010b 0x500 Node ID 1403H SDO transmit 10...

Страница 57: ...achine defines the communication status for CANopen devices NMT state machine Transition Event 1 After power on the system goes directly to initialization state 1 Once initialization is completed the system enters to Pre operational state 3 6 Reception of Start remote node command 4 7 Reception of Enter pre operational state command 5 8 Reception of Stop remote node command 9 10 11 Reception of Re...

Страница 58: ...y be executed if the devices involved in the communication are in the appropriate communication states 5 3 1 NMT services The structure of each NMT service command is as follows COB ID hex Number of Bytes Data field Byte 0 Byte 1 0x000 2 Command specifier Node ID The possible NMT services commands are the followings Command specifier hex Command description 01 Start remote node 02 Stop remote node...

Страница 59: ...f Bytes Data hex Description 701 0 Master sends a CAN remote frame without data to node 1 701 1 7F Node 1 sends the actual NMT state pre operational toggling the 7th bit 701 0 0 Master sends a CAN remote frame without data to node 1 701 1 FF Node 1 sends the actual NMT state pre operational toggling the 7th bit Protocol heartbeat The heartbeat protocol defines an error control service without need...

Страница 60: ...ter sends a CAN remote frame without data to node 1 Delay Higher than Guard Time Life Time Factor 81 8 0 30 81 11 00 00 00 00 00 Node 1 send an EMCY indicating the lifeguard error Protocol boot up An NMT slave issues the Boot up message to indicate to the NMT Master that it has entered the state Pre operational from state Inititalising Example of NMT Boot up COB ID hex Number of Bytes Data hex Des...

Страница 61: ...gle CAN frame and can contain multiple object dictionary entries with a maximum of 8 bytes of data Each PDO has an identifier and is transmitted by only one node in the network however it could be received by more than one node PDOs must be configured previous to using them There are two types of PDO messages Transmit PDO TPDO and Receive PDO RPDO The trigger event of the PDO message could be conf...

Страница 62: ...iption 202 2 22 12 Master sends a RPDO1 to Node 2 with a content value of 0x1222 5 6 SYNC SYNC object is a broadcast message sent by one of the devices in the bus normally the master to provide synchronization to the network and to allow coordination between nodes The nodes could be programmed to return any variable actual position etc by means of TPDO at reception of SYNC object The SYNC object h...

Страница 63: ... 8141H CAN Bus off occurred 8150H Send COB ID conflicts 8210H PDO not processed due to length error 8220H PDO exceeds length error EL6 CAN series include Error registers Object 0x1001 Bit Description 0 Generic Error 1 Current 2 Voltage 3 Temperature 4 Communication 5 Error specified by device protocol 6 Reserved 7 Leadshine specific error ...

Страница 64: ...le 6 1 The name and function of keys Name Key Function Display There are 5 LED nixie tubes to display monitor value parameter value Mode key M Press this key to switch among 4 modes 1 data monitor mode 2 parameter setting mode 3 auxiliary function mode 4 EEPROM written mode Set key SET Entrance for submenu confirming the current setting Up key Press this key to increase the current setup value Dow...

Страница 65: ...itial parameter otherwise abnormal alarm code is displayed 2 Press M key to switch the data monitor mode parameter setting mode auxiliary function mode EEPROM written mode 3 If new abnormal alarm occurs the abnormal alarm will be displayed immediately in abnormal mode no matter what the current mode is press M key to switch to the other mode 4 In data monitor mode press or to select the type of mo...

Страница 66: ...8FP pulse Low bit L xxxx High bit H xxxx 9 d09cn Control mode d09Cn Position PoScn Speed SPdcn Torque trqcn Composite mode cnt 10 d10Io Digital input output status d10 Io Refer instructions for details 11 d11Ai d11Ai 12 d12Er Error factor and reference of history d12Er Er xxx 13 d13 rn d13rn m xxx 14 d14 r9 Regeneration load factor d14r9 rg xxx 15 d15 oL Over load factor d15oL oL xxx 16 d16Jr Iner...

Страница 67: ...e upper half of the nixie tube is valid the lower half is invalid the decimal point represents the input and output state lit represents the input not bright represents the output Input from low to high the order is SI1 SI2 SI10 The next figue represents SI1 SI8 SI10 input are valid other inputs are invalid Output from low to high the order is SO1 SO2 SO10 The next figue represents SO1 output are ...

Страница 68: ...erence value 8 Max torque during operation 20 Encoder ID 31 Accumulate d operation time 9 Position command frequency 21 Encoder initial angle 32 Reserved 10 Control mode 22 33 drive temperature 11 I O signal status 23 Number of abnormal communication of encoder 36 Reserved Table 6 3 d17 ch Motor No Rotate Reason Code Definition Code Display Code Specification Content 0 cP 0 Working normally 1 cP 1...

Страница 69: ...art to correct the angle then display FiniSh indicated correction finished 5 AF_GL Inertia ratio identification AF_GL 1 Press SET once to enter operation display G 2 Press once display StUon 3 Press motor running indicated start to identification 4 Finishing display G xxx xxx indicated Inertia ratio value 6 AFrSt Soft reset AFrSt 1 Press SET once to enter operation display rSt 2 Press and hold on ...

Страница 70: ... prevent accident happened and the power can be cut off immediately If drive alarm occurs the cause of alarm should be excluded and Svon signal must be invalid before restarting the drive Please don t touch terminal strip or separate the wiring Note there are two kinds of trial run trial run without load and trial run with load The user need to test the drive without load for safety first Contact ...

Страница 71: ...r to show ready status status word indication C Master send enable command control word switch D The drive enables and feeds back to the master E The master station sends homing command to return to homing position F Drive returns to homing position complete and notifies master station status word indication G The master station sends the position mode command for position movement position motion...

Страница 72: ... allowed Ready The servo drive is ready Parameter setting of the servo drive is allowed Wait to switch on The servo drive waits to switch on Parameter setting of the servo drive is allowed Running The servo drive is in normal running state a certain control mode is enabled The motor is energized and rotates when the reference is not 0 Parameters with the setting condition of during running can be ...

Страница 73: ...col position mode PP and homing mode HM only in these two modes does the electronic gear ratio valid Electronic gear ratio range is 1 1000 8000 otherwise ErA00 warning will appear the warning is not saved after modification to a reasonable range the l alarm showing in operation pane will disappear automatically but the 402 state will still be in the error state write 0x80 into 6040h to reset The e...

Страница 74: ...0000h 7 9 10 12 Quick stop 0 0 1 0002h 7 10 11 Operation disable 0 0 1 1 1 0007h 5 Operation enable 0 1 1 1 1 000Fh 4 16 Fault reset Rising edge 0080h 15 is not affected by this bit state indicates that this transition is performed in the device start state indicates that it has no effect on the start state and remains in the start state 1 The state machine switch corresponds to figure 6 1 The def...

Страница 75: ... 0000 Not ready to switch on 1 0000 Switch on disabled 01 0001 Ready to switch on 01 0011 Switch on 01 0111 Operation enabled 00 0111 Quick stop active 0 1111 Fault reaction active 0 1000 Fault is not affected by this bit state The definition of bit 8 and bit 12 13 in different operation modes are shown in the following table Bit Operation Mode Profile Position PP Profile Velocity PV Profile Torqu...

Страница 76: ...ing any position the new position is processed and the motion starts Nevertheless if there was a previous set point being processed the behavior of the system depends on the Change set immediately bit in the controlword If the Change set immediately bit of the controlword is 1 the target point is the new set point and motion is started to reach this new set point If the Change set immediately bit ...

Страница 77: ...a relative value Halt 0 Execute positioning 1 Stop axis with profile deceleration 6084h 6 7 2 Statusword in profile position mode The binary representation of the statusword 6041 in profile position mode is as follows Bit Definition 15 14 Reserved 13 Following error 12 11 Position limit active 10 Target reached 9 Remote 8 Abnormal stop 7 Reserved 6 Switch on disabled 5 Quick stop 4 Voltage output ...

Страница 78: ... 07 00 00 00 Read control word as 07H state machine switching status Ready to Switch On Switched On The relay in the actuator is engaged 5 2b 40 60 00 0f 00 00 00 Write control word as 0fH state machine switching status Switched On Operation Enable Servo Enabled 6 2f 60 60 00 01 00 00 00 Write operation mode as 1H profile position mode 7 23 81 60 00 90 D0 03 00 Write the protocol speed as 3D090H 1...

Страница 79: ...he controlword 6040 in profile velocity mode is as follows Bit 15 9 8 7 6 5 4 3 2 1 0 Halt Fault reset Enable operation Quick stop Enable voltage Switch on The action taken is described below depending on the value of each bit Name Value Description Halt 0 Execute velocity movement 1 Stop the movement 6 6 2 Statusword in profile velocity mode The binary representation of the statusword 6041 in pro...

Страница 80: ... that it is hexadecimal 3 2b 40 60 00 06 00 00 00 Write control word as 06H state machine switching status Switch On Disabled Ready to Switch On 4 2b 40 60 00 07 00 00 00 Read control word as 07H state machine switching status Ready to Switch On Switched On The relay in the actuator is engaged at this point 5 2b 40 60 00 0f 00 00 00 Write control word as 0fH state machine switching status Switched...

Страница 81: ...epresentation of the controlword 6040 in profile torque mode is as follows Bit 15 9 8 7 6 5 4 3 2 1 0 Definition Halt Fault reset Enable operation Quick stop Enable voltage Switch on The action taken is described below depending on the value of each bit Name Value Description Halt 0 Execute torque movement 1 Stop the movement 6 7 2 Statusword in profile torque mode The binary representation of the...

Страница 82: ...e switching status Switch On Disabled Ready to Switch On 4 2b 40 60 00 07 00 00 00 Read control word as 07H state machine switching status Ready to Switch On Switched On The relay in the actuator is engaged at this point 5 2b 40 60 00 0f 00 00 00 Write control word as 0fH state machine switching status Switched On Operation Enable Servo Enabled 6 2f 60 60 00 04 00 00 00 Write operation mode as 4H ...

Страница 83: ...in profile homing mode is as follows Bit 15 9 8 7 6 5 4 3 2 1 0 Halt Fault reset Homing operation start Enable operation Quick stop Enable voltage Switch on The action taken is described below depending on the value of each bit Name Value Description Homing operation start 0 Do not start homing procedure 1 Start homing procedure Halt 0 Execute the instruction of bit 4 1 Stop axis with homing accel...

Страница 84: ...nit s 609AH Homing acceleration Command unit s2 607CH Home offset Command unit 6 8 4 Example of homing mode No Command Function 1 81 00 00 00 00 00 00 00 Reset all nodes If you need to reset the specified node the node number is changed by modifying the two digits after 81 note that it is hexadecimal 2 01 00 00 00 00 00 00 00 Start remote control for all nodes If remote control of the specified no...

Страница 85: ...ection at high speed until the negative limit switch signal is valid The motor stops and starts moving at low speed in positive direction The motor stops after leaving the negative limit switch and the first encoder Z signal is valid as shown in figure If the motor stops at the negative limit position when it starts to move the motor will move in positive direction at low speed The motor stops aft...

Страница 86: ...s shown in figure If the positive negative limit switch signal is valid during the homing process the status word 6041h bit 13 will be valid indicating that the homing error and the motor will stop immediately Z signal HOME SWITCH A B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h Method 4 If the homing switch is invalid the motor will move in positive direction at low speed...

Страница 87: ... the status word 6041h bit 13 will be valid indicating that the homing error and the motor will stop immediately Z signal HOME SWITCH A B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h Method 6 If the homing switch is invalid the motor will move in negative direction at low speed until the homing switch signal is valid The motor stops after leaving the homing switch and the ...

Страница 88: ...high speed until the positive limit switch valid Then the motor reverse the direction at low speed The motor stops after the homing switch valid and the first encoder Z signal is valid as shown in figure If the negative limit switch signal is valid during the homing process the status word 6041h bit 13 will be valid indicating that the homing error and the motor will stop immediately Z signal HOME...

Страница 89: ... high speed until the homing switch invalid Then the motor reverse the direction at low speed The motor stops after the homing switch valid and the first encoder Z signal is valid as shown in figure If the positive limit switch is invalid and motor stops at the homing switch position when it starts to move the motor will move in positive direction at high speed until the homing switch signal is in...

Страница 90: ...fter the homing switch invalid and the first encoder Z signal is valid as shown in figure If the homing switch and positive limit switch is invalid the motor will move in positive direction at low speed until the positive limit switch valid Then the motor reverse the direction at high speed until the homing switch valid Then the motor move in positive direction at low speed The motor stops after t...

Страница 91: ...the motor will stop immediately Z signal HOME SWITCH B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h NOT signal A C Method 12 If the homing switch and positive limit switch is invalid the motor will move in negative direction at low speed The motor stops after the homing switch valid and the first encoder Z signal is valid as shown in figure If the negative limit switch is ...

Страница 92: ...rection at high speed until the homing switch signal is invalid Then the motor reverse the direction at low speed The motor stops after the homing switch valid and the first encoder Z signal is valid as shown in figure If the homing switch and positive limit switch is invalid the motor will move in negative direction at high speed until the negative limit switch valid Then the motor reverse the di...

Страница 93: ...tive limit switch is invalid the motor will move in negative direction at low speed until the negative limit switch valid Then the motor reverse the direction at high speed until the homing switch valid Then the motor move in negative direction at low speed The motor stops after the homing switch invalid and the first encoder Z signal is valid as shown in figure If the positive limit switch signal...

Страница 94: ...hod 19 This method is similar to method 3 HOME SWITCH A B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h Method 20 This method is similar to method 4 HOME SWITCH A B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h Method 21 This method is similar to method 5 HOME SWITCH A B Start Position Stop Postion High speed 6099h 01h Low speed 6099h 02h ...

Страница 95: ...Position High speed 6099h 01h Low speed 6099h 02h Method 23 This method is similar to method 7 HOME SWITCH B Start Position Stop Potion High speed 6099h 01h Low speed 6099h 02h POT signal A C Method 24 This method is similar to method 8 HOME SWITCH B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h POT signal A C ...

Страница 96: ...igh speed 6099h 01h Low speed 6099h 02h POT signal A C Method 26 This method is similar to method 10 HOME SWITCH B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h POT signal A C Method 27 This method is similar to method 11 HOME SWITCH B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h NOT signal A C ...

Страница 97: ...igh speed 6099h 01h Low speed 6099h 02h NOT signal A C Method 29 This method is similar to method 13 HOME SWITCH B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h NOT signal A C Method 30 This method is similar to method 14 HOME SWITCH B Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h NOT signal A C ...

Страница 98: ...n as homing point When using this method the motor does not need to be enabled only the control word 6041h needs to be executed from 0 to 1 Start Position Stop Position High speed 6099h 01h Low speed 6099h 02h Current position Control word 6040h bit4 0 1 6 9 Security Features 6 9 1 BRK OFF output This function can be configured by set digital DO output functions allocation refer to IO Pr4 10 param...

Страница 99: ...r running At servo OFF during the motor is running tb of the right fig will be a shorter one of either Pr4 38 setup time or time lapse till the motor speed falls below Pr4 39 setup speed Pr4 39 Name Brake release speed setup Mode F Range 30 3000 Unit 1ms Default 30 Index 2439h Set up the speed timing of brake output checking during operation SRV_ON BRK_OFF Motor power on Brake action Velocity Brak...

Страница 100: ... Hz When the inertia ratio of Pr0 04 is larger than the actual value the setup unit of the velocity loop gain becomes larger and when the inertia ratio of Pr0 04 is smaller than the actual value the setup unit of the velocity loop gain becomes smaller 6 10 1 On line inertia ratio identification The motor is operated by the controller and the motor speed is above 400rmp The running stroke has obvio...

Страница 101: ...ault Inertia Ratio Download these settings then Servo Enable 2 Click CCW to make motor run to CCW direction click Position 1 to save the position limit 1 Click CW to make motor run to CW direction click Position 2 to save the position limit 2 Click Run to start Inertia ratio identification 3 After finishing Click Write to save the Inertia ratio identification result 6 11 Vibration Suppression Spec...

Страница 102: ... Setup value Content 0 Adaptive filter invalid Parameters related to the 3rd and 4th notch filter hold the current value 1 Adaptive filter 1 filter is valid one time One adaptive filter is valid parameters related to the 3rd notch filter will be updated based on adaptive performance After updated Pr2 00 returns to 0 stop self adaptation 2 Adaptive filter 1 filter is valid It will be valid all the ...

Страница 103: ...and smaller the phase delay you can obtain 6 12 Friction torque compensation Pr6 07 Name Torque command additional value Mode F Range 100 100 Unit Default 0 Index 2607h Pr6 08 Name Positive direction torque compensation value Mode F Range 100 100 Unit Default 0 Index 2608h Pr6 09 Name Negative direction torque compensation value Mode F Range 100 100 Unit Default 0 Index 2609h These three parameter...

Страница 104: ...5 Pr1 09 3rd gain 1st gain Pr1 00 Pr1 04 3rd gain Position loop gain Pr1 00 Pr6 06 100 Velocity loop gain Pr1 01 Pr6 06 100 Pr6 05 0 1ms 6 14 Regenerative resister setting When the torque of the motor is opposite to the direction of rotation such as deceleration z axis falling down etc energy will feedback to the drive At this time the energy feedback received by the capacitor in the drive which m...

Страница 105: ...tion is less than 0 Pr6 63 1 5 Clean multi turn alarm and open multi turn absolute function It will become 1 when normal clearance if it s still 5 after 3seconds please deal with according to 153 alarm processing 9 Clear multi turn position and reset multi turn alarm open multi turn absolute function It will become 1 when normal clearance if it s still 9 after 3seconds please deal with according t...

Страница 106: ...tion the absolute position 0 the single turn position remains unchanged and the absolute value of the encoder is cleared to alarm Set Pr0 15 9 multi turn zero clearing and reset multi turn alarm open multi turn absolute function It will become 1 when normal clearance if it s still 9 after 3seconds please deal with according to 153 alarm processing Please remember to do mechanical homing 6 15 3 Ala...

Страница 107: ...drive At this time the alarm will be automatically eliminated after the battery is recharged by replacing the battery 3 When the battery voltage is lower than 2 5v or the battery has a power failure the absolute encoder alarm will be generated Even if the battery is replaced the alarm cannot be eliminated At this time the return to the home point and multi turn zero clearing operation should be pe...

Страница 108: ...odule IPM 3150 4 0A0 Current detection circuit error 3151 4 0A1 Current detection circuit error 3153 4 0A3 Power line U V W break 3201 4 0A5 DC bus circuit error 3211 4 0C0 DC bus over voltage 3221 4 0D0 DC bus under voltage 4210 8 0F0 Drive over heat 5530 80 240 CRC verification error when EEPROM parameter saved 5531 80 241 I2 C Communication status error 5532 80 242 Read write history alarm erro...

Страница 109: ...ata error 7329 80 260 Positive negative limit input active 7701 80 120 Brake resistor discharged circuit overload 7702 80 121 Brake resistor error 8110 10 901 CAN bus over run 8120 10 902 CAN in error passive mode 8130 10 903 Lifeguard error 8140 10 904 Recovered from CAN bus off 8141 10 905 CAN Bus off occurred 8150 10 906 ID error 8310 2 101 Motor over load 8311 2 100 Drive over load 8305 2 105 ...

Страница 110: ...ive with a new one Error code Main Extra Display Content Power line break Cause Confirmation Solution Power line break Check wiring of analog input Use a multimeter to measure the resistance between the winding wires If the three phase resistance is inconsistent the winding may be open or the motor may be damaged Drive inner fault replace the motor with a new one Error code Main Extra Display Cont...

Страница 111: ...new one Error code Main Extra Display Content over current Cause Confirmation Solution Short of drive output wire Short of drive output wire whether short circuit to PG ground or not Assure drive output wire no short circuit assure motor no damage Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence Short of IGBT module Cut off drive output wiring make srv_on available an...

Страница 112: ...alue of parameter exceed maximum or not Decrease load adjust limit parameter Oscillation of machine Check the machine if oscillation exists or not Modify the parameter of control loop enlarge acceleration deceleration time wiring error of motor Check wiring if error occurs or not if line breaks or not Adjust wiring or replace encoder motor for a new one electromagnetic brake engaged Check brake te...

Страница 113: ...itialized position of encoder error Cause Confirmation Solution Communication data abnormal Check encoder power voltage if it is DC5V 5 or not check encoder cable and shielded line if it is damaged or not check encoder cable whether it is intertwined with other power wire or not Ensure power voltage of encoder normally ensure encoder cable and shielded line well with FG ground ensure encoder cable...

Страница 114: ...ith actual speed Check the value of Pr_602 if it is too small or not Enlarge the value of Pr_602 or set the value to 0 make position deviation over large detection invalid The acceleration decelerate time Inner position command velocity is too small Check the value of Pr_312 Pr_313 if it is too small or not Enlarge the value of Pr_312 Pr_313 adjust gain of velocity control improve trace performanc...

Страница 115: ...nctions Check the value of Pr_400 Pr_401 Pr_402 Pr_403 Pr_404 if it is proper or not Assure the value of Pr_400 Pr_401 Pr_402 Pr_403 Pr_404 set correctly The input signal aren t assigned with any functions Check the value of Pr_400 Pr_401 Pr_402 Pr_403 Pr_404 if it is proper or not Assure parameter Pr_400 Pr_401 Pr_402 Pr_403 Pr_404 set correctly Error code Main Extra Display Content I F input int...

Страница 116: ...ng of drive if it is suitable for your motor Download the suitable project file to drive for motor Error code Main Extra Display Content positive negative over travel input valid Cause Confirmation Solution positive negative over travelling input signal has been conducted Check the state of positive negative over travel input signal Error code Main Extra Display Content Analog value 1 input error ...

Страница 117: ...chnical Support Tel 86 755 2641 8447 86 755 2641 8774 for Asia Australia Africa areas 86 755 2665 5136 for America areas 86 755 8654 2465 for Europe areas Fax 86 755 2640 2718 Email tech leadshine com for All Sales Tel 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe areas 86 755 2641 7617 for America areas Email sales leadshine com ...

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