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M2DC Series Hardware Manual

162

Rev. 1.1

2018/04

400-820-9661

9.4 CANopen Communication

For C type drives, ports CN6 and CN7 are a standard RJ45 (8p8c) design, can be used to build a daisy

chain network using CAT cables.

9.4.1 RJ45 (8p8c) Pin Definitions

Definition

CAN_H

CAN_L

3, 7

GND

CHGND

4, 5, 8

9.4.2 CANopen NODE-ID

In the CANopen network, each drive needs to have a unique NODE-ID. For M2DC series servo drives,

NODE-IDs can be set from 1-112. “0” cannot be used for ID setting.
Parameter P-79 (CO) sets the NODE-ID.

9.4.3 CANopen Communication Baud Rate

Parameter P-80 (CB) sets the CANopen communication baud rate. For CANopen drives, it supports 8

levels of communication baud rate.

Setting value

communication baud rate

Setting value

communication baud rate

125K

800K

50K

500K

25K

250K

12.5K

For more details, please refer to the CANopen User Manual.

Содержание M2DC Series

Страница 1: ...M2DC Series DC Servo System SHANGHAI AMP MOONS AUTOMATION CO LTD Hardware Manual Rev 1 1...

Страница 2: ...roduction 15 2 3 1 Motor Name Plate Description 15 2 3 2 Motor Model Description 15 2 3 3 Motor Specifications and Dimensions 16 2 3 3 1 40mm Specifications and Dimensions 16 2 3 3 2 60mm Specificatio...

Страница 3: ...iagrams 37 4 5 Electromagnetic Brake 38 4 5 1 Wiring Diagram 38 4 5 2 Brake Motor 38 4 5 3 Timing Charts of the Electromagnetic Brake 38 4 6 Regeneration Resistor 39 4 6 1 Recommended external resisto...

Страница 4: ...arameter Setting Mode 62 5 6 1 Parameter Setting Description 62 5 6 2 Parameter Editing Examples 63 5 7 Control Panel Lock 64 5 8 Warning And Fault Display 64 6 Preoperational mode 66 6 1 Inspection B...

Страница 5: ...e Mode Connection Diagram 99 7 4 2 Parameters For Analog Torque Mode 100 7 4 3 Basic Settings For Analog Torque Mode 101 7 4 4 Software Configuration for Analog Torque Mode 106 7 5 Position Table Mode...

Страница 6: ...series Servo Drive Register Addresses and Function List 143 9 3 7 Command Opcode Description 151 9 3 8 Function Code 153 9 3 9 Modbus RTU Applications 156 9 4 CANopen Communication 162 9 4 1 RJ45 8p8...

Страница 7: ...tted to delivering quality customer service and support for all our products Our goal is to provide our customers with the information and resources required in such a way that they are available with...

Страница 8: ...operation M Servo Suite Software User Manual How to use the M Servo Suite software 1 3 Safety Only qualified persons may perform the installation procedures The following explanations are for procedu...

Страница 9: ...l system DO NOT touch the drive heat sink motor or the regeneration resistor during operation as they may be very hot DO NOT hold the motor by the cable during transportation or installation Wiring DO...

Страница 10: ...earing Life Motor bearing life depends on several factors including axial and radial loads motor speed temperature and the bearing ratings Because the front bearing is positioned closest to the motor...

Страница 11: ...v 1 1 2018 04 400 820 9661 M2DC Series Hardware Manual 1 7 Standards Compliance The M2DC Series Servo drive has been designed according to flowing standard Electromagnetic compatibility Standard EN 61...

Страница 12: ...50 PIN connector to connect port CN2 for I O 7 Cables with RJ 45 connectors to connect ports CN6 and CN7 for RS 485 or CANopen communication 2 2 Servo Drive Model Introduction 2 2 1 Drive Name Plate...

Страница 13: ...oth line driver I F and open collector I F 1 line receiver input compatible with line driver I F Output 3 line driver outputs 1 open collector output Communication Mini USB Connection with PC or 1 1 c...

Страница 14: ...M2DC Series Hardware Manual 14 Rev 1 1 2018 04 400 820 9661 2 2 4 Drive Dimensions Unit mm M2DC 6D0 10D 41 150 97 139 5 6 28 5 6 5 5 R2 5 M2DC 20D R2 5 150 165 40 7 4 5 5 5 28 5 139 5 6 41 95...

Страница 15: ...Motor Frame Size 04 40mm 06 60mm 08 80mm Motor Length Frame Power 40mm 60mm 80mm 01 60W 200W 300W 02 100W 400W 550W 03 750W Feedback E4 2500 ppr optical encoder with shared commutation signals Shaft a...

Страница 16: ...35 0 061 Winding Resistance Line Line Ohm 10 25 C 0 36 0 48 Winding Inductance Line Line mH typ 0 39 0 58 Inertia with encoder kg m 2 0 0232 X 10 4 0 0428 X 10 4 Inertia With Brake Option kg m 2 0 029...

Страница 17: ...Torque curves 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 2 000 4 000 6 000 DC Bus 48VDC SM0402FE4 100 Watts 5 2Amps DC Bus 60VDC SM0402FE4 100 Watts 5 2Amps 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 2...

Страница 18: ...0 67 0 25 0 214 Winding Inductance Line Line mH 0 56 2 0 84 0 6 Inertia with encoder kg m 2 0 165 X 10 4 0 165 X 10 4 0 272 X 10 4 0 272 X 10 4 Inertia With Brake Option kg m 2 0 22 X 10 4 0 22 X 10...

Страница 19: ...peed rpm Torque Nm Speed rpm Torque Nm Speed rpm Torque Nm Speed rpm Torque Nm Speed rpm 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 0 2 000 4 000 6 000 DC Bus 24VDC SM0601GE4 200 Watts 10Amps 0 0 2 0 4 0 6 0...

Страница 20: ...Resistance Line Line Ohm 10 25 C 0 188 0 22 Winding Inductance Line Line mH 0 85 1 25 Inertia with encoder kg m 2 0 45 X 10 4 0 63 X 10 4 Inertia With Brake Option kg m 2 0 53 X 10 4 0 71 X 10 4 Heat...

Страница 21: ...4 6 5 80 M5 10 6 h9 0 03 0 KEY 21 5 0 118 0 300 4 5 90 Without Brake L1 SM0801GE4 KCF NNV 101 SM0802EE4 KCF NNV 116 With Brake L1 SM0801GE4 KCF BNV 148 SM0802EE4 KCF BNV 163 80mm Torque Curve Max Int...

Страница 22: ...Weight With Brake Kg m2 Kg m2 N max N max kg kg 0 89 10 4 0 97 10 4 90 270 2 6 3 4 Dimensions Unit mm 1 Without Brake 2 With Brake 3 0 2 9 5 L1 1 70 h7 0 03 0 3 0 0 5 0 19 h6 0 013 0 40 1 94 Oil seal...

Страница 23: ...BNV SM0601GE4 KCF BNV SM0602FE4 KCF BNV SM0602GE4 KCF BNV SM0801GE4 KCF BNV SM0802EE4 KCF BNV SM0803GE4 KCF BNV Gearhead Motor Without Brake SM0401HE4 KCD NNV PG A SM0402FE4 KCD NNV PG A SM0601GE4 KC...

Страница 24: ...ation The ambient temperature of the servo drive for long term reliability should be less than 45 C The servo drive and motor will generate heat if they are installed in a control panel please ensure...

Страница 25: ...stalling the servo drive and motor The M2DC servo drive should be installed perpendicular to the wall or in a control panel In order to ensure the drive is well ventilated make sure ventilation holes...

Страница 26: ...ables that have been soaked with water or oil Avoid a stress application to the cable outlet and connecting portion by bending Use flexible cables when using a cable carrier and make sure the minimum...

Страница 27: ...N Power CN2 LED Display The 5 digit 7 segment LED shows the drive status and faults Operation Panel Function keys are used to perform status display monitor and diagnose function and parameter setting...

Страница 28: ...es Ensure the grounding wires are securely connected Wire with a cross section of more than 2 0mm2 is recommended Grounding method must be single point grounding Ensure V and V are correctly wired and...

Страница 29: ...AUX power will keep the logic circuitry alive allowing the drive to remember its current state data motor position etc The motor is then able to resume operation without running a homing routine while...

Страница 30: ...Motor lead wire connector PIN 1 2 3 4 Signal PE U V W Colour Yellow Green Red Yellow Blue 4 2 2 Motor Power Cable Connector CD Winding 6Amps 4 2 2 1 PIN Assignment A B View A View B 4 2 2 2 Motor Con...

Страница 31: ...e side P2 Signal Color Housing for the motor 5452571 Phoenix AMP 172159 1 U U Red 1 V V Yellow 2 W W Blue 3 PE Yellow Green 4 Ensure U V W is wired in the order of RED YELLOW BLUE 4 2 3 Motor Power Ca...

Страница 32: ...AMP 350536 1 Motor Connector Specifications 750W Type Motor side plug Extension cable housing Housing AMP 350779 1 AMP 350780 1 Terminal AMP 350922 6 AMP 350923 6 4 2 3 2 Motor Extension Cable Wiring...

Страница 33: ...oder connector 4 3 2 Layout of CN3 Connector 1 13 14 26 1 2 12 13 15 14 25 26 A B View A View B Pin NO Symbol Description 1 A Encoder A 2 B Encoder B 3 Z Encoder Z 4 U Hall U 5 W Hall W 6 U Hall U 7 W...

Страница 34: ...s of Encoder Connector A E4 Encoder Connector PIN Assignment PIN Signal Colour 1 U A Blue 2 V B Green 3 W Z Yellow 4 U A Yellow Black 5 V B Green Black 6 W Z Yellow Black 7 5V Red 8 GND Black 9 Shield...

Страница 35: ...er Encoder Cable Diagram Connect to drive Connect to Motor 1 3 7 9 A View A Drive Side Signal Color Housing for the motor TYCO 3 22322346 1 or equialent AMP 172161 1 1 A U Blue 1 2 B V Green 2 3 Z W Y...

Страница 36: ...xis Make sure a holding brake is used in applications where this is possible When the STO function engages and removes the torque the motor will be free running requiring more distance until the motio...

Страница 37: ...control modes SF1 5 Safety Input SF2 SF2 3 When SF2 has no signal input e g the port is disconnected SF2 will be considered OFF The upper half of the internal power transistor will be shut off SF2 2 S...

Страница 38: ...g the brake release action you might hear a clicking sound This is normal and does not affect the use of brake Specifications of the brakes are as follows Motor Power Type 60W 100W 200W 400W 750W Hold...

Страница 39: ...P3 port 4 6 2 Regeneration ResistorConfiguration The following steps show how to configure the regenerration resistor 1 Run the M Servo Suite softwar 2 Click the Drive button of the menu and select Mi...

Страница 40: ...Supply 2 D Data 3 D Data 4 Reserved 5 GND Ground 4 9 Input and Output Signal Interface Connector CN2 4 9 1 Input and Output Interface Specifications and Diagram Port CN2 on the M2DC series servo drive...

Страница 41: ...Pulse Input 44 PULSH1 45 PULSH2 46 SIGNH1 47 SIGNH2 37 Y1 36 Y1 11 Y2 10 Y2 40 Y5 41 Y5 14 Y6 13 Y6 42 Y3 43 Y4 OUT 16 15 18 17 DGND 10V User User_GND 20 25 FG 50 DGND ANA1 ANA2 STEP CW DIR CCW Enabl...

Страница 42: ...STEP pulse input such as Direction signals CCW pulse B pulse in position mode Direction input in torque or velocity mode General purpose input X2 6 X3 X3 29 Enable Disable input General purpose input...

Страница 43: ...s to motor position when the drive is in analog position command mode Sets or requests the gain value used in analog velocity mode General analog input in Q mode DGND 15 Digital Ground for analog inpu...

Страница 44: ...e speed ripple less than the ripple range General purpose output Y4 33 Y5 Y5 40 Servo on Status output output signals when the motor is enabled General purpose output Y5 41 Y6 Y6 14 In position signal...

Страница 45: ...DIR Controller 24VDC 0VDC Differential Input 3 STEP 4 STEP 5 DIR 6 DIR Controller FG FG DGND DGND 25 50 C High Speed Differential Signal Input Diagram Use ONLY 5V supply for PULSH SIGNH input DO NOT...

Страница 46: ...een A and B Motor rotary direction can be configured via M Servo Suite software Direction is defined by the leading input between X1 X2 The following graph represents motor rotates in CW direction whe...

Страница 47: ...X3 and X4 These inputs allow input voltage from 5VDC to 24VDC with maximum current of 20mA and up to 500KHz They can be used for general purpose inputs connecting sensor switch signals PLC controller...

Страница 48: ...X1 2 3 4 Host Sink Mode HOST controller 0VDC X1 2 3 4 X1 2 3 4 5 24VDC Host Sourcing Mode X1 2 3 4 5 24VDC Power X1 2 3 4 0V Relay Or Switch Sensor And Switch Connection X1 2 3 4 5 24VDC X1 2 3 4 Out...

Страница 49: ...he M2 has 4 optically isolated general digital inputs X5 X6 X7 and X8 These inputs allow input voltage from 5VDC to 24VDC with maximum input current of 20mA up to 5KHz Both single ended and differenti...

Страница 50: ...oller 5 24VDC 0VDC X5 6 7 8 Host Sourcing Mode HOST controller 0VDC X5 6 7 8 X5 6 7 8 5 24VDC Sensor And Switch Connection X5 6 7 8 5 24VDC Power X5 6 7 8 0V Relay Or Switch NPN Sensor Connection NPN...

Страница 51: ...not always If you are using sinking NPN signals then COM must connect to the power supply If you are using sourcing PNP input signals then you will want to connect COM to ground power supply NOTE If...

Страница 52: ...gnals Y3 and Y4 are common ground outputs that can be used for sinking signals Output circuits are as follows 37 Y1 36 Y1 11 Y2 10 Y2 40 Y5 41 Y5 14 Y6 13 Y6 42 Y3 43 Y4 OUT Y1 Y2 Y5 Y6 Output Connect...

Страница 53: ...s Use twisted pair wires for signal transfer 4 9 5 1 A B Z Connection Diagram Host Controller A Servo Drive A B B Z Z AOUT AOUT BOUT BOUT ZOUT ZOUT FG FG 21 22 48 49 23 24 DGND 25 50 DGND NOTE Please...

Страница 54: ...g values MODE Press and hold MODE button to switch the LED display mode a Monitoring selection mode b Function selection mode c Parameter setting mode When editing the parameters press the MODE button...

Страница 55: ...In status monitoring mode press and hold the button to lock the control panel To unlock the panel press and hold the button again Control mode switch flowchart Monitor Status Power On In factory defa...

Страница 56: ...int And Negative Sign Description LED display Description negative sign motor enable sign Negative sign when the value to be displayed is a negative number 9999 the highest digit will display as a neg...

Страница 57: ...CCW direction in the point to point mode 5 3 5 Jog Mode LED display Description When the LED display reads J CW it means the motor is rotating in a CW direction in JOG mode When the LED display reads...

Страница 58: ...imal point is drive enable sign Press UP and DOWN key to select display detail S Press SET key to select display mode Stats Display Power ON Status Monitoring Selection Press Any Key N mode selection...

Страница 59: ...Manual n 09 Fault History 2 n 10 Fault History 3 n 11 Fault History 4 n 12 Fault History 5 n 13 Fault History 6 n 14 Fault History 7 n 15 Fault History 8 n 16 Differential Analog Input 0 001VDC n 17...

Страница 60: ...Press UP and DOWN key to select display detail S Press and Hold Set key to select and execute the function Status display selection M Press and Hold MODE key for 1 second 5 5 1 Function Mode Descript...

Страница 61: ...to stop the motor press to return back status monitoring selection M press and hold MODE key for 1 second F 00 point to point mode S press M key M S M F 01 JOG mode S M F 02 Restart the drive S Drive...

Страница 62: ...or edit the parameter Press again to quit and no change will be saved Press and hold for 1 second to save the parameter change However this change will NOT be saved at the next power on If you want t...

Страница 63: ...r decrease value Press and hold set key to save parameter S M Press and hold mode key S Press and hold set key Press up and down key to select display detail Function mode selection F 04 to save param...

Страница 64: ...for 1 second will unlock Unlock display 5 8 Warning And Fault Display When power is applied if any warnings are detected by the drive the LED display on the drive will switch into warning or fault dis...

Страница 65: ...d Internal voltage fault CCW limit is activated Over voltage Current limit Over current Communication error Parameter save failed STO is activated Bad hall sensor Regeneration failed Encoder error Low...

Страница 66: ...ervo motor 2 Make sure the wiring between the drive and motor is correct The terminals on connector P2 must be connected in the order of U Red V Yellow U Blue FG Yellow Green If the terminals are not...

Страница 67: ...odel Number LED display Motor Model Number SM0401HE4 KCD NV SM0401EE4 KCD NV SM0402FE4 KCD NV SM0601EE4 KCD NV SM0601GE4 KCF NV SM0602FE4 KCF NV SM0602GE4 KCF NV SM0801GE4 KCF NV SM0802EE4 KCF NV SM08...

Страница 68: ...n Run the M Servo Suite software on a PC and 1 select the correct communication port Use the drive configuration tab 2 to set up the motor Click the Config button to bring up the Motor Select screen A...

Страница 69: ...firm the set value 6 Press the key to enter Function Operation mode 7 Scroll with the keys to select Function F06 MC to enable the motor 8 Press and hold SET key for 1 second to enable the drive The l...

Страница 70: ...ional mode selection Defining the drive s input output mode Applying the auto tuning function on PID parameters for optimized motor performance For more information on the M Servo Suite s capabilities...

Страница 71: ...hen powered ON B When P 14 PM 5 the parameter settings are as follows P 14 PM P 62 SI Condition Function P 14 PM 5 1 Closed Servo motor disable Servo OFF Open Servo motor enable Servo ON 2 default Clo...

Страница 72: ...A X4 changes from LOW to HIGH alarm NOT cleared 3 At point B X4 changes from HIGH to LOW alarm is cleared 2 During normal operation input X4 must be kept CLOSED LOW Clearing the alarm status will ONLY...

Страница 73: ...as general purpose input Closed X6 Stops motion in CCW direction CCW limit warning ON Open X6 Rotates in CCW direction as normal 10 X6 sets CCW limit Stops motion when X6 is closed X5 as general purpo...

Страница 74: ...reduce the motor s settling time and motor vibration It can be used to optimize the motor s overall performance The two global gain parameters are P 00 KP and P 01 KG In factory default mode this func...

Страница 75: ...ntrol mode switch function is disabled It can be configured via M Servo Suite or P 65 MI third digit from right to left in parameter setting mode on the drive s control panel Signal Name PIN P 65 MI C...

Страница 76: ...ing FPGA error over current over velocity limit bad hall sensor The On Fault output signal can be set by P 65 AO on the drive s control panel Signal Name PIN P 65 AO Condition Function Y1 Y1 37 Y1 36...

Страница 77: ...ion OFF ON Brake Release Delay P 68 Setting Brake Engage Delay P 69 Setting The Brake Output BO setting can be configured with the M Servo Suite siftware or with parameter P 67 BO as shown in the tabl...

Страница 78: ...o Suite software or by changing parameter P 68 MO the first digit from right to left on the drive s control panel Signal Name PIN P 68 MO Condition Function Y3 Y3 42 OUT 41 E Closed Closed when servo...

Страница 79: ...ulse Position Mode Connection Diagram 3 X1 4 X1 5 X2 6 X2 29 X3 31 X3 35 X4 34 X4 8 X5 2 X5 9 X6 1 X6 39 X7 38 X7 12 X8 32 X8 7 COM 26 X9 27 X10 28 X11 30 X12 1 5K 1 5K 1 5K 1 5K 1 5K 1 5K 1 5K 1 5K A...

Страница 80: ...its Step Direction X2 on ON OFF Pules ON OFF DIR ON OFF Pules ON OFF DIR 0 X2 Off ON OFF Pules ON OFF DIR ON OFF Pules ON OFF DIR 4 CW CCW Pulse On X1 ON OFF CW Pulse ON OFF CCW Pulse ON OFF CW Pulse...

Страница 81: ...3074 X2 Leads X1 16646 X2 Leads X1 3078 200 Step Direction X2 on 12544 1M Step Direction X2 on 2304 X2 Off 12548 X2 Off 2308 CW CCW Pulse On X1 12545 CW CCW Pulse On X1 2305 Pulse On X2 12549 Pulse On...

Страница 82: ...it of P 65 MI right to left is used to set switching conditions In factory default mode pulse dividing switch is disabled It can be set by M Servo Suite or parameter P 65 MI directly from the drive s...

Страница 83: ...urce and stop the servo motor immediately In factory default mode this function is disabled It can be set via M Servo Suite or P 65 MI directly from the drive Signal Name PIN P 65 MI Condition Functio...

Страница 84: ...rew lead move requirement is 4mm con t on next page If no electronic gearing is used the following pulse count example shows the dilemma Because the screw lead is 3mm i e when the motor rotates 1 rev...

Страница 85: ...e forth digit of parameter P 68 MO defines Y6 output function parameter P 46 PD defines the in position error range P 47 PE defines in position error time duration If the in position error is within t...

Страница 86: ...in some cases the fine tuning function from the software or parameter setting mode on the drive may be needed to optimize performance Parameter Name Data Range Default P 00 KP Global gain 1 0 32767 10...

Страница 87: ...s Step 2 Choose control mode In Control Mode choose Position for Position Mode Step 3 Control mode configuration Choose specified input pulse type Refer to Section 4 8 for CN2 input signal connections...

Страница 88: ...e 10 10V Analog signal 11 Analog velocity mode NO run stop signal X2 is direction switch Analog velocity mode 10 10V Analog signal 12 Analog velocity mode X1 is run stop signal X2 is direction switch...

Страница 89: ...DGND DGND ANA1 ANA2 Servo On Status output 5 24VDC Rotation Direction RUN STOP AOUT AOUT BOUT BOUT ZOUT ZOUT 21 22 48 49 23 24 CZ DGND 19 15 Drive A A B B Z Z DGND 5 24VDC DGND 15 10VDC 10VDC VDC 33...

Страница 90: ...N Analog Torque Gain 20 20 1 A Motor rotating torque when analog voltage is 10VDC P 52 AV1 Analog voltage offset 1 10 10 0 V Set analog voltage input 1 offset value P 53 AV2 Analog voltage offset 2 10...

Страница 91: ...nalog Input PIN type Signal PIN number Function Input ANA1 16 Analog velocity input signal DGND 15 Analog velocity input signal reference digital ground Single ended analog input 16 ANA1 15 DGND 10VDC...

Страница 92: ...ps Setting Via Software 7 3 3 3 Analog Input Voltage Offset In some cases even when the host controller sets the analog command to 0V the servo motor might still rotate slowly This is caused by a volt...

Страница 93: ...meter Name Data Range Default Unit Description P 56 AD1 Deadband for analog input 1 0 255 0 mV Set deadband for analog input 1 P 56 AD3 Differential analog Deadband 0 255 0 mV Set deadband for differe...

Страница 94: ...e 0 Single ended input 1 Differential input P 62 FA2 Analog 2 function setting 2 3 3 Analog input port 2 function setting 2 Torque limit setting 3 Not in use P 51 AN Analog Torque Gain Based on drive...

Страница 95: ...d Open Open means target speed not reached 3 default General purpose signal function disabled Parameter Settings Parameter Name Data Range Default value Unit Description P 85 VR Ripple range setting f...

Страница 96: ...e unstable torque output Therefore use of the analog input filter is recommended The filter is designed as a digital low pass filter a proper filter frequency setting can significantly improve the mot...

Страница 97: ...motor model Refer to Section 2 3 for motor details Step 2 Choose control mode In Control Mode choose velocity for Velocity Mode Step 3 Control mode configuration Select preferred velocity analog type...

Страница 98: ...signal No direction signal Analog input torque mode 10 to 10V Analog signal 5 Analog torque mode X1 for run stop signal No direction signal Analog input torque mode 10 to 10V Analog signal 3 Analog t...

Страница 99: ...17 DGND DGND ANA1 ANA2 Servo on status output 5 24VDC RUN STOP AOUT AOUT BOUT BOUT ZOUT ZOUT 21 22 48 49 23 24 CZ DGND 19 15 A A B B Z Z DGND 5 24VDC DGND 15 10VDC 10VDC VDC 33 FG 50 Drive High Speed...

Страница 100: ...rque setting 20 20 1 A Motor rotating torque when analog voltage is 10VDC P 52 AV1 Analog voltage offset 1 10 10 0 V Set analog voltage input 1 offset value P 53 AV2 Analog voltage offset 2 10 10 0 V...

Страница 101: ...Input Pin Type Signal Name Connector pin allocation Function Input ANA2 18 Analog torque input signal DGND 17 Analog torque input signal grounding Single ended analog input 18 ANA2 17 DGND 10VDC Diffe...

Страница 102: ...n Drive display value x 100 Where is target torque value unit amps Setting Via Software 7 4 3 3 Analog Input Offset In some cases when a host controller has set the analog command to 0V the servo moto...

Страница 103: ...Default value Unit Description P 57 AD2 Deadband for analog input 2 0 255 0 mV Set deadband for analog input 2 P 58 AD3 Differential analog Deadband 0 255 0 mV Set deadband for differential analog inp...

Страница 104: ...set a velocity limit The velocity limit for torque mode can be set via analog input 1 ANA1 Parameter Settings Parameter Name Data Range Default value Unit Description P 55 AS Analog type 0 1 0 analog...

Страница 105: ...reached 8 Closed Close means output torque reach Open Open means target torque not reached 3 default General purpose signal function disabled Parameter Settings Parameter Name Data Range Default valu...

Страница 106: ...our motor model Refer to Section 2 3 for motor details Step 2 Choose control mode In Control Mode choose torque for Torque Mode Step 3 Control mode configuration Select preferred torque analog type Re...

Страница 107: ...ds Input X4 is the trigger for motion NOTE Only S type M2DC series servo drive supports position table mode 7 5 1 Linear motion The Linear motion option for position table mode can set up to 63 positi...

Страница 108: ...63 Position type There are two types of point to point motion Relative Position and Absolute Positon The following graphs illustrate the difference between Rleative positioning and Absolute positionin...

Страница 109: ...ile searching for the homing switch Search Index This feature sets the velocity acceleration and deceleration while searching for the motor encoder index signal after the homing switch has been reache...

Страница 110: ...he green arrow in the box above shows the load position in real time Set Offset Confirm the offset position the value in the Offset field will be used to update the position of the selected point in t...

Страница 111: ...volution motion profiles and homing profiles can also be entered in the Rotary Mode configuration panel After configuration input X4 is the motion trigger When X4 is triggered the load will rotate acc...

Страница 112: ...ation and homing deceleration values NOTE These setting affect the motor s velocity acceleration and deceleration For actual system speed accel and decel refer to the ratio calculation below System sp...

Страница 113: ...they occurr Section 5 8 Warning and Fault Display 8 2 Parameter List Parameter number Type SCL command LED display Function Default value Unit P00 PID KP Global gain 1 8000 P01 PID KG Global gain 2 12...

Страница 114: ...VC Point to point secondary velocity 2 000 rps P29 Profile JC1 Jog mode speed 1 2 000 rps P30 Profile JC2 Jog mode speed 2 10 000 rps P31 Profile JC3 Jog mode speed 3 20 000 rps P32 Profile JC4 Jog mo...

Страница 115: ...alog AD1 Analog input1 deadband 0 mv P57 Analog AD2 Analog input2 deadband 0 mv P58 Analog AD3 Differential analog deadband 0 mv P59 Analog AF Analog input low pass filter value 500 Hz P60 Analog AT A...

Страница 116: ...torque reach 0 00 A P88 Other PK Parameter lock on the drive s control panel 0 P89 Other DD LED Default status monitor type 0 P90 Other MA LED Warning Display Mask Code 65535 P91 Other HA1 Accel of se...

Страница 117: ...117 Rev 1 1 2018 04 400 820 9661 M2DC Series Hardware Manual P100 PID KL Follow factor 0 P101 Other Select motor rotation 0...

Страница 118: ...0 DEC Sets or requests the secondary servo control proportional gain term Gain value is relative 0 meaning no gain 32767 meaning full gain This parameter is the primary gain term for minimizing the po...

Страница 119: ...ertia Feedforward Constant Red Line Dash Actual velocity Green Line Filled Position error P 07 KJ Jerk Filter Frequency Data Range Default Unit Data type 0 5000 5000 DEC This parameter sets the jerk f...

Страница 120: ...nit Data type 0 32767 20000 DEC The servo control overall filter frequency The filter is a simple one pole low pass filter intended for attenuating high frequency oscillations The value is a constant...

Страница 121: ...d The drive will run at velocity set by P 21 JS No run stop signal X2 is direction switch Velocity mode Digitial input signal 16 Profile velocity mode after drive is enabled The drive will run at velo...

Страница 122: ...ies torque to the motor to maintain velocity This method functions better with high inertia loads because it ignores the value set by the PF Position Fault command It also allows the drive to function...

Страница 123: ...or velocity in rev sec Used in all control modes to limit the maximum speed of the drive NOTE if you need to view or set this value on the drive s control panel refer to the following calculation LED...

Страница 124: ...n the drive s control panel refer to the following calculation LED display value x 6 Where is jog acceleration deceleration setting Unit is rps s P 25 VE Point to point Velocity Data Range Default Uni...

Страница 125: ...ol modes 13 14 17 and 18 P 31 JC Jog mode speed 3 Data Range Default Unit Data type 0 025 100 20 rps DEC The third speed used in velocity mode This only applies to control modes 13 14 17 and 18 P 32 J...

Страница 126: ...volution P 40 PV Secondary Electronic gearing Data Range Default Unit Data type 200 32000 10000 counts DEC PV defines the pulses per revolution for secondary electronic gearing Refer to Section 7 2 3...

Страница 127: ...er will define the motion as complete or motor is in position Refer to P 47 PE and Section 7 2 7 In Position Error Output P 47 PE In Position Duration Count Data Range Default Unit Data type 0 32000 1...

Страница 128: ...ode Analog torque gain value sets the commanded torque when the analog input is at the configured full scale value 10V P 52 AV Analog input1 offset Data Range Default Unit Data type 10 000 10 000 0 00...

Страница 129: ...value of the analog input This deadband defines the area of the analog input range that the drive should interpret as zero The deadband is an absolute value that is applied to either side of the zero...

Страница 130: ...n M Servo Suite Parameter Table tab 2 commands are llisted FA1 represents the first digit X1 and FA2 represents the second digit from right to left P 62 SI Servo enable input setting Data Range Defaul...

Страница 131: ...KG is used when closed parameter KP is used 2 When input X7 is open parameter KP is used when closed parameter KG is used 3 X7 is used as a general purpose input parameter KP is used Digit 2 defines X...

Страница 132: ...tes that can be defined BO1 Output Y2 is closed energized when the drive is enabled and open when the drive is disabled BO2 Output Y2 is open de energized when the drive is enabled and closed when the...

Страница 133: ...4 Y6 P 69 BD Brake disengage Delay Data Range Default Unit Data type 0 32000 200 ms DEC P 70 BE Brake engage delay Data Range Default Unit Data type 0 32000 200 ms DEC BD only takes effect if the BO c...

Страница 134: ...nd before the input state is updated For example if the time value is set to 100 the input must remain high for 100 processor cycles before high is updated as the input state One processor cycle is 25...

Страница 135: ...arameter sets the bit rate baud for serial communications At power up a drive will send its power up packet detected after 1 second and the drive is configured for SCL or Q operation see PM command th...

Страница 136: ...K 5 50K 2 500K 6 25K 3 250K 7 12 5K P 82 ZR Regen resistor value Data Range Default Unit Data type 0 1000 200 DEC The regeneration resistor value M2DC drives dynamically calculate the continuous watta...

Страница 137: ...r revolution 0 1 pole pairs 1 2 pole pairs 2 4 pole pairs 3 8 pole pairs 4 16 pole pairs 5 32 pole pairs 6 64 pole pairs 7 128 pole pairs P 87 TV Ripple range setting for torque reach Data Range Defau...

Страница 138: ...ravel limit Left Limit Origin Right Limit Seeking end of travel limit parameter P 90 HA P 93 HO P 96 HV Seeking homing switch parameter P 91 HA P 94 HO P 97 HV Feeding to homing switch parameter P 92...

Страница 139: ...fer to parameter P 91 HA P 98 HV Velocity of seeking homing switch during homing Data Range Default Unit Data type 0 167 5000 10 rps s DEC In homing mode after end of travel is reached this sets the v...

Страница 140: ...o motor drives It also provides an easy way to interface to a variety of other industrial devices like PLCs industrial computers and HMIs which often have standard or optional serial ports for communi...

Страница 141: ...s RX and RX terminals The other pair connects the drive s TX and TX terminals to the host s receive signals A logic ground terminal is provided on each drive and can be used to keep all drives at the...

Страница 142: ...ance is stored at the next memory location and so on This is akin to Left to Right reading in hexadecimal order For example To store a 32bit data 0x12345678 into register addresses 40031 and 40032 wit...

Страница 143: ...uest function code Modbus error response response function code request function code 0x80 providing an error code 9 3 6 M2DC series Servo Drive Register Addresses and Function List Register Access Da...

Страница 144: ...log Input 1 IA1 j 40026 Read Only SHORT Analog Input 2 IA2 k 40027 Read Only SHORT Command Mode CM m 40028 R W SHORT Point to Point Acceleration AC A 40029 R W SHORT Point to Point Deceleration DE B 4...

Страница 145: ...er S 40056 R W SHORT Analog Position Gain AP X 40057 R W SHORT Analog Threshold AT Y 40058 R W SHORT Analog Offset AV Z 40059 60 R W LONG Accumulator 0 40061 62 R W LONG User Defined Register 1 40063...

Страница 146: ...98 R W LONG User Defined Register 40099 100 R W LONG User Defined Register 40101 102 R W LONG User Defined Register _ 40103 104 R W LONG User Defined Register 40105 R W SHORT Brake Release Delay BD 40...

Страница 147: ...RT Parameter 1 40127 R W SHORT Parameter 2 40128 R W SHORT Parameter 3 40129 R W SHORT Parameter 4 40130 R W SHORT Parameter 5 40131 R W SHORT Global Gain KP 40132 R W SHORT Global Gain1 KG 40133 R W...

Страница 148: ...rved 40151 Read Only SHORT Steps Rev EG 40152 R W SHORT Electronic Ration Numerator EN 40153 R W SHORT Electronic Ration Denominator ED 40154 Read Only SHORT Step Mode SZ 40155 R W SHORT Position Faul...

Страница 149: ...Alarm Output AO 40174 R W SHORT Brake Output BO 40175 R W SHORT Motion Output MO 40176 R W SHORT Reserved 40177 R W SHORT Communication Protocol PR 40178 R W SHORT Transmit Delay TD 40179 R W SHORT B...

Страница 150: ...tion 1 40191 R W SHORT Homing Deceleration 2 40192 R W SHORT Homing Deceleration 3 40193 R W SHORT Homing Velocity 1 40194 R W SHORT Homing Velocity 2 40195 R W SHORT Homing Velocity 3 40196 R W SHORT...

Страница 151: ...O Point Condition Feed and Set Output FO 0x68 I O Point Condition Feed to Position FP 0x67 Feed to Sensor FS 0x6B I O Point Condition Feed to Sensor with Safety Distance FY 0x6C I O Point Condition Jo...

Страница 152: ...encode 1 0x31 input 1 or output 1 2 0x32 input 2 or output 2 3 0x33 input 3 or output 3 4 0x34 input 4 or output 4 5 0x35 input 5 or output 5 6 0x36 input 6 or output 6 7 0x37 input 7 8 0x38 input 8...

Страница 153: ...ls are as follows Command Message Master Response Message slave Function Data Number Of Bytes Function Data Number Of Bytes Slave Address 01H 1 Slave Address 01H 1 Function Code 03H 1 Function Code 03...

Страница 154: ...on data number of bytes Slave Address 0BH 1 Slave Address 0BH 1 Function Code 06H 1 Function Code 06H 1 Starting Data Address 00H High 1DH Low 2 Starting Data Address 00H High 1DH Low 2 Content of Dat...

Страница 155: ...ting Data Address 00H High 1EH Low 2 Starting Data Address 00H High 1EH Low 2 Number of Data In word 00H High 02H Low 2 Number of Data In word 00H High 02H Low 2 Number of Data In byte 04H 1 CRC Check...

Страница 156: ...e unit for register 40029 is rps2 When target deceleration is 200 rps s the value will be 1200 VE 10 rps 40030 2400 960h The unit for register 40030 is When target velocity is 10 rps s the value will...

Страница 157: ...ave Address 01H 1 Slave Address 01H 1 Function Code 10H 1 Function Code 10H 1 Starting Data Address 00H High 1BH Low 2 Starting Data Address 00H High 1BH Low 2 Number of Data In word 00H High 05H Low...

Страница 158: ...rameter 3 Parameter 4 Parameter 5 Feed to Length FL 0x66 Host Sending 01 06 00 7C 00 66 C8 38 Drive Reply 01 06 00 7C 00 66 C8 38 Command Message Master Command Message Slave Function Data Number Of B...

Страница 159: ...rps s 40048 1200 258h The unit for register 40029 is rps2 When target deceleration is 200rps s the value will be 1200 JS 10 rps 40049 2400 960 The unit for register 40030 is When target velocity is 2...

Страница 160: ...umber of Data In word 06H 1 CRC Check Low 70 1 Content of first Data address 40047 02 High 58 Low 2 CRC Check High 0D 1 Content of second Data address 40048 04H High B0H Low 2 Content of third Data ad...

Страница 161: ...eck Low C8 1 CRC Check High 7C 1 CRC Check High 7C 1 Stopping Message Command Message Master Command Message Slave Function Data Number Of Bytes Function Data Number Of Bytes Slave Address 01H 1 Slave...

Страница 162: ...open network each drive needs to have a unique NODE ID For M2DC series servo drives NODE IDs can be set from 1 112 0 cannot be used for ID setting Parameter P 79 CO sets the NODE ID 9 4 3 CANopen Comm...

Страница 163: ...locity limited Warning No change to drive s status CW limit or CCW limit activated Warning No change to drive s status CW limit is activated Warning No change to drive s status CCW limit is activated...

Страница 164: ...on and abnormal nosie 8 Machine has collided or the load has gotten heavy Machine has been distorted 9 Welding of contact of dynamic braking relay due to frequent servo ON OFF operations 1 Turn to Ser...

Страница 165: ...failure 1 Please try to save again 2 if problems is not solved please contact MOONS STO is activated Safety torque off function is activated Either or both safety input 1 or 2 is ON Please confirm sa...

Страница 166: ...K L M N O P Q R S T U V W X Y Z Appendix 2 Cables and Connectors Listed below are cables and connectors available from MOONS to make implementation of an M2DC servo system fast and easy Encoder Cable...

Страница 167: ...a Type P N Description Connect to drive Signal Colour Connect to Motor 1631 100 M2DC 6D0 Flexible Motor Cable extra type Shielded 1m 5452571 Phoenix AMP 172159 1 1631 300 M2DC 6D0 Flexible Motor Cable...

Страница 168: ...on 1602 100 M2 Motor Brake Cable 1m 1602 300 M2 Motor Brake Cable 3m 1602 500 M2 Motor Brake Cable 5m 1602 1000 M2 Motor Brake Cable 10m P N Description 1602 100 C05 M2 Flexible Motor Brake cable 1m 1...

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