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Chapter4 Monitoring Parameters

Monitor

code

Monitoring name

Range

Unit

Address

Un000

Motor rotation speed

0x80000000~0x7FFFFFF

rpm

0xE000

Un001

Speed command

0x80000000~0x7FFFFFF

rpm

0xE001

Un002

Internal torque command

0x80000000~0x7FFFFFF

0xE002

Un003

Rotor pulse position relative to
the Z axis

0x80000000~0x7FFFFFF

pulse

0xE003

Un004

Electrical angle

0x80000000~0x7FFFFFF

0xE004

Un005

Pulse speed of input command

0x80000000~0x7FFFFFF

rpm

0xE005

Un006

Counter of input command
pulse

0x80000000~0x7FFFFFF

Command unit

0xE006

Un007

Counter of feedback pulse

0x80000000~0x7FFFFFF

Command unit

0xE007

Un008

Counter of feedback pulse 1

0x80000000~0x7FFFFFF

Encoder pulse

unit

0xE008

Un009

Position deviation

0x80000000~0x7FFFFFF

Command unit

0xE009

Un010

Absolute encoder single circle
value

0x80000000~0x7FFFFFF

Encoder

unit

0xE010

Un011

Absolute encoder several circle
value

0x80000000~0x7FFFFFF

0xE011

Un012

External encoder feedback pulse
counter

0x80000000~0x7FFFFFF

External

encoder unit

0xE012

Un00A

Cumulative load factor

0x80000000~0x7FFFFFF

0xE00A

Un00B

Regeneration load rate

0x80000000~0x7FFFFFF

0xE00B

Un00C

DB resistance consumes power

0x80000000~0x7FFFFFF

0xE00C

Un00D

Effective gain monitoring

1~2

－

0xE00D

Un00E

Total running time

0~0xFFFFFFFF

100ms

0xE00E

Un00F

Overload rate

0~0xFFFFFFFF

0xE00F

Un035

ARM Software version number

0~0xFFFF

0xE035

Un036

FPGA Software version number

0~0xFFFF

0xE036

Un089

Drive internal temperature

0~0xFFFF

℃

0xE090

Un100

IO port input signal monitoring

0~0xFFFF

－

0xE100

Содержание SD700-110D series

Страница 1: ... solutions for machine tools electronic equipment robots textile applications packaging industry and etc This manual is delivered with equipment and only introduces safety precautions installation and wiring function code table fault diagnoses and processing monitoring parameters and etc For detailed function explanations and application specifications please refer to SD700 series product instruct...

Страница 2: ...dry without corrosive air and conductive dust and the temperature bust be lower than 60 This product carries dangerous voltage and controls driver machine with potential danger If you don t abide by the regulations or requirements in this manual there is danger of body injury even death and machine damage Do not wire while the power is connected Otherwise there is danger of death for electric shoc...

Страница 3: ...oard Layout and Function Specifications 8 1 8 Output PortAttentions 8 1 9 Brake Wiring 9 1 10 Position Control Wiring Diagram 10 1 11 Speed Control Wiring Diagram 11 1 12 Torque Control Wiring Diagram 12 Chapter2 Trial Run 13 2 1 JOG Trial Run 13 2 2 Bandwidth Setting Fn303 13 Chapter3 Function Code List 14 3 1 Pn0 Basic Control 14 3 2 Pn1 Gain Parameters 17 3 3 Pn2 Positional Parameters 23 3 4 Pn...

Страница 4: ...h Configuration Related Parameters 33 3 8 Pn7 Extension Related Parameters 35 Chapter4 Monitoring Parameters 36 Chapter5Auxiliary Function 39 Chapter6 Faults and Warnings 40 6 1 Fault Code 40 6 2 Warning Code 43 Appendix I Braking Resistor Selection 45 ...

Страница 5: ...re W H D W1 W2 H1 A B SIZE A SD700 1R1A 45 168 170 20 160 7 5 5 2 M4 SD700 1R8A SD700 3R3A SIZE B SD700 5R5A 71 168 180 58 58 160 6 5 5 3 M4 SD700 7R6A SD700 9R5A SD700 2R5D SD700 3R8D SIZE C SD700 160A 92 5 188 182 82 5 75 180 5 5 3 M4 SD700 6R0D SD700 8R4D SD700 110D SIZE D SD700 170D 120 260 210 100 84 5 250 10 7 2 4 M5 SD700 240D SD700 300D ...

Страница 6: ... mm Mounting aperture W H D W1 W2 H1 H2 SIZE E SD700 500D 210 471 254 140 140 457 434 5 4 M6 SD700 600D SIZE F SD700 700D 240 558 310 176 176 544 520 4 M6 SD700 800D SD700 121D 1 2 Main Circuit Terminal Size L1 L2 L3 L1C L2C B1 B2 B3 U V W Mounting aperture ...

Страница 7: ...e braking capacity is insufficient connect an external regenerative resistor between B1 and B2 Other models remove short wiring or short connection between B2 and B3 Connect an external regenerative resistor between B1 and B2 The external regenerative resistor need be purchased separately B1 terminals can be used for common DC bus positive power supply terminals Note B3 terminal SD700 1R1A 1R8A 3R...

Страница 8: ...4 ...

Страница 9: ...r 5V 0V SD SD PE Shield 1 2 5 6 1 2 5 6 Iron Shell 7 Pins Define BAT 3 3 BAT 4 4 Note When using multi turn absolute encoder please pay attention to the connection of battery and serial data 1 5 Motor Power Terminal 视图A 3 4 1 2 黄绿 PE W V U 蓝棕红 A 信号定义线芯颜色 A端脚位号 40 60 80法兰电机动力线定义 U 蓝 2 V 棕 3 W 红 4 PE 黄绿 1 View A ...

Страница 10: ...ent according to different models When you use it you need to confirm the model and then correspond to the definition of the interface The field identification bits are P pulse type S standard type C CANopen bus type CN6A CN6B Port definition Pin No Signal name Function Pin No Signal name Function 1 CANH CAN data 6 2 CANL CAN data 7 GND 485 signal ground 3 CANG CAN signal 8 PIN8 PIN1 PIN8 PIN1 ...

Страница 11: ...ification bit is N EtherCAT bus type L MECHATROLINK III bus type CN6A CN6B Port definition Pin No Signal name Function Pin No Signal name Function 1 TX Data transmission 6 RX Data reception 2 TX Data transmission 7 3 RX Data reception 8 4 shell shield shield 5 Regarding the use of multiple drivers at the same time the cascading method is CN6A in CN6B out the cascading cable should be under 50cm an...

Страница 12: ... middle and low value display DOWN Used to select parameters down or decrease the value for multi segment display parameters can be used to switch the high middle and low value display DATA SHIFT Long press DATA SHIFT about1 s Used to enter or exit Short press to move one bit to the left when flashing Note Press and hold the UP key and DOWN key at the same time to reset the servo alarm Before rese...

Страница 13: ...ic brake is shown as below Electromagnetic brake must be provided with a dedicated 24V power supply be prohibited to share power source with control signal means relay coil please note the diode direction Electromagnetic brakes are for holding and can not be used for normal parking Though electromagnetic brake has function to prevent or keep heavy objects from falling external braking devices are ...

Страница 14: ...10 1 10 Position Control Wiring Diagram ...

Страница 15: ...11 1 11 Speed Control Wiring Diagram ...

Страница 16: ...12 1 12 Torque Control Wiring Diagram ...

Страница 17: ...hod of parameter Pn group Take the setting method when the speed loop gain Pn101 setting value is changed from 40 0 to 100 0 as an example Speed loop gain Auxiliary function Enter setting Any interface MODE SET UP Long press DATA SHIFT shift short press DATA SHIFT UP increase Target value Confirm changes Speed loop gain MODE SET Long press DATA SHIFT Long press DATA SHIFT flicker 2s After the para...

Страница 18: ...0xfff means that the monitoring parameters are not displayed and the system status is displayed Pn004 Servo OFF and stop method selection when the first type alarm occurs 0 2 0 0x0004 RST 0 Stop the motor via DB 1 Stop the motor via DB then release the DB 2 Without DB the motor is in free motion Pn005 Selection of stop method for the second type of alarm generated by servo 0x00 0x01 0 0x0005 RST 0...

Страница 19: ...For example the overload warning detection time at the factory is 20 Pn016 Motor overload detection base current derating setting 10 100 100 0x001 6 RST Pn030 Reserved parameters 0 65535 0 0x0030 INST Pn031 Parameter modification operation lock 0 1 0 0x0031 RST 0 Allow panel to modify parameters 1 Forbid panel to modify parameters Pn040 How to use the absolute encoder 0 1 0 0x0040 RST 0 Use absolu...

Страница 20: ... 0 800 800 0x0053 INST Pn061 Panel parameter display selection 0x00 0x01 1 0x0061 RST 0 Only display setting parameters 1 Show all parameters Pn070 Encoder frequency division pulse number 16 4194304 2048 0x0070 RST According to the setting value of this parameter the frequency of pulses from the encoder per revolution is divided please set according to the system specifications of the machine and ...

Страница 21: ...ion loop gain setting the higher the responsiveness and the shorter the positioning time The position loop gain cannot be increased beyond the rigidity of the mechanical system To set the position loop gain to a larger value the machine rigidity needs to be increased Pn104 First torque command filter 0 655 35 1 00 ms 0x0104 INST Adjusting the torque command filter parameters may eliminate the mach...

Страница 22: ...gnal ON 1 Positioning completion signal OFF 2 Positioning proximity signal ON 3 Positioning proximity signal OFF 4 Position command after filtering is 0 and pulse input OFF 5 Position command pulse input ON If the condition is met then switch to the second gain otherwise switch to the first gain Pn112 Gain switching transition time 1 0 65535 0 ms 0x0112 INST After waiting for the waiting time from...

Страница 23: ...24 RST Torque feedforward is a function to shorten the positioning time and the torque feedforward can be given by external analog T REF 0 none 1 use T REF as torque feedforward input Pn130 Speed loop control method PI IP 0 1 0 0x0130 RST 0 PI control 1 I P control Pn131 The selection switch of speed loop P PI switch condition 0x00 0x04 0 0x0131 INST 0 Condition to internal torque command 1 Condit...

Страница 24: ...Pn143 medium frequency vibration suppression attenuation gain 0 300 0 0x0143 INST Increasing this parameter can improve the vibration suppression effect but setting it too large may increase the vibration Please confirm the vibration suppression effect and gradually increase the setting value in the range of 0 to 200 in units of 10 When the vibration suppression effect cannot be obtained after rea...

Страница 25: ...value 0 5 10 0 70 0x0157 INST The Q value of a notch filter refers to the set value of the filter frequency width relative to the frequency of the notch filter The width of the notch varies with the Q value of the notch filter The larger the Q value of the notch filter the more severe the depression and the narrower the width of the filter frequency Pn158 Notch filter 2 depth 0 1 0 000 0x0158 INST...

Страница 26: ...ore efficient the settings the better the performance but the higher the settings the more likely the response will be to vibrate Usually set the settings below 95 Pn175 Robust control options 0x00 0x01 1 0x0175 RST Set Robust Control Function Switch 0 Invalid 1 Effective Pn177 Robust control tuning values 10 80 40 0 Hz 0x0177 INST Set a gain tuning value for robust control The larger the value th...

Страница 27: ...position command pulse input magnification to 1 times and the multiple set by this parameter Pn204 Pn206 Electronic gear ratio numerator 0 1073741824 64 0x0206 0x0207 RST Electronic gear ratio denominator 1 1073741824 1 0x0208 0x0209 RST Position mode full closed loop is invalid When full closed loop is valid Pn211 Position command low pass filter time constant 0 655 0 ms 0x0211 STOP Use this para...

Страница 28: ...0 0x0236 INST This parameter is used to set the correction coefficient of low frequency vibration suppression 1 The larger the value the more obvious the low frequency suppression effect If it is too small the positioning time may be too long Pn237 Low frequency vibration suppression 2 frequency 1 200 200 0 Hz 0x0237 INST This parameter is used to set the frequency of low frequency vibration suppr...

Страница 29: ...reased the torque feedforward rises faster which can shorten the positioning time appropriately Pn245 Model tracking control reverse torque feedforward gain 0 1000 100 0 0x0245 INST Negative position command Use this parameter when adjusting the negative response separately When the value is increased the torque feedforward rises faster which can shorten the positioning time appropriately Pn246 Mo...

Страница 30: ...ction sequence after the positioning is completed which can shorten the time required for the action when the positioning is completed the command pulse number and servo The signal is output when the difference position deviation of the motor movement amount is lower than the set value Pn262 Position arrival range 0 107374182 4 7 Comman d unit 0x0262 0x0263 INST During position control it indicate...

Страница 31: ...n the setting value of Maximum Position Deviation Threshold is exceeded Alarm Excessive Position Deviation Caused by Speed Limit When Servo ON Pn272 Position deviation clear mode 0x00 0x03 0 0x0272 RST 0 Clear when the level is ON 1 Clear when the rising edge is OFF ON 2 Clear when the level is OFF 3 Clear when the falling edge is ON OFF Pn273 Selection of position deviation clearing method 0x00 0...

Страница 32: ...peed command usually does not need to be changed If the setting value is too large the responsiveness may be reduced Please set while confirming the responsiveness Pn303 Analog speed command dead area range 0 3 0 V 0x0303 INST During analog speed control even if the input command is 0V the servo motor may rotate at a slight speed This is because the command within the servo unit has a slight devia...

Страница 33: ...after stopping 3 The speed command is lower than the zero speed clamp speed threshold the speed command is set to 0 first and the clamp after the stop Pn313 Speed zero clamp threshold 0 10000 10 rpm 0x0313 INST Set the zero control switching threshold when the zero speed clamp mode is set to 3 Pn317 Rotation judgment threshold 1 10000 20 rpm 0x0317 INST When the motor speed is above the set value ...

Страница 34: ...INST The function of applying a delay filter to the input of the analog torque command T REF to smooth the torque command usually does not need to be changed If the setting value is too large the responsiveness may be reduced Please confirm while responding set up Pn405 Analog torque command gain 10 100 30 0 1V rated torque 0x0405 INST Use this parameter to set the analog voltage value required fo...

Страница 35: ...Pn412 Speed limit selection 0x00 0x01 0 0x0412 RST 0 motor maximum speed determined internally by the motor model torque mode speed limit Pn411 1 Overspeed detection alarm speed determined internally by the motor model torque mode speed limit Pn411 Pn413 speed limit under torque control 0 10000 1000 rpm 0x0413 INST Set speed limit during torque control used with Pn411 ...

Страница 36: ...ime forward movement number of cycles Pn503 Program JOG moving distance 1 107374182 4 32768 Command unit 0x0503 INST Set the running distance of the running program JOG as the command unit Pn505 Program JOG acceleration deceleration time 2 10000 100 ms 0x0505 INST The time required to accelerate the set speed from 0r min to the rated speed corresponding to the motor model Pn506 Program JOG waiting...

Страница 37: ...n608 Pn609 CN1 40 Input configuration 0 0x114 0x01 0x0601 RST CN1 42 Input configuration 0 0x114 0x02 0x0602 RST CN1 43 Input configuration 0 0x114 0x03 0x0603 RST CN1 41 Input configuration 0 0x114 0x05 0x0604 RST CN1 44 Input configuration 0 0x114 0x04 0x0605 RST CN1 45 Input configuration 0 0x114 0x06 0x0606 RST CN1 46 Input configuration 0 0x114 0x07 0x0607 RST CN1 39 Input configuration 0 0x1...

Страница 38: ... Torque command direction selection 0x10F Torque command direction selection negation 0x10 Command pulse integral magnification switching 0x110 Command pulse integral magnification switching negation Pn610 Pn611 Pn612 Switch input internal configuration 1 0 0x14 0x00 0x0610 RST Switch input internal configuration 2 0 0x14 0x00 0x0611 RST Switch input internal configuration 3 0 0x14 0x00 0x0612 RST...

Страница 39: ...ch 0x00 0x11 0 0x0622 RST 0x1 Digital output alarm output ALM signal high effective 0x0 Digital output alarm output ALM signal low effective 0x 1 No warning is detected 0x 0 Warning is detected 3 8 Pn7 Extension Related Parameters Function code Parameters Range Default Unit Address Effective way Pn730 No motor test function selection 0x00 0x01 0 0x0730 RST 0 Invalid 1 Valid Pn731 No motor test fun...

Страница 40: ...F F Encoder pulse unit 0xE008 Un009 Position deviation 0x80000000 0x7FFFFFF F Command unit 0xE009 Un010 Absolute encoder single circle value 0x80000000 0x7FFFFFF F Encoder unit 0xE010 Un011 Absolute encoder several circle value 0x80000000 0x7FFFFFF F 0xE011 Un012 External encoder feedback pulse counter 0x80000000 0x7FFFFFF F External encoder unit 0xE012 Un00A Cumulative load factor 0x80000000 0x7F...

Страница 41: ...larm occurred 0 0xFFFFFFFF 100ms 0xE302 Un303 Motor rotation speed when an alarm occurs 0 0xFFFF rpm 0xE303 Un304 Speed command at the time of alarm 0 0xFFFF rpm 0xE304 Un305 Internal torque command when an alarm occurs 0 0xFFFF 0xE305 Un306 Input command pulse speed when an alarm occurs 0 0xFFFF rpm 0xE306 Un307 Deviation counter when an alarm occurs 0 0xFFFFFFFF pulse 0xE307 Un308 Main circuit b...

Страница 42: ...ory 6 0 0xFFFF 0xE325 Un326 Fault code history 7 0 0xFFFF 0xE326 Un327 Fault code history 8 0 0xFFFF 0xE327 Un328 Fault code history 9 0 0xFFFF 0xE328 Un329 Fault code history 10 0 0xFFFF 0xE329 Un330 Fault time history 1 0 0xFFFFFFFF 100ms 0xE330 Un331 Fault time history 2 0 0xFFFFFFFF 100ms 0xE331 Un332 Fault time history 3 0 0xFFFFFFFF 100ms 0xE332 Un333 Fault time history 4 0 0xFFFFFFFF 100ms ...

Страница 43: ...iption Fn 000 Display alarm history Fn 102 Torque command offset manual adjustment Fn 001 Clear alarm history Fn 103 Automatic adjustment of current bias Fn 002 Software reset Fn 104 Manual adjustment of current bias Fn 003 Restore factory parameters Fn 105 Initialize the detected value of vibration detection Fn 005 JOG operation Fn 303 Bandwidth setting Fn 006 Program JOG operation Fn 401 Easy FF...

Страница 44: ...ve to 0 and then write the correct power level Note After the power level is written current detection correction analog input correction and bus voltage correction must be performed 2 The servo drive is faulty replace the servo drive 1 Er 040 Parameters setting abnormal 1 Check whether the changed parameters are out of range 2 Check whether the setting of electronic gear ratio is within the setti...

Страница 45: ...onditions allow reduce the motor speed Or reduce the speed loop gain 2 Set the rotational inertia ratio correctly 3 Appropriately set the vibration detection value Pn187 and vibration detection sensitivity Pn186 1 Er 550 Max speed setting abnormal 1 Er 710 Overload instantaneous max load 1 Check whether there is a locked rotor when the motor is running 2 Confirm whether there is any problem with t...

Страница 46: ... turn encoder 2 Perform the zero turn action of the multi turn encoder 1 Er 830 Battery undervoltage Replace multi turn encoder battery 1 Er BF4 Hardware overcurrent Unplug the power cord and turn on the power of the servo unit again If the alarm still occurs the servo unit may be faulty Replace the servo unit If not confirm whether it is power line or motor failure 1 Er C10 Runaway alarm 1 Confir...

Страница 47: ... correct value of Pn267 the position deviation is too large when the servo is ON 1 Er D02 Excessive position deviation alarm caused by speed limit when servo is on Set the correct maximum tolerance of position deviation Pn264 Or set the speed limit value Pn270 when the servo is ON to the correct value 2 Er D10 Excessive deviation between motor and load position Confirm the motor rotation direction...

Страница 48: ...ive malfunction and needs replacement AL 921 DB overload alarm 1 Reduce the command speed of the servo motor 2 Reduce the moment of inertia ratio 3 Servo driver problem replace the servo driver AL 930 Low battery warning Replace battery AL 941 Alarm of re power due to parameters update Power off and restart the drive AL 971 Under voltage alarm 1 Adjust the AC DC power supply voltage to the range o...

Страница 49: ...9R5A 40Ω 60W 15 40 SD700 2R5D 700V 80Ω 60W 80 225 SD700 3R8D 80Ω 60W 55 180 SD700 6R0D 40Ω 60W 35 110 SD700 8R4D 40Ω 60W 25 85 SD700 110D 40Ω 60W 25 70 SD700 170D 30Ω 200W 30 50 SD700 240D 30Ω 200W 15 40 SD700 300D 30Ω 200W 15 30 Note If needing external braking resistor please according to the onsite braking frequency and the braking resistor heat dissipation condition to choose proper braking re...

Страница 50: ...7P Pluggable Terminals Block 1 5 3P Pluggable Terminals Block 1 6 Terminal Handle 1 Remark Item 4 5 and 6 are only for below modes SD700 1R1A SD700 1R8A SD700 3R3A When open the package please carefully check if the contents are consistent with the packing list Any doubt please contact your dealer ...

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