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Veichi SD700-1R1A series, Установка и подключение, Страница: 28 / 55

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28

Function 

code 

Parameter name 

Range 

Default value  Company  Postal address 

Effective 

way 

time 

failure 

effective 

0- Output when the absolute value of the position deviation is less than the positioning completion range (Pn262) 
1- Output when the absolute value of the position deviation is less than the positioning completion range (Pn262) and the 
command after the position command filtering is 0 
2- Output when the absolute value of the position deviation is less than the positioning completion range (Pn262) and the 
position command input is 0 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

 

3.4 speed class Pn3 group 

Содержание SD700-1R1A series

Страница 1: ...nd there is possibility of change If there is any change no notice will be given Safety precautions To ensure the safe and reasonable use of this product please use the product after fully understandi...

Страница 2: ...the output side of the servo system If the switch device must be connected to the output side the output current of the servo system must be guaranteed to be zero when controlling the switch No matte...

Страница 3: ...aper ture 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...

Страница 4: ...121D 1 2 Main circuit terminal size L1 L2 L3 L1C L2C B1 B2 B3 U V W Main circuit interface Needle number Signal name Function 1 L1 R Main circuit power input Please confirm whether the input power is...

Страница 5: ...the short or short connections between B2 B3 connect external regenerative resistors between B1 and B2 and purchase external regenerative resistors The B1 terminal can be used for common DC bus positi...

Страница 6: ...6 Note when using the multi loop absolute encoder pay attention to the connection of battery and serial data 1 5 Motor power terminal...

Страница 7: ...odel The field identification bit is P pulse type S standard type C CANopen bus type The field identification bit is P pulse type S standard type C CANopen bus type CN6A CN6B interface definition Need...

Страница 8: ...function Key name Key function MODE SET key Key for function mode switching Key for parameter setting confirmation Key for auxiliary function execution UP key It is used to select parameters or increa...

Страница 9: ...r supply for electromagnetic brake requires a special power supply from users Do not share the power with the control signal The relay coil is shown in the picture Please note the direction of the dio...

Страница 10: ...10 1 10 Example of location control connection...

Страница 11: ...11 1 11 Example of speed control connection...

Страница 12: ...12 1 12 Example of torque control connection...

Страница 13: ...ue is 500rpm Pn310 set point acceleration time default value 0ms Pn311 set the dynamic deceleration time default value 0ms Parameter settings panel operation can refer to the Pn group parameter settin...

Страница 14: ...ore factory parameters Fn003 2 4 Automatic adjustment of instruction bias Fn100 The servo off inputs 0V instruction voltage from the upper device or the external loop 2 5 Current bias automatic adjust...

Страница 15: ...see the monitoring parameters in detail 0xfff indicates that the monitoring parameters are not displayed and the system status is displayed Pn004 Selection of stop methods for servo off and first kin...

Страница 16: ...t the factory is 20 of the overload alarm detection time Pn016 Motor current overload detection base current derating setting 10 100 100 0x0016 Power failure effective Pn030 Retention parameter 0 6553...

Страница 17: ...imum torque limit 1 reverse maximum torque limit 2 3 Switching value Torque limit switch When it is OFF the maximum torque limit 1 When it is ON the maximum torque limit 2 Pn051 Maximum torque limit 1...

Страница 18: ...servo motor rotor inertia 100 Pn101 First speed gain 1 2000 40 0 Hz 0x0101 Immediat e effect Parameters that determine speed loop responsiveness Because the response of the speed loop is low it will...

Страница 19: ...e torque command filter may eliminate the vibration caused by the servo drive The smaller the value the better the response can be controlled but it is restricted by the machine condition Pn110 Gain s...

Страница 20: ...location control selection T TEF assignment 0 1 0 0x0124 Power failure effective Torque feedforward is the function of shortening the positioning time and it can be selected by external analog T TEF w...

Страница 21: ...appropriately Pn150 Notch filter 1 automatic adjustment selection 0x00 0x01 1 0x0150 Immediat e effect 0 does not automatically adjust 1 through auxiliary functions and automatically adjusts through...

Страница 22: ...filter The smaller the depth of the notch filter the deeper the dent the higher the vibration suppression effect but the smaller the vibration will increase the vibration Pn160 Disturbance compensati...

Страница 23: ...fective Pn177 Robust control tuning value 10 80 40 0 Hz 0x0177 Immediat e effect The gain tuning value of the robust control is set The larger the value is the faster the system responds but the overs...

Страница 24: ...ic gear ratio denominator 1 1073741824 1 0x0208 0x0209 Power failure effective The full closed loop mode is invalid 1 1 2 N r N Full closed loop effective time 1 0 5 1 1 0 5 1 Pn211 Location instructi...

Страница 25: ...ration to suppress 2 The larger the value is the more obvious the effect of low frequency suppression will be Pn240 Model tracking control selection 0x00 0x01 0 0x0240 Immediate effect 0 does not use...

Страница 26: ...reverse direction of operation Pn252 Coefficient of deviation between motor loads during one full closed rotation 0 100 20 0x0252 Immediate effect This parameter indicates the coefficient processing...

Страница 27: ...8 Immediate effect This parameter is used to set the threshold value of the servo position instantaneous excessive position deviation alarm When the servo is ON the position deviation value exceeds th...

Страница 28: ...n the positioning completion range Pn262 1 Output when the absolute value of the position deviation is less than the positioning completion range Pn262 and the command after the position command filte...

Страница 29: ...tor can rotate at a very low speed This is because there is a slight deviation in the instruction of the servo unit and the deviation can be eliminated by setting the appropriate analog speed and inst...

Страница 30: ...00 10 rpm 0x0313 Immediate effect Zero control switching threshold when zero speed clamp mode is set to 3 Pn317 Rotation judgment threshold 1 10000 20 rpm 0x0317 Immediate effect When the motor speed...

Страница 31: ...that the function of smoothing the torque command is usually not changed If the setting value is too large the responsiveness may be reduced Pn405 Analog torque command gain 10 100 30 0 1v rated torq...

Страница 32: ...0x0500 Immediate effect Pn502 Program jog operation mode 0x00 0x05 0 0x0502 Immediate effect 0 wait time forward migration cycle times 1 wait time reverse movement cycle times 2 wait time forward mov...

Страница 33: ...onfiguration 0 0x114 0x00 0x0608 Power failure effective Cn1 38 input configuration 0 0x114 0x00 0x0609 Power failure effective 0x00 invalid 0x01 servo enable 0x101 servo to reverse 0x02 forward limit...

Страница 34: ...rm clearing 0x104 alarm clearing reverse 0x05 manual PI P control 0x105 manual PI P control reverse 0x06 torque limiting switching 0x106 torque limiting switching reverse 0x08 internal speed command d...

Страница 35: ...reverse 0x08 positioning is close to signal 0x108 positioning is close to signal reverse 0x09 instruction pulse input multiplying switching signal 0x109 instruction pulse input multiplying switching s...

Страница 36: ...d version of the eighth chapter Pn802 Zero position paranoid value 2147483648 2147483647 0 Command unit 0x0802 Immediate effect Zero position offset setting Pn804 Pr1 control word 0 0x80000000 0x0 0x0...

Страница 37: ...00000 0x0 0x081C Immediate effect Same to Pn804 Pn81E Pr7 instruction pulse count 2147483648 2147483647 0 Command unit 0x081E Immediate effect Seventh section setting Pn820 Pr8 control word 0 0x800000...

Страница 38: ...83647 0 Command unit 0x0836 Immediate effect Thirteenth section setting Pn838 Pr14 control word 0 0x80000000 0x0 0x0838 Immediate effect Same to Pn804 Pn83A Pr14 instruction pulse count 2147483648 214...

Страница 39: ...000 0x0 0x0850 Immediate effect Same to Pn804 Pn852 Pr20 instruction pulse count 2147483648 2147483647 0 Command unit 0x0852 Immediate effect Twentieth section setting Pn854 Pr21 control word 0 0x8000...

Страница 40: ...ame Range Default value Company Postal address Effective way Pn86E Pr27 instruction pulse count 2147483648 2147483647 0 Command unit 0x086E Immediate effect Twenty seventh section setting Pn870 Pr28 c...

Страница 41: ...60000 500 ms 0x0884 Immediate effect Acceleration and deceleration time set 4 Pn885 Pr acceleration and deceleration time 5 0 60000 600 ms 0x0885 Immediate effect Acceleration and deceleration time se...

Страница 42: ...ate effect Delay time 2 settings Pn893 Pr delay time 3 0 6000 10 0 1s 0x0893 Immediate effect Delay time 3 settings Pn894 Pr delay time 4 0 60000 100 0 1s 0x0894 Immediate effect Delay time 4 settings...

Страница 43: ...eleration and deceleration time 0 60000 200 ms 0x089C Immediate effect Acceleration and deceleration speed setting in origin regression process Functio n code Parameter name Range Default value Compan...

Страница 44: ...monitoring 1 2 0xE00D Un00E Total run time 0 0xFFFFFFFF 0 1s 0xE00E Un00F Overload rate 0 0xFFFFFFFF 0xE00F Un010 Absolute encoder single loop value 0x80000000 0x7FFFFFFF Encoder unit 0xE010 Un011 Abs...

Страница 45: ...alarm occurs 0 0xFFFF rpm 0xE306 Un307 Deviation counter when alarm occurs 0 0xFFFFFFFF pulse 0xE307 Un308 Main circuit bus voltage when alarm occurs 0 0xFFFF V 0xE308 Un309 The effective value of cur...

Страница 46: ...istory 9 0 0xFFFFFFFF 100ms 0xE338 Un339 Fault time history 10 0 0xFFFFFFFF 100ms 0xE339 5 Auxiliary function The auxiliary function is displayed as the serial number beginning with Fn and performs fu...

Страница 47: ...age correction should be implemented 2 servo driver failure replace servo driver 1 categ ory Er 030 Abnormal detection of main circuit 1 servo driver failure replace servo driver 1 categ ory Er 040 Pa...

Страница 48: ...correctly 2 After troubleshooting the wiring fault it may be a servo driver problem Replace the servo driver 1 categ ory Er 320 Regeneration overload 1 Do not check whether the bus voltage of the driv...

Страница 49: ...and monitor whether the bus voltage Un140 is 1 414 times the input voltage AC effective value If the deviation is large it can be determined as the hardware fault of bus voltage detection 3 Measure t...

Страница 50: ...r has a large jitter during the operation and whether there is a large noise If so adjust the gain parameters to eliminate noise or jitter At the same time use a virtual oscilloscope to monitor the mo...

Страница 51: ...eg ory Er 850 Encoder overspeed Encoder overspeed 1 categ ory Er 860 Encoder temperature high 1 reduce motor load rate 2 enhance the heat dissipation effect of motor 1 categ ory Er 8A0 Exception of ex...

Страница 52: ...nable 4 determine whether the relevant parameters are reasonable such as torque limit speed limit inertia ratio position gain speed gain is too small and location filter 5 calculate whether the motor...

Страница 53: ...2 set the resistance value and capacity correctly 3 servo driver problem replace servo driver AL 921 DB overload warning 1 reduce the speed of servo motor instruction 2 reduce the moment of inertia r...

Страница 54: ...25 85 SD700 110D 40 60W 25 70 SD700 170D 30 200W 30 50 SD700 240D 30 200W 15 40 SD700 300D 30 200W 15 30 SD700 500D nothing 10 20 SD700 600D nothing 10 20 SD700 700D nothing 10 15 SD700 800D nothing 1...

Страница 55: ...P 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 carefull...

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