Xinje DS5C Series Скачать руководство пользователя страница 81

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command is 0. When the

speed

below

P3-13,

switch to position mode

and the servo locked in

this position

1: ZCLAMP input signal

is ON, forced set speed

command to 0

2: ZCLAMP input signal

is ON, speed below P3-13

switch to position mode

and the servo locked in

this position

Note: after entering zero

clamp mode, setting speed

is higher than P3-13,

motor still cannot work, it

needs the ZCLAMP input

signal to be OFF to exit

zero clamp mode, then the

motor can work again.

3: ZCLAMP input signal

is ON, and the setting

speed is below P3-13,

switch to position control

mode, and servo locked in

this position. At this time,

when the setting speed is

Содержание DS5C Series

Страница 1: ...DS5C series servo driver Fast manual Version 1 Wuxi Xinje Electric Co Ltd Data No SC502 20181025 1 0...

Страница 2: ...s of the manual and carry on the correction in future versions welcome to put forward valuable opinion The contents described in the manual if there are any changes please understand we will not prior...

Страница 3: ......

Страница 4: ......

Страница 5: ...guration 6 1 3 2 Model name 7 1 4 Other accessories 8 1 4 1 Regenerative resistor 8 2 Product installation 9 2 1 Servo drive installation 9 2 1 1 Installation location 9 2 1 2 Environment conditions 1...

Страница 6: ...ion switch parameter 38 5 1 2 Recommended inertia ratio under default parameters 40 5 2 Auto tuning 41 5 2 1 No instruction auto tuning 41 5 2 2 Auto tuning with instruction 41 5 3 Manual adjustment 4...

Страница 7: ...CST mode 55 7 4 3 Operation steps 55 7 4 4 Related object table 56 8 Mode common function 57 8 1 Touch Probe Function 57 8 1 1 Summary 57 8 1 2 Operation steps 57 8 1 3 Related object table 57 8 2 Po...

Страница 8: ...66 9 2 2 Group F parameters 85 9 2 3 Group U parameters 85 Appendix 90 Appendix 1 motor specification table 90 Appendix 2 List of Servo Drive and Motor Matching 92 Appendix 3 Alarm list 94 Appendix 4...

Страница 9: ...Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdrive Is th...

Страница 10: ...able damage Product running and maintenance Do not remove the panel cover while the power is ON Do not touch terminals for 10 minutes after the power has been turned OFF Do not connect with any motor...

Страница 11: ...TA Signal terminal RJ45 port Encoder port Motor wiring Power supply Voltage level 2 220V 4 380V Series name DS5C EtherCAT Motor capacity 0P1 0 1KW 0P7 0 75KW 1P5 1 5KW 2P6 2 6KW and so on Configuratio...

Страница 12: ...d up please use single phase or 3 phase AC200 240V 50 60Hz for single phase power supply please connect L1 L3 otherwise it will affect the power off memory Control method 3 phase full wave rectifier I...

Страница 13: ...5 1 2 Servo motor 1 2 1 Part description Encoder part Frame Flange Output transmission shaft...

Страница 14: ...ncoder type C Magnetic T Optical Name Rated torque N m 00630 0 637 01330 1 3 Rated speed rpm 3000 3000 Name Encoder precision S Single rotate 17 bits M Multi rotate 17 bits U Single rotate 23 bits L M...

Страница 15: ...for the motor with the suffix S02 1 3 2 Model name Encoder cable model CP SP M 02 length 02 2M 03 3M S Saved line M Magnetic BM Magnetic with battery box SW amp plug SP amp plug SL aviation plug CP n...

Страница 16: ...C CAT 1 4 Other accessories 1 4 1 Regenerative resistor When the servo motor operates in generator mode power is returned to the servo drive side This is called regenerative power The regenerative po...

Страница 17: ...20P2 PTA 50 50 100 200W DS5C 20P4 PTA 40 40 100 500W DS5C 20P7 PTA 40 40 100 500W Note 1 The temperature will be very high when the regenerative resistor is discharging please using heat resistant non...

Страница 18: ...Storage temperature 20 60 Storage humidity 20 90 RH no condensation Protection level IP65 2 1 3 Installation standard Be sure to comply with the installation standard in the control panel shown below...

Страница 19: ...ting of the drive and causing fire Cooling As shown in the figure above allow sufficient space around each servo drive for cooling by cooling fans or natural convection Side by side installation When...

Страница 20: ...r if it is installed incorrectly or in an inappropriate location Follow these installation instructions carefully Caution 1 The end of the motor shaft is coated with antirust Before installing careful...

Страница 21: ...Please install the connector downward MS series servo motors are for indoor use please use in the following installation conditions Item Description Using temperature 0 40 not freeze Using humidity 2...

Страница 22: ...le of the shaft use the washer on the surface of the coupling end and gradually lock the nut into the pulley For the servo motor shaft with a keyway the shaft end screw hole is used for installation F...

Страница 23: ...mounted horizontally or vertically Oil and water solution When using in places with drops of water please use it on the basis of confirming the protection level of the servo motor Specify a servo mot...

Страница 24: ...he servo motor first and the ground wire of the main cable must be connected reliably If one side of the encoder cable is connected first the encoder maybe error due to potential difference between PE...

Страница 25: ...17 2 3 Servo motor dimension 40 series motor dimension Unit mm Motor model Body length Inertia level Normal With brake Low inertia MS5S 40ST CS0030 20P1 S01 S02 99 1 5 129 5 1...

Страница 26: ...18 60 series motor dimension Unit mm Motor model Body length Inertia level Normal With brake Small inertia MS5S 60ST CS00630 20P2 SO1 S02 79 1 114 1 MS5S 60ST CS01330 20P4 S01 S02 99 1 134 1...

Страница 27: ...S5H 60ST CS01330 20P4 SO1 S02 111 1 146 1 MS5H 60ST CS00630 20P2 SO1 S02 91 1 126 1 80 series motor dimension Unit mm Motor model Body length Inertia level Normal With brake Small inertia MS5S 80ST CS...

Страница 28: ...20 Motor model Body length Inertia level Normal With brake Large inertia MS5H 80ST CS02430 20P7 SO1 S02 119 1 156 1 MS5H 80ST CS03230 21P0 SO1 S02 140 1 177 1...

Страница 29: ...21 2 4 Servo drive dimension Unit mm DS5C 20P1 2 4 PTA 45 0 175 0 175 1 178 0 164 0 33 8 5 5 5 5...

Страница 30: ...22 DS5C 20P7 PTA 60 0 183 0 181 3 48 8 172 0 5 5 5 5 182 9...

Страница 31: ...ct the motor Note the ground line is on the cooling fin please check it before power on P D C Internal regenerative resistor Short P and D disconnect P and C set P0 24 0 External regenerative resistor...

Страница 32: ...SI3 24V SO1 SO2 SO3 COM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 CN0 terminals No Name Explanation No Name Explanation 1 P Pulse input PUL 7 SI3 Input 3 2 P 24V Open collector input 8 24V Input 24V 3 D...

Страница 33: ...ing the bus function Please note that the transfer module should not be hot pluggable It is recommended to use the profibus standard cable to achieve the best communication reliability CN2 terminals C...

Страница 34: ...editing digit Press and hold Enter a status Enter The operate panel can display the status set parameter and run the command by switching the basic mode The running status auxiliary function parameter...

Страница 35: ...group Parameter Setting PX XX The first X means group No the last two X means the member No in the group Alarm E XXX XXX means the alarm code 4 1 1 Group P parameters Refer to the appendix P0 00 State...

Страница 36: ...1 S ON servo enable signal 2 P CON proportion action command 3 P OT forward run prohibited 4 N OT reverse run prohibited 5 ALM RST alarm reset 6 P CL forward side external torque limit 7 N CL reverse...

Страница 37: ...put signal status U0 22 input signal 2 distribution Segment code Explanation Segment code Explanation 11 C SEL control mode 12 ZCLAMP zero clamp 13 INHIBIT command pulse prohibited 14 G SEL gain switc...

Страница 38: ...plete maintain COIN_HD 2 Positioning end COIN 3 Same speed detection V CMP 4 Rotate detection TGON 5 Ready S RDY 6 Torque limit CLT 7 Speed limit detection VLT 8 Brake lock BK 9 Warn WARN 10 Output ne...

Страница 39: ...peed reach V RDY 16 Self defined output 1 17 Self defined output 2 18 19 20 Note read the status through communication the binary value from right to left are related to ALM 0 means no output 1 means...

Страница 40: ...e find out the alarm reasons then clean the alarm 2 Back to out of factory settings F0 01 Please power off the servo drive before the operation Set F0 01 1 then press ENTER No need to re power the ser...

Страница 41: ...diately 2 Test run F1 01 Make sure that the motor shaft is not connected to the machine before test run When servo drive is connected with non original encoder line or power line test run must be run...

Страница 42: ...S ESC to exit need to power on again 4 Panel enable Parameter Signal name Setting Meaning Modify Effective P0 03 Enable mode 0 Not enable Servo OFF At once 1 default I O enable S ON 2 Software enable...

Страница 43: ...rough Modbus RTU be effective in servo bb state write 0 to 0x2106 after clearing can clear the number of turns 4 2 Panel key operation Take P3 09 as an example Steps Operate panel Key Operations 1 STA...

Страница 44: ...the same to P0 33 2 If the motor code setting is error it will show E 310 please clear the alarm through F0 00 then set the correct code XINJE SERVO DRIVER DS5C 20P7 PTA WARNING CAUTION AC INPUT 1PH 3...

Страница 45: ...teristics Manual adjustment function setting the speed loop position loop model loop gain vibration frequency and other parameters manually in the auto setting mode to achieve quick response 5 1 Self...

Страница 46: ...ntegral P2 07 0 Adaptive small inertia mode inertia ratio P2 08 60 Adaptive small inertia mode speed observer gain P2 12 30 Adaptive small inertia mode stable max inertia ratio P2 19 50 Adaptive small...

Страница 47: ...has a greater impact on the responsiveness P2 07 P6 07 0 50 0 200 Increase can greatly improve the inertia capacity and will not affect the responsiveness too large is prone to oscillation P2 08 P6 08...

Страница 48: ...meters of gain The method is shown as below If the inertia is 20 times to 30 times Increase P2 07 appropriately decrease P2 05 if necessary You can also refer to the following super large inertia debu...

Страница 49: ...s No instruction auto tuning process 1 set the left and right travel limit through software jog running 2 assum the load inertia set by manual or assum automatically 3 auto tuning auto tune according...

Страница 50: ...ch level corresponds to a set of parameters Parameter Name P1 00 Speed loop gain P1 01 Integral time constant of speed loop P1 02 Position loop gain P2 49 Model loop gain P2 35 Torque command filter t...

Страница 51: ...oo high it will cause the speed loop deviation return to zero become slowly P1 02 Position loop gain In the absence of noise and vibration increasing this parameter can speed up the positioning time P...

Страница 52: ...without manual adjustment The current version needs to be re energized after modifying the P2 parameters in the process of manual adjustment In addition after each parameter re adjustment it should fi...

Страница 53: ...epth frequency frequency 1 Open the Xinje servo software click mechanical properies 2 Click measure it will show below window 3 click execute wait for data reading to complete 4 click amplitude and ph...

Страница 54: ...46...

Страница 55: ...2 69 3 Fourth notch switch 0 Close 1 Open P2 71 First notch frequency Setting according to the result of characteristic analysis P2 74 Second notch frequency Setting according to the result of charact...

Страница 56: ...lamp is located on the RJ45 port EtherCAT ERR ER 1 EtherCAT Link Activity L A 2 EtherCAT RUN RN 1 Application Layer Specification IEC61800 7 CiA402 Drive Profile Support CIA402 operating mode Homing...

Страница 57: ...et Homing acceleration 609Ah define the regression acceleration speed unit command unit s2 6 set Controlword 6040h to 0x06 0x07 0x0F enable the driver and make the motor work 7 set Controlword 6040h t...

Страница 58: ...e same time 7 2 2 CSP mode 7 2 3 Operation steps 1 set Mode of operations 6060h to cyclic synchronous position mode 0x08 2 set Interpolation time period 60C2h settings must be the same as SYNC0 cycles...

Страница 59: ...rs RW 60C5h Max acceleration Command unit s2 RW 60C6h Max deceleration Command unit s2 RW 60F2h Positioning option code RW Detection classes related to CSP control mode Index Name Units Test result 60...

Страница 60: ...position loop output Command unit RO 60FCh Position deamnd internal value represents internal command position Command unit RO 7 3 Cyclic Synchronous Velocity Mode 7 3 1 Summary The host computer pla...

Страница 61: ...e period 60C2h the settings should be same to the period of SYNC0 60C2h Sub 1 can set Interpolation time units the range is 1ms 20ms 60C2h Sub 2 can set Interpolation time index the value fixed at 3 i...

Страница 62: ...lue Pulse RO 6064h Position actual value Command unit RO 606Bh Velocity demand value Command unit s RO 606Ch Velocity actual value Command unit s RO 6074h Torque demand value command torque 0 1 RO 607...

Страница 63: ...od 60C2h the settings should be same to the period of SYNC0 60C2h Sub 1 can set the Interpolation time units the range is 1ms 20ms 60C2h Sub 2 can set the Interpolation time index the value fixed at 3...

Страница 64: ...ontrol mode Index Name Units Access 6041h Status word RO 6063h Position actual internal value Pulse RO 6064h Position actual value Command unit RO 606Ch Velocity actual value Command unit s RO 6074h T...

Страница 65: ...60B8h disable the probe in 60B8h set the input terminal in P5 62 P5 63 then enable the object word 60B8h When reading the probe value the corresponding probe value object 60BAh 60BDh needs to be added...

Страница 66: ...h probe1 Touch probe1 rising edge selection 1 enable sampling at positive edge of touch probe1 5 0 switch off sampling at negative edge of touch probe1 Touch probe1 falling edge selection 1 enable sam...

Страница 67: ...w is description of the corresponding bits for 60B9h bit value note 0 0 Touch probe1 is switch off Probe 1 action stop 1 Touch probe1 is enabled Probe 1 action 1 0 Touch probe1 no positive edge value...

Страница 68: ...ion state 11 13 Reserved Not used 14 15 Not supported Not used 8 2 Position information 8 2 1 Electronic gear function Index Sub Index Name Units Access 608Fh Position encoder resolution RO 00h Highes...

Страница 69: ...o is 1 8 2 2 Initialization of absolute encoder When absolute encoder is used in position control mode and multi loop mode it no needs to return to the origin 8 2 3 Position range limit If the value o...

Страница 70: ...b Index Name Units Access 60C2h Interpolation time period 00h Highest Sub Index supported RO 01h Interpolation time period value RW 02h Interpolation time index RW 9 Parameter list 9 1 CoE object word...

Страница 71: ...sition demand value PUU INTEGER32 RO 6063h VAR Position actual value increment INTEGER32 RO 6064h VAR Position actual value INTEGER32 RO 6065h VAR Following error window UNSIGNED32 RW 6067h VAR Positi...

Страница 72: ...1h VAR Profile velocity UNSIGNED32 RW 6083h VAR Profile acceleration UNSIGNED32 RW 6084h VAR Profile deceleration UNSIGNED32 RW 6085h VAR Quick stop deceleration UNSIGNED32 RW 6086h VAR Motion profile...

Страница 73: ...0C2h RECORD Interpolation time period SIGNED8 RW 60C5h VAR Max acceleration UNSIGNED32 RW 60C6h VAR Max deceleration UNSIGNED32 RW 60F2h VAR Positioning option code UNSIGNED16 RW 60F4h VAR Following e...

Страница 74: ...eter means the value is hex Parameter PX XX n PX XX H PX XX L P0 Function selection parameter P0 Function Unit Default Range Effective Suitable mode 00 Driver type 0 Common type 1 EtherCat type 1 0 1...

Страница 75: ...W CCW 1 AB 2 P D 2 0 2 6 7 10 x1x 0 Falling edge is valid 1 Rising edge is valid 0 0 1 6 7 11 Set the low position of pulses per cycle 1 0 0 999 9 6 12 Set the high position of pulses per cycle 10000...

Страница 76: ...eleration operation stops and the inertia operation state is maintained after the stop 0 0 2 All 28 Servo Overrun Stop Mode 0 deceleration stop after stop overrun direction moment is 0 receive instruc...

Страница 77: ...the fan with temperature less than 42 degrees hysteresis 3 degrees Celsius 1 Turn on the fan after enabling turn off the fan when enabling 1 0 1 All 74 Blocking alarm time 1ms 0 0 655 35 75 Blocking...

Страница 78: ...r time fit for auto tuning mode 1 s 50 0 65535 All 22 First order filtering time of speed instruction 0 0 1 3 4 7 23 Speed Instruction Smoothing Filtering Time 0 0 1ms 0 65535 3 4 7 24 First order fil...

Страница 79: ...50 1 100 All 35 Torque filter time 0 01ms 100 0 65535 All 41 Disturbance observer gain 100 10 1000 All 49 Model loop gain 0 1ms 100 10 20000 All 69 0 First trapped wave switch auto tuning mode 0 0 1 A...

Страница 80: ...tual speed limit depends on the external analog speed limit 2 Speed Feedforward 0 0 2 1 2 4 6 03 Speed instruction input dead zone voltage 0 001v 0 0 500 4 05 Preset speed 1 rpm 0 9999 99 99 3 06 Pres...

Страница 81: ...to position mode and the servo locked in this position Note after entering zero clamp mode setting speed is higher than P3 13 motor still cannot work it needs the ZCLAMP input signal to be OFF to exit...

Страница 82: ...de rpm Related to motor 30 10000 1 2 17 Internal reverse speed limit in torque control mode rpm Related to motor 30 10000 1 2 18 Jog speed rpm 100 0 1000 All 19 Forward warning speed rpm Related to mo...

Страница 83: ...e limit 300 0 300 2 3 4 6 7 31 External reverse torque limit 300 0 300 2 3 4 6 7 32 Brake torque 1 100 0 300 All 33 Preset torque 0 300 300 1 37 Gravity compensation 0 1 rated current 0 3000 300 0 All...

Страница 84: ...segment pulse high byte 10000 pulses 0 32767 3 2767 5 12 First segment speed 0 1rpm 0 0 10000 5 13 First segment acceleration time 1ms 0 0 65535 5 14 First segment deceleration time 1ms 0 0 65535 5 1...

Страница 85: ...d motor speed below P5 03 and offset absolute value below P5 00 output COIN signal 3 command finished offset absolute value below P5 00 output COIN signal If COIN keeps the time P5 02 output COIN HOLD...

Страница 86: ...1 P5 10 P5 11 output SOx 2 P5 10 absolute value P5 11 output SOx 3 P5 10 absolute value P5 11 output SOx 0 0 3 All 13 custom output 1 hysteresis Related to the trigger condition 0 0 65535 All 14 Cust...

Страница 87: ...input positive signal from SI3 0004 input positive signal from SI4 0010 signal is always valid 0011 input negative signal from SI1 0012 input negative signal from SI2 0013 input negative signal from...

Страница 88: ...d choice ditto 0 1 3 6 30 C SEL control mode choice ditto 0 1 All 31 ZCLAMP zero clamp ditto 0 1 3 4 7 32 INHIBIT command pulse ban ditto 0 1 6 33 G SEL gain switching ditto 0 1 All 34 CLR pulse offse...

Страница 89: ...me speed checking ditto 0 2 3 4 7 40 TGON rotation checking ditto 0 2 All 41 S RDY ready ditto 000 0 2 All 42 CLT torque limit ditto 0 2 3 4 6 7 43 VLT speed limit checking ditto 0 2 1 2 6 44 BK brake...

Страница 90: ...obe function 1 0 0005 63 Probe function 2 0 0006 P6 signal parameters some parameters are reserved P6 Name Unit Defa ult value Range Effec tive Suita ble mode 05 Speed loop gain in adaptive large iner...

Страница 91: ...00 03 2400 04 4800 05 9600 06 19200 07 38400 08 57600 09 115200 0A 192000 0B 256000 0C 288000 0D 384000 0E 512000 0F 576000 10 768000 11 1M 12 2M 13 3M 14 4M 15 5M 16 6M All n x xx Stop bit 2 0 2 bits...

Страница 92: ...999 All Note the positive and negative value means the direction of back to zero positive value means finding origin in forward direction negative value means find origin in reverse direction absolute...

Страница 93: ...n 0000 n 0003 n 0010 n 0013 9 2 2 Group F parameters Code Explanation F0 00 Clean the alarm F0 01 Back to out of factory settings F0 02 Clean the position offset F1 00 Jog run F1 01 Test run F1 02 Cur...

Страница 94: ...14 Position feedback 0000 9999 1 Command pulse U0 15 0000 9999 10000 U0 16 Encoder position Accumulated 0000 9999 1 Encoder pulse U0 17 0000 9999 10000 U0 18 torque current 0 01A U0 19 Analog input V...

Страница 95: ...solute encoder present position feedback Read the address 0x1039 value dword through modbus rtu which is present encoder position with positive or negative pulses U0 58 U1 XX Number Contents Unit U1 0...

Страница 96: ...imes U1 16 The second time alarm code recently U1 17 The third time alarm code recently U1 18 The fourth time alarm code recently U1 19 The fifth time alarm code recently U1 20 The sixth time alarm co...

Страница 97: ...from this time power on Minute U2 14 This time run time from this time power on Second U2 15 Average output power count from the first time enable 1W U2 16 Average heating power count from the first t...

Страница 98: ...04 5804 Encoder bit numbers 17 17 17 17 Polar logarithm 4 5 5 5 Rated speed rpm 3000 3000 3000 3000 Max speed rpm 6000 6500 6500 6500 Rated torque Nm 0 32 0 64 0 64 1 27 Max torque Nm 0 96 1 92 1 92 4...

Страница 99: ...T 5H 80ST CS01330 CS02430 CS02430 20P4 S01 S02 20P7 S01 S02 20P7 S01 S02 Motor code no brake with brake 50C4 58C4 5011 5811 50D1 58D1 Encoder bit numbers 17 17 17 Polar logarithm 5 5 5 Rated speed rpm...

Страница 100: ...Voltage level MS5S 80ST CS02430 20P7 S01 S02 5011 DS5C 20P7 PTA Single phase 220V MS5S 80ST CS02430BZ 20P7 S01 S02 5811 DS5C 20P7 PTA Single phase 220V MS5H 80ST CS02430B 20P7 S01 S02 50D1 DS5C 20P7 P...

Страница 101: ...C00630BZ 20P2 S01 S02 58C3 DS5C 20P2 PTA Single phase 220V MS5S 40ST CS00330B 20P1 S01 S02 5022 DS5C 20P1 PTA Single phase 220V MS5S 40ST CS00330BZ 20P1 S01 S02 5822 DS5C 20P1 PTA Single phase 220V N...

Страница 102: ...ternal interference is too serious Contact us 5 E 015 Program running error Program damaged Contact us 6 E 016 CPU running error Hardware damaged Contact us 7 E 017 CPU running overtime Program damage...

Страница 103: ...o low 1 for single phase 220V connect L1 L3 2 set the parameter again Parameter lost 5 Erase flash error Parameter store error when power off Contact us Erase flash error 6 Initialize flash error Flas...

Страница 104: ...nt power off 1 check the grid fluctuation 2 use constant voltage source Bus undervoltage 22 0V U0 05 140 380V U0 05 300 1 Drive power off Drive power cut off Check the power supply Drive power off 3 B...

Страница 105: ...large load 2 environment temperature too high 1 decrease the load 2 good ventilation 2 E 062 Drive too cold 1 Environment temperature is too low 2 drive temperature collection chip The environment mu...

Страница 106: ...Calibration Overrun Analog zero calibration operation error Please not add analog value when calibrating 3 E 093 Analog Vref Zero Calibration Overrun Analog zero calibration operation error Please no...

Страница 107: ...ternal interference too large Check the ground wiring or contact us 2 E 122 V phase current sampling zero calibration value error Current sensor damaged or external interference too large Check the gr...

Страница 108: ...1 E 161 The heating power overload Motor overheating 1 P0 33 confirm motor code 2 check the motor shaft connection 3 change larger power motor 4 E 164 The bus capacitor overload Power supply not stab...

Страница 109: ...nning over speed at high torque 17 0 E 170 Motor undervoltage when running Bus voltage too low when running 1 check the power grid voltage fluctuation 2 wait the bus voltage stable then repower on 20...

Страница 110: ...ower supply cable install filter at servo drive power supply input side install magnet ring around encoder wire far away from large noise equipment 2 E 222 Absolute encoder battery voltage low version...

Страница 111: ...er counting value overflow Motor run at same direction for long time the encoder value too large 1 set F1 06 1 clear the encoder rotate numbers 2 set P0 79 1 can shield this alarm 26 0 E 260 Over rang...

Страница 112: ...que P3 32 28 0 E 280 Excessive Vibration Intensity Strong vibration of motor Reduce the gain of servo position loop or speed loop and check whether the motor shaft connection is firm 30 0 E 300 Loss o...

Страница 113: ...2 0x0016 22 P0 06 0x0006 6 P0 23 0x0017 23 P0 07 0x0007 7 P0 24 0x0018 24 P0 08 0x0008 8 P0 25 0x0019 25 P0 09 0x0009 9 P0 26 0x001A 26 P0 10 0x000A 10 P0 27 0x001B 27 P0 11 0x000B 11 P0 28 0x001C 28...

Страница 114: ...267 P1 26 0x011A 282 P1 12 0x010C 268 P1 27 0x011B 283 P1 13 0x010D 269 P1 28 0x011C 284 P1 14 0x010E 270 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal P2 00 0x0200 512 P2...

Страница 115: ...0x0322 802 P3 16 0x0310 784 P3 35 0x0323 803 P3 17 0x0311 785 P3 36 0x0324 804 P3 18 0x0312 786 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal P4 00 0x0400 1024 P4 15 0x040...

Страница 116: ...x052A 1322 P5 16 0x0510 1296 P5 43 0x052B 1323 P5 17 0x0511 1297 P5 44 0x052C 1324 P5 18 0x0512 1298 P5 45 0x052D 1325 P5 19 0x0513 1299 P5 46 0x052E 1326 P5 20 0x0514 1300 P5 47 0x052F 1327 P5 21 0x0...

Страница 117: ...0 04 0x1004 4100 U0 32 0x1020 4128 U0 05 0x1005 4101 U0 33 0x1021 4129 U0 06 0x1006 4102 U0 34 0x1022 4130 U0 07 0x1007 4103 U0 35 0x1023 4131 U0 08 0x1008 4104 U0 36 0x1024 4132 U0 09 0x1009 4105 U0...

Страница 118: ...0x1100 4352 U2 00 0x1200 4608 U1 01 0x1101 4353 U2 01 0x1201 4609 U1 02 0x1102 4354 U2 02 0x1202 4610 U1 03 0x1103 4355 U2 03 0x1203 4611 U1 04 0x1104 4356 U2 04 0x1204 4612 U1 05 0x1105 4357 U2 05 0...

Страница 119: ...x1214 4628 U1 21 0x1115 4373 U1 22 0x1116 4374 U1 23 0x1117 4375 U1 24 0x1118 4376 U1 25 0x1119 4377 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal F0 00 0x2000 8192 F1 00 0...

Страница 120: ......

Страница 121: ...WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7 Originality Industry park LiyuanDevelopmentZone Wuxi City Jiangsu Province 214072 Tel 400 885 0136 Fax 86 510 85111290...

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