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6

Servo gain adjustment

6.1 Overview of servo gain adjustment

6.1.1 Overview and process

The servo driver needs to drive the motor as fast and accurately as possible to track the

instructions from the upper computer or internal settings. In order to meet this requirement, the servo
gain must be adjusted reasonably.

Servo gain factory value is adaptive mode, but different machines have different requirements for

servo responsiveness; the following figure is the basic process of gain adjustment, please adjust
according to the current machine status and operation conditions.

Start adjusting

Use adaptive(>3kw)/auto-tune

function(

3kw)

*

Are you satisfied with

responsiveness?

YES

Fast adjusting

Are you satisfied with

responsiveness?

NO

YES

NO

Auto-tuning (external or internal instruction)

Are you satisfied with

the adjusting result?

YES

NO

Manual adjustment for gain fine-tuning

(mechanical characteristics analysis in case of

vibration)

Are you satisfied with

the adjusting result?

YES

NO

END

Note: * marked as version 3730, the version before 3730 is in adaptive mode when out of factory.

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Содержание DS5F Series

Страница 1: ...DS5F series servo driver User manual WUXI XINJE ELECTRIC CO LTD Data No SC5 02 20200217 2 3 ...

Страница 2: ......

Страница 3: ...Declaration of liability Although the contents of the manual have been carefully checked errors are inevitable and we cannot guarantee complete consistency We will often check the contents of the manual and make corrections in the subsequent versions We welcome your valuable comments If there is any change to the contents introduced in the manual please understand without further notice Contact in...

Страница 4: ... touch the conductive part of the product directly which may cause misoperation and malfunction Cautions for wiring 1 Please connect AC power to LN or L1 L2 L3 or R S T on the dedicated power terminal of the driver Do not connect the output terminals U V W of the driver to the three phase power supply 2 Please connect the ground wire correctly Poor grounding may cause electric shock Please use 2mm...

Страница 5: ...e control it once in 2 minutes Maintenance and inspection 1 Do not touch the inside of servo driver and servo motor otherwise it may cause electric shock 2 When the power is started it is forbidden to remove the driver panel otherwise it may cause electric shock 3 Within 10 minutes of power off the terminal should not be contacted Otherwise the residual voltage may cause electric shock Wiring atte...

Страница 6: ...ation 22 2 4 Servo driver dimension 24 2 5 Servo motor dimension 26 3 Wiring of servo system 30 3 1 Main circuit wiring 31 3 1 1 Servo driver terminal arrangement 31 3 1 2 Main circuit terminals 31 3 1 3 CN0 CN1 CN2 terminal 32 3 1 4 Communication port 35 3 2 Classification and function of signal terminals 36 3 2 1 Pulse signal 36 3 2 2 SI input signal 37 3 2 3 SO output signal 37 3 2 4 Analog inp...

Страница 7: ...tribution 99 5 7 5 Output terminal function 100 5 7 6 Input terminal function 105 5 7 7 Time limit curve of overload protection 106 5 8 Encoder ABZ phase frequency division output 108 5 9 Full closed loop input 110 5 9 1 Full closed loop input specification 110 5 9 2 Full closed loop mode operation steps 111 5 9 3 Full closed loop control parameter 112 6 Servo gain adjustment 115 6 1 Overview of s...

Страница 8: ...ameters 163 8 3 Communication protocol 165 8 3 1 Character structure 165 8 3 2 Communication data structure 165 8 4 Communication example 166 8 4 1 Communication with Xinje PLC 166 9 Appendix 168 Appendix 1 Group P parameters 168 P0 XX 168 P1 XX 171 P2 XX 172 P3 XX 174 P4 XX 176 P5 XX 177 P6 XX 181 P7 XX 182 P9 XX 184 Appendix 2 UX XX monitoring parameters 184 U0 XX 184 U1 XX 186 U2 XX 186 U3 XX 1...

Страница 9: ... 7 Appendix 8 8 External analog speed control general parameters 199 Appendix 9 Torque speed characteristic curve 200 Appendix 10 List of model selection and configuration 203 ...

Страница 10: ...rmal if it can be turned smoothly by hand Servo motors with brakes however cannot be turned manually 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 the motor code the same with the code in drive Check the motor code marked on the nameplates of the s...

Страница 11: ...o drive Applicable encoder Standard 17 bit 23 bit communication encoder Input power supply DS5 2 P PTA Single three phases AC200 240V 50 60Hz single phase AC200 240V 50 60Hz is used for less than 1 5KW excluding 1 5KW Three phase AC200 240V 50 60Hz is recommended for 1 5KW and above if single phase power supply please connect it to R and T otherwise the parameter memory will be affected in case of...

Страница 12: ...Low inertia MS5G Middle inertia MS5H High inertia Name Seat number 60 60 seat 80 80 seat Name Product name ST Sine drive motor Name Encoder type C Magnetic encoder T Photoelectric encoder Name Rated torque N m 00630 0 637 01330 1 3 Rated speed rpm 3000 3000 Name Encoder accuracy S Single circle 17 bit M Multi circle 17 bit U Single circle 23 bit L Multi circle 23 bit Name Design number S01 standar...

Страница 13: ...ug type SP 9 core amp plug Display Cable type CP Normal Display Plug type M No battery box CPT High flexibility SW 7 core aviation plug SL 15 core aviation plug SC 10 core small aviation plug 05 5 08 8 12 12 16 16 20 20 B With battery box BM With battery box ZDL Full sized aviation plug Encoder frame flange Output Shaft Drive Shaft ...

Страница 14: ...n material CBT P03 length high flexible material Suitable for 750W and below motor with suffix S02 CMBT W07 M length For the MS5G 130 flange medium inertia brake motor the cable shall be selected integrated power cable and brake cable type The standard wiring length of Xinje is 2m 3m 5m 8m 10m 12m 16m and 20m 1 3 2 Description of each part Encoder cable 1 Pin definition of encoder on servo driver ...

Страница 15: ...ry box which contains a 3 6V 2 7Ah large capacity battery and has the function of replacing batteries when power cut The using life is more than two years Please refer to chapter 5 7 2 change battery Power cable 1 Pin definition of power cable on servo driver side Connector appearance Pin definition Color Definition Brown U Black V Blue W Yellow green PE 1 3 4 5 6 7 2 No Definition 40 60 80 flange...

Страница 16: ...750W and below S02 small aviation plug motor 1 PE 2 U 3 V 4 W 5 BK 6 BK 1 2 3 4 No Definition 110 and above motor include 130 flange medium inertia motor without brake 1 PE 2 U 3 V 4 W Connector pins Interface definition Suitable model No Definition 1 3 4 5 6 7 2 1 PE 130 flange medium motor with brake 2 U 3 V 4 W 5 BK 6 BK 7 Brake pins The cable including BK pin is used for the brake motor The ca...

Страница 17: ...ce value Note if software version U2 07 3700 the parameter P0 24 should be set The value of 0 is for the built in resistance to take effect and the value of 1 is for the external resistance to take effect The following table is the recommended specifications of external regenerative resistance for each type of motor Servo driver model Rmin Not less than this value External regenerative resistance ...

Страница 18: ... humidity dust metal dust environment No vibration place 2 1 2 Environment condition Item Description Use ambient temperature 10 40 Use ambient humidity 20 90 RH no condensation Storage temperature 20 60 Storage humidity 20 90 RH no condensation 2 1 3 Installation standard Be sure to comply with the installation standard in the control cabinet shown in the figure below This standard is applicable ...

Страница 19: ...stall servo drives side by side as shown in the figure above make at least 10mm between and at least 50mm above and below each servo drive Install cooling fans above the servo drives to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Servo driver working ambient Temperature 10 40 Humidity 90 RH or less Vibrati...

Страница 20: ... getting thinner on other parts of the servo motor 2 2 1 Environment condition When used in places with water droplets or oil droplets the protection effect can be achieved through the treatment of motors However in order to seal the through part of the shaft please specify the motor with oil seal Connectors should be installed downward MS series servo motors are for indoor use Please use them und...

Страница 21: ...oupling or similar methods are used When the pulley is dismantled the pulley mover is used to prevent the bearing from being strongly impacted by the load To ensure safety protective covers or similar devices such as pulleys installed on shaft are installed in the rotating area Centering When installing the servo motor make it conform to the centering accuracy requirement shown in the picture belo...

Страница 22: ... the connector from the side of the main circuit cable of the servo motor first and the grounding wire of the main cable must be connected reliably If one side of the encoder cable is connected first the encoder may fail due to the potential difference between PE When wiring please make sure that the pins are arranged correctly Connectors are made of resin Do not apply shock to avoid damaging the ...

Страница 23: ...current of the motor For example the maximum current of the motor is 60A and the wire diameter of 6mm is selected In case of interference it is necessary to separate strong and weak current It is recommended to separate power cable from encoder cable and signal cable Ensure the correct grounding of servo driver and servo motor The grounding resistance is not more than 4Ω and the grounding depth is...

Страница 24: ...g equipment The motor is properly grounded High current equipment shall be grounded separately Reasonable wiring Such as separation of strong and weak current cables Use metal shielding layer to shield add magnetic ring to the encoder cable to resist interference 4 Low high temperature Select cables special cables that meet the use conditions 2 3 2 Xinje cable specification 1 Material composition ...

Страница 25: ...2mm 2 0 3mm 3 8mm 1 4mm 32KW 4 0 2mm 2 0 3mm 3 12mm 1 4mm 3 Cable performance specification Performance Normal cable High flexible cable Ordinary temperature resistance 20 80 20 80 Encoder cable withstand voltage 1000V min 1000V min Power cable withstand voltage 3000V min 3000V min Mobile installation Bending radius Travel 10m 7 5 D Travel 10m 10 D Travel 10m 7 5 D Travel 10m 10 D Bending resistan...

Страница 26: ...n DS5F 20P1 PTA DS5F 20P2 PTA DS5F 20P4 PTA Unit mm 173 2 175 1 166 0 Ø5 5 Ø5 5 174 6 DS5F 20P7 PTA Unit mm 181 30 181 3 48 75 172 φ5 5 φ5 5 60 183 DS5F 21P5 PTA DS5F 22P3 PTA DS5F 22P6 PTA Unit mm 192 186 60 85 191 6 175 74 Ø5 50 ...

Страница 27: ...25 DS5F 43P0 PTA Unit mm 210 18 210 18 110 00 222 00 99 00 211 00 5 50 5 50 R2 75 DS5F 45P5 PTA DS5F 47P5 PTA Unit mm 6 0 123 5 6 0 239 5 256 6 135 251 256 65 2 φ6 0 ...

Страница 28: ...0h7 30 0 5 14h6 2 LA 83 20 2 Motor model LA 1 Inertia level Series Normal With brake MS5S 60ST C 00630 20P2 S01 S02 79 114 Low inertia MS5 series MS5S 60ST C 01330 20P4 S01 S02 99 134 MS5H 60ST C 00630 20P2 S01 S02 91 126 High inertia MS5H 60ST C 01330 20P4 S01 S02 111 146 MS 60ST T01330 20P4 D01 145 189 MS6H 60C 301B 1 20P4 119 151 High inertia MS6 series Note MS5H shaft key is closed key MS6 mot...

Страница 29: ...rtia MS6 series Note MS5H shaft key is closed key MS6 motor shaft key is open key 110 series motor installation dimensions Unit mm LA 12 5 2 40 2 5 55 0 5 19h6 95h7 a110 1 3 0 4 9 15 5 0 0 1 6 0 0 018 M 5 深 2 5 Motor model LA 1 Inertia level Normal With brake MS5S 110ST C 03230 21P0 S01 157 205 Low inertia MS5S 110ST C 04830 21P5 S01 166 214 MS5S 110ST C 06030 21P8 S01 181 229 MS5S 110ST TL03230 2...

Страница 30: ...STE C 11515 21P8 S01 159 5 189 5 MS5G 130STE C 11515 41P8 S01 MS5G 130STE C 14615 22P3 S01 180 5 210 5 MS5G 130STE C 14615 42P3 S01 MS5G 130STE TL05415 20P8 S01 134 5 164 5 MS5G 130STE TL07220 21P5 S01 149 5 179 5 MS5G 130STE TL11515 21P8 S01 176 5 206 5 MS5G 130STE TL11515 41P8 S01 MS5G 130STE TL14615 22P3 S01 197 5 227 5 MS5G 130STE TL14615 42P3 S01 MS 130ST T04030B 21P2 164 223 14 MS 130ST T060...

Страница 31: ...Unit mm Motor model LA 1 LC 0 5 X φD Inertia level Normal With brake MS5G 180ST TL19015 42P9 S01 221 303 79 12 35 Medium inertia MS5G 180ST TL28015 44P4 S01 247 329 MS5G 180ST TL35015 45P5 S01 277 359 113 16 42 MS5G 180ST TL48015 47P5 S01 318 400 ...

Страница 32: ...please keep the power wire and signal wire more than 30 cm apart 2 For the signal wire and the feedback wire of the encoder PG please use the multi stranded wire and the multi core stranded integral shielding wire 3 For wiring length the longest instruction input wire is 3m and the longest PG feedback wire is 20m 4 Even if the power supply is off there may still be a high voltage in the servo unit...

Страница 33: ... 25 power value P0 26 resistor value W R 220V D P C U V T S DS5F 21P5 PTA DS5F 22P3 PTA DS5F 22P6 PTA Terminal Function Explanation R S T Power supply input of main circuit 3 phase R S T AC200 240V 50 60Hz Single phase R T AC200 240V 50 60Hz Vacant terminal U V W Motor terminals Connect the motor Note the ground wire is on the cooling fin please check it before power on P D C Internal regenerative...

Страница 34: ...nd terminal of motor then connect to the ground DS5F 45P5 47P5 PTA Terminal Function Explanation R S T Power supply input of main circuit 3 phase AC 340 420V 50 60Hz Vacant terminal U V W Motor terminals Connect the motor Note the ground wire 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 External regenerative resistor Co...

Страница 35: ... 37 NC Empty terminal 16 485 Communication 38 NC Empty terminal 17 485 Communication 39 NC Empty terminal 18 GND Communication ground 40 GND Line driver signal ground 19 GND Analog input ground 41 HPUL Line driver high speed pulse 20 SI1 Input terminal 42 HPUL Line driver high speed pulse 21 SI2 Input terminal 43 HDIR Line driver high speed direction 22 SI3 Input terminal 44 HDIR Line driver high ...

Страница 36: ...irection 3 1 3 2 CN1 terminal CN1 terminals explanation hardware version V3 1 31 and early No Name Explanation No Name Explanation 1 OA Encoder frequency division output A 9 OZ Encoder frequency division output Z 2 OA Encoder frequency division output A 10 Empty terminal 3 OB Encoder frequency division output B 11 Empty terminal 4 OB Encoder frequency division output B 12 Empty terminal 5 OZ Encod...

Страница 37: ...it is 8 bit stop bit is 1 bit even parity Modbus station no Parameter Function Default setting Range Modification Effective P7 10 Modbus station no 1 1 255 Servo OFF Immediately RS 485 communication Pin Name 16 A 17 B Driver side CN1 port RS485 port default parameters baud rate 19200bps data bit is 8 bit stop bit is 1 bit even parity Modbus station no can be set freely set by P7 00 Parameter Funct...

Страница 38: ...ge range of P P 24V and D D 24V is 18V 25V If it is below 18V there may be pulse and direction anomalies 2 In order to resist interference twisted pair shielding wire must be used Differential mode 5V voltage PLC CNC and SCM servo driver Note In order to resist interference twisted pair shielding wire must be used COM0 Y0 24V P R 3 3K COM1 Y1 D R 3 3K P 5V D 5V Shield layer 0V D 24V P 24V P 24V PU...

Страница 39: ...connect When using relay connection please select the relay for small current If the relay is not small current it will cause bad contact Type Input terminal Function Digital input SI1 SI10 Multifunctional input signal terminal Defaulted assignment of input terminals Terminal SI1 SI2 SI3 SI4 SI5 SI10 Function S ON enable ALM RST alarm reset P OT forward run prohibition N OT reverse run prohibition...

Страница 40: ...maximum 3 2 4 Analog input circuit Analog input Upper device servo driver 10V 10V 31 T REF 33 V REF 0V 2KΩ 1W 32 T REF 34 V REF Note Analog Pin31 External Torque Analog Differential Input 32 External Torque Analog Differential Input 33 External Speed Analog Differential Input 34 External Speed Analog Differential Input are soldered out of the CN0 port as detailed in chapter 3 1 3 1 Analog signals ...

Страница 41: ...39 3 2 5 Encoder feedback output signal Servo driver differential to collector upper device ...

Страница 42: ...rm code Present speed Alarm clear state Parameter Monitor Auxiliary Alarm STA ESC switch Parametric setting Px xx The first X represents the group number and the last two X represents the parameter serial number under the group Monitor status Ux xx The first X represents the group number and the last two X represents the parameter number under the group Auxiliary function Fx xx The first X denotes...

Страница 43: ... TGON P5 03 单位 rpm When the motor speed is higher than the rotating speed turn on the lamp Rotation detection speed P5 03 unit rpm P5 31 Zero clamp ZCLAMP When the zero clamp signal starts to operate turn on the light P5 43 Speed limit VLT When the speed exceeds the set value turn on the light when the torque is controlled Forward speed limit in torque control P3 16 reverse speed limit P3 17 2 Sho...

Страница 44: ...same as the actual position turn on the light Near signal width P5 06 P5 40 Rotate detection TGON When the motor speed is higher than the rotating speed turn on the lamp Rotation detection speed P5 03 unit rpm 2 Short code display contents Short code Display contents Standby status Servo OFF status The motor is in a non electrified state In operation Servo enabling state The motor is on line Need ...

Страница 45: ...CL forward side external torque limit 7 N CL reverse side external torque limit 8 SPD D internal speed selection 9 SPD A internal speed selection 10 SPD B internal speed selection Note When reading through communication the binary numbers read from right to left correspond to the position of S ON P CON 0 means that the position signal is not input 1 means that the position signal has input Example...

Страница 46: ...t signal status STA ESC INC DEC ENTER 1 2 3 4 5 6 7 8 9 10 Lighting means that the corresponding item has signal output Lighting means that the corresponding item has no signal output U0 23 output signal 1 distribution Segment code Description Segment code Description 1 Positioning completion hold COIN_HD 2 Positioning completion COIN 3 Same speed detection V CMP 4 Rotate detection TGON 5 Ready S ...

Страница 47: ...nication the binary numbers correspond to ALM position in turn from right to left 0 means that the position signal has no input and 1 means that the position signal has input U0 88 motor code read status U0 88 display status Meaning 0001 Read encoder motor parameters successfully but P0 33 0 use the motor parameters in the read encoder 0011 Read the encoder motor parameters successfully P0 33 0 us...

Страница 48: ...02 1 to clear the offset 4 Clear up historical alarm records F0 04 Set F0 04 1 can clear up historical alarm records from U1 14 to U1 53 5 Panel inertia identification F0 07 Refer to panel inertia identification operation steps chapter 6 3 4 6 Panel external instruction auto tuning F0 08 Refer to external instruction auto tuning chapter 6 5 5 7 Panel internal instruction auto tuning F0 09 Refer to...

Страница 49: ... idle in bb status Starting with the 3700 firmware version the jog run function changes from position mode to speed mode The acceleration and deceleration time is controlled by P3 09 and P3 10 DEC INC Long press ENTER Short press ENTER Parameter Meaning Default setting Unit Setting range Change Effective P3 18 JOG speed 100 1rpm 0 1000 Servo OFF At once 3 Current sampling zero correction F1 02 Whe...

Страница 50: ...eliminated first and then the alarm should be removed 4 6 Parameter setting example An example is given to illustrate the operation steps when the content of parameter P3 09 is changed from 2000 to 3000 Step Panel display Used buttons Operations 1 STA ESC INC DEC ENTER No operation 2 STA ESC INC DEC ENTER Press STA ESC 3 STA ESC INC DEC ENTER Press INC for three times to show P3 00 4 STA ESC INC D...

Страница 51: ... power levels Different types of motors are distinguished by the motor code on the motor nameplate Before debugging the servo system make sure that the motor code U3 00 matches the motor nameplate label Input motor code Long press ENTER Complete the setting confirm Short press ENTER Re power on ...

Страница 52: ...us position mode 5 6 3 Position control is to input the pulse train command into the servo unit and move it to the target position The position instruction can be given by the combination of external pulse input the total number of internal position instructions and speed limit The position is controlled by the number of input pulses and the speed is controlled by the frequency of input pulses It ...

Страница 53: ...00 001A can be distributed to other input terminal through P5 30 If the control mode needs to be switched through SI2 input signal P5 30 can be set to n 0002 0012 Refer to section 3 2 2 for hardware wiring details Parameter setting Signal C SEL terminal input status Signal C SEL terminal logic Control mode P5 30 n 0000 No need external terminal input Invalid The control mode set by P0 01 P5 30 n 0...

Страница 54: ...n the servo is not enabled i e the panel is BB Related parameter parameter Meaning Default setting Unit Range Modify Take effect P3 18 JOG speed 100 1rpm 0 1000 Servo bb At once P3 18 is the speed for closed loop inching operation which only takes effect in two inching modes and the rest normal control modes are invalid 1 jog by panel Related parameter Function code Meaning Explanation F1 00 Jog o...

Страница 55: ...ol communication or set to 1 through the panel 2 Power on enable Parameter setting P0 03 1 default P5 20 n 0010 This setting mode can make the servo system in the enabling state as soon as it is powered on without external terminal control and the servo enabling state will remain when it is powered on again 3 External SI terminal control enable When P0 03 is set to 1 the external terminal enable c...

Страница 56: ... and free deceleration to 0 The deceleration time is affected by mechanical inertia equipment friction etc The servo driver outputs the reverse braking torque and the motor decelerates rapidly to 0 Stopping features Advantages smooth deceleration small mechanical impact small mechanical impact Disadvantage slow deceleration process Advantages short deceleration time Disadvantages mechanical impact...

Страница 57: ... or 2 it stops in deceleration mode 2 Stop mode in case of over travel The overtravel prevention function of servo unit refers to the safety function that the servo motor is forced to stop by inputting the signal of limit switch when the movable part of the machine exceeds the designed safe moving range Related parameter parameter Meaning Default setting Unit Setting range Modify Effective P0 28 S...

Страница 58: ... the overrun direction does not receive instructions 3 Alarm E 260 P0 28 n xx x 0 Unshielded over travel alarm E 261 1 Shielded over travel alarm E 261 Note 1 When P0 28 0 2 the motor starts to decelerate and stop after receiving the overtravel stop signal and the braking torque is P3 32 when decelerating stop and the stop timeout also plays a role in the overtravel process 2 During position contr...

Страница 59: ... when the servo motor is in a stop state Related parameter Parameter Meaning Default setting Unit Setting range Modify Effective P5 44 Brake interlock BK n 0000 n 0000 n 0018 Anytime At once P5 07 Servo OFF delay time 500 1ms 0 65535 Servo bb At once 500 9999 after version 3760 P5 08 Brake command output speed 30 rpm 20 10000 Servo bb At once P5 09 Brake command wait time 500 ms 0 65535 Servo bb A...

Страница 60: ...pen 3 Time sequence of holding brake control Holding brake sequence in normal state Due to the action delay time of the brake the machine moves slightly under the action of gravity Use P5 07 parameter to adjust the time so that the holding brake can be opened or closed in advance When setting the servo motor with brake the output signal BK of control brake and the time of servo SON signal on off a...

Страница 61: ...ower is absorbed by charging the smoothing capacitor in the servo amplifier After exceeding the rechargeable energy the regenerative resistance is used to consume the regenerative power The servo motor is driven by regeneration generator mode as follows Deceleration stop period during acceleration and deceleration operation When the vertical axis is running downward When the external load drives t...

Страница 62: ... 20P4 PTA 40Ω 40Ω 100Ω Above 500W DS5F 20P7 PTA DS5F 21P5 PTA 25Ω 25Ω 50Ω Above 1000W DS5F 22P3 PTA DS5F 22P6 PTA DS5F 43P0 PTA 55Ω 55Ω 75Ω Above 1000W DS5F 45P5 PTA 25Ω 25Ω 65Ω Above 2000W DS5F 47P5 PTA 25Ω 25Ω 50Ω Above 2000W Note 1 The smaller the resistance is the faster the discharge will be but it is easy to break down the resistance if it is too small Therefore the lower limit should be as ...

Страница 63: ...0 11 6000 P0 12 0 Then if the PLC outputs 6000 pulses the object will move 6mm Encoder 131072 17 bit ball screw pitch 6mm Do not change the electronic gear ratio Change the electronic gear ratio Without changing the ratio of the electronic gear to the motor the rotating cycle is 131072 pulses P 0 11 0 P 0 12 0 If the workpiece is moved 6 mm in one turn the number of pulses needed is 131072 If the ...

Страница 64: ...3 P0 14 P0 92 95 P0 11 M 10000 P0 12 M 10000 priority n N m M 14 0 P 13 0 P resolution encoder resolution encoder Note 1 In step 6 the effective priority of the number of pulses per revolution is higher than the electronic gear ratio that is when P0 11 P0 12 are all 0 P0 13 P0 14 will take effect In special cases if the number of pulses per revolution is calculated as a decimal the electronic gear...

Страница 65: ...ositioning confirmation Related parameters Parameter Meaning Default setting Unit Range Change Effective P5 00 Positioning completion width 11 Command unit 0 65535 Anytime At once P5 01 Positioning completion detection mode 0 0 3 Anytime At once P5 02 Positioning completion hold time 0 ms 0 65535 Anytime At once Parameter Signal name Default setting Suitable mode Meaning Modify Effective P5 37 COI...

Страница 66: ...ignal status ON ON OFF ΔU0 12 Pulse command 2 When the instruction ends and the motor speed is under the rotation detection speed P5 03 and the absolute deviation is less than P5 00 the COIN signal is output U0 08 Pulse offset P5 00 ON S ON Signal status COIN Signal status ON ON OFF ΔU0 12 Pulse command U0 00 Actual speed P5 03 3 At the end of instruction the absolute deviation value under P5 00 i...

Страница 67: ... 00 changes proportionally with the number of command pulses required for one revolution of the motor The output of the positioning completion signal depends on the positioning completion width The smaller the width is the later the positioning completion signal output is but the signal output does not affect the actual operation state of the motor 10000 default 11 default 20000 22 5000 6 3000 4 2...

Страница 68: ... ON ON ON OFF OFF P5 00 P5 06 2 Description of approach signal output 1 The approach signal output width P5 06 changes proportionally due to the change of the electronic gear ratio The default setting is 11 command units The following table is an example Number of command pulses required for one revolution of motor Near signal output width P5 06 The near signal output width P5 06 changes proportio...

Страница 69: ...urrent segment INHIBIT signal is from ON OFF continue running from pause point 6 external pulse position control Pause pulse command reception INHIBIT signal is from ON OFF continue running from the pulse command received after OFF 5 3 1 5 Offset clear CLR Position offset position command position feedback encoder unit The position deviation clearing function means that the driver can clear the po...

Страница 70: ...pulse limit value Related parameters parameter Meaning Default setting Unit Range Change Effective P0 23 pulse deviation limit value 2000 0 01 turns 0 65535 Anytime At once When the deviation pulse limit is 0 the deviation pulse will not be detected Alarm E 100 Alarm E 100 0 Deviation pulse P0 23 P0 23 Normal control Normal control 5 3 1 7 Position command filter Related parameters Parameter Meani...

Страница 71: ...y P5 28 SPD A n 0000 Mode 3 internal speed selecting signal Range 0000 001A distributes to input terminal through P5 28 When it set to 0001 it means input signal from SI1 Mode 5 find origin point at forward direction P5 29 SPD B n 0000 Mode 3 internal speed selecting signal Range 0000 001A distributes to input terminal through P5 29 When it set to 0001 it means input signal from SI1 Mode 5 find or...

Страница 72: ...01 control mode selection Set to 6 external pulse mode 5 3 2 1 P0 10 pulse instruction form Set the pulse form 0 CW CCW 1 AB 2 P D 5 3 2 2 P0 11 Motor pulse numbers per rotation 1 P0 12 Motor pulse numbers per rotation 10000 P0 13 Electronic gear ratio numerator P0 14 Electronic gear ratio denominator P0 92 P0 93 32 bit electronic gear ratio numerator P0 94 P0 95 32 bit electronic gear ratio Setti...

Страница 73: ...ounting direction of the internal counter in the servo system The counting direction determines the rotation direction of the motor Therefore this parameter can be adjusted if the actual rotation direction of the motor is different from the expected direction in the position mode Parameter Meaning Default setting Unit Range Change Effective P0 09 2 n x xx Low speed pulse command filter time F 4 16...

Страница 74: ...h speed pulse Differential signal 4Mpps 5V 25mA Low speed pulse Differential signal 500Kpps 3 3 5V 25mA Open collector 200Kpps 24V 25mA 5 3 3 Position control Internal command Parameter Overview Reference chapter P0 01 control mode selection Set to 5 internal position mode 5 3 3 1 P4 03 internal position mode P4 04 valid segment number P4 10 P4 254 internal position 1 to 35 parameters Control mode...

Страница 75: ...it Default setting Suitable mode modify Effective P4 03 Internal position mode setting n 0000 5 Servo bb At once Parameter setting Meaning Default setting Setting range n xxx No meaning n x xx Waiting mode 0 0 1 n xx x Change step mode 0 0 6 n xxx Positioning mode 0 0 1 1 waiting mode n x xx Meaning 0 Wait for positioning completion 1 Not wait for positioning completion Note Waiting mode refers to...

Страница 76: ...ompletion of motor positioning but pass the adjust time and then start the next position command T2 is adjust time Refer to parameter P4 11 2 change step mode n xx x Description 0 Change the step when signal is ON recycling P t Segment 1 Segment 2 Segment 1 CHGSTP Signal status t1 t2 t1 ON OFF t1 P4 16 t2 P4 23 1 If the CHGSTP signal is always on the servo unit will cycle the set position segment ...

Страница 77: ...the shutdown the positioning is invalid 5 The adjustment time is not valid in this mode 2 Start at the rising edge of the signal sequential run all not recycling P CHGSTP Signal status ON OFF t1 t Take setting two segments as an example t1 p4 16 in the figure 1 The CHGSTP signal before the completion of a cycle will not be counted as shown in the second CHGSTP signal in the figure 2 In this mode t...

Страница 78: ...letion positioning completion and positioning approach signal are all effective 2 When the servo enable is off during a certain section of operation the motor stops according to the servo off shutdown mode After the shutdown the positioning is invalid 3 The adjustment time is valid in this mode 4 CHGSTP signal is invalid only in this mode 5 The segment number selection terminal can not only trigge...

Страница 79: ...signal is required to trigger to run the position segment and the step change triggering during segment operation is invalid 5 Segment number selection terminal logic is voltage level valid Input high voltage level is valid input low voltage level is invalid The following input signal can switch the segment 1 to 3 or 1 to 16 Parameter Signal name Default setting Suitable mode Setting range Modify ...

Страница 80: ... relative positioning mode if one segment speed is not zero but the pulse number is zero the motor will not run but the wait mode is effective The servo will run the next segment when the adjust time is out 5 In absolute positioning mode if one segment speed is not zero but the pulse number is zero the motor will return to the reference origin with the speed of this segment 6 In absolute positioni...

Страница 81: ...l CHGSTP n 0000 Defaulted is not distribute to input terminal Refer to chapter 5 4 2 Range 0000 001A Distribute to input terminal through P5 35 When it set to 0001 it means input from SI1 5 3 3 5 Skip present segment signal ZCLAMP Parameter Signal name Setting Meaning Range P5 31 Skip the present segment Z CLAMP n 0000 Defaulted is not distribute to input terminal Range 0000 001A Distribute to inp...

Страница 82: ...ompletion signal in the external pulse mode there is output when the motor is running and there is no output when the motor stops Parameter range 0000 0018 assigned to the output interface through parameter P5 50 When it is set to 0001 the signal is output from SO1 terminal 5 4 Speed control 5 4 1 Speed mode general control 5 4 1 1 Soft start Parameter Meaning Defaulted setting Unit Range Modify E...

Страница 83: ...e 0000 001A n 0002 Input signal from SI2 terminal 3 Parameter setting parameter Meaning Default setting Unit Range Change Effective P3 13 Zero clamp speed 10 rpm 0 300 Servo bb At once P3 12 Zero clamp mode 0 0 3 Servo bb At once P3 12 setting Contents 0 ZCLAMP input signal is ON forced speed command is 0 when the speed below P3 13 switch to position mode and the servo lock in this position 1 ZCLA...

Страница 84: ... P1 23 100 Command pulse frequency t Before filtering After filtering 5 4 2 Speed control internal speed Parameter Overview Chapter P0 01 Control mode selection Set to 3 internal speed control mode 5 4 2 1 P3 05 Internal speed 1 P3 06 Internal speed 2 P3 07 Internal speed 3 Speed value setting of internal 3 segment speed in rpm 5 4 2 1 P5 28 internal speed selection SPD A P5 29 internal speed sele...

Страница 85: ...nge Modify Effective P5 27 Internal direction SPD D n 0000 Range 0000 001A Distribute to input terminal through P5 27 Anytime At once P5 28 Internal speed SPD A n 0000 Range 0000 001A Distribute to input terminal through P5 28 P5 29 Internal speed SPD B n 0000 Range 0000 001A Distribute to input terminal through P5 29 1 Correlation between running speed and terminal signal Input signal Running spe...

Страница 86: ...s SPD D as an example SPD A SPD B signals are the same Parameter setting Signal SPD D terminal input status Signal SPD D terminal logic P5 27 n 0000 No need external terminal input Invalid P5 27 n 000 SI terminal no signal input P5 27 n 001 SI terminal has signal input P5 27 n 0010 No need external terminal input Valid P5 27 n 000 SI terminal has signal input P5 27 n 001 SI terminal no signal inpu...

Страница 87: ...uantity The wiring is the same as position command Select CW CCW mode or direction pulse mode AB phase pulse mode 5 4 3 2 Pulse frequency command Pulse frequency command is the same as external pulse command position control refer to chapter 5 3 2 5 4 3 3 Command pulse frequency at rated speed Parameter Meaning Default setting Unit Range Modify Effective P0 15 command pulse frequency at rated spee...

Страница 88: ...nalog value Servo bb At once Function speed command is given by external analog quantity The analog voltage command input from the V REF terminal is given as the speed control signal to control the speed Note 1 Direction switching positive and negative voltage or SPD D P5 27 can control direction 2 Refer to section 3 2 4 analog input circuit for hardware wiring 5 4 4 2 Analog value corresponding t...

Страница 89: ...s of analog speed control to achieve direction switching Change of control parameters positive and negative voltage SPD D P5 27 pulse signal Parameter Meaning Default setting Unit Setting range Modify Effective P3 04 analog speed direction switching 0 0 1 Anytime At once 5 4 4 5 Speed command offset auto tune F1 03 When using the analog voltage speed mode even if the command voltage is 0V the moto...

Страница 90: ...ing Default setting Unit Setting range Modify Effective P3 03 Speed command input deadband voltage 0 0 001V 0 500 Anytime At once P3 47 V REF zero drift correction of analog value 0 1000 1000 Anytime At once P3 58 V REF analog voltage bias 0 mV 9999 9999 Anytime At once Note 1 When the input speed command voltage is within the range set by this parameter the input command is considered as 0 2 If t...

Страница 91: ... name Default setting Suitable mode Meaning Modify Effective P5 43 VLT n 0000 1 2 Speed limit detection Anytime At once By default no terminal is allocated the parameter range is 0000 0014 and is allocated to the output interface through parameter P5 43 When set to 0002 the signal is output from the SO2 terminal VLT signal is only valid in torque mode 5 5 2 Torque control internal setting Paramete...

Страница 92: ...command input deadband voltage Unit 0 001V 5 5 3 5 5 5 3 1 Analog torque mode Note 1 Direction switching positive and negative voltage or SPD D P5 27 can control direction 2 Refer to section 3 2 4 for hardware wiring 5 5 3 2 Analog value corresponding to rated torque Parameter Meaning Default setting Unit Setting range Modify Effective P3 23 T REF function distribution 0 0 2 Servo bb At once P3 24...

Страница 93: ...d voltage is 0V and the motor rotates at a small speed This fretting occurs when the command voltage of the upper control unit or the external circuit deviates by a small amount mv In this case the panel operator can be used to adjust the instruction offset automatically When the servo enable is turned off i e bb state unplug the analog signal of CN1 port of the driver and carry out the following ...

Страница 94: ...nytime At once Note 1 When the input torque command voltage is less than the set value of this parameter the input torque command is considered as 0 2 If there is any fretting after the offset is adjusted automatically the dead time voltage can be increased properly Sampling voltage mV Analog channel voltage mV P3 49 300mV P3 50 3000mV P3 26 300mV L1 L2 L3 L4 L1 Servo analog terminal 0V L2 After z...

Страница 95: ... encoder as incremental encoder and no longer remember position 2 Use as absolute encoder ignore the multi loop overflow alarm 5 6 2 Replace the battery When replacing the battery please replace the battery while keeping the driver and motor connected well and the control power is connected If the battery is replaced when the control power between the driver and the motor is closed the data stored...

Страница 96: ...nnect the power supply of the servo unit again 7 Make sure the error display disappears and the servo unit can operate normally 5 6 3 The upper limit of turns The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables For example suppose there is a machine whose turntable moves only in one direction as shown in the figure below ...

Страница 97: ...e Use U0 10 encoder feedback value Absolute value single turn position read 0x100A and 0x100B hexadecimal address through Modbus RTU U0 10 U0 11 10000 is present encoder single turn position U0 11 U0 91 present turns of multi turn absolute Read 0x105B hex address through ModbusRTU which is the current number of encoder turns U0 57 absolute encoder present position feedback low 32 bit Read 0x1039 h...

Страница 98: ...tion number 1 Note Refer to Appendix 1 P7 XX for communication parameter description 5 6 5 Reset absolute position Parameters Name F1 06 Clear the turns of absolute encoder U0 94 Relative encoder feedback value which can be reset U0 95 U0 96 U0 97 F1 06 clear the turns Encoder turns clearing should be done when servo driver is bb The clearing methods include servo panel clearing and Modbus RTU com...

Страница 99: ... 0 300 Anytime At once P3 38 Anti blocking alarm internal forward torque limit 300 0 300 Anytime At once P3 39 Anti blocking alarm internal reverse torque limit 300 0 300 Anytime At once Note 1 When P0 74 or P0 75 is set to 0 this alarm will not be detected 2 If this alarm occurs during normal operation of servo please confirm a Monitor U0 02 motor torque and check if P3 28 and P3 29 P3 38 P3 39 t...

Страница 100: ...necessary condition to use forward external torque limit Range 0000 001A can be distributed to other input terminals through P5 25 Anyti me At once P5 26 N CL n 0000 The necessary condition to use reverse external torque limit Range 0000 001A can be distributed to other input terminals through P5 26 Anyti me At once 3 Relationship The following are the relationship of internal torque limit externa...

Страница 101: ... 4 1 Input terminal distribution 1 Input signal distribution Parameter Parameter Meaning Set value Meaning P5 20 P5 36 n 0 Distribute input terminal no 0 NO signal 1 NC signal No meaning Basic filter time n 0000 Not distribute to terminal input n 000x Input always open signal from SIx n 0010 Set the signal to be always valid n 001x Input always close signal from SIx Note The basic filtering time r...

Страница 102: ...1 Anytime At once Parameter Signal name Default setting Suitable mode Meaning Modify Effective P5 41 S RDY n 0003 All servo ready output Anytime At once Refer to section 3 2 2 for hardware wiring details P5 41 parameter setting range is n 0000 0014 which is assigned to other output terminals through parameters If it is necessary to output signal from SO2 P5 41 can be set to n 0002 0012 Servo ready...

Страница 103: ...er is smaller than another value the action will be released The ring width determines the interval time of the action The action of small ring width is sensitive and frequent and the action of large ring width is slow It should be noted that the rotation detection speed P5 03 the same speed detection speed P5 04 the arrival detection speed P5 05 all contain 10 rpm hysteresis For example the rotat...

Страница 104: ... When the servo alarm SO2 and COM are connected and the alarm signal is output The parameter range is 0000 0018 which is assigned to the output interface by parameter P5 47 When set to 0001 the signal is output from the SO1 terminal n 0012 When the servo alarm the SO2 and COM are switched off Note 1 When an alarm occurs the servo unit is forced to set OFF and the motor will move with external forc...

Страница 105: ...2768 32767 All the modes Anytime At once P5 12 When P5 10 P5 11 or P5 10 P5 11 SOx output Setting value Function Default value Suitable mode Change Effective 0 P5 10 P5 11 SOx output 0 All the modes Anytime At once 1 P5 10 P5 11 SOx output 2 P5 10 absolute value P5 11 SOx output 3 P5 10 absolute value P5 11 SOx output P5 13 User defined output 1 hysteresis loop Unit Default setting Range Suitable ...

Страница 106: ...At once P5 15 The comparison value for the trigger condition of user defined output 2 Unit Default setting Range Suitable mode Change Effective Related to trigger condition 0 9999 9999 All the modes Anytime At once P5 16 When P5 14 P5 15 or P5 14 P5 15 SOx output Setting value Function Default setting Suitable mode Change Effective 0 P5 14 P5 15 SOx output 0 All the modes Anytime At once 1 P5 14 P...

Страница 107: ...minal via parameter P5 21 5 7 6 2 Alarm reset ALM RST Alarm reset ALM RST Parameter Signal Default setting Suitable mode Meaning Modify effective P5 24 ALM RST n 0002 All Input normally open signal from SI2 terminal Anytime At once 1 The parameter range is 0000 001A which is allocated to other input terminals through parameter P5 24 2 When an alarm occurs find out the cause of the alarm and remove...

Страница 108: ...use it within the continuous operation stage of torque speed curve For the torque speed curve please refer to appendix 9 Applicable model motor code 5022 5822 5003 5803 50C3 58C3 5004 5804 50C4 58C4 4004 50C5 58C5 5011 5811 50D1 58D1 4011 4012 50D7 5012 50D2 Applicable model motor code 5072 5872 9072 9872 Applicable model motor code 5033 9033 4031 4032 4042 5042 4044 5044 5078 5079 5077 5877 9077 ...

Страница 109: ...tor code 5174 9174 5974 9974 9148 9045 Applicable model motor code 5175 9175 5975 9975 9166 916A 916B Applicable model motor code 5034 9034 5074 5874 9074 9874 9037 5037 5046 4046 9046 5075 5875 9075 9875 404B 9161 9162 9163 ...

Страница 110: ...mode Modify Effective 1 0 0 9999 All Servo OFF At once P0 19 Set the number of feedback pulses per turn of encoder high order position Unit Default setting Range Suitable mode Modify Effective 10000 1 0 9999 All Servo OFF At once Note 1 Output pulses per turn P0 19 10000 P0 18 It can be any positive integer 2 Encoder feedback will be output from CN0 port hardware version 3131 and earlier encoder f...

Страница 111: ... operation when phase A behind phase B 90 Phase A Phase B 90 Phase A Phase B P0 87 0 Differential feedback output phase Z mode Setting value Function Default value Suitable mode Modify Effective 0 Only forward output encoder frequency division z phase pulse 1 All Servo OFF At once 1 Both forward and reverse directions output encoder frequency division z phase pulse Phase Z pulse width Pulse output...

Страница 112: ...ine Motor encoder External encoder P9 01 0 Speed calculation Mechanical side external grating scale frequency division compare P9 04 P9 07 Excessive deviation alarm P9 02 When the full closed loop is opened the external grating ruler position feedback is used when the full closed loop speed feedback is opened the external grating ruler speed feedback is used When the full closed loop mode is on th...

Страница 113: ...nce P0 95 Second group of electronic gear ratio high bit denominator 10000 0 1 65535 Servo bb At once 2 In the state of servo motor and mechanical connection confirm the action of half closed loop control After connecting with the relevant mechanical structure the load inertia ratio shall be estimated first refer to 6 3 4 operation steps Then use the upper device to send the command to the servo a...

Страница 114: ...the servo to be powered on again 5 9 3 2 Counting direction and type selection of grating ruler Parameter Setting Function Default setting Range Modify Effective P9 00 n xx x Counting direction of grating ruler 0 use the grating ruler counting value directly Servo bb Re power on 1 Grating ruler counting value reversed P9 00 shall cooperate with motor rotation direction parameter setting P0 05 to d...

Страница 115: ... on P9 08 Grating ruler feedback pulses per turn High 1 PULSE 0 9999 Servo bb Re power on 1 Mechanical side grating scale frequency division Motor encoder feedback pulse per turn External quadrature encoder pulse per turn P9 06 10000 P9 05 P9 08 10000 P9 07 Motor encoder feedback pulse per turn P9 06 10000 P9 05 When the set value 0 the resolution of the encoder is set to the frequency division nu...

Страница 116: ...sed loop mode the motor encoder data in the original control loop is replaced by the grating scale feedback position data except for the mechanical angle feedback in the current loop Parameter Meaning Data U4 11 Grating ruler raw data U4 12 10000 U4 11 U4 12 U4 13 Original z phase number of grating ruler U4 14 Grating ruler motion feedback data U4 15 10000 U4 14 U4 15 5 9 3 7 Sampling channel of f...

Страница 117: ...he following figure is the basic process of gain adjustment please adjust according to the current machine status and operation conditions Start adjusting Use adaptive 3kw auto tune function 3kw Are you satisfied with responsiveness YES Fast adjusting Are you satisfied with responsiveness NO YES NO Auto tuning external or internal instruction Are you satisfied with the adjusting result YES NO Manu...

Страница 118: ...ition loop there is also the gain of model loop which has a great influence on the servo responsiveness When the model loop is not open the servo responsiveness is determined by the gain of the position loop and when the model loop is open the servo responsiveness is determined by the gain of the model loop The model loop is equivalent to feed forward function in the driver control loop and its sp...

Страница 119: ...the model loop gain and notch filter are also adjusted automatically Model loop function Parameter Meaning Default setting Modification Effective P2 47 n 0 Model loop turn off n 0 At anytime At once n 1 Model loop turn on Taking DS5 series servo auto tuning mode and using 750W servo 5 times load inertia as an example Model loop function turns off soft mode Low Rigidity and Low Response High Rigidi...

Страница 120: ...ce ability by detecting and estimating the external disturbance torque of the system and compensating the torque command If the soft mode is selected in the auto tuning mode the disturbance observer will be closed automatically and the gain of the disturbance observer will not change If the fast positioning or fast positioning control overshoot is selected the disturbance observer will be opened a...

Страница 121: ...firm the range or direction of movement and ensure that the load runs in a safe journey If the presumed inertia under default parameters runs jitter indicating that the present load inertia is too large please switch to large inertia mode P2 03 3 1 and operate again It is also possible to set the initial inertia to about twice the current one and execute again under larger loads Driver inertia rat...

Страница 122: ...asic smooth operation of the servo and then identify the inertia Servo entering parameter F0 07 in BB state Press ENTER servo is enabled Press INC or DEC to run forward or reverse select one of them or At this point start action under the condition of P 05 0 initial positive direction if press INC then turn forward and then reverse if press DEC turn reverse and then forward If the inertia identifi...

Страница 123: ...ation error The presumed inertia trip is too small It is suggested that the minimum for P2 15 should no be less than 50 0 5 cycles If the trip is too small the identification of inertia ratio will be inaccurate Contact us Err 5 Unrestrained Vibration in the Process of Inertia Identification Unhandled vibration occurs Unhandled vibration occurs Err 6 Driver is not currently in BB state Enable have ...

Страница 124: ...122 2 select jog setting or manual setting to configure the inertia estimation trip 3 Set the auto tuning interface ...

Страница 125: ...tia refer to XinJeServo s help document 6 3 Fast adjustment 6 3 1 Overview Fast adjustment needs to set the moment of inertia of load first then turn off the adaptive function If the inertia does not match it will cause oscillation alarm Servo firmware version 3640 and later versions support this function and the version is viewed through U2 07 Fast adjustment of gain parameters belongs to auto tu...

Страница 126: ...0 450 70 800 8 600 1100 500 60 900 9 650 1015 550 50 1000 10 700 943 600 40 1100 11 750 880 650 30 1200 12 800 825 700 20 1300 13 850 776 750 10 1400 14 900 733 800 10 1500 15 1000 660 900 10 1600 16 1050 629 950 10 1800 17 1100 600 1000 10 2000 18 1150 574 1050 10 2200 19 1200 550 1100 10 2400 20 1300 508 1100 10 2600 21 1400 471 1200 10 2800 22 1500 440 1300 10 3000 23 1600 413 1400 10 3500 24 1...

Страница 127: ...300 2400 29 850 748 750 10 1400 2700 30 900 707 800 10 1500 3000 31 950 670 900 10 1500 3100 32 1000 636 900 10 1600 3200 33 1050 606 950 10 1800 3300 34 1100 578 1000 10 2000 3400 35 1150 553 1050 10 2200 3500 36 1200 530 1100 10 2400 3600 37 1250 509 1100 10 2500 3700 38 1300 489 1100 10 2600 3800 39 1350 471 1200 10 2700 3900 40 1400 454 1200 10 2800 4000 41 1450 439 1250 10 2900 4100 42 1500 4...

Страница 128: ... is the recommended rigidity level of the load for reference only 1 20 40 60 Large Load of Flexible Structure High Rigid Load Light load Ultra high Response Load Flexible structure large load refers to the type of synchronous belt structure large load inertia equipment High rigid load refers to the mechanism of screw rod or direct connection and equipment with strong mechanical rigidity Ultra high...

Страница 129: ...nstruction auto tuning Auto tuning internal instruction refers to the function of automatic operation forward and reverse reciprocating motion of servo unit without instructions from the upper device and adjusting according to the mechanical characteristics in operation Auto tuning external instruction is the function of automatically optimizing the operation according to the instructions from the...

Страница 130: ...right now 4 Press INC or DEC panel display is tune and flashing enter auto tuning status 5 Driver will automatically send pulse instructions if the auto tuning is successful the panel shows done and flashing 6 Press STA ESC to exit internal instruction auto tuning Note In the process of auto tuning press STA ESC will exit the auto tuning operation and use the gain parameters at the exit time If au...

Страница 131: ...129 XinJeServo software auto tuning steps 1 click auto tuning on the XinJeServo software main interface 2 set the auto tuning trip in jog mode or manually 3 set the auto tuning interface ...

Страница 132: ...ball screw mechanism If there is no corresponding mechanism please choose this type Rigid connection It is suitable for the adjustment of rigid body system and other mechanisms with higher rigidity Auto tuning mode Description Soft Make a soft gain adjustment Besides gain adjustment notch filter is automatically adjusted Fast positioning Make special adjustment for positioning purpose Besides gain...

Страница 133: ...rshoot In the use of positioning we should pay attention to adjusting without overshoot Besides gain adjustment the model loop gain and notch filter are automatically adjusted 6 Start auto tuning 7 Wait for the end of the auto tuning ...

Страница 134: ...flickers 7 Press STA ESC to exit the external instruction auto tuning Note in the auto tuning process press STA ESC will exit the auto tuning and use the gain parameters at the exit moment Panel error alarm in auto tuning process Error code Meaning Reasons Err 1 Failure to search for optimal gain Too large inertia ratio too weak rigidity of mechanism Err 2 Overrun alarm occurs during auto tuning E...

Страница 135: ...eServo software auto tuning steps 1 Click auto tuning on the main interface of XinJeServo software 2 Select jog or manual setting to configure the trip of inertia identification 3 Set the auto tuning interface ...

Страница 136: ... loop gain and notch filter are automatically adjusted Rapid positioning control overshoot In the use of positioning we should pay attention to adjusting without overshoot Besides gain adjustment the model loop gain and notch filter are automatically adjusted Load type Description Synchronous belt Adjustment of lower rigidity mechanism such as synchronous belt Screw It is suitable for adjusting hi...

Страница 137: ...135 Rigid connection It is suitable for the adjustment of rigid body system and other mechanisms with higher rigidity 6 Start auto tune 7 Open the servo enable then click ok ...

Страница 138: ...ia ratio Gain performance parameters Yes P1 00 First speed loop gain P1 01 Integral time constant of the first speed loop P1 02 First position loop gain P2 00 0 Disturbance observer switch P2 01 0 Adaptive mode switch P2 35 Torque command filter time constant 1 P2 41 Disturbance observer gain P2 47 0 model loop switch P2 49 model loop gain P2 55 model speed feedforward gain P2 60 0 Active vibratio...

Страница 139: ...ng max limit position P2 89 auto tuning max speed P2 90 auto tuning acceleration deceleration time Note P2 60 P2 63 are automatically modified in auto tuning process Users are not allowed to modify them manually Manual modification may lead to the risk of system runaway 6 5 Manual adjustment 6 5 1 Overview error counter Position loop gain Kp Speed control Kv Ti Torque instruction filter Tf Current...

Страница 140: ...hen the expected effect is not achieved by automatically adjusting the gain 6 5 2 Adjustment steps In position mode if the soft mode P2 02 0 1 is selected by auto tuning the function of model loop will be turned off in speed mode the gain of position loop will be invalid Increasing response time 1 Reducing the filter time constant of torque instruction P2 35 2 Increasing Speed Loop Gain P1 00 3 Re...

Страница 141: ...e responsiveness is and the shorter the positioning time is Generally speaking the gain of position loop cannot be increased beyond the natural vibration number of mechanical system Therefore in order to set the position loop gain to a larger value it is necessary to improve the rigidity of the machine and increase the number of inherent vibration of the machine Parameter Name Default setting Unit...

Страница 142: ...ve effective without modifying other parameters The effectiveness of self adaptation is controlled by the following parameters Parameter Meaning Default setting Modification Effective P2 01 n 0 Adaptive shutdown n 1 Servo bb Re power on n 1 Adaptive Opening 6 6 4 Inertia mode and related parameters The adaptive default parameter is defined as small inertia mode If the load inertia far exceeds the ...

Страница 143: ... inertia Set P2 08 50 P2 12 40 P2 07 30 50 80 times inertia Switch to adaptive large inertia mode or set P2 08 40 P2 12 50 P2 07 50 110 130 Within 10 times inertia Adaptive small inertia mode default parameters 10 15 times inertia Set P2 08 50 P2 12 40 15 20 times inertia Switch to adaptive large inertia mode or set P2 08 40 P2 12 50 P2 07 50 180 and above Within 5 times inertia Adaptive small ine...

Страница 144: ...valid parameters are shown as below Item Parameters Descriptions Gain P1 00 P1 05 First speed loop gain Second speed loop gain P1 01 P1 06 First speed loop integral time constant Second speed loop integral time constant P1 02 P1 07 First position loop gain Second position loop gain P2 49 Model loop gain P0 07 P0 08 First inertia ratio Second inertia ratio Switch P5 33 G SEL gain switch P5 36 I SEL...

Страница 145: ...re are two modes of panel vibration suppression mode 1 vib 1 and mode 2 vib 2 Difference between Two Kinds of Vibration Suppression Mode Display Changed parameters Mode 1 vib 1 Only the parameters related to vibration suppression will be changed Mode 2 Vib 2 It will change the parameters of vibration suppression and the gain of speed loop The operation steps 1 Enter F0 10 in auto tuning mode the p...

Страница 146: ...e Err 4 Not turn off the adaptive function please set P2 01 0 to 0 then auto tune Err 7 Driver alarm in auto tuning process driver alarmed Err 8 Positioning Completion Signal Instability Short instruction interval 6 7 4 Vibration suppression PC software 1 open XinJeServo software click mechanical properties 2 click measure 3 set the measure conditions then click execute 4 select amplitude and phas...

Страница 147: ...Find frequency successful Long press ENTER Write in successful Wait for enable Set torque Enable status The operation steps are described as follows 1 F0 12 long press ENTER to enter quick FFT function it will show E_FFt 2 Press ENTER to enter torque setting interface it will show the current setting torque which is the value of P6 89 Press INC DEC to increase or decrease torque command When incre...

Страница 148: ...ree parameters notch frequency notch attenuation and notch bandwidth The first and second notches are set automatically and the third fourth and fifth are set manually The torque instruction filter and notch filter are in series in the system As shown in the figure below the switch of the notch filter is controlled by P2 69 and P2 70 Torque command filter P2 35 First notch filter P2 71 P2 72 P2 73...

Страница 149: ...e At once P2 79 Third notch bandwidth 0 Hz 0 1000 Anytime At once P2 80 Fourth notch frequency 5000 Hz 50 5000 Anytime At once P2 81 Fourth notch attenuation 70 0 1dB 50 1000 Anytime At once P2 82 Fourth notch bandwidth 0 Hz 0 1000 Anytime At once P2 83 Fifth notch frequency 5000 Hz 50 5000 Anytime At once P2 84 Fifth notch attenuation 70 0 1dB 50 1000 Anytime At once P2 85 Fifth notch bandwidth 0...

Страница 150: ...loshing Countermeasure 1 Reducing gain parameters 2 Optimize the instructions of the upper device and reduce the acceleration of the instructions 6 8 2 Vibration The following causes cause machine vibration 1 Vibration due to inappropriate servo gain Countermeasure Reduce gain 2 Mechanical resonance point Countermeasure Setting notch parameters manually or through mechanical characteristic analysi...

Страница 151: ...E 021 Parameter range beyond limit No Servo run 2 E 022 Parameter conflict No Servo run 3 E 023 Sampling channel setting error Yes Servo run 4 E 024 parameter lost No Servo run 5 E 025 Erase FLASH error No Servo run 6 E 026 InitializationFLASHerror No Servo run 8 E 028 EEPROM write in error No Servo run 03 0 E 030 Bus voltage overvoltage No Servo off 04 0 E 040 Bus voltage under voltage Low grid v...

Страница 152: ...d loop motor encoder and external grating ruler counter direction reverse Yes Servo off 8 E 238 Full closed loop external grating scale speed overrun Yes Servo off 24 0 E 240 Timing error in fetching encoder position data No Servo off 1 E 241 Encoder reponse data is error code No Servo off 26 0 E 260 Over range alarm No Servo run 1 E 261 Overrun signal connection error No Servo run 2 E 262 Control...

Страница 153: ...ut voltage whether the input phase is missing or the supply voltage is too low Contact agent or manufacturer 7 E 017 Processor Running Timeout Program damage Please contact the agent or the manufacturer 9 E 019 System password error Program damage Please contact the agent or the manufacturer 02 0 E 020 Parameter loading error Failure of parameter self checking Re energizing can restore default par...

Страница 154: ... See chapter 1 4 1 for the selection of the external resistor Acceleration and deceleration time is too short Extending Acceleration and Deceleration Time Hardware Fault of Driver Internal Sampling Circuit The AC gear of the multimeter measures the input value of the servo LN R S T which is 220V 10 of the normal value If the power supply voltage is more than 220V 10 380V 10 check the power supply ...

Страница 155: ...essive ambient temperature 1 Enhance ventilation measures to reduce ambient temperature 2 Check whether the fan rotates when the servo is enabled when the module temperature U 06 45 the fan opens Fan damage Replace the fan 1 E 061 Motor overheat Alarm when motor temperature is higher than 95 Check whether the motor fan is abnormal Contact the manufacturer for technical support 3 E 063 Thermocouple...

Страница 156: ... Circuit Discovered in Self Inspection Not match the motor code Check if the driver P0 33 is identical with the motor code of the motor label the number after MOTOR CODE if not please change to the same one then power on again UVW wiring error Inspection of motor UVW wiring need to be in phase sequence brown U black V blue W Driver UVW Output Short Circuit or Motor Failure 1 Measure whether the UV...

Страница 157: ...ill be considered improper selection of the motor Increase the capacity of drivers and motors Extend the acceleration and deceleration time and reduce the load Monitor the U 00 whether it is running over speed Mechanisms are impacted suddenly weighted and distorted Eliminate mechanical distortion Reduce load Motor action when motor brake is not opened Measure the voltage of the brake terminal and ...

Страница 158: ... If it is not servo control attention must be paid to the timing of brake opening and motor action 3 Monitor the actual output torque range of U0 02 and check whether the setting of P3 28 29 torque limit is reasonable After version 3760 the output torque limit setting parameters of anti locked rotor alarm are P3 38 and P3 39 20 0 E 200 Regenerative resistance overload High Voltage Fluctuation in P...

Страница 159: ...n encoder error retry number register P0 56 Encoder interfered isolate interference source 2 E 222 Absolute value servo encoder battery low voltage alarm can shield this alarm Battery Voltage in Battery Box of Encoder cable is less than 2 75V Please replace the battery while keeping the power supply ON of the servo driver in order to avoid the error of encoder position information Battery specific...

Страница 160: ...solution exceeds the setting value of P9 02 Mechanism error The motor outputs the shaft position directly and reaches the moving platform through the mechanism The feedback of the grating ruler is directly from the moving platform and there will be errors in it after passing through the synchronous belt or lead screw Grating ruler installation is not parallel Set P9 05 to P9 08 reasonably 7 E 237 ...

Страница 161: ...ain is too small which leads to the oscillation of positioning 1 Check the source of external force to see if there are any problems in mechanical installation 2 Increase the servo gain to improve the anti disturbance ability 3 Acquisition speed curve analysis When the first three peaks are convergenced after pulse instruction completed 0 8 first peak second peak and 0 8 second peak third peak the...

Страница 162: ...urrent motor parameter performance Read the alarm shielding position of motor parameters through p0 53 and set the motor code of P0 33 correctly At this time the motor parameters are in the driver which can work normally but may affect some performance 4 E 314 Motor code does not match software version Encoder hardware version is higher than driver firmware version Contact the manufacturer s techn...

Страница 163: ...PLC controller and PC with the same communication interface and the same communication protocol and the HMI can also be connected through the communication interface Realize the remote operation of the frequency converter by the user This series of servo Modbus communication protocol supports RTU mode The following is a detailed description of the communication protocol 8 1 Communication wiring 1 ...

Страница 164: ... hand mode PLC master Servo slave Servo slave Servo slave 2 General recommendation branch structure 3 Not recommended star connection Servo slave Servo slave Servo slave Servo slave Servo slave Servo slave PLC master PLC master Servo slave Servo slave Servo slave Servo slave A B PE A B PE A B PE A B PE A B PE ...

Страница 165: ...ven n x xx Stop bit 0 0 2 bit 2 1 bit n xx Baud rate 06 00 300 01 600 02 1200 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 Parameter Meaning Default setting Setting range Modify Effective P7 02 RS485 communication protocol 1 1 Modbus Rtu protocol 2 Xnet bus protocol 3 read Xnet...

Страница 166: ...t once Parameter setting Function Default setting Range n xxx Parity bit 0 0 no parity 1 odd 2 even n x xx Stop bit 0 0 2 bit 2 1 bit n xx Baud rate 06 00 300 01 600 02 1200 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 ...

Страница 167: ...t no parity Start bit 0 1 2 3 4 5 6 7 Stop bit The default data format of servo driver is 1 bit start bit 8 bit data bit 1 bit stop bit 8 3 2 Communication data structure 1 RTU mode START Keep no input signal greater than or equal to 10ms Address Communication address 8 bit binary address Function Function code 8 bit binary address DATA n 1 Data content N 8 bit data N 8 max 8 bytes DATA 0 CRC CHK ...

Страница 168: ...ent there is an error in the received message discards the message frame makes no response and continues to receive the data of the next frame Refer to the description of Modbus protocol for CRC verification calculation method 8 4 Communication example 8 4 1 Communication with Xinje PLC Xinje PLC communicates with Xinje two drivers through 485 reads the speed of motor and writes the torque limit o...

Страница 169: ...ess the address of the servo slave station For the address of a register please refer to Appendix 4 MODBUS address table 3 register to store the paramter value of write in address 4 serial port no PLC RS485 serial port number ...

Страница 170: ... XX 0 PX XX 1 PX XX 2 PX XX 3 P0 XX Parameter Function Unit Default value Range Effective Suitable mode Reference chapter P0 01 Control mode 1 1 Internal Torque Mode 2 External Analog Torque Mode 3 Internal speed Model 4 External Analog speed Mode 5 Internal Location Mode 6 External Pulse Position Mode 7 External Pulse speed Mode 8 XNET Bus Torque Mode 9 XNET Bus Speed Mode 10 XNET Bus Location Mo...

Страница 171: ... 0 Number of command pulses required for motor rotation 1 pul 10000 0 99999999 5 6 5 3 1 1 P0 13 Electronic Gear Numerator 1 0 65535 5 6 5 3 1 1 P0 14 Denominator of Electronic Gear 1 0 65535 5 6 5 3 1 1 P0 15 Pulse frequency corresponding to rated speed 100Hz 1000 1 10000 7 5 4 3 2 P0 16 Speed command pulse filter time 0 01ms 100 0 10000 7 5 4 3 3 P0 18 Encoder feedback pulse number per turn low ...

Страница 172: ... 1 2 3 4 5 6 7 8 9 10 5 2 4 P0 30 stop timeout time 1ms 20000 0 65535 1 2 3 4 5 6 7 8 9 10 5 2 3 P0 31 Deceleration stop time 1ms 25 0 5000 1 2 3 4 5 6 7 8 9 10 5 2 3 P0 33 Set the motor code 0 0 ffff 1 2 3 4 5 6 7 8 9 10 4 7 Parameter Function Unit Default value Range Effective Suitable mode Reference chapter P0 53 Read motor parameter alarm shield bit 0 not shield alarm shield alarm 0 0 1 1 2 3 ...

Страница 173: ... denominator take effect when P0 11 P0 14 is 0 P0 94 1 P0 95 10000 1 1 9999 5 6 5 3 1 1 1 65535 P1 XX Parameter Function Unit Default value Range Effective Suitable mode Reference chapter P1 00 First speed loop gain 0 1Hz 20P1 400 Others 200 10 20000 1 2 3 4 5 6 7 8 9 10 6 5 3 P1 01 Integral Time Constant of the First Speed Loop 0 01ms 20P1 1650 Others 3300 15 51200 1 2 3 4 5 6 7 8 9 10 6 5 3 P1 0...

Страница 174: ...alid only during auto tuning 1 synchronous belt 2 screw rod 3 Rigid Connection 2 1 3 1 2 3 4 5 6 7 8 9 10 6 1 3 P2 03 3 Adaptive load type 0 Small Inertia Mode 1 Large Inertia Mode 0 0 1 1 2 3 4 5 6 7 8 9 10 6 6 4 P2 05 Adaptive mode speed loop gain standard 0 1Hz 20P1 20P2 20P4 20P7 400 21P5 200 1 65535 1 2 3 4 5 6 7 8 9 10 6 6 4 P2 07 Adaptive mode inertia ratio standard 0 0 10000 1 2 3 4 5 6 7 ...

Страница 175: ...5 3 P2 60 0 Active Vibration Suppression Switch 0 OFF 1 ON 0 0 1 3 4 5 6 7 10 6 4 6 P2 60 1 Active Suppression Auto tuning Switch 0 Active Vibration Suppression is not Configured in auto tuning 1 configure the Active Vibration Suppression when auto tuning 1 0 1 3 4 5 6 7 10 6 4 6 P2 61 Active Vibration Suppression frequency 0 1Hz 1000 10 20000 1 2 3 4 5 6 7 8 9 10 6 5 P2 62 Active Vibration Suppre...

Страница 176: ...h frequency Hz 5000 50 5000 1 2 3 4 5 6 7 8 9 10 6 7 7 P2 78 Third notch attenuation 0 1dB 70 50 1000 1 2 3 4 5 6 7 8 9 10 6 7 7 P2 79 Third notch band width Hz 0 0 1000 1 2 3 4 5 6 7 8 9 10 6 7 7 P2 80 Fourth notch frequency Hz 5000 50 5000 1 2 3 4 5 6 7 8 9 10 6 7 7 P2 81 Fourth notch attenuation 0 1dB 70 50 1000 1 2 3 4 5 6 7 8 9 10 6 7 7 P2 82 Fourth notch band width Hz 0 0 1000 1 2 3 4 5 6 7 ...

Страница 177: ...30 200 0 65535 3 4 7 5 4 1 1 P3 12 Zero speed clamping mode 0 0 3 3 4 7 5 4 1 2 P3 13 Zero speed clamping speed rpm 10 0 300 3 4 7 5 4 1 2 P3 14 Forward Maximum Speed Instruction Limit rpm 4000 0 10000 1 2 3 4 5 6 7 10 5 8 3 P3 15 Reverse Maximum Speed Instruction Limit rpm 4000 0 10000 1 2 3 4 5 6 7 10 5 8 3 P3 16 Internal Forward Speed Limitation in Torque Control rpm 2000 5 10000 1 2 5 5 1 2 P3...

Страница 178: ...2 3 4 5 6 7 8 9 10 5 8 2 P3 31 external reverse torque limit 300 0 1000 1 2 3 4 5 6 7 8 9 10 5 8 2 P3 32 Brake torque 1 300 0 1000 1 2 3 4 5 6 7 8 9 10 5 2 4 P3 33 Preset torque 0 1000 1000 1 5 5 1 1 P3 38 Anti blocking forward torque limit 300 0 1000 1 2 3 4 5 6 7 8 9 10 5 7 1 P3 39 Anti blocking reverse torque limit 300 0 1000 1 2 3 4 5 6 7 8 9 10 5 7 1 P3 45 Torque mode switching delay ms 40 0 ...

Страница 179: ... 5 terminal PREFA P5 57 PREFB P5 58 PREFC P5 59 select the segment no range 1 3 6 terminal PREFA P5 57 PREFB P5 58 PREFC P5 59 select segment no range 1 8 0 0 6 6 5 3 3 1 P4 03 2 Internal position mode sets waiting mode 0 wait positioning completion 1 not wait positioning completion 0 0 1 5 5 3 3 1 P4 04 Valid segment number 0 0 35 5 5 3 3 2 P4 08 Internal position mode start segment No 1 0 35 5 5...

Страница 180: ...5 7 P5 11 Set a value that compares with the trigger condition of custom output 1 Relating to trigger condition 0 9999 99 99 1 2 3 4 5 6 7 8 9 10 5 8 5 7 P5 12 Select custom output 1 mode 0 0 3 1 2 3 4 5 6 7 8 9 10 5 8 5 7 P5 13 Setting custom output 1 hysteresis Relating to trigger condition 0 0 65535 1 2 3 4 5 6 7 8 9 10 5 8 5 7 P5 14 Custom Output 2 Trigger Condition 0 0 ffff 1 2 3 4 5 6 7 8 9 ...

Страница 181: ... 04 0 ff 1 2 3 4 5 6 7 8 9 10 5 2 4 P5 23 2 SI terminal filtering time ms 0 0 f 1 2 3 4 5 6 7 8 9 10 5 8 4 1 P5 24 0 1 ALM RST alarm clear 02 0 ff 1 2 3 4 5 6 7 8 9 10 5 8 6 2 P5 24 2 SI terminal filtering time ms 0 0 f 1 2 3 4 5 6 7 8 9 10 5 8 4 1 P5 25 0 1 P CL External Torque Limitation at Forward Rotation Side 00 0 ff 1 2 3 4 5 6 7 8 9 10 5 8 2 P5 25 2 SI terminal filtering time ms 0 0 f 1 2 3...

Страница 182: ...letion Maintenance 00 No output to terminal 01 Output positive signal from SO1 terminal 02 Output positive signal from SO2 terminal 03 Output positive signal from SO3 terminal 11 Output reverse signal from SO1 terminal 12 Output reverse signal from SO2 terminal 13 Output reverse Signal from SO3 terminal 0000 0 ffff 5 6 10 5 3 1 2 P5 38 COIN positioning completion 0001 0 ffff 5 6 10 5 3 1 2 P5 39 V...

Страница 183: ...9 2 SI terminal filtering time ms 0 f f 5 5 8 4 1 P5 61 0 1 TRAJ START Motion start trigger signal 00 0 ff 5 P5 61 2 SI terminal filtering time ms 0 0 f 5 P5 70 SRDY Output Conditions Selection 0 This terminal is turned on after initialization of the driver is completed 1 This terminal will not turn on until enabled 0 0 1 1 2 3 4 5 6 7 8 9 10 5 8 5 1 P5 71 Function Selection of Directional Termina...

Страница 184: ...6 1 2 3 4 5 6 7 8 9 1 0 8 2 P7 01 2 RS485 stop bit 0 2 bits 2 1 bit Stop bit 2 0 2 1 2 3 4 5 6 7 8 9 1 0 8 2 P7 01 3 RS485 parity bit 0 no parity 1 odd parity 2 even parity Parity bit 2 0 2 1 2 3 4 5 6 7 8 9 1 0 8 2 P7 02 RS485 communication protocol 1 Modbus Rtu protocol 2 Xnet bus protocol 3 read Xnet bus torque 1 1 255 1 2 3 4 5 6 7 8 9 1 0 8 2 P7 03 Xnet Synchronized sampling time 1ms 9 1 500 ...

Страница 185: ... rate 00 300 01 600 02 1200 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 baud rate 06 0 16 1 2 3 4 5 6 7 8 9 1 0 8 2 P7 11 2 RS232 stop bit 0 2 bit 2 1 bit Stop bit 2 0 2 1 2 3 4 5 6 7 8 9 1 0 8 2 P7 11 3 RS232 parity bit 0 no parity 1 odd parity 2 even parity Parity bit 2 0 2 ...

Страница 186: ...dback pulses per turn of motor encoder pulse 0 0 9999 1 2 3 4 5 6 7 8 9 10 5 9 3 4 P9 06 Number of feedback pulses per turn of motor encoder pulse 0 0 9999 1 2 3 4 5 6 7 8 9 10 5 9 3 4 P9 07 Number of feedback pulses per turn of grating ruler pulse 0 0 9999 1 2 3 4 5 6 7 8 9 10 5 9 3 4 P9 08 Number of feedback pulses per turn of grating ruler pulse 0 0 9999 1 2 3 4 5 6 7 8 9 10 5 9 3 4 Appendix 2 ...

Страница 187: ...k low 32 bit 0000 65536 1 Encoder pulse U0 58 0000 65536 216 Code Contents Unit U0 59 Absolute encoder present position feedback high 32 bit 0000 65536 232 Encoder pulse U0 60 0000 65536 U0 61 Xnet communication error amounts U0 62 Xnet Communication Waiting Synchronization Frame State Interference U0 63 Xnet Communication Waiting for Synchronization Frame State Receiving Data Frame U0 64 Xnet Com...

Страница 188: ...U1 16 Recent 2nd alarm code U1 17 Recent 3rd alarm code U1 18 Recent 4th alarm code U1 19 Recent 5th alarm code U1 20 Recent 6th alarm code U1 21 Recent 2nd warning code U1 22 Recent 3rd warning code U1 23 Recent 4th warning code U1 24 Recent 5th warning code U1 25 Recent 6th warning code U2 XX Code Contents Unit U2 00 Power on times U2 01 series U2 02 Model low 16 bit U2 03 Model high 16 bit U2 0...

Страница 189: ... phase numbers of grating ruler U4 14 Feedback of motor encoder under full closed loop 1 Encoder pulse U4 15 Feedback of motor encoder under full closed loop 10000 Encoder pulse Appendix 3 FX XX auxiliary function parameters Code Contents Effective Refrence chapter F0 00 Clear the alarm Servo OFF 4 4 1 F0 01 Restore to out of factory settings Servo OFF 4 4 1 F0 02 clear the position offset Servo O...

Страница 190: ...1000 0x1063 Modbus address is added 1 in turn from 0x1000 for example Modbus address of U0 05 is 0x1005 U1 00 U1 xx 0x1100 0x1163 Modbus address is added 1 in turn from 0x1100 for example Modbus address of U1 14 is 0x110E U2 00 U2 xx 0x1200 0x1263 Modbus address is added 1 in turn from 0x1200 for example Modbus address of U2 08 is 0x1208 Parameter Modbus address Notes U4 00 U4 xx 0x1400 0x1463 Mod...

Страница 191: ...1 25 0x0119 281 P1 11 0x010B 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 15 0x20F 527 P2 01 0x0201 513 P2 16 0x210 528 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal P3 00 0x0300 768 P3 19 0x0313 787 P3 01 0x0301 769 ...

Страница 192: ...050B 1291 P5 38 0x0526 1318 P5 12 0x050C 1292 P5 39 0x0527 1319 P5 13 0x050D 1293 P5 40 0x0528 1320 P5 14 0x050E 1294 P5 41 0x0529 1321 P5 15 0x050F 1295 P5 42 0x052A 1322 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal 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 0x05...

Страница 193: ... 0x102E 4142 U0 19 0x1013 4115 U0 47 0x102F 4143 U0 20 0x1014 4116 U0 48 0x1030 4144 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal U0 21 0x1015 4117 U0 49 0x1031 4145 U0 22 0x1016 4118 U0 50 0x1032 4146 U0 23 0x1017 4119 U0 51 0x1033 4147 U0 24 0x1018 4120 U0 52 0x1034 4148 U0 25 0x1019 4121 U0 53 0x1035 4149 U0 26 0x101A 4122 U0 57 0x1039 4153 U0 27 0x101B 4123 U0 58 0...

Страница 194: ...4 Appendix 5 Q A Q1 What is BB and run on the panel 1 BB standby state without enabling the motor is in the state of power failure 2 Run running state with enabling the motor is in the power on state Q2 How to check and set the parameters Refer to chapter 4 6 Q3 How to change the parameters in enabled status P5 20 0000 enabling is invalid P5 20 0010 enabling when power on no need to power on again...

Страница 195: ...anged Q8 How do the two modes switch to each other Both P0 01 main mode and P0 02 sub mode set the required mode P5 30 0002 and SI2 are defined as mode switching terminals When the SI2 terminal has no signal it runs according to the set mode in the main mode P0 01 When the SI2 terminal has signal input it runs according to the set mode in the sub mode P0 02 Note SI2 terminal signal can be switched...

Страница 196: ...rnal regenerative resistance to P PB 3 Version number parameter U2 07 3700 set P0 24 1 P0 25 power value P0 26 resistance value 4 Version number parameter U2 07 3700 P0 24 need not be set P0 25 power value P0 26 resistance value Note Before 3700 version P0 24 should be set Value 0 is for built in resistance and value 1 is for external resistance Q11 The service life of tank chain The bending resis...

Страница 197: ...wer supply immediately and re check the wiring situation Long press ENTER Short press ENTER Press DEC Press INC C jog run Enter F1 00 Short press ENTER to enable the motor In the enabled status press INC for run forward press DEC to run reverse Press STATUS ESC to exit Four status when jog running status Panel display status Panel display Idle Forward run enabled Reverse run 2 Debug the motor with...

Страница 198: ...sis 1 Make sure the work mode 6 2 It needs to judge whether 2 and 3 touch 1 when finding the symmetrical point first time The sign is servo output torque will increase It needs to use torque limit P3 28 P3 29 and torque limit output signal CLT 3 As the dimension of workpiece 1 is larger than standard offset pulse will remain in servo when the symmetrical point is found CLR signal can clear the pul...

Страница 199: ...lue The unit of default value is the percentage of servo torque P5 44 power loss brake BK P5 07 servo off delay time P5 08 brake command output speed P5 09 brake command waiting time The motor with holding brake adopts servo SO terminal to control the setting parameters of holding brake P5 47 alarm output ALM output alarm function setting through the SO terminal SO2 terminal default output is dyna...

Страница 200: ...ode SPD A P5 29 find reference origin in forward side under position mode SPD B Internal position back to origin setting parameters F2 09 35 Any setting of segment position Set the segment no through communication Appendix 8 4 Internal torque control general parameters Internal torque control Parameter Overview P0 01 control mode selection Set to 1 internal torque mode P3 33 Internal torque comman...

Страница 201: ... P0 01 control mode selection Set to 7 external pulse speed mode P0 10 pulse command format Set the pulse format 0 CW CCW 1 AB 2 P D P0 15 Command pulse frequency at rated speed Determine the linear relationship between the command pulse frequency and the speed P0 16 Speed command pulse filtering time When the command pulse frequency is relatively low setting this parameter properly can reduce the...

Страница 202: ...200 Appendix 9 Torque speed characteristic curve ...

Страница 203: ...201 ...

Страница 204: ...202 ...

Страница 205: ...th CM T P07 M length CB T P 03 length JAM P9 P4 P 2 MS5H 60ST CM00630BZ 20P2 S01 CP T SP B M length CM T P07 M length CB T P 03 length JAM P9 P4 P 2 MS5S 60ST CS01330B 20P4 S 01 DS5E L C F K 20 P4 PTA CP T SP M length CM T P07 M length JAM P9 P4 MS5S 60ST CM01330B 20P4 S 01 CP T SP B M length CM T P07 M length JAM P9 P4 MS5S 60ST CS01330BZ 20P4 S01 CP T SP M length CM T P07 M length CB T P 03 leng...

Страница 206: ...h CM T P07 M length CB T P 03 length JAM P9 P4 P 2 MS 80ST T02430B 20P7 CP T SP B length CM T P07 length JAM P9 P4 MS 80ST T03520B 20P7 CP T SP B length CM T P07 length JAM P9 P4 MS5G 130STE CS05415B 20P8 S01 CP T SC M length CM T L15 A length JAM C10 L7 MS5G 130STE CM05415B 20P8 S01 CP T SC B length CM T L15 A length JAM C10 L7 MS5G 130STE CS05415BZ 20P8 S01 CP T SC M length CMB T L1 5A length JA...

Страница 207: ... 5 CP T SL B length CM T L15 length JAM L15 L4 MS5S 110STE TL04830B 21P5 CP T SL B length CM T L15 length JAM L15 L4 MS 130ST T06025B 21P5 CP T SL B length CM T L15 length JAM L15 L4 MS 130ST T10015B 21P5 CP T SL B length CM T L15 length JAM L15 L4 MS5G 130STE CS07220B 21P5 S01 CP T SC M length CM T L15 length JAM C10 L4 MS5G 130STE CM07220B 21P5 S01 CP T SC B length CM T L15 length JAM C10 L4 MS5...

Страница 208: ...B 22P3 F CP T SL B length CM T L15 length JAM L15 L4 MS 130STE T07730B 22P4 CP T SL B length CM T L15 length JAM L15 L4 MS 130STE T07730B 22P4 DS5E L C F K 22 P6 PTA CP T SL B length CM T L15 length JAM L15 L4 MS 130ST TL10025B 22P6 CP T SL B length CM T L15 length JAM L15 L4 MS5G 130STE CS11515B 41P8 S01 DS5E 41P5 PTA CP T SC M length CM T L15 length JAM C10 L4 MS5G 130STE CM11515B 41P8 S01 CP T ...

Страница 209: ... Z 43P0 CP T SL B length CM T L15 length JAM L15 L4 MS5G 180STE TL28015B 44P4 DS5E C F 45P5 P TA CP T SL B length CM T XL6 0 length JAM L15 XL 4 MS5G 180STE TL35015B 45P5 CP T SL B length CM T XL6 0 length JAM L15 XL 4 MS5G 180STE TL48015B 47P5 DS5E C F 47P5 P TA CP T SL B length CM T XL6 0 length JAM L15 XL 4 MS 220STE TL70015B 411P0 XJ DS5E 411P0 PTA CPT ZDL B length CM T D60 length MS 220STE TL...

Страница 210: ...We chat ID WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7 Originality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 510 85134136 Fax 510 85111290 ...

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