Kinco CD420, CD620, CD430 User Manual

Page 1

Contents

Chapter 1 Product Acceptance & Model Description ............................................................................................. 4

1.1 Product Acceptance .......................................................................................................................... 4

1.1.1 Items for Acceptance (Wires Included) ............................................................................ 4

1.1.2 Nameplate of Servo Driver ............................................................................................... 4

1.1.3 Nameplate of Servo Motor ............................................................................................... 5

1.2 Component Names ........................................................................................................................... 6

1.2.1 Component Names of CD420/CD430/CD620 Servo Driver ............................................. 6

1.2.2 Component Names of Servo Motor .................................................................................. 7

1.3 Model Description of Servo Motors and Drivers ................................................................................ 7

1.3.1 Servo Drivers ................................................................................................................... 7

1.3.3 Power,Brake and Encoder cable of Motors ...................................................................... 8

Chapter 2 Precautions and Installation Requirements .......................................................................................... 9

2.1 Precautions ....................................................................................................................................... 9

2.2 Environmental Conditions ................................................................................................................. 9

2.3 Mounting Direction & Spacing ........................................................................................................... 9

2.3.1 Precautions ...................................................................................................................... 9

2.3.2 Servo Driver Installation ................................................................................................. 10

Chapter 3 Interfaces and Wirings of CD Driver ................................................................................................... 12

3.1 Interfaces of CD Driver .................................................................................................................... 12

3.2 External Wirings of CD Driver ......................................................................................................... 14

3.3 X1 Interface of CD Driver ................................................................................................................ 15

3.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver .......................................... 16

3.5 X3/X4 Interfaces of CD Driver ......................................................................................................... 17

3.5.1 X3 Interface.................................................................................................................... 17

3.5.2 X4 Interface.................................................................................................................... 17

Chapter 4 Digital Operation Panel ....................................................................................................................... 18

4.1 Introduction ..................................................................................................................................... 18

4.2 Operation on Digital Operation Panel .............................................................................................. 20

Example 4-1: Set the denominator of electronic gear ratio to 10000 with number system

switching ................................................................................................................................. 20

Example 4-2: Set the speed to 1000 RPM/-1000 RPM with separate regulation of bits ......... 21

Chapter 5 Trial Operation & Parameter Introduction ........................................................................................... 23

5.1 Trial Operation ................................................................................................................................. 23

5.1.1 Objective ........................................................................................................................ 23

5.1.2 Precautions .................................................................................................................... 23

5.1.3 Operating Steps ............................................................................................................. 23

5.1.4 Diagram of Trial Operation ............................................................................................. 24

5.1.1 Diagram of trial operation ........................................................................................................................... 24

5.2 Description of Parameters ............................................................................................................... 25

Parameter List: Group F000 (To Set Driver Instructions) ........................................................ 25

Parameter List: Group F001 (To Set Real-Time Display Data) ............................................... 27

Parameter List: Group F002 (To Set Control Loop Parameters) ............................................. 28

Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters) ............. 30

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Parameter List: Group F004 (To Set Motor Parameters) ........................................................ 33

Parameter List: Group F005 (To Set Driver Parameters) ........................................................ 34

Chapter 6 Operation on Input/Output Ports ......................................................................................................... 35

6.1 Digital Input Signals .......................................................................................................... 35

6.1.1 Polarity Control on Digital Input Signals ......................................................................... 35

Example 6-1: Polarity Setting for Digital Input Signal DIN1 ..................................................... 36

6.1.2 Simulation of Digital Input Signals .................................................................................. 36

Example 6-2: Analog-to-Digital Output Port: DIN1 .................................................................. 37

6.1.3 Status Display of Digital Input Signals ........................................................................... 37

Example 6-3: Driver Enable Setting ........................................................................................ 39

Example 6-4: Disabling Position Positive/Negative Limit Settings .......................................... 39

Example 6-5: Operation Mode Control on Drivers .................................................................. 40

6.1.5 Wirings of Digital Input Port............................................................................................ 40

6.2 Digital Output Signals ...................................................................................................................... 41

6.2.1 Polarity Control on Digital Output Signals ...................................................................... 41

6.2.2 Simulation of Digital Output Signals ............................................................................... 41

6.2.3 Status Display of Digital Output Signals ......................................................................... 42

6.2.4 Addresses and Functions of Digital Output Signals ....................................................... 42

Example 6-6: ―Ready‖ settings ................................................................................................ 43

6.2.5 Wiring at the Digital Output Port ..................................................................................... 43

Chapter 7 Mode Operation .................................................................................................................................. 45

7.1 Pulse Control Mode (―-4‖ Mode) ...................................................................................................... 45

7.1.1 Wiring in Pulse Control Mode......................................................................................... 45

7.1.2 Parameters for Pulse Control Mode ............................................................................... 46

7.1.3 Examples of Pulse Control Mode ................................................................................... 49

Example 7-1: Pulse control mode ―-4‖ – enable the driver through external digital input ........ 49

Example 7-2 Pulse control mode ―-4‖ – enable the driver automatically after driver power on 50

7.2 Speed Mode (―-3‖ or ―3‖ Mode) ....................................................................................................... 51

7.2.1 Wiring in Analog – Speed Mode ..................................................................................... 52

7.2.2 Parameters for Analog – Speed Mode ........................................................................... 52

7.2.3 Analog Signal Processing .............................................................................................. 53

7.2.4 Calculation Procedure for Analog – speed Mode ........................................................... 54

7.2.5 Examples of Analog – Speed Mode ............................................................................... 55

Example 7-3: Analog – speed mode (without setting the dead zone voltage and offset voltage)

................................................................................................................................................ 55

Example 7-4 Analog – speed mode (setting the dead zone voltage) ...................................... 57

Example 7-5 Analog – speed mode (setting the offset voltage) .............................................. 59

Example 7-6: Analog – speed mode (setting the dead zone voltage and offset voltage) ........ 60

7.3 Torque Mode (―4‖ Mode) .................................................................................................................. 62

7.3.1 Wiring in Analog – Torque Mode .................................................................................... 62

7.3.2 Parameters for Analog – Torque Mode .......................................................................... 62

7.3.3 Analog Signal Processing .............................................................................................. 63

7.3.4 Calculation Procedure for Analog – Torque Mode .......................................................... 64

7.3.5 Examples of Analog – Torque Mode .............................................................................. 64

Example 7-7: Analog – torque mode (without setting the dead zone voltage and offset voltage)

................................................................................................................................................ 65

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Example 7-8: Analog – torque mode (setting the dead zone voltage and offset voltage) ........ 67

7.4 Internal Multi-position Control Modes (―1‖ Mode) ............................................................................ 68

Example7-9: Internal multi-position control mode ................................................................... 69

7.5 Internal Multi-speed Control Modes (―-3‖ or ―3‖ Mode) .................................................................... 71

Example 7-10: Internal multi-speed control ............................................................................. 72

7.6 Internal Torque Control Mode (―4‖ Mode) ........................................................................................ 73

7.7 Homing Mode (―6‖ Mode) ................................................................................................................ 73

Example 7-11：Using method 7 for homing. .......................................................................... 80

Chapter 8 Control Performance ................................ ................................................................ ........................... 86

8.1 Driver Performance Tuning ............................................................................................................. 86

8.1.1 Manual Adjustment ........................................................................................................ 86

8.1.2 Auto Adjustment (Only for Velocity Loops) ..................................................................... 90

8.2 Oscillation Inhibition ........................................................................................................................ 92

Chapter 9 Communication ................................................................................................................................... 94

Fig. 9-1 Communication cables between a PC and a servo driver ...................................................................... 94

9.1 Transport Protocol ........................................................................................................................... 94

9.2 Data Protocol .................................................................................................................................. 95

9.2.1 Download(from Host to Slave) ....................................................................................... 95

9.2.2 Upload(From Slave to Host) .......................................................................................... 96

Chapter 10 Troubleshooting ................................................................................................................................ 97

10.1 Alarm Messages ............................................................................................................................ 97

10.2 Alarm Causes & Troubleshooting .................................................................................................. 98

Chapter 11 Specification ...................................................................................................................................... 99

11.1 Servo Drivers and Motors Selection Table ..................................................................................... 99

11.2 Servo Driver ................................................................................................................................ 100

11.2.1 Technical Specification Table for Servo Driver............................................................ 100

11.2.2 Mechanical Dimension Diagram for Servo Driver ....................................................... 101

11.3 Dimensions/Torque Curve/Technical Specifications of Servo Motors .......................................... 102

11.3.1 SMH60 Servo Motor ................................................................................................... 102

11.3.2 SMH80 Servo Motor ................................................................................................... 103

11.3.3 SMH110 Servo Motor ................................................................................................. 104

11.4 Wiring Diagram for Servo Motor Cable ........................................................................................ 106

11.4.1 Wiring Diagram for the Power Cable .......................................................................... 106

11.4.2 Wiring Diagram for the Encoder Cable ....................................................................... 107

Chapter Appendix .............................................................................................................................................. 108

Appendix One:Selection Table for Brake Resistor ............................................................................... 108

Appendix Two:Selection Table for Fuse .............................................................................................. 108

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Chapter 1 Product Acceptance & Model

Description

1.1 Product Acceptance

1.1.1 Items for Acceptance (Wires Included)

Table 1-1 Product acceptance

Item for Acceptance

Remark

Whether the model of a delivered CD series servo system is consistent with the specified model

Check the nameplate of a servo motor and that of a servo driver

Whether the accessories included in the packing list are complete

Check the packing list

Whether any breakage occurs

Check the external appearance completely for any losses that are caused by transportation

Whether any screws are loose

Check for loose screws with a screwdriver

Whether the motor wiring is correct

Purchase motor accessory packages if no wirings are purchased

1.1.2 Nameplate of Servo Driver

AC input

Voltage specification

Current specification

Serial No.

Model

AC output Output specification

Output power

Bar code

Fig. 1-1 Nameplate of a servo driver

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1.1.3 Nameplate of Servo Motor

Rated power

Rated current

Rated rotation speed

Serial No.

Model

Rated voltage Rated torque

Insulation class

Protection class

Bar code

Fig. 1-2 Nameplate of a servo motor

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1.2 Component Names

1.2.1 Component Names of CD420/CD430/CD620 Servo Driver

Fig. 1-3 Component Names of CD420/CD430/CD620 Servo Driver

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1.2.2 Component Names of Servo Motor

Fig. 1-4 Component names of a servo motor (brakes excluded)

1.3 Model Description of Servo Motors and Drivers

1.3.1 Servo Drivers

1.3.2 Servo Motors

Page 8

1.3.3 Power,Brake and Encoder cable of Motors

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Chapter 2 Precautions and Installation

Requirements

A Kinco CD series servo driver is installed on a base. If a driver is not installed properly, some faults may

occur. To avoid this, install the driver by abiding by the following precautions.

2.1 Precautions

1. Tightly fasten the screws that fix the motor;

2. Make sure to tightly fasten all fixed points when fixing the driver;

3. Do not tighten the cables between the driver and the motor/encoder;

4. Use a coupling shaft or expansion sleeve to ensure that both the motor shaft and equipment shaft are properly centered;

5. Do not mix conductive materials (such as screws and metal filings) or combustible materials (such as oil) into the servo driver;

6. Avoid the servo driver and servo motor from dropping or striking because they are precision equipment;

7. For safety, do not use any damaged servo driver or any driver with damaged parts.

2.2 Environmental Conditions

Table 2-1 Environmental conditions

Environment

Condition

Temperature

Operating temperature: 0C - 40C (ice free)

Storage temperature: - 10C - 70C (ice free)

Humidity

Operating humidity: below 90% PH (non-condensing)

Storage humidity: below 90% PH (non-condensing)

Air

Indoor (No direct sunlight), no corrosive gas or combustible gas

No oil vapor or dust

Height

Below 1000 m above the sea level

Vibration

5.9 m/s2

2.3 Mounting Direction & Spacing

2.3.1 Precautions

1. To prevent possible faults, install a servo driver in a proper direction;

2. To prevent possible faults, ensure that the space between a servo driver and the inner wall of the control

cabinet as well as that between the servo driver and the neighboring driver are the same as specified space..

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2.3.2 Servo Driver Installation

1. Installing a servo driver:

Fig. 2-1 Installing a servo driver

2. Installing multiple servo drivers:

Ensure that there is enough space between a servo driver and the inner wall of a control cabinet. Additionally, install cooling fans at the upper part of the servo driver. To prevent localized overheating of the environmental temperature on the servo driver, you need to keep an even temperature in the control cabinet.

Fig. 2-2 Installing multiple servo drivers

3. Other Cases

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Install the servo driver vertically on a wall.

Take fully into account heat dissipation when using any heating components (such as braking resistors) so that the servo driver is not affected.

Fig. 2-3 Installation direction

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Chapter 3 Interfaces and Wirings of CD Driver

3.1 Interfaces of CD Driver

Table 3-1 Interfaces of a CD driver

Interface

Applicable Driver

Symbol

Function

CD420 CD430 CD620

24VS

External logic power (24 V +/- 15%) interface with a minimum of 0.5 A current output

GNDS

COMI

Common port of digital input signals

DIN1

Digital input interface Valid signal: 12.5 V ~ 24 V Invalid signal: less than 5 V

DIN2

DIN3

DIN4

DIN5

DIN6

DIN7

PUL+

Pulse or positive pulse interface (+)

Input voltage range: 3 V to 5 V If the input voltage is 24 V, the interface is cascaded to the 2K resistance. PUL-

Pulse or positive pulse interface (-)

DIR+

Direction or negative pulse interface (+)

DIR-

Direction or negative pulse interface (-)

GNDA

Analog signal ground

AIN1

Analog signal input interface 1. Input impedance: 200 K

AIN2

Analog signal input interface 2. Input impedance: 200 K

GNDA

Analog signal ground

OUT1+

Digital output interface 1+

Maximum output current: 100 mA Withstanding voltage:24V

OUT1-

Digital output interface 1-

OUT2+

Digital output interface 2+

OUT2-

Digital output interface 2-

OUT3

Digital output interface 3

OUT4

Digital output interface 4

24VO

Power input port of digital output signals 5

COMO

Common port of digital output signals

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OUT5+

Digital output interface 5+

Maximum output current: 800 mA OUT5-

Digital output interface 5-

CD420 U/V/W/PE

Power cable interface of a motor

L/N

Main power interface (single-phase 220 VAC)

RB+/RB-

Braking resistor interface

CD430 CD620

U/V/W/PE

Power cable interface of a motor

CD420 CD430 CD620

ENCODER OUT

Signal output interface of a motor encoder

RS232

RS232 interface that communicates with a host PC or controller

CD420 CD430 CD620

ENCODER IN

Encoder interface of a motor

CD430 CD620 R/S/T

Main power interface (single-phase or three-phase AC 220V for CD430 and three-phase AC 380 V for CD620)

RB+/RB-

Braking resistor interface

DC+/DC-

DC bus interface

-----

CD420 CD430 CD620

SHIELD

Fixed terminal for the shielded wires of motor cables

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3.2 External Wirings of CD Driver

Power supply (L) RST (N)

Surge controller

AC reactor

CD420 (single phase)

CD430 (single phase/ three phases)

CD620 (three phases)

Circuit breaker

Noise filter

Electromagnetic contactor

Protective tube

Host computer

Communication control

Encoder output

Numeric display

Numeric display key

Logic power, I/O control

Encoder line

Power line

Shielded wiring terminal

Braking resistor

DC bus

Note: For the CD420/CD430/CD620, all interfaces are the same except for X2 and X5 power

interfaces. For details, see Figure 3-4.

Fig. 3-1 External wirings of a CD driver

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3.3 X1 Interface of CD Driver

Fig. 3-2 X1 interface of a CD driver

Fig. 3-3 Wirings of the X1 interface of a CD driver

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3.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver

Fig. 3-4 Power interfaces of a CD driver

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3.5 X3/X4 Interfaces of CD Driver

3.5.1 X3 Interface

3.5.2 X4 Interface

Interface

Pin No.

Signal

Description

Function

X3 (9-pin female connector)

RXD

To receive data

RS232 communication interface

TXD

To transmit data

GND

Ground of signal

To output phase-A signal of encoder

Output interface of encoder in motor

/A 3 B

To output phase-B signal of encoder

/B 4 N

To output index signal(Z signal) of encoder

/N Interface

Pin No.

Signal

Description

Function

X4 (15-pin female connector)

+5V

To output 5 V voltage

Input interface of encoder in motor

GND

0 V 8 NC

N/A 2 A

To input phase-A signals of encoder

/A 3 B

To input phase-B signals of encoder

/B 4 N

To input phase-Z signals of encoder

/N 5 U

To input phase-U signals of encoder

/U 6 V

To input phase-V signals of encoder

/V 7 W

To input phase-W signals of encoder

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Chapter 4 Digital Operation Panel

4.1 Introduction

A digital operation panel functions to set user parameters in a servo driver, execute instructions, or display

parameters. Table 4-1 describes all display contents and functions of the digital operation panel.

Table 4-1 Display contents and functions of a digital operation panel

Number/ Point/Key

Function

①

Indicates whether data is positive or negative. If it is on, it indicates negative; otherwise it indicates positive.

②

1. Distinguishes the current object group and the address data in this object group during

parameter settings.

2. Indicates the higher 16 bits of the current 32-bit data when internal 32-bit data is displayed in

real time.

3. Indicates the earliest error when history records of errors (F007) are displayed.

③

1. Indicates a data display format when parameters are displayed and adjusted in real time. If it is

on, it indicates the data is displayed in hexadecimal; otherwise it indicates the data is displayed in decimal.

2. Indicates the latest error when the history records of errors (F007) are displayed.

④

1. If it is on, it indicates that internal data is currently displayed.

2. If it flickers, it indicates that the power part of the driver is in the working status.

MODE

1. Switches basic menus.

2. During the adjustment of parameters, short presses the key to move the bit to be adjusted, and

long presses the key to return to the previous state.

▲

Presses ▲ to increase set values; long presses ▲ to increase numbers promptly.

▼

Presses ▼ to decrease set values; long presses ▼ to decrease numbers promptly.

ENTER

1. Enters the selected menu by pressing this key.

2. Keeps current parameters in the enabled status.

3. Confirms input parameters after parameters are set.

4. Long presses this key to switch to higher/lower 16 bits when internal 32-bit data is displayed in

real time.

P..L

Activates position positive limit signals.

n..L

Activates position negative limit signals.

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Pn.L

Activates position positive/negative limit signals.

Overall Flicking

Indicates that an error occurs on the driver, and is in the alarm state.

If the parameter adjusting display mode is featured by the decimal system: When the units place is flickering, press ▲ to add 1 to the current value; press ▼ to deduct 1 from the

current value. When the tens place is flickering, press ▲ to add 10 to the current value; press ▼ to deduct 10

from the current value. When the hundreds place is flickering, press ▲ to add 100 to the current value; press ▼

to deduct 100 from the current value. When the thousands place is flickering, press ▲ to add 1000 to the current

value; press ▼ to deduct 1000 from the current value.

If the parameter adjusting display mode is featured by the hexadecimal system:

When the units place is flickering, press ▲ to add 1 to the current value; press ▼ to deduct 1 from the

current value. When the tens place is flickering, press ▲ to add 0X10 to the current value; press ▼ to deduct

0X10 from the current value. When the hundreds place is flickering, press ▲ to add 0X100 to the current value;

press ▼ to deduct 0X100 from the current value. When the thousands place is flickering, press ▲ to add 0X1000

to the current value; press ▼ to deduct 0X1000 from the current value.

When adjusting decimal parameters, the display mode is automatically switched to the hexadecimal system if the data is greater than 9999 or less than -9999. In this case, the 3rd decimal point from left to right is highlighted.

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4.2 Operation on Digital Operation Panel

Power ON

Press MODE Switching of basic menus

Parameter display (current speed is displayed by default)

Press

Set driver instructions

Set real-time display of data

Set control loop parameters

Settings

I/O parameters

Mode operation parameters

Set motor parameters

Set driver parameters

Trial operation

Check wrong history records

Loop

Fig. 4-1 Operation on a digital operation panel

Note: If a non real-time display interface is displayed for the control panel, and no key operation occurs, the real-time display interface is automatically skipped after 20 seconds to avoid misoperation.

Example 4-1: Set the denominator of electronic gear ratio to 10000 with number system switching

1. Press MODE. The main menu is displayed. Choose F003.

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2. Press ENTER. The interface for selecting addresses is displayed.

3. Press ▲ to adjust data as d3.35.

4. Press ENTER to display the current value d3.35. Press ENTER again to modify the value d3.35. In this case,

the 1st number at the right side is flickering. Short press MODE for three times to move to the first position on

the left. Then press ▲. The value is increased to 9000. In this case, the current data is decimal.

5. Press ▲ again. The content of numeric display changes to ―271.0‖, and the 3rd decimal point (from left to

right) flickers. In this case, the data is hexadecimal. Press ENTER to confirm the current value. The 1st

decimal point on the right flickers. In this case, the denominator of the electronic gear ratio is modified to

10000.

Fig. 4-2 Number system conversion

Example 4-2: Set the speed to 1000 RPM/-1000 RPM with separate regulation of bits

1. Press MODE. The main menu is displayed. Choose F000.

2. Press ENTER. The interface for selecting addresses is displayed.

3. Press ▲ to adjust data as d0.02.

4. Press ENTER to display the current value d0.02. Press ENTER again to modify the value d0.02. In this case,

the 1st number at the right side is flickering.

5. Short press MODE for three times to move to the 1st position on the left. Press ▲ to modify the value to 1.

Press ENTER to confirm the current value. The 1st decimal point on the right flickers. In this case, the speed

is 1000 RPM.

6. Press ▼ to modify the value to -1. In this case, the 1st decimal point on the left flickers, indicating that the

current data is negative. Press ENTER to confirm the current value. The 1st decimal point on the right flickers.

In this case, the speed is -10000 RPM.

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Fig. 4-3 Separate regulation of bits

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Chapter 5 Trial Operation & Parameter Introduction

5.1 Trial Operation

5.1.1 Objective

The trial operation allows you to test whether the driver works properly, and whether the motor runs stably.

5.1.2 Precautions

1. Ensure that the motor is running without load. If the motor flange is fixed on the machine, ensure that the

motor shaft is disconnected from the machine.

2. Ensure that motor cables, motor encoder cables, and power circuits (power lines and control power lines)

are properly connected. For details, see Chapter 3.

3. During the trial operation, if you long press ▲ or ▼ when the motor is running, pulse signals, digital input

signals, and analog signals of the external controller are temporarily unavailable, so safety must be ensured.

4. During the trial operation, the system automatically adopts the instantaneous speed mode, that is, the ―-3‖

mode.

5. After the trial operation, Group F006 exits automatically. To enter Group F006 again, you must re-activate the

trial operation.

6. If motor/encoder cables are wrongly connected, the actual rotation speed of the motor may be the possible

maximum rotation speed, or the rotation speed is 0 and the actual current value is the maximum value. In

this case, make sure to release the button; then check cable connection and test it again.

5.1.3 Operating Steps

1. Press MODE to enter Group F004. Select the object address ―d4.18‖, and check the motor type.

2. Press MODE to enter Group F000. Select the object address ―d0.02‖, and set the target speed to

―SpeedDemand_RPM".

3. Press MODE to enter Group F006. Arrange a test for keys, with the default value of d6.40. Firstly, press ▼ to

adjust the data to d6.31. Then, press ▼, the data automatically changes to ―d6.15‖. Finally, press ▲ to adjust

the data to d6.25.

4. Press ENTER to activate trial operation. In this case, the numeric display is ―adc.d‖, and the motor shaft

releases. When long pressing ▲ or ▼, the motor automatically locks, and runs according to

―+SpeedDemand_RPM‖ or ―-SpeedDemand_RPM‖ separately. During the trial operation, the numeric

displays the motor speed in real time.

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5.1.4 Diagram of Trial Operation

5.1.1 Diagram of trial operation

Press MODE

F000

Enter the list of driver

instructions

Press ENTER

d0.02

Choose speed instructions

Set target speed (Unit: RPM)

(Refer to the example of setting the speed)

Press MODE

F006

Enter the trial operation

—Press ▼ to change d6.40 to d6.31 (press ▼ again

to change to d6.15); press ▲ to change to d6.25

Activate trial operation

Numeric display is ―abc.d‖

Long press ▲ or ▼

The motor works at the set target speed. Long pressing ▲

indicates that the motor works in the counterclockwise (positive)

direction; and long pressing ▼ indicates that the motor works in

the clockwise (negative) direction.

d4.18

Check motor types

Press MODE

F004

Press ENTER

Enter the list of motor parameters

Both positive and negative

speed can be set

Press ENTER

Test on keys

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5.2 Description of Parameters

Group F000 represents an instruction group, and the parameters in this group cannot be saved.

The address d4.00 is used to save the motor parameters set for Group F004. Note that this group of parameters must be set when customers choose third-party motors, but these parameters need not to be set for the motors delivered and configured by our company. d2.00, d3.00 and d.5.00 represent the same address, and are used to save all setup parameters except those of motors (Group F001/F002/F003/F004/F005). Three numeric objects (d2.00/d3.00/d5.00) are developed to facilitate customers.

Parameter List: Group F000 (To Set Driver Instructions)

Numeric Display

Internal Address

Variable Name

Meaning

Default Value

Range

d0.00

60600008

Operation_Mode

0.004 (-4): Pulse control mode, including pulse direction (P/D) and double pulse (CW/CCW) modes. 0.003 (-3): instantaneous speed mode 0001 (1): Internal position control mode 0003 (3): Speed mode with acceleration/deceleration 0004 (4): Torque mode Note: Only applied in the working mode where no external signals control the driver.

-4

N/A

d0.01

2FF00508

Control_Word_E asy

000.0: Releases the motor

000.1: Locks the motor

001.0: Clears errors Note: Only applied in the situation where enabling a driver or wrong resetting is not controlled by external signals. After the wrong reset of the driver, the motor must be enabled again.

N/A

d0.02

2FF00910

SpeedDemand_ RPM

Sets the motor’s target rotation speed

when the driver works in the ―-3‖ or ―3‖

mode and the address d3.28 is set to 0 (without external analog control).

N/A

d0.03

60710010

CMD_q

Sets input torque instructions (current instructions) when the driver works in

the ―4‖ mode and the address d3.30 is

set to 0 (without external analog control).

-2047~2047 d0.04

2FF00A10

Vc_Loop_BW

Sets the velocity loop bandwidth. The unit is Hz. This variable can only be set after auto tuning is performed properly; otherwise

0~600

Page 26

the actual bandwidth goes wrong, which causes abnormal working of the driver. If the auto tuning result is abnormal, setting this parameter may also cause abnormal working of the driver. Note: This parameter cannot be applied when auto tuning is unavailable. After setting this parameter, apply d2.00 to save the settings as required.

d0.05

2FF00B10

Pc_Loop_BW

Sets the position loop bandwidth. The unit is Hz. Note: After setting this parameter, apply d2.00 to save the settings as required.

N/A

d0.06

2FF00C10

Tuning_Start

If the variable is set to 11, auto tuning starts. All input signals are neglected during auto tuning. The variable is automatically changed to 0 after auto tuning is completed. Sets the variable to other values to end auto tuning.

N/A

Page 27

Parameter List: Group F001 (To Set Real-Time Display Data)

Numeric Display

Internal Address

Variable Name

Displayed Content

d1.00

2FF00F20

Soft_Version_LED

Software version of numeric display

d1.01

2FF70020

Time_Driver

Accumulated working time of the driver (S)

d1.02

2FF01008

Motor_IIt_Rate

Ratio of real iit to the maximum iit of a motor

d1.03

60F61210

Motor_IIt_Real

Actual data of motor overheat protection

peak

rms

Motor_IIt_Real*512

2047



d1.04

2FF01108

Driver_IIt_Rate

Ratio of real iit to the maximum iit of a driver

d1.05

60F61010

Driver_IIt_Real

Actual data of driver overheat protection

d1.06

2FF01208

Chop_Power_Rate

Ratio of actual power to rated power of a braking resistor

d1.07

60F70D10

Chop_Power_Real

Actual power of a braking resistor

d1.08

60F70B10

Temp_Device

Temperature of a driver (°C)

d1.09

60790010

Real_DCBUS

Actual DC bus voltage

d1.10

60F70C10

Ripple_DCBUS

Fluctuating value of the bus voltage (Vpp)

d1.11

60FD0010

Din_Status

Status of an input port d1.12

20101410

Dout_Status

Status of an output port

d1.13

25020F10

Analog1_out

Filter output of external analog signal 1

d1.14

25021010

Analog2_out

Filter output of external analog signal 2

d1.15

26010010

Error_State

Error state

d1.16

26020010

Error_State2

Error state word 2

d1.17

60410010

Status_Word

Driver status word

d1.18

60610008

Operation_Mode_Buff

Efficient working mode of a driver

d1.19

60630020

Pos_Actual

Actual position of a motor

d1.20

60FB0820

Pos_Error

Position following error

d1.21

25080420

Gear_Master

Count of input pulses before electronic gear

d1.22

25080520

Gear_Slave

Count of executed pulses after electronic gear

d1.23

25080C10

Master_Speed

Pulse speed entered by the master axis (pulse/mS)

d1.24

25080D10

Slave_Speed

Pulse speed of the slave axis (pulse/mS)

d1.25

606C0010

Real_Speed_RPM

Real speed (rpm) Internal sampling time: 200 mS

d1.26

60F919

Real_Speed_RPM2

Real speed (0.01 rpm) Internal sampling time: 200 mS

Page 28

d1.27

60F91A10

Speed_1mS

Speed data (inc/1 mS) Internal sampling time: 1 mS

d1.28

60F60C10

CMD_q_Buff

Internal effective current instruction

d1.29

60F61710

I_q

Actual current

peak

rms

2047



d1.30

60F90E10

K_Load

Load parameter

d1.31

301004

Z_Capture_Pos

Position data captured by encoder index signals

Parameter List: Group F002 (To Set Control Loop Parameters)

Numeric Display

Internal Address

Variable Name

Meaning

Default Value

Range

d2.00

2FF00108

Store_Loop_ Data

1: Stores all setup parameters except those of a motor 10: Initializes all setup parameters except those of a motor

N/A

d2.01

60F90110

Kvp

Sets the response speed of velocity loop

100

0~32767

d2.02

60F90210

Kvi

Time used to adjust speed control to compensate minor errors

0~16384

d2.03

60F90308

Notch_N

Notch/filtering frequency setting for a velocity loop, used to set the frequency of the internal notch filter, so as to eliminate the mechanical resonance produced when the motor drives the machine. The formula is F=Notch_N*10+100. For example, if the mechanical resonance frequency is F = 500 Hz, the parameter should be set to 40.

0~90

d2.04

60F90408

Notch_On

Enable or disable the notch filter 0: Disable the trap filter 1: Enable the trap filter

N/A

d2.05

60F90508

Speed_Fb_N

You can reduce the noise during motor operation by reducing the feedback bandwidth of velocity loop. When the set bandwidth becomes less, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to "F = 500 Hz‖, you need to set the parameter to 20.

0~45

d2.06

60F90608

Speed_Mode

0: Speed response after traveling through a low-pass filter 1: Direct speed response without filtering 2: Feedback on output feedback

N/A

d2.07

60FB0110

Kpp

Proportional gains on position loop Kpp

1000

0~16384

Page 29

d2.08

60FB0210

K_Speed_FF

0 indicates no feedforward, and 256 indicates 100% feedforward

256

0~256

d2.09

60FB0310

K_Acc_FF

The data is inversely proportional to the feedforward

7FF.F

32767~1 0

d2.10

2FF00610

Profile_Acce_ 16

To set trapezoidal acceleration (rps/s) in the ―3‖

and ―1‖ modes

610

0~2000

d2.11

2FF00710

Profile_Dece_ 16

To set trapezoidal deceleration (rps/s) in the ―3‖ and ―1‖ modes

610

0~2000

d2.12

60F60110

Kcp

To set the response speed of the current loop and this parameters does not require adjusting

N/A

d2.13

60F60210

Kci

Time used to adjust current control to compensate minor errors

N/A

d2.14

60730010

CMD_q_Max

Indicates the maximum value of current instructions

N/A

d2.15

60F60310

Speed_Limit_ Factor

The factor that limits the maximum speed in the torque mode

Actual torque

Set torque

Actual torque Set torque

Actual speed Maximum speed

Actual speed

Maximum speed

V the maximum speed complies with d2.24 Max_Speed_RPM parameter settings

0~1000

d2.16

607E0008

Invert_Dir

Runs polarity reverse 0: Counterclockwise indicates the forward direction 1: Clockwise indicates the forward direction

N/A

d2.17

60F90E10

K_Load

Indicates load parameters

N/A

20~1500 0

d2.18

60F90B10

Kd_Virtual

Indicates the kd of observers

1000

0~32767

d2.19

60F90C10

Kp_Virtual

Indicates the kp of observers

1000

0~32767

d2.20

60F90D10

Ki_Virtual

Indicates the ki of observers

0~16384

d2.21

60F91010

Sine_Amplitu de

Proper increase in this data will reduce the tuning error, but machine vibration will become severer. This data can be adjusted properly according to actual conditions of machines. If the data is too small, the auto tuning error becomes greater, or even causes a mistake.

0~1000

d2.22

60F91110

Tuning_Scale

It is helpful to reduce the auto tuning time by reducing the data, but the result may be unstable.

128

0~16384

d2.23

60F91210

Tuning_Filter

Indicates filter parameters during auto-tuning

1~1000

d2.24

60800010

Max_Speed_ RPM

Limits the maximum rotation speed of motors

5000

0~6000

Page 30

Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters)

Numeric Display

Internal Address

Variable Name

Meaning

Default Value

Range

d3.00

2FF00108

Store_Loop_Data

1: Stores all setup parameters except motors 10: Initializes all setup parameters except motors

N/A

d3.01

20100310

Din1_Function

000.1: Driver enable

000.2: Driver fault reset

000.4: Operation mode control

000.8: P control for velocity loop

001.0: Position positive limit

002.0: Position negative limit

004.0: Homing signal

008.0: Reverse speed demand

010.0: Internal speed control 0

020.0: Internal speed control 1

040.0: Internal position control 0

080.0: Internal position control 1

100.0: Quick stop

000.1

N/A

d3.02

20100410

Din2_Function

000.2

N/A

d3.03

20100510

Din3_Function

000.4

N/A

d3.04

20100610

Din4_Function

000.8

N/A

d3.05

20100710

Din5_Function

001.0

N/A

d3.06

20100810

Din6_Function

002.0

N/A

d3.07

20100910

Din7_Function

004.0

N/A

d3.08

20100110

Dio_Polarity

Sets IO polarity

N/A

d3.09

2FF00810

Dio_Simulate

Simulates input signals, and enforce output signals for outputting

N/A

d3.10

20000008

Switch_On_Auto

Automatically locks motors when drivers are powered on 0: No control 1: Automatically locks motors when drivers are powered on

N/A

d3.11

20100F10

Dout1_Function

000.1: Ready

000.2: Error

000.4: Position reached

000.8: Zero velocity

001.0: Motor brake

002.0:Velocity reached

004.0: Index

008.0: The maximum speed obtained in the torque mode

010.0: PWM ON

000.1

N/A

d3.12

20101010

Dout2_Function

000.2

N/A

d3.13

20101110

Dout3_Function

00a.4

N/A

d3.14

20101210

Dout4_Function

000.8

N/A

d3.15

20101310

Dout5_Function

001.0

N/A

d3.16

20200D08

Din_Mode0

If a digital input is defined as Operation mode control,then this operation mode is selected when the input signal is invalid

-4

N/A

Page 31

d3.17

20200E08

Din_Mode1

If a digital input is defined as Operation mode control,then this operation mode is selected when the input signal is valid

-3

N/A d3.18

20200910

Din_Speed0_RP M

Multi-speed control: 0 [rpm]

N/A

d3.19

20200A10

Din_Speed1_RP M

Multi-speed control: 1 [rpm]

N/A

d3.20

20200B10

Din_Speed2_RP M

Multi-speed control: 2 [rpm]

N/A

d3.21

20200C10

Din_Speed3_RP M

Multi-speed control: 3 [rpm]

N/A

d3.22

25020110

Analog1_Filter

Used to smooth the input analog signals

F (Filter Frequency) = 4000/ (2π*

Analog1_Filter)

Τ (Time Constant) = Analog1_Filter/4000

(S)

1~127

d3.23

25020210

Analog1_Dead

Sets dead zone data for external analog signal 1

0~8192

d3.24

25020310

Analog1_Offset

Sets offset data for external analog signal 1

-8192~81 92

d3.25

25020410

Analog2_Filter

Used to smooth the input analog signals Filter frequency: f=4000/(2π* Analog1_Filter) Time Constant: T = Analog1_Filter/4000 (S)

1~127

d3.26

25020510

Analog2_Dead

Sets dead zone data for external analog signal 2

0~8192

d3.27

25020610

Analog2_Offset

Sets offset data for external analog signal 2

-8192~81 92

d3.28

25020708

Analog_Speed_C on

Chooses analog-speed channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode -3 and 3

N/A

d3.29

25020A10

Analog_Speed_F actor

Sets the proportion between analog signals and output speed

1000

N/A

d3.30

25020808

Analog_Torque_ Con

Chooses analog-torque channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode 4

N/A

d3.31

25020B10

Analog_Torque_F actor

Sets the proportion between analog signals and output speed (current)

1000

N/A

d3.32

25020908

Analog_MaxT_C on

0: No control 1: Max. torque controlled by AIN 1 2: Max. torque controlled by AIN 2

N/A

Page 32

d3.33

25020C10

Analog_MaxT_Fa ctor

Indicates the max torque factor on analog signal control

8192

N/A

d3.34

25080110

Gear_Factor

Indicates the numerator to set electronic gears when the operation mode is -4

1000

-32767~3 2767

d3.35

25080210

Gear_Divider

Indicates the denominator to set electronic gears when the operation mode is -4

1000

1~32767

d3.36

25080308

PD_CW

0: Double pulse (CW/CCW) mode

1. Pulse Direction (P/D) mode Note: To change this parameter, you need

to save it with the address ―d5.00‖, and

restarts it later.

N/A

d3.37

25080610

PD_Filter

To flat the input pulse. Filter frequency: f=1000/(2π* PD_Filter) Time constant: T = PD_Filter/1000 Unit: S Note: If you adjust this filter parameter during the operation, some pulses may be lost.

1~32767

d3.38

25080810

Frequency_Chec k

Indicates the limitation on pulse input frequency (k Hz)

600

0~600

d3.39

25080910

PD_ReachT

Indicates the position reached time window in the pulse mode Unit: mS

0~32767

d3.40

2FF10108

Panel32_N

To select which parameter will be set.

0. Din_Pos0

1. Din_Pos1

2. Din_Pos2

3. Din_Pos3

4. Din_Pos4

5. Din_Pos5

6. Din_Pos6

7. Din_Pos7

N/A

d3.41

2FF10210

Panel32_H

The high part of Din_Pos. Din_Pos=Panel32_H*10000+Panel32_L

-32767~3 2767

d3.42

2FF10310

Panel32_L

The low part of Din_Pos. Din_Pos =Panel32_H*10000+Panel32_L

-32767~3 2767

d3.43

20200F10

Din_Control_Wor d

Input ―Enable‖ signal controls the control word.

N/A

d3.44

20201810

Din_Speed4_RP M

Multi-speed control: 4 [rpm]

N/A

d3.45

20201910

Din_Speed5_RP M

Multi-speed control: 5 [rpm]

N/A

d3.46

20201A10

Din_Speed6_RP M

Multi-speed control: 6 [rpm]

N/A

d3.47

20201B10

Din_Speed7_RP M

Multi-speed control: 7 [rpm]

N/A

Page 33

Parameter List: Group F004 (To Set Motor Parameters)

Numeric

display

Internal

Address

Variable Name

Meaning

d4.00

2FF00308

Store_Motor_Data

1: Stores the set motor parameters

d4.01

64100110

Motor_Num

Host computer (ASCII code) numerical display (hexadecimal)

―00‖..... ..... ...303.0

Note: To change this parameter, you need to save it with the address ―d4.00‖, and restart it later.

d4.02

64100208

Feedback_Type

Type of encoders

001.1: Differential ABZ and differential UVW signals

001.0: Differential ABZ and UVW signals of TTL

000.1: ABZ of TTL and differential UVW signals

000.0: ABZ of TTL and UVW signals of TTl

d4.03

64100508

Motor_Poles

Number of motor poles pairs [2p]

d4.04

64100608

Commu_Mode

Searching excitation mode

d4.05

64100710

Commu_Curr

Searching excitation current [dec]

d4.06

64100810

Commu_Delay

Delay in searching excitation [mS]

d4.07

64100910

Motor_IIt_I

Indicates current settings on overheat protection of motors Ir[Arms]*1.414*10

d4.08

64100A10

Motor_IIt_Filter

Indicates time settings on overheat protection of motors Time: N*256/1000 Unit: S

d4.09

64100B10

Imax_Motor

Indicates max peak current of motors I[Apeak]*10

d4.10

64100C10

L_Motor

Indicates phase inductance of motors L[mH]*10

d4.11

64100D08

R_Motor

Indicates phase resistance of motors R[Ω]*10

d4.12

64100E10

Ke_Motor

Indicates the reverse electromotive force of motors Ke[Vp/krpm]*10

d4.13

64100F10

Kt_Motor

Indicates the torque coefficient of motors Kt[Nm/Arms]*100

d4.14

64101010

Jr_Motor

Indicates the rotor inertia of motors Jr[kgm^2]*1 000 000

d4.15

64101110

Brake_Duty_Cycle

Indicates the duty cycle of contracting brakes 0~2500[0…100%]

d4.16

64101210

Brake_Delay

Indicates the delay time of contracting brakes Default value: 150 ms

d4.17

64101308

Invert_Dir_Motor

Indicates the rotation direction of motors

Page 34

d4.18

64101610

Motor_Using

Current using motor type. PC Software Numeric Display Model

"K0".........................304.B.................SMH60S-0020-30

"K1".........................314.B.................SMH60S-0040-30

"K2".........................324.B.................SMH80S-0075-30

"K3".........................334.B.................SMH80S-0100-30

"K4".........................344.B.................SMH110D-0105-20

"K5".........................354.B.................SMH110D-0125-30

"K6".........................364.B.................SMH110D-0126-20

"K7".........................374.B.................SMH110D-0126-30

"K8".........................384.B.................SMH110D-0157-30

"K9".........................394.B.................SMH110D-0188-30

"S0".........................305.3.................130D-0105-20AAK-2LS

"S1".........................315.3.................130D-0157-20AAK-2LS

"S2".........................325.3.................130D-0157-15AAK-2LS

"S3".........................335.3.................130D-0200-20AAK-2HS

"S4".........................345.3.................130D-0235-15AAK-2HS

"F8".........................384.6.................85S-0045-05AAK-FLFN

Parameter List: Group F005 (To Set Driver Parameters)

Numeric

Display

Internal

Address

Variable Name

Meaning

Default

Value

d5.00

2FF00108

Store_Loop_Data

1: Stores all setup parameters except motors 10: Initializes all setup parameters except motors

d5.01

100B0008

ID_Com

Station No. of Drivers Note: To change this parameter, you need to save it with the address ―d5.00‖, and restarts it later.

d5.02

2FE0001 0

RS232_Bandrate

Sets the baud rate of a serial port 540 19200 270 38400 90 115200 Note: To change this parameter, you need to save it with the address ―d5.00‖, and restarts it later.

270 d5.03

2FE1001 0

U2BRG

Sets the baud rate of the serial port 540 19200 270 38400 90 115200 You need not restart it

270

d5.04

60F70110

Chop_Resistor

Indicates the values of braking resistors

d5.05

60F70210

Chop_Power_Rated

Indicates the nominal power of a braking resistor

d5.06

60F70310

Chop_Filter

Indicates the time constant of a braking resistor Time: N*256/1000 Unit: S

d5.07

25010110

ADC_Shift_U

Indicates data configuration of U phase shift Note:Factory parameters

N/A

Page 35

d5.08

25010210

ADC_Shift_V

Indicates data configuration of V phase shift Note:Factory parameters

N/A

d5.09

30000110

Voltage_200

ADC original data when DC bus voltage is 200 V Note:Factory parameters

N/A

d5.10

30000210

Voltage_360

ADC original data when DC bus voltage is 360 V Note:Factory parameters

N/A

d5.11

60F60610

Comm_Shift_UVW

Indicates the excitation pointer of a motor Note:Factory parameters

N/A

d5.12

26000010

Error_Mask

Indicates error masks Note:Factory parameters

FFF.F

d5.13

60F70510

RELAY_Time

Indicates the relay operating time of capacitor short-circuits Unit: mS Note:Factory parameters

150

d5.14

2FF00408

Key_Address_F001

Sets numeric display data

N/A

Chapter 6 Operation on Input/Output Ports

KINCO CD servo driver has 7 digital input ports (a digital input port can receive high-level or low-level signals, depending on whether high-level or low-level signals are chosen at the COM terminal) and 5 digital output ports (the OUT1-OUT4 ports can drive 100 mA load, and OUT5 port can drive 800 mA load, and can directly drive the internal contracting brake device). You can freely configure all functions on digital input/output ports according to application requirements.

6.1 Digital Input Signals

6.1.1 Polarity Control on Digital Input Signals

Table 6-1: Simplified IO polarity setting variables

Numeric

Display

Variable Name

Meaning

Default Value

Range

d3.08

Dio_Polarity

Sets IO polarity

N/A

Page 36

Table 6-2 Polarity setting methods for digital input signals

①

②

③

④

Input/output port

selection

0: Output port

1: Input port

Channel

selection

Input: 1-7

Output:

1-5

Reserved

0: The input port is valid when no current passes the port, and the output port is valid when the switch tube is open.. 1: The input port is valid when the current passes the port, and the output port is valid when the switch tube is closed. Other: Check the current status

Example 6-1: Polarity Setting for Digital Input Signal DIN1

Fig. 6-1 Polarity setting for digital input signal DIN1

Table 6-3 Polarity setting for digital input signal DIN1

①

② ③ ④

Input/output port selection Set to 1 (input port selected)

Channel selection

Set to 1 (DIN 1 selected)

Reserved

0: D1N1 is enabled when S1

opens

1: D1N1 is enabled when S1

closes

Namely, if d3.08 is set to ―110.0‖, it indicates that DIN1 is enabled when no current passes the input port; if

d3.08 is set to ―110.1‖, it indicates that DIN1 is enabled when any current passes the input port.

6.1.2 Simulation of Digital Input Signals

Table 6-4 IO simulation variable

Numeric

Display

Variable Name

Meaning

Default

Value

Rang

d3.09

Dio_Simulate

Simulates input signals, and enforces output signals for outputting

N/A

Page 37

Dio_Simulate (IO simulation) is for the software to simulate inputting of a valid signal. ―1‖ indicates that

the input signal is valid, and ―0‖ indicates that the input signal is invalid.

Table 6-5 Settings on simulation of digital input signals

①

②

③

④

Input/output port selection

0: output port

1: input port

Channel

selection

Input: 1-7

Output: 1-5

Reserved

0: No input signal is simulated, and no output signal is compulsorily outputted 1: Input signal is simulated, and output signal is outputted compulsorily Other: Check the current status

Example 6-2: Simulate digital input DIN1

Table 6-6: Simulate digital input DIN1

① ② ③

④

Input/output port selection

Set to 1 (input port

selected)

Channel selection

Set to 1 (DIN 1 selected)

Reserved

0: Invalid DIN1 simulation 1: Valid DIN1 simulation

Namely, if d3.09 is set to ―110.0‖, it indicates that no DIN1 input signals are simulated; if d3.09 is set to ―110.1‖,

it indicates that DIN1 input signals are simulated.

6.1.3 Status Display of Digital Input Signals

Table 6-7 Variables for status display of digital input signals

Numeric Display

Variable Name

Meaning

d1.11

Din_Status

Status of input ports

Din_Status (hexadecimal) is used to display the status of the actually input external signals in real time.

6.1.4 Addresses & Functions of Digital Input Signals

Table 6-8 Addresses & default functions of digital input signals

Numeric

Display

Variable

Name

Meaning

Default Value

d3.01

Din1_Function

000.0: Disable

000.1: Driver enable

000.2: Driver fault reset

000.4: Operation mode control

000.1 (Driver enable)

d3.02

Din2_Function

000.2 (Driver fault reset)

Page 38

d3.03

Din3_Function

000.8: P control for velocity loop

001.0: Position positive limit

002.0: Position negative limit

004.0: Homing signal

008.0: Reverse speed demand

010.0: Internal speed control 0

020.0: Internal speed control 1

040.0: Internal position control 0

080.0: Internal position control 1

100.0: Quick stop

200.0:Start homing

400.0:Activate command

000.4 (Operation mode control)

d3.04

Din4_Function

000.8 (P control for velocity loop)

d3.05

Din5_Function

001.0 (Position positive limit)

d3.06

Din6_Function

002.0 (Position negative limit) d3.07

Din7_Function

004.0 (Homing signal)

Note:DinX_Function (X ranges from 1 to 7) is used to define the functions of digital input ports. User can

freely define the functions of the digital input ports according to actual applications.

Table 6-9 Meaning of defined functions of digital input signals

Function

Meaning

Disable

Used to cancel the function of this digital input.

Driver enable

By default, the driver enable signal is valid, and the motor shaft is locked.

Driver fault reset

Signals on the rising edge are valid, and alarms are cleared.

Operation mode control

To switch between two operation modes. You can freely determine the operation modes corresponding to valid signals and invalid signals by performing settings through d3.16 Din_Mode0 (choose 0 for operation mode) of Group F003 and Din_Mode1 (choose 1 for operation mode) of Group F003.

P control for velocity loop

Indicates the control on stopping integration in velocity loop. The control is applied in the occasion where high-speed system stop occurs, but overshooting is not expected. Note: In the ―-3‖ mode, if the signal is valid, fixed errors occur between the actual speed and target speed.

Position positive limit

Indicates the limit of forward running of motors (normally closed contact by default). By default, the driver regards position positive limits as valid, and polarity can be modified to adjust to normally open switches.

Position negative limit

Indicates the limit of inverted running of motors (normally closed contact by default). By default, the driver regards position negative limits as valid, and polarity can be modified to adjust to normally open switches.

Homing signal

To find origins of motors.

Reverse speed demand

To reverse the target speed in the speed mode ("-3" or ―3‖).

Internal speed control 0

To control internal multiple speeds. Note: For details, see Section 7.5 Internal Multi-Speed Control. Internal speed control 1

Internal speed control 2

Page 39

Internal position control 0

To control internal multiple positions. Note: For details, see Section 7.4 Internal Multi-Position Control. Internal position control 1

Internal position control 2

Quick stop

When the signal is valid, the motor shaft releases. After the signal is removed, the driver requires re-enabling.

Start homing

When the rising edge of the signal is detected,it will start homing command.

Activate command

When the rising edge of the signal is detected,it will activate the internal position control

Example 6-3: Driver Enable Setting

Requirement: The ―driver enable‖ function is controlled through an external digital output port. In this

example, the digital input port DIN1 is defined as the ―driver enable‖ function. Table 6-10 shows the setup

method.

Table 6-10 Digital Input Port DIN1 Defined as the ―Driver Enable‖ Function

Numeric Display

Variable Name

Parameter Settings

d3.01

Din1_Function

Set to 000.1

d3.00

Store_Loop_Data

Set to 1

Note: Any digital output of DIN1-7 can be defined as ―driver enable‖, and is set to 000.1, that is, bit 0 is valid.

Requirement: Enable the function of automatically powering on the driver by setting internal parameters

in drivers instead of external digital input ports. Table 6-11 describes the setup method.

Table 6-11 Enabling the function of automatically powering on the driver by setting internal parameters in

drivers

Numeric Display

Variable Name

Parameter Settings

d3.01- d3.07

DinX_ Function (1~7)

None of the digital input port can be set to 000.1, that is, the Enable function is not controlled by any digital input port.

d3.10

Switch_On_Auto

Set to 1

d3.00

Store_Loop_Data

Set to 1

Example 6-4: Disabling Position Positive/Negative Limit Settings

When the driver is delivered, the DIN5 of the motor is the position positive limit and DIN6 is the position negative limit by default. If there are no external position positive/negative limit switches, this function must be disabled so that the servo driver can work properly. Table 6-12 describes the setup method.

Table 6-12: Disabling position positive/negative limit settings

Numeric Display

Variable Name

Parameter Settings

d3.05

Din5_Function

Change the default value 001.0 (position positive limit) to 000.0

d3.06

Din6_Function

Change the default value 002.0 (position negative limit) to

000.0

d3.00

Store_Loop_Data

Set to 1

Page 40

Example 6-5: Operation Mode Control on Drivers

Requirements: Defines the input port DIN3 as the operation mode control on drivers, and the operation mode is ―-4‖ (pulse control mode) when DIN3 fails, and is ―-3‖ (instantaneous speed mode) when DIN3 is valid. Table 6-13 describes the setup method.

Table 6-13 Settings on operation mode control on drivers

Numeric Display

Variable Name

Parameter Settings

d3.03

Din3_Function

Set to 000.4

d3.16

Din_Mode0

Set to 0.004 (-4)

d3.17

Din_Mode1

Set to 0.003 (-3)

d3.00

Store_Loop_Data

Set to 1

Note: If the driver is required to operate in some mode with power on, one of the digital input must be set as function ―Operation Mode Control‖. Then you can set the operation modes that require in the parameters d3.16 or d3.37 in Group F003.

6.1.5 Wirings of Digital Input Port

1. NPN wiring diagram (to the controller that supports low level output)

Fig. 6-2 NPN wiring diagram (to the controller that supports low level output)

2. PNP wiring diagram (to the controller that supports high level output)

Page 41

Fig. 6-3 PNP wiring diagram (to the controller that supports high level output)

6.2 Digital Output Signals

6.2.1 Polarity Control on Digital Output Signals

Table 6-14 Variables for setting simplified IO polarity

Numeric Display

Variable Name

Meaning

Default

Value

Range

d3.08

Dio_Polarity

Sets IO polarity

N/A

Dio_Polarity (simplified IO polarity settings) is used to set the polarity of valid digital output signals. The number ―1‖ indicates normally open, and ―0‖ indicates normally close.Default is 1.

6.2.2 Simulation of Digital Output Signals

Table 6-15 IO simulation variables

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.09

Dio_Simulate

Simulates input signals, and the output signal is outputted compulsorily

N/A

Dio_Simulate (IO simulation) is to simulate the output of a valid signal. The number ―1‖ indicates that the

output signal is valid, and ―0‖ indicates that the output signal is invalid.

Page 42

6.2.3 Status Display of Digital Output Signals

Table 6-16 Variables for status display of digital output signals

Numeric Display

Variable Name

Meaning

d1.12

Dout_Status

Status of an output port

Din_Status (hexadecimal) displays the status of actual external output signals in real time.

6.2.4 Addresses and Functions of Digital Output Signals

Table 6-17 Addresses and default functions of digital output signals

Numeric Display

Variable Name

Meaning

Default Value

d3.11

Dout1_Function

000.0: Disable

000.1: Ready

000.2: Error

000.4: Position reached

000.8: Zero velocity

001.0: Motor brake

002.0: Velocity reached

004.0: Index

008.0: Max. velocity limit

010.0: PWM ON

020.0:Motor limiting

040.0:Reference found

000.1 (Ready)

d3.12

Dout2_Function

000.2 (Error) d3.13

Dout3_Function

00a.4 (Position reached/Velocity reached/Max. velocity limit)

d3.14

Dout4_Function

000.8 (Zero velocity)

d3.15

Dout5_Function

001.0 (Motor brake)

DinX_Function (X ranges from 1 to 5) is used to define the functions of digital output ports. User can freely define the functions of digital output ports according to actual applications.

Table 6-18 Meanings of the functions defined by digital output signals

Function

Meaning

Disable

Cancel the function of this digital output

Ready

The driver is ready for operation.

Error

Alarm signals are output, indicating that the driver is faulty.

Position reached

In the ―-4‖ mode of pulse control, the target position data keeps unchanged in the window (d3.39) of the time of reaching the target position, and position errors are within the window of reaching the target position.

Zero velocity

After the motor is enabled, it is outputted when the motor speed is 0.

Motor brake

The driver enables the motor, and contracting brake output is valid.

Velocity reached

In the ―-3‖ or "3‖ internal speed control mode, signals are output after they reach the target speed.

Index

Z phase signal output (the speed should not be too high).

Page 43

Max. velocity limit

In the ―4‖ analog – torque mode, signals are output after the max restricted speed is reached.

PWM ON

The driver enables the motor.

Motor limiting

Motor is in the status of position limiting.

Reference found

Homing is finished.

Example 6-6: “Ready” settings

Requirement: The digital output port 1 is defined as the ―Ready‖ function. For details on settings, see

Table 6-23.

Table 6-19: ―Ready‖ settings

Numeric Display

Variable Name

Parameter Settings

d3.11

Dout1_Function

Set to 000.1

d3.00

Store_Loop_Data

Set to 1

6.2.5 Wiring of Digital Output Port

1. Internal circuit diagram of digital output ports

Fig. 6-4 Internal circuit diagram of digital output ports Note: To apply the OUT3 or OUT4 port, the COMO port must be connected. To apply the OUT5 port, both the 24VO and COMO ports must connect to the external input power.

2. NPN wiring (to controllers that support valid low level input)

Page 44

Fig. 6-5 NPN wiring diagram (to controllers that support valid low level input)

3. PNP wiring (to controllers that support valid low level input)

Fig. 6-6 PNP wiring diagram (to controllers that support valid low level input)

4. To connect a relay to the digital output port, do remember to connect a diode in inverse parallel, as

shown in Fig. 6-7.

Fig. 6-7 Connect a relay to the digital output port

Page 45

Chapter 7 Mode Operation

7.1 Pulse Control Mode (“-4” Mode)

7.1.1 Wiring in Pulse Control Mode

1. Interfaces in pulse control mode

Fig. 7-1 Interface in pulse control pattern

2. Common anode connection (to controllers that support valid low level output)

Fig. 7-2 Common anode connection (to controllers that support valid low level output)

3. Common cathode connection (to controllers that support valid high level output)

Page 46

Fig. 7-3 Common cathode connection (to controllers that support valid high level output)

7.1.2 Parameters for Pulse Control Mode

1. Parameters for electronic gear ratio

Table 7-1 Parameters for electronic gear ratio

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.34

Gear_Factor

Indicates the numerator to set electronic gears in the ―-4‖ operation mode

1000

-32767~32767

d3.35

Gear_Divider

Indicates the denominator to set electronic gears in the ―-4‖ operation mode

1000

1~32767

Parameters for electronic gear ratio are used to set the numerator and denominator of electronic gears when the driver operates in the ―-4‖ mode.

Command pulse input Command pulse output

F1 F2

Namely: F2=

DividerGear

FactorGear__

* F1

If the electronic gear ratio is 1:1, 10000 pulses are inputted externally (the resolution of encoders is 2500 PPR, quadruple), and the motor turns a circle. If the electronic gear ratio is 2:1, 10000 pulses are inputted externally, and the motor turns two circles.

2. Parameters for pulse mode selection

Table 7-2 Parameters for pulse mode selection

DividerGear

FactorGear__

Page 47

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.36

PD_CW

0: Double pulse (CW/CCW) mode

1. Pulse direction (P/D) mode Note: To change this parameter, you need to save it with d3.00, and restarts it later.

1 N/A

Note: AB phase signals are not supported. Double pulse (CW/CCW) mode (d3.36 = 0)

Pulse direction (P/D) mode (d3.36 = 1)

3. Parameters for pulse filtering coefficient

Table 7-3 Parameters for pulse filtering coefficient

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.37

PD_Filter

Used to smooth the input pulses. Filter frequency: f = 1000/(2π* PD_Filter) Time constant: T = PD_Filter/1000 Unit: S Note: If you adjust this parameter during the operation, some pulses may be lost.

1~3276 7

When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, it is required to adjust this parameter to reduce motor oscillation; however, if the parameter adjustment is too great, motor running instructions will become slower.

4. Parameters for pulse frequency control

Table 7-4 Parameters for pulse frequency control

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.38

Frequency_Check

Indicates the limitation on pulse input frequency (kHz)

600

0~600

5. Parameters for gain control on position loops and velocity loops

Forward rotation

Reverse rotation

Forward rotation

Reverse rotation

Effective on the rising edge

Page 48

Current loops are related to motor parameters (optimal parameters of the selected motor are default for the driver and no adjusting is required).

Parameters for velocity loops and position loops should be adjusted properly according to loading conditions.

During adjustment of the control loop, ensure that the bandwidth of the velocity loop is at least twice of that of the position loop; otherwise oscillation may occur.

Table 7-5 Parameters for gain control on position loops

Numeric Display

Variable Name

Meaning

Default Value

Range

d2.07

Kpp

Indicates the proportional gain of the position loop Kpp

1000

0~16384

d2.08

K_Velocity_FF

0 indicates no feedforward, and 256 indicates 100% feedforward

256

0~256

d2.09

K_Acc_FF

The value is inversely proportional to the feedforward

32767

32767~10

d0.05

Pc_Loop_BW

Sets the bandwidth of the position loop in Hz.

Proportional gains of the position loop Kpp: If the proportional gain of the position loops increases, the bandwidth of the position loop is improved, thus reducing both the positioning time and following errors. However, too great bandwidth may cause noise or even oscillation. Therefore, this parameter must be set properly according to loading conditions. In the formula Kpp=103* Pc_Loop_BW,Pc_Loop_BW indicates the bandwidth of the position loop. The bandwidth of a position loop is less than or equal to that of a velocity loop. It is recommended that Pc_Loop_BW be less than Vc_Loop_BW /4 (Vc_Loop_BW indicates the bandwidth of a velocity loop). Velocity feedforward of the position loop K_Velocity_FF : the velocity feedforward of a position loop can be increased to reduce position following errors. When position signals are not smooth, if the velocity feedforward of a position loop is reduced, motor oscillation during running can be reduced. Acceleration feedback of the position loop K_Acc_FF (adjustment is not recommended for this parameter): If great gains of position loops are required, the acceleration feedback K_Acc_FF can be properly adjusted to improve performance.

* * _

K_Acc_FF

250000* 2* *

I K Encoder R





Note: K_Acc_FF is inversely proportional to the acceleration

feedforward.

Table 7-6 Parameters for gain control on position loops

Numeric Display

Variable Name

Meaning

Default Value

Range

d2.01

Kvp Sets the response speed of a velocity loop

100

0~3276 7

d2.02

Kvi Adjusts speed control so that the time of minor errors is compensated

0~1638 4

d2.05

Speed_Fb_N

You can reduce the noise during motor operation by reducing the feedback bandwidth of velocity loops (smoothing feedback signals of encoders).

0~45

Page 49

When the set bandwidth becomes smaller, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to "F = 500 Hz‖, the parameter should be set to 20.

7.1.3 Examples of Pulse Control Mode

In the pulse control mode, follow the steps below to configure a driver: Step 1: Confirm whether the functions of the driver require enabling through external digital input ports. To enable the driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If it is not necessary to enable the driver through external digital input ports, you can disable the enabling control function of external digital input ports by referring to Table 6-13 of Example 6-3, and enable the driver by setting its internal parameters. Step 2: Confirm whether limit switches are required. By default, the driver operates in the limit status after being powered on. In this case, the numeric display has limit status display. If there is no limit switches, please disable the function of limit switches by referring to Example 6-4. Step 3: Confirm mode switching bits and operation modes by referring to the settings in Example 6-5. The factory default settings of the driver are as follows: When no signal is inputted on DIN3, the driver operates in the ―-4‖ mode (pulse control mode). Step 4: After function configuration on digital input ports, it is required to set parameters such as pulse modes and electronic gear ratio. Step 5: Save parameters.

Example 7-1: Pulse control mode “-4” – enable the driver through external digital input

Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the operation modes of the driver (the mode is ―-4‖ when no signal is inputted, and the mode is ―-3‖ when signal is inputted). Limit switches are unavailable. The pulse form is pulse/direction, and the electronic rear ratio is 2:1. Table 7-7 describes the setup method. Table 7-7: Pulse control mode ―-4‖ – enable the driver through external digital input

Numeric Display

Variable Name

Meaning

Parameter Settings

d3.01

Din1_Function

Defines the functions of digital input port 1

000.1 (Driver enable) d3.02

Din2_Function

Defines the functions of digital input

000.2 (Fault reset)

Page 50

port 2

d3.03

Din3_Function

Defines the functions of digital input port 3

000.4 (Operation mode control )

d3.05

Din5_Function

Defines the functions of digital input port 5

The default value 001.0 changes to 000.0 (position positive limits are disabled)

d3.06

Din6_Function

Defines the functions of digital input port 6

The default value 002.0 changes to 000.0 (position negative limits are disabled)

d3.16

Din_Mode0

Select this operation mode when input signals are invalid

Set to 0.004 (-4) mode (pulse control mode)

d3.17

Din_Mode1

Select this operation mode when input signals are valid

Set to 0.003 (-3) mode (instantaneous speed mode)

d3.34

Gear_Factor

Indicates the numerator to set electronic gears in the ―-4‖ operation mode (pulse control mode)

Set to 2000

d3.35

Gear_Divider

Indicates the denominator to set electronic gears in the ―-4‖ operation mode (pulse control mode)

Set to 1000

d3.36

PD_CW

0: Double pulse (CW/CCW) mode

1. Pulse direction (P/D) mode Note: To change this parameter, you need to save it with the address ―d3.00‖, and restarts it later.

Default value is 1 (pulse direction)

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

Example 7-2 Pulse control mode “-4” – enable the driver automatically after driver power on

Requirement: The auto power-on function of the driver is enabled, DIN2 is used for error resetting, and DIN3 controls the operation modes of a driver (the mode is ―-4‖ when no signal is inputted, and the mode is ―3‖ when signal is inputted). Limit switches are unavailable. The pulse form is pulse/direction, and the electronic rear ratio is 1:2. Table 7-8 describes the setup method. Table 7-8 Pulse control mode ―-4‖ – enable driver automatically after driver power on

Numeric Display

Variable Name

Meaning

Parameter Settings

d3.01d3.07

DinX_ Function (1~7)

Defines the functions of digital input ports 1-7

None of the digital input port can be set to 000.1, that is, the Enable function is not controlled by any digital input port.

d3.02

Din2_Function

Defines the functions of digital input

000.2 (Error resetting)

Page 51

port 2

d3.03

Din3_Function

Defines the functions of digital input port 3

000.4 (Control on operation modes for the driver)

d3.05

Din5_Function

Defines the functions of digital input port 5

The default value 001.0 changes to 000.0 (position positive limits are disabled)

d3.06

Din6_Function

Defines the functions of digital input port 6

The default value 002.0 changes to 000.0 (position negative limits are disabled)

d3.10

Switch_On_Auto

0: No control 1:Automatically locks the motor when the driver is powered on

Set to 1 d3.16

Din_Mode0

Select this operation mode when input signals are invalid

Set to 0.004 (-4) mode (pulse control mode)

d3.17

Din_Mode1

Select this operation mode when input signals are valid

Set to 0.003 (-3) mode (instantaneous speed mode)

d3.34

Gear_Factor

Indicates the numerator to set electronic gears in the ―-4‖ operation mode (pulse control mode)

Set to 1000

d3.35

Gear_Divider

Indicates the denominator to set electronic gears in the ―-4‖ operation mode (pulse control mode)

Set to 2000

d3.36

PD_CW

0: Double pulse (CW/CCW) mode

1. Pulse direction (P/D) mode Note: To change this parameter, you need to save it with the address ―d3.00‖, and restarts it later.

Default value is 1 (pulse direction)

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

7.2 Speed Mode (“-3” or “3” Mode)

In the instantaneous speed mode (―-3‖ mode), the actual speed reaches the target speed instantly. As a

contrast, in the speed mode with acceleration/deceleration (―3‖ mode), the actual speed gradually increases

until it reaches the target speed. Both the acceleration and deceleration (trapeziform shape) are configured

respectively by d2.10 and d2.11. In the ―3" mode, you can set Kpp to enable/disable position loops. If a

position loop is enabled, speed oscillation is less than that when the loop is disabled. If Kpp is 0, it indicates that the position loop is closed.

Page 52

Fig. 7-4 The speed mode ―3‖ with acceleration/deceleration

7.2.1 Wiring in Analog – Speed Mode

Fig. 7-5 Interfaces in analog –speed mode

7.2.2 Parameters for Analog – Speed Mode

Table 7-9 Parameters for analog – speed mode

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.22

Analog1_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter) Time Constant (T) = Analog1_Filter/4000 (S)

1~127

d3.23

Analog1_Dead

Sets dead zone data for external analog signal 1

0~8192

d3.24

Analog1_Offset

Sets offset data for external analog signal 1

-8192~8 192

Page 53

d3.25

Analog2_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter) Time Constant (T) = Analog2_Filter/4000 (S)

1~127

d3.26

Analog2_Dead

Sets dead zone data for external analog signal 2

0~8192

d3.27

Analog2_Offset

Sets offset data for external analog signal 2

-8192~8 192

d3.28

Analog_Speed_Con

Selects analog-speed channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode -3 and mode 3

N/A

d3.29

Analog_Speed_Factor

Sets the proportion between analog signals and output speed

1000

N/A

d3.32

Analog_MaxT_Con

0: No control 1: Max torque that Ain1 can control 2: Max torque that Ain2 can control

N/A d3.33

Analog_MaxT_Factor

Indicates the max torque factor for analog signal control

8192

N/A

7.2.3 Analog Signal Processing

Fig. 7-6 Analog signal processing Electrical control on internal variables is available only after ADC conversion and offset of external analog signals, and judgment of dead zone signals. For offset processing, see the left part in Fig. 7-6; for dead zone processing, see the right part in Fig. 7-6.

Mathematical equation for offset processing:

shiftexternalernal

UUU 

int

shift

dead

external

ernal

int ernal

int

Offset

Dead zone

Page 54

Mathematical equation for dead zone processing:

Mathematical equation for integrated processing (offset and dead zone)

Table 7-10 Analog signal variables

Variable

Meaning

Range

internal

Internal data corresponding to the external voltage

-10 V – 10 V corresponds to

-2048 – 2047 when no offset or dead zone voltage exists

tex ernal

External input voltage

-10V – 10V

shift

Offset voltage

0 – 10 V corresponds to

log_Ana Offset

0~8191

dead

Dead zone voltage

0 – 10 V corresponds to

log_Ana Dead

0~8191

The obtained analog signal

internal

obtains

filter

after passing through a first-order low-pass filter, and is

applied by the internal programs again. In the analog – speed mode, if the analog signal

filter

that passes through the filter is multiplied by a factor,

this signal will be regarded as the internal target speed

demand

Mathematical formula:

Formula for

rpm

conversion:

Note: The resolution unit of an encoder is inc/r.

7.2.4 Calculation Procedure for Analog – speed Mode

Table 7-11 Calculation procedure for analog – speed mode

Procedure

Method

Formula

Step 1 Calculate

filter

according

to the offset voltage and dead

2047

10 10

filter

shift dead

v v U U





 

 

















externaldead

deadexternalernal

deadexternaldeadernal

UUU

UUUU





int

 

 

















shiftexternaldead

deadshiftexternalernal

deadshiftexternaldeadernal

UUU

UUUU

UUUUU





int

20472048* 

filterfilterdemand

UUFactorV 

demand

Page 55

zone voltage that require settings

Step 2 Calculate

demand

according

to the required speed

rpm

Step 3

Calculate

Factor

according

filter

and

demand

Step 5 Calculate

log_Ana Dead

according to the required dead zone voltage

8191/10 log_ /

dead

v Ana Dead U

Step 5 Calculate

log_Ana Offset

according to the required offset voltage

8191/10 log_ /

shift

v Ana Offset U

7.2.5 Examples of Analog – Speed Mode

In the analog – speed mode, follow the steps below to set a driver: Step 1: Confirm whether it is necessary to enable the driver through external digital input ports. To enable the driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If the driver does not require enabling through external digital input ports, you can disable the enabling function of external digital input ports by referring to Table 6-13 of Example 6-3, and enable the auto power-on function of the driver by setting its internal parameters. Step 2: Confirm whether limit switches are required. By default, the driver operates in the limit status after being powered on. In this case, the numeric display has limit status display. If limit switches are unavailable, please disable the function of limit switches by referring to Example 6-4. Step 3: Confirm the mode switching positions and operation modes by referring to the settings in Example 6-5. The factory default settings are as follows: When no signal is inputted to DIN3, the driver operates in the ―-4‖ mode (d3.16 = -4); when signal is inputted to DIN3, the driver operates in the ―-3‖ mode (d3.17 = -3). If the driver is required to operate in the speed mode after being powered on, set d3.16 to -3 or 3. Step 4: After configuring functions on digital input ports, select the analog – speed channel, and set parameters such as analog – speed factors, dead zone, offset and filtering. Step 5: Save parameters.

Example 7-3: Analog – speed mode (without setting the dead zone voltage and offset voltage)

Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the operation modes of the driver (the mode is ―-3‖ when no signal is inputted, and is ―3‖ when signal is inputted). Limit switches are unavailable. The voltage 10V corresponds to the rated rotation speed of 3000 rpm, and

-10V corresponds to the rated rotation speed of -3000 rpm. Select analog channel 1 (AIN1) to control the speed.

filterdemand

UFactorV *

Page 56

Fig. 7-7 Schematic diagram of Example 7-3

Calculate

filter

according to the offset voltage and dead zone voltage that require settings:

2047

10 10

filter

shift dead

v v U U





(In this example,

dead

U 

, and

shift

U 

)

Result:

filter

=2047

Calculate

demand

according to the required speed

rpm

(Encoder_R is 1000 inc/r)

Result:

8192000

demand

V 

Calculate

Factor

according to

filter

and

demand

demand filter

V Factor U

Result:

4000Factor 

Table 7-12 Parameter settings in Example 7-3

Numeric Display

Variable Name

Meaning

Parameter Settings

d3.01

Din1_Function

Define the functions of digital input port 1

000.1 (Driver enable)

d3.02

Din2_Function

Define the functions of digital input port 2

000.2 (Error resetting)

d3.03

Din3_Function

Define the functions of digital input port 3

000.4 (Control over operation modes of drivers)

d3.05

Din5_Function

Define the functions of digital input port 5

The default value 001.0 changes to 000.0 (position positive limits are disabled)

Page 57

d3.06

Din6_Function

Define the functions of digital input port 6

The default value 002.0 changes to 000.0 (position negative limits are disabled)

d3.16

Din _Mode0

Select this operation mode when input signals are invalid

Set to 0.003 (-3) mode (instantaneous speed mode)

d3.17

Din _Mode1

Select this operation mode when input signals are valid

Set to 0.003 (3) mode (speed mode with acceleration/deceleration)

d3.22

Analog1_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter) Time Constant (T) = Analog1_Filter/4000 (S)

d3.23

Analog1_Dead

Set dead zone data for external analog signal 1

Set to 0

d3.24

Analog1_Offset

Set offset data for external analog signal 1

Set to 0

d3.28

Analog_Speed_Con

Select analog-speed channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode -3 and mode 3

Set to 1

d3.29

Analog_Speed_Factor

Set the proportion between analog signals and output speed

Set to 4000 d2.10

Profile_Acce_16

Set the acceleration in operation mode 3 and 1.(rps/s)

610 by defaut

d2.11

Profile_Dece_16

Set the deceleration in operation mode 3 and 1.(rps/s)

610 by defaut

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

Example 7-4 Analog – speed mode (setting the dead zone voltage)

Requirement: The dead zone voltage ranges from - 0.5 V to 0.5 V, that is, the speed is 0 when the voltage ranges from - 0.5 V to 0.5 V. The voltage 10 V corresponds to 3000 rpm, and -10 V corresponds to -3000 rpm. Select analog channel 1 (AIN1) to control the speed.

Page 58

Fig. 7-8 Schematic diagram of Example 7-4

Calculate

filter

according to the offset voltage and dead zone voltage that require settings:

2047

10 10

filter

shift dead

v v U U





(In this example,

dead

U 

.5, and

shift

U 

)

Result:

filter

=1944

Calculate

demand

according to the required speed :

rpm

, (Encoder_R:10000 inc/r)

Result:

8192000

demand

V 

Calculate

filter

according to

demand

and

Factor

demand filter

V Factor U

Result:

Factor

=4213

Calculate

log1_Ana Dead

according to the required dead zone voltage:

8191/10 log1_ /

dead

v Ana Dead U

Result:

log1_Ana Dead

=410

The following changes are required on the basis of Example 7-3.

Table 7-13 Parameter settings in Example 7-4

d3.23

Analog1_Dead

Sets dead zone data for external analog signal 1

Set to 410

d3.29

Analog_Speed_Factor

Sets the proportion between analog signals and output speed

Set to 4213

Page 59

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

Example 7-5 Analog – speed mode (setting the offset voltage)

Requirement: The offset voltage is 1 V, that is, the speed is positive when the voltage is greater than 1 V, and is negative when the voltage is less than 1 V. In this case, the voltage 10 V corresponds to 3000 rpm, and -9 V corresponds to -3000 rpm (in case of -10 V, the corresponding speed is less than -3000 rpm). Select analog channel 1 (AIN1) to control the speed.

Fig. 7-9 Schematic diagram of Example 7-5

Calculate

filter

according to the offset voltage and dead zone voltage that require settings:

2047

10 10

filter

shift dead

v v U U





(In this example,

dead

U 

, and

shift

U 

)

Result: Calculate

demand

according to the required speed :

rpm

, (Encoder_R:10000 inc/r)

Result:

8192000

demand

V 

Calculate

filter

according to

demand

and

Factor

demand filter

V Factor U 1842

filter

Page 60

Result:

Factor

=4447

Calculate

log1_Ana Offset

according to the required offset voltage:

8191/10 log1_ /

shift

v Ana Offset U

Result:

log1_Ana Offset

=819

The following changes are required on the basis of Example 7-3.

Table 7-14 Parameter settings in Example 7-5

d3.24

Analog1_Offset

Sets offset data for external analog signal 1

Set to 819

d3.29

Analog_Speed_Factor

Sets the proportion between analog signals and output speed

Set to 4447

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

Example 7-6: Analog – speed mode (setting the dead zone voltage and offset voltage)

Requirement: Set the offset voltage to 1V, the dead zone voltage to 0.5V to 1.5V, and the max speed corresponding to 10V to 3000 rpm. Select analog channel 1 (AIN1) to control the speed.

Fig. 7-10 Schematic diagram of Example 7-6

Calculate

filter

according to the offset voltage and dead zone voltage that require settings:

2047

10 10

filter

shift dead

v v U U





(In this example,

dead

U 

.5, and

shift

U 

)

Page 61

Result:

filter

=1740

Calculate

demand

according to the required speed :

rpm

, (Encoder_R:10000 inc/r)

Result:

8192000

demand

V 

Calculate

Factor

according to

filter

and

demand

demand filter

V Factor U

Result:

Factor

=4708

Calculate

log1_Ana Dead

according to the required dead zone voltage:

8191/10 log1_ /

dead

v Ana Dead U

Result:

log1_Ana Dead

=409

Calculate

log1_Ana Offset

according to the required offset voltage:

8191/10 log1_ /

shift

v Ana Offset U

Result:

log1_Ana Offset

=819

The following changes are required on the basis of Example 7-3.

Table 7-15 Parameter settings in Example 7-6

d3.23

Analog1_Dead

Sets dead zone data for external analog signal 1

Set to 409

d3.24

Analog1_Offset

Sets offset data for external analog signal 1

Set to 819

d3.29

Analog_Speed_Factor

Sets the proportion between analog signals and output speed

Set to 4708

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

Page 62

7.3 Torque Mode (“4” Mode)

7.3.1 Wiring in Analog – Torque Mode

Fig. 7-11 Interfaces in analog – torque mode

7.3.2 Parameters for Analog – Torque Mode

Table 7-16 Parameters for analog – torque mode

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.22

Analog1_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter)

Time Constant: τ = Analog1_Filter/4000

(S)

1~127

d3.23

Analog1_Dead

Sets dead zone data for external analog signal 1

0~819 2

d3.24

Analog1_Offse t

Sets offset data for external analog signal 1

-8192 ~8192

d3.25

Analog2_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter) Time Constant (T) =

1~127

Page 63

Analog2_Filter/4000 (S)

d3.26

Analog2_Dead

Sets dead zone data for external analog signal 2

0~819 2

d3.27

Analog2_Offse t

Sets offset data for external analog signal 2

-8192 ~8192

d3.30

Analog_Torqu e_Con

Selects analog - torque channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode 4

N/A

d3.31

Analog_Torque _Factor

Sets the proportion between analog signals and output torque (current)

1000

N/A

d2.15

Speed_Limit_F actor

The factor that limits the maximum speed in the torque mode

max_speed

complies with d2.24

Max_Speed_RPM parameter settings.

0~100 0

d2.24

Max_Speed_R PM

Limits the max rotation speed of the motor

5000

0~600 0

7.3.3 Analog Signal Processing

In the analog – torque mode, external analog command signals are directly inputted to the current loops in the driver, thus directly controlling target current through the internal current loop. Analog signal is processed in the same way as that in the analog – speed mode.

In the analog – torque mode,

demand

is calculated according to the specified

demand

with the formula of

demand

demand t

TK

(

is a torque constant).

Factor

is calculated according to

demand

and

filter

with the formula of

2048*2048

filter

demand

Factor U

I Ipeak

(

Ipeak

indicates the peak current of a driver).

Table 7-17

and

Ipeak

parameters

Motor Model

(Nm/A)

Driver Model

Ipeak

(A)

SMH60S-0020-30AXK-3LKX

0.48

CD420-0020-0016-AA-000

Page 64

SMH60S-0040-30AXK-3LKX

0.48

CD420-0040-0031-AA-000

SMH80S-0075-30AXK-3LKX

0.662

CD420-0075-0039-AA-000

SMH80S-0100-30AXK-3LKX

0.562

CD430-0100-0063-AA-000

27.5

SMH110D-0105-20AXK-4LKX

0.992

CD430-0105-0054-AA-000

SMH110D-0125-30AXK-4LKX

0.744

CD430-0125-0065-AA-000

SMH110D-0126-20AXK-4LKX

1.058

CD430-0126-0062-AA-000

SMH110D-0126-30AXK-4HKX

1.058

CD620-0126-0043-AA-000

SMH110D-0157-30AXK-4HKX

0.992

CD620-0157-0054-AA-000

SMH110D-0188-30AXK-4HKX

1.058

CD620-0188-0062-AA-000

7.3.4 Calculation Procedure for Analog – Torque Mode

Table 7-17 Calculation procedure for analog – torque mode

Procedure

Method

Formula

Step 1 Calculate

filter

according to

the offset voltage and dead zone voltage that require settings

2047

10 10

filter

shift dead

v v U U





Step 2 Calculate

demand

according to

the required torque

demand

demand t

TK

Step 3

Calculate

Factor

according to

filter

and

demand

2048*2048

filter

demand

Factor U

I Ipeak

Step 4 Calculate

log_Ana Dead

according to the required dead zone voltage

8191/10 log_ /

dead

v Ana Dead U

Step 5 Calculate

log_Ana Offset

according to the required offset voltage

8191/10 log_ /

shift

v Ana Offset U

7.3.5 Examples of Analog – Torque Mode

In the analog – torque mode, follow the steps below to configure a driver: Step 1: Confirm whether it is necessary to enable the driver through external digital input ports. To enable the driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If the driver does not require enabling through external digital input ports, you can disable the enabling function of external digital input ports by referring to Table 6-13 of Example 7-3, and enable the auto power-on function of the driver by setting its internal parameters. Step 3: Confirm mode switching positions and operation modes by referring to the settings in Example 6-5.

Page 65

The factory default settings for the driver are as follows: When no signal is inputted to DIN3, the driver operates in the ―-4‖ mode (d3.16 = -4); when signal is inputted to DIN3, the driver operates in the ―-3‖ mode (d3.17 = -3). If the driver is required to operate in the torque mode (―4‖ mode), please set d3.16 or d3.17 to 4. In case d3.16 = 4, if DIN3 has no input signals when the driver is powered on, the driver operates in the ―4‖ mode. In case d3.17 = 4, if DIN3 has input signals, the driver operates in the ―4‖ mode. Step 3: After configuring functions on digital input ports, select the analog – torque channel, and set parameters such as analog – torque factors, dead zone, offset, filtering, speed limit factors, and max speed limits. Step 4: Save parameters.

Example 7-7: Analog – torque mode (without setting the dead zone voltage and offset voltage)

Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the

operation modes of the driver (the mode is ―4‖ when no signal is inputted, and is ―3‖ when signal is inputted).

The motor Kt is 0.48 Nm/A, and the peak current of drivers is 15 A. The analog input voltage -10 V corresponds to -0.64 Nm, and 10 V corresponds to 0.64 Nm. Select analog channel 2 (AIN1) to control the torque.

Fig. 7-12 Schematic diagram of Example 7-7

Calculate

filter

according to the offset voltage and dead zone voltage that require settings:

2047

10 10

filter

shift dead

v v U U





(In this example,

dead

U 

, and

shift

U 

)

Result:

filter

=2047

Calculate

demand

according to the required torque

demand

Page 66

demand



Result:

demand

=1.89

Calculate

Factor

according to

filter

and

demand

*2048*4096

demand

filter

Factor

U Ipeak



Result:

1.89 *2048*4096 515

2047*15

Factor 

Table 7-18 Parameter settings in Example 7-7

Numeric Display

Variable Name

Meaning

Parameter Settings

d3.01

Din1_Function

Defines the functions of digital input port 1

000.1 (Driver enable)

d3.02

Din2_Function

Defines the functions of digital input port 2

000.2 (Error resetting)

d3.03

Din3_Function

Defines the functions of digital input port 3

000.4 (Control over operation modes of drivers)

d3.16

Din _Mode0

Select this operation mode when input signals are invalid

Set to 0004 (4) mode (torque mode)

d3.17

Din _Mode 1

Select this operation mode when input signals are valid

Set to 0.003 (3) mode (speed mode with acceleration/deceleration)

d3.25

Analog2_Filter

Used to smooth the input analog signals. Filter frequency:

f=4000/(2π*

Analog1_Filter) Time Constant: T = Analog2_Filter/4000 (S)

d3.26

Analog2_Dead

Sets dead zone data for external analog signal 2

Set to 0

d3.27

Analog2_Offset

Sets offset data for external analog signal 2

Set to 0

d3.31

Analog_Torque_Factor

Sets the proportion between analog signals and output torque (current)

Set to 515

Page 67

d3.30

Analog_Torque_Con

Selects analog - torque channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode 4

Set to 2

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

Example 7-8: Analog – torque mode (setting the dead zone voltage and offset voltage)

Requirement: The offset voltage is 1V, and the dead zone voltage is 0.5V. The motor Kt is 0.48 Nm/A, and the peak current of the driver is 15A. The analog input voltage 10V corresponds to 0.64Nm. Select analog channel 2 (AIN2) to control the torque.

Fig. 7-13 Schematic diagram of Example 7-8

Calculate

filter

according to the offset voltage and dead zone voltage that require settings:

2047

10 10

filter

shift dead

v v U U





(In this example,

dead

U 

.5, and

shift

U 

)

Result:

filter

=1740

Calculate

demand

according to the required torque

demand



Page 68

Result:

demand

= 1.89

Calculate

Factor

according to

filter

and

demand

*2048*4096

demand

filter

Factor

U Ipeak



Result:

1.89 *2048*4096 606

1740*15

Factor 

Calculate

log2_Ana Dead

according to the required dead zone voltage:

8191

2_ *

dead

Analog Dead U



Result:

log2_Ana Dead

= 410

Calculate

log2_Ana Offset

according to the required offset voltage:

8191

2_ *

shift

Analog Offset U



Result:

log2_Ana Offset

=819

The following changes are required on the basis of Example 7-7.

Table 7-19 Parameter settings in Example 7-8

d3.26

Analog2_Dead

Sets dead zone data for external analog signal 2

Set to 410

d3.27

Analog2_Offset

Sets offset data for external analog signal 2

Set to 819

d3.31

Analog_Torque_Factor

Sets the proportion between analog signals and output torque (current)

Set to 2362

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop 10: Initializing all parameters for the control loop

Set to 1

7.4 Internal Multi-position Control Modes (“1” Mode)

In Internal multi-position control mode, we can activate internal set target position though an external signal to control motors. The activation has two preconditions: 1, multi-position control mode can only be activated in Mode 1, it can’t be activated in other modes. 2, At least one of the external input signal is defined as ―Internal position control 0‖, ―Internal position control 1 ― or ―Internal position control 2 ―, which means at least one address of digital tubes-d3.01 ~ d3.07 is set to

Page 69

―040.0‖’, ―080.0‖ or ―800.2. ―Internal position control 0‖ , ―Internal position control 1‖ and ―Internal position control 2 ―, these three signals will be combined into binary codes used to select a target position between ―Position 0~7‖.

Table 7-20 Internal Multi-position Control Mode Parameter Table

Note: In this control mode, ―position section X‖ can be positive or negative, it can be flexibly set; while the

corresponding speed must be positive. Other parameters such as acceleration, deceleration, etc, can use the default value; also can be changed through digital tube.

Example7-9: Internal multi-position control mode

A motor needs to go four position sections. In position section 0, it should reach the 5000 pulse location at the speed of 100RPM.In position section 1, it should reach the 15000 pulse location at the speed of 150RPM.In position section 2, it should reach the 28500 pulse location at the speed of 175RPM.In position section 3, it should reach the -105000 pulse location at the speed of 200RPM. In position section 4, it should reach the

-20680 pulse location at the speed of 300RPM. In position section 5, it should reach the -30550 pulse location at the speed of 325RPM. In position section 6, it should reach the 850 pulse location at the speed of 275RPM. In position section 7, it should reach the 15000 pulse location at the speed of 460RPM.

Table 7-21 Internal Multi-position Control Mode Demand

DIN1

The driver is enabled, the motor shaft is locked

Internal

position

control

Internal

position

control

Internal

position

control

Corresponding

position

Position section

numberic display

Corresponding

speed

Speed

section

numberic

display

0 0 0

Din_Pos0

d3.40select position section sequence number d3.41select position section high bit d3.42select position section low bit

Din_Speed0_RPM

d3.18

0 0 1

Din_Pos1

Din_Speed1_RPM

d3.19

0 1 0

Din_Pos2

Din_Speed2_RPM

d3.20

0 1 1

Din_Pos3

Din_Speed3_RPM

d3.21

1 0 0

Din_Pos4

Din_Speed4_RPM

d3.44

1 0 1

Din_Pos5

Din_Speed5_RPM

d3.45

1 1 0

Din_Pos6

Din_Speed6_RPM

d3.46

1 1 1

Din_Pos7

Din_Speed7_RPM

d3.47

Page 70

DIN3

Driver working mode（invalid 1，valid-3）

DIN4

Internal position 0

DIN5

Internal position 1

DIN6

Internal position 2

DIN6:DIN5:DIN4=0:0:0

Select position and speed in section 0

DIN6:DIN5:DIN4=0:0:1

Select position and speed in section 1

DIN6:DIN5:DIN4=0:1:0

Select position and speed in section 2

DIN6:DIN5:DIN4=0:1:1

Select position and speed in section 3

DIN6:DIN5:DIN4=1:0:0

Select position and speed in section 4

DIN6:DIN5:DIN4=1:0:1

Select position and speed in section 5

DIN6:DIN5:DIN4=1:1:0

Select position and speed in section 6

DIN6:DIN5:DIN4=1:1:1

Select position and speed in section 7

DIN6

Activate command（execute the selected

position section）

1. Define the meanings of the input points: Table 7-22 Internal Multi-position Control Mode Configuration

Numberic

display

Variable name

Configuration way

d3.01

Din1_Function

000.1（Driver enabled）

d3.03

Din3_Function

000.4（Set driver mode）

d3.04

Din4_Function

040.0（Internal position control 0）

d3.05

Din5_Function

080.0（Internal position control 1）

d3.06

Din6_Function

800.2 (Internal position control 2)

d3.07

Din7_Function

400.0（Activate command）

d3.16

Din_mode 0

Set 0001（1）Mode Internal multi-position control mode

d3.17

Din_mode 1

Set 0.004 (-4) Mode Pulse-control mode

d3.00

Storage parameters

1(Storage configuration parameters)

2. Set position and speed:

Table 7-23 Internal Multi-position and Speed Configuration

Numberic

display

Variable Name

Parameters Settings

d3.43

Relative / Absolute position selection

Set to 2F(absolute location)

d3.40

Set the position section number to 0

Set to 0（select position section 0）

d3.41

Set the high bit of position section （N*10000）

Set to 0

d3.42

Set the low bit of position section

Set to 5000（set the position of section 0 t0 5000）

Page 71

d3.18

Set the speed of section 0

Set to 100（ set the speed of section 0 to 100）

d3.40

Set the position section number to 1

Set to 1（select position section 1）

d3.41

Set the high bit of position section （N*10000）

Set to 1

d3.42

Set the low bit of position section

Set to 15000（set the position of section 1 t0 15000））

d3.19

Set the speed of position section 1

Set to 150（ set the speed of section 1 to 150）

d3.40

Set the position section number to2

Set to 2（select position section 2）

d3.41

Set the high bit of position section （N*10000）

Set to 2

d3.42

Set the low bit of position section

Set to 28500（set the position of section 2 t0 28500）

d3.20

Set the speed of position section 1

Set to 175（ set the speed of section 2 to 175）

d3.40

Set the position section number to 3

Set to 3（select position section 3）

d3.41

Set the high bit of position section （N*10000）

Set to 3

d3.42

Set the low bit of position section

Set to 10500（set the position of section 3 t0 10500）

d3.20

Set the speed of position section 3

Set to 200（ set the speed of section 3 to 200）

d2.10

Acceleration

Default 610 rps/s

d2.11

Deceleration

Default 610 rps/s

d3.00

Storage parameter

1 （ storage configuration parameters）

Set all these parameters, then：

1. Enable the driver, which means to make the digital input DIN1 high-level.

2. Select the position section, which means to change the electrical level of DIN4 and DIN5.

3. Activate instructions and execute the program, which means to make the digital input DIN6 high-level.

Notice: In multi-position control mode, select location method by setting the different value of the digital tube d3.43.If you choose absolute positioning mode, set it to ―F‖; if the instructions require immediate updating, set it

to ―2F‖; if you choose relative positioning method, set it to ―4F‖or ‖84F‖.To change these parameters

successfully, you have to save the value of d3.00,and then restart.

7.5 Internal Multi-speed Control Modes (“-3” or “3” Mode)

In this control mode, external input signals are used to activate the internally configured target speed to

control the motor. There are two prerequisites for activation:

1. Multi-speed control is available in the ―-3‖ or ―3‖ mode, and is unavailable in other modes.

Page 72

2. Set d3.28 to 0. In this case, the analog – speed channel is invalid.

3. At least one external input signal DinX_Function defines Bit8 or Bit9.

For example, define Din2_Function corresponding to Din2 as 010.0, and Din3_Function corresponding to Din3 as 020.0. In this way, the combination of the two above signals is used to choose any one of Din_Speed0_RPM, Din_Speed1_RPM, Din_Speed2_RPM or Din_Speed3_RPM as the target speed.

Table 7-24 Parameters for internal multi-speed control modes

Internal Speed Control 0 (Din_Sys.Bit8)

Internal Speed Control 1 (Din_Sys.Bit9)

Meaning

Numeric Display

Valid Object (numeric display operation)

0 0 Multi-speed control: 0 [rpm]

d3.18 Din_Speed0_RPM

1 0 Multi-speed control 1 [rpm]

d3.19 Din_Speed1_RPM

0 1 Multi-speed control 2 [rpm]

d3.20 Din_Speed2_RPM

1 1 Multi-speed control 3 [rpm]

d3.21 Din_Speed3_RPM

Note: If you need to set the target speed precisely, it is required to set Din_Speed0, Din_Speed1, Din_Speed2 and Din_Speed3 with a host computer. The four data units are internal units and are suitable for users who are familiar with drivers. Din_SpeedX_RPM indicates the data after converting Din_SpeedX into the unit of rpm to facilitate users. Conversion involves both the reading and writing processes, and does not require calculation by users.

Example 7-10: Internal multi-speed control

Requirement: You need to define the digital input ports DIN6 and DIN7 as internal speed control, DIN1

as driver enabling and DIN2 as operation mode control of the driver (the mode is ―3‖ when the driver is valid, and is ―-3‖ when the driver is invalid). For detailed requirements, see Table 7-25. For the setting method, see

Table 7-26.

Table 7-25 Requirements on internal multi-speed control

DIN6:DIN7=0:0

To execute the multi-step 1 speed (100 rpm)

DIN6:DIN7=1:0

To execute the multi-step 2 speed (200 rpm)

DIN6:DIN7=0:1

To execute the multi-step 3 speed (300 rpm)

DIN6:DIN7=1:1

To execute the multi-step 3 speed (400 rpm)

DIN1

To enable the driver, and lock the motor shaft

DIN2

To control operation modes of the driver (the mode is ―3‖ when the driver is valid, and is ―-3‖ when the driver is invalid)

Table 7-26 Setting methods for internal multi-speed control

Numeric Display

Variable Name

Setting Method

d3.01 Din1_Function

Set to 000.1 (Driver enable)

d3.02 Din2_Function

Set to 000.4 (control over operation modes of drivers)

d3.06

Din6_Function

Set to 010.0

Page 73

(internal speed control 0)

d3.07 Din7_Function

Set to 020.0 (internal speed control 1)

d3.16 Din_Mode0

Set to 0.003 (3) mode (speed mode with acceleration/deceleration)

d3.17 Din_Mode1

Set to 0.003 (-3) mode (instantaneous speed mode)

d3.18

Din_Speed0_RPM

Set to 100 [rpm]

d3.19

Din_Speed1_RPM

Set to 200 [rpm]

d3.20

Din_Speed2_RPM

Set to 300 [rpm]

d3.21

Din_Speed3_RPM

Set to 400 [rpm]

d3.00

Store_Loop_Data

Set to 1

7.6 Internal Torque Control Mode (“4” Mode)

In the internal torque mode, only the current loop of the driver operates. Set d0.03 (CMD_q target current) parameter directly to obtain the desired target torque. The prerequisite is that d3.30 must be set to 0. In this case, the analog–torque channel is invalid.

7.7 Homing Mode (“6” Mode)

1, Summary

To make a system execute positioning in accordance with its absolute positioning, the first step is to define the origin. For instance, as shown in the following XY plane, to navigate to (X, Y) = (100mm, 200mm), you must define the origin of the machine firstly. It’s necessary to define the origin.

2, Procedure of homing

Use the following steps to homing:

1. Set the external I / O parameters, and then save.

2. Set the data for homing, and then save.

3. Execute homing.

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3, Configuration of the data for homing

Here are simple descriptions of the data for executing homing.

CD has 27 methods for homing, referring the CANopen’s definition of DSP402. 1st-14th methods use Z signal as homing signal. 17th-30th methods use external signal as homing signal.

Method 1: Homing on the negative limit switch and index pulse

Using this method, the initial direction of movement is leftward if the negative limit switch is inactive (here shown as low). The home position is at the first index pulse to the right of the position where the negative limit switch becomes inactive.

Method 2: Homing on the positive limit switch and index pulse

Using this method, the initial direction of movement is rightward if the positive limit switch is inactive (here shown as low). The position of home is at the first index pulse to the left of the position where the positive limit switch becomes inactive.

0x607C0020

Home_Offset

Home offset

In Homing mode, set the offset relative to the zero point.

0x60980008

Homing_Method

Homing method

Select the homing method

0x60990120

Homing_Speed_Switch

Speed for searching the limit switch

Set the speed for searching the limit switch which defined as homing signal.

0x60990220

Homing_Speed_Zero

Speed for searching the Zero point.

Only valid when find Index signal.

0x60990308

Homing_Power_On

Homing when power on

Every time after power on,it will start homing once.

0x609A0020

Homing_Accelaration

Homing acceleration

Control the acceleration of homing

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Methods 3 and 4: Homing on the positive home switch and index pulse

Using methods 3 or 4, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or right of the pint where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Methods 5 and 6: Homing on the negative home switch and index pulse

Using methods 5 or 6, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

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Methods 7 to 14: Homing on the home switch and index pulse

These methods use a home switch that is active over only a portion of the travel; in effect the switch has a ―momentary‖ action as the axle position sweeps past the switch. Using methods 7 to 10, the initial direction of movement is to the right, and using methods 11 to 14, the initial direction of movement is to the left, except if the home switch is active at the start of motion. In this case, the initial direction of motion is dependent on the edge being sought. The home position is at the index pulse on either side of the rising or falling edges of the home switch, as shown in the following two diagrams. If the initial direction of movement leads away from the home switch, the drive must reverse on encountering the relevant limit switch.

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Methods 15 and 16: Reserved

These methods are reserved for future expansion of the homing mode.

Methods 17 to 30: Homing without an index pulse

These methods are similar to methods 1 to 14, except that the home position is not dependent on the index pulse; it is dependent only on the relevant home or limit switch transitions. For example, methods 19 and 20 are similar to methods 3 and 4, as shown in the following diagram:

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Methods 31 and 32: Reserved

These methods are reserved for future expansion of the homing mode.

Methods 33 and 34: Homing on the index

Method 35: Homing on the current position

In this method, the current position is taken to be the home position.

Methods -17 and -18: Use the mechanical terminal as reference point

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Example 7-11：Using method 7 for homing.

1. Set parameters.

Numberic display

Parameter Name

meaning

Setting Value

d3.01

Din1_Function

000.1: Driver enabled

000.2: Driver error reset

000.4: Operation mode

001.0:Positive limit

002.0:Negative limit

004.0:Origin signal

200.0:Start homing

000.1

（Driver enabled）

d3.02

Din2_Function

000.2

（Driver error reset）

d3.03

Din3_Function

000.4

（Driver model control）

d3.04

Din4_Function

200.0

（Start homing）

d3.05

Din5_Function

001.0

（Positive limit）

d3.06

Din6_Function

002.0

（Negative limit）

d3.07

Din7_Function

004.0

（Home signal）

d3.14

Dout4_Function

004.0:Index signal appears

004.0

(Index signal appears)

d3.15

Dout4_Function

040.0:Origin found

040.4

(origin found)

d3.16

Din_Mode0

Select this mode when the input signal is invalid

0.004 (-4)

d3.17

Din_Mode1

Select this mode when the input signal is valid

0.003 (-3)

d3.00

Store_Loop_Data

1：Storage all the setting

parameters except those of motor

10：Initialize all the setting

0001 (1)

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parameters except those of motor

At this time, computer software shows:

Notice: The positive and negative limits are default to normally closed point. Otherwise, the Panel will alarm and display P.L (positive limit) and N.L (No limit). Only when the alarm is eliminated, the origin control mode can be normally used. Computer monitoring status is：

2. Set parameters for homing.

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In common circumstance, only need to set up the model of origin and the rest of the parameters are default.

In some case, ―Electrify and then find the origin‖ is set to 1, at the same time the definition-- ―Start finding the origin‖ is eliminated.

3. Start homing.

(1). Enable motor, which means the digital input point 1 is set to high-level. The computer motoring picture is shown below:

(2). Send ―Start finding the origin‖ signal to motor, which means the digital input point 4 is set to high-level. The computer motoring picture is shown below:

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Note: ―Start finding the origin‖ signal is a pulse signal, requires only a rise, not need to always be on. If you

want to start next time, a rise pulse is enough. (4). After the external find the origin, computer monitoring picture is as follows:

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(5). Driver searches the Z phase signal in mode 7, and ultimately find the origin. Computer monitoring picture is shown as follows:

In mode 7, it is default to detect z phase signal after searching the origin decline along. Computer monitoring

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picture is shown as follows:

At this point, you have completed the origin search function, then the drive position is automatically set to zero, and the current position is default to origin. Computer monitoring picture is as shown:

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Chapter 8 Control Performance

8.1 Driver Performance Tuning

Fig. 8-1 Schematic diagram for control loop adjustment

As shown in Fig. 8-1, a typical servo system contains three control loops, namely, a position loop, a velocity loop, and a current loop.

Current loops are related to motor parameters (optimal parameters of the selected motor are default for the driver and no adjusting is required).

Parameters for velocity loops and position loops should be adjusted properly according to loading conditions.

During adjustment of the control loop, ensure that the bandwidth of the velocity loop is at least twice of that of the position loop; otherwise oscillation may occur.

8.1.1 Manual Adjustment

1. Parameters for velocity loop

Table 8-1 Parameters for velocity loop

Numeric Display

Variable Name

Meaning

Default Value

Range d2.01

Kvp

Sets the response speed of a velocity loop

100

0~32767

d2.02

Kvi

Adjusts speed control so that the time of minor errors is compensated

0~16384

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d2.05

Speed_Fb_N

Reduces the noise during motor operation by reducing the feedback bandwidth of velocity loops (smoothing feedback signals of encoders). When the set bandwidth becomes smaller, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to

"F = 500 Hz‖, you need to set the

parameter to 20.

45 0~45

Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsive bandwidth of the velocity loop also increases. The bandwidth of the velocity loop is directly proportional to the speed of response. Motor noise also increases when the velocity loop gain increases. If the gain is too great, system oscillation may occur. Integral gain of velocity loop Kvi: If the integral gain of the velocity loop increases, the low-frequency intensity is improved, and the time for steady state adjustment is reduced; however, if the integral gain is too great, system oscillation may occur. Adjustment steps: Step 1: Adjust the gain of velocity loop to calculate the bandwidth of velocity loop Convert the load inertia of the motor into the inertia Jl of the motor shaft, and then add the inertia Jr of the motor itself to obtain Jt = Jr + Jl. Put the result into the formula:

* * _

Vc_Loop_BW Kvp *

*204800000* 2*2

I K Encoder R





To calculate the bandwidth of the velocity loop

Vc_Loop_BW

according to the adjusted the gain of velocity loop Kvp, only adjust Kvi according to actual

requirements. Adjust the impact of Kvp and Kvi, as shown in Fig. 8-2. For the effect of Kvp adjustment, see the first to the fourth from left of Fig. 8-2. Kvp gradually increases from the first to the fourth from left. The value of Kvi is 0. For the effect of Kvi adjustment, see the first to the fourth from right of Fig. 8-2. Kvi gradually increases from the first to the fourth from right. The value of Kvp remains unchanged.

Left 1

Right 1

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Fig. 8-2 Schematic diagram of gain adjustment of velocity loop

Step 2: Adjust parameters for feedback filter of velocity loop

During gain adjustment of a velocity loop, if the motor noise is too great, you can properly reduce the parameter Speed_Fb_N for feedback filter of the velocity loop;

Left 2

Right 2

Left 3

Right 3

Right 4

Left 4

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however, the bandwidth F of the feedback filter of velocity loop must be at least three times of the bandwidth of velocity loop; otherwise oscillation may occur. The formula for calculating the bandwidth of feedback filter of velocity loop is F = Speed_Fb_N*20+100 (Hz).

2. Parameters for position loop

Table 8-2 Parameters for position loop

Numeric Display

Variable Name

Meaning

Default Value

Range

d2.07

Kpp

Indicates the proportional gain of the position loop Kpp

1000

0~16384

d2.08

K_Velocity_FF

0 indicates no feedforward, and 256 indicates 100% feedforward

256

0~256

d2.09

K_Acc_FF

The value is inversely proportional to the feedforward

7FF.F

32767~10

d0.05

Pc_Loop_BW

Sets the bandwidth of the position loops in Hz

N/A

Proportional gain of the position loop Kpp: If the proportional gain of the position loop increases, the bandwidth of the position loop is improved, thus reducing both the positioning time and following errors. However, too great bandwidth may cause noise or even oscillation. Therefore, this parameter must be set properly according to loading conditions. In the formula Kpp=103* Pc_Loop_BW, Pc_Loop_BW indicates the bandwidth of the position loop. The bandwidth of a position loop is less than or equal to that of a velocity loop. It is recommended that Pc_Loop_BW be less than Vc_Loop_BW /4 (Vc_Loop_BW indicates the bandwidth of a velocity loop).

Velocity feedforward of the position loop K_Velocity_FF: the velocity feedforward of a position loop can be increased to reduce position following errors. When position signals are not smooth, if the velocity feedforward of a position loop is reduced, motor oscillation during running can be reduced. Acceleration feedback of the position loop K_Acc_FF (adjustment is not recommended for this parameter): If great gains of position rings are required, the acceleration feedback K_Acc_FF can be properly adjusted to

improve performance.

* * _

K_Acc_FF

250000* 2* *

I K Encoder R





Note: K_Acc_FF is inversely proportional to the

acceleration feedforward. Adjustment steps: Step 1: Adjust the proportional gain of a position loop. After adjusting the bandwidth of the velocity loop, it is recommended to adjust Kpp according to actual requirements (or directly fill in the required bandwidth in Pc_Loop_BW, and the driver will automatically calculate the corresponding Kpp). In the formula Kpp = 103*Pc_Loop_BW, the bandwidth of the position loop is less than or equal to that of the velocity loop. For a common system, Pc_Loop_BW is less than Vc_Loop_BW /2; for the CNC system, it is recommended that Pc_Loop_BW is less than Vc_Loop_BW /4. Step 2: Adjust velocity feedforward parameters of the position loop.

Velocity feedforward parameters (such as K_Velocity_FF) of the position loop are adjusted according to position errors and coupling intensities accepted by the machine. The number 0 represents 0% feedforward, and 256 represents 100% feedforward.

3. Parameters for pulse filtering coefficient

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Table 8-3 Parameters for pulse filtering coefficient

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.37

PD_Filter

Used to smooth the input pulses. Filter frequency: f = 1000/(2π* PD_Filter) Time constant: T = PD_Filter/1000 Unit: S Note: If you adjust this filter parameter during the operation, some pulses may be lost.

1~32767

When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, this parameter must be adjusted to reduce motor oscillation; however, if the parameter adjustment is too great, motor running instructions will become slower.

8.1.2 Auto Adjustment (Only for Velocity Loops)

Auto adjustment is only available for velocity loops (see Section 8.11 for manual adjustment of position loops) when both forward rotation and reverse rotation of a motor are allowable, and the loadings do not change much during the operation. You can determine the total inertia of motor loadings through gain auto tuning, and then manually enter the desired bandwidth. The driver will automatically calculate appropriate Kvp and Kvi values. The motion curve is in the shape of a sine curve, as shown in Fig. 8-3.

Fig. 8-3 Speed curve

K_Load represents the internal data that displays the actual inertia of the system.

* * _ *16

62500* 2 *

I K Encoder R

K Load





In the above formula:

Ip represents the maximum peak output current in units of ―A‖; Kt represents the torque constant of the motor in units of ―Nm/Arms‖; Encoder_R represents the resolution of a motor encoder in units of ―inc/r‖; and

Jt represents the total inertia of the motor and loadings in units of ―kg*m^2‖.

Table 8-4 Parameters for controlling gain auto tuning

Numeric Display

Variable Name

Meaning

Default Value

Range d0.06

Tuning_Start

Auto tuning starts after the variable is set to

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11. All input signals are ignored during auto tuning. The variable is automatically changed to 0 after auto tuning is completed. Sets the variable to other values to end auto tuning.

d0.04

Vc_Loop_BW

Sets the bandwidth of the velocity loop in Hz. The variable can only be set after auto tuning is performed properly; otherwise the actual bandwidth goes wrong, which causes abnormal working of the driver. If the auto tuning result is abnormal, setting this parameter may also cause abnormal working of the driver. Note: This parameter cannot be applied when auto tuning is unavailable.

0~600

d2.17

K_Load

Indicates loading parameters

20~1500 0

d2.21

Sine_Amplitude

0~1000

d2.22

Tuning_Scale

It is helpful to reduce the auto tuning time by reducing the data, but the result may be unstable.

128

0~16384 d2.23

Tuning_Filter

Indicates filter parameters during auto-tuning

1~1000

Auto tuning is a process where the suitable and stable K_Load value is automatically calculated. In the auto tuning mode, the data of numeric display is automatically switched to the real-time display mode of K_Load data. When K_Load data gradually becomes stable, the driver automatically adjusts Kvp and Kvi data of a velocity loop, so that the actual bandwidth of the velocity loop is 50Hz. When K_Load data becomes stable, the driver automatically stops auto tuning operation; then you need to customize Vc_Loop_BW, representing the desired bandwidth of the velocity ring. Finally, run the test system in the actual environment, and save the parameters. Precautions:

1. Auto tuning applies when both forward rotation and reverse rotation of a motor are allowable, and the

loadings do not change much during the operation. When forward rotation or reverse rotation of the

motor is not allowable on a device, it is recommended to adjust the parameters manually.

2. During auto tuning operation, pulse signals, digital input signals, and analog signals of the external

controller are temporarily unavailable, so safety must be ensured.

3. Before auto tuning operation, it is recommended to properly adjust the Kvp, Kvi and Speed_Fb_N (a

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feedback filter parameter) values of the velocity loop to prevent visible oscillations when the system

works in the speed mode. If necessary, adjust the data of d2.03 notch filter to inhibit resonance.

4. The time for different load tuning varies, and generally a few seconds is required. The auto tuning time

can be reduced by presetting the K_Load value to a predicted value that is close to the actual value.

5. Vc_Loop_BW can be written only after successful auto tuning, otherwise the driver may work improperly.

After you write the desired bandwidth of the velocity loop in Vc_Loop_BW, the driver automatically

calculates the corresponding values of Kvp, Kvi and Speed_Fb_N. If you are dissatisfied with low-speed

smoothness, you can manually adjust Kvi. Note that auto tuning does not automatically adjust the data of

a notch filter. In the following circumstances, auto tuning parameters should be adjusted:

1. When the friction in a rotation circle of the motor is uneven, it is required to increase the amplitude of d2.21 sine wave to reduce the impacts caused by uneven friction. Note that d2.21 increases when the oscillation amplitude of the loadings increase.

2. If auto tuning lasts for a long time, initial evaluation of the total inertia is available. It is recommended to set K_Load to an evaluation value before auto tuning.

3. If auto tuning is unstable, the stability of auto tuning increases when d2.22 increases properly, but the time for auto tuning slightly increases.

In the following conditions, auto adjustment goes wrong. In this case, you can only set parameters manually:

1. The load inertia is featured by great fluctuation.

2. Mechanical connection rigidity is low.

3. Clearances exist in the connection between mechanical elements.

4. The load inertia is too great, while Kvp values are set too low.

5. If the load inertia is too great, K_Load data will be less than 20; if the load inertia is too little, K_Load data will be greater than 15000.

Operational steps:

1. Step 1: Press MODE to enter Group F002. Select the object addresses ―d2.01‖, ―d2.02‖ and ―d2.05‖ respectively for initial settings, so that no obvious oscillation occurs when the system works in the speed mode.

2. Step 2: Press MODE to enter Group F000. Select the object address ―d0.06‖, set the address to 11, and auto tuning starts.

3. Step 3: Press MODE to enter the parameter display status. During auto tuning, the content of numeric display is K_Load data in real time. Step 4: When K_Load data becomes stable, auto tuning is completed, and the value of ―d0.06‖ is automatically changed to 0.

4. Step 5: You need to customize the required bandwidth of the velocity loop Vc_Loop_BW. In this case, it is recommended to increase the bandwidth gradually, until the machine works in the optimum state. Finally, run the test system in the actual environment and save the parameters.

8.2 Oscillation Inhibition

If resonance occurs during machine operation, you can adjust a notch filter to inhibit resonance. If resonance frequency is known, you can directly set Notch_N to (BW-100)/10. Note that you need to set Notch_On to 1 to enable the notch filter. If you do not know exactly the resonance frequency, you can firstly set the max value of d2.14 current instruction to a low one, so that the oscillation amplitude is within the acceptable range; then try to adjust Notch_N to check whether resonance disappears.

If machine resonance occurs, you can calculate the resonance frequency by observing the waveform of the target current with the oscilloscope function of the driver.

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Table 8-5 Parameters for oscillation inhibition

Numeric Display

Variable Name

Meaning

Default Value

Ran ge

d2.03

Notch_N

100. For example, if the mechanical resonance frequency is F = 500 Hz, the parameter should be set to 40.

0~9 0

d2.04

Notch_On

Enable or disable the notch filter 0: Disable the notch filter 1: Enable the notch filter

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Chapter 9 Communication

A CD servo driver has the RS232 communication interface, which directly controls the working of the servo driver with the operation software of a host computer. If the servo driver needs to communicate with a Programmable Logic Controller (PLC) or other controllers via the free RS485 communication interface, an

RS232 to RS485 converter should be added on the driver side.

Fig. 9-1 Communication cables between a PC and a servo driver

9.1 Transport Protocol

The RS-232C communication of the CD servo driver strictly follows a master/slave protocol. The host computer can send any data to CD driver. The driver configured with ID No. will calculate such data and return a reply. Default communication settings for the CD servo driver are as follows: Baud rate = 38400 bps Data bits = 8 Stop bits = 1 No parity check This transport protocol uses a data packet with fixed length of10 bytes.

ID 8 byte data CHKS byte 0 byte 9

The baud rate can be changed by setting d5.02, after changing the value, it is necessary to set d2.00 or d3.00 to save it and reboot the system so that it will take effect. The transport protocol used by the RS-232 uses a data packet with fixed length of10 bytes.

ID CHKS8 byte data

byte 0 byte 9

ID is the ID No. of the slave CHKS =-SUM(byte0,…,byte8), CHKS is the last two digits of the calculation result. The host sends:

ID CHKS8 byte host data

byte 0 byte 9

The slave sends/The host receives:

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ID CHKS8 byte slave data

byte 0 byte 9

Note: Each 10-byte packet has its own CHKS. If the host sends an ID not existed in the network to the CD servo driver, no CD servo driver will make a reply. After the host sends the data correctly, the slave will find the data packets in compliance with its own ID and check the CHKS value. If the checksum does not match, the slave will not make a response.

9.2 Data Protocol

A data protocol is different from a transport protocol. It contains 8 bytes of all 10 bytes of the above RS-232. Definition of CD servo driver internal data complies with the CANopen international standard. All parameters, values and functions are expressed by index and subindex.

9.2.1 Download(from Host to Slave)

Download refers to that the host sends a command to write values into the objects in the slave, and the host generates an error message when the value is downloaded to a non-existent object. The host sends:

CMD

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

INDEX

SUB INDEX

DATA

CMD Specifies the direction of data transfer and the volume of data. 23(0x16) Sends 4-byte data (bytes 4...7 contain 32 bits) 2b(0x16) Sends 2-byte data (bytes 4, 5 contain 16 bits) 2f(0x16) Sends 1-byte data (bytes 4 contains 8 bits) INDEX Index in the object dictionary where data should be sent SUB INDEX Subindex in object dictionary where data should be sent In all four bytes in data, the lower-order bits are arranged before the higher-order bits. To write 600 RPM into ―Target Velocity‖ in the slave, the unit of 2FF00910 is rpm, 600 is in decimal system, and 258 is in hexadecimal system.Since the length of the object to be written is 4 bytes and the calculation result 02 58 has only 2 bytes,zero shall be filled to the higher-order bits. Therefore, the final result = 00 00 02 58. DATA: byte4=58 byte5=02 byte6=00 byte7=00 The slave answers:

RES

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

INDEX

SUB INDEX

RESERVED

RES: Displays slave response: 60(0x16) Data successfully sent 80(0x16) Error, bytes 4…7 contain error cause

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INDEX 16-bit value, same as that sent by the master SUBINDEX 8-bit value, same as that sent by the master RES Reserved for future use

9.2.2 Upload(From Slave to Host)

Upload refers to that the master sends a command to read object address in the slave and the master will generate an error if a non-existent target address is uploaded. The master sends:

CMD

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

INDEX

SUB INDEX

RESERVED

CMD Specifies the direction of data transfer 40(0x16) INDEX 16-bit value SUBINDEX 8-bit subindex RESERVED Bytes 4…7 not used The slave receives:

RES

byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7

INDEX

SUB INDEX

DATA

RES Displays slave response: 43(0x16) bytes 4...7 contain 32-bit data 4B(0x16) bytes 4, 5 contain 16-bit data 4F(0x16) byte 4 contains 8-bit data 80(0x16) error, bytes 4…7 contain error cause INDEX 16-bit value, same as that sent by the master SUBINDEX 8-bit value, same as that sent by the master If the data contains no error, byte 4…byte 7 save the object value read from the slave, with the lower-order bits arranged before the higher-order bits. Correct value = byte7, byte6, byte5, byte4. If there is an error, data contained in these four types is no longer object values read from the slave. For example: The master sends a ―upload‖ command to the slave: 01 40 F0 2F 09 58 02 00 00 3D (This command reads target velocity 2FF00910 from the slave) The slave answers: 01 4B F0 2F 09 58 02 00 00 32 Indicates: 01—Slave index is 1 4B – Received data contains 2 bytes, saved to byte 4…byte 5 in the 10 bytes of the response byte4=58, byte5=02, byte6=00, byte7=00 Then, DATA= byte7 byte6 byte5 byte4 = 0258(hex)= 600 rpm

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Chapter 10 Troubleshooting

10.1 Alarm Messages

Digital flickering on the display indicates that an alarm occurs indicating that the driver is faulty. For details about faults, see Table 10-1 ―Fault codes‖. A code of the alarm message is represented by a hexadecimal data, and four numeric displays appear. If the driver is faulty, the corresponding bits in the alarm

codes are set to ―1‖. For example, if an encoder is not connected, the 1

and 2nd bits of the faulty code are set

to ―1‖. As a result, ―0006‖ is displayed.

Table 10-1 Fault codes

1st bit in numeric display (left)

2nd bit in numeric display

3rd bit in numeric display

4th bit in numeric display (right)

10 9 8 7 6 5 4 3 2 1 0

EEPROM Error

Commutation

Reserved

Over Frequency

IIt Error

Logic Voltage

Following Error

Chop Resistor

Over Current

Low Voltage

Over Voltage

Over Temperature

Encoder Counting

Encoder UVW

Encoder ABZ

Internal

A maximum of 7 generated alarms can be stored in the driver. For details, enter the menu of Group F007. Press Enter. The interface of faulty codes is displayed. The errors that you first discovered are those that

have occurred most recently. Press ▲ or ▼ to browse the messages of historical alarms. If the decimal point

at the lower right corner in the second bit of the numeric display is on, it indicates that the earliest alarm message is just browsed; if the decimal point at the lower right corner in the third bit of the numeric display is on, it indicates that the latest alarm message is just browsed.

For details on error messages, you need to access PC software via a communication port to check the working status of the driver when an error occurs. Here are some messages of the driver for your reference:

1. Error codes;

2. Bus voltage when an error occurs;

3. Motor speed when an error occurs;

4. Motor current when an error occurs;

5. Driver temperature when an error occurs;

6. Working mode of the driver when an error occurs;

7. Accumulated working time of the driver when an error occurs;

8. Whether the current loop works when an error occurs; [0x0000 indicates that the power tube does not work, and 0x0077 indicates that the power tube is working]

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10.2 Alarm Causes & Troubleshooting

Alarm Code

Alarm Message

Alarm Cause & Troubleshooting

000.1

Internal

000.2

Encoder ABZ

The ABZ signal cable is disconnected. Check the cable.

000.4

Encoder UVW

The UVW signal cable is disconnected. Check the cable.

000.8

Encoder Counting

Interferences are suppressed.

000.6

Encoder Error

ABZ and UVW signals of the encoders incur error simultaneously. Check the cable.

001.0

Over Temperature

The driver temperature exceeds 75°C. Check whether the selected driver has enough power.

002.0

Over Voltage

The bus voltage of the driver exceeds the allowable range. Check the input voltage, or determine whether a braking resistor is connected.

004.0

Low Voltage

The voltage of the driver bus is below the allowable range. Check the input power.

008.0

Over Current

The power tube in the driver is faulty, or short circuit occurs on the phase line of the motor. Check motor wires. If the motor works properly, it can be judged that faults occur on the power tube in the driver.

010.0

Chop Resistor

The braking resistor or the braking components in the driver is faulty.

020.0

Following Error

Actual following error exceeds the allowable value. Check the feedforward value of the position loop and the maximum allowable error.

040.0

Logic Voltage

The logic voltage is lower than 18V. Check the logic power supply 24V.

080.0

IIt Error

The load is too high. Check the load, and calculate whether the motor power meets the requirements.

100.0

Over Frequency

The input pulse frequency exceeds the allowable maximum value. Check the input pulse frequency and the maximum permissible value of the frequency.

200.0

Reserved

The driver is reserved.

400.0

Commutation

If an encoder is loose, or some faults occur during the installation, it is suggested to return the faulty encoder to the manufacturer.

800.0

EEPROM Error

If an internal memory is faulty, it may be caused by updated programs, or by a faulty EEPROM loop. Return the faulty memory to the manufacturer.

Page 99

Chapter 11 Specification

11.1 Servo Drivers and Motors Selection Table

Page 100

100

11.2 Servo Driver

11.2.1 Technical Specification Table for Servo Driver