Parker FL20-S Series, Manual

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Page 2: ... that all performance endurance maintenance safety and warning requirements of the application are met The user must analyze all aspects of the application follow applicable industry standards and follow the information concerning the product in the current product catalog and in any other materials provided from Parker or its subsidiaries or authorized distributors To the extent that Parker or it...

Page 3: ...Hannifin Ltd Although every effort has been taken to ensure the accuracy of this document it may be necessary without notice to make amendments or correct omissions Parker Automation Wuxi cannot accept responsibility for damage injury or expenses resulting therefrom WARRANTY Refer to Parker Hannifin Manufacturing Limited Terms and Conditions of Sale These documents are available on request at www ...

Page 4: ...l modes Pr internal register position mode S speed mode Sr internal register speed mode Sz analog speed mode T torque mode Tr internal register torque mode Tz analog torque mode 2 Usage of backslash Backslash is used in the wiring diagram It describes the default logic of I O interface For input signal DI terminal balckslash means when input circuit is ON status the input signal is valid i e the d...

Page 5: ...1 1 INSTALLATION CONDITIONS 30 3 1 2 INSTALLATION PROCEDURE AND MINIMUM CLEARANCES 31 3 1 3 SERVO DRIVE DIMENSION 32 3 2 SERVO MOTOR INSTALLATION 38 3 2 1 INSTALLATION LOCATION 38 3 2 2 INSTALLATION CONDITIONS 38 3 2 3 PRECAUTIONS ON SERVO MOTOR INSTALLATION 39 3 2 4 SERVO MOTOR DIMENSION 40 IV WIRING 46 4 1 MAIN CIRCUIT WIRING 48 4 1 1 MAIN CIRCUIT TERMINALS 48 4 1 2 MAIN CIRCUIT TERMINAL WIRING ...

Page 6: ...F SERVO DRIVE AND SERVO MOTOR 75 V OPERATION AND PARAMETERS 77 5 1 KEYPAD DESCRIPTION 77 5 1 1 INSTRUCTION OF KEYPAD 77 5 2 KEYPAD OPERATING PROCEDURE 78 5 2 1 SWITCHOVER BETWEEN PARAMETER SECTION 78 5 2 2 PARAMETERS INSTRUCTIONS 79 5 3 KEYPAD OPERATING PROCEDURE 81 5 3 1 EXAMPLE OF MONITOR FUNCTION PARAMETER 81 5 3 2 EXAMPLE OF AUXILIARY PARAMETERS USAGE 82 5 3 3 PARAMETER SETTING 83 VI RUN 85 6 ...

Page 7: ... 7 FREQUENCY DIVISION OUTPUT FUNCTION 146 6 4 8 HOMESEARCHMODE 150 6 4 9MECHANICAL ORIGIN SEARCH FUNCTION 156 6 4 10 FIXED LENGTH INTERRUPT FUNCTION 158 6 4 11 DO OUTPUT RELATED TO POSITION PULSE 160 6 4 12 FULL CLOSED LOOP FUNCTION 161 6 4 13 GANTRY SYCHRON FUNCTION 165 6 4 14 ELECTRONIC CAM E CAM FUNCTION 168 6 5 DUAL MODE 179 6 5 1 USER PARAMETER SETTING 179 6 5 2 INTERNAL SPEED AND POSITION PU...

Page 8: ...GH SPEED COUNTER FUNCTION 198 6 7 1 OVERVIEW 198 6 7 2 HIGH SPEED COUNTING 198 6 8 BUILT IN PLC FUNCTION 204 6 8 1 SUMMARY 204 6 8 2 SERVO BUILT IN PLC SOFTWARE ACCESS AREA 205 6 8 3 BUILT IN PLC PROGRAM DESIGN 210 6 8 3 1 DATA MOVE INSTRUCTION 210 6 8 3 2 ARITHMETIC INSTRUCTION 211 6 8 3 3 LOGIC INSTRUCTION 219 6 8 3 4 PROGRAM CONTROL INSTRUCTION 223 6 8 4 BUILT IN PLC PARAMETERS 228 6 8 5 BUILT ...

Page 9: ...N FUNCTION GROUP PO 263 8 1 4 MOTOR FUNCTION GROUP HO 294 8 1 5 ALARM RECORD PARAMETERS HO2 HO3 296 8 1 6 HIGH SPEED COUNTER PARAMETERS PL 299 ⅨMAINTENANCE AND INSPECTION 314 9 1 ALARM AND TROUBLE SHOOTING AT START 314 9 1 1 POSITION CONTROL MODE 314 9 1 2 SPEED CONTROL MODE 316 9 1 3 TORQUE CONTROL MODE 317 9 2 ALARM CODE AND POSSIBLE CAUSE 318 9 3 ALARM DISPLAY TABLE AND TROUBLE SHOOTING 319 9 3...

Page 10: ...THERCAT COMMUNICATION CARD 337 12 1 1 INSTALLATION AND CONNECTION 339 12 1 2 HARDWARE LAYOUT 340 12 1 3 TOPOLOGY WAY 340 12 1 4 LED INDICATOR 341 12 1 5 DIAL SWITCH SW2 341 12 1 6 SERVO RELATED PARAMETER SETTING 341 12 2 CANOPEN COMMUNICATION CARD 342 12 2 1 INSTALLATION AND CONNECTION 343 12 2 2 HARDWARE LAYOUT 344 12 2 3 CAN BUS CONNECTION 344 12 2 4 CANOPEN BUS INTERFACE PINS 344 12 2 5 STATUS ...

Page 11: ...al operation precisely as described in this manual Do not remove the front cover cables connectors or optional items while the power is ON Do not damaged press exert excessive force or place heavy objects on the cables Do not change the max speed value Po002 except special purpose Failure to observe this warning may result in damaged to products Do not come close to the machine Immediate after res...

Page 12: ...bject to exposure to water oil or chemicals 7 Locations subject to shock or vibration Do not hold the product by the cables or motor shaft while transporting it Do not place any load exceeding the limit specified on the packing box Installation CAUTION Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Do not step on or place a heave object ...

Page 13: ...riate and sufficient countermeasures for each form of potential interference when installing systems in the following locations Locations subjects to static electricity or other forms of noise Locations subjects to strong electromagnetic fields and magnetic fields Locations subjects to possible exposure to radioactivity Repair or maintain the servo drive only after the CHARGE indication on the ser...

Page 14: ...t in brake unit B1 B3 Built in brake unit Dynamic brake unit Note M1 MM4 and above servo drives do not have built in resistor 3 phase 380V 152 202 752 552 452 302 113 223 183 153 373 303 1 5 KW 15KW 11KW 7 5 KW 5 5 KW 4 5 KW 3 KW 2 KW 37KW 30KW 22KW 18KW 3 phase 220V 302 452 3 KW 4 5 KW 201 401 182 122 102 751 0 2 KW 1 8 KW 1 2 KW 1 KW 0 75KW 0 4 KW M1 M2 M3 M2 M3 MM4 M4 M6 M5 S 2 T 2 1 phase220V ...

Page 15: ...en Fig 2 1 2 Optional function naming rule Parker Hannifin Corporation www Parker com Model Input AC 3 PH V 50 60 Hz Output 3 PH A 0 V 0 400Hz FL20 S T M BAR CODE Function code F11D B3 AC Matched motor FMMA F 202 3 3 5 380 6 380 202 67ED Fig 2 1 3 Servo Drive nameplate ...

Page 16: ...trol Circuit terminal Braking resistor terminal Used to connect resistor Please refer to 6 1 7 DC choke terminal Please refer to Fig 4 1 Servomotor terminal Operator Panel Serial communication connector CN1 PC PLC CNC and other host controller Please refer to 10 1 Encoder connector CN2 Please refer to Fig 4 2 I O signal terminal CN3 Ground terminal Be sure to connect to protect against electrical ...

Page 17: ...aking type External braking resistor Built in braking resistor b 380V 400V servo drive Name M2 M3 MM4 M4 M5 M6 Servo drive FL20 S 102 152 202 302 452 552 752 113 153 183 223 303 373 Continuous output current Arms 3 3 5 6 0 8 0 10 0 12 0 20 23 32 38 44 60 75 Max output current Arms 8 4 9 8 16 19 2 28 33 56 64 80 95 110 150 187 Power of main circuit 1 phase 3 phase AC 380V 10 10 50 60Hz Power of con...

Page 18: ...oder signal frequency division output 1 Encoder Z phase open collector output 2 Encoder signal output A B Z Line Driver frequency division output 3 Z pulse time extend function Position control Input mode 1 A phase B phase 2 Forward pulse Reverse pulse 3 Pulse Direction 4 Internal register Electronic gear 1 0 01 B A 100 2 Two groups electronic gear can be selected by users Analog speed control 10V...

Page 19: ...tional accuracy 1 command unit Input signal Pulse form Select one from direction pulse or 90 phase difference orthogonal pulse or forward pulse reverse pulse Input form Differential input open collector input Input pulse frequency 1 Optocoupler input Differential driver max frequency is 500KHZ Collector driver max frequency is 200KHZ 2 Differential chip input the max frequency is 4MHZ Electronical...

Page 20: ...ervo Motor 24V power supply Used to protect power wire RS 485 communication interface MODBUS PC PLC PLC CNC command controller For electromagnetic brake motor Encoder interface Optional Optional Optional Optional This connection is forbidden for 380V 3 phase option Fig 2 1 5 Servo drive system Note For 220V input servo drive L1C and L2C should be connected to power supply For 380V input servo driv...

Page 21: ...coder 4 core 23 bit incremental encoder 4 core 17 bit absolute encoder 4 core23 bit absolute encoder Fig 2 2 1 Servo motor naming rule for 180 flange and below 180 flange motor FM 17 0110 E R 6 F E D L S L N F By fan By air D Shaft with keyway Brake E No brake Bus voltage 6 600V Flange size F E 180 250 1700 rpm 17 Rated speed 1500 rpm 15 2000 rpm 20 Motor series FM Servo motor R F H S T G Rated po...

Page 22: ...etic synchronous servo motor 17 0110R6EEDFL Un 380V Tn 64N m Fan voltage 220V Pn 11kw Nn 1700r min No TH CI F IP54 In 23A Date FM Fig 2 2 4 Servo motor naming rule for 180 spigot and 250 spigot motor note 1 Please refer to the chapter in the 3 2 4 servo motor dimension for flange dimension 2 11KW and above 11kw servo motor can be mounted by flange and base user can choose mounting method according...

Page 23: ...3000 10 15 5 24 2 FMM series 2000 r min FMMA 801 35 800 4 3 5 6 9 FMMA 851 37 850 4 4 10 8 FMMA 102 37 1000 5 5 12 2 FMMA 122 35 1200 6 5 10 1 FMMA 132 37 1300 6 6 15 FMMA 152 37 1500 7 7 7 5 18 2 FMMA 202 37 2000 10 10 24 2 FMMA 312 37 3100 15 14 34 9 FMMA 352 3A 3500 17 2 16 55 3 FMM series 1500 r min FMMB 122 37 1200 7 7 5 18 2 FMMB 152 37 1500 10 6 24 2 FMMB 232 37 2300 14 6 10 34 9 FMMB 272 3...

Page 24: ...0 4 3 10 8 FMMA 102 67 1000 5 3 12 2 FMMA 122 65 1200 6 3 5 10 1 FMMA 132 67 1300 6 3 5 15 FMMA 152 67 1500 7 7 4 5 18 2 FMMA 202 67 2000 10 5 5 24 2 FMMA 312 67 3100 15 9 34 9 FMMA 352 6A 3500 17 2 8 55 3 FMMA 452 6A 4500 21 5 10 74 8 FMMA 602 6A 6000 27 14 84 8 FMMA 802 6A 8000 35 18 119 5 FMMA 103 6A 10000 48 24 133 FMM series 1500 r min FMMB 122 67 1200 7 7 4 18 2 FMMB 152 67 1500 10 4 24 2 FM...

Page 25: ... 21 135 43 2 FM15 0240 6EE FL 24 152 46 7 FM15 0290 6FE FL 29 185 57 5 FM15 0350 6FE FL 35 225 71 7 FMM series 1700 r min FM17 0075 6EE FL 7 5 42 13 7 FM17 0092 6EE FL 9 2 52 18 FM17 0110 6EE FL 11 64 23 FM17 0140 6EE FL 14 80 29 2 FM17 0180 6EE FL 18 102 38 5 FM17 0210 6FE FL 21 118 45 FM17 0240 6EE FL 24 135 48 5 FM17 0270 6EE FL 27 152 57 5 FM17 0330 6FE FL 33 185 68 FMM series 2000 r min FM20 ...

Page 26: ...1 FMSA 751 33 750 FL20 S751S2M1 FL20 S751T2M1 FMSA 102 33 1000 FL20 S102S2M2 FL20 S102T2M2 FMSA 122 35 1200 FL20 S122S2M2 FL20 S122T2M2 FMSA 152 37 1500 FL20 S182S2M2 FL20 S182T2M2 FMSA 182 35 1800 FMSA 232 37 2300 FL20 S302T2M3 FMSA 302 37 3000 FL20 S452T2M3 FMM series 2000r min FMMA 801 35 800 FL20 S102S2M2 FL20 S102T2M2 FMMA 851 37 850 FMMA 102 37 1000 FL20 S122S2M2 FL20 S122T2M2 FMMA 122 35 12...

Page 27: ...00 FL20 S202T3M3 FMSA 152 67 1500 FMSA 182 65 1800 FMSA 232 67 2300 FL20 S302T3M3 FMSA 302 67 3000 FL20 S302T3M3 FMM series 2000r min FMMA 801 65 800 FL20 S102T3M2 FMMA 851 67 850 FMMA 102 67 1000 FMMA 122 65 1200 FL20 S152T3M2 FMMA 132 67 1300 FMMA 152 67 1500 FL20 S202T3M3 FMMA 202 67 2000 FMMA 312 67 3100 FL20 S452T3M3 FMMA 352 6A 3500 FMMA 452 6A 4500 FMMA 602 6A 6000 FL20 S752T3MM4 FMMA 802 6...

Page 28: ... 6EE FL 29000 FM15 0350 6EE FL 35000 FL20 S373T3M6 FMM series 1700r min FM17 0075 6EEDFL 7500 FL20 S752T3MM4 FM17 0092 6EE FL 9200 FL20 S113T3MM4 FM17 0110 6EE FL 11000 FM17 0140 6EE FL 14000 FL20 S153T3M4 FM17 0180 6EE FL 18000 FL20 S183T3M5 FM17 0210 6EE FL 21000 FL20 S223T3M5 FM17 0240 6EE FL 24000 FL20 S303T3M6 FM17 0270 6EE FL 27000 FM17 0330 6EE FL 33000 FL20 S373T3M6 FMM series 2000r min FM...

Page 29: ...ructure and above servodrive doesn t have built in resistor customer should purchase braking resistor separately 2 R means resolver F means 14 core 2500ppr incremental encoder G means 8 core 2500ppr incremental encoder H means 4 core 23 bit incremental encoder S means 4 core 17 bit absolute and T means 4 core 23 bit absolute 3 means shaft type and brake type please refer to the chapter of servo mo...

Page 30: ...alt contented etc Altitude 1000m or below Atmospheric pressure 86kPa 106kPa Operating temperature 10 40 Storage temperature 20 60 Humidity Below 90 no water bead coagulation Vibration Strength Below 0 5G 4 9m s2 10 60Hz Discontinuous IP rating IP20 Power system TN system Note Note TN system A power distribution system having one point directly earthed the exposed conductive parts of the installati...

Page 31: ...is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the servo drive 20mm 20mm 50mm 50mm Servo Dri ve Fig 3 1 1 Minimum clearances for single drive 5V 330Ω PULS 44 15 PULS 伺服驱动器侧 指令控制器侧 100 1 4W Fig 3 1 2 Minimum clearances for more drives ...

Page 32: ...FL20 S Series 32 3 1 3 Servo drive dimension M1 structure unit is mm Fig 3 1 3 Servo drive structure 1 M2 structure unit is mm Fig 3 1 4 Servo drive structure 2 ...

Page 33: ...FL20 S Series 33 M3 structure Fig 3 1 5 Servo drive structure 3 ...

Page 34: ...FL20 S Series 34 MM4 structure 28 3 34 120 203 75 336 150 336 150 25 324 0 5 100 0 5 Appr ox m ass 7 5kg Fig 3 1 6 Servo drive structure 4 ...

Page 35: ...FL20 S Series 35 M4 structure Approx mass 10 365 kg Fig 3 1 7 Servo drive structure 5 ...

Page 36: ...FL20 S Series 36 M5 structure Approx msaa 11 1Kg Fig 3 1 8 Servo drive structure 6 ...

Page 37: ...FL20 S Series 37 M6 structure Approx mass 17 4Kg Fig 3 1 9 Servo drive structure 7 ...

Page 38: ... motor away from heat sources such as heating stove 4 Never use the servo motor in an enclosed environment Working in the enclosed environment will lead to high temperature of the servo motor which will shorten its service lift 3 2 2 Installation conditions Environment conditions Equipment location Prevent tangy caustic gases and flammable gases Altitude 1000m or below Atmospheric pressure 86kPa 1...

Page 39: ...ated condition When servo motor is installed vertically be sure that oil will not stay in the oil seal lips Cable stress Make sure there are no bends or tension on the power cables Be especially carefully to wire signal cables so that they are not subject to stress because the core wires are very thin at only 0 2 to 0 3mm Connectors Observe the following precautions Make sure there is no foreign m...

Page 40: ...ion between shaft front face and shaft shoulder Tolerance grade not noted refer to GB T 1804 2000 M 4 core supply plug 15 core incremental encoder plug 7 core absolute encoder plug 3 2 1 Dimension of servo motor Model L mm L mm With brake Weight Kg Remarks FMSA 201F S32 130 5 162 5 1 2 The screw hole size is M4 X 12 FMSA 401F S32 163 195 1 6 ...

Page 41: ...e incremental encoder plug 7 core absolute encoder plug Outgoing cable length is600mm The dimension between shaft shoulder and motor front face flange termination is only reference it is forbidden to be used as datum reference If user needs this data please contact with Manufacturer 3 2 2 Dimension of servo motor Model L mm L mm With brake Weight Kg Remarks FMSA 751 3 192 231 2 8 The screw hole si...

Page 42: ...datum reference If user needs this data please contact with Manufacturer Dimension between shaft front face and shoulder Tolerance grade not noted refer to GB T 1804 2000 M Waterproof rubber cover of aviation plug 3 2 3 Dimension of servo motor Model L mm L mm With brake Weight Kg Remarks FMSA 122 5 FMMA 801 5 250 290 6 5 The screw hole size is M6 X 25 FMSA 182 5 FMMA 122 5 280 320 8 ...

Page 43: ...ds this data please contact with Manufacturer Waterproof rubber cover of aviation plug Tolerance grade not noted refer to GB T 1804 2000 M 3 2 4 Dimension of servo motor Model L mm L mm With brake Weight Kg Remarks FMMA 851 7 FMSA 152 7 FMMA 102 7 230 275 7 The screw hole size is M6 X 25 FMMA 132 7 238 283 7 7 FMSA 232 7 FMMA 152 7 FMMB 122 7 251 296 8 FMSA 302 7 FMMA 202 7 FMMB 152 7 FMLA 102 7 2...

Page 44: ...aviation plug Brake connector 3 2 5 Dimension of servo motor Model L without brake mm Weight Kg L with brake mm L1 without brake mm L1 with brake mm Remarks FMMA 352 A FMMB 272 A 300 18 382 149 5 175 5 The screw hole size is M10 X 30 FMMA 452 A FMMB 302 A 320 20 402 149 5 175 5 FMMA 602 6A FMMB 432 A FMLA 292 A 332 23 414 149 5 175 5 FMMA 802 6A FMMB 552 A FMLA 372 A 370 29 452 149 5 175 5 FMMA 10...

Page 45: ... 4 5 53 14 90 185 128 147 160 240 294 13 266 356 396 Stand spigot T 100 C 68 84 96 130 147 160 196 220 275 330 380 428 481 52 64 80 102 118 135 152 185 225 270 307 324 385 Stand spigot E E E E E E E F F F F F F L4 mm 285 312 354 396 436 478 520 317 370 423 476 529 583 L5 mm 397 429 471 513 555 597 619 511 5 560 5 609 5 658 5 707 5 756 5 Motor rated torque Nm T 65 C Motor rated torque Nm 46 42 E 26...

Page 46: ... signal terminal FPGA A D PG U V W PE Position pulse command input Differential bus Optical Isolation CN1 Serial Communication P C PLC or other progra mmable controllers Out phase detecting Dynamic braking circuit Fan circuit 24V N L1C L2C PE Three phase power supply EMI Filter Fig 4 1 1 Servo system block diagram D A Keypad panel Manual power off Self lock contactor KM1 Optical Isolation Differen...

Page 47: ...al FPG A A D PG U V W PE Position pulse command input Differential bus Optical Isolation CN1 Serial Communication P C PLC or other progra mmable controllers Out phase detecting Fan circuit 24V PE Three phase power supply EMI Filter Fig 4 1 2 Servo system block diagram D A Keypad panel Manual power off Self lock contactor KM1 Optical Isolation Differential bus Analog speed command input Analog torq...

Page 48: ...terminal Normally short connect N and N If a countermeasure against power supply harmonic is needed connect a DC choke between N and N terminals U V W Servo motor output Used to connect to servo motor Ground terminal Used to connect to the grounding 2 Main circuit terminals of 380V servo drive Terminal identification Terminal description Functions R L1 S L2 T L3 Main circuit terminal Used to conne...

Page 49: ...tion procedure 1 Strip the end of the wire about 5 6mm 2 Use a supplied lever or a standard flat blade screwdriver blade width of 3 0 to 3 5 mm Put them into the slot and press down firmly to open the wire terminal 3 Insert the wire core into the opening and then close the opening by releasing the lever or removing the screwdriver Press down firmly Press down firmly Fig 4 1 3 Connection procedure ...

Page 50: ...g 4 1 4 Typical main circuit wiring of 220V servo drive Note 1 Built in resistor is default and B2 and B3 terminal is short circuit If external resistor is used please remove the short cable between B2 and B3 and then connect external resistor between B1 and B2 2 RLY Alarm signal output relay 3 KM1 Contactor connect or disconnect to main circuit power supply through manual switch 4 If absolute enc...

Page 51: ...r T L3 Fig 4 1 5 Typical main circuit wiring of 380V servo drive Note 1 Built in resistor is default and B2 and B3 terminal is short circuit If external resistor is used please remove the short cable between B2 and B3 and then connect external resistor between B1 and B2 2 RLY Alarm signal output relay 3 KM1 Contactor connect or disconnect to main circuit power supply through manual switch 4 N DC b...

Page 52: ...t bending radius of cable is more than 10 times of outer diameter to prevent cable core break 7 Don t put power cable and signal cable in one pipe or bundle them together Distance of the two cables should be more than 30cm to avoid interference 8 Servo drive remains high voltage after power off don t touch power terminal for 5 minutes 9 Please select earth wire with same area of main circuit 10 Pl...

Page 53: ...h and needs to connet additional cable cable shielding layer must be also connected to ensure reliable shielding and grounding 4 2 1 Absolute encoder connector terminal layout CN2 Encoder Connector Terminal Layout is as shown in figure 4 2 1 1 2 3 4 5 6 7 8 9 Fig 4 2 1 Absolute Encoder Connector Terminal Layout Table 4 2 1 Encoder connector terminal Terminal code Terminal abbreviation Signal name ...

Page 54: ...otor temperature sensor Power of motor temperature sensor CN2 3 KTY Signal of motor temperature sensor Signal of motor temperature sensor CN2 4 NC No connection No connection CN2 5 RE1 Resolver signal stimulus Connect to servo motor signal stimulus CN2 6 COS Resolver differential signal Connect to servo motor differential signal CN2 7 COS Resolver differential signal Connect to servo motor differe...

Page 55: ...der Z phase CN2 4 B Encoder B phase input Connect to motor encoder B phase CN2 5 A Encoder A phase input Connect to motor encoder A phase CN2 6 V Encoder V phase input Connect to motor encoder V phase CN2 7 U Encoder U phase input Connect to motor encoder U phase CN2 8 Z Encoder Z phase input Connect to motor encoder Z phase CN2 9 B Encoder B phase input Connect to motor encoder B phase CN2 10 A E...

Page 56: ...28 PL1 D01 Encoder pulse frequency division output GND AGND 40 HPULS HSIGN GND High speed Pulse position command 3 4 HPULS 6 5 HPULS HSIGN HSIGN 24 GND Position pulse mode Analog speed 10 to 10v External torque limit 23 AS1 AS2 25 24 GND GND 24 Lowpass filter A Dconvert Analog speed mode torque mode D04 37 CM 24V 29 CM 30 24V Command receiver DC 5V 24 V 30 AO1 1 AGND 40 14 40 AO2 AGND Lowpass filt...

Page 57: ...2 I O signal connector terminal layout 1 3 5 7 9 11 13 15 17 19 21 23 25 AO1 GP HPULS HPULS HSIGN HSIGN ALM ALM DO1 DO1 DO2 SIGN DI8 2 4 6 8 10 12 14 16 18 20 22 24 PZO PZO DI1 DI2 DI3 DI5 DI4 AS1 GND AS2 DO2 SIGN 27 29 31 33 35 36 37 38 39 44 34 32 DO4 DO4 PBO PBO PAO PAO ZO DI7 AGND DO3 DO3 DI6 26 28 30 40 41 43 AO2 PULS PL1 24V CM 42 PL2 PULS ...

Page 58: ...N3 28 Pulse direction input 24V PL2 CN3 43 Pulse command input 24V GND CN3 24 Signal reference terminal An output circuit for the reference pulse or symbol signal at the host controller can either be differentialdrive output or OC output Pulse Max frequency Remarks Low speed Differential 500K 5V or 24V command OC 200K High speed Differential 4M 5V command 1 Low speed pulse command input a Differen...

Page 59: ...ential pulse input interface circuit b Single end drive The types of single end drive include collector drain input emitter source input and push pull input and so on The input types of differential signal have a better anti jamming than single end drive and the transmission distance of single end drive is shorter 5V 330Ω PULS 44 15 PULS Servo drive Command controller 100 1 4W Fig 4 3 5 5V open co...

Page 60: ...stor is not connected which leads to port damaged Servo drive 24V dc 44 43 PL2 PULS 150R 15 PULS 12 28 PL1 SIGN 150R 27 SIGN External 0 V Two errors are as below 1 If 24V internal servo drive is not used please connect it to external resistor 2 if 24V internal servo drive is used please connect to 43 28 pin Error 2 When SIGN signal is not connected direction can not be converted ...

Page 61: ...ries 61 Servo drive 24V dc 44 43 PL2 PULS 150R 15 PULS 12 28 PL1 SIGN 150R 27 SIGN 0V SIGN signal is not connected direction can not be converted Error 3 there is no loop when 24V internal servo drive is used ...

Page 62: ... output to servo drive by differential drive GND GND 4 3 HPULS HPULS 5 6 HSIGN HSIGN 24 Upperdevice Servo drive Fig 4 3 10 High speed differential signal Please make sure differential input voltage is 5V otherwise servo drive receives pulse unsteadily or servo drive internal device will be damaged Please make sure the 5V power grounding is connected to GND otherwise the following situation will ...

Page 63: ... AS2 resolution is 12 bits The voltage value is set byPo400 Po401 Input voltage range 10V 10V resolution is 12 bits Max voltage is 12V Input resistor is about 50KΩ 25 AS2 AS1 23 24 GND GND 24 Lowpass filter A D covert 10V 10V 10V 10V Lowpass filter Fig 4 3 11 Analog input interface circuit 4 3 3 Analog output signal and functions SERVO DRIVE D A 1 24 AO1 AGND V SERVO DRIVE D A 14 24 AO2 AGND V Fig...

Page 64: ...32 DO4 CN3 31 ALM CN3 7 ALM CN3 8 Signal name Pin No Function Internal 24V 24V CN3 29 24V power supply range is 20V 30V CM CN3 30 Reference terminal 1 Digital input circuit DI1 DI8 input terminals circuit is bidirectional photocoupler isolating circuit The common terminal of photocoupler is GP terminal which is used to connect to power supply or grounding for power supply Please refer to fig 4 4 1...

Page 65: ...r GP DI1 3 3K GP 24VDC DI1 Controller Servo Drive NPN type PNP type Fig 4 3 14 active contactor interface circuit 2 Digital output circuit The output signal ALM and DO1 DO4 adopts photocoupler of Darlinton output which has strong ability for drive and can drive small relay directly It can drive heavier load by driving photocoupler The max current should not be higher than 50mA 1 Relay output DC24V...

Page 66: ...el between the load If the freewheel diode is connected inversely servo drives will be damaged 2 Photocoupler isolating output 24VDC 3 3K Servo drive Command controller 24 VDC 3 3K Servo drive Command controller PNP type NPN type Fig 4 3 17 Photocoupler output interface circuit Note 1 Match usage of power supply and current limiting resistor make external photocoupler on state 2 Max allowable volt...

Page 67: ...ence terminal Frequency division circuit in the servodrive processes encoder input signal by the mode of frequency division which is output by differential bus mode Interface circuit includes high speed photocoupler interface and differential chip interface Take the example of encoder A phase pulse frequency division output Servo drive High speed photocoupler PAO 36 35 PAO Controller Fig 4 3 18 Ph...

Page 68: ...ace instruction The RS485 communication interface is in the connector CN1 Fig 4 3 2 CN1 connector terminals 1 2 3 4 5 6 Terminal Name Function CN1 1 VCC 5V power CN1 2 RS232 RXD Receiver terminal of RS232 CN1 3 B Differential output CN1 4 GND Reference terminal CN1 5 RS232 TXD Transmission terminal of RS232 CN1 6 A Differential output ...

Page 69: ... OFF 1 Wiring diagram of more than one 220V servos Alarm relay RLYCommon open contact ContactorKM1 Common open contact KM1 L 1 L 2 L 3 L 1 C L 2 C QF breaker AC three phase 220V power supply ALM ALM 24V RLY Servo drive CN3 Contact KM1coil Manual power ON Filter L 1 L 2 L 3 L 1 C L 2 C ALM ALM CN3 L 1 L 2 L 3 L 1 C L 2 C ALM ALM CN3 0V FIL Servo drive Servo drive Manual power OFF Alarm relay Fig 4 ...

Page 70: ...n open contact KM1 R L1 QF breaker AC three phase 380V power supply ALM ALM 24V RLY Servo drive CN3 Contact KM1coil Manual power ON Filter ALM ALM CN3 ALM ALM CN3 0V FIL Servo drive Servo drive Manual power OFF Alarm relay S L2 T L3 R L1 R L1 S L2 T L3 S L2 T L3 Fig 4 3 23 Wiring diagram of more than one 380V servos ...

Page 71: ...ta exceeds lower limit 65535 of reverse direction User can read absolute position when motor is standstill by MODBUS please refer to 10 1 3 then motor real time position can be got by PG frequency division output pulse count 1 Battery usage Please install battery cell in order to save position data of absolute value encoder Please purchase Parker special cable and battery box of manufacture Batter...

Page 72: ... voltage protection servo drive can only be reset by setting HOME 2 If user wants to shield AL 24 alarm please set So 38 to 0 reset encoder alarm by So 43 and reset servo drive by hold pressing reset key 4 4 Servo drive and servo motor wiring 4 4 1 Encoder wiring 1 Absolute encoder layout Table 4 4 1 Absolute encoder pulg layout No Name Function 1 PE Grounding 2 VCC Encoder power 3 GND Encoder pow...

Page 73: ...U phase 7 U Encoder U phase 8 V Encoder V phase 9 V Encoder V phase 10 W Encoder W phase 11 W Encoder W phase 12 VCC Encoder power 13 GND Encoder grounding 14 Z Encoder Z phase 15 Z Encoder Z phase 16 KTY Motor thermistor signal 180 flange and above servo motor has 16 17 pin other servomotor doesn t have the pin Note servodrive doesn t support the function 17 KTY Motor thermistor signal 3 Resolver...

Page 74: ...rential signal 14 RE1 Resolver excitation signal 15 RE2 Resolver excitation signal Table 4 4 5 10 core encoder aviation plug No Name Function 1 RE1 Resolver excitation signal 2 RE2 Resolver excitation signal 3 COS Resolver differential signal 4 COS Resolver differential signal 5 SIN Resolver differential signal 6 SIN Resolver differential signal 7 KTY Motor thermistor signal 8 KTY Motor thermistor...

Page 75: ...ower AMP plug V W U PE Name Cable color Function U Yellow Drive input V Blue Drive input W Red Drive input PE Yellow green black Grounding b 4 core power aviation plug No Name Function 1 PE Grounding 2 U Drive input 3 V Drive input 4 W Drive input c Braking cable plug 1 2 4 3 ...

Page 76: ...FL20 Series 76 1 2 No Name Function 1 DC 24V 2 DC 24V Plug No Name Function 1 DC 24V 2 DC 24V 3 None 1 2 3 ...

Page 77: ...ue 2 Continuously pressing UP key for 0 5s to increase setting value slowly 3 Continuously pressing UP key for 1s to increase setting value rapidly 4 Used to forward start in jogging run DOWN DOWN key 1 Pressing DOWN key to decrease the display value 2 Continuously pressing UP key for 0 5s to decrease setting value slowly 3 Continuously pressing UP key for 1s to decrease setting value rapidly 4 Us...

Page 78: ...er section MODE MODE Built in PLC parameter and CAM area Press MODE key Press MODE key Press MODE key Press MODE key Fig 5 2 1 Switchover between parameter section After main circuit is powered on servo status display So 09 is displayed in the keypad the Mfr s value of which is servo output speed The display content will switch among monitor function section Lo auxiliary function section So main f...

Page 79: ...speed given 1 is 1000r min the display content is The unit is 0 1 r min The quoting mode is Po113 1000 Ex 2 Po114 internal speed given 2 is 1000r min the display content is The unit is 0 1 r min The quoting mode is Po114 1000 Note if all decimal points are lit the current value is negative value Two parameters mode d Two parameters mode means every two digits except the first digit is an adjustabl...

Page 80: ... SET SET Input source of control mode and control command Speed Position Torque Setting range Setting unit Mfr s value When Enabled Po001 Two parameters N A 1 0 After restart Name Parameter scope Parameter Indicates setting range for the parameter The unit of parameter Indicates parameter value before shipment Factory setting Indicates if the power has to be turned OFF and ON again to validate set...

Page 81: ...n Status display Input terminal DI8 DI5 status monitor Press UP key Up to Lo 14 Press SET key to 0 5s No terminal ON MODE Press MODE key External DI5 terminal is ON The status of terminal DI5 has changed The status of terminal DI5 has changed again Terminal DI5 is OFF Return to Lo 14 MODE Monitor Mode Press MODE key Fig 5 3 1 Monitor terminal status mode ...

Page 82: ...ction Press UP key Up to So 14 JOGrunning Blinking JOG means motor is forward running Press DOWN key Blinking JOG and points means motor is reverse running Return to So 14 Press MODE key Monitor function section Press MODE key Press UP key Press SET key for 0 5s Servo internal enable JOG is displayed MODE MODE MODE Press MODE key Fig 5 3 2 Jog run ...

Page 83: ...ent mode is internal registor mode Press MODE key Press SET key to 0 5s Press UP key from 0 up to 3 Press DOWN key Return to Po001 Quickly click SET key Set control mode and forward direction Press UP key Up to Po001 Analog speed mode is set Counterclockwise direction is set to forward direction Set motor rotating clockwise to forward direction MODE MODE MODE Press SET key to 0 5s to confirm the c...

Page 84: ...ple Power on Status dispaly Press MODE key Main function section Home researches offset Press UP key to Po123 MODE Keypad display low bit Quickly press SET key Hold pressing SET key Quickly press SET key Quickly press SET key Keypad display medium bit Quickly press SET key Keypad display high bit Fig 5 3 4 Parameter setting procedure ...

Page 85: ...ition and speed and is often used in the positioning device It is the most commonly used mode of the servo drive applicable to the mechanical arm mounter engraving and milling machine and computer numerical control CNC machine tool In the speed control mode the speed is controlled by AI setting DI setting or communication setting It is often used in scenarios with constant speed For example for th...

Page 86: ...ng Whether servo drive match with motor YES NO Servo drive parameters setting Servo on Servo off End Whether motor parameters are known YES NO Parameters identification Motor angle study Note Please make sure servo motor runs normally without load then connect load to motor ...

Page 87: ...entification Speed Position Torque Setting range Setting unit Mfr s value When enabled 0 4 N A 0 Effective Immediate 0 no motor parameter indentification 1 indentify motor resistor inductance pole pairs numbers and encoder installation angle 2 lock motor shaft 3 indentify motor resistor inductance and estimate motor EMF 4 indentify motor resistor inductance pole pairs numbers motor EMF and encoder...

Page 88: ...r on control circuit and main circuit Pease connect power to L1 R L2 S L3 T Power on control circuit and main circuit if bus voltage indicator shows no abnormal and 0 is displayed in the keypad it indicates servo drive is enabled If AL xx is displayed in the keypad please refer to Chapter 9 2 Set S ON to OFF status Please set DI terminal of servo drive to FunIN 1 S ON and make sure the DI terminal...

Page 89: ...lse numbers Effect Immediate Ho121 Over load sensitivity 1 30000 over load sensitivity Effect Immediate Motor parameters can be set according to the table in addition pay attention to the following points in use 1 When So 48 1 the H group parameters can be set After electrical degree identification is finished the installation angle of the encoder is saved in Ho011 Please refer to chapter 6 for op...

Page 90: ...t Note 1 The internal electromagnetic is only valid when servo is in the stop status 2 The coil of electromagnetic has polarity please distinguish them when wiring 3 The power supply of electromagnetic is supplied by users The voltage is 24VDC 10 and the current should be selected according to nameplate of brake And electromagnetic and control signal are forbidden using one power supply b Braking ...

Page 91: ...N OFF 300ms 100ms Delay time Delay time Fig 6 3 1 Electromagnetic brake sequence diagram Note if some alarms occur servo will turn to disable status So 02 will be invalid b Braking when servo motor is rotating When servo motor is rotating and speed is higher than So 16 after alarm occurs servo drive will become disable status Immediate servo motor will free stop When any of below items occurs brak...

Page 92: ...hine parts from exceeding the allowable range of motion A limit switch a photoelectric switch or encoder multi turn number should be adopted for detection 1 Hardware overtravel protection function As soon as the servo drive detects the on off signal from the limit switch it will force the speed in the present direction to turn to 0 but it does not work for the speed of opposite direction Servo mot...

Page 93: ...verse run prohibited torque And emergency stop torque Setting range Setting unit Mfr s value When enabled 1 300 1 of rated torque 100 Effective Immediate When forward reverse run prohibited signal or emergency stop signal is valid the max value of instantaneous reverse stop torque of servo motor is limited within the range of this value and this value is an absolute value it works on both forward ...

Page 94: ... Effective Immediate Po145 Reverse running range multi loop numbers when overtravel protection Speed Position Torque Setting range Setting unit Mfr s value When enabled 0 32000 N A 1000 Effective Immediate So 39 Overtravel limit function Speed Position Torque Setting range Setting unit Mfr s value When enabled 0 Invalid 1 Valid 2 stop but no alarm N A 1 Effective Immediate 1 First set mechanical o...

Page 95: ...s enabled 8 Press UP key to jog forward run press DOWN key to jog reverse run To confirm rotating direction 9 Press MODE key and servo is OFF to quit JOG mode So 13 Jog speed setting Speed Position Torque Setting range Setting unit Mfr s value When enabled 0 30000 0 1r min 1000 Effective Immediate Note 1 Internal jog mode is a special speed mode the jog speed is related to deceleration time Po109 ...

Page 96: ...100ms Enabled Disenable Fig 6 1 6 Sequence control after connecting the power supply Note 1 Above diagram is servo drive timing sequence from power on to receiving command 2 Servo ready is trouble free output after CPU is reset and main power is connected 3 Before servo drive is ready main power should be connected and all control signal be ignored 4 When So 07 0 or 1 after servo on is ready pleas...

Page 97: ...ed by alarm type 2 T2 is electromagnetic braking time taking the smaller value between So 03 and So 16 3 Timing sequence after alarm is reset Alarm is removed Dynamic brake Servo ready Motor status Electromagnetic brake Servo is not ready Power off Enabled Removed Enabled Servo is ready Power on Disenabled Above 120ms Disenabled About 2ms About 40ms Servo alarm Alarm occurs Alarm is removed Positi...

Page 98: ...st enable after servo is power on relay is switched on After enable signal is valid servo will be ON after 10ms 2 Related parameter 2 Energy consumption braking Caution Energy consumption braking is valid after main circuit is powered on Electromagnetic braking starts after servo OFF If it is not overload malfunction will occur Dynamic braking starts after servo OFF or main circuit is powered off ...

Page 99: ...raking resistor DC BUS P N B1 B2 B3 N Short connected Built in resistor DC BUS Fig 6 1 10 Wiring of energy consumption braking Dc bus P N B1 B2 B3 N Built in braking resistor Dc bus Remove the wire between B2 and B3 and connect resistor between B1 and B2 P N B1 B2 B3 N Dc bus Dc bus Built in braking resistor Fig 6 1 11 Wiring of braking resistor Some servo drives have built in braking resistor if ...

Page 100: ...r Specification of external braking resistor M1 None 40Ω 60Ω 200 W M2 50W 50Ω 25Ω 40Ω 400 W M3 100W 20Ω 15Ω 15Ω 1000 W Please refer to next table for built in braking resistor and min resistor value of external braking resistor for 380V servo Servo drive structure code Built in resistor value and power Min resistor value of external braking resistor Specification of external braking resistor M2 50...

Page 101: ...3 Non sense ripple porcelain tube resistor 1kW 350 3 0 60 2 0 119 3 0 325 5 0 Ф6 5 0 3 Non sense ripple porcelain tube resistor 1 5kW 484 5 0 68 1 0 125 3 0 454 4 0 Ф6 5 0 3 Non sense ripple porcelain tube resistor 2kW 557 5 0 60 1 0 119 3 0 532 4 0 Ф6 5 0 3 Non sense ripple porcelain tube resistor 4kW 587 5 0 70 1 0 210 5 0 559 4 0 Ф6 5 0 3 Double tube vertical non sense ripple porcelain tube res...

Page 102: ...er cable and encoder cable correctly Jog trial operation by keypad Refer to Fig 6 2 2 and Fig 6 2 3 to connect DI DO Set the related parameters of speed mode Operating servo drive and make sure the running direction of servo motor is correct and set related parameters of gain adjustement pleaser refer to Chapter 7 3 1 Internal register speed mode Two setting types are as below 1 To set speed value...

Page 103: ...4 32 0Z 31 12V 24V D02 D03 D02 D03 D01 D01 Encoder frequency dividing pulse differential output GND AGND 40 Analog External torque limit D04 37 CM 30 24V 29 CM 30 24V GND AS1 23 24 LPF Filter A D GND AS2 25 24 LPF Filter Servo alarm Servo ready S RDY S RDY Rotary detection signal TGON TGON Output signal in torque limiting V CMP V CMP T LT T LT Speed arrival signal Z phase open collector output DI8...

Page 104: ... s value When enabled 0 32000 0 1r min 3000 Effective Immediate Note when Po113 Po114 Po115 value exceed motor maximum speed actual speed is motor maximum speed c Input signal setting Signal name Abbreviation Default terminal Remarks Internal speed selection 1 SD S1 CN3 39 Internal speed selection Internal speed selection 2 SD S2 CN3 13 Internal speed direction control SD DIR CN3 38 Internal speed...

Page 105: ...uency dividing pulse differential output GND AGND 40 Analog External torque limit D04 24V 29 CM 30 24V GND AS1 23 24 LPF Filter A D GND AS2 25 24 LPF Servo alarm Analog speed command 10V 10V 12V 24V 10V 10V R CL F CL AL RST Alarm reset ZCLAMP Zero speed clamp Reverse torque limit Forward torque limit Servo ready S RDY S RDY Rotary detection signal TGON TGON Output signal in torque limiting V CMP V...

Page 106: ...set servo drive can compensate zero drift according to sample value Take AI1 as example following instruction is step to set analog voltage speed Start Set Po001 Po428 0 Over Set control mode Set analog speed source Zero drift correction Set Po402 manually or set zero automatically by analog channel Po406 Set speed command corresponding to 10V Set speed Po400 corresponding to 10V or set Po430 Po43...

Page 107: ... matching motor 3 Analog speed command zero drift compensation Po402 AI1 command zero drift compensation Speed Torque Position Setting range Setting unit Mfr s value When enabled 0 5000 1mv 0 Effective Immediate AI1command zero drift compensation is to eliminate analog speed command zero drift The setting method is as following 1 Short connect AI1 to AGND 2 At the mode of analog speed adjust Po402...

Page 108: ... range of upper and lower limits is the higher the voltage accuracy is Do not set the range of upper and lower limit values too small in order to avoid influence on effect of analog adjustment Specific relationship is shown in the figure on the right Lower limit voltage 10V 5V 5V 500 500 Upper limit voltage 10 V Upper setting value 1000 Lower setting value 1000 Po430 Corresponding speed of lower l...

Page 109: ... or not at the same time When forward running command is received servo motor will run to analog speed at the acceleration time when reverse running command is received servo motor will run to 0 first then runs reverse to analog speed at the deceleration time c Input signal setting Signal name Terminal Remarks AS1 CN3 23 Analog speed command input AGND CN3 24 Input voltage range is from 10Vto10V 6...

Page 110: ...celeration deceleration the rotation speed is unsteady So add S curve acceleration deceleration command into speed command to make rotation speed of motor more smooth 1 Setting parameters Po111 S curve acceleration deceleration time speed Setting range Setting unit Mfr s value When enabled 0 15000 ms 100 Effective Immediate 2 Instruction of S curve smoothness function Please refer to following fig...

Page 111: ...when the absolute value of command speed drops below the setting value in the zero clamp level 2 Setting parameters V t Zero clamp value Po126 ON OFF Zero clamp enable Zero clamp function ON OFF ON OFF 6 2 5 Speed output signal 1 Speed arrival signal output When the absolute difference between actual rotation speed and command speed is lower than range of target Po127 Zero clamp enabled Speed Sett...

Page 112: ...hen enabled 0 30000 0 1r min 300 Effective Immediate Motor rotation speed 0 Po117 Po117 Speed arrival signal is output within the dotted line Fig 6 2 8 Speed arrival signal output Note solid line represents given speed speed arrival signal is output within the dotted line 2 Rotation detection signal output This signal is output to indicate that the servo motor is currently operating above the sett...

Page 113: ... to 10V is controlled by So 20 So 19 1 Servo drive bus voltage Servodrive max bus line voltage corresponding to 10V is controlled by So 21 So 19 2 Servo motor rotation speed Servo motor rotation speed corresponding to 10V is controlled by So 22 So 19 3 Output voltage 0V offset Offset voltage is determined by So 24 So 61 0 Servo drive output current Servodrive output current corresponding to 10V is...

Page 114: ...So 24 Analog monitor voltage compensation 1 speed position torque Setting range Setting unit Mfr s value When enabled 10000 1000 mv 0 Effective Immediate So 62 Analog monitor voltage compensation 2 speed position torque Setting range Setting unit Mfr s value When enabled 10000 10000 mv 0 Effective Immediate Analog monitor voltage compensation updates in real time users can confirm and adjust the s...

Page 115: ...rameters setting Parameters Remarks Po001 d 2 Control mode selection internal register torque mode d 4 Control mode selection analog torque mode Connect power supply of servo main circuit power supply of control circuit motor power cable and encoder cable correctly Jog trial operation by keypad Refer to Fig 6 3 2 and Fig 6 3 3 to connect DI DO Set the related parameters of torque mode Operating se...

Page 116: ...differential output GND AGND 40 D04 24V 29 CM 30 24V GND AS1 23 24 LPF A D GND AS2 25 24 LPF Filter Servo alarm Analog speed signal 10V 10V 12V 24V R CL F CL AL RST Alarm reset Reverse torque limit Forward torque limit External speed limit Servo ready S RDY S RDY Rotary detection TGON TGON Output signal in speed limiting BRAKE BRAKE S LT S LT Electromagnetism brake output DI8 13 0Z 37 CM 30 Z phas...

Page 117: ...ut terminals Users can redefine these terminals by parameter b Related parameters Parameter Remarks Po001 d 2 Control mode selection internal register torque mode Po204 Internal given torque Internal register torque Setting range Setting unit Mfr s value When enabled 800 800 1 of rated torque 10 Effective Immediate Note once internal register torque mode is enabled servo drive will start running I...

Page 118: ...l output GND AGND 40 D04 24V 29 CM 30 24V GND AS1 23 24 LPF A D GND AS2 25 24 LPF Filter Servo alarm Analog speed signal 10V 10V 12V 24V R CL F CL AL RST Alarm reset Reverse torque limit Forward torque limit External speed limit Servo ready S RDY S RDY Rotary detection TGON TGON Output signal in speed limiting BRAKE BRAKE S LT S LT Electromagnetism brake output DI8 13 0Z 37 CM 30 Z phase open corr...

Page 119: ...When enabled 0 1 N A 1 Effective Immediate Setting value Constent 0 Analog command is set by AI1 1 Analog command is set by AI2 2 Relationship between analog and torque Po401 Max torque corresponding to Analog torque Torque Setting range Setting unit Mfr s value When enabled 1 800 1 of rated torque 100 Effective Immediate Set the torque value when analog voltage is 10V The slope equals to the rati...

Page 120: ...r Po405 Analog torque command filter time constant Torque Setting range Setting unit Mfr s value When enabled 1 30000 0 01ms 200 Effective Immediate This smoothens the speed command by applying a 1st order filter to the analog speed command input A value that is too large however will slow down response 5 Upper and lower limit setting of analog torque The upper and lower limit setting of analog to...

Page 121: ...orque command input Grounding for analog AGND CN3 24 Range of input voltage 10V 10V 6 3 2 Soft start This function is used to converter step torque command to constant acceleration slope mode at torque mode 1 Parameters setting Po212 Torque increasing time Torque Setting range Setting unit Mfr s value When enabled 0 30000 0 1ms 0 Effective Immediate Po213 Torque decreasing time Torque Setting rang...

Page 122: ...Immediate Parameter Remarks Po210 0 Use the value set in Po211 as the speed limit Po210 1 Inputs an analog voltage command as the servo motor speed limit value this is valid for forward reverse rotation Po210 2 Use the lower value between max rotation speed Po002 and actual motor max rotation speed as the speed limit 2 Related parameter Po211 Internal speed limit Torque Setting range Setting unit ...

Page 123: ...hen enabled 0 800 1 of rated torque 100 Effective Immediate Po209 Reverse max torque limit speed position torque Setting range Setting unit Mfr s value When enabled 0 800 1 of torque 100 Effective Immediate When the signal F CL is valid forward max torque limit value should be lower than Po208 When the signal F CL is valid reverse max torque limit value should be lower than Po209 Note Too small a ...

Page 124: ...bled 1 50 1 2 Effective Immediate Po238 Torque filter frequency Torque Setting range Setting unit Mfr s value When enabled 1 1000 0 1Hz 10 Effective Immediate 6 4 Position pulse mode Command unit distinguishable minimum command from the command PC PLC gives to servo drive Encoder unit input command treated by electric gear ratio Source and direction of position command Electric gear ratio Position...

Page 125: ... selection internal register position mode Connect power supply of servo main circuit power supply of control circuit motor power cable and encoder cable correctly Jog trial operation by keypad Refer to Fig 6 4 2 and Fig 6 4 6 to connect DI DO Set the related parameters of position mode Operating servo drive and make sure the running direction of servo motor is correct and set related parameters o...

Page 126: ... GND High speed pulse position command 3 4 HPULS 6 5 HPULS HSIGN HSIGN 24 GND D04 24V 29 CM 30 24V SON I F INH ESP R INH R CL F CL AL RST CLR Pulse clear Servo on P CMP P CMP T LT T LT S RDY S RDY Position arrival TGON TGON DI8 13 0Z 37 CM 30 DC 5V 24V AO1 1 AGND 40 14 40 AO2 AGND 模拟量输出 Emergency stop Forward inhibit Reverse inhibit Alarm reset Reverse torque limit Forward torque limit Servo alarm...

Page 127: ...on command is 5V differential signal if user adopts other interface please refer to 4 3 1 b Related parameters 1 control mode selection Parameters Remarks Po001 d 1 Control mode selection position pulse command mode 2 Input pulse command source Parameters Remarks Po374 Four parameter b A 0 1 Low speed pulse source B 0 1 C 0 1 Internal position pulse source D 0 1 Pulse source of electronic cam off ...

Page 128: ...mand input terminals PULSE SIGN PULS 15 44 PULS SIGN 12 27 SIGN 43 PL2 28 PL1 HPULS HSIGN GND High speed pulse position command 3 4 HPULS 6 5 HPULS HSIGN HSIGN 24 GND Servo drive 24V Command interface 24V Low speed pulse position command command interface Low speed pulse input terminals PL2 PULS PL1 SIGN SIGN can accept differential input signal input pulse max frequency is 500Khz and open collect...

Page 129: ...h speed pulse control speed position torque Setting range Setting unit Mfr s value When enabled Four parameter N A 0000 Effective Immediate b A 0 1 High speed pulse type B 0 1 High speed pulse filtering 8MHz 4MHz Direction Pulse Dipulse 2 Orthogonal pulse 2 3 4 5 6 2MHz 1MHz 500KHz 200KHz 150KHz C 0 1 High speed pulse direction 2 3 D 0 1 DI7 DI8 filter time 800KHz 400KHz 2 3 4 5 6 200KHz 100KHz 40...

Page 130: ...mmand Parameter Command pulse form Forward rotation command Reverse rotation command Po300 b 0 Signal pulse PULS SIGN High level b 1 CW pulse CCW pulse b 2 Two phase pulse train with 90 phase differential Aphase B phase Remarks b 0 PULS negative logic SIGN negative logic b 1 PULS positive logic SIGN positive logic b 2 PULS negative logic SIGN positive logic b 3 PULS positive logic SIGN negative lo...

Page 131: ... 15 HPULS CN3 4 High speed differential 5V pulse command input HPULS CN3 3 SIGN SIGN CN3 12 Low speed 5V pulse direction input SIGN CN3 27 HSIGN CN3 5 High speed differential 5V direction command input HSIGN CN3 6 PL1 PL1 CN3 28 24V power pulse direction input SIGN CN3 27 PL2 PL2 CN3 43 24Vpower pulse command input PULS CN3 15 ...

Page 132: ...40 D04 24V 29 CM 30 24V SON I F INH ESP R INH AL RST P CMP P CMP S RDY S RDY Position arrival Rotary detection TGON TGON Internal position trigger SD1 SD0 HOME HOME Home searching DI8 13 AO1 1 AGND 40 14 40 AO2 AGND Analog output 0Z 37 CM 30 DC 5V 24V Forward inhibit Emergency stop Reverse inhibit Servo on Alarm reset Servo alarm Servo ready Optocoupler output Max voltage 30VDC Max current 50mA Z ...

Page 133: ...on commands are saved in the servo drive displacement max running speed and acceleration deceleration time can be set Preset positions are programmable and can be selected according to the table below Position command SD2 SD1 SD0 Position command parameter Speed parameter 1 0 0 0 Given postion of postion 1 Po350 Po330 2 0 0 1 Given postion of postion 2 Po352 Po331 Start Set multi stage position ru...

Page 134: ... cycle continues b Related parameters Parameters Remarks Po001 d 5 Control mode selection internal register position mode Internal register position mode includes incremental mode and absolute mode Parameter Remarks Po341 0 Incremental mode 1 Absolute mode Example below shows the difference between absolute and incremental moves For two pulse commands of 10 pulses position pulse command and follow...

Page 135: ...ode Po310 Acceleration time of internal position 1 Internal register position Setting range Setting unit Mfr s value When enabled 0 32000 ms 100 Effective Immediate Po311 Deceleration time of internal position 1 Internal register position Setting range Setting unit Mfr s value When enabled 0 32000 ms 100 Effective Immediate Po312 Acceleration time of internal position 2 Internal register position ...

Page 136: ...n time of internal position 6 Internal register position Setting range Setting unit Mfr s value When enabled 0 32000 ms 100 Effective Immediate Po321 Deceleration time of internal position 6 Internal register position Setting range Setting unit Mfr s value When enabled 0 32000 ms 100 Effective Immediate Po322 Acceleration time of internal position 7 Internal register position Setting range Setting...

Page 137: ...lue When enabled 0 32000 ms 0 Effective Immediate Po368 Interval time 3 Internal register position Setting range Setting unit Mfr s value When enabled 0 32000 ms 0 Effective Immediate Po369 Interval time 4 Internal register position Setting range Setting unit Mfr s value When enabled 0 32000 ms 0 Effective Immediate Po370 Interval time 5 Internal register position Setting range Setting unit Mfr s ...

Page 138: ...top As soon as the input contact CTRG is triggered again the original position command will be completed Diagram below shows HOLD function with incremental move P1 P8 P8 10 Relative move Note motor will go on rotating to finish the former pulse P1 20 pulses P8 10 pulses Position 10 20 SON I Enable signal input Internal register position selection SD0 Internal register position selection SD1 Intern...

Page 139: ...0 10 SON I Enable signal input Internal register position selection SD0 Internal register position selection SD1 Internal register position selection SD2 Internal register position trigger CTRG d Multi stage position circulation diagram The diagram after setting interval time t Position command S ON enabled signal Internal register position selection 1 Internal register position selection 2 Intern...

Page 140: ...ister position trigger When termination signal is shown the diagram is as below t 0 0 0 1 OFF ON OFF Internal register position termination signal Internal register position hold signal OFF OFF 0 S ON enabled signal Internal register position selection 1 Internal register position selection 2 Internal register position selection 3 Internal register position trigger Position command Position 1 Posi...

Page 141: ...0 OFF ON Position command Position 1 Position 1 Position 2 Internal register position termination signal Internal register position hold signal S ON enabled signal Internal register position selection 1 Internal register position selection 2 Internal register position selection 3 Internal register position trigger 6 4 2 Setting electronic gear 1 Electronic gear At the position control mode input p...

Page 142: ...the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio 6 Set parameters Set parameters using the calculated values Setting parameters procedure is as below Electric gearratio selection Electric gear ratio 1 1 Electric gearratio 1 2 Electric gerratio 2 3 Terminal selection Electric gear ratio 2 When Po304 and Po346 are not 0 electronic gear ratio equals to Po304 Po3...

Page 143: ...ance per load shaft rotation m n The actual meaning of electronic gear is Command pulse input Pulses numbers are X Y X A B A B Position command If the ratio is outside the setting range reduce the fraction both numerator and denominator until you obtain integers within the range Be careful not to change the electronic gear ratio B A Electronic gear ratio setting range 0 01 Electronic gear ratio B ...

Page 144: ...ctronic gear ratio is higher than 10 times Po306 Position loop filter time constant Position Setting range Setting unit Mfr s value When enabled 1 10000 ms 1 Effective Immediate Setting position loop filter time constant correctly can make motor rotate smoothly The parameter does not affect pulse numbers Filter frequency is used to inhibit high frequency of disturbance pulses Please do not set thi...

Page 145: ...ommand pulse inhibit INH P Must be allocated Inhibiting the servodrive from counting input pulses position pulse command is invalid 2 Setting parameters Parameters Remarks Po308 b 0 Terminal of inhibiting command pulse is invalid b 1 Terminal of inhibiting command pulse is valid 6 4 6 Command pulse clear function This function clears position deviation register during position control 1 Input sign...

Page 146: ...8 PL1 GND GND 40 HPULS HSIGN GND High speed pulse position command 3 4 HPULS 6 5 HPULS HSIGN HSIGN 24 GND Pulse output Po018 Internal position given Motor shaft Position command Frequency division output OZ CM 37 30 DC 5V 24V R Collector pulse High speed counter 3 4 2 1 0 5 High speed counter 1 High speed counter 2 Fig 6 4 21 Frequency division output diagram 1 Output signal Encoder pulse frequenc...

Page 147: ...hould be set by actual requirement At high speed Z pulse is narrow and it can be adjusted by Po017 Servo drive 37 30 OZ CM DC 5V 24V 2 Related parameters Po003 Molecule of encoder frequency division numbers speed position torque Setting range Setting unit Mfr s value When enabled 1 65535 N A Effective Immediate Po005 Denominator of encoder frequency division numbers speed position torque Setting r...

Page 148: ...r 1 Position command 4 5 Motor shaft High speed counter 2 Po300 b 0 CCW phase output b 1 CW phase output Table 6 4 1 Encoder frequency division output pulse Po300 D output pulse phase Forward rotation Pulse output Reverse rotation Pulse output 0 A phase B phase A phase is 90 degrees ahead of B phase B phase A phase B phase is 90 degrees ahead of A phase 1 B phase A phase B phase is 90 degrees ahea...

Page 149: ...coder Z phase home pulse output no frequency division PZO CN3 16 OZ CN3 37 Z phase open collector output CM CN3 30 4 Example of pulse frequency division signal Example when Po003 16 Po005 32768 the each circle and each phase output pulse numbers of encoder is 16 Po300 D 1 Encoder frequency division output PA Po300 D 1 PB Po300 D 0 PA Po300 D 0 PB 16 Encoder frequency division output Encoder freque...

Page 150: ...effect Name Explanation Remark Po119 b 0 Reversal home searching Po119 b 1 Forward home searching Po119 b 0 Left right position limitation as home reference Po119 b 1 Input terminal ORGP as home reference Po119 b 2 Nearest Z phase pulse as home reference Po119 b 3 Searching mechanical origin Po119 b 0 Deceleration to stop after arriving at home reference Po119 b 1 Searching Z signal at second spee...

Page 151: ...ing range Setting unit Mfr s value Effect 2147483647 2147483647 N A 0 Immediate effect Po128 Home searching signal duration time Speed Position Torque Setting range Setting unit Mfr s value Effect 1 30000 ms 100 Immediate effect Po129 Home searching timeout Speed Position Torque Setting range Setting unit Mfr s value Effect 10 65535 ms 10000 Immediate effect 3 Home Search Mode Start Sequence Chart...

Page 152: ...fter starting home search Po119 C b 1 1 Return back to search the nearest Z phase pulse as Mechanical originat the second speed with opposite direction after searching home reference Po125 A b 2 Input I O port to trigger home search Po119 D b1 Return back to Mechanical origin Position Speed Z phase pulse Input node SHOM Po125 A 2 Input contact ORGP Po120 First speed Po121 Second speed Po119 C 1 Po...

Page 153: ...ing home at first speed 3 Po119 A b 1 Forward searching home reference at first speed after starting home search Po119 C b 2 Return back to search the nearest Z phase pulse as Mechanical origin at the second speed with same direction after searching home reference Po125 A b 2 Input I O port to trigger home search Po119 D b1 Return back to Mechanical origin Po125 A 2 Po120 Po121 Po119 C 2 Po119 D 1...

Page 154: ... ORGP Input signal SHOM Fig 6 4 28 Reversal home searching at first speed 5 Po119 A b 1 Forward searching home reference at first speed after starting home search Po119 B b 2 Searching Z phase pulse as Mechanical origin Po125 A b 2 Input I O port to trigger home search mode Po119 D b1 Return back to Mechanical origin Po125 A 2 Po120 Po121 Po119 D 1 Po119 B 2 Speed Position Second speed First speed...

Page 155: ... at first speed after starting home search Po119 C b 3 Search the rising edge of home reference ORGP as Mechanical origin Po125 A b 2 Input I O port to trigger home search mode Po119 C 3 Po125 A 2 Po120 Po121 Po119 C 1 Po119 D 1 Speed Input signal ORGP Input signal SHOM First speed Position Second speed Fig 6 4 31 Forward home searching at first speed 8 Po119 A b 0 Reversal home searching at first...

Page 156: ...ve Set mechanical origin as initial position the mechanical origin can be found in any position of forward reverse motion range set by servo motor AL 27 alarm will alerts if exceeding the setting motion range See details in chapter 6 1 4 2 Setting Mechanical origin means that the physical origin position of machinery which is also called initial position 1 Setting mode a Set current position as me...

Page 157: ...Setting Range Setting Unit Mfr s Value Effect 0 214748364 N A 0 Immediate effect 3 Mechanical Origin Search 1 User Parameters See chapter 6 4 8 for details 2 Sequence Chart 1 When servo drive is power on mechanical origin search mode executes automatically Po125 1 SON I 使能信号输入 机械原点找到输出 HOME 进入机械原点检索模 式 电源开启 机械原点检索 S RDY 伺服准备好输出 机械原点设定 Power on S RDY Servo ready Signal output Mechanical origin sett...

Page 158: ...m receives interrupt trigger signal and motor cannot stop rotating instantly but run for a while setting in internal position mode During the operation period of fixed length interrupt drive shields any other internal external position instructions including the instruction of re trigger interrupt of fixed length position when interrupt enabled terminal is valid motor will run the setting length a...

Page 159: ...upt start Trigger edge Register position trigger Rotary speed External position pulse mode Fixed length Internal position mode fixed length External position pulse mode Fig 6 4 36 Sequence chart when controlling by fixed length interrupt In the control of fixed length interrupt if start fixed length interrupt release function and the interrupt release terminal keeps disabled system will stay in th...

Page 160: ...al accuracy 1 Output signal Signal Abbr Default terminal Purport Position reach P CMP P CMP In position pulse mode P CMP In position pulse mode Positioning completed 2 Parameter Setting Po307 Position reach pulses range Position Setting Range Setting Unit Mfr s Value Effect 1 32000 N A Immediate effect Alarm of position loop tracking excessive error is a kind of malfunction for servo drive In posi...

Page 161: ... PG Control signal line plug 运动方向 PG 主牵引 被动测量轴 Servo drive Passive measurement axis Main Traction Motion direction Fig 6 4 37 Full closed loop typical application sketch map CAUTION Connect power supply of servo and control circuit correctly and also motor power line and encoder line JOG test run the servo drive by keypad to confirm the normal operation of motor Refer to the wiring instruction of ...

Page 162: ...e of full closed loop shows as below 开始 Position feedback source setting Po376 Configure high speed counter PL100 Set alarm conditions Po379 Po380 Finish Set external encoder ratio Po377 Po378 Set feedback source Po376 1 Position from high speed counter 1 Po376 2 Configure high speed counter See details for chapter 6 7 Set external encoder ratio START Position from high speed counter 2 Fig 6 4 38 ...

Page 163: ...378 is equal to the value that the encoder line number of servo motor divide by pulses of external encoder running if motor takes a turn 3 Set alarm output Po379 Mixed error remove turns Position Setting Range Setting Unit Mfr s Value Effect 0 32000 N A 0 Immediate effect Po380 Mixed error alarm pulses Position Setting Range Setting Unit Mfr s Value Effect 1 65535 N A 1000 Immediate effect If the ...

Page 164: ...SIGN GND High speed pulse position command 3 4 HPULS 6 5 HPULS HSIGN HSIGN 24 GND D04 24V 29 CM 30 24V DI8 13 0Z 37 CM 30 DC 5V 24V AO1 1 AGND 40 14 40 AO2 AGND 模拟量输出 Z phase open corrector output Optocoupler output Max voltage 30VDC Max current 50mA Fig 6 4 39 Full closed loop mode typical wiring diagram CAUTION 1 One of the feedback encoder or pulse input signal must be differential signal 2 DI1...

Page 165: ...33 34 35 36 Position Command DI DO Commands Position Command Fig 6 4 40 Gantry Synchron typical application wiring diagram Caution Connect power supply of servo main circuit and control circuit correctly and also motor power line and encoder line JOG test run the servo drive by keypad to confirm the normal operation of motor Refer to the wiring instruction of Fig 6 4 40 connect DI DO Make the rela...

Page 166: ...diagram The setting value of gantry synchro gain Po381 must not exceed position loop gain Po301 The setting procedure of gantry synchron is Start Interactive connection of two servo drives Position feedback source setting PL100 Alarm condition setting Finish Synchro gain setting Po381 Feedback ratio setting Smooth running YES Smooth running NO Processing YES Satisfied NO Satisfied Fig 6 4 42Gantry...

Page 167: ...N A 10 Immediate effect 3 Gain setting Po381 Gantry synchron gain Position Setting Range Setting Unit Mfr s value Effect 1 30000 N A 1 Immediate effect The value of Po381 cannot be higher than the value of position loop gain Po301 4 Alarm output setting Po383 Gantry synchron alarm pulse Position Setting Range Setting Unit Mfr s value Effect 10 65535 N A 1000 Immediate effect Alarm AL 32 given when...

Page 168: ...nnected to shaft B SD Connected to PC PLC command Open collector output of Z phase Shaft B servo drive Connected to PC PLC command GND Fig 6 4 43 Gantry synchron typical wiring diagram DI1 DI8 terminals are programmable input terminals and DO1 DO4 terminals are programmable output terminals Users can redefine them by the situations The figure above only describes DI DO of shaft A which is similar ...

Page 169: ...FL20 S Series 169 Fig 6 4 44FL20E Cam internal frameworkdiagram ...

Page 170: ...h cam point PL017 1 Use PC PLC to input points YES NO Conrfirm command source Po374 D Confirm cam condition PL000 B PL000 C Cam occlusive position setting PL003 Cam detachment point detachment condition setting Finish 1 PL016 input page no 2 PL200 area input data Fig 6 4 45 FL20 servo E Cam setting flow chart ...

Page 171: ...ive command E Cam command position command Data Storage Address Data array start from PL200 area The data of driving shaft ahead driven shaft behind In communication mode for instance cam data is X Y both X and Y are 32 bits value within the range of 32 bit directed number X input is constant positive The address starts from 1200 Storage address 1200 1201 1202 1203 Storage data X1 low 16 bit X hig...

Page 172: ... of Master Axis is selected by PL000 B If PL000 B 0 command comes from high speed counter 1 If PL000 B 1 command comes from high speed counter 2 If PL000 B 2 command comers from internal position If PL000 B 3 command comes from time Clutch Description Clutch It is used to determine the status of engaged disengaged between the master axis and gearbox Function To determine the status of engaged dise...

Page 173: ... 1 When the engaged condition is established the status is from STOP to Pre engaged The lead pulse is determined by PL003 Path 2 When the E cam function is disabled PL000A 0 it returns to STOP status Path 3 When lead pulse is executed the status is from Pre engaged to Engaged Path 4 When disengaged condition is established PL000 D it returns to STOP status EngagedCondition PL000 C When the E cam i...

Page 174: ... P the E cam axis operates M cycle Then the setting of gear ratio PL007 M PL008 P CAM Function Set the relation between E cam axis slave axis and defined in the E cam table E cam axis operates one cycle and slave axis operates one cycle Data Storage Address of E Cam Table Data array the start address is set by PL200 Data Format of E Cam Table 32 bit positive and negative If input manually start to...

Page 175: ...perates a cycle but the pulse command might not operate a cycle which can be set by users Description The slave axis is a virtual axis and the unit of slave position is the unit of user The pulse command is the encoder unit the resolution is 131072pulse rev Rotating for one cycle of chart the slave axis operates a cycle Setting Mode If the pulse number of slave axis is L the motor axis operates R ...

Page 176: ...Command Source Position Setting Range Setting Unit Mfr s Value Effect Four parameters N A 0001 Immediate effect b A 0 1 Low speed pulse setting B 0 1 High speed counter setting C 0 1 Internal position pulse setting D 0 1 Electronic cam Pulse is not from electronic cam Pulse is not from internal position Pulse is not from high speed counter Pulse is not from low speed pulse Pulse is from low speed ...

Page 177: ...iate effect PL003 E cam Occlusion Contact Position Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate effect PL005 E cam Occlusion Release Point Position Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate effect PL015 E cam Points Position Setting Range Setting Unit Mfr s Value Effect 5 720 N A 5 Immediate effect PL016 E cam Pages P...

Page 178: ...ial address of E cam adjustment Position Setting Range Setting Unit Mfr s Value Effect 0 300 N A 0 Immediate effect PL023 Master axis variation Position Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate effect PL025 Slave axis variation Position Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate effect After re adjusting the initia...

Page 179: ...Speed of internal register and speed of external analog Po001 d 9 Speed of internal register and torque of external analog Po001 d 10 Speed and position of internal register Po001 d 11 Torque and position pulse command of internal register Po001 d 12 External analog speed and position pulse command Po001 d 13 External analog torque and position pulse command Po001 d 14 Position pulse command and p...

Page 180: ...ding to deceleration time when speed selection signal is disabled Servo cannot reveive position pulse until switching to position mode after position arrive signal output is enabled In the running process of position mode when speed selection signal is enabled servo switches to speed mode Immediate and runto target speed according to acceleration deceleration time Speed Curve Position Reach Output...

Page 181: ...n to zero according to deceleration time when mode switching signal is enabled servo cannot receive position pulse until switching to position mode after position reach signal output is enabled In the running process of position pulse mode when mode switching signal is disabled servo switches to analog speed mode Immediate and run to target speed according to acceleration deceleration time Speed C...

Page 182: ...eceleration time when mode witching signal is enabled servo cannot receive internal register position trigger signal until switching to internal register position mode after position reach signal output is enabled In the running process of internal register position mode when mode switching signal is disabled servo switches to analog speed mode Immediate and run to target speed according to accele...

Page 183: ...egister position trigger signal until switching to position mode after position reach signal output is enabled In the running process of internal register position mode when speed selection signal is enabled servo switches to speed mode Immediate and run to target speed according to acceleration deceleration time Speed Curve Position reach output Internal Speed Selection 1 Internal Speed Selection...

Page 184: ...itching to position pulse mode after position reach signal output is enabled In the running process of position pulse mode when mode switching signal is disabled servo switches to torque mode Immediate and run to target torque according to acceleration deceleration time Torque Curve Position Reach Output Position Pulse Input Mode Switch Torque Set switching Torque Set Pulse receiving Fig 6 5 5 Tor...

Page 185: ...nal register position mode after position reach signal output is enabled In the running process of internal register position mode when mode switching signal is disabled servo switches to torque mode Immediate and run to target torque according to acceleration and deceleration time Internal Position Trigger Torque Curve Position Reach Output Mode Switch Torque Set switching Torque Set Internal Pos...

Page 186: ...on mode when mode switching signal is disabled servo can receive position pulse signal only when position reach output is enabled Speed Curve Mode Switch Position Reach Output External Postion Internal Position Mode External Position Position Pulse Input Internal Position Trigger Fig 6 5 7 External position and internal position mode sequence diagram 6 5 9 Internal Speed and Analog Speed Dual Mode...

Page 187: ...Speed or Torque Curve Internal Speed 3 Analog Speed Internal Speed 1 Internal speed selection 1 Internal speed selection 2 Fig 6 5 8 Analog speed and internal speed mode sequence diagram 6 5 10 Speed and Torque Dual Mode 1 Internal register speed and torque switching mode internal register speed and external analog torque switching mode show as figure 6 5 9 after servo is enabled servo runs as spe...

Page 188: ... Speed mode and torque mode switching sequence diagram 2 External analog speed and internal register torque switching mode external analog speed and torque switching mode show as figure 6 5 10 after servo is enabled servo runs as torque mode when mode switching signal is enabled Servo runs as speed mode when mode switching signal is disabled In the running process of speed mode servo switches to t...

Page 189: ...g sequenc diagram 6 5 11 Analog Torque and Internal Register Torque Dual Mode Internal register torque and external analog torque switching mode shows as figure 6 5 11 after servo is enabled servo runs as internal register torque mode when mode switching signal is enabled Servo runs as analog torque mode when mode switching signal is disabled In the running process of analog torque mode servo swit...

Page 190: ...log torque and internal torque mode switching sequence diagram 6 6 Auxiliary Function Servo drives supply auxiliary function in order to make sure system work correctly 6 6 1 Setting password So 01 Setting password speed position torque Avoid modifying parameters by mistake Setting range Setting unit Mfr s value When enabled 0 9999 N A 0 restart Setting password is used to avoid modifying paramete...

Page 191: ...dback pulse displays low 5 digits 23 Encoder absolute position high digit pulse 5 Servo motor feedback rotation displays high 5 digits 24 Encoder absolute position low digit pulse 6 Servo motor feedback rotation displays low 5 digits 25 High 5 digits of number of turns of encoder absolute position 7 Given command pulse numbers display high 5 digits 26 Low 5 digits of number of turns of encoder abs...

Page 192: ...range Setting unit Mfr s value When enabled 0 2 N A 2 Effective Immediately 0 Fan is controlled by temperature 1 Fan will run after power on 2 Fan will run when servo drive starts running So 27 Fan temperature setting speed position torque Setting range Setting unit Mfr s value When enabled 10 100 C 45 Effective Immediately So 44 Parameter copy speed position torque Setting range Setting unit Mfr ...

Page 193: ...t when the generated heat goes over than released heat the rising temperature of motor is so high that make the motor excitation loss and damage and therefore servo drive provides motor overlaod protection function to prevent the damage from excessive temperature Set motor overload protection So 37 to adjust the time of motor overload fault AL 06 Generaly So 37 remains default value but if the fol...

Page 194: ...ck rotor therefore servo drive provides the motor lock rotor protection to prevent the damage from excessive temperature in the situation of motor lock rotor Related Parameter So 34 Motor lock rotor protection speed position torque Setting Range Setting Unit Mfr s Value Effect 0 1 N A 1 Immediate effect So 40 Delay time of lock rotor protection speed position torque Setting Range Setting Unit Mfr ...

Page 195: ...ting Range Setting Unit Mfr s Value Effect 0 30000 N A 2 Immediate effect So 51 Temperature detection disconnection protection speed position torque Setting range Setting unit Mfr s value When enabled 0 1 N A 1 Effective Immediately 0 Invalid 1 Valid So 52 Encoder pulse filtering coefficient speed position torque Setting range Setting unit Mfr s value When enabled 0 1000 N A 0 Effective Immediatel...

Page 196: ...N A 2 Immediate effect Po444 DI7 filter time speed position torque Setting Range Setting Unit Mfr s Value Effect 0 30000 N A 2 Immediate effect Po445 DI8 filter time speed position torque Setting Range Setting Unit Mfr s Value Effect 0 30000 N A 2 Immediate effect 6 6 8 Other Output Signals 1 Servo Alarm Terminal Output ALM is activated when the servo drive has detected a fault condition ON signal...

Page 197: ...35 Overload pre alarm current speed position torque Setting Range Setting Unit Mfr s Value Effect 0 800 120 Immediate effect So 36 Overload pre alarm filter time speed position torque Setting Range Setting Unit Mfr s Value Effect 0 1000 10ms 10 Immediate effect 4 Signal output in speed limit When rotate speed is limited DO outputs this signal and not related to motor rotation but valid for forward...

Page 198: ...nal to capture the position data of motion axis instantaneously and store to data array for the use of the follow up motion control High speed counter is applied mostly in full closed loop electronic cam built in PLC andpulse command function It is more convenient to process external data and more efficient to execute instructions High speed counter integrates 2 groups of counters which can be set...

Page 199: ...数值清零 Po300 PL120 PL101 C 集电极脉冲 差分脉冲 DI7 DI8 PULS SIGN 计数器 CNT计数值 High speed counting area CNT value latched on the rising edge Reverse counting Forward counting Stop counting Start counting Reset CNT count value Counter CNT count value Collector Pulse Differencial Pulse Fig 6 7 1 High speed counter internal frame diagram Note DI7 DI8 support Max frquency 3KHz ...

Page 200: ...mmand Source Setting Finish High speed counter configuration Two Groups need YES NO Set PL121 Set PL120 Set two groups Set one group based on demands NO YES Cycle correction CAP function YES NO Configuration Fig 6 7 2 High speed counter setting flow chart ...

Page 201: ...peed pulse type B 0 1 High speed pulse filtering 8MHz 4MHz Direction Pulse Dipulse 2 Orthogonal pulse 2 3 4 5 6 2MHz 1MHz 500KHz 200KHz 150KHz C 0 1 High speed pulse direction 2 3 D 0 1 DI7 DI8 filter time 800KHz 400KHz 2 3 4 5 6 200KHz 100KHz 40KHz 30KHz 16KHz 7 8 8 KHz 4 KHz 4 HPULS anti logic HSIGN anti logic HPULS positive logic HSIGN positive logic Exchange HPULS and HSIGN HPULS anti logic HS...

Page 202: ...ource setting Software DI8 2 DI7 2 C 0 1 2 3 D 0 1 Close Start Software DI8 DI7 Command source setting Low speed pulse High speed pulse DI8 DI7 Duty cycle correction mode PL102 High speed counter 1 compare register speed position torque Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate effect PL104 High speed counter 1 periodic value speed position torque Setting ...

Page 203: ... CAP function Reverse Forward Disabled Enabled No Reset Reset PL111 High speed counter 2 command source speed position torque Setting Range Setting Unit Mfr s Value Effect Four parameter N A 0100 Immediate effect b A 0 1 Reset source setting B 0 1 CAP command source setting Software DI8 2 DI7 2 C 0 1 2 3 D 0 1 Close Start Software DI8 DI7 Command source setting Low speed pulse High speed pulse DI8...

Page 204: ... of CAP period since CAP happens in random time of pulse servo drive will compare actual reveiced pulse with the pulse captured from edge then makes compensation to make the pulse count value equal to CAP value finally When using RESET function servo drive will clear out the count value 6 8 Built in PLC Function 6 8 1 Summary Servo built in PLC function is a specific function of FL20 servo system ...

Page 205: ...ion of internal special area shows as followings Table8 1 Internal Special Area Area Bit addressing space Content Remark R0 B0 B15 Operating Mode Enabled when Po001 d 22 WR 0 Command Position 1 Command Speed 2 Command Torque 3 Searching Origin 4 Analog Speed 5 Position Pulse 6 Internal Position 7 Analog Torque R1 B16 B31 Current Mode Enabled when Po001 d 22 RO 0 Command Position 1 Command Speed 2 ...

Page 206: ...g B36 Command position mode activated receive RO Set 1 automatically when new command coming Reset after B35 resets B37 Command mode stop 1 Stop 0 Runnable B38 Speed mode stop acceleration deceleration 1 Stop accel decel maintain current speed 0 Runnable B39 Origin searching commandactivated Rising edge activates Falling edge stop R3 B48 B63 DI State RO Addr Content Addr Content B48 DI1 B52 DI5 B4...

Page 207: ...rd Jog B91 Pulse prohibition B107 Reverse Jog B92 Emergency stop B108 Free B93 Reverse prohibition B109 Interruption fixed length release B94 Forward prohibition B110 Interruption fixed length start B95 Free B111 Gantry synchro start R7R8 B112 B143 DO State RO Addr Content Addr Content B112 Servo ready B113 Enabled B114 Rotation detection B115 Speed Reach B116 Position Reach B117 Torque limiting B...

Page 208: ...Low speed timer enabled WR Addr Content Addr Content B368 Low speed timer 1 enabled B369 Low speed timer 2 enabled B370 Low speed timer 3 enabled B371 Low speed timer 4 enabled R24 B384 B399 Low speed timing counter direction WR Addr Content Addr Content B384 Low speed timer 1 direction B385 Low speed timer 2 direction B386 Low speed timer 3 direction B387 Low speed timer 4 direction R25 B400 B415...

Page 209: ...ed B434 High speed timer 1 reset B435 High speed timer 1 direction B436 High speed timer 2 counting signal B437 High speed timer 2 enabled B438 High speed timer 2 reset B439 High speed timer 2 direction B440 High speed counter 1 reset B441 High speed counter 1 enabled B442 High speed counter 1 direction B443 High speed counter 1 CAP B444 High speed counter 2 reset B445 High speed counter 2 enabled...

Page 210: ...t signed number 6 8 3 1 Data Move Instruction The data moveinstruction is to transfer the source operands of register into the register assigned by destination operands The data transfer instruction of FL20 built in PLC includes 16 bit and 32 bit will be introduced respectively as follows 1 16 bit Move Instruction Instruction Format MOVW X Y Instruction Description MOVW is move instruction code is...

Page 211: ...ter in R area MOVDDP L 3 P101 Po102 Po101 3 Immediate operand sends to no 101 register in P area MOVDRP R10 P101 Po102 Po101 R11 R10 No 10 register of R area transfers to no 101 register of Parea MOVDPP P1 P3 Po004 Po003 Po002 Po001 Data transfer in P area 6 8 3 2 Arithmetic Instruction The arithmetic instruction has characteristics of strong operation function and rich instructions it includes ad...

Page 212: ...er of Y area the result sends to Z register address User can operate for R area P area and immediate operand See details as table 8 1 4 Table 8 1 4 32 bitAdd Instruction Syntax Results and related Annotations Syntax Expression Running Results Annotations ADDDRR R1 R2 R3 R3 R1 R2 Two register contents in R area are added the result sends to no 3 register in R area ADDDDR D1 R2 R3 R3 R2 D1 Immediate...

Page 213: ...he value of P register the result sends to no 3 register in R area SUBWRP R1 P2 R3 R3 R1 P2 The value of R register subtracted to the value of P register the result sends to no 3 register in R area SUBWPP P1 P2 P3 R3 P1 P2 The values of two registers in P area are subtracted the result sends to no 3 register in R area b 32 bit subtraction Instruction Format SUBD X Y Z Instruction Description SUBDi...

Page 214: ...ter address in Y area the result sends to Z register address User can operate for R area P area and immediate operand See details as table 8 1 7 Table 8 1 7 16 bit Multiplying Instruction Syntax Results and related Annotations Syntax Expression Running Results Annotations MULWRR R1 R2 R3 R4 R3 R1 R2 Multiplying the value of 2 registers in R area get the 32 bit result storing to no 3 and no 4 regis...

Page 215: ...32 bit Multiplying Instruction Syntax Results and related Annotations Syntax Expression Running Results Annotations MULDRR R1 R2 R3 R6 R5 R4 R3 R2 R1 R3 R2 Multiplying the value of 2 registers in R area get the 32 bit result storing to no 3 no 6 registers in R area of which no 6 and no 5 store to high 32 bit no 4 and no 3 store to low 32 bit MULDDR L1 R2 R3 R6 R5 R4 R3 1 R3 R2 Multiplying immediat...

Page 216: ...gister address remainder stores to high bit register address User can operate for R area P area and immediate operand See details as table 8 1 9 Table 8 1 9 16 bit Division Instruction Syntax Results and related Annotations Syntax Expression Running Results Annotations DIVWRR R1 R2 R3 R3 R1 R2 R4 R1 R2 Dividing the value of 2 registers in R area integer stores to no 3 register remainder stores to ...

Page 217: ...er stores to no 3 and no 4 registers remainder stores to no 6 and no 5 registers DIVDPR P1 R2 R3 R4 R3 R2 R1 R3 R2 R6 R5 R2 R1 R3 R2 Dividing the value of P register and R register the result saves to no 3 no 6 registers integer stores to no 3 and no 4 registers remainder stores to no 6 and no 5 registers DIVDDP L1 P2 R3 R4 R3 R2 R1 R3 R2 R6 R5 R2 R1 R3 R2 Dividing immediate operand and the value ...

Page 218: ...ction code is instruction execution register address D is result scaling value X is multiplier Y is multiplicand Z is store result area User can operate for R area P area and immediate operand See details as table below Syntax Expression Annotations QMULRR D14 R1 D10 R3 D2 R5 Multiplying Q10 scaling value saved in R2 R1 and Q2 scaling value saved in R4 R3 get Q14 scaling value and save the result ...

Page 219: ... is result scaling value X is the register address which needs to covert Y is result storing register address User can operate for R area P area and immediate operand See details as table below Syntax Expression Annotations QTOIR D14 R1 R3 Q14 scaling for the value of R1 R2 register and save the result into R4 R3 register QTOIP D14 P1 R1 Q14 scaling for the value of P1 P2 register and save the res...

Page 220: ...ction of series circuits with two or more contacts 3 OR Instruction There are 2 or instructions see details as below Instruction Format OR X Instruction Description OR is logic instruction means reversing program or not X means register address Execute or instruction with last instruction for X register address Table 8 1 13 OR Instruction Syntax Results and related Annotations Syntax Expression Ru...

Page 221: ...D1 R1 R1 1 The content of R1 register shift left one bit SHLWR P1 D1 Po001 Po001 1 The content of P1 register shift left one bit Table 8 1 16 16 bit Unsigned Right Shift Syntax Expression Running Result Annotations SHRWR R1 D1 R1 R1 1 The content of R1 register shift right one bit SHRWP P1 D1 Po001 Po001 1 The content of P1 register shift right one bit Table 8 1 17 32 bit Unsigned Left Shift Synta...

Page 222: ... R1 register SALDP P1 D1 Po002 Po001 Po002 Po001 1 The content of P1 register shift left one bit of which high bit stores to P2 register low bit stores to P1 register Table 8 1 22 32 bit Unsighed Right Shift Syntax Expression Running Result Annotations SARDR R1 D1 R2 R1 R2 R1 1 The content of R1 register shift right one bit of which high bit stores to R2 register low bit stores to R1 register SARD...

Page 223: ...mory address Jump to specified address Execute the instruction and refresh control signal of low speed timer if current main loop has not finished executing instructions yet it will skip the rest instructions and wait for the next main loop execution Jump instruction must be executed in the ending of program or the program will stop running 3 End instruction Syntax Expression Running Result Annota...

Page 224: ...ion code X is target register Output the result of program to X register address Syntax Expression Annotations OUT B100 Output the result of program to B100 register address 4 Main Control Instruction Instruction Format MC Instruction Description MC is instruction code If current logic state is valid the setting address is valid so the code between MC and MCR will be in valid status Otherwise if c...

Page 225: ...hat stores results take the content of X register address as absolute value and store the results into Y register Syntax Expression Running Result Annotations ABSDR R1 R3 R4 R3 ABS R2 R1 Take the content of R3 register address as absolute value and store the result into R1 registser of which high bit stores into R4 low bit stores into R3 ABSDP P1 R2 R3 R2 ABS Po002 Po001 Take the content of P1 reg...

Page 226: ...R2 B0 Compare R1 register value with R2 register value send result into B0 B3 register CMPWDR D1 R2 B0 Compare immediate operand 1 with R2 register value send result into B0 B3 register CMPWPR P1 R2 B0 Compare P1 register value with R2 register value send result into B0 B3 register CMPWDP D1 P2 B0 Compare immediate operand 1 with P2 register value send result into B0 B3 register CMPWRP R1 P2 B0 Co...

Page 227: ...ue then Z n 0 Z n 1 0 Z n 2 1 User can operate for R area P area and immediate operand See details as table below Syntax Expression Annotations CMPDRR R1 R2 B0 Compare R1 register value with R2 register value send result into B0 B3 register CMPDDR D1 R2 B0 Compare immediate operand 1 with R2 register value send result into B0 B3 register CMPDPR P1 R2 B0 Compare P1 register value with R2 register v...

Page 228: ...B0 B3 register 6 8 4 Built in PLC Parameters PL170 PLC Start Function PLC Setting Range Setting Unit Mfr s Value Effect 0 1 N A 0 Immediate Effect 0 Not start PLC function 1 Start PLC function PL172 PLC Start Adress PLC Setting Range Setting Unit Mfr s Value Effect 0 2000 N A 0 Immediate Effect PL174 PLC Reset PLC Setting Range Setting Unit Mfr s Value Effect 0 1 N A 0 Immediate Effect 0 Not reset...

Page 229: ...timer 4 Configuration PLC Setting Range Setting Unit Mfr s Value Effect Two parameter N A 00 Immediate Effect d X 0 1 Y 0 1 10ms 100ms 2 PLC stores B451 Timer Mode Reach set value and maintain Reach set value and continue to count Count Source PL140 Low speed timer 1 set value PLC Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate Effect PL142 Low speed timer 2 set...

Page 230: ...mer 4 current value PLC Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A PL160 High speed counter 1 set PLC Setting Range Setting Unit Mfr s Value Effect Two parameter N A 00 Immediate Effect d X 0 1 Y 0 1 0 1ms PLC stores B432 Timer Mode Reach set value and maintain Reach set value and continue to count Count Source PL161 High speed counter 1 set value PLC Setting Range Set...

Page 231: ...nter 2 current value PLC Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 6 8 5 Built in PC PLC Use and Application Example To satisfy user requirement FL20 built in PLC adopts free installation version Download the software double click ParkerDV shortcut icon then below interface is displayed Fig 6 8 1 Interface after double click Click built in PLC PLC programing interface...

Page 232: ...window as following Fig 6 8 2 Communication setting window After finishing programing user can complie program If program is correct below window will pop up Fig 6 8 3 Program is correct If program is not correct following window will pop up ...

Page 233: ...ad window will pop up user can press download key Note current software doesn t support ladder logic programing only suport language programming 6 8 5 1Application Example The application example illustrates the programming of common instructions Case 1 16 bit Addition Instruction MOVWDR D3 R100 Set the starting point of a program ADDWDP D1000 P113 R29 The value of Po113 added to immediate operand...

Page 234: ...t MOVWRP R29 P114 Send the result of R29 into Po114 it is convenient to check JUMP R100 Echoing with first sentence maintain the program in running status Case 4 16 bit Division Instruction MOVWDR D3 R100 Set the starting point of a program DIVWDP D100 P113 R29 Dividing immediate operand 100 by the value of Po113 send the result into R29 and R39 area R30 stores remainder MOVWRP R29 P114 Send the r...

Page 235: ...to DO1 MCR JUMP R100 Echoing with first sentence maintain the program in running status Case 8 Program Control Instruction Example MOVWDR D3 R30 Set program jump address LD B48 Judge DI1 status MC B464 Set B464 valid if DI1 is enabled meanwhile the code between MC and MCR in executing status LD B49 Judge DI2 status MPS Current logic status pushes into stack LD B51 Judge DI4 status ANB AND instruct...

Page 236: ... 2 MODBUSAddress and Contents Address Content Range Remarks 10000 Debug Mode WR 10001 Single step execution WR 10002 Running to breakpoint WR 10003 Breakpoint address WR 1175 Current address RO 10100 10355 Data of R0 R255 WR Table 3 DEBUG Mode Function Action Debug mode Single step Running to breakpoint Breakpoint address Running to breakpoint address N then enter single step mode 1 0 1 N In singl...

Page 237: ...rocessing meets the needs Manual Adjustment Vibration Supression Finish YES NO Offline or online inertia identification Vibration Test Run YES NO Manual gain adjustment See chapter 7 4 3 for reference Rigid Selection Fig 7 1 1Gain adjustment flow chart Note It is recommended that jog test running firstly before gain adjustment to ensurethe normal running of motor Servo gain can be set by the combi...

Page 238: ...fication Servo drive identifies current load inertia automatically according to the load condition the identified value writes to rotational inertia ratio Po013 1 If actual load inertia ratio is big and the drive gain is low motor will be slow and cannot meet the requirements user can increase the rigidity by Po010 to learn the inertia again 2 If vibration occurs in the process of inertia learning...

Page 239: ...process of offline inertia identification shows as below Start Servo enabled Po013 200 So 14 Press key Display stable Finish No Yes Servo enabled green light Current rotational inertia ratio Po008 1 Forward reverse identification Increase Po013 properly Studied inertia ratio write to Po013 Fig 7 2 1Offline rotational inertia setting flow chart Related Parameters 1 Motion range of offline rotationa...

Page 240: ...accel decel time speed position torque Setting Range Setting Unit Mfr s Value Effect 200 5000 ms 1000 Immediate effect 5 Rotational inertia ratio Po013 Rotational inertia ratio speedpositiontorque Setting Range Setting Unit Mfr s Value Effect 1 30000 0 01 200 Immediate effect Note Rotational inertia identification just measures the inertia ratio does not match speed location parameter therefore pl...

Page 241: ...0rpm s The machinery that rigid load is not easy to generate small vibration Slow changing of load inertia Mechanical clearance is not big in the motor process Start Servo enabled OFF Set Po008 3 PC PLC running Motor running Finish Real time calculate load inertia ratio automatically Servo enabled ON Fig 7 2 2 Online rotational inertia setting flow chart ...

Page 242: ...of servo drive is the ability that motor rotor overcomes load inertia which is self locking ability of motor rotor The stronger servo rigidity is the bigger corresponding speed loop gain is the faster system response speed is Servo rigidity must use in conjunction with the rotational inertia of load the bigger mechanical load rotational inertia is the lower the rigidity level is If servo rigidity ...

Page 243: ...roportional gain Po101 first speed loop integral time Po102 first speed filter time constant Po105 first torque filter time constant Po214 first current loop bandwidth Po200 Table 7 3 1 Rigidity Level and Related Parameters Rigidity Level Po010 1st position loop gain Po301 1st Speed loop proportional gain Po101 1st speed loop integral time Po102 1st speed filter time constant Po105 1st current loo...

Page 244: ...y directly connected with ball screw machine tool etc Setting method of rigidity level 1 Confirm that inertia identification has been executed and the inertia ratio is reasonable estimate proper rigidity level Po010 according to inertia ratio and drive connection mode the bigger mechanical load is the lower rigidity level is 2 So 14 enters jog test running check the normal operation and noise Redu...

Page 245: ... switching mode Po306 Position loop filter time constant Po131 Gain switching speed Po343 Position mode acel decel time Po132 Gain switching pulse Po229 Notch filter start Po133 Position loop gain switching time Po217 1st Notch filter center frequency Po134 Speed loop gain switching time Po218 1st Notch filter width Po219 1st Notch filter depth Po220 2nd Notch filter center frequency Po221 2nd Not...

Page 246: ... it does not change smoothly lower gain can reduce the vibration of system B Speed Loop Gain Po101 1st Speed loop proportional gain speed position torque Setting Range Setting Unit Mfr s Value Effect 0 30000 0 1Hz 600 Immediate effect Po102 1st Speed loop integral time speed position torque Setting Range Setting Unit Mfr s Value Effect 0 10000 0 1ms 500 Immediate effect Po103 2nd Speed loop propor...

Page 247: ...rent loop bandwidth speed position torque Setting Range Setting Unit Mfr s Value Effect 10 3000 HZ Immediate effect Po201 2nd current loop bandwidth speed position torque Setting Range Setting Unit Mfr s Value Effect 10 3000 HZ Immediate effect Po214 1st torque filter time constant speed position torque Setting Range Setting Unit Mfr s Value Effect 0 30000 0 01ms Immediate effect Po215 2nd torque ...

Page 248: ... Po130 0 No switch default to use gain 1 Po130 1 No switch default to use gain 2 Po130 2 Switch to gain 2 Immediate when speed is higher than the setting value of Po131 if speed is lower than Po131 after delay the setting time of Po135 0 1ms switch to gain 1 Po130 3 Switch terminal control use gain 1 if the switching terminal defined in CN3 is invalid use gain 2 if valid Po130 4 Switch to gain 2 I...

Page 249: ...ffect 1 32000 0 1ms 20 Immediate effect The time from one gain switching to another gain smoothly Po134 Speed loop gain switching time Position Speed Setting Range Setting Unit Mfr s Value Effect 0 20000 0 1ms 100 Immediate effect The time from one gain switching to another gain smoothly Po135 Gain 2 switch to gain 1 delay time Position Speed Setting Range Setting Unit Mfr s Value Effect 0 32000 0...

Page 250: ...n frequency to reach vibration inhibition The principle of notch filter shows as below FL FH Notch bandwidth Notch depth Mechanical system Amplitude frequency characteristics Frequency Frequency Notch characteristics Fig 7 4 1Inhibition principle of notch filter Servo drive has 4 groups of notch filters each notch filter has 3 parameters which are notch filter frequency width level and depth level...

Page 251: ... 7 4 1 so is called low frequency resonance It can reduce the frequency effectively by the function of low frequency vibration inhibition 伺服电机 联轴器 移动部件 丝杠 工作台 低频下振动 Vibration in low frequency Servo Motor Coupling Moving part Work bench Screw Fig 7 4 2 Low frequency resonance sketch map 1 User Parameter Po240 Vibration suppression central frequency Position Setting Range Setting Unit Mfr s Value Ef...

Page 252: ... of parameter name When the parameter is reserved please do not set this kind of parameters 2 Instruction of parameter units The units of function selection parameters are N A they are no units 3 Instruction of control mode The scopes of parameters are all servo running modes 4 Instruction of Mfr s value The Mfr s value of parameter is it indicates that this parameter is related to the characteris...

Page 253: ...ulse error numbers Command unit Valid in position pulse mode Lo 10 Given speed 0 1r min Valid in speed mode Lo 11 Given torque 1 of rated torque Valid in torque mode Lo 12 Analog speed command display 0 1r min Valid in analog speed mode Lo 13 Analog torque command display 1 of rated torque Valid in analog torque mode Lo 14 DI8 DI5 status display None 8 DI5 A Closed 1 Open DI6 0 0 B C DI7 0 1 1 Ope...

Page 254: ...osed Lo 18 Current temperature display of servo drive Lo 19 Rotation inertia display 0 01 Lo 20 Current output torque display Lo 21 Current gain group display N A Lo 22 Braking power display 10ms Lo 23 One loop pulse high 5 digits of motor absolute position 100000 Lo 24 One loop pulse low 5 digits of motor absolute position Command unit Lo 25 Multi loop pulse high 5 digits of motor absolute positi...

Page 255: ...0 Re power on Setting password is used to avoid modifying parameters by mistake The Mfr s value is 0 which means password is invalid and users can modify parameters anytime If users want to use this function please set a password for this parameter and restart servo then this function is valid Most auxiliary function and main function parameters except monitor function parameters can be modified w...

Page 256: ...duty ratio the faster discharge speed So 06 Input power phase loss protection Speed Position Torque Setting range Setting unit Mfr s value Effect 0 1 N A Immediate effect 0 phase loss protection is invalid 1 phase loss protection is valid So 07 Servo OFF stop mode Speed Position Torque Setting range Setting unit Mfr s value Effect 0 2 N A 0 Immediate effect 0 Free stop 1 Dynamic brake This functio...

Page 257: ...r of turns of encoder absolute position 8 Given command pulse numbers display low 5 digits 27 AI1 voltage 9 Given command pulse error numbers 28 AI2 voltage 10 Given speed 29 Combined deviation 11 Given torque 30 Close loop feedback 12 Analog speed command display 31 Gantry synchronous deviation 13 Analog torque command display 32 Reserved 14 D18 D15 status display 33 Hight speed counter 1 15 D14 ...

Page 258: ...iate effect When brake motor is used So 16 is used to set speed threshold of electromagnetic brake Refer to 6 1 3 for details So 17 Forward run prohibited Speed Position Torque Setting range Setting unit Mfr s value Effect 0 1 N A 1 Immediate effect 0 Invalid 1 Valid When So 17 1 So 18 1 and external control terminals with the function of F INH and R INH are allocated the overtravel function is en...

Page 259: ...Speed Position Torque Setting range Setting unit Mfr s value Effect 1 500 1V 500 Effective Immediate So 22 Max rotation speed corresponding to 10V Speed Position Torque Setting range Setting unit Mfr s value Effect 1 32000 0 1r min 30000 Effective Immediate So 24 Analog monitor voltage compensation 1 Speed Position Torque Setting range Setting unit Mfr s value Effect 10000 1000 mv 0 Effective Imme...

Page 260: ...marks 0 Absolute position In internal position absolute mode encoder feedback absolute position is adopted 1 Relative position Battery protection is shielded in internal position absolute mode encoder feedback absolute position isn t adopted So 32 Groungding protection Speed Position Torque Setting range Setting unit Mfr s value Effect 0 1 N A 0 Effective Immediate 0 invalid 1 valid So 34 Motor lo...

Page 261: ...ition Torque Setting range Setting unit Mfr s value Effect 10 1000 10ms 100 Effective Immediate So 41 Setting mechanical origin Speed Position Torque Setting range Setting unit Mfr s value Effect 0 1 N A 0 Effective Immediate 0 invalid 1 valid So 42 Alarm output duty ratio Speed Position Torque Setting range Setting unit Mfr s value Effect 1 100 100 Effective Immediate So 43 Encoder reset Speed Po...

Page 262: ...to Mfr s value Speed Position Torque Setting range Setting unit Mfr s value Effect 0 1 N A 0 Repower on 0 invalid 1 valid When there is disorder with parameters and Mfr s value need to be restored set So 49 1 The procedure is to set So 49 1 and press SET key for 0 5s wait for 5 seconds then power down and repower on all parameters will revert to Mfr s value When servo drive is enabled revert to Mf...

Page 263: ...0ms 10 Effective Immediately So 61 Analog monitor channel 2 Speed Position Torque Setting range Setting unit Mfr s value Effect 0 3 N A 0 Effective Immediate Setting value Definition Remarks 0 Servo drive output current Determined by So 20 1 Servo drive output voltage Determined by So 21 2 Servo motor speed Determined by So 22 3 Output voltage 0V offset Offset voltage is determined by So 62 So 62 ...

Page 264: ...x mode of analog speed and position pulse Mix mode of analog torque and position pulse Mix mode of position pulse and internal register position Mix mode of analog speed and internal register torque Mix mode of analog torque and internal register torque 17 Mix mode of register torque and internal register position Mix mode of analog speed and analog torque Mix mode of analog speed and internal reg...

Page 265: ...ad inertia Speed Position Torque Setting range Setting unit Mfr s value Effect 1 100 N A 10 Effective Immediate Po008 Rotary inertia mode Speed Position Torque Setting range Setting unit Mfr s value Effect 0 3 N A 0 Effective Immediate 0 Rotary inertia identification is invaid 1 Off line forward reverse identification 2 Off line single direction identification 3 On line inertia auto identification...

Page 266: ...such as machine tools etc 2 769 200 2500 1668 1000 0 3 1154 300 1666 1100 1000 0 4 1538 400 1250 830 1000 0 5 1923 500 1000 650 1000 0 6 2423 630 793 529 1000 0 7 2885 750 666 440 1000 0 8 3346 870 574 383 1000 0 9 3846 1000 500 330 1000 0 10 4308 1120 446 297 1000 0 11 4808 1250 400 260 1000 0 12 5270 1370 364 243 1000 0 13 5770 1500 333 220 1000 0 14 6231 1620 308 205 1000 0 15 6731 1750 285 190...

Page 267: ...ct 200 2147483647 N A Effective Immediate Please refer to 7 3 Po017 Z pulse frequency division output width Speed Position Torque Setting range Setting unit Mfr s value Effect 50 30000 N A Effective Immediate Please refer to 6 4 7 for details Po018 Pluse output setting Speed Position Torque Setting range Setting unit Mfr s value Effect Four parameter N A 0001 Effective Immediate b Z pulse output p...

Page 268: ...0000 0 1Hz 600 Effective Immediate Please refer to 7 3 3 Po102 First speed loop integral gain Speed Position Torque Setting range Setting unit Mfr s value Effect 0 10000 0 1ms 500 Effective Immediate Please refer to 7 3 3 Po103 Second speed loop proportional gain Speed Position Torque Setting range Setting unit Mfr s value Effect 0 30000 0 1Hz 240 Effective Immediate Please refer to 7 3 3 Po104 Se...

Page 269: ...speed mode Speed Setting range Setting unit Mfr s value Effect 1 30000 1ms 200 Effective Immediate Po110 Deceleration time only valid in speed mode Speed Setting range Setting unit Mfr s value Effect 1 30000 1ms 200 Effective Immediate Po111 S curve accele decel time Speed Setting range Setting unit Mfr s value Effect 1 15000 1ms 100 Effective Immediate Po112 S curve start Speed Setting range Sett...

Page 270: ...reference 0 0 B C 2 Nearest Z phase pulse as home reference Searching mechanical origin 0 1 Input terminal ORGP as home reference 1 3 2 Deceleration to stop after arriving at home reference Searching Z signal at second speed with opposite direction after arriving at home reference Searchingthe rising edge of input terminal ORGP as the Mechanical originat the second speed with opposite direction af...

Page 271: ...ect 0 3 N A 0 Effective Immediate 0 No home searching 1 Auto searching when power on 2 I O port trigger 3 Start Immediate Po126 Speed value in the zero clamp Speed Setting range Setting unit Mfr s value Effect 0 30000 0 1r min 50 Effective Immediate Po127 Zero clamp enabled Speed Setting range Setting unit Mfr s value Effect 0 1 N A 0 Effective Immediate 0 Zero clamp function OFF 1 Zero clamp func...

Page 272: ...o gain 2 Immediate if there is pulse input If there is no pulse input and the speed is lower than Po131 delay the setting time of Po135 0 1ms then switch to gain 1 Po131 Gain switching speed Speed Position Setting range Setting unit Mfr s value Effect 1 32000 0 1r min 100 Effective Immediate Po132 Gain switching pulse Speed Position Setting range Setting unit Mfr s value Effect 1 32000 N A 100 Eff...

Page 273: ...32000 N A 1000 Effective Immediate Po143 Reverse running range pulse when overtravel protection Speed Position Torque Setting range Setting unit Mfr s value Effect 0 2147483647 N A 0 Effective Immediate Po145 Reverse running range pulse when overtravel protection Speed Position Torque Setting range Setting unit Mfr s value Effect 0 32000 N A 1000 Effective Immediate Po200 1st current loop bandwidt...

Page 274: ...Immediate Po207 Forward reverse run prohibited and emergency stop torque Speed Position Torque Setting range Setting unit Mfr s value Effect 1 300 1 of rated torque 100 Effective Immediate When forward reverse run prohibited signal or emergency stop signal is valid the max value of instantaneous reverse stop torque of servo motor is limited within the range of this value and this value is an absol...

Page 275: ...orque increasing time Torque Setting range Setting unit Mfr s value Effect 0 30000 0 1ms 0 Effective Immediate Po213 Torque decreasing time Torque Setting range Setting unit Mfr s value Effect 0 30000 0 1ms 0 Effective Immediate Po214 1st torque filter time constant Speed Position Torque Setting range Setting unit Mfr s value Effect 0 30000 0 01ms Effective Immediate Po215 2nd torque filter time c...

Page 276: ...tting unit Mfr s value Effect 0 100 N A 0 Effective Immediate Please refer to 7 4 Po220 2nd Notch filter center frequency Speed Position Torque Setting range Setting unit Mfr s value Effect 50 30000 Hz 2000 Effective Immediate Please refer to 7 4 Po221 2nd Notch filter width Speed Position Torque Setting range Setting unit Mfr s value Effect 0 30000 Hz 5 Effective Immediate Po222 2nd Notch filter ...

Page 277: ...e Setting unit Mfr s value Effect 0 100 N A 0 Effective Immediate Po229 Notch filter start Speed Position Torque Setting range Setting unit Mfr s value Effect 0 3 N A 0 Effective Immediate 0 Off 1 On 2 Notch filter is auto setting 3 Clear filter data Po230 Notch filter number Speed Position Torque Setting range Setting unit Mfr s value Effect 1 4 N A 2 Effective Immediate Po231 Resonance threshold...

Page 278: ...nit Mfr s value Effect 0 1000 0 1 500 Effective Immediate Po237 Target torque range Torque Setting range Setting unit Mfr s value Effect 1 50 1 2 Effective Immediate Po238 Torque filter frequency Torque Setting range Setting unit Mfr s value Effect 1 1000 0 1Hz 10 Effective Immediate Po240 Vibration suppression central frequency Position Setting range Setting unit Mfr s value Effect 50 2000 0 1Hz ...

Page 279: ...gative logic Po301 1st position loop gain Position Setting range Setting unit Mfr s value Effect 1 30000 N A Effective Immediate Po302 2nd position loop gain Position Setting range Setting unit Mfr s value Effect 1 30000 N A Effective Immediate Po303 Position loop feedforward gain Position Setting range Setting unit Mfr s value Effect 0 1000 N A 0 Effective Immediate Po304 1st group electronic gea...

Page 280: ... INH P must be allocated 0 Command pulse clear B 1 0 Position loop tracking error rate unit C 1 0 D 1 0 1 pulse 100 pulses Invalid Valid CLR must be Allocated Position loop tracking alarm rate unit 1 pulse 100 pulses Po309 Position error alarm pulses Position Setting range Setting unit Mfr s value Effect 1 32000 N A Effective Immediate Po310 Acceleration time of internal position 1 Internal regist...

Page 281: ...32000 ms 100 Effective Immediate Po316 Acceleration time of internal position 4 Internal register position Setting range Setting unit Mfr s value Effect 0 32000 ms 100 Effective Immediate Po317 Deceleration time of internal position 4 Internal register position Setting range Setting unit Mfr s value Effect 0 32000 ms 100 Effective Immediate Po318 Acceleration time of internal position 5 Internal r...

Page 282: ...ediate Po325 Deceleration time of internal position 8 Internal register position Setting range Setting unit Mfr s value Effect 0 32000 ms 100 Effective Immediate Po326 Filter time constant of position feedforward Position Setting range Setting unit Mfr s value Effect 1 32000 0 01ms 1000 Effective Immediate Po327 No of Position deviation alarm pulse Position Setting range Setting unit Mfr s value E...

Page 283: ... Effect 1 65535 0 1r min 1000 Effective Immediate Po337 Given speed of postion 8 Internal register position Setting range Setting unit Mfr s value Effect 1 65535 0 1r min 1000 Effective Immediate Po338 Unit of position given speed Internal register position Setting range Setting unit Mfr s value Effect 0 1 N A 0 Effective Immediate 0 Motor actual speed has no relation with electronic gear Unit is ...

Page 284: ...osition mode Position Setting range Setting unit Mfr s value Effect 0 10000 ms 0 Effective Immediate Po344 2ed group electronic gear numerator Position Setting range Setting unit Mfr s value Effect 0 2147483647 N A 0 Effective Immediate Please refer to 6 4 2 Po346 2ed electronic gear denominator Position Setting range Setting unit Mfr s value Effect 1 2147483647 N A 10000 Effective Immediate Pleas...

Page 285: ...47 N A 0 Effective Immediate Po356 Given postion of postion 4 Internal register position Setting range Setting unit Mfr s value Effect 2147483647 2147483647 N A 0 Effective Immediate Po358 Given postion of postion 5 Internal register position Setting range Setting unit Mfr s value Effect 2147483647 2147483647 N A 0 Effective Immediate Po360 Given postion of postion 6 Internal register position Set...

Page 286: ...ct 0 32000 ms 0 Effective Immediate Po370 Interval time 5 Internal register position Setting range Setting unit Mfr s value Effect 0 32000 ms 0 Effective Immediate Po371 Interval time 6 Internal register position Setting range Setting unit Mfr s value Effect 0 32000 ms 0 Effective Immediate Po372 Interval time 7 Internal register position Setting range Setting unit Mfr s value Effect 0 32000 ms 0 ...

Page 287: ...e from electronic cam On Off Pulse from high speed counter1 On Off Pulse from internal position On Off On Off Po376 Position feedback source Position Setting range Setting unit Mfr s value Effect 0 2 N A 0 Effective Immediate 0 Position feedback root in motor motor shaft 1 Position feedback root in high speed counter 1 2 Position feedback root in high speed counter 2 Po377 Position feedback pulse ...

Page 288: ...2 Gantry position feedback source Position Setting range Setting unit Mfr s value Effect 0 1 N A 0 Effective Immediate Po383 Gantry synchron alarm pulse Position Setting range Setting unit Mfr s value Effect 10 65535 N A 1000 Effective Immediate Po384 Gantry synchron feedback proportion numerator Position Setting range Setting unit Mfr s value Effect 1 2147483647 N A 10 Effective Immediate Po386 G...

Page 289: ...ect 0 5000 mv 0 Effective Immediate Po403 AI2 torque command zero drift compensation Speed Position Torque Setting range Setting unit Mfr s value Effect 0 5000 mv 0 Effective Immediate Po404 Analog speed command filter time constant Speed Position Torque Setting range Setting unit Mfr s value Effect 1 30000 0 01ms 200 Effective Immediate Po405 Analog torque command filter time constant Torque Sett...

Page 290: ...fr s value Effect Two parameter N A Repower on Po412 DI6 terminal function Speed Position Torque Setting range Setting unit Mfr s value Effect Two parameter N A Repower on Po413 DI7 terminal function Speed Position Torque Setting range Setting unit Mfr s value Effect Two parameter N A Repower on Po414 DI8 terminal function Speed Position Torque Setting range Setting unit Mfr s value Effect Two par...

Page 291: ...tting unit Mfr s value Effect 100 5000 mv 2000 Effective Immediate Po427 Analog terminal control Speed Setting range Setting unit Mfr s value Effect 0 1 N A 0 Effective Immediate 0 Off 1 On Po428 Analog speed mode setting Speed Torque Setting range Setting unit Mfr s value Effect 0 1 N A 0 Effective Immediate 0 Analog command is set by AI1 1 Analog command is set by AI2 Po429 Analog torque command...

Page 292: ...Po434 Torque corresponding to lower limit voltage in torque analog mode Speed PositionTorque Setting range Setting unit Mfr s value Effect 1000 1000 0 1 1000 Effective Immediate Please refer to 6 3 Po435 Lower limit voltage in torque analog mode Speed Position Torque Setting range Setting unit Mfr s value Effect 1000 1000 0 01V 1000 Effective Immediate Please refer to 6 3 Po436 Torque correspondin...

Page 293: ... 30000 N A 2 Effective Immediate Po442 DI5 filter time Speed Position Torque Setting range Setting unit Mfr s value Effect 0 30000 N A 2 Effective Immediate Po443 DI6 filter time Speed Position Torque Setting range Setting unit Mfr s value Effect 0 30000 N A 2 Effective Immediate Po444 DI7 filter time Speed Position Torque Setting range Setting unit Mfr s value Effect 0 30000 N A 2 Effective Immed...

Page 294: ... 9600 3 19200 4 38400 5 57600 Po505 Permission of Read Write Speed Position Torque Setting range Setting unit Mfr s value Effect 0 1 N A 1 Effective Immediate 0 Permission of Read Write the communication data is allowed to be written into data register 1 Prohibition of Read Write the communication commands are only executed but they are not allowed to be written into data register If the servodriv...

Page 295: ...Mfr s value Effect 1 30 pair Effective Immediate If servo motor is 8 polses Ho004 is 4 Ho005 Phase resistance Speed Position Torque Setting range Setting unit Mfr s value Effect 0 65535 10 3 Ω Effective Immediate Ho006 D axis inductance Speed Position Torque Setting range Setting unit Mfr s value Effect 0 65535 10 6 H Effective Immediate Ho007 Q axis inductance Speed Position Torque Setting range ...

Page 296: ... Speed Position Torque Setting range Setting unit Mfr s value Effect 1 30000 N A 500 Effective Immediate 8 1 5 Alarm Record Parameters Ho2 Ho3 Ho200 Ho235 AL01 AL32 alarming times Speed Position Torque Setting range Setting unit Mfr s value Effect Ho300 PN voltage at last time alarm Speed Position Torque Setting range Setting unit Mfr s value Effect Ho301 Current at last time alarm Speed Position ...

Page 297: ...s value Effect Ho308 Motor speed at third last time alarm Speed Position Torque Setting range Setting unit Mfr s value Effect Ho310 Alarm code at last time Speed Position Torque Setting range Setting unit Mfr s value Effect Ho311 Alarm code at second last time Speed Position Torque Setting range Setting unit Mfr s value Effect Ho312 Alarm code at third last time Speed Position Torque Setting range...

Page 298: ... Setting unit Mfr s value Effect Ho319 Alarm code at tenth last time Speed Position Torque Setting range Setting unit Mfr s value Effect Ho320 Alarm time at last time Speed Position Torque Setting range Setting unit Mfr s value Effect Ho321 Alarm time at second last time Speed Position Torque Setting range Setting unit Mfr s value Effect Ho322 Alarm time at third last time Speed Position Torque Se...

Page 299: ...327 Alarm time at eighth last time Speed Position Torque Setting range Setting unit Mfr s value Effect Ho328 Alarm time at ninth last time Speed Position Torque Setting range Setting unit Mfr s value Effect Ho329 Alarm time at tenth last time Speed Position Torque Setting range Setting unit Mfr s value Effect 8 1 6 High speed counter parameters PL PL000 E Cam Control Speed Position Torque Setting ...

Page 300: ...Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate effect PL005 E cam Occlusion Release Point Speed Position Torque Setting Range Setting Unit Mfr s Value Effect 2147483647 214748364 7 N A 0 Immediate effect PL007 E cam master axis numerator Speed Position Torque Setting Range Setting Unit Mfr s Value Effect 1 2147483647 N A 1 Immediate effect PL009 E cam master axis denominator Speed P...

Page 301: ...ate effect 0 Ready to start 1 Waiting for engaged trigger 2 Pre engaged Status 3 Running Status PL019 Master Axis Position Speed Position Torque Setting Range Setting Unit Mfr s Value Effect 0 2147483647 N A 0 Check PL021 E cam disengaged is captured again or not Speed Position Torque Setting Range Setting Unit Mfr s Value Effect 0 1 N A 0 Immediate effect PL021 1 capture again When selecting CAP ...

Page 302: ...P enabled Close CAP function Open CAP function Reverse Forward Disabled Enabled No Reset Reset PL101 High speed counter 1 command source speed position torque Setting Range Setting Unit Mfr s Value Effect Four parameter N A 0100 Immediate effect b A 0 1 Reset source setting B 0 1 CAP command source setting Software DI8 2 DI7 2 C 0 1 2 3 D 0 1 Close Start Software DI8 DI7 Command source setting Low...

Page 303: ...g Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Check PL110 High speed counter 2 control command speed position torque Setting Range Setting Unit Mfr s Value Effect Four parameter N A 0000 Immediate effect b A 0 1 High speed counter Reset B 0 1 High speed counter enabled C 0 1 High speed counter direction D 0 1 CAP enabled Close CAP function Open CAP function Reverse Forward Di...

Page 304: ...effect PL114 High speed counter 2 periodic value speed position torque Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate effect PL116 High speed counter 2 count value speed position torque Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Check PL118 High speed counter2 CAP value speed position torque Setting Range Setting Unit Mfr s Value ...

Page 305: ...N positive logic HPULS positive logic HSIGN anti logic PL121 Internal command source speed position torque Setting Range Setting Unti Mfr s Value Effect 0 1 N A 0 Immediate effect 0 Internal parameter PL100 1 Internal PLC PL122 CAP1 indicating speed position torque Setting Range Setting Unti Mfr s Value Effect N A N A PL123 CAP2 indicating speed position torque Setting Range Setting Unti Mfr s Val...

Page 306: ...alue Effect Two parameter N A 00 Immediate Effect d X 0 1 Timer Mode Y 0 1 Count Source 10ms 100ms Reach set value and maintain Reach set value and continue to count 2 PLC stores B449 PL132 Low speed timer 3 Configuration PLC Setting Range Setting Unit Mfr s Value Effect Two parameter N A 00 Immediate Effect d X 0 1 Timer Mode Y 0 1 10ms 100ms 2 PLC stores B450 Reach set value and maintain Reach s...

Page 307: ...te Effect PL146 Low speed timer 4 set value PLC Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate Effect PL150 Low speed timer 1 current value PLC Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A Immediate Effect PL152 Low speed timer 2 current value PLC Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A PL154 Low speed ...

Page 308: ...ffect Two parameter N A 00 Immediate Effect d X 0 1 Y 0 1 0 1ms PLC stores B436 Timer Mode Reach set value and maintain Reach set value and continue to count Count Source PL166 High speed counter 2 set value PLC Setting Range Setting Unit Mfr s Value Effect 2147483647 2147483647 N A 0 Immediate Effect PL168 High speed counter 2 current value PLC Setting Range Setting Unit Mfr s Value Effect 214748...

Page 309: ...n 1 Reset PLC function PL199 Download of E cam and PLC data PLC Setting Range Setting Unit Mfr s Value Effect 0 1 N A 0 Immediate Effect When user refreshes cam table with PLC if communication mode is adopted user must set 1 to address 1199 input cam table data set cam table points more than 5 to address 1015and set 1 to address 1017 ...

Page 310: ...on control 7 ZCLAMP Zero speed CLAMP 8 Gain switchover 9 10 CLR Pulse clear 11 INH P 12 ESP Emergency stop 13 R INH Reverse running prohibited 14 F INH Y Input contactor type selection 0 External switch opened valid Common closed 1 R CL d 15 d Two parameter mode refer to5 2 2 GAINUP 16 17 18 19 20 21 22 Internal register position selection 1 SD0 SD1 SD2 Home searching triggered External reference ...

Page 311: ...LAMP When the absolute value of speed is lower than the value of zero speed CLAMP the motor speed is 0 and position is locked Level trigger 8 Gain switchover GAIN SEL Gain switchover Level trigger 9 Internal position mode stop STOP Internal position mode stop Edge trigger 10 Pulse clear CLR Position deviation register returns to 0 at the position mode Edge trigger 11 Command pulse prohibited INH P...

Page 312: ...alized by controlling terminal Level trigger 27 Terminal reverse jogging JOGD Realized by controlling terminal Level trigger 28 Motor overheat HOT Realized by controlling terminal Level trigger 29 Interruption of fixed length trigger XintTrig When interruption enabled terminal is valid rising edge triggers internal register position mode Level trigger 30 Interruption of fixed length reset XintRest...

Page 313: ...DY is activated when the servo drive is ready to run All fault and alarm conditions if present have been cleared 1 Servo on SON O SON O is activated when the servo motor is ON 2 Rotation Detection TGON When the absolute value of speed is higher than the value of at rotation detection TGON is activated 3 At speed reached V CMP V CMP is activated when the servo motor has reached the target rotation ...

Page 314: ... 2 Control power supply fault Check the voltage between L1C and L2C Note 380V servo drive doesn t need to connect to L1C and L2C 3 Servo drive fault Please contact with manufacturer Keypad panel displays AL XXX Refer to chapter 9 2 to find the cause and solve the problem Servo drive enabled signal is valid S ON is ON Keypad panel displays AL XXX Refer to chapter 9 2 to find the cause and solve the...

Page 315: ... 2 Rotation is not smooth at low speed Low speed rotation is not smooth Gain is not set properly Adjust gain according to chapter 7 Motor shaft vibrates side to side Rotation inertia ratio Po013 is too high If servo drive runs safely please recognize inertia again according to chapter 7 3 Adjust gain according chapter 7 Normally running Location is not accurate There is position error Pulse receiv...

Page 316: ...on Check whether Lo 15 A is 1 if it is not check whether wiring is correct 2 Control mode is wrong Check whether Po001 X is correct Input position command Servo motor doesn t rotate or speed is not correct 1 Lo 12 has no change 2 Forward and reverse running is prohibited Analog interface wiring is wrong Before setting command source to Po428 check whether analog wiring is correct referring to chap...

Page 317: ... solve the problem Servo motor is in unlocked state 1 Servo drive enabled signal is invalid Check whether green light is on if it is not take the following step Check whether Po004 0 if it is not set 0 to Po004 then repower on Check whether Lo 15 A is 1 if it is not check whether wiring is correct 2 Control mode is wrong Check whether Po001 X is correct Input torque command Servo motor doesn t rot...

Page 318: ...L 07 Overspeed Speed is too high 8 AL 08 Reserved 9 AL 09 Large position control error Position loop trace error overflow 10 AL 10 Encoder fault Servo motor failure 11 AL 11 Emergency stop External emergency stop terminal is valid 12 AL 12 Servo drive overheat Temperature of servo drive radiator is too high 13 AL 13 Input phase loss In the state of power supply connection of main circuit the volta...

Page 319: ...L 36 Parameter copy error Parameter copy error 37 AL 41 high impedance state not detected High impedance state output is not detected after 8 core encoder is powered on 9 3 Alarm Display Table and Trouble shooting When malfunction occurs to servo drive do not run by resetting immediately Check any causes and get it removed if there is any Take counter measures by referring to this manual in case o...

Page 320: ...peed Servo motor rotary speed is higher than max speed Servo motor wiring encoder wiring or mechanical fault AL 08 Reserved AL 09 Large position control error U V W or encoder connection error or connector contact is bad Improve connection Servo Drive gain is low Increase gain adjust gain of speed and position The frequency of position pulse is too high Reduce pulse frequency or adjust electronic ...

Page 321: ...eck if encoder cable is connected well If it is disconnected reconnect it and reset alarm 2 Check if battery level is 3 6V If level is lower than 3 2V keep control power at ON state 3 Shield AL 19 So 38 1 So 43 1 reset alarm 4 Check if connecton of battery is reliable AL 20 Uninitialized E2ROM Unintialized E2ROM of servo motor Servo motor encoder is not initialized please study motor angle manuall...

Page 322: ...motor and encoder Wrong connection of encoder at mechanical terminal Check the connection of encoder at mechanical terminal Drive gain is low Increase gain adjust the gain of speed and position The frequency of position pulse is too high Reduce pulse frequency or adjust electronic gear AL 32 Synchronism error of gate bridge Po383 Po384 and Po386 are not set properly Check Po383 Po384 and Po386 Tra...

Page 323: ...rectly Forward reverse rotation prohibited Make the function of forward reverse rotation prohibited invalid Torque limited Check the parameters of torque limited function Servodrive fault Maintain or replace servodrive Servo motor moves instantaneously and then Stops Servo motor wiring is incorrect Check the wiring Servodrive fault Please contact with Parker Abnormal noise from servo motor Mountin...

Page 324: ...des two ASCII characters 3 33H 1 31H Common characters ASCII characters are shown in the following table Characters 0 1 2 3 4 5 6 7 ASCII Code 30H 31H 32H 33H 34H 35H 36H 37H Characters 8 9 A B C D E F ASCII Code 38H 39H 41H 42H 43H 44H 45H 46H 2 RTU mode In RTU mode one Byte is expressed by hexadecimal format For example 31H is delivered to data packet 2 Baud rate Setting range 2400 4800 9600 192...

Page 325: ... Address Function Data CRC check End T1 T2 T3 T4 Servo drive Address Function Code N data Low order byte of CRC High order byte of CRC T1 T2 T3 T4 3 Protocol Converter It is easy to turn a RTU command into an ASCII command followed by the lists 1 Use the LRC replacing the CRC 2 Transform each byte in RTU command into a corresponding two byte ASCII For example transform 0x03 into 0x30 0x33 ASCII co...

Page 326: ... Servo motor feedback rotation low 16 bits 938 Servo motor absolution position rotation high16 bits 909 Servo motor feedback rotation high 16 bits 939 Servo motor absolution position rotation low 16 bits 910 Given pulse numbers low 16 bits 940 Bit mode alarm code bit0 bit15 911 Given pulse numbers high 16 bits 941 Bit mode alarm code bit16 bit31 912 Pulse counting deviation low16 bits 942 Bit mode...

Page 327: ... highest bit 0 or 1 If the highest bit is 0 the data is actual servo motor feedback pulse numbers and the data is positive number If the highest bit is 1 to negate every bit and to add 1 to them which equals to servo motor feedback pulse numbers and it is a negative number If high 16 bit is 65534 and low bit is 31073 the binary form of which is 1111111111111110 and 111100101100001 after shifting h...

Page 328: ...ting Range Setting unit Mfr s value Remarks Po500 Communication address 1 254 1 Po501 Communication mode 0 1 0 0 RTU 1 ASCII Po502 Stop bit 0 1 0 0 1bit 1 2 bits Po503 Parity check selection 0 2 0 0 No checkout 1 Odd 2 Even Po504 Baud rate 0 5 bit s 2 0 2400 1 4800 2 9600 3 19200 4 38400 5 57600 Note Please set functions code related to communication consonant with the PLC PC communication paramet...

Page 329: ...ation failure but higher current to certain elements as well 3 Grounding and Terminal Terminal resistance of 120 will be adopted for terminal of RS485 network to diminish the reflection of signals Terminal resistance shall not be used for intermediate network No direct grounding shall be allowed for any point of RS485 network All the equipment in the network shall be well grounded via their own gr...

Page 330: ...ode D7 D71 DB9 4BS02 3M 0 2 3M Battery box DB9 4BS02 5M 0 2 5M DB9 4BS02 10M 0 2 10M DB9 4GS02 3M 0 2 3M DB9 4GS02 5M 0 2 5M DB9 4GS02 10M 0 2 10M Encoder cable with L aviation plug applicable for 110 130 and 180 flange servo motor Name Model Length Cable appearance Encoder cable for function code D7 D71 DB9 4BS03 3M 0 2 3M DB9 4BS03 5M 0 2 5M DB9 4BS03 10M 0 2 10M DB9 4GS03 3M 0 2 3M DB9 4GS03 5M...

Page 331: ...ble with L aviation plug applicable for 110 130 and 180 flange servo motor Name Model Length Cable appearance 15 core encoder cable for D5 DB15 15GP01 3M 0 2 3M DB15 15GP01 5M 0 2 5M DB15 15GP01 10M 0 2 10M 8 core encoder cable for D51 DB15 8GP01 3M 0 2 3M DB15 8GP01 5M 0 2 5M DB15 8GP01 10M 0 2 10M 4 core encoder cable for D52 DB9 4GS03 3M 0 2 3M DB9 4GS03 5M 0 2 5M DB9 4GS03 10M 0 2 10M Encoder ...

Page 332: ... for servo motor with base No E F 11 2 Control cable Analog speed and torque mode control cable Name Model Length Appearance Control cable DB44 15AI 1M 0 2 1M DB44 15AI 2M 0 2 2M DB44 15AI 3M 0 2 3M Position mode control cable Name Model Length Appearance Control cable DB44 15PC 1M 0 2 1M DB44 15PC 2M 0 2 2M DB44 15PC 3M 0 2 3M Name Model Length Cable appearance Encoder cable for D2 DB9 8GR02 3M 0...

Page 333: ...rger named as HK4B 4P0 M diameter Except servo motor with 180 flange other cables are named as HK4A 4P0 M diameter For M1 and M2 structure of 220V servo drive the name of cable should add B for M2 structure of 380V servo drive the name of cable should add H Applicable for 180 spigpot and 250 spigpot servo motor Name Model Length Appearance Power cable ZL4 4PO M diameter M means length Note 1 ZL4 4...

Page 334: ...ual length 11 5 Motor and matched cable 220V servo motor series Motor model Servo drive model Power cable model FMS series 3000r min FMSA 201 32 FL20 S201S2M1 FL20 S201T2M1 DB4 4PO M 0 75 B FMSA 401 32 FL20 S401S2M1 FL20 S401T2M1 FMSA 751 33 FL20 S751S2M1 FL20 S751T2M1 FMSA 102 33 FL20 S102S2M2 FL20 S102T2M2 DB4 4PO M 1 0 B FMSA 122 35 FL20 S122S2M2 FL20 S122T2M2 FMSA 152 37 FL20 S182S2M2 FL20 S18...

Page 335: ... M 1 5 B FMMB 232 37 FL20 S302T2M3 HK4A 4PO M 2 5 FMMB 272 3A HK4B 4PO M 2 5 FMMB 302 3A FL20 S452T2M3 HK4B 4PO M 4 0 FMMB 432 3A FL20 S452T2M3 FML series 1000r min FMLA 102 37 FL20 S102S2M2 FL20 S102T2M2 HK4A 4PO M 1 0 B FMLA 152 37 FL20 S182S2M2 FL20 S182T2M2 HK4A 4PO M 1 5 B FMLA 292 3A FL20 S302T2M3 HK4B 4PO M 2 5 FMLA 372 3A FL20 S452T2M3 HK4B 4PO M 4 0 380V servo motor series Motor model Ser...

Page 336: ...4A 4PO M 1 0 FMMB 152 67 FMMB 232 67 HK4A 4PO M 1 5 FMMB 302 67 FL20 S302T3M3 HK4A 4PO M 2 5 FMMB 272 6A FL20 S302T3M3 HK4B 4PO M 2 5 FMMB 302 6A FL20 S302T3M3 FMMB 432 6A FL20 S452T3M3 FMMB 552 6A FL20 S552T3M3 FMMB 752 6A FL20 S752T3MM4 HK4B 4PO M 4 0 FM15 0082 6EE FL FL20 S752T3MM4 ZL4 4PO M 4 0 FM15 0100 6EE FL FL20 S113T3MM4 ZL4 4PO M 6 0 FM15 0124 6EE FL FL20 S153T3M4 ZL4 4PO M 6 0 FM15 0160...

Page 337: ... FL FL20 S183T3M5 ZL4 4PO M 10 0 FM20 0220 6EE FL FL20 S223T3M5 ZL4 4PO M 10 0 FM20 0250 6EE FL FL20 S303T3M6 ZL4 4PO M 16 0 FM20 0280 6EE FL ZL4 4PO M 16 0 FM20 0300 6EE FL FL20 S373T3M6 ZL4 4PO M 16 0 FM20 0360 6FE FL ZL4 4PO M 25 0 XII Appendix 2 12 1 EtherCAT communication card EtherCAT is a real time Industrial Ethernet technology with the feature of high performance low cost flexible topolog...

Page 338: ...ommunication protocol Field bus standard IEC 61158 Type 12 IEC 61800 7 CiA 402 Drive Profile Application layer SDO SDO request SDO reply PDO Dynamic configuration for 0x1600 and 0x1A00 CIA402 Profile position mode pp Profile velocity mode pv Profile torque mode tq Homing mode hm Cyclic synchronous position mode csp Cyclic synchronous velocity mode csv Cyclic synchronous torque mode cst Interpolati...

Page 339: ...stallation and Connection Fig 12 1 1 FL20 series servo drive EtherCAT communication card installation Instruction Fig 12 1 2 FL20 series servo drive EtherCAT bus card dimension figure 22 2 101 0 75 0 161 0 140 5 114 0 175 0 27 6 ...

Page 340: ...ause the needed port has already existed in several devices such as I O module User can also select different cables to promote the flexibility of connection flexible economic standard Cat 5E Ethernet cable can adopt 100BASE TX transport signal the max length of the cable between two devices is 100m The combination of different Ethernet wirings e g different optical fiber and copper cable can be r...

Page 341: ...een FieldBus_Run ERR Red FieldBus_Error 12 1 5 Dial switch SW2 SW dip1 ON Turn the switch to ON when downloading the program OFF Turn the switch to OFF when running the program 12 1 6 Servo related parameter setting Parameter Name Setting range Value Po001 Control mode selection Two parameter 1 21 So 17 Forward forbidden setting 0 disabled 1 enabled 0 ...

Page 342: ...ud rate 125Kbit s default 125Kbit s 250Kbit s 500Kbit s 1Mbit s Max sites 64 CAN frame length 0 8 bytes Application layer CAN frame type Data frame Terminal matched resistance 120 Sub protocol Cia 301 V4 02 CANopen Application layer and communication protocol DSP 402 V2 0 Drive and motion control sub protocol Services NMT Network Management system SDO Service data object PDO Process data object De...

Page 343: ... S Series 343 Homing Mode HM Interpolated Position Mode IP 12 2 1 Installation and Connection Fig 12 2 1 Servo CANopen communication card installation instruction Fig 12 2 2 Servo CANopen bus card dimention ...

Page 344: ...t in resistance enabled through dial switch Terminal matching resistance CANH Shield CANL CANH CANL COM CANopen device 1 CANH CANL COM CANH CANL COM CANopen device 2 CANopen device N Terminal matching resistance CANopen built in resistance enabled through dial switch Fig 12 2 4 CAN bus connection sketch map 12 2 4 CANopen bus interface pins ...

Page 345: ...l signal low level pin 3 GND Ground 4 Unused N C 5 PE Cover 6 GND Ground 7 CAN_H CAN differential signal high level pin 8 Unused N C 9 Unused N C 12 2 5 Status indicator Indicator Color Function STA Green STATUS POW Green Power_on RUN Green FieldBus_Run ERR Red FieldBus_Error RX Green CAN_RX TX Red CAN_TX ...

Page 346: ...and baud rate setting Baud rate Address 125Kbit s 250Kit s 500Kbit s 1Mbit s 1 SW2 SW3 0 SW3 1 SW3 2 SW3 3 1 16 SW2 SW3 4 SW3 5 SW3 6 SW3 7 1 31 SW2 SW3 8 SW3 9 SW3 A SW3 B 1 47 SW2 SW3 C SW3 D SW3 E SW3 F 12 2 7 Servo related parameter setting Parameter Name Setting range Value Po001 Control mode selection Two parameter 1 21 So 17 Forward forbidden setting 0 disabled 1 enabled 0 So 18 Reverse for...

Page 347: ...FL20 S Series 347 ...