Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Chapter 5
Trial Operation
There are two ways of trial operation, one is through DriveStarter, the other one is through EtherCAT master
station. DriveStarter already has a fixed pilot-run function, making it very easy to operate. While, trial operation
through EtherCAT master station needs programming and complex control. Therefore, this chapter will mainly
introduce trial operation through DriveStarter. For DriveStarter operations, please refer to DriveStarter user
manual.
Preparation Before Trial Operation
5.1
Precautions
5.1.1
To ensure safe and correct trial operation, please inspect and confirm the following items beforehand. All
problems must be properly handled before trial operation.
5.1.1.1
Condition of Servo Motor
Make sure it is properly configured, wired and connected.
Check whether the motor shaft is running smoothly (It is normal that the motor shaft of the servo motor
with oil seal is tighter; Motor with brake can only rotate after the brake is open).
Check each fastening part for any loose condition (motor encoder connector, motor power cable
connector, etc.).
Note: For the motor with oil seal, check the oil seal part for any damage. Make sure the engine oil has been
applied. For servo motors after long-term preservation, please inspect them before trial operation.
5.1.1.2
Condition of Servo Drive
Make sure the servo drive's control power voltage and power supply voltage are normal.
Make sure the power cable, encoder cable, brake cable and I/O cable are properly connected.
Servo Parameter Settings
5.1.2
5.1.2.1
Set Drive Parameters
Set Byte3 (position following error out of range detection switch) of parameter 0x2000 (position control
switch) to 0x01 (enable large position following error detection);
Set parameter 0x202C (power loop setting), and properly set Byte0 (the main input voltage of power unit
module) and Byte2 (the model of motor drive module).
5.1.2.2
Set Motor Parameters
Set the following motor parameters properly, which can be found in the motor selection guide or instructions.
Pay attention to the units while setting motor parameters.
0x20C0 (motor rated power);
Byte0 (motor voltage class) of 0x20C1 (motor voltage class);
0x20C2 (motor rated speed);
0x20C3 (winding resistance);
0x20C4 (winding inductance);
0x20C5 (motor rotor inertia);
0x20C6 (motor back EMF factor);
0x20C7 (motor pole pairs number);
0x20C8 (motor torque constant);
0x6072 (max motor torque), set to a multiple of motor rated torque;
0x6073 (max motor current), set to a multiple of motor rated current;
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Summary of Contents for EtherCAT CoolDrive RC Series
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