Xinje DS5B Series, Manual

Page 1: ...DS5B series servo drive Fast manual Wuxi Xinje Electric Co Ltd Data No SC503 20180511 1 0 ...

Page 2: ...ts of the manual and carry on the correction in future versions welcome to put forward valuable opinion The contents described in the manual if there are any changes please understand we will not prior notice Contact us If you have any questions about the use of this product please contact the agent or xinje company Tel 0510 85134136 Fax 0510 85111290 Add 4 f building 7 creative industrial park no...

Page 3: ...figuration 6 1 3 2 Model name 7 1 4 Other accessories 8 1 4 1 Regenerative resistor 8 2 Product installation 10 2 1 Servo drive installation 10 2 1 1 Installation location 10 2 1 2 Environment conditions 10 2 1 3 Installation standard 10 2 2 Servo motor installation 12 2 2 1 Installation environment 12 2 2 2 Environment conditions 13 2 2 3 Installation notes 13 2 3 Servo motor dimension 17 2 4 Ser...

Page 4: ... function 44 4 2 Panel key operation 47 4 3 Change motor code 48 5 DS5 series rigidity gain debug 49 5 1 DS5 adaptive mode 49 5 1 1 Adaptive mode selection switch parameter 49 5 1 2 Recommended inertia ratio for default parameters 51 5 2 DS5 series auto tuning mode 52 5 2 1 No instruction auto tuning 52 5 2 2 Auto tuning with instruction 52 5 3 DS5 series manual adjustment mode 53 5 3 1 Reference ...

Page 5: ...7 2 Monitoring state 83 7 3 FX XX parameters 87 Appendix 88 Appendix 1 motor specification table 88 Appendix 2 servo drive and motor matching table 95 Appendix 3 Parameter Modbus address 95 ...

Page 6: ... Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdrive Is the motor code the same with the code in drive Check the motor code marked on the nameplates of the servomotor and the parameter P0 33 on the servo drive If there is anything wrong with the items liste...

Page 7: ...able damage Product running and maintenance Do not remove the panel cover while the power is ON Do not touch terminals for 10 minutes after the power has been turned OFF Do not connect with any motor when trial operation Before starting operation with a machine connected change the settings to match the parameters of the machine Do not attempt to change wiring while the power is ON Do not touch th...

Page 8: ... fieldbus function Connect fieldbus module CN2 encoder cable RS232 port Power supply Motor wiring Regenerative resistor Voltage level 2 220V 4 380V Series name DS5B basic type Suitable motor capacity 0P1 0 1KW 0P2 0 2KW 0P4 0 4KW 0P7 0 75KW 1P5 1 5KW Configuration type P input command type pulse Encoder type T communication encoder A design order A ...

Page 9: ... and up please use 3 phase AC200 240V 50 60Hz for single phase power supply please connect L1 L3 otherwise it will affect the power off memory Control method 3 phase full wave rectifier IPM PWM control sine current driving mode Using condition Using temperature 0 50 Storage temperature 20 85 Humidity Below 90 RH no condensation Resistance to vibration and impact strength 4 9m s2 19 6m s2 Structure...

Page 10: ...1 2 Servo motor 1 2 1 Part description Encoder part Frame Flange Output transmission shaft ...

Page 11: ...t name ST Sine driven motor Name Encoder type C Magnetic T Optical Name Rated torque N m 00630 0 637 01330 1 3 Rated speed rpm 3000 3000 Name Encoder precision S Single rotate 17 bits M Multi rotate 17 bits U Single rotate 23 bits L Multi rotate 23 bits Name Design no S01 standard 02430 2 39 3000 Name Oil seal E with oil seal 1 3 Cable 1 3 1 Cable configuration Servo drive model Encoder cable Moto...

Page 12: ...MB W07 M length DS5B 43P0 PTA DS5B 45P5 PTA DS5B 47P5 PTA CP DL M B length CM XL60 length 1 3 2 Model name Encoder cable model CP DP M 02 Length 02 2m 03 3m M magnetic type B with battery box magnetic type DP amp plug DL aviation plug CP normal encoder cable CPT high flexible encoder cable ...

Page 13: ...s 1 4 1 Regenerative resistor When the servo motor operates in generator mode power is returned to the servo drive side This is called regenerative power The regenerative power is absorbed by charging the smoothing capacitor but when the capacitor s charging limit is exceeded the regenerative power needs to be reduced by the regenerative resistor The servomotor is driven in regeneration generator ...

Page 14: ...or recommend value External regenerative resistor recommend power DS5B 20P2 PTA 50Ω 50Ω 100Ω 200W DS5B 20P4 7 PTA 40Ω 40Ω 100Ω 500W DS5B 21P5 PTA DS5B 22P3 6 PTA 25Ω 25Ω 50Ω 1000W DS5B 43P0 PTA 55Ω 25Ω 65Ω 2000W DS5B 45P5 PTA 25Ω 25Ω 50Ω 2000W DS5B 47P5 PTA 25Ω 25Ω 50Ω 2000W Note 1 The temperature will be very high when the regenerative resistor is discharging please using heat resistant non flamm...

Page 15: ...on location 2 1 2 Environment conditions Item Description Using temperature 0 40 not freeze Using humidity 20 90 RH no condensation Storage temperature 20 60 Storage humidity 20 90 RH no condensation Protection level IP65 2 1 3 Installation standard Be sure to comply with the installation standard in the control panel shown below which is applicable for installing multiple servo drives side by sid...

Page 16: ...ting of the drive and causing fire Cooling As shown in the figure above allow sufficient space around each servo drive for cooling by cooling fans or natural convection Side by side installation When install servo drives side by side as shown in the figure above make at least 10mm between and at least 50mm above and below each servo drive Install cooling fans above the servo drives to avoid excess...

Page 17: ... if it is installed incorrectly or in an inappropriate location Follow these installation instructions carefully Caution 1 The end of the motor shaft is coated with antirust Before installing carefully remove all of the paint using a cloth moistened with paint thinner 2 Avoid getting thinner on other parts of the servo motor 2 2 1 Installation environment Free of corrosive or explosive gases Pleas...

Page 18: ...al Please install the connector downward MS series servo motors are for indoor use please use in the following installation conditions Item Description Using temperature 0 40 not freeze Using humidity 20 90 RH no condensation Storage temperature 20 60 Storage humidity 20 90 RH no condensation Protection level IP65 2 2 3 Installation notes Item Description Rust proofing Please clean the anti rust a...

Page 19: ...le of the shaft use the washer on the surface of the coupling end and gradually lock the nut into the pulley For the servo motor shaft with a keyway the shaft end screw hole is used for installation For a shaft without a keyway a frictional coupling or similar method is used When removing the pulley a pulley stripper is used to prevent the bearing from being strongly impacted by the load To ensure...

Page 20: ...mounted horizontally or vertically Oil and water solution When using in places with drops of water please use it on the basis of confirming the protection level of the servo motor Specify a servo motor with an oil seal when there is an oil droplet that drips to the through part of the shaft Using condition of motor with oil seal When using please make sure the oil level is lower than the lip of th...

Page 21: ...e servo motor first and the ground wire of the main cable must be connected reliably If one side of the encoder cable is connected first the encoder maybe error due to potential difference between PE Please make sure that the pins are aligned correctly when engaged The fraud connector is made of resin Do not impact the connector to avoid damage When handling operations while the cable remains conn...

Page 22: ...2 3 Servo motor dimension 40 series motor dimension Unit mm Motor model Body length Inertia level Normal With brake Low inertia MS5S 40ST CS0030 20P1 SO1 S02 99 1 5 129 5 1 ...

Page 23: ...ngth Inertia level Normal With brake MS5S 60ST CS00630 20P2 SO1 79 1 114 1 Small inertia MS5S 60ST CS01330 20P4 S01 99 1 134 1 MS5S 60ST TL01330 20P4 S01 99 1 134 1 MS5H 60ST CS01330 20P4 SO1 111 1 146 1 Large inertia MS5H 60ST CS00630 20P2 SO1 91 1 126 1 ...

Page 24: ...otor model Body length Inertia level Normal With brake MS5S 80ST CS02430 20P7 SO1 107 1 144 1 Small inertia MS5S 80ST CS03230 21P0 SO1 128 1 165 1 MS5H 80ST CS02430 20P7 SO1 119 1 156 1 Large inertia MS5H 80ST CS03230 21P0 SO1 140 1 177 1 ...

Page 25: ...S5S 110ST CS03230 21P0 SO1 189 263 Small inertia MS5S 110ST CS04830 21P5 S01 204 278 MS5S 110ST CS06430 22P0 S01 181 1 229 1 MS5S 110ST TL03230 21P0 S01 189 263 MS5S 110ST TL04830 21P5 S01 204 278 MS5S 110ST TL06430 22P0 S01 181 1 229 1 MS 110ST T04030 21P2 189 263 MS 110ST T05030 21P2 204 278 ...

Page 26: ...mension Unit mm Motor model Body length Inertia level Normal With brake MS 130ST C06025 21P5 180 1 239 1 MS 130ST C10015 21P5 206 1 MS 130ST T15015G 22P3 235 1 MS 130ST CM15015G 22P3 235 1 MS 130ST T07730 22P4 205 1 246 1 ...

Page 27: ...nsion Unit mm Motor model Body length Inertia level Normal With brake MS5G 180ST T19015 42P9 221 1 303 1 Middle inertia MS5G 180ST T28015 44P4 247 1 329 1 MS5G 180ST T35015 44P4 277 1 359 1 MS5G 180ST T48015 47P5 308 1 390 1 ...

Page 28: ...2 4 Servo drive dimension Unit mm DS5B 20P1 PTA DS5B 20P2 PTA DS5B 20P4 PTA DS5B 20P7 PTA 70 0 59 0 186 0 166 0 DS5B 21P5 PTA DS5B 22P3 PTA DS5B 22P6 PTA ...

Page 29: ... DS5B 43P0 PTA DS5B 45P5 PTA DS5B 47P5 PTA ...

Page 30: ...ive and motor wiring CN1 CN2 L N U V W P D C CN0 pulse direction I O signal CN1 to extend fieldbus function Connect to extension module CN2 encoder cable RS232 port Power supply Motor wiring Regenerative resistor ...

Page 31: ...V 50 60Hz Vacant terminal U V W Motor terminals Connect the motor Note the ground line is on the cooling fin please check it before power on P D C Internal regenerative resistor Short P and D disconnect P and C set P0 24 0 External regenerative resistor Connect regenerative resistor between P and C disconnect P and D set P0 24 1 P0 25 power value P0 26 resistor value ...

Page 32: ...Vacant U V W Motor terminals Connect the motor Note the ground line is on the cooling fin please check it before power on P D C Internal regenerative resistor Short P and D disconnect P and C set P0 24 0 External regenerative resistor Connect regenerative resistor between P and C disconnect P and D set P0 24 1 P0 25 power value P0 26 resistor value Ground Connect to ground terminal of motor then c...

Page 33: ... power on Vacant P D C Internal regenerative resistor Short P and D disconnect P and C set P0 24 0 External regenerative resistor Connect regenerative resistor between P and C disconnect P and D set P0 24 1 P0 25 power value P0 26 resistor value P P Bus terminal Real time check the bus voltage please take attention of this terminal Wiring terminals of servo motor Signal 40 60 80 90 110 130 180 ser...

Page 34: ...n 1 P Pulse input PUL 8 SI2 Input 2 2 P 5V 5V difference input 9 SI3 Input 3 3 P 24V Open collector input 10 SI4 Input 4 4 D Direction input DIR 11 24V Input 24V 5 D 5V 5V difference input 12 SO1 Output 1 6 D 24V Open collector input 13 SO2 Output 2 7 SI1 Input 1 14 COM Ground of output CN1 terminals No Name Explanation No Name Explanation 1 GND GND 485 2 A1 RS485 3 B1 RS485 4 A2 RS485 5 B2 RS485 ...

Page 35: ...unction Please note that the transfer module should not be hot pluggable It is recommended to use the profibus standard cable to achieve the best communication reliability CN2 terminals CN2 connector terminal arragement facing the weld drive interface Name Motor encoder interface 40 60 80 110 130 180 series 1 2 3 SD shield 4 SD SD 5 shield SD 6 0V 7 5V 8 5V 0V 9 1 5 9 6 ...

Page 36: ...er device is open collector output please use this wiring diagram Please note P 5V and D 5V must be vacant Differential mode 5V PLC SCM ect Servo drive P 24V PUL PUL P R 3 3K DIR D R 3 3K P 5V D 5V Shield layer 0V D 24V DIR COM0 Y0 24V P R 3 3K COM1 Y1 D R 3 3K P 5V D 5V Shield layer 0V D 24V P 24V ...

Page 37: ...rt model SI1 S ON enable 5B SI2 ALM RS alarm reset 5B SI3 P OT forward run prohibition 5B SI4 N OT reverse run prohibition 5B Open collector 24V power supply Relay 24V power supply Upper device servo drive SI 24V COM2 Y2 0V 24V R 2 2KΩ Upper device servo drive R 2 2KΩ 24V 0V Y2 COM2 24V SI Note the max allowable voltage and current of open collector output circuit Voltage max DC30V Current max DC5...

Page 38: ...by SO signal please confirm the brake current if it is larger than 400mA please use intermediate relay 750w and above power motor is recommended to use intermediate relay 3 3 Communication port RS 232 communication Connect to PC for debugging 5 pin port Pin no Name Explanation 1 TXD RS232 send 2 RXD RS232 receive 3 GND RS232 ground Note please use the cable supplied by XINJE Company RS 485 communi...

Page 39: ...te that the transfer module should not be hot pluggable It is recommended to use the profibus standard cable to achieve the best communication reliability RS485 default communication parameters baud rate 19200bps data bit 8 stop bit 1 even parity Modbus station no 1 3 4 Power off brake BK 3 4 1 Wiring example The ON OFF circuit of brake includes sequence output signal BK and brake power The follow...

Page 40: ...y P5 44 BK Outp ut n 0000 Not distribute output terminal Range 0000 0002 distribute to output terminal through P5 44 When P5 44 0001 it means output from SO1 3 4 3 The switch time between BK and SON If the machine moves slightly due to gravity because of the brake has action delay time Please adjust the time as below parameter 24V BK RY L N U V W PE SO1 COM U V W PE M PG CN2 BK 1 2 3 Servo drive 2...

Page 41: ...he enable S ON input BK output P5 07 brake lock before servo off 3 4 4 Brake ON parameters The motor will power OFF when alarm occurs The machine will move as gravity until the brake action Set the brake time when servo OFF caused by S ON signal or alarm P5 08 Brake command output speed Unit Default Range Suitable mode Modify Effective rpm 30 0 10000 All the modes Any Immedia tely P5 09 Brake comm...

Page 42: ... signal from ON to OFF under either of the following conditions 1 Motor speed drops below the value of P5 08 after servo OFF 2 over the time of P5 09 after servo OFF 4 Operation before using servo system 4 1 Operate panel STA ESC DEC INC ENTER power S ON input or alarm Occurs power off Motor speed rpm BK output P5 08 Servo ON Servo OFF Brake ON Brake OFF P5 09 DB stop Free stop ...

Page 43: ... command by switching the basic mode The running status auxiliary function parameter setting and monitoring are the basic modes The modes switch as the below diagram by pressing STATUS ESC Status bb indicates that the servo system is idle Run indicates that the servo system is running and RST indicates that the servo needs to be powered on again P0 00 State Parameter Monitor Alarm Auxiliary U0 00 ...

Page 44: ...on FX XX The first X means group No the last two X means the member No in the group Parameter Setting PX XX The first X means group No the last two X means the member No in the group Alarm E XXX XXX means the alarm code 4 1 1 Group P parameters Refer to the appendix 4 1 2 Group U parameters U0 21 input signal state ...

Page 45: ...L forward side external torque limit 7 N CL reverse side external torque limit 8 SPD D internal set speed selection 9 SPD A internal set speed selection 10 SPD B internal set speed selection Note read the status through communication the binary value from right to left are related to S ON P CON 0 means no input 1 means has input For example 0x0001 means S ON has input 0x0201 means S ON and SPD B h...

Page 46: ...bited 14 G SEL gain switch 15 CLR pulse clear 16 CHGSTP change step 17 I SEL inertia switch 18 19 20 Note read the status through communication the binary value from right to left are related to C SEL ZCLAMP 0 means no input 1 means has input For example 0x0001 means C SEL has input 0x0041 means C SEL and I SEL has input Note is reserved bit it is always 0 ...

Page 47: ... speed detection V CMP 4 Rotate detection TGON 5 Ready S RDY 6 Torque limit CLT 7 Speed limit detection VLT 8 Brake lock BK 9 Warn WARN 10 Output near NEAR Note read the status through communication the binary value from right to left are related to COIN_HD COIN 0 means no output 1 means has output For example 0x0001 means COIN_HD has output 0x0201 means COIN_HD and NEAR has output ...

Page 48: ...peed reach V RDY 16 Self defined output 1 17 Self defined output 2 18 19 20 Note read the status through communication the binary value from right to left are related to ALM 0 means no output 1 means has output For example 0x0001 means ALM has output 0x0041 means ALM and self defined output 2 has output Note is reserved bit it is always 0 ...

Page 49: ...ease find out the alarm reasons then clean the alarm 2 Back to out of factory settings Please power off the servo drive before the operation Set F0 01 1 then press ENTER No need to re power the servo drive 3 Clean the offset Set F0 02 1 to clean the offset F1 XX Function code Explanation F1 00 Jog run F1 01 Test run F1 02 Current sampling zero calibration F1 05 Panel enable F1 06 Absolute encoder ...

Page 50: ...diately 2 Test run F1 01 Make sure that the motor shaft is not connected to the machine before test run When servo drive is connected with non original encoder line or power line test run must be run first to ensure that the encoder line or power line is connected correctly Test run can detect the connection of power line and encoder feedback Please operate the servo as the following steps If the ...

Page 51: ... exit need to power on again 4 Panel enable Parameter Signal name Setting Meaning Modify Effective P0 03 Enable mode 0 Not enable Servo OFF At once 1 default I O enable S ON 2 Software enable F1 05 or communication 3 Fieldbus enable support motion fieldbus model Set P0 03 to 2 F1 02 F1 01 Press ENTER INC Keep Press ENTER DEC Motor reverse run Motor forward run STA ESC STA ESC F1 01 Keep press ENTE...

Page 52: ...06 through Modbus RTU be effective in servo bb state write 0 to 0x2106 after clearing can clear the number of turns 4 2 Panel key operation Take P3 09 as an example Steps Operate panel Key Operations 1 STA ESC INC DEC ENTER No need any operation 2 STA ESC INC DEC ENTER Press STA ESC to enter parameter settings 3 STA ESC INC DEC ENTER Press INC once will increase 1 increase the parameter to 3 it wi...

Page 53: ...e servo motor label is the same to P0 33 2 If the motor code setting is error it will show E 310 please clear the alarm through F0 00 then set the correct code XINJE SERVO DRIVER DS5B 20P7 PTA WARNING CAUTION AC INPUT 1PH 3PH 200 240V 50 60Hz 3 5A AC OUTPUT 3PH 0 200V 3 5A 0 75KW 12052013 WUXI XINJE ELECTRIC CO LTD Model Warning Input power supply specification Output power supply specification Se...

Page 54: ...the servo can automatical adjust according to the mechanical characteristics Manual adjustment function setting the speed loop position loop model loop gain vibration frequency and other parameters manually in the auto setting mode to achieve quick response 5 1 DS5 adaptive mode When the response requirements are not high it only needs to set the gear ratio enable and other functional parameters t...

Page 55: ...ia mode speed loop gain P2 11 100 Adaptive large inertia mode position loop gain P2 10 500 Adaptive large inertia mode speed loop integral P6 07 50 Adaptive large inertia mode inertia ratio P6 08 40 Adaptive large inertia mode speed observer gain P6 12 50 Adaptive large inertia mode stable max inertia ratio P2 19 70 Adaptive large inertia mode control bandwidth Note 1 P2 19 default value is differ...

Page 56: ...shown as below If the inertia is 20 times to 30 times Increase P2 07 appropriately decrease P2 05 if necessary You can also refer to the following super large inertia debugging methods Super large debugging experience 50 100 times inertia Increase P2 12 40 50 is recommended reduce P2 08 40 50 is recommended reduce P2 05 100 300 is recommended increase P2 07 10 100 is recommended Please flexible ad...

Page 57: ...ies No instruction auto tuning process 1 set the left and right travel limit through software jog running 2 assum the load inertia set by manual or assum automatically 3 auto tuning auto tune according to the setting travel in step 1 5 2 2 Auto tuning with instruction Auto tuning with instruction automatical adjust according to the upper device command pulse Auto tuning with instruction process 1 ...

Page 58: ...00 300 100 400 Note the data in this table is based on 60 80 motor synchronous belt structure 5 3 2 Manual auto tuning parameters Parameter Name Explanation P0 07 Load inertia ratio The ratio of load and rotor inertia the value can be deduced by the upper device inertia recognition P1 00 Speed loop gain In the absence of noise and vibration increasing this parameter can speed up the positioning ti...

Page 59: ... reduced the noise will increase but the velocity fluctuation will decrease The greater the load inertia the greater the value P2 41 Disturbance observer gain Set to 85 in auto tuning mode be effective after P2 00 0 disturbance observer switch is ON P2 47 0 Model loop gain switch 0 OFF 1 ON P2 49 Model loop gain Be effective after P2 47 0 model loop gain switch is ON When the value is increased th...

Page 60: ...y 6 Alarm information Alarm code Contents Reason Solution 01 0 E 010 Hardware version not match The hardware version is error Contact us 1 E 011 FPGA version not match FPGA version not match Contact us 2 E 012 System loading error The program damaged Contact us 3 E 013 FPGA loading error 1 program damaged 2 hardware damaged Contact us 4 E 014 FPGA visiting error 1 program damaged 2 hardware damage...

Page 61: ...nge Check the parameters and set again 2 E 022 Parameter conflict TREF or VREF function setting conflict 1 P0 01 4 P3 00 1 will alarm 3 E 023 Sampling channel setting error User defined output trigger channel or data monitor channel setting error Check the setting parameter 4 E 024 Parameter lost Power supply voltage too low 1 for single phase 220V connect L1 L3 2 set the parameter again 5 E 025 E...

Page 62: ... E 041 Drive power off Drive power cut off Check the power supply 3 E 043 Bus voltage charging failure Hardware damage Please note if there is relay ON OFF sound when drive power on 06 0 E 060 Module temperature too high 1 long time running with large load 2 environment temperature too high 3 fan has error 1 consider change the motor capacity mointor U0 02 motor present torque decrease the load 2 ...

Page 63: ... U V W output short circuit 2 motor fault 3 Load is blocked 1 change the damaged motor check UVW wiring 2 suggest to run the motor without load to troubleshoot load problem 2 E 072 W phase current over limit 1 drive U V W output short circuit 2 motor fault 3 Load is blocked 1 change the damaged motor check UVW wiring 2 suggest to run the motor without load to troubleshoot load problem 08 0 E 080 o...

Page 64: ...tor UVW short circuit 1 external short circuit when self checking 2 load blocked 1 check motor UVW wiring 2 change drive 3 change motor 4 suggest to run without load to troubleshoot load problem 12 0 E 120 Current sensor error Current sensor damaged or external interference too large Check the ground wiring or contact us 1 E 121 U phase current sampling zero calibration value error Current sensor ...

Page 65: ...circuit AB phase or UVW open circuit when self checking 1 check encoder cable wiring use multi meter to measure the connection 2 change motor 14 0 E 140 Encoder A phase open circuit A phase open circuit when self checking Cut off the drive power supply check the connection 1 E 141 Encoder B phase open circuit B phase open circuit when self checking Cut off the drive power supply check the connecti...

Page 66: ...t stable motor load too large cause the bus capacitor charge frequently 1 use 3 phase 220V power supply for 220V drive 2 change larger power motor 5 E 165 Prevent from blocking alarm When the blocking time reached P0 74 S and motor speed lower than 1rpm current motor output torque larger than P3 28 P3 29 it will alarm 1 monitor U0 02 motor torque check if P3 28 P3 29 torque setting is suitable 2 c...

Page 67: ...all value resistor and check the wiring 22 0 E 220 Absolute encoder communication error Encoder not connect or contactor not good Cut off drive power check encoder wiring use multi meter test the connection recived encoder data error and error time over encoder error time register P0 56 value Not put the encoder wire together with the strong power supply cable install filter at servo drive power s...

Page 68: ...attery will alarm 22 8 E 228 Absolute encoder counting value overflow Motor run at same direction for long time the encoder value too large 1 set F1 06 1 clear the encoder rotate numbers 2 set P0 79 1 can shield this alarm 26 0 E 260 Over range alarm detected the over range signal and the over range mode is alarm If it no need to alarm after over range user can change the over range signal mode 1 ...

Page 69: ...munication error Check the motion bus connection 31 0 E 310 Motor code error Motor code error Set the correct motor code in P0 33 1 E 311 Motor code lost Motor code not set Set motor code in P0 33 7 Parameter list 7 1 Control parameter list means the parameter can be modified when the servo is OFF and effective when servo is ON means the parameter can be modified any time and effective when re pow...

Page 70: ... 6 1 10 All 02 Control mode 2 ditto When C SEL signal is effective servo will switch to the mode set in P0 02 0 1 10 All 03 Enable mode 0 not enable 1 IO SON input signal 2 software enable panel Modbus panel F1 05 write in 1 Modbus write 1 to register 0x2105 Write 0 cancel enable 3 bus enable 1 0 3 All 05 Rotation direction selection 0 0 1 All 09 Input pulse command positive direction 0 0 1 6 7 10...

Page 71: ...quency corresponding to speed mode rated speed 100 Hz 1000 0 1000 0 7 16 Speed command pulse filter time 0 01 ms 100 0 1000 0 7 23 Pulse offset limit 256 com mand unit 1000 0 6553 5 6 24 Discharge resistor type 0 internal 1 external 0 0 1 All 25 Discharge resistor power W Related to servo drive power 0 6553 5 All 26 Discharge resistor value Ω 0 6553 5 All 27 Servo OFF stop mode 0 inertia running s...

Page 72: ...ange direction not receive command after stop 3 alarm E 260 0 0 3 All 29 Servo alarm stop mode 0 inertia stop keep inertia running state after stop 2 deceleration stop keep inertia running state after stop 0 0 2 All 30 Stop overtime time 0 1m s 2000 0 6553 5 All 33 Motor code 0 6553 5 All 69 Fan switch 0 temperature over 45º C fan is ON below 42º C fan is OFF hysteresis 3 1 fan is ON after servo e...

Page 73: ...it 10000 1 1 6553 5 6 P1 Control parameter P1 Name Unit Default Range Effective Suitable mode 00 The gain of speed loop fit for auto tuning mode 1Hz 200 10 2000 0 All 01 speed loop integral time fit for auto tuning mode 0 1ms 3300 15 5120 0 All 02 The gain of position loop fit for auto tuning mode 1 s 200 10 2000 0 All 03 Speed feedback filter time fit for auto tuning mode 1 s 50 0 65535 All 22 Sp...

Page 74: ...55 35 All 07 Load inertia ratio in adaptive mode 0 0 100 00 All 08 Speed observer gain 60 1 100 00 All 12 Stable max inertia ratio in adaptive mode 30 1 100 00 All 19 Adaptive control band width 50 1 100 All 35 Torque filter time 0 01ms 100 0 655 35 All 41 Disturbance observer gain 100 10 10 00 All 49 Model loop gain 0 1ms 100 10 20 000 All 69 0 First trapped wave switch auto tuning mode 0 0 1 All...

Page 75: ...uency auto tuning mode Hz 5000 50 50 00 All P3 speed control parameter P3 XX Name Unit Default value Range Effective Suitable mode 05 Preset speed 1 rpm 0 9999 9999 3 06 Preset speed 2 rpm 0 9999 9999 3 07 Preset speed 3 rpm 0 9999 9999 3 09 Acceleration time ms 0 0 655 35 3 4 10 Deceleration time ms 0 0 655 35 3 4 11 Reserved 12 Zero speed clamp mode 0 ZCLAMP input signal is ON forced speed comma...

Page 76: ... servo locked in this position Note after entering zero clamp mode setting speed is higher than P3 13 motor still cannot work it needs the ZCLAMP input signal to be OFF to exit zero clamp mode then the motor can work again 3 ZCLAMP input signal is ON and the setting speed is below P3 13 switch to position control mode and servo locked in this position At this time when the setting speed is higher ...

Page 77: ...ternal reverse speed limit in torque control mode rpm Related to motor 30 10 000 1 2 18 Jog speed rpm 100 0 100 0 All 19 Forward warning speed rpm Related to motor 0 100 00 All 20 Reverse warning speed rpm Related to motor 0 100 00 All 21 Forward alarm speed rpm Related to motor 0 100 00 All 22 Reverse alarm speed rpm Related to motor 0 100 00 All 28 Internal forward torque limit 300 0 300 All 29 ...

Page 78: ...ent 1 coeffici ent 100 0 100 All Note compensation rated current percentage P0 37 1000 P3 38 100 P4 internal position parameter P4 Name Unit Default value Range Effective Suitable mode 0 xxx Pass Z phase signal times after leaving the limit switch 2 1 F 5 6 0 xx x Find origin function 0 OFF 1 ON 0 0 1 5 6 01 Hit proximity switch speed 1rpm 600 0 50000 5 6 02 Leaving proximity switch speed 1rpm 100...

Page 79: ... 1ms 0 0 65535 5 P4 17 P4 23 are internal position segment 2 parameters the following total 35 segments Note 1 setting pulse number pulse numbers high byte 10000 pulse number low byte 2 total 35 segments Segment 1 12 parameters can be set through operate panel segment 13 35 can write in parameters through communication RS232 or RS485 P5 signal parameter P5 Name Unit Default Range Effective Suitabl...

Page 80: ...tput COIN HOLD signal 02 Positioning finished hold time ms 0 0 65535 6 03 Rotation checking speed rpm 50 0 10000 All 04 Same speed checking speed rpm 50 0 10000 3 4 7 05 Reach checking speed rpm 1000 0 10000 3 4 7 06 Positioning near output width Command unit 50 0 65535 6 07 Servo OFF delay time ms 0 0 65535 All 08 Brake command output speed rpm 30 0 10000 All 09 Brake command waiting time ms 500 ...

Page 81: ...trigger condition 0 0 655 35 All 14 User defined output 2 trigger condition 0 0 FFF F All 15 comparison value of user defined output 2 trigger condition and setting Related to the trigger condition 0 9999 9999 All 16 0 P5 14 P5 15 output SOx 1 P5 14 P5 15 SOx output 2 P5 14 absolute value P5 15 output SOx 3 P5 14 absolute value P5 15 output SOx 0 0 3 All 17 User defined output 2 hysteresis loop Re...

Page 82: ...ive signal from SI4 0010 signal is always valid 0011 input negative signal from SI1 0012 input negative signal from SI2 0013 input negative signal from SI3 0014 input negative signal from SI4 0001 1 All 21 P CON proportion action command Ditto 0 1 All 22 P OT forward drive ban ditto 0003 1 All 23 N OT reverse drive ban ditto 0004 1 All 24 ALM RST alarm clean ditto 0002 1 All ...

Page 83: ...SPD A internal setting speed choice ditto 0000 1 3 6 29 SPD B internal setting speed choice ditto 0 1 3 6 30 C SEL control mode choice ditto 0 1 All 31 ZCLAMP zero clamp ditto 0 1 3 4 7 32 INHIBIT command pulse ban ditto 0 1 6 33 G SEL gain switching ditto 0 1 All 34 CLR pulse offset clean ditto 0 1 6 37 COIN_HD positioning finished hold 0000 not output to the terminal 0 2 6 ...

Page 84: ...gative signal from SO2 0013 output negative signal from SO3 38 COIN positioning finished ditto 0001 2 6 39 V CMP same speed checking ditto 0 2 3 4 7 40 TGON rotation checking ditto 0 2 All 41 S RDY ready ditto 0000 2 All 42 CLT torque limit ditto 0 2 3 4 6 7 43 VLT speed limit checking ditto 0 2 1 2 6 44 BK brake lock Ditto 0 2 All 45 WARN warning ditto 0 2 All ...

Page 85: ...8 PREFB segment 2 internal position 0 1 5 59 PREFC segment 3 internal position 0 1 5 P6 signal parameters some parameters are reserved P6 Name Unit Default value Range Effective Suitable mode 05 Speed loop gain in adaptive large inertia mode 200 1 65535 All 07 Load inertia ratio in adaptive large inertia mode 50 0 10000 All 08 Position loop gain in adaptive large inertia mode 40 1 10000 All 12 Sta...

Page 86: ...0 05 9600 06 19200 07 38400 08 57600 09 115200 0A 192000 0B 256000 0C 288000 0D 384000 0E 512000 0F 576000 10 768000 11 1M 12 2M 13 3M 14 4M 15 5M 16 6M All n x xx Stop bit 2 0 2 bits 2 1 bit All n xxx Parity bit 2 0 2 0 no parity 1 odd parity 2 even parity All Note data bit cannot be selected it is 8 bit 02 RS485 communication protocol 1 1 Modbus Rtu 2 Xnet All 03 Xnet synchronous 1ms 9 1 500 All...

Page 87: ...999 All Note the positive and negative value means the direction of back to zero positive value means finding origin in forward direction negative value means find origin in reverse direction absolute value means finding Z phase numbers when backing to zero 21 Filter time after backing to zero fieldbus 0 25ms 400 1 65535 All Note after find the zero position back to position mode and there is no p...

Page 88: ...12 7 2 Monitoring state U0 XX Number Contents Unit U0 00 Actual speed of motor Rpm U0 01 Input speed command Rpm U0 02 Torque command of rated U0 03 Rotate angle 1 U0 04 Rotate angle 1 U0 05 Bus voltage V U0 06 IPM temperature 0 1 U0 07 Torque feedback of rated U0 08 Pulse offset value 0000 9999 1 Command pulse U0 09 0000 9999 10000 U0 10 Encoder feedback value 0000 9999 encoder pulse U0 12 Pulse ...

Page 89: ...tantaneous output power 1W U0 42 Average output power 1W U0 43 Instantaneous thermal power 1W U0 44 Average thermal power 1W U0 49 Position feedforward 1 command unit U0 50 Speed feedforward rpm U0 51 Torque feedforward of rated U0 52 Instantaneous bus capacitor power 1W U0 53 Average bus capacitor power 1W U0 55 Instantaneous regenerative braking discharge power 1W U0 56 Average regenerative brak...

Page 90: ...n current when alarming A U1 08 Position offset when alarming Command pulse U1 09 Speed value when alarming rpm U1 10 The alarm occurred time second low 16 bits count from the first time power on s U1 11 The alarm occurred time second high 16 bits count from the first time power on s U1 12 Run error times count from power on this time U1 13 Warning times count from power on this time U1 14 History...

Page 91: ...1 Series U2 02 Model low 16 bit U2 03 Model high 16 bit U2 04 Out of factory year U2 05 Out of factory date year U2 06 Out of factory date month U2 07 Out of factory date day U2 08 Firmware version U2 09 Total run time from the first time power on Hour U2 10 Total run time from the first time power on Minute U2 11 Total run time from the first time power on Second U2 12 This time run time from thi...

Page 92: ...r low 16 bits U2 21 Device serial number high 16 bits U2 22 Firmware generation date year U2 23 Firmware generation date month day U2 24 Firmware generation time hour minute 7 3 FX XX parameters F0 XX Code Explanation F0 00 Clean the alarm F0 01 Back to out of factory settings F0 02 Clean the position offset F1 00 Jog run F1 01 Test run F1 02 Current sampling zero calibration F1 05 Panel enable F1...

Page 93: ...ated speed rpm 3000 3000 3000 3000 3000 Max speed rpm 6000 6000 6500 5000 4000 Rated torque Nm 0 32 0 64 1 27 2 39 3 2 Max torque Nm 0 96 1 92 4 45 7 17 8 Overload times 3 3 5 3 5 3 2 5 Rated current mA 950 1900 2800 4000 4000 Max current mA 2850 6650 9800 12000 10000 Phase resistor mΩ 5780 2410 1705 990 1325 Phase inductance mH 5675 5150 2910 3300 6000 Rotor inertia 10 7 kg m2 44 137 258 902 1286...

Page 94: ...000 3000 3000 Max speed rpm 6000 6000 4500 4500 4500 Rated torque Nm 3 18 3 18 4 77 4 77 6 37 Max torque Nm 7 95 7 95 9 54 9 54 12 74 Overload times 2 5 2 5 2 2 2 Rated current mA 7500 7500 7500 7500 9500 Max current mA 18750 18750 15000 15000 19000 Phase resistor mΩ 278 278 330 330 205 Phase inductance mH 5105 5105 6800 6800 4277 Rotor inertia 10 7 kg m2 2869 2869 3360 3360 4170 Back EMF constant...

Page 95: ...d rpm 2500 2500 2500 2000 Rated torque Nm 19 28 35 48 Max torque Nm 51 3 56 70 96 Overload times 2 7 2 2 2 Rated current mA 9000 14000 16000 16100 Max current mA 24300 28000 32000 32200 Phase resistor mΩ 330 180 210 200 Phase inductance mH 13400 8000 9300 7000 Rotor inertia 10 7 kg m2 40443 55139 68342 95424 Back EMF constant V krpm 192 178 219 277 Rated output power W 3000 4300 5500 7500 Protecti...

Page 96: ...000 Rated torque Nm 0 64 1 27 2 39 Max torque Nm 1 92 4 45 7 17 Overload times 3 5 3 5 3 Rated current mA 1900 2800 4000 Max current mA 6650 9800 12000 Phase resistor mΩ 2410 1665 990 Phase inductance mH 5150 2810 3300 Rotor inertia 10 7 kg m2 537 648 1650 Back EMF constant V krpm 35 42 54 Rated output power W 200 400 750 Protection level IP65 Motor insulation level Class F 155 Ambient temperature...

Page 97: ...2 39 5 4 6 Max torque Nm 10 5 7 17 15 12 15 Overload times 3 3 3 3 2 5 Rated current mA 3000 3200 6000 5000 7400 Max current mA 9000 9600 18000 15000 18500 Phase resistor mΩ 1870 1150 525 570 290 Phase inductance mH 3950 10300 2005 2025 4400 Rotor inertia 10 7 kg m2 2630 1023 6300 5400 7628 Back EMF constant V krpm 114 71 87 85 57 Rated output power W 750 750 1500 1200 1500 Protection level IP65 M...

Page 98: ... 10 15 15 Max torque Nm 15 25 25 30 30 Overload times 2 5 2 5 2 5 2 2 Rated current mA 7400 8000 8000 9000 9000 Max current mA 18500 20000 20000 18000 18000 Phase resistor mΩ 290 455 455 395 395 Phase inductance mH 4400 8450 8450 3500 3500 Rotor inertia 10 7 kg m2 7628 10294 10294 24217 24217 Back EMF constant V krpm 57 86 86 160 160 Rated output power W 1500 1500 1500 2300 2300 Protection level I...

Page 99: ... Rated torque Nm 10 7 7 19 28 35 Max torque Nm 25 19 25 51 3 56 70 Overload times 2 5 2 5 2 7 2 2 Rated current mA 10000 10500 9000 14000 16000 Max current mA 25000 26250 24300 28000 32000 Phase resistor mΩ 330 165 330 180 210 Phase inductance mH 1540 3370 13400 8000 9300 Rotor inertia 10 7 kg m2 19400 10294 40443 55139 68342 Back EMF constant V krpm 107 76 192 178 219 Rated output power W 2600 24...

Page 100: ...5037 5046 4046 DS5B 22P6 PTA 404B 9045 DS5B 43P0 PTA 9166 DS5B 45P5 PTA 9161 9162 DS5B 47P5 PTA 9163 Appendix 3 Parameter Modbus address Parameter address Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal P0 00 0x0000 0 P0 17 0x0011 17 P0 01 0x0001 1 P0 18 0x0012 18 P0 02 0x0002 2 P0 19 0x0013 19 P0 03 0x0003 3 P0 20 0x0014 20 P0 04 0x0004 4 P0 21 0x0015 21 P0 05 0x0005 5 P...

Page 101: ...ecimal Hex Decimal P1 00 0x0100 256 P1 15 0x010F 271 P1 01 0x0101 257 P1 16 0x0110 272 P1 02 0x0102 258 P1 17 0x0111 273 P1 03 0x0103 259 P1 18 0x0112 274 P1 04 0x0104 260 P1 19 0x0113 275 P1 05 0x0105 261 P1 20 0x0114 276 P1 06 0x0106 262 P1 21 0x0115 277 P1 07 0x0107 263 P1 22 0x0116 278 P1 08 0x0108 264 P1 23 0x0117 279 P1 09 0x0109 265 P1 24 0x0118 280 P1 10 0x010A 266 P1 25 0x0119 281 P1 11 0...

Page 102: ...3 0x0303 771 P3 22 0x0316 790 P3 04 0x0304 772 P3 23 0x0317 791 P3 05 0x0305 773 P3 24 0x0318 792 P3 06 0x0306 774 P3 25 0x0319 793 P3 07 0x0307 775 P3 26 0x031A 794 P3 08 0x0308 776 P3 27 0x031B 795 P3 09 0x0309 777 P3 28 0x031C 796 P3 10 0x030A 778 P3 29 0x031D 797 P3 11 0x030B 779 P3 30 0x031E 798 P3 12 0x030C 780 P3 31 0x031F 799 P3 13 0x030D 781 P3 32 0x0320 800 P3 14 0x030E 782 P3 33 0x0321 ...

Page 103: ... 0x0504 1284 P5 31 0x051F 1311 P5 05 0x0505 1285 P5 32 0x0520 1312 P5 06 0x0506 1286 P5 33 0x0521 1313 P5 07 0x0507 1287 P5 34 0x0522 1314 P5 08 0x0508 1288 P5 35 0x0523 1315 P5 09 0x0509 1289 P5 36 0x0524 1316 P5 10 0x050A 1290 P5 37 0x0525 1317 P5 11 0x050B 1291 P5 38 0x0526 1318 P5 12 0x050C 1292 P5 39 0x0527 1319 P5 13 0x050D 1293 P5 40 0x0528 1320 P5 14 0x050E 1294 P5 41 0x0529 1321 P5 15 0x0...

Page 104: ...al P6 00 0x0600 1536 P6 10 0x060A 1546 P6 01 0x0601 1537 P6 11 0x060B 1547 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal P7 00 0x0700 1792 P7 10 0x070A 1802 P7 01 0x0701 1793 Monitoring state address group U Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal U0 00 0x1000 4096 U0 28 0x101C 4124 U0 01 0x1001 4097 U0 29 0x101D 4125 U0 02 0x1002 4098 ...

Page 105: ...1010 4112 U0 44 0x102C 4140 U0 17 0x1011 4113 U0 45 0x102D 4141 U0 18 0x1012 4114 U0 46 0x102E 4142 U0 21 0x1015 4117 U0 49 0x1031 4145 U0 22 0x1016 4118 U0 50 0x1032 4146 U0 23 0x1017 4119 U0 51 0x1033 4147 U0 24 0x1018 4120 U0 52 0x1034 4148 U0 25 0x1019 4121 U0 53 0x1035 4149 U0 26 0x101A 4122 U0 57 0x1039 4153 U0 27 0x101B 4123 U0 58 0x103A 4154 Parameter Modbus address Parameter Modbus addres...

Page 106: ...8 U1 11 0x110B 4363 U2 11 0x120B 4619 U1 12 0x110C 4364 U2 12 0x120C 4620 U1 13 0x110D 4365 U2 13 0x120D 4621 U1 14 0x110E 4366 U2 14 0x120E 4622 U1 15 0x110F 4367 U2 15 0x120F 4623 U1 16 0x1110 4368 U2 16 0x1210 4624 U1 17 0x1111 4369 U2 17 0x1211 4625 U1 18 0x1112 4370 U2 18 0x1212 4626 U1 19 0x1113 4371 U2 19 0x1213 4627 U1 20 0x1114 4372 U2 20 0x1214 4628 U1 21 0x1115 4373 U1 22 0x1116 4374 U1...

Page 107: ...Modbus address Hex Decimal Hex Decimal F0 00 0x2000 8192 F1 00 0x2100 8448 F0 01 0x2001 8193 F1 01 0x2101 8449 F0 02 0x2002 8194 F1 02 0x2102 8450 F2 09 0x2209 8713 F1 03 0x2103 8451 F1 04 0x2104 8452 F1 05 0x2105 8453 F1 06 0x2106 8454 ...

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Page 109: ...WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7 Originality Industry park LiyuanDevelopmentZone Wuxi City Jiangsu Province 214072 Tel 86 510 85134136 Fax 86 510 85111290 www xinje com ...