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KRS
KRS Servo drives
Technical manuals
Safety Caution
In order to ensure the safe use of this product, must observe the following safety signs, in order to avoid
damaging to the people and the equipment .
warning
After the product arriving, when validation, installation, wiring, operation maintenance,
inspection of the product, the following is one of the important matters must abide by:
Matters needing attention during installation
Warning
U V W
It is forbidden to put the output terminal of the servo drive, U, V, W, connected to a three-phase power
supply, otherwise, could be injured and fire
220V380V
It is strictly prohibited to connect the 220v driver to 380 v, 220 v power supply, or you may get an
electric shock and fire
Be sure to tighten power terminal, motor output terminal, otherwise may cause a fire
Dangerous
In the operation, it is forbidden to touch any
rotating parts, or you might get hurt
Warning
Before operating, must choose the right motor type, otherwise people wil be hurt and the equipment
will be damaged.
Before operating, you must set right parameters and applications that meet the needs of users, or may
be hurt, damage to equipment
Before operating, confirm whether the mechanical may at any time the emergency stop, otherwise, you
might get hurt.
It is forbidden to touch the inside of the servo drive, or you may get an electric shock
When turn off the power,in the five minutes, do not touch terminals, otherwise, the residual voltage may
cause electric shock
It is forbidden to tear open outfit servo motor, or you may get an electric shock
CATALOGUE
............................................ 1
Chapter 1 Product inspection and installation1
1.1 PRODUCT INSPECTION ....................................................................................................... 1
1.2 PRODUCT BRAND ................................................................................................................ 2
1.3 THE FRONT PANEL OF PRODUCT ..................................................................................... 2
1.4 DRIVE TECHNOLOGY SPECIFICATIONS ...................................................................... 4
1.5 SERVO MOTOR INSTALLATION ..................................................................................... 5
1.6 THE MOTOR DIRECTION OF ROTATION ......................................................................... 6
1.7 KRS THE KRS SERIES DRIVE AND MOTOR MODEL ADAPTATION.............. 7
CHAPTER 2
WIRING ......................... 8
....................................................................... 92
....................................................................... 100
Chapter One products inspection and installation
This product has made the complete function test before the leaving the factory, to prevent the product in
the course of transportation for negligence resulted in the product (s) is not functioning properly. Once
opened, please check the detailed the following matters:
check the servo drive and servo motor type with the same whether order model
Check the appearance of the servo drive and servo motor whether there is
any damage and scratches phenomenon. If there is any damage during the shipment, please
dont wire power transmission.
Check the servo drive and servo motor if there is any loose parts
and other phenomenon. If there is a loose screw, screw not lock or fall off
Check the servo motor rotor shaft can be smooth rotation. The motor with brake cannot be directly
rotation
If there is
any fault or unmoral phenomenon, please contact with dealers immediately
1.2 ID label
ASDD-30A
AC220V/50-60HZ
30A
LED
AC220V
AC220V
-15+10%
5060Hz
environme
nt
055 -2080
temper
-15+10%
5060Hz
ature
humidity
2
0.5G(4.9m/S )1060Hz
vibration
Control mode
Control mode
()
external)
/ Position/velocity model
/ Position/torque model
/ Speed/torque model
Control input
is
2500p/r , 15
feedback
Communication mode
Display and
4Four buttons
operation
Braking way
/ Through the
internal/external braking resistance braking energy
Cooling way
Power range
7.5KW
Level installation:
to avoid liquids such as water, oil from motor wire end into the motor internal, please will cable outlet in
below
Vertical installation: if the motor shaft and the installation with reduction unit, must pay attention
to and prevent reducer in mark through the motor shaft into the motor internal
Installation and
remove the motor, please do not use hammer knock motor, otherwise easy to cause damage to the
motor shaft and encoder
(CCW)
(CW)
6
1.7 KRS The KRS series drive and motor model adaptation
Pn001
Motor model
KRS
KRS
KRS
KRS
KRS
Rated
Rated
Rated
15A
20A
30A
50A
75A
speed
torque
power
(r/min)
(N.M)
(W)
60st_m00630
3000
0.6
200
60st_m01330
3000
1.3
400
60st_m01930
3000
1.9
600
80st_m01330
3000
1.3
400
80st_m02430
3000
2.4
750
80st_m03520
2000
3.5
730
80st_m04025
2500
1000
90st_m02430
3000
2.4
750
90st_m03520
2000
3.5
730
90st_m04025
2500
1000
110st_m02030
10
3000
600
110st_m04020
11
2000
800
110st_m04030
12
3000
1200
110st_m05030
13
3000
1500
110st_m06020
14
2000
1200
110st_m06030
15
3000
1800
130st_m04025
16
2500
1000
130st_m06015
17
1500
1000
130st_m05025
18
2500
1300
130st_m06025
19
2500
1500
130st_m07725
20
2500
7.7
2000
130st_m10010
21
1000
10
1000
130st_m10015
22
1500
10
1500
130st_m10025
23
2500
10
2600
130st_m15015
24
1500
15
2300
130st_m15025
25
2500
15
3800
150st_m15025
26
2500
15
3800
150st_m15020
27
2000
15
3000
150st_m18020
28
2000
18
3600
150st_m23020
29
2000
23
4700
150st_m27020
30
2000
27
5500
180st_m17215
31
1500
17.2
2700
180st_m19015
32
1500
19
3000
180st_m21520
33
2000
21.5
4500
180st_m27010
34
1000
27
2900
220st_m67010
35
1000
67
1000
Chapter 2 wiring
3m
20m
Cable length, instruction cable within 3 m, encoder
cable within 20 m
L1L2
L3 380V Check the L1, L2, L3 power wiring is correct
or not, please do not connect to the 380 v power supply.
into
the output signal of the relay, the absorption of the direction of the diode to connected
correctly, otherwise it will cause failure cannot output signal
in order to prevent noise caused by the wrong action, please add in power transformer and
noise filter device in the same wiring tube
wire specifications
Power cord
0.752.5mm
Motor terminals
0.752.5mm
0.752.5mm
control symbol
Encoder signal
>20m
Encoder cable must use twisted-pair cable. If the encoder cable is
10
too long (> twenty m), can lead to encoder power supply shortage, its power source and ground
can use multiple wire connection or use thick wire
2.1.4
name
Terminal symbol
Detailed description
L1L2L3
Motor terminals
power
Earthing terminal
Tx +5V
3
Rx
Gnd
number
+5V
GND
RS-485
11
RS-485
2. RS-485 interface
13 12 11 10 9 8
5 4
25 24 23 22 21 20 19 18 17 16 15 14
name
function
interface
number
DC12~24V
COM
10
and ground
ground
SigIn1
Input
SigIn2
command signal
SigIn3
21
SigIn4
functions:
SigIn1: SRV-ON
SigIn2: alarm reset
SigIn3: Zero position
13
deviation
11
output
SigOUT2
23
command signal
SigOUT3
12
SigOUT4
24
specified functions:
SigOUT1 Servo ready
SigOUT2 Alarm detection
SigOUT3 Positioningcomplete
SigOUT4 Zero speed
PV
PV: PV:open
PP+
PP-
14
port
PD+
PD-
ways to input
1 Instruction
direction and pulse input
2/ Clockwise or
counterclockwise pulse input
3 90 Phase
difference 90 degrees of orthogonal
input
PA+
20
ABZ
PA-
19
AB
PB+
18
PB-
17
PZ+
15
PZ-
16
OZ
22
GND
Vref
25
Analog
AGND
13
input
-10V~+10V
Analog voltage input port. The speed or
torque control, used for receiving the
speed or torque command. Voltage
input range-10V~+10V
14
External power supply by users, but must pay attention to, if the power polarity meet back, may cause damage to
the servo driver.
70mA 25V
When the output open collector form, the maximum current is 70 mA, the external power peak voltage is 25 V. If
more than limit requirements or output directly with power connection, may cause damage to the servo driver.
15
If the load is relay and inductive load, the load must be both ends against parallel fly-wheel diode. If fly-wheel
diode picks back, may cause damage to the servo driver.
AM26LS31
500kHz(kpps) In the differential input mode, it is recommended
AM26LS31 similar line drive; In order to make the transfer of pulse data has good anti-interference ability, it is
suggested that the differential drive way; Maximum input pulse frequency 500 KHZ (KPPS).
16
17
pin
CN3 number
+5v
GND
15
A+
A-
11
B+
10
B-
Z+
1
18
Z-
U+
U-
V+
V-
13
W+
12
W-
PE
14
19
20
3.1 panel
MOD
SET
panel instruction:
key
key name
MODE
Mode option
1 mode switch
key
Digital increase
key
Digital reduce
key
effect of repeat
SET
function
1 Digital shift
2
1
Determine the set (long by 1 second)
3 1 End set parameters (long by 1
second)
5
Note: if the five decimal points of the display are flashing, there are some alarm.Must clear the
alarm,the drive can work normally.
21
MODE
MODE
MODE
Fnxxx,Dnxxx,Pnxxx , mode
mode
Note: when the screen shows Fnxxx, Dnxxx, Pnxxx, mode key at this time as
the mode switching function, can be to switched to other mode directly, otherwise the mode key is as the
function of
MODE
MODE
SET ,
MODE
Auxiliary mode
function number
22
instruction
number
Fn000
Fn001
Pn000~Pn219
EEPROM
3 EEPROM Permanently written to the user
parameters. If users set the parameters of Pn000 ~ Pn219, For the next after power on,
the drive is loaded the modify parameters by the user, you must perform this operation,
the parameter block write internal EEPROM chip. After executing, need about 3 seconds,
the block to write all the parameters into the EEPROM
Fn002
Fn003
Fn004
Pn000~Pn219 Pn000
The parameters of the parameter in the table Pn000 ~ Pn219, according to the setting of
Pn000, restore to factory default
Fn005
Fn006
Fn008
Fn009
Fn010
temperature calibration
Fn011
Fn012
encoder zero
23
MODE
MODE
SET ,
MODE
MODE
SET ,
MODE
MODE
MODE
SET ,
MODE
SET ,
MODE
2AL-01
2: Power outages after write completint, otherwise may cause memory chip content damage (AL - 01 alarm)
after the reboot,
MODE
MODE
MODE
SET ,
SET ,
MODE
MODE
(
(
,
(
24
JOG speed
0~5000
200
r/min
Pn178
5~ 10000
100
ms
Pn179
5~ 10000
100
ms
Fn002
SET ,
MODE
Fn002
MODE
SET ,
MODE
operation mode
instruction
,
25
Jog_2 Electricity into speed control mode, the
motor. Drive at a speed loop model, running speed by buttons or
input. In the process of the motor running, the other menu operations can
be performed. If the motor stop rotating, please enter Jog_2 mode
or
, the
1 JOG
The motor is in the state of enabling or rotating. JOG trial run before
operation, the motor must be in a non-working state. when commissioning,the control interface of the servo
drive dont be connected to any control lines.
2Servo driver alarm has occurred, and the alarm is not cleared.
MODE
MODE
SET ,
SET ,
MODE
MODE
Note:When
the
power on again
AL--02
Low voltage
AL--01
Storage anomaly
AL--05
1 Overload 1
AL--03
overvoltage
26
AL--07
AL--04
high
Intelligent power
module is abnormal
AL--08
AL--06
2 Overload 2
AL--10
AL--09
AL--13
AL--17
The
high
AL--11
Pulse position
deviation value is too large
AL--12
Current
sampling circuit may be damaged
AL--14
Emergency stop
AL--18
AL--15
AL--16
Brake average
power overload
MODE
SET ,
MODE
SET ,
MODE
, the
2 AL-01
Instructions 2: must turn off the power after completing the wirting, otherwise ,after the reboot, may cause
memory chip content damage (AL - 01 alarm)
MODE
MODE
SET ,
MODE
SET ,
SET ,
MODE
MODE
MODE
SET ,
MODE
MODE
SET ,
MODE
SET
Parameter selection
instructions
SET ,
MODE
28
SET ,
Fn008
MODE
3.4.11 Fn009
Fn009
MODE
SET ,
MODE
Fn010
SET ,
MODE
MODE
MODE
SET ,
SET ,
MODE
MODE
MODE
MODE
SET ,
SET ,
MODE
MODE
Pn001 ,
0
Zero before operation, confirm the motor code Pn001 set value and the actual motor
model is consistent, otherwise may lead to motor current is too large, damage the motor. Adjust zero, don't
need can make internal or external can make the motor, the motor will turn a few laps, and then lock the zero.
When the display number of pulse bias of 0, the motor has been aimed at zero.
3.5
Parametric model
function number
30
MODE
MODE
SET
Pn011
SET ,
SET
MODE
SET ,
MODE
,
In the column of Numbers, if any
symbols , said after the parameter Settings, be it with electricity, can take effect; If symbol , said
after the parameter Settings, to enable motor, parameters take effect; If no special symbols, effective
immediately
All T S
P The column of applicable mode, All said is suitable for the torque, speed
and position control, T is suitable for the torque control, S suitable for speed control, said P is suitable for
the position control.
name
number
The
Value range
default
unit
apply
value
Pn000
Open
0~2
All
Pn001
motor code
3-12
All
Pn002
control mode
0~5
All
Pn003
Servo enabled
0~1
All
Pn004
Servo broken
0~2
All
5-10000
100
0-3
0-10000
60
ms
All
0-300
300
All
Pn005
Can make
ms
All
deceleration time
Pn006
All
Pn007
/ Is/
reverse the driver stop deceleration
time is prohibited
Pn008
(CCW) Internal
around are torque limit (CCW)
32
Pn009
CWAround
-300~0
-300
All
0-300
300
All
-300~0
-300
All
0-300
200
All
-300-0
-200
All
0-800
80
100ms
All
0-150
40
100ms
All
1~63
All
1~63
All
0-1
All
Pn010
(CCWExternal
around are torque limit (CCW)
Pn011
(CW) Around
outside the torque limit (the CW)
Pn012
CCW 1
Forward (CCW) torque overload alarm
level 1
Pn013
CW 1
Inversion (the CW) torque overload
alarm level 1
Pn014
1 Torque
overload alarm detection 1 time
Pn015
2 Overload 2 testing
time
Pn016
DA The
molecular DA of encoder divider
output
Pn017
DB The
denominator DB of encoder divider
output
Pn018
AB
Take the encoder output pulse AB
phase logic
Pn019
0-50
All
Pn020
0~5000
r/min
All
Pn021
reach the
0~5000
500
r/min
All
0~5000
30
r/min
All
0-2
0-300
100
predetermined speed
Pn022
Pn023
Reach the
All
Pn024
Reach the
All
33
predetermined torque
Pn025
Reach
0-300
All
0-2
0~1000
10
r/min
All
0~1000
r/min
All
0~1000
r/min
All
0~2000
Ms
All
0~2000
500
ms
All
0-3000
30
r/min
All
0~3
All
0~5
All
0~2
All
-9999~9999
Pn026
Reach the
All
Pn027
Zero velocity
detection range setting
Pn028
Pn029
Motor
electromagnetic brake testing point
zero speed
Pn030
The
motor stops electromagnetic brake
delay time
Pn031
The
motor electromagnetic brake waiting
time during operation
Pn032
The
motor speed of electromagnetic brake
action during operation
Pn033
The origin is
triggered
Pn034
Pn035
Pn036
All
offset high
Pn037
-9999~9999
All
1~3000
200
R/min
All
1~3000
50
R/min
All
offset low
Pn038
Pn039
34
Pn040
The accelerating
5~10000
50
ms
All
5~10000
50
ms
All
time of origin
Pn041
Pn042
0~3000
60
ms
All
Pn043
Complete
5~3000
80
ms
All
0~1
All
Pn044
The origin of
origin instruction execution mode
Pn045
0~5
All
Pn046
0~30000
80
All
Pn047
0~30000
All
0~20000
20
0.1ms
All
poor
Pn048
Pn049
0~15000
0.1ms
All
Pn050
0~15000
50
0.1ms
All
Pn051
The motor
0~5000
3000
All
-27~27
All
-27~27
All
-27~27
19
All
-27~27
All
1~1000
ms
All
1~1000
ms
All
1~1000
ms
All
1~1000
ms
All
-14~14
Pn052
Pn053
Pn054
Pn055
Pn056
Pn057
Pn058
Pn059
Pn060
All
35
functional allocation
Pn061
-14~14
All
-14~14
All
-14~14
All
functional allocation
Pn062
Pn063
Pn064
Communication mode
0-2
All
Pn065
Communications site
1-254
All
Pn066
0-3
All
Pn067
Communication mode
0-8
All
0~32767
All
0~4095
All
0~32767
32691
All
0~4095
4095
All
30~70
50
setting
Pn068
1 Input
function control mode select register 1
Pn069
2 Input
function control mode select register 2
Pn070
1 Input
function logic state set register 1
Pn071
2 Input
function logic state set register 2
Pn072
Internal use
Pn073
Internal use
Pn074
Fan function
All
temperature
Pn075
0~2
All
Pn076
(EMG) Emergency
0-1
All
0-2
All
0~1
All
0-23
All
Pn077
/ Positive and
negative driving ban checked out
Pn078
Lack of voltage
detection
Pn079
The system
status display project selection
Pn080
0~0
All
Pn081
User
0-1
All
36
operation
Pn082
0~255
All
50~280
200
All
290~380V
365
All
All
0~2000
70
ms
All
output
Pn083
Low pressure
alarm detect amplitude
Pn084
High pressure
alarm detect amplitude
Pn085
Pn086
Renewable circuit
1~100
discharge cycle
Pn087-
Internal use
pn095
name
number
Pn096
The
The
Value range
default value
unit
apply
0-2
0-1
1~32767
1~32767
1~32767
1~32767
1~32767
Pn097
Pn098
1 Pulse
electronics gear than the
molecules of 1
Pn099
2 Pulse
electronics gear than the
molecules of 2
Pn100
3 Pulse
electronics gear than the
molecules of 3
Pn101
4 Pulse
electronics gear than the
molecules of 4
Pn102
Pulse
electronics gear than the
37
denominator
Pn103
Beyond
1~ 500
500
deviation
Thous
and
pulse
Pn104
0~ 32767
10
pilse
Pn105
0~ 32767
Position
pilse
Pn106
0~ 32767
300
pilse
Pn107
Position
0~ 32767
30
pilse
Pn108
Position
0-1
0-2
5~1750
50
ms
5~1200
50
ms
5~550
20
ms
0-100
1-50
ms
5-2000
100
Pn109
Position
command deceleration mode
Pn110
Pn111
S Ta
S-shaped filtering time constant
Ta position instruction
Pn112
S
position instruction Ts S-shaped
filtering time constant Ts
Pn113
The position
loop feedforward gain
Pn114
Pn115
1 The position
38
controller gain 1
Pn116
2 The position
5-2000
100
0~1
0~1
0~10000
50
-9999~9999
controller gain 2
Pn117
Position
command source selection
Pn118
Pn119
Internal
position suspended deceleration
time
Pn120
number set up
ten
thous
and
pulse
Pn121
-9999~9999
-9999~9999
Pn122
1
Internal position instruction 1
ten
thous
and
pulse
Pn123
-9999~9999
-9999~9999
Pn124
2
Internal position instruction
ten
thous
and
pulse
39
Pn125
-9999~9999
-9999~9999
Pn126
3
Internal position instruction 3
pulse
ten
high setting
thous
and
pulse
Pn127
-9999~9999
0~3000
100
r/min
0~3000
100
r/min
0~3000
100
r/min
0~3000
100
r/min
0~1
5-10000
100
ms
Pn128
0
Internal position command zero
speed
Pn129
1
Internal position command 1
speed
Pn130
2
Internal position command
2speed
Pn131
3
Internal position command 3
speed
Pn132
Torque/speed control
switch to the position control
Pn133
Torque/speed
control switch to the position
control of the deceleration time
Pn134~
internal use
Pn145
40
name
number
value range
The
unit
apply
default
value
Pn146
Speed
0~2
5~ 1500
80
ms
5~ 10000
80
ms
5~ 10000
80
ms
5~30000
80
ms
5~30000
80
ms
1~380
10
0.1ms
All
5~ 2000
100
All
5~ 2000
100
All
5~ 2000
100
All
5~ 2000
100
All
1~500
0.1ms
1~1500
300
r/min/
Pn147
S Ts
Speed instruction S curve and
deceleration time constant Ts
Pn148
S Ta
Speed instruction S curve
acceleration time constant of Ta
Pn149
S Td
Speed instruction S curve
deceleration time constant of Td
Pn150
Linear
acceleration time constant
Pn151
Linear
deceleration time constant
Pn152
Speed
detection filter time constant
Pn153
1 The speed
regulator proportional gain 1
Pn154
1 Speed
regulator integral time constant of 1
Pn155
2 The speed
regulator proportional gain 2
Pn156
2 Speed
regulator integral time constant 2
Pn157
Pn158
simulation speed
Pn159
Simulation
-5000~5000
mv
41
Pn160
Simulation speed
0-1
0~1000
10mv
-1000~0
10mv
0-1
0~1
instruction direction
Pn161
Pn162
Pn163
Pn164
Pn165
0~200
r/min
5~10000
50
ms
5~2000
100
All
0~1
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
speed
Pn166
Pn167
Internal position
controller gain
Pn168
speed
1 Internal speed
reference 1
Pn170
2 internal speed
instruction 2
Pn171
3 internal speed
instruction 3
Pn172
4 internal speed
instruction 4
Pn173
5 internal speed
instruction 5
Pn174
6 internal speed
instruction 6
Pn175
7 internal speed
instruction 7
Pn176
8 internal speed
instruction 8
42
Pn177
0~5000
200
r/min
Pn178
5~ 10000
100
ms
5~ 10000
100
ms
time
Pn179
Pn180~
internal use
Pn185
4.2.4
name
number
value range
The
unit
apply
default
value
Pn186
Torque
0~1
1~30000
ms
1~500
0.1ms
1-300
30
%/V
-1500~1500
mv
0-1
5~ 2000
100
All
5~ 2000
100
All
5~ 2000
100
All
Pn187
torque
instruction linear deceleration time
constant
Pn188
Analog
torque instruction smooth filtering
time
Pn189
Analog torque
instruction gain
Pn190
Analog
torque instruction offset adjustment
Pn191
Simulation of
Pn192
Q 1 Q shaft
torque regulator proportional gain is 1
Pn193
Q 1 Q
shaft torque regulator integral time
constant of 1
Pn194
Q 2
Proportional gain 2 Q shaft torque
regulator
43
Pn195
Q 2 Q
5~ 2000
100
All
1-500
0.1ms
All
1~500
0.1ms
All
0~4500
2500
r/min
0~2
Pn196
Q 1 Torque Q
axis filter time constant of 1
Pn197
Q 2 Filtering time
constant torque Q 2
Pn198
Torque control
speed limit
Pn199
Source
Pn200
-300~300
Pn201
-300~300
Pn202
-300~300
Pn203
-300~300
Pn204
Torque command
0~1
5~2000
100
All
5~2000
100
All
1~3000
100
0~300
0~300
source
Pn205
D D shaft
torque regulator proportional gain
Pn206
D D
shaft torque regulator integral time
constant
Pn207
Speed feedback
adjustment coefficient
Pn208
1 track
torque instruction judgment error
range 1
Pn209
2
tracking torque instruction judgment
error range 2
Pn210~
internal use
Pn219
44
4.3 Parameters
4.3.1 System parameters
name
number
Pn000
The
value range
default value
0~2
unit
apply
All
Open parameters
initialization function
name
number
Pn001
Motor code
The
value range
default value
3-12
unit
apply
All
Must set
up the right motor type code, the motor can work normally. Drive model and motor model fit the table below
Motor
Pn001
model
KRS
KRS
KRS
KRS
KRS
15A
20A
30A
50A
75A
Rated
rated
Rated
speed
torque
power
(r/min)
(N.M)
(W)
60st_m00630
3000
0.6
200
60st_m01330
3000
1.3
400
60st_m01930
3000
1.9
600
80st_m01330
3000
1.3
400
80st_m02430
3000
2.4
750
80st_m03520
2000
3.5
730
80st_m04025
2500
1000
90st_m02430
3000
2.4
750
90st_m03520
2000
3.5
730
90st_m04025
2500
1000
110st_m02030
10
3000
600
110st_m04020
11
2000
800
45
110st_m04030
12
3000
1200
110st_m05030
13
3000
1500
110st_m06020
14
2000
1200
110st_m06030
15
3000
1800
130st_m04025
16
2500
1000
130st_m06015
17
1500
1000
130st_m05025
18
2500
1300
130st_m06025
19
2500
1500
130st_m07725
20
2500
7.7
2000
130st_m10010
21
1000
10
1000
130st_m10015
22
1500
10
1500
130st_m10025
23
2500
10
2600
130st_m15015
24
1500
15
2300
130st_m15025
25
2500
15
150st_m15025
26
2500
150st_m15020
27
150st_m18020
3800
15
3800
2000
15
3000
28
2000
18
3600
150st_m23020
29
2000
23
4700
150st_m27020
30
2000
27
5500
180st_m17215
31
1500
17.2
2700
180st_m19015
32
1500
19
3000
180st_m21520
33
2000
21.5
180st_m27010
34
1000
220st_m67010
35
1000
number
name
4500
27
2900
67
1000
value
the
range
unit
default
apply
value
Pn002
control
0~5
All
mode
All kinds of control mode in the following table
Pn002
control mode
Torque mode
speed mode
location mode
46
/location/speed mode
/ location/torque mode
/ speed/torque mode
3
4
5
SigIn Cmode
Set to three, four, five, mode
between the switch is determined by the input port SigIn Cmode signal state
Pn002
Cmode
control mode
OFF
location mode
ON
speed mode
OFF
location mode
ON
torque mode
OFF
speed mode
ON
toeque mode
number
name
the
value range
Pn003
Servo
0~1
unit
default value
apply
All
enabled mode
0 SigIn SON By the input port of the SigIn SON can drive
1 After power on can automatically make the drive
name
number
Pn004
value
the
range
0~2
unit
default value
0
apply
All
Pn004
Electromagne
Slowing
tic brake
down
Do not
Do
use
not use
Do not
use
use
instructions
Inertial parking
47
use
Do
not use
name
value
number
the
range
unit
default
apply
value
Pn005
5-10000
Can
100
ms
All
Can make the signal from the effective becomes invalid, the motor speed to zero time. If in the
process of reduction, enabling signal effectively again, the motor will slow down to zero
name
number
value
the
range
unit
default
apply
value
Pn006
0-3
All
With/without positive
driving is prohibited
Pn006
Do not use
Do not use
Do not use
use
use
Do not use
use
use
name
number
value
the
range
unit
default
apply
value
Pn007
0-10000
60
ms
All
forward/reverse
driving stop deceleration
time is prohibited
48
name
number
Pn008
value
range
(CCW)
0-300
the
unit
default value
apply
300
All
-300
All
300
All
-300
All
Pn009
CW -300~0
Around inside the torque
limit (the CW)
Pn010
(CCW 0-300
External around are
torque limit (CCW)
Pn011
(CW)
-300~0
Some motor maximum output torque is twice the rated torque, the maximum torque of the motor output
automatically restricted to within two times the rated torque
name
number
Pn012
value range
CCW 1
the
unit
default value
apply
0-300
200
All
-300-0
-200
All
Forward (CCW)
torque overload alarm level 1
Pn013
CW 1
Inversion (the CW)
torque overload alarm level 1
49
Pn014
0-800
80
100ms
All
0-150
40
100ms
All
Pn015
2 Overload 2
testing time
1 0
1 2 2 1
Overload 1 alarm level refers to the overload overcurrent rated output current percentage, relative to
the motor overload capacity range between 0 and the maximum output current. Torque overload 1 the
overload capacity of the default value is 2 times, in the setting time, lasts for more than 2 times the output
torque, will perform overload 1 protection
/If the
overload level sets is greater than the corresponding internal/external torque limit, overload conditions may
not be met, the protection will not work
name
number
Pn016
the
value range
unit
default value
apply
1~63
All
1~63
All
DA The molecular DA of
encoder divider output
Pn017
DB
DB
DA/DB>=1
2500 DA/DB=25/8,2500/(DA/DB)=2500/(25/8)= 800
Encoder output, a electronic gear used for dividing the encoder pulse signal output. Frequency division value
must be satisfied: DA/DB > = 1. Encoder, for example, to line 2500, DA/DB crossover value = 25/8, then
after frequency division line number: 2500 / (DA/DB) = 2500 / (25/8) = 800 line
name
number
value
the
range
default
unit
apply
value
Pn018
AB
0-1
All
Take the
encoder output pulse
50
AB phase logic
0: A B; B A
0: motor counterclockwise A, B in advance. Clockwise ahead of A B
1: B A; A B
1: motor counterclockwise B ahead; Clockwise ahead of B
name
number
Pn019
the
value range
Rated
unit
default value
apply
0-15
All
0~5000
Rated
r/min
All
current Settings
Pn020
Rated
speed setting
speed
Parameter is set to 0, use the manufacturer to set a default value; Otherwise, the user must be strictly in
accordance with the motor rated current RMS, rated speed and the corresponding internal positive and
negative torque limit setting parameter values. If set incorrectly, the motor will not be able to run properly.
According to the code of different types and motor drive, can achieve the largest actual current value is
different. Please do not modify the average user.
name
number
Pn021
reach to
the
unit
value range
default value
apply
0~5000
500
r/min
All
0~5000
30
r/min
All
0-2
predetermined speed
Pn022
Hysteresis comparison
difference in predetermined
speed
Pn023
All
Reach to predetermined
speed detection direction
100 10More instruments include
51
hysteresis comparison. The setting of the difference is too small, the output signal cut-off frequency is
higher; The set value, the greater the cut-off frequency is small, but at the same time reduce the resolution
of the comparator. Example: booking speed is set to 100, difference set to 10.
OFF
ON
90 100 110
The comparator
number
name
the
value range
Pn024
reach to the
unit
apply
default value
0-300
100
All
0-300
All
0-2
predetermined torque
Pn025
Reach a predetermined
torque hysteresis
comparison difference
Pn026
Reach
All
The comparator
52
; OFFTesting is only
around moment; Inversion, the signal is OFF
; OFFOnly testing
around the moment; Forward, the signal is OFF
name
number
Pn027
the
value range
Zero
unit
apply
default value
0~1000
10
r/min
All
0~1000
r/min
All
Pn028
name
number
Pn029
Motor
the
value range
default value
0~1000
unit
r/min
apply
All
name
number
Pn030
the
value range
default value
0~2000
unit
Ms
apply
All
name
number
Pn031
the
value range
default value
0~2000
500
unit
ms
apply
All
53
The motor
electromagnetic brake waiting
time during operation
name
value
number
Pn032
the
range
default value
0-3000
30
unit
apply
r/min
All
number
Pn033
name
The
value
the
range
default value
0~3
unit
apply
All
origin is triggered
0:
1 SigIn GOH By the input port of the SigIn GOH level trigger
2 SigIn GOH By the input port of the SigIn GOH rising along the trigger
3 Power on automatically
FSee the appendix F origin point execution way
name
number
Pn034
The
value
the
range
default value
0~5
unit
apply
All
0 REF() Forward looking for REF (rising along the trigger) as a reference point
1 REF() Inversion for REF (rising along the trigger) as a reference point
2 CCWL() Forward looking for CCWL falling edge (trigger) as a reference point
3 CWL() Inversion to find.cwl falling edge (trigger) as a reference point
4 Z Forward looking for Z pulse as a reference point
5 Z Pulse inversion for Z as a reference point
CCWL CWL Pn006 Note: CCWL or.cwl as a reference
point, need to set the Pn006 parameters, open the function
54
name
number
Pn035
The origin
the
value range
default value
unit
apply
0~2
All
name
number
Pn036
The
the
value range
default value
-9999~9999
apply
All
ten
thousand pulse
Pn037
unit
-9999~9999
The
All
pulse
name
value
number
Pn038
The origin
the
range
default value
unit
apply
1~3000
200
R/min
All
1~3000
50
R/min
All
Pn039
The origin
back to the second speed
Perform operation on the origin, looking for reference points at the first speed, arrived at the
reference point, seeking the origin at the second rate. The second speed should be less than the first speed
name
number
Pn040
The
the
value range
default value
unit
apply
5~10000
50
ms
All
5~10000
50
ms
All
Pn041
The origin
return to slow down time
name
value
the
unit
55
number
Pn042
The
range
default value
0~3000
60
apply
ms
All
SigOut HOME ON
On arriving at the origin, the delay for a period of time, let the motor is perfectly still. After the completion of
the delay, output port SigOut HOME output ON
name
number
Pn043
value range
5~3000
the
default value
unit
apply
80
ms
All
name
number
Pn044
value
the
range
0~1
unit
default value
apply
All
HOME OFF
After the completion of the origin, waiting
for the HOME signal into OFF to receive and executes instructions
name
number
Pn045
Gain switch to
the
value range
default value
unit
apply
0~5
All
choose
0: 1 Fixed gain 1
1: 2 Fixed gain 2
2 SigIn Cgain OFF 1 ON 2 Controlled by input port SigIn
Cgain terminals, OFF as gain 1, ON 2 gain
Pn046
1
By the motor speed control, feedback speed
exceeds Pn046, switch to gain 1
56
name
number
Pn046
value
range
Gain
the
default value
unit
apply
0~30000
80
All
0~30000
All
switch level
Pn047
Gain
switch back to the poor
Pn044
unit
Speed instruction
R/min
Pulse bias
a pilse
Motor speed
r/min
name
number
Pn048
the
value range
0~20000
unit
default value
20
apply
0.1ms
All
,Gain
switching conditions meet the delay time to start switch. If detected in delayed phase switching conditions
are not met, then cancel the switch
name
number
Pn049
value range
1 Gain
the
default value
unit
apply
0~15000
0.1ms
All
0~15000
50
0.1ms
All
switch time 1
Pn050
2 Gain
switch time 2
Gain switch, current gain linear smoothing gradient combination in this time to the target gain combination,
combination of the various parameters change at the same time
name
number
Pn051
value range
0~5000
the
default value
unit
apply
3000
All
57
Used to restrict the highest speed of the motor running. Value should be less than or equal to the rated
speed, otherwise the motor can run a maximum speed of the rated speed
name
number
SigIn1 SigIn1 port
Pn052
the
value range
default value
unit
apply
-27~27
All
-27~27
All
-27~27
19
All
-27~27
All
functional allocation
SigIn 2 SigIn2port
Pn053
functional allocation
Pn054
functional allocation
Pn055
functional allocation
Parameter
SigIn SigIn
values
input level
positive values
low level
ON
high level
OFF
low level
OFF
high level
ON
negative
name
number
Pn056
SigIn 1 SigIn
the
apply
value range
default value
unit
1~1000
ms
All
1~1000
ms
All
Pn057
SigIn 2 SigIn
filtering time 2 port
58
SigIn 3 SigIn
Pn058
1~1000
2s
ms
All
1~1000
ms
All
SigIn 4 SigIn
Pn059
name
number
SigOut1 SigOut1
Pn060
the
apply
value range
default value
unit
-14~14
All
-14~14
All
-14~14
All
-14~14
All
SigOut 2
Pn061
SigOut 3 SigOut3
Pn062
SigOut 4
Pn063
negative
Corresponding function
ON
low level
OFF
high level
OFF
low level
ON
high level
name
number
Pn064
value range
Communication mode
0-2
the
default value
unit
apply
All
0 No communication
1RS-232
2: RS-485
Modbus See chapter 7 Modbus communication protocol communication
function
name
number
Pn065
value
range
1-254
the
default value
unit
apply
All
Communications site
59
Modbus ;
When using the Modbus communication, drive in each group should be set in advance different sites; If
repeat setting site, will lead to paralysis of communication
name
value
number
Pn066
Communication
the
range
default value
unit
apply
0-3
All
baud rate
0 4800
1 9600
2 19200
3 38400
name
number
Pn067
value range
0-8
the
default value
unit
apply
All
set
7 , N , 2 ( Modbus ,ASCII )
7 , E , 1 ( Modbus , ASCII )
7 , O , 1 ( Modbus , ASCII )
8 , N , 2 ( Modbus , ASCII )
8 , E , 1 ( Modbus , ASCII )
8 , O , 1 ( Modbus , ASCII )
8 , N , 2 ( Modbus , RTU )
8 , E , 1 ( Modbus , RTU )
8 , O , 1 ( Modbus , RTU )
name
number
Pn068
instructions
the
value range
default value
unit
apply
0~32767
All
0~4095
All
Pn069
60
BIT7
BIT6
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
function
Zero Lock
EMG
TCW
TCCW
CWL
CCWL
Alarm rst
Son
The
default value
BIT15
BIT14
BIT13
BIT12
BIT11
BIT10
BIT9
BIT8
keep
Cgain
Cmode
TR2
TR1
Sp3
Sp2
Sp1
BIT7
BIT6
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
function
REF
GOH
PC
INH
Pclear
Cinv
Gn2
Gn1
BIT15
BIT14
BIT13
BIT12
BIT11
BIT10
BIT9
BIT8
keep
keep
keep
keep
pstop
ptriger
Pos2
Pos1
CN3 0 CN3
1son sp3 sp2 sp1
00000111_00000001()-->
)
0x0701(
the above function from the input port or on the CN3 from communication control to change. Set to 0, the
controlled by the input port on the CN3 change; Is set to 1, is controlled by the communication change. The
default all controlled by the input port. For example: son sp3 sp2 sp1 function through communication
control, other control, through the input port is set value is 00000111 _00000001 (binary) -- - > 0 x0701
(hexadecimal) -- - > 1793 (decimal), so set Pn065 parameter value is 1793.
number
name
value
range
the
default
unit
apply
value
61
Pn070
0~32767
32691
All
0~4095
4095
All
1 Input function
logic state set register 1
Pn071
2 Input function
logic state set register 2
BIT7
BIT6
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
function
ZeroLock
EMG
TCW
TCCW
CWL
CCWL
Alarmrst
Son
The
BIT15
BIT14
BIT13
BIT12
BIT11
BIT10
BIT9
BIT8
keep
Cgain
Cmode
TR2
TR1
Sp3
Sp2
Sp1
default value
BIT7
BIT6
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
Function
REF
GOH
PC
INH
Pclear
Cinv
Gn2
Gn1
signal
BIT15
BIT14
BIT13
BIT12
BIT11
BIT10
BIT9
BIT8
keep
keep
keep
keep
pstop
ptriger
Pos2
Pos1
CN3
Pn071 BIT4 0
In a communication control mode, by setting the register,
CN3 external input signal control could be achieved. Drive in position control mode, for example, to
62
ban pulse command, set Pn071 BIT4 set 0, input pulse becomes invalid. The communication control,
set the parameter value, shall be invalid.
Pn070, Pn071
Note: after each access to electricity,
drive will automatically load the Pn070, Pn071 register values, and perform the corresponding
operation immediately. So, before enabling the motor to determine the function of input signal into
the proper working condition
name
number
the
value range
default value
unit
apply
Pn074
Fan temperature
30~70
50
Pn075
0~2
All
All
don't run
name
value
number
Pn076
(EMG)
the
range
default value
unit
apply
0-1
All
EMGOFFEMG (AL-14)Lift its state of EMG OFF after the removal of EMG (AL
- 14) alarm conditions:
ON
EMG
name
number
Pn077
value range
/ Is/the driving
0-2
the
default value
unit
apply
All
name
number
Pn078
value range
Lack of
0~1
the
default value
unit
apply
All
voltage detection
name
number
Pn079
value range
The
0-23
the
default value
unit
apply
All
Dn000
Dn000
Drive, automatic Dn000 submenu into monitor mode menu. By default, according to the manufacturer to
display the system status (motor speed), the user can set the parameter value, so it shows Dn000 particular
state of the system parameters, details see the list of "monitoring mode".
7Temperature of
9 Effective input
19
After power on the servo, pulse encoder feedback accumulative total value is low
20
After power on the servo, pulse encoder feedback accumulative total value is high
21 22UVW 23Driver software version 22 23 rotor absolute position
encoder UVW letter
name
number
Pn080
The encoder to
the
value range
default value
0~1
unit
apply
All
choose
name
number
Pn081
User
the
value range
default value
unit
apply
0-1
All
Fn001
Pn000~Pn219 EEPROM
0 1
(Pn064>0)The corresponding auxiliary mode Fn001
operation. The current Pn000 ~ Pn219 block all parameter value written to the EEPROM. When the
parameter value from 0 to 1, the driver will perform a write operation. This operation is only valid at the time
of communication (Pn064 > 0)
name
number
the
value range
default value
SigOut
Pn082
unit
apply
0~255
All
keep
BIT15~BIT8
bit
The
SigOut4
BIT7
0
SigOut3
BIT6
SigOut2
SigOut1
BIT5
BIT4
BIT3
BIT2
BIT1
BIT0
default
value
SigOut 1
BIT3
BIT2
Output level
BIT1
BIT0
Output level
Optional state
Optional state
Optional state
Optional state
SigOut 4
SigOut 3
BIT7
BIT6
Output level
BIT5
BIT4
Output level
Optional state
Optional state
65
Optional state
Optional state
SigOut2
Pn082 8
Example: output
port SigOut2 force output low level, other optional output port status, setting Pn082 parameter value is 8.
name
number
Pn083
Low
the
value range
default value
unit
apply
50~280
200
All
name
number
Pn084
High
the
value range
default value
unit
apply
290~380V
365
All
name
number
Pn085
value range
Motor pole logarithmic
name
number
Pn086
Renewable
1~100
value
the
default value
unit
apply
All
the
range
default value
unit
apply
0~2000
70
ms
All
EWhen the servo motor running in generator mode, renewable electricity too
66
much, must through the regeneration way discharge, otherwise the internal voltage is too high, damage to the
drive. Set up, the longer the voltage release faster, but the greater the power needed for regenerative resistor,
otherwise easy to burn regenerative resistor. See appendix E specific Settings.
name
number
Pn096
The
the
unit
value range
default value
apply
0-2
0-1
Pn097
Forward command
PP+
PPPD+
PD-
+ Pulse + direction
Forward/reverse pulse
PP+
PPPD+
PD-
reverse command
H
L
PP+
PPPD+
PD-
counterclockwise (CCW)
Pn097=1
(included)
name
number
Pn098
1 Pulse
the
value range
default value
unit
apply
1~32767
1~32767
1~32767
Pn099
2 Pulse
electronics gear than the
molecules of 2
Pn100
3 Pulse
electronics gear than the
molecules of 3
67
Pn101
4 Pulse
1~32767
1~32767
Pn102
Pulse
electronics gear than the
denominator
GN2
GN1
OFF
OFF
1 Molecular 1
OFF
ON
2 Molecular 2
ON
OFF
3 Molecular 3
ON
ON
4 Molecular 4
name
number
Pn103
the
value range
default value
unit
apply
1~ 500
50
Deviation when the pulse counter pulse count more than the value set (i.e., the current position and
target location are too large), drive out alarm signal.
name
number
Pn104
value
the
unit
range
default value
apply
0~ 32767
10
pulse
0~ 32767
pulse
Pn105
68
name
number
Pn106
value range
the
default value
unit
apply
0~ 32767
300
0~ 32767
30
Pn107
name
number
Pn108
Position
the
value range
default value
unit
apply
0-1
name
number
Pn109
Position
the
value range
default value
unit
apply
0-2
1 A smoothing filter
2S S-shaped filtering
name
number
Pn110
value range
5~1750
the
default value
unit
apply
50
ms
69
Pn111
S Ta
5~1200
50
ms
5~550
20
ms
Pn112
S Ts
S-shaped filtering time constant
Ts position instruction
Filter time constant is defined by the current location instructions frequency
operation to the target frequency. Filtering, the longer the better position instruction frequency smoothness, but
command the greater the response delay. In instruction pulse frequency step change, have the effect of smooth
running motor. The filter has no effect on instruction pulse number.
Ts
Ta
Ts
Ts
Ts
Ta
Ta+Ts
name
number
Pn113
Ta
2
Ts
value range
The position
the
default value
unit
apply
0-100
1-50
ms
Pn114
70
number
name
value range
Pn115
1 The position
the
default value
unit
apply
5-2000
100
5-2000
100
controller gain 1
Pn116
2 The position
controller gain 2
In
mechanical systems do not produce under the premise of vibration or noise, increase the position loop
gain value, to speed up the reaction rate, shorten the positioning time.
number
name
value range
Pn117
Position
0~1
the
default value
unit
apply
number
name
value
range
Pn118
0~1
the
default value
unit
apply
number
name
value range
Pn119
Internal
0~10000
the
default value
unit
apply
50
71
pstop 0
()Falling edge position in internal control, pstop, motor by the current running
speed will slow down to zero, the deceleration time can be set by this parameter (only for internal position
control).
name
number
value
the
range
unit
default
apply
value
Pn120
-9999~9999
ten
thousand pulse
Internal position 0
high pulse number set up
Pn121
-9999~9999
-9999~9999
ten
Internal position 0
low pulse number set up
Pn122
thousand pulse
Internal position 1
high pulse number set up
Pn123
-9999~9999
-9999~9999
ten
Internal position 0
low pulse number set up
Pn124
thousand pulse
Internal position
2high pulse number set up
Pn125
-9999~9999
-9999~9999
ten
Internal position 2
low pulse number set up
Pn126
thousand pulse
Internal position 3
high pulse number set up
Pn127
-9999~9999
Internal position 3
low pulse number set up
N N 10000 N
Internal location instructions N (pulse) = internal position number N pulse high value x 10000 +
internal position instruction N pulse number value low
72
name
number
Pn128
value
the
unit
apply
range
default value
0~3000
100
r/min
0~3000
100
r/min
0~3000
100
r/min
0~3000
100
r/min
Internal position
command zero speed
Pn129
1
Internal position
command 1 speed
Pn130
2
Internal position
command 2 speed
Pn131
3
Internal position
command 3 speed
name
number
Pn132
value range
0~1
the
default value
unit
apply
/(Pn002=3 4)
Control mode from the speed/torque mode conversion to position control
(Pn002 = 3 or 4), to avoid severe mechanical shock, should be in low speed switching. The conditions of the
switch can be set up:
Pn132=0 zerospeed
Pn132=1 Slow down to zero
name
number
Pn133
value range
5-10000
the
default value
unit
apply
100
ms
Torque/speed control
switch to the position control of the
deceleration time
Pn132=1 cmode /
BPn132 = 1, when cmode signals effectively, the order control
73
mode by the torque/speed control switch to the position control, motor slow down to zero, then switch to the
position control mode. Please refer to the appendix B for specific timing.
name
number
Pn146
value range
Speed
0~2
the
default value
unit
apply
name
number
Pn147
value range
the
default value
unit
apply
5~ 1500
80
ms
5~ 10000
80
ms
5~ 10000
80
ms
Pn148
S Ta
Speed instruction S curve
acceleration time constant of Ta
Pn149
S Td
Speed instruction S curve
deceleration time constant of Td
In speed
control mode, you can set the speed instruction, deceleration time, in order to smoothly to start and stop
the servo motor.
Ta 0r/min 3000r/min, 3S
0r/min 1000r/min 1S. Ta: acceleration time: from 0 r/min to rated speed. For
example, servo motor rated speed 3000 r/min, if the setting time is 3 s, accelerate from 0 r/min to 1000
r/min for 1 s.
Td: 0r/min
74
Ts
Ts
Ts
Ts
Ta
Td
Ta
2
Ts,
Td
2
Ts
name
number
Pn150
Linear
the
value range
default value
unit
apply
5~30000
80
ms
5~30000
80
ms
Pn151
Linear
deceleration time constant
Pn150
name
number
Pn152
Pn151
value range
Speed
1~380
the
default value
unit
apply
10
0.1ms
All
The smooth the speed of the parameter value, the greater the detected, but lead to the slower speed
response. Too easy to cause the oscillation, too small may lead to noise.
number
name
value range
the
default value
unit
apply
75
Pn153
1 The speed
5~ 2000
100
All
5~ 2000
100
All
5~ 2000
100
All
5~ 2000
100
All
Pn154
1 Speed
regulator integral time constant of 1
Pn155
2The speed
regulator proportional gain 2
Pn156
2Speed
regulator integral time constant 2
Integral time constant is used to adjust the steady-state error compensation rate,
decrease the parameter values, reduce the speed control error, increase rigidity. Is too small easy to
cause vibration and noise.
number
name
value
range
Pn157
1~500
the
default value
unit
apply
0.1ms
The set value, the greater the input analog response speed is slow, is beneficial to reduce
the high frequency noise, setting is smaller, the faster response speed, but will get big interference noise.
number
name
value range
Pn158
The directive
1~1500
the
default value
unit
apply
300
r/min/V
-10~10V
=*Pn158 10V 300 10*300=3000r/minAnalog
speed reference input and the ratio between the actual speed motor. The range of input voltage - 10 ~ 10 v.
Formula: speed = * Pn158 input voltage. For example: when the input voltage of 10 v, if set to 300, the
corresponding rate of 10 * 300 = 3000 r/min.
76
Pn158=300
+10V
-10V
name
value
number
Pn159
range
-5000~5000
the
default value
unit
apply
S
mv
(rpm)
3 0If observed
values are not zero, negative observation value to the input parameters, can be realized to adjust (note
that the voltage unit conversion relationship).
name
number
Pn160
value
the
range
default value
unit
apply
0-1
S
77
0(ccw),(cw) Positive voltage forward (CCW), negative voltage inversion (the cw)
1(ccw), (cw) Positive voltage forward (CCW), negative voltage inversion (the
cw)
name
number
Pn161
the
value range
default value
unit
apply
0~1000
10mv
-1000~0
10mv
Pn162
-10V
+10V
0-1000
0~10VThrough the upper and lower set, can make the input
instructions into a single polarity, double polarity. Example: the upper limit of 0, lower limit for - 1000, the
equivalent input command range of 0 ~ 10 v, for normal polarity speed commands.
number
name
value range
Pn163
Zero speed
0-1
the
default value
unit
apply
78
1 0Locked,
clamping way is speed loop control, speed instruction forced to 0, location may change due to external
force.
name
number
Pn164
value range
Zero speed
the
default value
unit
apply
0~1
clamp is triggered
name
value
range
Pn165
0~200
the
default value
unit
apply
r/min
zero speed
Pn164 1 10r/min
-10r/min~10r/min
When Pn164 is set to 1, and the speed instruction below this parameter value,
the lock on the motor shaft. Example: this parameter is set to 10 r/min, if the analog speed instruction - 10
r/min ~ 10 r/min, within the scope of the deceleration clamp, in order to prevent the analog speed
instruction near the zero drift, lead to the motor shaft instability.
name
number
Pn166
the
value range
default value
unit
apply
5~10000
50
ms
deceleration time
number
Pn167
name
value
Internal
the
range
default value
unit
apply
5~2000
100
the
unit
All
number
name
value
range
apply
default value
79
Pn168
0~1
name
number
Pn169
1 Internal speed
the
value range
default value
unit
apply
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
-5000-5000
R/min
reference 1
Pn170
2 Internal speed
reference 2
Pn171
3 Internal speed
reference 3
Pn172
4 Internal speed
reference 4
Pn173
5 Internal speed
reference 5
Pn174
6 Internal speed
reference 6
Pn175
7 Internal speed
reference 7
Pn176
8 Internal speed
reference 8
SigIn SP1,SP2,SP3
When
a drive control mode in speed control mode, the speed reference source by the input port of the SigIn SP1,
SP2, SP3 decision:
SP3
SP2
SP1
Speed instruction
2 Internal speed 2
3 Internal speed 3
4 Internal speed 4
5 Internal speed 5
6 Internal speed 6
7 Internal speed 7
80
8 Internal speed 8
name
value
number
the
range
default value
unit
apply
Pn177
JOG speed
0~5000
200
r/min
Pn178
JOG speed up
5~ 10000
100
ms
5~ 10000
100
ms
the time
Pn179
JOG
Deceleration time
name
number
Pn186
Torque
the
value range
default value
unit
apply
0~1
name
number
Pn187
Linear
the
value range
default value
unit
apply
1~30000
ms
Pn187
81
name
number
Pn188
the
value range
default value
unit
apply
1~500
0.1ms
The set value, the greater the input analog response speed is slow, is helpful to reduce the
high frequency noise; Setup is smaller, the faster the speed of response, but will get big interference noise.
name
number
Pn189
value range
1-300
Analog gain
the
default value
unit
apply
30
%/V
torque instruction
-10~10V
10V 3 Y=KX=30XK=30Analog torque command input and the ratio
between the actual output torque. The range of input voltage - 10 ~ 10 v. The default input voltage of 10 v,
motor at 3 times the rated torque, namely = KX = 30 x, Y K = 30.
%
K=30
300
200
100
+10V
-100
-200
-300
-10V
name
number
Pn190
Analog
the
value range
default value
unit
apply
-1500~1500
mv
name
value
the
unit
apply
82
number
Pn191
range
default value
0-1
Simulation of torque
command direction
0(ccw), (cw) Positive voltage forward (CCW), negative voltage inversion (the cw)
1(ccw), (cw) Turn negative voltage is (CCW), positive voltage inversion (the cw)
name
number
Pn192
Q 1 Q shaft
the
value range
default value
unit
apply
5~ 2000
100
All
5~ 2000
100
All
5~ 2000
100
All
5~ 2000
100
All
Pn193
Q 1 Q shaft
torque regulator integral time constant of 1
Pn194
Q 2 Q shaft
torque regulator proportional gain is 12
Pn195
Q 2 Q shaft
torque regulator integral time constant of 2
name
number
Pn196
Q 1
the
unit
value range
default value
apply
1-500
0.1ms
All
1~500
0.1ms
All
Pn197
Q 2 Torque
Q axis filter time constant of 2
Inhibits mechanical vibration, the larger the set values, the better the results, will
cause slow response and may cause oscillation; Set the value is smaller, the faster the response, but the
mechanical conditions.
name
number
Pn198
value
range
0~4500
the
default value
unit
apply
2500
r/min
83
When the torque control, motor speed limit in this
parameter range. There was a phenomenon of speeding can prevent the light load. Speeding, speed
control to reduce the actual torque intervention, but the actual speed will be slightly error.
name
number
Pn199
value range
0~2
the
default value
unit
apply
SP3
SP2
SP1
Speed instruction
1 Internal speed 1
2 Internal speed 2
3 Internal speed 3
4 Internal speed 4
5 Internal speed 5
6 Internal speed 6
7 Internal speed 7
8 Internal speed 8
name
number
Pn200
value
range
-300~300
the
default value
unit
apply
T
84
Pn201
-300~300
Pn202
-300~300
Pn203
-300~300
TR2
TR1
Torque command
10 OFF,1 ON
2
SigIn TR2
TR1
OFF
Note 2: if the SigIn port doesn't specify
TR2, TR1 functions, is OFF by default.
name
number
Pn204
Torque command
the
value range
default value
unit
0~1
apply
source
1:1internal torque1
name
number
Pn205
value range
D D shaft
the
default value
unit
apply
5~2000
100
All
5~2000
100
All
Pn206
D D
shaft torque regulator integral time
constant
name
number
Pn207
value range
Speed feedback
1~3000
the
default value
unit
apply
100
adjustment coefficient
85
When
the torque control, the motor speed in a limited speed range, interventional speed feedback, to reduce the
actual torque, so that the speed to limit within the scope of regression. Parameter Settings is smaller, the
greater the amount of feedback, the faster the adjustment, the smaller amount of speeding, but is too small
will fuel motor shaking; Parameter is set too large, adjust the slower, may have been speed, less than the
speed limit. Actual speed will be slightly higher than the limit speed value.
name
number
Pn208
value range
1track torque
the
default value
unit
apply
0~300
0~300
Pn209
2track torque
instruction judgment error range2
1 1 80%Pn208
5%
75%~85% 1 Condition 1: PC set torque instruction must be
within the error range of 1. Example: input torque command 80%, Pn208 set to 5%, internal drive
of input torque instruction in deceleration operation, when calculating the output torque of the
instructions within the scope of 75% ~ 85%, condition 1 is satisfied.
2
2
Condition 2: detect
the actual motor torque and the difference between the input torque of the instructions in the judgment error
range within 2.
86
number
symbol
NULL
Son
function
Functional specifications
No
function specified
servo
enable
AlarmRs
The alarm
OFF
reset
CCWL
Note 1: if you want to use forward driving ban, first set Pn006
parameters, enabled, and designated to a specific to the input
port. By default, do not use this feature.
2CCWL ON
Note 2: the normal operation of the motor, CCWL must in a
normally closed contact state (ON)
CWL
TCCW
OFF:
External forward
87
torque limit
ON:
CCW Pn010
TCW
OFF:
ON:
TCW CW Pn009
Note: whether TCW efficient or effective, the CW
direction torque is also restricted by Pn009 parameters.
EMG
Emergency
stop
Zero
Zero speed
Speed control:
Lock
clamp
10
11
SP1
SP2
SP3
Internal speed
command option 1
Internal speed
SP3
SP2
SP1
Speed instruction
command option 2
1 internal speed 1/
External analog
3nternal speed
External analog
command option 1
2 internal speed 2
3 internal speed 3
4 internal speed 4
5 internal speed 5
6 internal speed 6
7 internal speed 7
8 internal speed 8
12
13
TR1
TR2
TR1 TR2 4
command option 1
command.
TR2
TR1
Torque command
1/
The external torque 1 / internal
analog torque command
1
0 OFF,1 ON Note:0 means OFF,1means ON.
2 SigIn TR2TR1 OFF
Note 2: if the SigIn port doesn't specify TR2, TR1
functions, is OFF by default.
14
15
Cmode
Cgain
Gain switch
Gn1
Electronic gear
molecular option 1
17
18
Gn2
CINV
Gn2
Gn1
N Electronic
gear than N
Electronic gear
OFF
OFF
1 the 1 molecular
molecular option 2
OFF
ON
2 the 2 molecular
ON
OFF
3 the 3 molecular
ON
ON
4 the 4 molecular
Instructions
The speed
in reverse
Pclear
Pn108 Clear
89
Position deviation to
clear
parameters:
Pn108
0
way
Pclear ON During the Pclear
level ON
20
INH
Pulse
input is prohibited
21
22
PC
GOH
Proportional control
The
23
REF
The
origin return
reference point
24
Pos1
pos1Pos1 internal
location choice
25
Pos2
pos2Pos2 internal
location choice
26
ptriger
Trigger internal
position command
27
pstop
Suspend internal
position command
symbol
function
null
No
Functional specifications
function specified
Alarm
Alarm
OFF: alarm
detection
ON:
no alarm
90
Ready
Emg
Preach
servo
is ready
Emergency stop
emergency stop
checked out
ON :
Positioning to
OFF:
complete
Pn104 Pn104
position deviation is greater than the parameter
set value
ON:
Pn104 The
value of position deviation less than or equal to
Pn104 parameters setting
Sreach
Speed to
OFF:
reach
Treach
reach the
predetermined
ON
torque
Zero Speed
zero speed
OFF:
Run
Servo motor
ON:
motor current
current
BRK
Electromagnetic
brake
10
HOME
The
origin return to
complete
11
Pnear
Located
in a position control
close to
91
set value
ON:
Pn106 The
value of position deviation less than or equal to
Pn106 parameters setting
12
TRQL
The
torque limit
limited
ON:
TRQL ON
When the torque command
reaches Pn008 Pn009, Pn010, the parameter value, the
smallest Pn011 TRQL to ON.
13
SPL
The
speed limit
OFF:
ON:
Pn198,Pn199
Look Pn198 Pn199 instructions
14
TCMDreach
In torque control:
Look Pn198
OFF
Pn199 instructions
ON
The setting of motor torque reaches the upper
machine set torque instruction value
Chapter 5 monitoring parameters and operation
92
instruction
number
dn-00
, Pn079 dn-00
Monitor display options (the default for motor speed), and by setting the Pn079 parameter, make the
dn - 00 show different monitoring status.
dn-01
dn-02
dn-03
(-9999~9999)
dn-04
dn-05
dn-06
dn-07
dn-08
dn-09
dn-10
-5000~5000(5000
0) Effective input command pulse accumulative total value high (5000 ~
5000) (unit: m) (pulse accumulative total value high more than + 5000, the high position 0, low today,
to count)
dn-11
-9999~9999
Effective feedback position
control, the encoder pulse accumulative total value is low (9999 ~ 9999) (unit: a)
dn-12
-5000~5000(
5000 0) Effective feedback position control, the encoder
pulse accumulative total value high (5000 ~ 5000) (unit: m) (feedback pulse accumulative total value
more than + 5000 high, high position 0, low today, to count)
dn-13
dn-14
dn-15
dn-16
dn-17
dn-18
-9999~9999
After power on the servo, motor
dn-19
-5000~5000(
dn-20
dn-21
dn-22
dn-23
Bit7
Bit
Run
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
Zero Speed
Treach
Sreach
Preach
Emg
Ready
Alarm
Bit13
Bit12
Bit11
Bit10
Bit9
Bit8
SPL
TRQL
Pnear
HOME
BRK
function
Bit15 Bit14
Bit
function
Bit 0 ON 1 OFF Function for Bit is 0, said ON state, 1 is the
OFF state.
Abnormal
Elimination method
Alarm display
Clear way
alarm instructions
AL-01
1:To initialize
power on
The memory
2Internal
94
AL-02
reset
destroyed or damaged
Fn009
Pn083(200V)
low-pressure warning, dc
AL-03
power on
Pn084(365V)Internal dc
Fn009
95
3
In a reasonable range, appropriate
reduction small load inertia or prolonged
deceleration, or need additional braking
resistor.
AL-04
1 U,V,W
power on
Intelligent power
3:
Speed loop and current loop pid parameter
Settings.
AL-05
reset
1 overload 1
Pn014 ,
Pn012 Pn013
Pn014 parameters set period of time for
greater than Pn012 overload capacity
parameters or Pn013 set by multiples of the
current.
1 U,V,W
Check the motor line U, V, W and
encoder line is normal.
2:
Motor high frequency,
acceleration and deceleration delay when
the director of the deceleration time, reduce
the load inertia, or in more powerful capacity
96
of servo motor.
AL-06
2 overload 2
Pn015 ,
3 1 Pn015
power on
2.5 2
3 Note: some
motor can only bear the 2.5 or 2 times of the
rated load, are not as calculated as 3 times.
AL-07
reset
Motor
1 U,V,W
2
Reduce the pulse frequency of input
instructions, or adjust the electronic gear
ratio.
3
Improper speed loop pid parameter
adjustment, readjust.
AL-08
reset
55
than 70
AL-09
The encoder
power
abnormal
2
Check
97
3: (5V5%)
Check the
encoder voltage (5 v + / - 5%). (encoder line
is long, need to pay special attention to)
AL-10
AL-11
reset
reset
1(A/B)
600kppsActually
2: Reduce the
1 U,V,W
2:
Position command smoothing time constant
set is too large.
3:
Increase the position loop gain, to speed
up the response speed of the machine.
4
Using the monitor model, check
to see if the motor output torque limits.
AL-12
reset
1The
may be damaged
2: U,V,W
Check the motor line (U, V, W) whether
loose fall off.
3:
Sampling circuit is damaged, replace the
servo amplifier.
AL-13
1: The external
power on
internal fault
2CPU The
98
AL-14
Emergency
stop
effective
AL-15
1: CCWL,CWL ,
Abnormal
(ON)Check CCWL,.cwl
driving ban
2 pn006
If do not use the driving ban
function, can set pn006 parameters, to block
it.
AL-16
Brake
85%
average
power
overload
above 85%
frequency
3(
) External more
powerful regenerative braking resistor
(remove internal brake resistance, not
parallel)
5
Renewable power resistance value and the
resistance value is set correctly
6 Change a
more powerful motor and drive
AL-17
Pn016, Pn017
Abnormal
output of frequency
encoder signal
= 1.
frequency
output
99
Settings
AL-18
Improper
The current
motor code
sets
Modbus
Chapter 7 Modbus communication function
Character symbols
ASCII Corresponding
30H
31H
32H
33H
34H
35H
36H
37H
Character symbols
ASCII Corresponding
38H
39H
41H
42H
43H
44H
45H
46H
to the ASCII
100
to the ASCII
meaning
instruction
Communication began
(ASCII:
3AH) The
The communication
address
32
20H, Address =2 ,0
2=32H , 0=30H Address, that
Address
order
1 2 ASCII
03H()06H(
)08H10H(
) 1 byte contains two
CMD
DATA(n-1)
DATA(0)
ASCII (N < = 8)
LRC
Check code
1 2 ASCII 1 byte
contains two ASCII
End 1
End 0
meaning
instruction
Communication began
3.5
Start
Address
The communication
address
32
102
1 03H()
command
06H()08H
10H() 1 byte.
Commonly used commands: 3 h
CMD
DATA(n-1)
N =2N N<=8Word N
data content
= 2 N bytes (N < = 9)
DATA(0)
CRC
Check code
1 1 byte
The end
3.5
End 1
-> Response
- > PC (OK)
->
Response - > PC (Error)
start
start
start
Address
Address
Address
0
103
1
cmd
0
3
0
1
cmd
0
3
cmd
8
3
Data bytes
Abnormal code
LRC
high
bit
Data
low
bit
0013H
Address
0013 h
source
address
high
bit
low
bit
content
number
LRC
0014H
Address
0014 h
high
bit
low
bit
content
END1(CR)
0DH
END0(LF)
0AH
LRC
END1(CR)
0DH
END0(LF)
0AH
0
0
0
A
B
C
0DH
0AH
END1(CR)
END0(LF)
2. RTU
-> Response
- > PC
-> Response
(OK)
- > PC
(Error)
Address
01H
Address
01H
Address
01H
CMD
03H
CMD
03H
CMD
83H
02H
00H
Data 04H
Data
high
bytes
Abnormal
source
bit
address
13H
0013H 00H
CRC
low
high
low bit
bit
The
bit
code
C0H
104
content of
32H
CRC
the 0013 h
low
high bit
number
address
bit
00H
02H
35H
F1H
0014H 00H
high
The
bit
content of
0AH
the 0014 h
low
address
bit
CRC low
DBH
bit
CRC high
FBH
bit
7.3.2 Write a single register
06H Write a single register
Description: write a word to the register.
01 0013H 100(64H)For example: drive
station number of 01, write data initial address is 0013 h, write data, 100 (64 h).
-> Response
drive
start
- > PC
Address
(OK)
- > PC
(Error)
start
start
Address
Address
1
cmd
-> Response
1
cmd
1
cmd
8
6
high
high
Abnormal code
bit
bit
Data
Data
LRC
source
low
source
low
address
address
105
bit
bit
END1(CR)
0DH
(word )
word
END0(LF)
0AH
(word format)
(word format)
LRC
LRC
END1(CR)
0DH
END1(CR)
0DH
END0(LF)
0AH
END0(LF)
0AH
PC - >
PC
->
Response - > PC
(OK)
(Error)
drive
Address
01H
Address
01H
Address
01H
CMD
06H
CMD
06H
CMD
86H
00H
00H
03H
high
Data
high
Abnormal
bit
source
bit
code
Data
address
source
low
low
address
bit
bit
13H
00H
word
The data content
F4H
13H
(word format)
The
02H
low bit
00H
CRC
61H
high bit
word
64H
CRC
48H
64H
data content
(word
format)
CRC low
79H
79H
bit
CRC high E4H
bit
7.3.3 diagnosis
106
1. ASCII
-> PC - >
drive
start
Response - > PC
Address
->
start
(OK)
:
Address
1
cmd
-> Response
- > PC
(Error)
start
Address
1
cmd
1
cmd
8
8
high
high
Abnormal code
Subroutine
bit
code
LRC
low
low
Subroutine
code
bit
word The
bit
8
END1(CR)
0DH
(word
high
END0(LF)
0AH
bit
bit
content
low
(word
bit
The data
format)
LRC
LRC
4
0
END1(CR)
0DH
END1(CR)
0DH
END0(LF)
0AH
END0(LF)
0AH
2.
-> PC - >
->
->
Response - > PC
Response - > PC
(OK)
(Error)
drive
Address
01H
Address
01H
Address
01H
CMD
08H
CMD
08H
CMD
88H
03H
00H
00H
high
Subroutine
high
Abnormal
Subroutine
bit
code
bit
code
code
00H
00H
CRC
low
low
low bit
bit
bit
86H
high
(word
bit
The
31H
data
low
content
low
content
bit
(word
bit
word
86H
CRC
high
high bit
06H
01H
The bit
(word
data
31H
format)
format)
CRC low
43H
BFH
CRC high
bit
CRC high
bit
BFH
bit
->
-> Response
PC - > drive
- > PC
-> Response
(OK)
- > PC
(Error)
start
start
start
Address
Address
Address
1
cmd
1
cmd
high
high
Data
bit
bit
source
address
1
low
Data
source
bit
address
number
0
2
0
9
0
Abnormal code
3
LRC
low
bit
END1(CR)
0DH
high
bit
END0(LF)
0AH
Write
the
register
number
cmd
low
bit
LRC
2
4
Data bytes
high
0013H
bit
Write data
to the
0013 h
1
END1(CR)
0DH
END0(LF)
0AH
6
low
bit
109
high
bit
0014H
Write data
to the
low
0014 h
bit
LRC
C
4
5
END1(CR)
0DH
END0(LF)
0AH
2. RTU
-> PC - >
-> Response
drive
- > PC
->
Response - > PC
(OK)
(Error)
Address
01H
Address
01H
Address
01H
CMD
10H
CMD
10H
CMD
90H
00H
00H
03H
high
high
Abnormal
Data
bit
bit
code
source
13H
Data
address
low
source
low
bit
address
bit
00H
high
high
Write the
bit
bit
register
02H
Write
number
low
the
low
bit
register
bit
04H
13H
CRC
0CH
low bit
00H
CRC
01H
high bit
02H
number
110
Data bytes
00H
CRC low
high
bit
0013H
bit
64H
CRC high
data to
low
bit
the 0013
bit
Write
B0H
0DH
01H
high
0014H
bit
Write
2CH
data to
low
the 0014
bit
CRC low
F3H
bit
A signed integer.
2 5.5ms
N N<=8 5.5ms*N
Note 2: write a single register, PC must be about 5.5 ms, waiting for the driver to
complete the internal data storage of burning; By the same token, the register write N (N < = 8), the
upper machine needs 5.5 ms * N waiting time, to send the write command.
111
start
Address
0
1
cmd
0
3
Data source
high
address
bit
low
bit
0
0
0
2
LRC
E
7
END1(CR)
0DH
END0(LF)
0AH
01
CRC , 16 1. 8
8 CRC
CRC
CRC calculation,
to a 16-bit registers with full 1. Then put the message in the continuous section 8 of the seats on the
subsequent calculations. Only the characters of the eight data bits participate in the operation of generating
CRC, start bit, stop bits and parity bit CRC calculation will not be involved.
4. ( LSB 0): 3 (). (if the LSB of 0) : repeat step 3 (another shift).
( LSB 1): CRC 0xA001 (1010 0000 0000 0001). (if the LSB to 1) : the CRC
register exclusive or polynomial value 0 xa001 (1010, 0000, 0000, 0001).
5. 3 4 8 8 Repeat steps 3
and 4 until complete displacement of 8 times. As after this action, will complete the full operation of eight
bytes.
7. CRC CRC CRC register the final content for CRC value.
8. CRC When the CRC value
is placed on a message, high and low byte must exchange. Byte is sent first, and then the high byte
Address
01H
CMD
03H
Data
source address
high bit
low
02H
00H
high
word Data
00H
02H
04H
07H
113
unsigned char * data;// CRC Unsigned char * data; / / data source address, used to
calculate the CRC value
Read/write
The request
The request
114
(LRCCRC)
80HModBus Drive
send error exception code, will command function code plus 80 h after send the ModBus master station system
together. Abnormal code in the following table:
01 H
The function of
the servo driver does not recognize the request code
02 H
03 H
04 H
7.4
The servo parameters, the state information communication address
Data address
The
hexadecimal
decimal system
0000H~00EFH
0 ~ 239
meaning
instructions
operation
Pn000~Pn239
Parameter setting
Can read
area
0164H~016DH
356 ~ 365
but write
Alarm
Fn000
recording area
read-only
corresponding Sn - 0 to Sn - 9
0170H~0185H
368 ~ 389
Data
Dn000~Dn021
monitoring area
115
The appendix
A Appendix A gain switch
The first gain
parameter
name
parameter
name
Pn153
1 The
Pn155
2 The speed
gain 1
Pn154
Pn156
2 Speed
regulator integral time constant of 2
constant of 1
Pn192
Q 1Q
Pn194
Q 2Q shaft
torque regulator proportional gain is 2
proportional gain is 1
Pn193
Pn196
Q 1
Pn195
time constant of 1
constant of 2
Q 1Torque
Pn197
Pn115
Q 2 Q
1 The position
Q 2Torque Q axis
filter time constant of 2
Pn116
controller gain 1
2 The position
controller gain 2
, Pn046
Note: gain switch, must be in the right control mode, the setting parameters Pn046 conditions are right, to
meet gain switching conditions, to switch.
Pn048
2
Pn048
Pn050
1
Pn049
1
(cmode)SigIn
Using the control switch (cmode), can be controlled by input port SigIn contact for position control and
speed control mode switch.
control mode
OFF
ON
Pn132=0:
Pn27
ON
zerospeedOFF
Cmode
ON
OFF
Pn132=1:
117
Pn133
On
Cmode Off
Cmode
control mode
OFF
ON
: Can be in the state of zero speed control mode switch. But to be on the safe side, please
switch with the servo motor stopped. From the position control mode switch to the torque control mode, the
trapped pulse will be cleared. Motor can make, there are two main ways to switch, sequence diagram as shown
below:
Pn132=0:
118
Pn27
ON
zerospeedOFF
Cmode
ON
OFF
Pn132=1:
Pn133
On
Cmode Off
control mode
OFF
ON
Cmode
ON
OFF
60ms
SigInSON
SigOut:BRK
//
OFF
OFF
ON
OFF
ON()
Pn030
OFF
120
OFF
SigInSON
SigOut:BRK OFF
ON
OFF
ON()
OFF
Pn031
Pn032
Pn031
Pn032
OFF
(SigOut:Alarm)
(SigOut:Alarm)
ON
ON
OFF()
SigOut:BRK ON()
OFF
Pn032
Pn031
Pn031
Pn032
0r/min
//
121
Pn004 2, SigOut
Pn029
CPn004 parameter must be set using the electromagnetic brake, to 2, and specify the
SigOut port function. Pn029 drive according to the speed of the motor running, according to the parameters
setting, choose corresponding braking time sequence, perform the function of electromagnetic brake. Please
refer to the appendix C for specific timing.
AL-03()AL-08 AL-16()
40~200 1000~50W
100C
The renewable electricity will be absorbed by the drive of the primary
loop filter capacitor, but too much renewable electricity, filter capacitance cannot afford, regenerative resistor
must be used to burn off excess renewable electricity. When there is a renewable energy is too large, the
internal brake resistance cannot be fully absorbed, resulting in AL - 03 (overvoltage), AL - 08 (temperature) or
AL - 16 (such as brake average power overload) call the police. According to the practical application, increase
deceleration time, if still alarm, requires external braking resistance, enhance the braking effect. External
braking resistance tolerance range of 40 ~ 200 ohms, 1000-50 w, the smaller the value, the braking current, the
greater the power, the greater the braking resistance is required for braking energy is larger, but the value is too
small may cause damage to the drive, resistance test method is from big to small, until the alarm is no longer
present drives, running at the same time, the brake resistance temperature is not too high. When external
braking resistor, down the internal regenerative braking resistor. Because regenerative resistor in the
122
consumption of renewable power, can produce high temperature above 100 C, please be careful, the
connection of regenerative resistor wire please use of heat-resistant non-flammable cables, and confirm the
regenerative resistor without touching anything.
Note: if the alarm when using regenerative resistor, please cut off power supply, cooling and
a half hours. Due to the regenerative transistor failure, abnormal regeneration resistance heating, may cause a
fire. Please be sure to choose according to applications, matching the braking resistor.
Pn040
Pn041
Pn036*10000+Pn037
Origin point execution process, to avoid rapid changes of mechanical impact velocity, can be set parameters for
deceleration Pn040, Pn041. Find the origin and offset pulse as actual origin, the offset is:
Pn036*10000+Pn037
(Pn034)Pn035The origin return reference point
mode (Pn034) and the origin (Pn035) has the following combination:
123
The
origin is triggered
Pn044=0
HOME OFF
SONGOH OFF
HOME son
Pn033=2At the origin in the
execution of regression, if cancel the servo can make SON, produce any alarm, GOH into OFF ahead of
schedule, the origin of regression function suspension and output terminals HOME not action. In addition, if
effective, no alarm, can make the son return in execution and there is no complete, even if the edge triggered
(Pn033 = 2) repeat signals effectively, the drive will be completed the current return after operation, to detect
edge trigger signal.
124
SigOut:ready
OFF
ON
OFF
ON
OFF
ON
SigIn:GOH
OFF
Pn042
OFF
SigOut:HOME
Pn044=0
OFF
ON
Pn043
Pn033=1
SigOut:ready
OFF
ON
OFF
ON
SigIn:GOH
OFF
ON
OFF
Pn042
OFF
SigOut:HOME
Pn044=0
Pn044=1
OFF
ON
Pn043
Pn033=2
GOHThis function only in electric servo make effective for the first time after the execution time, later don't
need to repeat the origin regression. Every time it with electricity, drive automatically perform an origin point
operations. Use this feature can save one input terminal GOH.
125
SigOut:ready
OFF
ON
OFF
ON
Pn042
OFF
SigOut:HOME
OFF
ON
Pn043
Pn044=0
Pn044=1
Pn033=3
The origin
return
reference
point model
0~5
0~2
2: CCWL( ) Forward
looking for CCWL falling edge (trigger) as a reference
point
3: CWL( ) Inversion to
find.cwl falling edge (trigger) for reference
Pn035
as the origin
The
origin
1
Z Forward looking for Z pulse as
model
the origin
2
Directly with reference
point rise along the origin
(A)Pn034=0 2,Pn035=0
126
parameter
instruction
set
Pn034
REF() CCWL(
0 or 2
Pn035
Z Arriving at
reference points, the backward looking for Z pulse to return to the second
speed as the origin
Z
REF
OFF
CCWL
ON
ON
OFF
OFF
ON
(B)Pn034=1 3,Pn035=0
set
parameter
Pn034
13
instruction
REF
CWL() Origin starts, to return to the first speed
inversion for REF (rising along the trigger) or.cwl falling edge
(trigger) as a reference point
Pn035
Z Arriving at
reference points, the backward looking for Z pulse to return to the
second speed as the origin
127
Z
REF
OFF
CWL
ON
ON
OFF
OFF
ON
(C)Pn034=0,Pn035=1
set
instruction
parameter
Pn034
REF()
Origin starts, to return to the first speed forward looking for REF (rising
along the trigger) as a reference point
Pn035
Z Arrived at the
reference point, to return to the second speed forward looking for Z
pulse as the origin
Z
OFF
REF
ON
OFF
(D)Pn034=1,Pn035=1
set
parameter
Pn034
instruction
REF()
Origin starts, to return to the first speed inversion to find the REF (rising
128
Pn035
Z Arrived at the
reference point, to return to the second speed forward looking for Z pulse
as the origin
Z
OFF
REF
ON
OFF
(E)Pn034=0,Pn035=2
set
instruction
REF()
parameter
Pn034
Pn035
Arriving at reference
points, the direct reference point as the origin
REF
OFF
ON
OFF
(F)Pn034=1,Pn035=2
129
parameter
set
instruction
REF()
Pn034
Origin starts, to return to the first speed inversion for REF (rising along
the trigger) as a reference point
Pn035
REF
OFF
ON
OFF
(G)Pn034=4,Pn035=2
set
instruction
Z Origin starts, to
parameter
Pn034
return to the first speed forward looking for Z pulse as a reference point
Pn035
Z
130
(H)Pn034=5,Pn035=2
parameter
set
instruction
Pn034
Z
Origin starts, to return to the first speed pulse inversion for Z as a
reference point
Pn035
G The appendix G
Pos2
Pos1
pos1,pos2
ptriger ptriger(OFF->ON) N
When using internal position control, make sure the input port pos1, pos2 state,
namely choose corresponding internal position command, and then trigger ptriger input signal, each ptriger
131
(OFF - > ON) falling edge, the driver will read instruction N internal position, accumulate to the rest of the order
the number of pulses, continue to perform the corresponding operation.
Pn118=0,pstop
ptrigerpos1,pos2
: If set Pn118 = 0, want to suspend the motor running, in the process of
position when the trigger input port pstop signal, motor speed to stop, and then drive automatically remove
residual position instruction, when the input port ptriger fire again, the drive will be based on the current pos1,
pos2 state, execute the position of the corresponding instructions, please refer to the following sequence
diagram:
(pluse)
p0=20,p1=18,p3=17
17
20
pos2
pos1
ptriger
P0
P1
P3
pstop
Pn118=1, pstop
ptriger pstop
: If set Pn118 = 1, want to pause in the process of the position the motor running,
when the trigger input port pstop signal, motor speed to stop, when the input port ptriger fire again, the location
of the electricity opportunities continue to walk the remaining instructions, the input port pstop trigger issued
before the target location, please refer to the following sequence diagram:
132
(pluse)
p0=20,p1=18,p3=17
55
38
20
pos2
pos1
ptriger
pstop
P0
P1
P3
P3
133