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BONMET SDL10A User Manual

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Smart & Accurate

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Summary of Contents for BONMET SDL10A

  • Page 1 User Manual For SD Series Smart & Accurate...
  • Page 2 (DANGERS and WARNINGS) before proceeding with the installation, wiring and operation. If you still have any problem, please contact with the local Bonmet sales representative. Place this user manual in a safe location for future reference. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 3 · Do not set parameter value unduly. If so, system would be instable. · Do not touch the rotating parts of the servo motor in operation. Doing so may cause injury. ● Others CAUTION · Do not attempt to remold the servo drive. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 4: Table Of Contents

    Chapter 5 • • • • • • Operation Chapter 6 • • • • • • Parameters Chapter 7 Communication • • • • • • Chapter 8 • • • • • • Protective Functions BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 5: Model And Specifications

    ● Inspect the unit to insure it was not damaged during shipment. If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or your local BONMET sales representative. Model Explanation ● Nameplate Explanation...
  • Page 6 Single-phase current, Absolute position of rotor, Position deviation pulse, Alarm code, Input and output terminal signal status, etc. Encoder signal abnormalities, Overload, Over current, Speed tolerance, Over Protective Function location etc. Applicable Load Inertia Less than five times of motor inertia BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 7: Installation

    ● Leave a large clearance between the top of the servo drive and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 8: Wiring

    30cm at least, otherwise it may cause interference. ● Please use the shielded twisted wire as signal cable. ● Do not switch power supply frequently. The maximum frequency should be no more than once per minute. Connection Controler Control Card Power 48~80VDC Motor BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 9 Encoder B- input Connect with the electro-optic encoder B-. B－ Encoder Z+ input Connect with the electro-optic encoder Z+. Z＋ Type7 Encoder Z- input Connect with the electro-optic encoder Z-. Z－ I/O Connector CN2 2.10 17 16 BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 10: Operation

    Connect to contacts of switches and relays, or open collector output transistors. (2) The power is provided by the user as the voltage range is DC12～24V and the current is more than 100mA. Note: the internal circuit will be damaged if the power polarity is wrongly connected. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 11 There are two kinds of pulse inputs, line drive input and open-collector input. The max. input pulse frequency is 500kpps. BONMET servo drive support three kind of pulse mode (Set by Pn-52): ① Pulse + Direction; ② CW+CCW pulse; ③ A/B phase pulse ●...

  • Page 12: Parameters

    Single-ended drive input >2μS >5μS >1μS >2.5μS >1μS >2.5μS <0.2μS <0.3μS <0.2μS <0.3μS >1μS >2.5μS >8μS >10μS >4μS >5μS >4μS >5μS <0.2μS <0.3μS <0.2μS <0.3μS >1μS >2.5μS Sequence chart for pulse + direction Sequence chart for CW+CCW pulse BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 13 (2) Customer can use a line receiver (like AM26LV32). Install a terminal resistor (approx. 330Ω) between line receiver inputs without fail. And connect ―EGND‖ to the ground (0V) of the receiver. (3) Customer can use a optocoupler to receive the signals. (4) These outputs are not insulated. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 14: Communication

    Chapter 5 ↓ Connect motor with mechanical systems, turn on the power, and check whether — Trial operation protective functions (such as emergency stop and stroke limit) are working. Check operation at both low speed and high speed. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 15 ⑵ Click “Servofly.exe‖ and select the COM menu，click the defined COM port(can be modified by PC). ⑶ The communication succeeds as the following dialog appears. ⑷ The communication fails as the following dialog appears, please check the wiring. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 16 Download the parameters from PC to servo drive(please DO NOT use this Parameters Download… function.) Exit Exit the software 4.2.3 Monitoring function 1. Monitoring the servo state ⑴ ―Servo State‖ choice under the ―Monitor‖ menu is the monitoring choice of the servo state. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 17 Mother line DC voltage Drive Temperature The temperature of the heat sink inside part ② Physical port status monitoring function ⑴ The ―Physical State‖ item under the ―Monitor‖ menu is for the physical port status monitoring function. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 18 In the picture, the items “Setting„”, “Current Loop Adjust„”, “Speed Loop Adjust„” and “Position Loop Adjust„” are for oscillation control, this function is only for factory testing use, wrong operation may cause damage, please DO NOT use this function. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 19 ⑶ Adaption Click ―Auto Match‖ to start the adaption operation, as the following dialog appears, select the right direction(face the motor shaft, ―CCW direction‖ indicates counterclockwise direction and ―CW direction‖ indicates clockwise0 direction), and then click ―OK‖. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 20 ⑷ If adption is not successful, maybe there is something wrong with the operation, please contact with out technical staff. 2. Mapping function ⑴ Click ―Logic I/O Config...‖ and the follow dialog will appear: BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 21 Three type optional input pulse command (pulse + direction pulse, CCW+CW pulse, A /B phase pulse ) ● Two types of input signal optional（open collector signal、differential signal） ● Optional electric gears ● The number of dividing pulse ● Speed limitation and torque limitation can be set 4.3.1 Terminal Diagram BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 22 Too big value may cause overshoot or oscillation; This parameter is Pn-45 proportional gain usually set to zero unless very fast response is required. It can be switched with the second position loop differential proportional gain automatically or BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 23 / deceleration and other operation trial operation for a trial operation. ⑺ Make a trial processing and adjust the servo gain according to the Adjust the servo gain running status. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 24 Logic_IntPn_Sel [0]‖. Switching the ratio by digital signal Position command First electronic Second electronic First electronic Electronic gear ratio gear ratio gear ratio gear ratio Pn-49/Pn-48 Pn-50/Pn-48 Pn-49/Pn-48 t1，t2，t3，t4＞10ms Figure 5-5 Dynamic electronic gear function BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 25 The value is determined by the type of servo and the load condition. In general, The first speed loop integral time Pn-31 larger load inertia needs larger value. It can be switched with the second speed constant loop integral time constant automatically or manually (refer to chapter 5 section BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 26 / deceleration and other operation trial operation for a trial operation. ⑻ Make a trial processing and adjust the servo gain according to the Adjust the servo gain running status. Figure 5-7 Operation Flow Chart BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 27 ⑴ In case of overloading, it is suggested to set the acceleration / deceleration time to avoid the impact of the instantaneous large current to avoid error or failure. ⑵ Set the value of Pn-34 for acceleration time constant while Pn-35 for deceleration time constant, the unit is ms. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 28 The value is determined by the type of servo and the load condition. In general, The first speed loop proportional larger load inertia needs larger value. It can be switched with the second speed Pn-30 gain loop proportional gain automatically or manually (refer to chapter 5 section 4.8). BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 29 / deceleration and other operation trial operation for a trial operation. ⑺ Make a trial processing and adjust the servo gain according to the Adjust the servo gain running status. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 30 Three type optional input pulse command(pulse/direction pulse, CCW/CW pulse, A phase/B phase pulse ) ● Two types of input signal optional（open collector signal、differential signal） ● Optional electric gears ● Speed limitation and torque limitation can be set 4.6.1 Terminal Diagram BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 31 (refer to chapter 5 section 4.8). Enhancement of torque loop As set the value to 1, it can enhance the response of the torque, but it may cause Pn-69 response function some current noise in the motor. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 32: Ccw/Cw Pulse, A Phase/B Phase Pulse ) By Pn

    ⑴ In case of overloading, it is suggested to set the acceleration / deceleration time to avoid the impact of the instantaneous large current to avoid error or failure. ⑵ Set the value of Pn-34 for acceleration time constant while Pn-35 for deceleration time constant, the unit is ms. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 33 Direction inversion of analog Pn-17 Set the rotation direction.(Effective in analog torque mode) speed input Limit the maximum speed in torque control mode to avoid overspeed when the Pn-42 Speed limit motor is unloaded, parameter unit is rpm. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 34: ⑶ Select Rotation Direction By Pn

    Value of Pn-15=(Max. input/Max. torque command)×10。 The default value is 100， which means 10Vsupport 100% torque. Item Pn-15=50 Pn-15=100 Pn-15=200 Torque command Torque command Torque command 100% 100% Relationship of input +10V +10V voltage and Analog Analog -10V -10V Analog voltage voltage voltage output -50% torque -100% -100% BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 35 ● It is suggested that operate without load for testing firstly. 1． Speed adjust Speed Speed Time Speed Time Time Figure 5-40 2． Position adjust Position Position Time Position Time Time Figure 5-41 BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

  • Page 36: Higher Gain Results In Greater Mechanical Stiffness And Less Position Tracking

    ■ Enhancements of the current loop response（Pn-69） As requiring higher response, users can use this function to enhance current loop response by set Pn-69 to 1. It will enhance the of the motor and may cause some noise. stiffness BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 37 LFP_S（Pn32） ERR-6, ERR-10, ERR-13 Noise die out Rise KP_P(Pn44) Runs well Save parameters Note: in speed control mode, customers just need to adjust speed gain. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 38 5． Gain switching function BONMET servo drive support two sets PID parameters for gain switching function. The first set of PID parameter The second set of PID parameter Number Name Number Name Pn-30 Pn-36 Speed loop proportional gain（PID1） Speed loop proportional gain（PID2）...
  • Page 39 The first low-pass bandwidth of speed Threshold speed of current turn off delay time loop（PID1） The first low-pass filter bandwidth of Anti-control of low-6-bit digital input torque command（PID1） Anti-control of high-4-bit digital input Accelerationy time in speed control BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 40 Internal speed command 5 SUPPORT） Low bit of home position offset（NOT S，D Internal speed command 6 SUPPORT） Demo or point to point mode selection Internal speed command 7 SP，D S，D Gain (PID) parameter switching mode S，D Internal speed command 8 BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 41 High bit of internal position command 11 SP，D High bit of internal position command 5 SP，D Low bit of internal position command 11 Low bit of internal position command 5 Speed of internal position command 11 SP，D SP，D BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 42 DC bus voltage Fieldbus selection R-20 The current torque value Modbus address R-21 The current speed value Modbus communication baud rate R-22 The current high bit position value Modbus communication frame type R-23 The current low bit position value BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 43 Details：It is used to prevent the parameters from being changed accidentally. The parameters can not be modified as the value is set to any number except 28977. Example：① After adjust the parameters, set Pn-2 to 28990，click ―Enter‖ button, then the other parameters can not be modified. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 44 Unit Pn-3 Range 0~18 Default CANbus object 0x2242.0 Attrib Control mode：All（SDL10A drive, NOT SUPPORT） Details：Select the information displaying on the panel, customers can find the details in chapter 4 section 4.2.2 Value Display Unit Value Display Unit — Motor output torque (%)
  • Page 45 The actual time is the minimum value between PN5 and the time speed falls to PN6. － Parameter Anti-control of low-6-bit digital input Modbus address 0x1247 Unit Pn-8 Range 0~63 Default CANbus object 0x2247.0 Attrib Control mode：All BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 46 ② Please DO NOT take anti-control operation for “PulseInv” and “SignInv” signal for normal control, it may cause error. Example：Please refer to the example of parameter “Pn-8”. － Parameter Anti-control of encoder feedback Modbus address 0x1249 Unit Pn-10 0x2249.0 Range 0~63 Default CANbus object Attrib Control mode：All BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 47 Details：This parameter is expressed by a 2-bit binary number (“PulseInv” and “SignInv” can not be modified). It is used for force-ON control of high-2-bit digital input, “0” indicates original state, and “1” indicates force-ON control for this signal. As if BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 48 Details：This parameter is used to set the proportion relationship between analog torque input voltage and torque command. Parameter value=(Max. input/Max. torque command)×10。The default value is 100，which means 10Vsupport 100% torque. Example：Please refer to chapter 5 section 5.7.4 for details. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 49 Details：This parameter is used to set the low-pass filter bandwidth of analog speed input. The greater the value is, it would bring faster response of analog speed input and more signal noise; The smaller the value is, it would bring slower response of analog speed input and less signal noise. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 50 Details：This parameter is used to enable the notch function or not. Set it to 0, the notch function is valid; set it to 1, the notch function is invalid. － Parameter Notch frequency Modbus address 0x125C Unit Pn-29 Range 0~3000 Default 1500 CANbus object 0x225C.0 Attrib Control mode：All Details：This parameter is used to set the notch frequency. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 51 0x2262.0 Attrib Control mode：Speed control mode Details：These two parameters are used to set the acceleration time and deceleration time from 0rpm to 1000rpm. Note：It is suggested that set Pn-34 and Pn-35 to 0 in position control mode. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 52 Set speed command by 16 parameters（Pn88~Pn103） ，customers can Internal speed control mode switch the speed command by digital input. Analog speed control mode Receive external analog command as speed command. Pulse speed control mode Receive external pulse command as speed command. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 53 Details：This parameter is used to set the first cut-off frequency of position feed forward filter, the unit is Hz. Customers can switch it from the second speed loop proportional gain, please refer to chapter 5 section 5.8 for gain switching function. The filter is used to increase the stability of compound position control. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 54 Details： This function is used to set the inverting function of pulse command direction. “0” indicates normal direction while “1” indicates reverse the direction of pulse command. Parameter Range of positioning complete function Modbus address 0x1275 Unit pulse Pn-54 Range 0~30000 Default CANbus object 0x2275.0 Attrib （NOT SUPPORT） BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 55 High bit of home position offset Modbus address 0x127C Unit pulse Pn-61 Range -30000~30000 Default CANbus object 0x227C.0 Attrib Parameter Low bit of home position offset Modbus address 0x127D Unit pulse Pn-62 Range -9999~9999 Default CANbus object 0x227D.0 Attrib （NOT SUPPORT） BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 56 5 section 5.11 for gain switching function. Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause overshoot or oscillation. Note：For different motor, the default value is different. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 57 Control mode：Demo mode Details：Internal torque command 2, the parameter value indicates the percentage of the nominal torque, the unit is %. Parameter Internal torque command 3 Modbus address 0x1289 Unit Pn-74 0x2289.0 Range -400~400 Default CANbus object Attrib BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 58 Internal torque command 11 Modbus address 0x1291 Unit Pn-82 Range -400~400 Default CANbus object 0x2291.0 Attrib Control mode：Demo mode Details：Internal torque command 11, the parameter value indicates the percentage of the nominal torque, the unit is %. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 59 Control mode：Speed control mode，Demo mode Details：Internal speed command 3，the unit is rpm. Parameter Internal speed command 4 Modbus address 0x129A Unit Pn-91 0x229A.0 Range -6000~6000 Default CANbus object Attrib Control mode：Speed control mode，Demo mode Details：Internal speed command 4，the unit is rpm. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 60 CANbus object 0x22A2.0 Attrib Control mode：Speed control mode，Demo mode Details：Internal speed command 12，the unit is rpm. Parameter Internal speed command 13 Modbus address 0x12A3 Unit Pn-100 Range -6000~6000 Default CANbus object 0x22A3.0 Attrib Control mode：Speed control mode，Demo mode BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 61 Control mode：Point to point control mode，Demo mode Details：Set the torque limit of internal position command 1, the unit is %. Parameter High bit of internal position command 2 Modbus address 0x12AC Unit pulse Pn-109 0x22AC.0 Range -30000~30000 Default CANbus object Attrib BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 62 Control mode：Point to point control mode，Demo mode Details：Set the acceleration and deceleration of internal position command 3. Peak torque of internal position command 3 Parameter Modbus address 0x12B5 Unit Pn-118 Range 0~400 Default CANbus object 0x22B5.0 Attrib BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 63 Speed of internal position command 5 Modbus address 0x12BD Unit Pn-126 0x22BD.0 Range 1~6000 Default 2000 CANbus object Attrib Control mode：Point to point control mode，Demo mode Details：Set the motor speed of internal position 5, the unit is rpm. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 64 Range -9999~9999 Default CANbus object Attrib Control mode：Point to point control mode，Demo mode Details：Set position command 7 in point to point control mode or demo mode, the unit is pulse. The position command=high bit part×10000＋low bit part. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 65 Control mode：Point to point control mode，Demo mode Details：Set the torque limit of internal position command 8, the unit is %. Parameter High bit of internal position command 9 Modbus address 0x12CF Unit pulse Pn-144 Range -30000~30000 Default CANbus object 0x22CF.0 Attrib BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 66 Peak torque of internal position command 10 Modbus address 0x12D8 Unit Pn-153 Range 0~400 Default CANbus object 0x22D8.0 Attrib Control mode：Point to point control mode，Demo mode Details：Set the torque limit of internal position command 10, the unit is %. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 67 Acceleration/deceleration of internal position Parameter Modbus address 0x12E1 Unit R / S command 12 Pn-162 Range 1~1000 Default CANbus object 0x22E1.0 Attrib Control mode：Point to point control mode，Demo mode Details：Set the acceleration and deceleration of internal position command 12. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 68 Speed of internal position command 14 Modbus address 0x12EA Unit Pn-171 Range 1~6000 Default 2000 CANbus object 0x22EA.0 Attrib Control mode：Point to point control mode，Demo mode Details：Set the motor speed of internal position 14, the unit is rpm. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 69 Range -9999~9999 Default CANbus object Attrib Control mode：Point to point control mode，Demo mode Details：Set position command 16 in point to point control mode or demo mode, the unit is pulse. The position command=high bit part×10000＋low bit part. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 70 Note：The communication rate must be set to 115200bps when communicate with Servofly － Parameter Modbus communication frame type Modbus address 0x12FA Unit Pn-187 － Range Default CANbus object Attrib Control mode：All Details：Set the frame type in modbus communication; three frame types are supported as following: BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 71 CANbus object Attrib Control mode：All Details：This parameter is used to select the synchronous command selection for position/speed/torque control mode. Value Function Synchronous command invalid，drive would receive command through traditional I/O mode only. Manufacturer parameter, doesn‘t open to customers. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 72 Details：This parameter is used to trigger the parameters of synchronous torque, speed, position register effective. Write 0x55AA to the register, ―Synchronous command enable‖ is ON, other value is in invalid. － Parameter The implementation state of EEPROM operation Modbus address 0x1C62 Unit － － － Range Default CANbus object Attrib Control mode：All BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 73 Default CANbus object Attrib Control mode：All Details：This parameter indicates the digital input status of CN2 input interface. Value Function Value Function PulseInv status CCWLtd status SignInv status CWDis status INH status CCWDis status CLE status AlarmClr status BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 74 Example：The current torque value = × In × 1.414 × 2 T：It indicates the motor output torque, the unit is N·m Mn：It indicates the nominal torque, the unit is N·m In：It indicates the nominal current, the unit is A BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 75 Modbus address 0x1C77 Unit R-28 － － － Range Default CANbus object Attrib Control mode：All Details：The corresponding physical quantities of data is the Q-axis current command, the units is Amps。 Data format is _IQ7. Example：Please refer to R-4. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 76 Details：Software version number is stored in this parameter for application inquiry. Chapter6 Communication 6.1 Communication Hardware Interface Bonmet SA Series servo drives have three communication modes: RS-232, RS-485 and CANOpen. All aspects of control, operation and monitoring as well as programming of the controller can be achieved through communication.
  • Page 77 CRC to the message. The receiving device recalculates a CRC during receipt of the message, and compares the calculated value to the actual value it received in the CRC field. If the two values are not equal, an error results. BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 78 Data is scanned in the slave at the rate of 125 registers per scan for 984–X8X controllers (984–685, etc), and at the rate of 32 registers per scan for all other controllers. The response is returned when the data is completely BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 79 01 02 hex, in slave device 17: QUERY Example Field Name (Hex) Slave Address Function Starting Address Hi Starting Address Lo No. of Registers Hi No. of Registers Lo Byte Count Data Hi Data Lo Data Hi Data Lo BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 80 Overcurrent protection of power module Main circuit relay disconnected Overvoltage Undervoltage Motor (IR ) overheat protection Motor phase current gain error EEPROM operation error Drive overheat protection Over-regeneration load protection (NOT SUPPORT) Over-travel inhibition error Excessive deviation Reservation Torque overload alarm BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 81 ① Separate the encoder cable and the power Communication error caused — cable if they are bound together by interference ② Use shielded twisted wire Repair or replace the servo motor with a new — Failure of encoder BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 82 Use voltmeter to check whether input voltage at Use a regulator unstable main circuit is normal Repair or replace the servo motor with a new — Failure of motor Repair or replace the servo drive with a new — Failure of servo drive BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 83 Measure the resistance among the motor power Repair or replace the servo motor with a new Failure of motor terminal U,V,W and PE Repair or replace the servo drive with a new — Failure of servo drive BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 84 CN2 cable wrong wiring Repair or replace the cable with a new one diagram The positive over-travel inhibition and negative Wrong Parameters Check Parameter Pn-14 and Pn-15 over-travel inhibition should not be valid at the same time BONMET motion GmbH/www.bonmet.com/www.bonmet.de...
  • Page 85 100% or less continuous Increase motor capacity or reduce load operation. motor output torque is OK The wiring of drive and Check the wiring of U, V, W and encoder Ensure all wiring is correct encoder is in error BONMET motion GmbH/www.bonmet.com/www.bonmet.de...

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