Parker FL-20-C Series Product Manual
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Parker FL-20-C Series Product Manual

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Summary of Contents for Parker FL-20-C Series

  • Page 2: Foreword

    FL20-C Series FOREWORD Thanks for your selection of the servo drive. Meanwhile, please enjoy the comprehensive and sincere service from our technical teams. The user manual is used for providing the instructions of installation and debugging, operation and use, fault diagnosis and attentions of routine maintenance. Please read this manual carefully before installing and using.
  • Page 3 FL20-C Series  SAFETY SIGNS The safety operation of the product depends on the correct installation and operation and proper maintenance. Make sure to comply with the below safety signs in user manual: Incorrect operation could trigger hazardous conditions, which may result Danger in personnel injury and death.
  • Page 4 FL20-C Series NOTICE FOR USE:  Basic Terms The user manual, unless special instructions, is used by the proper technical terms as below: Servo drive: to drive and control servo motor. Servo system: servo control system, which consist of servo drive, servo motor, instruction control unit and peripheral devices.
  • Page 5 FL20-C Series  Common Symbol This manual is used symbols as below for convenient representation. 1. Mode description PP：Profile Position mode CSP：Cycle Sync. Position mode PV：Profile Velocity mode ALL：All modes CSV：Cycle Sync. Velocity mode PT：Profile Toque mode CST：Cycle Sync. Torque mode HM：Homing mode 2.

  • Page 6: Table Of Contents

    FL20-C Series FOREWORD ............................ 1 USER REMINDER ........................10 ......................10 AFETY RECAUTIONS ..................11 TORAGE AND TRANSPORTATION ........................11 NSTALLATION .......................... 12 IRING ..................12 AINTENANCE AND NSPECTION PRODUCT INFORMATION ..................... 13 ....................13 ERVO DRIVE INTRODUCTION ..................... 19 ERVO MOTOR INTRODUCTION ..............
  • Page 7 FL20-C Series 7.1.1 W ......................109 IRING CHECKING 7.1.2 P ........................109 OWER ON 7.1.3 P ....................... 110 ARAMETERS SETTING 7.1.4 S ................114 ETTING THE VERTRAVEL IMIT UNCTION 7.1.5 J ....................117 OG OPERATION PROCEDURE 7.1.6 S ......................119 EQUENCE CONTROL 7.1.7 S ......................
  • Page 8 FL20-C Series 7.7.2 R ......................155 ELATED FUNCTIONS 7.7.3 R ................... 155 ECOMMENDED CONFIGURATION （CST） ............... 155 7.8 C YCLIC YNCHRONOUS ORQUE 7.8.1 R ....................... 155 ELATED OBJECTS 7.8.2 R ......................156 ELATED FUNCTIONS 7.8.3 R ................... 157 ECOMMENDED CONFIGURATION 7.9 H (HM)......................
  • Page 9 FL20-C Series 10.3 A ..................296 LARM ODE AND ROUBLE SHOOTING XI APPENDIX ..........................302 11.1 E ....................302 NCODER CABLE SELECTION 11.1.1 A ....................302 BSOLUTE ENCODER CABLE 11.1.2 I .................... 303 NCREMENTAL ENCODER CABLE 11.1.3 R ....................304 ESOLVER ENCODER CABLE 11.2 C ........................

  • Page 10: User Reminder

    FL20-C Series I. User Reminder 1.1 Safety Precautions Important matters that users must abide by are explained in the chapter, which relates to product confirm, storage, transportation, installation, wiring, operation, inspection, disposal, and so on. Danger  After the power off for at least 5 min and the power light is off, using multimeter to check the voltage between B1 and N+ firstly, then the drive can be disassembled and installed.

  • Page 11: Storage And Transportation

    FL20-C Series 1.2 Storage and transportation Caution  Do not store or install product in the following circumstance to avoid fire, electric shock or damage: · Location subjects to direct sunlight; · Location that environment temperature exceeds the range specified in temperature condition of storage and installation.

  • Page 12: Wiring

    FL20-C Series 1.4 Wiring Caution  Do not connect a three-phase power supply to the U, V, or W output terminals.  Connect U, V and W of servo drive directly to U, V, and W of servo motor, and avoid using MCtt when connecting.

  • Page 13: Product Information

    FL20-C Series II. Product Information 2.1 Servo drive introduction Nameplate and Model selection 2.1.1 FL20 — Product Series FL20 seiries Function C Bus type Brake Type Power Rating Built- in brake Structure Built - in+Dynamic 0.05kW 0.1 kW Note: No built-in brake resistors 0.2kW for M1 , MM 4 and above drives .
  • Page 14 FL20-C Series Parker Hannifin Corporation www . Parker . com Function Model FL20 - C 202 3 F5D B3 code Input 3 PH 50 / 60 Hz 0 ～ 3 PH Output Matched FMSA - 0 ~ 400Hz 202 67ED...
  • Page 15 FL20-C Series Servo drive specification 2.1.3 1） Electrical specification a） 220V servo drive Item Drive model Continuous output current (Arms) Max output 12.6 16.8 22.4 33.6 47.6 current (Arms) Main circuit 1-phase/3-phase AC 220V -15～+10% 50/60Hz power Control circuit 1-phase/3-phase AC 220V -15～+10% 50/60Hz power...
  • Page 16 FL20-C Series 2） Technical specification Item Content S2/T2 220VAC -15~+10% 50/60Hz Input power supply 380/400VAC -10~+10% 50/60Hz 1. Profile position control mode (PP) 2. Profile velocity mode (PV) 3. Profile torque mode (PT) 4. Homing mode (HM) Control mode 5. Cycle synchronous position mode (CSP) 6.
  • Page 17 FL20-C Series Servo enabled, alarm reset, command pulse clear, command pulse prohibited, forward prohibited, reverse prohibited, forward torque Control input limit, reverse torque limit, internal speed selection, internal position triggered, origin/mechanical origin searching triggered, Input signal zero speed clamp, probe etc. 1.
  • Page 18 FL20-C Series Connection to Peripheral Devices 2.1.4 3-phase AC power supply 三相交流电源 断路器 Breaker 保护电源线路用 噪音滤波器 EMI filter 1 减少外部噪音进入电源线路 2 降低驱动器对电网的干扰 EtherCAT Master Controller 网口指示 ： Internet port remind: 接触器 IN : EtherCAT 来自前级网络信号入口 Contactor IN/OUT CAT5E类及以上 OUT: EtherCAT去向后级网络信号出口 CAT5E and above 接通或断开主电源电路...

  • Page 19: Servo Motor Introduction

    FL20-C Series 2.2 Servo motor introduction 2.2.1 Servo motor nameplate and model selection — Shaft type Optical axis with C hole Servo motor FM series Keyway with C hole Rotary speed Optional 3000 rpm With brake, without fan 2000 rpm Without brake or fan 1500 rpm 1000 rpm...
  • Page 20 FL20-C Series Motor nameplate Motor Model TYPE : FMMA - 102 F 37ED Rated Torque Rated Current = 5 Nm = 5A BEMF = 68V/ 1000 r/ min Rated Speed = 2000/2300r/min Max Speed Installation Mode Insulation Grade IMB 5 IP 65 TH.CI . B Product No.
  • Page 21 FL20-C Series 2.2.2 Servo motor components Motor power line outlet Encoder outlet Flange Motor shaft Encoder Motor shell Fig 2.2.5 component name of servo motor 2.2.3 Servo motor model 1） 220V motor model Rated Rotation Rated power Rated current note Motor model torque inertia...
  • Page 22 FL20-C Series FMMA-122*35** 1200 10.1 FMMA-132*37** 1300 FMMA-152*37** 1500 18.2 FMMA-202*37** 2000 24.2 FMMA-312*37** 3100 34.9 FMMA-352*3A** 3500 17.2 55.3 FMMB-122*37** 1200 18.2 FMMB-152*37** 1500 24.2 FMMB-232*37** 2300 14.6 34．9 FMM series 1500 r/min FMMB-272*3A** 2700 17.2 55.3 FMMB-302*3A** 3000 66.3 FMMB-432*3A** 4300...
  • Page 23 FL20-C Series FMMA-202*67** 2000 24.2 FMMA-312*67** 3100 34.9 FMMA-352*6A** 3500 17.2 55.3 FMMA-452*6A** 4500 21.5 74.8 FMMA-602*6A** 6000 84.8 FMMA-802*6A** 8000 119.5 FMMA-103*6A** 10000 FMMB-122*67** 1200 18.2 FMMB-152*67*** 1500 24.2 FMMB-232*67** 2300 14.6 34．9 FMMB-302*67** 3000 14.6 34．9 FMM series FMMB-272*6A** 2700 17.2...

  • Page 24: Combination Of Servo Drive And Servo Motor

    FL20-C Series 1700 r/min FM17-0092*6EE*FL FM17-0110*6EE*FL FM17-0140*6EE*FL 29.2 FM17-0180*6EE*FL 38.5 FM17-0210*6FE*FL FM17-0240*6EE*FL 48.5 FM17-0270*6EE*FL 57.5 FM17-0330*6FE*FL FM20-0070*6EE*FL 33.6 14.8 FM20-0100*6EE*FL FM20-0140*6EE*FL FM20-0180*6EE*FL FM20-0220*6EE*FL FM20-0250*6EE*FL FMM series FM20-0280*6EE*FL 56.9 2000 r/min FM20-0300*6EE*FL FM20-0360*6FE*FL FM20-0071*6FEDNL 14.5 FM20-0094*6EEDNL 18.8 FM20-0117*6EEDNL 11.7 24.4 FM20-0140F6EEDNL 28.6 Note: ** represents shaft type and brake type, please refer to the chapter of servo motor naming rule.
  • Page 25 FL20-C Series FMSA-182*35*** 1800 — FMSA-232*37*** 2300 FL20-C302T2M3 — FMSA-302*37*** 3000 FL20-C452T2M3 FMMA-801*35** FL20-C102S2M2 FL20-C102T2M2 FMMA-851*37** FMMA-102*37** 1000 FL20-C122S2M2 FL20-C122T2M2 FMMA-122*35** 1200 FMM series 2000r/min FMMA-132*37** 1300 FL20-C182S2M2 FL20-C182T2M2 FMMA-152*37** 1500 — FMMA-202*37** 2000 FL20-C302T2M3 — FMMA-312*37** 3100 FL20-C452T2M3 — FMMA-352*3A** 3500 FMMB-122*37**...
  • Page 26 FL20-C Series FMMA-801*65*** FMMA-851*67** FL20-C102T3M2 FMMA-102*67** 1000 FMMA-122*65** 1200 FL20-C152T3M2 FMMA-132*67** 1300 FMMA-152*67** 1500 FMM series FL20-C202T3M3 FMMA-202*67** 2000 2000r/min FMMA-312*67** 3100 FMMA-352*6A** 3500 FL20-C452T3M3 FMMA-452*6A** 4500 FMMA-602*6A** 6000 FL20-C752T3MM4 FMMA-802*6A** 8000 FMMA-103*6A** 10000 FL20-C153T3M4 FMMB-122*67** 1200 FL20-C152T3M3 FMMB-152*67** 1500 FL20-C202T3M3 FMMB-232*67** 2300...
  • Page 27 FL20-C Series FM15-0350*6EE*FL 35000 FL20-C373T3M6 FM17-0075*6EEDFL 7500 FL20-C752T3MM4 FM17-0092*6EE*FL 9200 FL20-C113T3MM4 FM17-0110*6EE*FL 11000 FM17-0140*6EE*FL 14000 FL20-C153T3M4 FMM series FM17-0180*6EE*FL 18000 FL20-C183T3M5 1700r/min FM17-0210*6EE*FL 21000 FL20-C223T3M5 FM17-0240*6EE*FL 24000 FL20-C303T3M6 FM17-0270*6EE*FL 27000 FM17-0330*6EE*FL 33000 FL20-C373T3M6 FM20-0070*6EE*FL 7000 FL20-C752T3MM4 FM20-0100*6EE*FL 10000 FL20-C113T3MM4 FM20-0140*6EE*FL 14000 FL20-C153T3M4 FM20-0180*6EE*FL...

  • Page 28: Installation

    FL20-C Series III. Installation 3.1 Servo drive installation 3.1.1 Installation conditions In an indoor location, preventing exposure from direct sunlight, Equipment free from dust, tangy caustic gases, flammable gases, steam or the location salt-contented etc. Altitude/level 1000m and below(derate use if over 1000m) Atmospheric 86kPa~106kPa pressure...
  • Page 29 FL20-C Series If multiple drives are installed in parallel, the distance between each drive is at least 20mm in horizontal, at least 100mm in vertical. Cooling fan can be placed on top to avoid the temperature rise. Consult with supplier if smaller space need. 200mm 200mm 200mm...
  • Page 30 FL20-C Series M2 structure dimension: (unit: mm) Fig 3.1.4 servo drive structure size 2 M3 structure dimension: (unit: mm) Fig 3.1.5 servo drive structure size 3...
  • Page 31 FL20-C Series MM4 structure dimension: (unit: mm) Disconnected Connected Fig 3.1.6 Servo drive structure size 4...
  • Page 32 FL20-C Series M4 structure dimension: (unit: mm) Fig 3.1.7 Servo drive structure size 5...
  • Page 33 FL20-C Series M5 structure dimension: (unit: mm) Fig 3.1.8 Servo drive structure size 6...

  • Page 34: Installation Of Servo Motor

    FL20-C Series M6 structure dimension: (unit: mm) Fig 3.1.9 Servo drive structure size 7 Note: All changes of structure dimension without prior notice. 3.2 Installation of Servo motor 3.2.1 Installation location  Install the servo motor in an environment free from corrosive or inflammable gases or combustibles, such as hydrogen sulfide, chlorine, ammonia, sulphur gas, chloridize gas, acid, soda and salt.
  • Page 35 FL20-C Series 3.2.2 Installation conditions Equipment Prevent tangy caustic gases and flammable gases location Altitude 1000m or below (derate use if over 1000m) Atmospheric 86kPa~106kPa pressure Operating -15°C~40°C（no freezing） Environment temperature Storage conditions -20~80°C temperature Humidity Below 90% (no water-bead coagulation) Vibration ）,10~60Hz (Discontinuous) Below 0.5G（4.9m/s...
  • Page 36 FL20-C Series Precautions on the connector parts as below: Make sure there are no foreign matters such as dust and metal chips in the  connector before connecting. When the connectors are connected to the motor, make sure to connect from ...
  • Page 37 FL20-C Series Outgoing cable length is 600mm. The dimension between Outgoing cable length is 600mm. shaft shoulder and motor front face flange termination is only reference, it is forbidden to be used as datum reference. If user needs this data, please contact with Manufacturer .
  • Page 38 FL20-C Series Waterproof rubber cover of aviation plug The dimension between shaft shoulder and motor front face flange termination is only reference, it is forbidden to be used as datum reference. If user needs this data, please contact with Manufacturer. Dimension Flange lug height between shaft...
  • Page 39 FL20-C Series Waterproof rubber cover of aviation plug The dimension between shaft shoulder and motor front face flange termination is only reference, it is forbidden to be used as datum reference. If user needs this data, please contact with Manufacturer. Dimension Flange lug height between shaft...
  • Page 40 FL20-C Series Waterproof rubber cover of aviation plug The dimension between Brake connector shaft shoulder and motor front face flange termination is only reference, it is forrbidden to be used as datum reference. If user needs this data, please with Manufacturer Dimension between shaft front face and shaft shoulder...
  • Page 41 FL20-C Series 4-Ø D5 Ø D4 Ø D2 4- D3 Fig 3.2.6 Servo motor installation dimension Base 14.5 75.5 17.5 112.5 Base Motor rated torque Nm （△T=100 ° C） Motor rated torque Nm （△T=65° C） Stand spigot L4（mm） L5 (mm) 511.5 560.5 609.5 658.5...

  • Page 42: Wiring

    FL20-C Series IV. Wiring Internal block diagram of servo system as below: CN3 input/output signal terminal Fig 4.1.1 220V servo internal principle diagram...
  • Page 43 FL20-C Series CN3 input/output signal terminal Fig 4.1.2 380V servo internal principle diagram...

  • Page 44: Main Circuit Wiring

    FL20-C Series 4.1 Main circuit wiring 4.1.1 Names and functions of Main circuit wiring terminals 220V names and functions of main circuit wiring terminals Terminal Symbol Terminal Name Function Connect 3-phase 220V input power Connect 1-phase 220V power supply between L1 and Main circuit power L1/R，L2/S，L3/T input terminals...
  • Page 45 FL20-C Series ， Ground terminal The servo drive must be grounded. 4.1.2 Wiring of Main circuit terminals There are two main circuit terminals of servo drive: plug-in terminal and screw terminal. The usage of plug-in terminal is mainly described as below: 1) The dimension of electric wire: Solid wire: Ø...
  • Page 46 FL20-C Series 380V terminals as below: R/L1 S/L2 T/L3 输出 制动电阻 Output Brake resistor ~380V Fig 4.1.5 380V servo power terminals wiring diagram When using screw terminal for wiring, if lug is needed, dimension of screw terminal as below: screw Fig 4.1.6 main circuit terminals sketch diagram...
  • Page 47 FL20-C Series Note: The figure above is only sketch, exact shape in kind prevail. Table 4.1.1 FL20 series servo screw terminals dimension table Main circuit terminals Structure X（mm） Y（mm） Screw Locked Torque（Nm） 13.0 1.24（Max） 10.2 12.7 1.46 11.7 20.3 23.5...
  • Page 48 FL20-C Series 4.1.3 Typical main circuit wiring example 220V servo main circuit wiring example Three-phase AC 220V power supply EtherCAT master station QF circuit breaker 显示 Network Panel interface 面板 FIL filter orientation 方向 Plan form Contactor KM1 Normally-open contact Port indicator: IN: EtherCAT from pre-stage network signal input OUT: EtherCAT to post-stage network signal output...
  • Page 49 FL20-C Series (2) 380V servo main circuit wiring example Three- phase AC EtherCAT 380 V power supply master station QF circuit breaker 显示 Network Panel interface 面板 orientation FIL filter 方向 Plan form Contactor KM 1 Normally open contact R/L1 Port indicator: IN: EtherCAT from pre-stage network signal input S/L2...
  • Page 50 FL20-C Series 4.1.4 Precautions for Main Circuit Wiring  Do not connect the input power cables to the output terminals U, V and W. Failure to comply will cause damage to the servo drive.  B2 and B3 are shorted with a jumper by default. If external brake resistor is used, remove the jumper between B2 and B3, and then connect the external resistor between B1 and B2, wrong wiring method will cause damage of servo drive.

  • Page 51: Encoder Wiring

    FL20-C Series 4.2 Encoder wiring Precautious of encoder wiring:  Ground the servo drive and shielded layer of the servo motor reliably. Otherwise, the servo drive will report a fault alarm;  Do not connect to “NC” terminal;  To determine the length of the encoder cable, consider voltage drop caused by the cable resistance and signal attenuation caused by the distributed capacitance.
  • Page 52 FL20-C Series 4.2.2 Resolver encoder connector terminal layout CN2 Encoder Connector Terminal Layout is as shown in figure 4-2-2. Fig 4.2.2 Resolver encoder terminal layout Table 4.2.2 Encoder connector terminal name and function Terminal Terminal Signal name Function code abbreviation CN2- 1 Resolver stimulus signal Connect to servo motor stimulus signal.
  • Page 53 FL20-C Series 4.2.3 Incremental encoder connector terminal layout CN2 Encoder Connector Terminal Layout is as shown in figure 4-2-3. Fig 4.2.3 Incremental encoder terminal layout Table 4.2.3 14-core Encoder connector terminal name and function Terminal Terminal Signal name Function code abbreviation CN2- 1 Encoder V phase input...
  • Page 54 FL20-C Series Table 4.2.4 8-core encoder connector terminal name and function Terminal Terminal Signal name Function code abbreviation —— —— CN2- 1 NO CONNECTION —— —— CN2- 2 NO CONNECTION CN2- 3 Encoder Z phase input Connect to motor encoder Z phase CN2- 4 Encoder B phase input Connect to motor encoder B phase...

  • Page 55: Input/Output Signal Wiring

    FL20-C Series 4.3 Input/output signal wiring Analog speed mode , torque mode Lowpass filter Analog speed - 10 to +10v A / Dconvert AS2 25 Lowpass filter External torque limit GND 24 Servo drive Position pulse mode AGND 40 HPULS 4 HPULS + Analog output AO 2...
  • Page 56 FL20-C Series CN3 Input/output signal connector terminal layout, see figure 4.3.2 as below: Fig 4.3.2 I/O signal connector (connected to CN3) terminal layout PZO+ DO4 - PZO - DO4+ PBO - HPULS - PBO+ HPULS+ PAO- HSIGN+ HSIGN - PAO+ ALM+ ALM- DO1+...
  • Page 57 FL20-C Series High-speed pulse command input: In host device side, the output circuit of high-speed command pulse and symbol, only output to servo drive via differential drive. 上位装置 伺服驱动器 Host device Servo drive HPULS + HPULS - HSIGN+ HSIGN- Fig 4.3.3 High-speed pulse input interface circuit ...
  • Page 58 FL20-C Series DO1+ CN3-9 DO1- CN3-10 DO2+ CN3-26 DO2- CN3-11 DO1-DO4 and ALM are DO output, output mode Programmable DO3+ CN3-41 is switch signal, which function can be modified output terminal according to the practical requirements. See details DO3- CN3-42 in 8.3.10 for DI/DO function specification.
  • Page 59 FL20-C Series b) Active contact Including some photoelectric sensor, hall sensor, transistor-type PLC etc. common interface circuit as below: Controller Servo drive 24VDC 24VDC Servo drive 3 . 3 K 3.3K NPN type PNP type Fig 4.3.4 Active contact interface circuit c) DI8 terminal connection DI8 terminal adopts high-speed optocoupler, can either be used as high-speed DI count signal, or either be used as common DI optocoupler.
  • Page 60 FL20-C Series 2） Digital output circuit Output signals, ALM and DO1~DO4, adopt the photoelectric coupler of Darlington output, strong driving capacity can drive small relay directly, and also can drive isolation components such as photoelectric coupler to realize driving much more load. Assure the limit of output current in use (max current is 50mA).
  • Page 61 FL20-C Series b) Optocoupler isolated output Command cotroller Servo drive Servo drive Command controller PNP type NPN type Fig 4.3.8 photoelectric coupler output interface circuit The power supply and current-limiting resistance must be matched to ensure the external optocoupler conduct reliably. Caution The max allowance voltage and current of servo drive internal optocoupler output circuit: (Max voltage: DC 30V;...
  • Page 62 FL20-C Series Servo drive makes frequency division for encoder input signal by internal frequency-dividing circuit, one way is to use differential bus mode to output. The interface circuit can be divided into high-speed photoelectric coupler reception and differential chip reception. Take sample as encoder A-phase (PAO) pulse frequency-dividing output, the interface circuit shows as below figure 4.3.9 and figure 4.3.10.
  • Page 63 FL20-C Series DC:5V-24V 伺服驱动器 Servo drive 光耦 Opotocoupler Fig 4.3.11 collector OZ signal interface circuit 4.3.4 Analogue Monitor Output Output signal Signal name Short Fixed terminal Definition Analogue monitor output 1 CN3-1 Analogue monitor output 2 CN3-14 Analogue monitoring output Reference GND CN3-24 4.3.5 Communication wiring...
  • Page 64 FL20-C Series Table 4.3.2 Communication port terminal name and function Terminal Name Function CN1-1 5V power CN1-2 RS232-RXD Receiver terminal of RS232 CN1-3 Differential output - CN1-4 Reference terminal CN1-5 RS232-TXD Transmission terminal of RS232 CN1-6 Differential output + Note: CN1-1 can provide the load capacity of 100mA. Switch to external power if ＞100mA. (2) EtherCAT interface specification Connect EtherCAT gridding cable to network interface with metal shielded layer, dividing into input (IN) and output (OUT).
  • Page 65 FL20-C Series EtherCAT topological structure connects flexibly, there is basically no limit for connection, the servo has IN and OUT interface, the topological connection as below: 线性连接： Linear connection: 主站 Master station Redundant ring connection: 冗余环形连接： Master station 主站 (3) Communication cable EtherCAT communication cable use Ethernet Category 5(100BASE-TX) network cable or high-intensity shielded network cable.
  • Page 66 FL20-C Series off the main circuit power supply, so it can be designed that the alarm signals of multiple drives are strung together. (1) Wiring for multiple 220V servo drives AC three-phase 220 V power supply QF breaker Contactor KM1 Filter Common-open contact Manual power OFF...
  • Page 67 FL20-C Series (2) Wiring for multiple 380V servo drives AC three-phase 380 V power supply QF breaker Contactor KM1 Filter Common-open contact Manual power OFF Contact Alarm relay KM1 coil Manual power ON RLY Common- open contact +24V Alarm relay R/L1 Servo S/L2...
  • Page 68 FL20-C Series 4.3.7 The usage of absolute encoder Encoder Multi-turn data Resolution ratio Action when out of allowed range type output range 17 bit ·Multi-turn data will turn to 0 when data 16-bit multiturn absolute exceeds upper limit (+65535) of forward 17-bit single-turn encoder direction.

  • Page 69: Wiring For Servo Drive And Servo Motor

    FL20-C Series (2) Battery replacement When battery voltage drops to about 1.3V, servo drive will trip into “AL-19” (battery voltage is lower). At this time, multi-turn data still exists, but user should change battery immediately, otherwise multi-turn data will be lost when battery voltage keeps dropping. Please change battery according to the following steps: Please change battery when servo drive is POWER ON.
  • Page 70 FL20-C Series Table 4.4.1 Absolute encoder plug cable sequence Name Function Grounding Encoder power Encoder power grounding BAT(+) Battery anode BAT(-) Battery cathode Absolute value encoder serial signal Absolute value encoder serial signal (2) Incremental encoder layout Table 4.4.2 DB15 plug-type encoder plug cable sequence Name Function Encoder A phase...
  • Page 71 FL20-C Series Encoder /U phase Encoder V phase Encoder /V phase Encoder W phase Encoder /W phase Encoder power Encoder grounding Encoder Z phase Encoder /Z phase (3) Resolver encoder cable sequence Table 4.4.4 15-core aviation plug encoder cable sequence Name Function Grounding...
  • Page 72 FL20-C Series COS- Resolver differential signal SIN+ Resolver differential signal SIN- Resolver differential signal KTY+ Motor thermistor signal KTY- Motor thermistor signal Grounding No connection 4.4.2 The connection of power cable a） 4-core power AMP plug Fig 4.4.1 4-core power aviation plug sketch map Name Cable color Function...
  • Page 73 FL20-C Series Grounding Drive input Drive input Drive input c） Brake cable plug Fig 4.4.3 2-core power-off brake AMP plug sketch map Name Function DC 24V + – DC 24V - Fig 4.4.4 3-core DC 24V power-off brake plug sketch map Plug No.

  • Page 74: Keypad Operation And Parameters

    FL20-C Series V. Keypad Operation and Parameters 5.1 Keypad operation 5.1.1 Keypad description The name of keypad and each part as figure below: 显示器 LCD display 四个可操作按键 Four operating keys MODE ▲ 四个按键标识符 Four key identifiers Fig 5.1.1 Keypad sketch map Identifier Name Function...

  • Page 75: Panel Display

    FL20-C Series 5.2 Panel Display 5.2.1 Switchover of panel display Power on 控制电路上电 Drive status 驱动器 状态显示 display MODE 按下 MODE键 Press MODE key Monitoring 监控功能区 functional area Press MODE key 按下 MODE键 MODE Auxiliary 辅助功能区 functional area MODE MODE 按下...
  • Page 76 FL20-C Series 5.2.2 Parameters display The representation method in this manual is Po001. The hollow segment code represents blinking operating digits, which is the adjustable digits. ☞In this manual, three parameters modes is adopted to introduce the parameters. ☞□□□□□ represents five operating digits in keypad. ■...
  • Page 77 FL20-C Series The quoting mode is Po300.A=1. ■ Five parameters display □ □ □ □ □The first digit means current page, the other digits means current value. E D C B A For example: set value of HOME, Po136=131072, the actual display content is as below: 用户参数名称以...

  • Page 78: Keypad Operating Procedure

    FL20-C Series 5.3 Keypad Operating Procedure 5.3.1 Example for parameter setting of monitoring functional area Take usage of Lo-14(DI8~DI5 status display）as the example: Power on Status display MODE Press MODE key Monitor Mode Press UP key ▲ Up to Lo-14 Input terminal DI 8 ~DI5 status monitor Press SET key to 0.5s...
  • Page 79 FL20-C Series 5.3.2 Example for parameter setting of auxiliary area Take usage of So-14（JOG run）as the example: Power on Status display MODE Press MODE key Monitor function section Press MODE key MODE Auxiliary function section Press UP key ▲ Up to So-14 JOG running Press SET key for 0.5s Servo internal enable...
  • Page 80 FL20-C Series 5.3.3 Example of parameter setting 控制电路上电 Power on 状态显示 Status Display 按下 MODE 键 MODE Press MODE key Monitoring 监控功能区 functional area 按下 MODE 键 MODE Press MODE key Auxiliary functional area 按下MODE 键 Press MODE key MODE Main functional area 按下...
  • Page 81 FL20-C Series If the parameter digits are longer than 5 digits, the setting method is as below: Take setting home searching shift pulses (Po123) to 100000000 as example: Power on Status dispaly Press MODE key MODE Main function section Quickly press SET key Quickly press SET key...

  • Page 82: Communication Function Introduction

    FL20-C Series VI. Communication Function Introduction FL20-C series servo drive supports EtherCAT and serial communication, EtherCAT supports CoE protocol, serial communication supports MODBUS protocol. The chapter mainly introduces the EtherCAT and MODBUS communication. 6.1 EtherCAT Communication EtherCAT is a real-time Industrial Ethernet technology with the feature of high performance, low cost, flexible topology and easy operation, which can be used in industrial field high-speed I/O network.
  • Page 83 FL20-C Series CoE object dictionary CoE protocol fully comply with CANopen protocol, the definition of object dictionary is same. Index number Definition Data type description 0000h～0FFFh Communication object, including: Device type, identifier, PDO mapping, compatibility with CANopen; 1000h～1FFFh CANopen special data object EtherCAT extended data object Manufacturer defined object 2000h～5FFFh...
  • Page 84 FL20-C Series Station alias: It can be modified by changing the value of object 2008-3Ch if slave cannot match the master that does not assign station number automatically, or user wants to assign the station number of servo slave as required. After modifying successfully, read the value of configure station alia of ESC register (0012h), and set to configure station address (0010h).
  • Page 85 FL20-C Series 6.1.1 System parameter setting FL20-C series is a bus-type servo drive specially based on the development of EtherCAT bus. Po001=d 1 21 by default, which is bus control mode. User can use for bus control directly. Object Sub- dictionary Name Setting Range...
  • Page 86 FL20-C Series 6.1.2 EtherCAT communication specification Object Specification Field bus standard: IEC 61158 Type 12, Communication protocol IEC 61800-7 CiA 402 Drive Profile SDO request, SDO reply Variable PDO mapping Profile position mode (PP) Profile velocity mode (PV) Application Profile torque mode (PT) layer CIA402 Homing mode (HM)
  • Page 87 FL20-C Series 6.1.4 State Machine State transition block diagram as below: Init (IP) (PI) Pre-OP (SI) (PS) (OI) (SP) (OP) Safe-OP (SO) (OS) Operational Fig 6.1.4 EtherCAT state machine EtherCAT supports 4 states, and coordinates the state relationship between the master and slave. Init: Initialization, short for I;...
  • Page 88 FL20-C Series 6.1.5 Process Data Object (PDO) PDO data is transmitted in the producer-consumer model. PDO is divided into RPDO (receive=PDO) and TPDO (transmit-PDO). The slave receives commands from the master through RPDO and sends its status to the master through TPDO. RPDO : Control word, target position etc.
  • Page 89 FL20-C Series Control Mode PP PV PT CSP CSV CST Mapping objects (7, 19 bytes) 6040h (Control word) 607Ah (Target position) 60FFh (Target velocity) 1702h 6071h (Target torque) 6060h (Mode selection) 60B8h (Touch probe function) 607Fh (Max velocity) Mapping objects (9, 25 bytes) 603Fh (Error code) 6041h (Status word) 6064h (Position feedback)
  • Page 90 FL20-C Series Control Mode PP PV PT CSP CSV CST Mapping objects (9, 23 bytes) 6040h (Control word) 607Ah (Target position) 60FFh (Target velocity) 6071h (Target torque) 1704h 6060h (Mode selection) 60B8h (Touch probe function) 607Fh (Max velocity) 60E0h (Forward torque limit) 60E1h (Reverse torque limit) Mapping objects (9, 25 bytes) 603Fh (Error code)
  • Page 91 FL20-C Series b） Variable PDO mapping The servo drive provides 1 variable RPDO and 1 variable TPDO. Max Number of Max Byte Variable PDO Index Default Mapping Object Mapping Objects Length 6040h (Control word) 607Ah (Target position) RxPDO-Map 1600h 6081h (Profile velocity) 6060h (Operation mode) 6041h (Status word) TxPDO-Map...
  • Page 92 FL20-C Series 6.1.6 Mailbox Data SDO (service data object) EtherCAT SDO is used to transfer non-cyclic data, such as communication parameter configuration, and servo drive running parameter configuration. The CoE service type includes: 1) emergency message, 2) SDO request, 3) SDO response, 4) TxPDO, 5) RxPDO, 6) remote TxPDO transmit request, 7) remote RxPDO transmit request, 8) SDO information.
  • Page 93 FL20-C Series 6.1.9Emergency Message When alarm occurs, CoE will start an emergency message; send Error code (603Fh) and register (1001h) to the master as the emergency message form. The relation table of common failure and error code as below: Table: Servo failure and error code relation table Display Failure Name Error Code (603F)
  • Page 94 FL20-C Series format as below: Byte Content Error code（603Fh） Error register(1001h) Reserved The master can also know the alarm by analyzing the emergency message, learn about the current failure matching with the codes in 60sFh, and display the alarm by low 4 bit value of 1001h.
  • Page 95 FL20-C Series 6.1.10 CiA402 Overview The FL20-C runs in the specified status only when it is instructed according to the flow chart defined in CiA402. The states are described in the following table: Servo drive initialization and internal self-check has been done. Initialization Neither parameter setting nor drive function can be implemented.

  • Page 96: Modbus Communication

    FL20-C Series 6.2 MODBUS Communication 6.2.1 Introduction of MODBUS communication Servo drive provides RS485 communication. The following description shows the contents related to the communication protocol, hardware interface etc. 6.2.2 MODBUS Overview Modbus is a serial and asynchronous communication protocol. Modbus protocol is a general language applied to PLC and other controllers.
  • Page 97 FL20-C Series Error Check (1) ASCII mode Longitudinal Redundancy Check (LRC): It is performed on the ASCII message field contents excluding the ‘colon’ character that begins the message, and excluding the CRLF pair at the end of the message. The LRC is calculated by adding together successive 8–bit bytes of the message, discarding any carries, and then two’s complementing the result.
  • Page 98 FL20-C Series Parameter address rules The address of P group parameters is the parameter numbers. Ex1：Communication address of Po101: The parameter numbers of Po101 is 101, the hex format is 0065. The address of high bit is 00 and the address of low bit is 65. Ex2：Communication address of Po407: The parameter numbers of Po407 is 407, the hex format is 0197.
  • Page 99 FL20-C Series Servo motor absolution position Pulse counting deviation high 16 bits rotation high16 bits Servo motor absolution position Given speed low 16 bits rotation low 16 bits Actual absolute position Given speed high16 bits （bit0-bit15） Actual absolute position Given torque low 16 bits （bit16-bit31）...
  • Page 100 FL20-C Series Ex7：Read servo motor feedback pulse numbers. Separately read high 16-bit and low 16-bit parameters value, shift high 16-bit data 16 bits to the left, and execute OR with low 16-bit, and confirm positive and negative according to the highest bit 0 or 1. If the highest bit is 0, the data is actual servo motor feedback pulse numbers and the data is positive number.
  • Page 101 FL20-C Series Communication example: (1) In RTU mode, change acceleration time (Po109) to 5ms in No. 01 servo drive. Host query: Register Register Write status Write status Address Parameter CRC Lo CRC Hi Address Hi Address Lo Servo1 write register Po109 5(Unit: ms) CRC check...
  • Page 102 FL20-C Series Odd/even calibration Setting range Setting unit Mfr’s value When enabled — 2005h-04h 0～2 Immediate Corresponding parameter Mapping Data type Accessibility Po503 UINT16 Baud rate Setting range Setting unit Mfr’s value When enabled 2005h-05h 0～5 bit/s Immediate Corresponding parameter Mapping Data type Accessibility...
  • Page 103 FL20-C Series adopted by 485 Bus-line. Do not use 'spur' lines or a star configuration. Reflect signals which are produced by spur lines or star configuration will interfere in 485 communications. Shield twisted pair cable must be chosen for wiring. As far as away from strong current, do not parallel with power cable or tie up together.

  • Page 104: Introduction Of Common Bus Control Mode

    FL20-C Series 6.3 Introduction of common bus control mode FL20-C series supports 7 servo modes, as defined in the object dictionary 6502h. Setting Data Name Supported servo modes Display mode structure Index 6502h Access Mapping Data type UDINT32 — Mode Data range Default It indicates the supported the running modes of servo drive:...
  • Page 105 FL20-C Series Mode display 6061h: Data Setting — Name Operation mode of servo mode structure Index 6061h Access RO Mapping TPDO Data type UINT16 — — Mode Data range Default It displays the current operation mode of the servo drive. Operation Mode Reserved Reserved...

  • Page 106: Control Mode

    FL20-C Series VII. Control mode Servo system includes servo drive, servo motor and encoder. Servo drive Motor Command input Current loop Position loop Speed loop control control control Current Position feedback Speed feedback feedback Speed calculation Encoder Based on the command modes and running characteristics, servo drives supports three running mode, position control, speed control and torque control.
  • Page 107 FL20-C Series Start Check before running Whether servo drive match with motor? Whether motor Power on parameters are known? Parameters Motor parameters identification setting Motor angle study Servo drive parameters setting Servo on Servo off Note: Please make servo motor run without load, then connect load to motor.
  • Page 108 FL20-C Series After a servo motor is changed, if user does not know encoder electric angle and whether motor phase sequence is correct, user can make the servo motor operate normally by using electric angle indication function. Before electric angle indication, please make sure the following steps: (1) Motor actual power.

  • Page 109: Before Running

    FL20-C Series 7.1 Before running 7.1.1 Wiring checking Make sure that all wiring has been completed. Wiring L1C and L2C are forridden connected Connect L1C and L2C of servo drive to main circuit power. for 380V servo drive. Connect U/V/W of servo drive to U/V/W of servo motor well. Check all control signal cables are connected correctly, and check the brake, overtravel and the other protrective functions for correct operation.

  • Page 110: Parameters Setting

    FL20-C Series 7.1.3 Parameters setting 1) Motor parameters The parameters of the motor include: rated voltage, rated current, encoder lines, rated rotary speed, numbers of pole pairs, phase resistance, inductance, Movement of inertia, back EMF, line voltage, etc. Please confirm that the parameter’s setting value is identical to the motor’s parameter to ensure motor normal operation, in case of burning servo system out.
  • Page 111 FL20-C Series (1)When 2008h-31h=1,the H group parameters can be set. After electrical degree identification is finished, the installation angle of the encoder is saved in 2006h-13h. Please refer to chapter 6 for operating method of electrical degree identification. (2) Different motor parameter corresponds to different servo motor, make sure the parameters are in accordance with the motor’s before using.
  • Page 112 FL20-C Series Servo drive Electromagnetic brake relay BRAKE+ BRAKE - Braker power supply Electromagnetic brake relay common-open contact Note: 1．The internal electromagnetic is only valid when servo is in the stop status. 2．The coil of electromagnetic has polarity, please distinguish them when wiring. 3．...
  • Page 113 FL20-C Series So-02 UINT16 Speed threshold of electromagnetic braking PP PV PT CSP CSV CST HM Mfr’s value Setting range Setting unit When enabled Effective 2008h-11h 0～30000 0.1rpm 1000 Immediately Function code Mapping Data type Accessibility So-16 UINT16 Note: the value of 2008h-11h should not be set too high, please use the Mfr’s value. When servo motor stops or the motor speed is lower than So-16, if enable signal is OFF and electromagnetic braking signal is invalid, after the time set by 2008h-03h, servo will be in the disable status.

  • Page 114: Setting The Overtravel Limit Function

    FL20-C Series 2. Servo drive becomes disabled status, and after delay time of 2008h-04h . Enable signal Servo and motor enable status 300ms Electromagnetic braking signal 100ms Braking status Delay time Delay time Fig 7-1-4 Electromagnetic brake sequence diagram Note: servo enabled is off, T1 is the smaller value between 2008h-04h and the time taken by speed decreasing to 2008h-11h.
  • Page 115 FL20-C Series Reverse run prohibited PP PV PT CSP CSV CST Mfr’s value Setting range Setting unit When enabled 0: Prohibited invalid Effective 2008h-13h 1: Prohibited valid Immediately Function code Mapping Data type Accessibility So-18 UINT16 (1) Enabled the overtravel signal When 2008h-12h =1, 2008h-13h =0 and external control terminals with the function of F-INH and R-INH are allocated, the overtravel function is enabled.
  • Page 116 FL20-C Series Forward running range pulse when overtravel protection PP PV PT CSP CSV CST HM Mfr’s value Setting range Setting unit When enabled 2001-29h 0～2147483647 Immediate Function code Mapping Data type Accessibility Po140 DINT32 Forward running range multi-loop numbers when overtravel protection Mfr’s value Setting range Setting unit...

  • Page 117: Jog Operation Procedure

    FL20-C Series realize overtravel protection by software. (2) Masking overtravel protection function To set 2008h-28h =0. 7.1.5 Jog operation procedure 1) Panel jog function Step Content Remarks Check wiring of main circuit and power supply of control circuit (L1C, L2C) is powered on, and power supply of main circuit (R/L1, S/L2, T/L3) is powered on.
  • Page 118 FL20-C Series 2: Internal jog mode is not limited by forward/reverse prohibited, make sure it is safe. 3: Please refer to 5.3.3 about procedure of internal jog operation. 4: The entry-into-effect time of Po109 and Po110 is 100ms Terminal jog function Default Signal name Name...

  • Page 119: Sequence Control

    FL20-C Series 7.1.6 Sequence control (1) Time sequence at power-on Control circuit power supply More than 0s Main circuit power supply S - RDY Servo ready is output About 5s SON - I Servo enabled More than 0s Dynamic brake About Enabled Disenable...
  • Page 120 FL20-C Series （2）Sequence control after alarm activated Abnormally Normally Whether work normally? About Enabled 0.2ms Disenable Dynamic brake SON-O Power off Power on Motor status S- RDY Servo is not ready. Servo is ready Servo ready No alarm signal Alarm signal is output. is output.

  • Page 121: Setting The Braking

    FL20-C Series 7.1.7 Setting the braking The braking types of servo drive include three kinds: 1.dynamic braking 2.energy-consumption braking 3. Electromagnetic braking. ！ Caution  Energy-consumption braking is valid after main circuit is powered on.  Electromagnetic braking starts after servo OFF. If it is not, overload malfunction will occur. ...
  • Page 122 FL20-C Series 1）Setting function Servo OFF stop mode PP PV PT CSP CSV CST HM Mfr’s value Setting range Setting unit When enabled 0: Coast stop 1: Dynamic braking 2: Fast enable Effective 3: Deceleration to stop 2008h-08h 4: Deceleration to stop Immediately and dynamic brake 5: Deceleration to stop...
  • Page 123 FL20-C Series Remove the wire between B2 and B3, and Dc bus connect resistor between B1 and B2. Dc bus P Built-in Built-in braking resistor braking resistor Dc bus Dc bus Fig 7-1-11 Wiring of braking resistor Some servo drives have built-in braking resistor, if users need to use external braking resistor, please set the following both parameters: Braking resistor value PP PV PT CSP CSV CST...
  • Page 124 FL20-C Series Please refer to next table for built-in braking resistor and min resistor value of external braking resistor for 380V servo. Servo drive Built-in resistor value Min resistor value of Specification of structure code and power external braking external braking resistor resistor 50W/50Ω...
  • Page 125 External dimension (mm) Installation dimension (mm) Resistor Resistor type Length Width Height power Aperture (Ф) Length (W) Non-sense ripple Ф6.5±0.3 500W 360±3.0 50±1.0 91±3.0 338±3.0 porcelain tube resistor Non-sense ripple Ф6.5±0.3 350±3.0 60±2.0 119±3.0 325±5.0 porcelain tube resistor Non-sense ripple Ф6.5±0.3 1.5kW 484±5.0 68±1.0...

  • Page 126: Setting Electronic Gear

    7.1.8 Setting electronic gear 1）Electronic gear At the position control mode, input position command (command unit) is used to set load displacement, motor position command (Encoder unit) is used to set motor displacement. Electronic gear ratio is used to set proportional relation between motor position command and input position command.
  • Page 127 1) Related parameters ① Function code First group electronic gear numerator Mfr’s value Setting range Setting unit When enabled 2003h-05h 0～65535 Immediate Function code Mapping Data type Accessibility Po304 UINT16 First group electronic gear denominator Mfr’s value Setting range Setting unit When enabled 2003h-06h 1～65535...
  • Page 128 4）Instruction The deceleration ratio is n/m, electronic gear numerator is B, and electronic gear denominator is A, so the setting value of electronic gear ratio is: Note: The deceleration ratio is n/m where m is the rotation of the servo motor and n is the rotation of the load shaft.

  • Page 129: Position Command Filter

    7.1.9 Position command filter For the below situation, position command filter should be selected: 1.Position command of PC/PLC output is not dealt with by acceleration/deceleration. 2.The frequency of pulse command is high. 3.The electronic gear ratio is higher than 10 times Position loop filter time constant PP CSP Mfr’s value...

  • Page 130: Command Pulse Clear Function

    7.1.11 Command pulse clear function Position deviation=(position command-position feedback) (encoder unit) This function clears position deviation register during position control. (1) Input signal Signal name Code Default terminal Remarks CN3-37 Clearing position deviation Pulse clear (at the mode of position pulse) register during position control (2) Setting parameters Parameters...
  • Page 131 Fig 7.2.5 Frequency-division output diagram (1) Output signal Encoder pulse frequency-division signal has three groups output terminals. Terminal Signal name Remarks code CN3 – 36 PAO- Encoder A phase pulse frequency-division output phase CN3 – 35 PAO+ CN3 – 34 PBO- Encoder B phase pulse frequency-division output phase...
  • Page 132 (2) Related parameters Encoder frequency-division numbers PP PV PT CSP CSV CST HM Mfr’s value Setting range Setting unit When enabled — 2000h-04h 1～65535 Immediate Function code Mapping Data type Accessibility Po003 UINT16 Encoder pulse frequency-division numbers denominator Mfr’s value Setting range Setting unit When enabled...
  • Page 133 Z pulse output polarity Negative polarity output Positive polarity output Z pulse command source Motor shaft Virtual shaft Pulse frequency-division command source Motor shaft Internal position given Collector pulse input High-speed counter 1 High-speed counter 2 Position command Table 7.2.1 Encoder frequency-division output pulse 2003h-01h.D Forward rotation...
  • Page 134 (3) Wiring terminals Signal name Terminal Remarks code PAO- CN3-35 Encoder A phase pulse frequency-division output phase PAO+ CN3-36 PBO- CN3-33 Encoder B phase pulse frequency-division output phase PBO+ CN3-34 PZO- CN3-17 Encoder phase home pulse output PZO+ CN3-16 frequency-division) phase CN3-37 Z phase open collector output...

  • Page 135: Servo Status Setting

    Po300.D=1 Encoder frequency- division output Encoder frequency- Po300.D= 1 division output Encoder frequency- Po300.D= 0 division output Encoder frequency- Po300.D= 0 division output Fig 7-2-6 Encoder frequency-division output When output signal is open collector output, frequency must not be higher than 100KHZ, 2000h-04h should not be set too high.
  • Page 136 Begin Stop after fault Initial Fault No fault Servo ready Wait for servo enable Fast to stop Servo on Fig 7.2.1 CiA402 status machine switchover Status description: Initialization of servo drive and self-check have been done. Initialization Parameters setting or drive function cannot be implemented. No fault exists in the servo drive or the fault is eliminated.
  • Page 137 6041h bit0～bit9 Natural transition, control power on Initialization 0000h command not required Natural transition, control command not required Initialization No fault If an error occurs during 0270h initialization, the servo drive directly goes to state 13 No fault Ready 0006h 0231h Ready Wait for servo enabled...

  • Page 138: Control Word 6040H

    7.2.1 Control word 6040h Setting — Data Name Control word type structure Index Data type Access Mapping RPDO UINT16 6040h Related Data range 0-65535 Default mode It controls the state machine of the servo drive. Name Description Servo ready 1-Valid 0-Invalid Switch on 1-Valid 0-Invalid Fast to stop...

  • Page 139: Status Word 6041H

    7.2.2 Status word 6041h Name Status word Setting Display Data mode structure Index Access Mapping TPDO Data type UINT16 6041h — Related Data 0-65535 Default mode range It indicates the state of the servo drive. Value (Binary) Description xxxx xxxx x0xx 0000 Not ready to switch on xxxx xxxx x1xx 0000 Switch on disabled...

  • Page 140: Profile Position Mode（Pp

    7.3 Profile position mode（PP） In this mode of operation, host controller uses the path generation function (an operation profile calculation function) inside the servo drive to perform PTP positioning operation. It executes path generation, position control, speed control, and torque control based on the target position, profile acceleration, profile deceleration, and other information.
  • Page 141 1: Target position being relative position reference. Status word 6041h Name Description 0: Target position not reached Target reached 1: Target position reached 0: Waiting for a new Target position Set-point acknowledge 1: Not update target position 0: No position deviation excessive fault Follow error 1: Position deviation excessive fault present Sub-...

  • Page 142: Related Functions

    7.3.2 Related functions 1）Positioning completed: Index Sub-index Name Description When the position deviation is within Position reached 6067h ±6067h, and the time reaches 6068h, the threshold servo drive considers that the position is reached, and sets status word 6041h bit10 = 1 in position control mode.
  • Page 143 Fig 7.3.2 Time sequence and motor profile in the mode of change immediately  Operation description: Example: two position references, change immediately, absolute Position reference ①： Target position 607Ah=10000 6081h=600 Position reference ②： Target position 607Ah=10000 6081h=1200 Velocity 607Ah=10000 6081h=1200 607Ah=10000 6081h=600 6041h=0x 1237...
  • Page 144 2）Time sequence 2: Not change immediately After last position reference is finished and position arrival, the drive will execute current position reference after receving the rising edge of bit 4. The drive will not accept new position reference before position arrival. The drive changes 6041h bit 12 to 1, which indicates the drive has received the new position reference and execute it.

  • Page 145: Recommended Configuration

    7.3.4 Recommended configuration The basic configuration for the PP mode is described in the following table. RPDO TPDO Remarks 6040h： Control word 6041h： Status word Mandatory 607Ah：Target velocity 6064h： Position actual value Mandatory 6081h： Profile velocity Mandatory 6060h： Modes of operation 6061h: Modes of operation display Optional 7.4 Profile velocity mode（PV）...
  • Page 146 1: The drive follow command. Sub- Data Setting acce Defau Index Name Unit index format range — — 603Fh Error code UINT16 — 6040h Control word UINT16 0～65535 — 6041h Status word UINT16 0～65535 — — 6060h Operation mode UINT16 —...

  • Page 147: Related Functions

    Profile 6084h UINT16 0～32000 deceleration time 7.4.2 Related functions Index Sub-index Name Description When the difference between 60FFh (converted Velocity 606Dh into motor speed/RPM) and actual motor speed threshold is within ±606Dh, and the time reaches 606Eh, the servo drive considers that the speed reference is reached, sets status word 6041h bit10 = 1 and activates the speed reached DO Velocity...

  • Page 148: Related Objects

    Speed regulator Max velocity limit 2001h : 02h 607 Fh 2001h : 03h Torque slope 6087 h Torque limit Torque Motor Encoder Filter 6072h regulator Target torque 6071h Actual torque feedback 6077 h Fig 7.5.1 Block diagram for the PT mode 7.5.1 Related objects Control word 6040h Function...

  • Page 149: Related Functions

    — 6067h Position arrival DINT32 Command 1～32000 threshold unit 6068h Position arrival INT16 0～65535 window — — 606Ch Velocity actual value DINT32 0.1rpm 6071h Target torque INT16 ±800 6072h Max. torque UINT16 0～800 — — 6074h Torque demand value INT16 —...

  • Page 150: Cyclic Synchronous Position Mode (Csp)

    6071h: target torque Mandatory 6087h: torque slope Optional 6064h: position actual value Optional 606Ch: velocity actual value Optional 6077h: torque actual value Optional 6060h: modes of operation 6061h: Modes of operation display Optional 7.6 Cyclic Synchronous Position Mode (CSP) In this mode of operation, the host controller generates the position references and gives the target position in 607Ah to the servo drive using cyclic synchronization.

  • Page 151: Related Object

    Fig 7.6.1 Configuration block diagram for CSP mode 7.6.1 Related object Control word 6040h Function Description Switch on Enable voltage If bit0 to bit3 are all 1, the servo drive starts Quick stop running. Enable operation Halt Status word 6041h Function Description 0: Target position not reached...

  • Page 152: Related Function

    excessive Position arrival 6067h DINT32 Encoder unit 0-65535 threshold Position arrival 6068h UINT16 0-65535 window Velocity actual — — 606Ch DINT32 0.1rpm value 6072h Max torque UINT16 0～800 Torque demand — — 6074h INT16 value Torque actual — — 6077h INT16 value ～...

  • Page 153: Recommended Configuration

    When the position deviation is higher than Following error 6065h 6065h, AL-09 is displayed on the keypad, and window bit13 of the status word is set to 1. 7.6.3 Recommended configuration The basic configuration for the CSP mode is described in the following table: Remarks RPDO TPDO...
  • Page 154 Status word 6041 Name Description 0: Target velocity not reached Target Reached 1: Target velocity reached 0: Drive not following command Drive follow the command value 1: Drive following command Mfr’s Sub- Data Setting Setting Index Name code Access index type unit range...

  • Page 155: Related Functions

    7.7.2 Related functions Sub- Index Name Description index When the difference between 60FFh (converted into motor speed/RPM) and actual motor speed is within Velocity arrival 606Dh ±606Dh, and the time reaches 606Eh, the servo drive threshold considers that the speed reference is reached, sets status word 6041h bit10 = 1 and activates the speed reached DO signal.

  • Page 156: Related Functions

    Switch on Enable voltage If bit0 to bit3 are all 1, the servo Quick stop drive starts running. Enable operation Halt Status word 6041h Name Description 0: Target torque not reached Target Reached 1: Target torque reached 0: Drive not following command Drive follow the command value 1: Drive following command Setting...

  • Page 157: Recommended Configuration

    When the difference between the actual torque and based value is larger than 2002h-26h, the torque reached signal Torque reached is output, and status word 6041h bit10 is set to 1. 2002h range When the difference is smaller than 2002h-26h, the torque reached signal is invalid, and status word 6041h bit10 is cleared to 0.
  • Page 158 according to bit4 setting. 1: The servo drive halts according to 605Dh. Status word 6041h Name Description 0: Target position not reached Target reached 1: Target position reached 0: Homing failed 1: Homing successful Homing attained This flag bit is valid when the drive is in homing mode in running state and the target reached signal is active.

  • Page 159: Related Functions

    during search for zero 609Ah Acceleration time UINT16 0-1000 2001h Deceleration time UINT16 100-65535 10000 Command — — 60F4h Position deviation DINT32 unit 7.9.2 Related functions ）Homing timeout Index Sub-index name Description If homing is not completed within the Duration limit of 2001h duration, AL-35 will be detected, homing...
  • Page 160 Negative limit switch Motion profile Motor Z signal Negative limit switch Note: in the figure, “H” represents high speed, “L” represents low speed. When homing starts and R-INH=0, the motor starts homing in negative direction at high speed. After reaching the rising edge of the R-INH signal, the motor decelerates and changes to run in positive direction at low speed.
  • Page 161 Negative limit switch Motion profile Motor Z signal Negative limit switch When homing starts and R-INH=1, the motor directly starts homing in positive direction at low speed. After reaching the falling edge of the R-INH signal, motor stops at first motor Z signal. 2)6098h=2 Home: motor Z signal Deceleration point: positive limit switch...
  • Page 162 Positive limit switch Motion profile Motor Z signal Positive limit switch When homing starts and F-INH=1, the motor directly starts homing in positive direction at low speed. After reaching the falling edge of F-INH signal, motor stops at the first motor Z signal. 3）6098h=3 Home: motor Z signal Deceleration point: home switch...
  • Page 163 b）Deceleration point signal active at homing start Home switch Motion profile Motor Z signal Home switch signal When homing starts and ORGP=1, the motor directly starts homing in positive direction at low speed. After reaching the falling edge of the ORGP signal, the motor stops at the first motor Z signal 4）6098h=4 Home: motor Z signal...
  • Page 164 b） Deceleration point signal active at homing start Home switch Motion profile Motor Z signal Home switch signal When homing starts and ORGP=1, the motor directly starts homing in negative direction at high speed. After reaching the falling edge of the ORGP signal, the motor decelerates and changes to run in negative direction at low speed.
  • Page 165 When homing starts and ORGP=0, the motor directly starts homing in negative direction at high speed. After reaching the rising edge of the ORGP signal, the motor decelerates and changes to run in positive direction at low speed. After reaching the falling edge of the ORGP signal, the motor stops at the first motor Z signal.
  • Page 166 Home switch Motion profile Motor Z signal Home switch signal When homing starts and ORGP=0, the motor directly starts homing in positive direction at low speed. After reaching the rising edge of the ORGP signal, the motor stops at the first motor Z signal.
  • Page 167 7）6098h=7 Home: motor Z signal Deceleration point: home switch a） Deceleration point signal inactive at homing start, not reaching positive limit switch Home switch Positive limit switch Motion profile Motor Z signal Home switch signal Positive limit switch When homing starts and ORGP=0, the motor directly starts homing in positive direction at high speed.
  • Page 168 speed. If the motor does not reach the limit switch, it automatically changes to run in negative direction at high speed. After reaching the rising edge of the ORGP signal, the motor decelerates and continues to run in negative direction at low speed. After reaching the falling edge of ORGP signal, the motor stops at first motor Z signal.
  • Page 169 When homing starts and ORGP=0, the motor directly starts homing in positive direction at high speed. If the motor does not reach the limit switch, it decelerates and changes to run in negative direction at low speed after reaching the rising edge of the ORGP signal. After reaching the falling edge of the ORGP signal, the motor changes to run in positive direction at low speed.
  • Page 170 c）Deceleration point signal active at homing start, not reaching positive limit switch Home switch Positive limit switch Motion profile Motor Z signal Home switch signal Positive limit switch When homing starts and ORGP=1, the motor directly starts homing in negative direction at low speed.
  • Page 171 rising edge of the ORGP signal, the motor stops at the first motor Z signal. b）Deceleration point signal inactive at homing start, reaching positive limit switch Home switch Positive limit switch Motion profile Motor Z signal Home switch signal Positive limit switch When homing starts and ORGP=0, the motor directly starts homing in positive direction at high speed.
  • Page 172 When homing starts and ORGP=1, the motor directly starts homing in positive direction at low speed. After reaching the falling edge of the ORGP signal, the motor changes to run in negative direction at low speed. After reaching the rising edge of the ORGP signal, the motor stops at the first motor Z signal 10）6098h=10 Home: motor Z signal...
  • Page 173 b）Deceleration point signal inactive at homing start, reaching positive limit switch Home switch Positive limit switch Motion profile Motor Z signal Home switch signal Positive limit switch When homing starts and ORGP=0, the motor directly starts homing in positive direction at high speed.
  • Page 174 11）6098h=11 Home: motor Z signal Deceleration point: home switch a）Deceleration point signal inactive at homing start, not reaching negative limit switch Home switch Motion profile Motor Z signal Home switch signal When homing starts and ORGP=0, the motor directly starts homing in negative direction at high speed.
  • Page 175 and continues to run in negative direction at low speed. After reaching the falling edge of the ORGP signal, the motor stops at the first motor Z signal. c）Deceleration point signal active at homing start Home switch Negative limit switch Motion profile Motor Z signal Home switch signal...
  • Page 176 Home switch Negative limit switch Motion profile Motor Z signal Home switch signal Negative limit switch When homing starts and ORGP=0, the motor starts homing in negative direction at high speed. If the motor does not reach the limit switch, the motor decelerates and changes to run in positive direction at low speed after reaching the rising edge of the ORGP signal.
  • Page 177 When homing starts and ORGP=0, the motor starts homing in negative direction at high speed. If the motor reaches the limit switch, the motor automatically changes to run in positive direction at high speed. After reaching the rising edge of the ORGP signal, the motor decelerates and runs in positive direction at low speed.
  • Page 178 Home switch Negative limit switch Motion profile Motor Z signal Home switch signal Negative limit switch When homing starts and ORGP=0, the motor starts homing in negative direction at high speed. If the motor does not reach the limit switch, the motor decelerates and runs in negative direction at low speed after reaching the rising edge of the ORGP signal.
  • Page 179 c）Deceleration point signal active at homing start Home switch Negative limit switch Motion profile Motor Z signal Home switch signal Negative limit switch When homing starts and ORGP=1, the motor directly starts homing in positive direction at low speed. After reaching the falling edge of the ORGP signal, the motor changes to run in positive direction at low speed.
  • Page 180 of the ORGP signal, the motor continues to run in negative direction at low speed, then the motor stops at the first motor Z signal. b）Deceleration point signal inactive at homing start, reaching negative limit switch Home switch Negative limit switch Motion profile Motor Z signal Home switch signal...
  • Page 181 Home: negative limit switch Deceleration point: negative limit switch a）Deceleration point signal inactive at homing start Negative limit switch Motion profile Negative limit signal The R-INH signal is inactive initially. The motor starts homing in negative direction at high speed. After reaching the rising edge of the R-INH signal, the motor decelerates and changes to run in positive direction at low speed.
  • Page 182 Positive limit switch Motion profile Positive limit signal The F-INH signal is inactive initially. The motor starts homing in positive direction at high speed. After reaching the rising edge of the F-INH signal, the motor decelerates and changes to run in negative direction at low speed.
  • Page 183 Home: home switch Deceleration point: home switch a）Deceleration point signal inactive at homing start Home switch Motion profile Home switch signal The ORGP signal is inactive initially. The motor starts homing in positive direction at high speed. After reaching the rising edge of the ORGP signal, the motor decelerates and changes to run in negative direction at low speed.
  • Page 184 Home: home switch Deceleration point: home switch a）Deceleration point signal inactive at homing start Home switch Motion profile Home switch signal The ORGP signal is inactive initially, and the motor starts homing in positive direction at low speed. After reaching the rising edge of the ORGP signal, the motor stops. b）Deceleration point signal active at homing start Home switch Motion profile...
  • Page 185 19）6098h=21 Home: home switch Deceleration point: home switch a）Deceleration point signal inactive at homing start Home switch Motion profile Home switch signal The ORGP signal is inactive initially. The motor starts homing in negative direction at high speed. After reaching the rising edge of the ORGP signal, the motor decelerates and changes to run in positive direction at low speed.
  • Page 186 a）Deceleration point signal inactive at homing start Home switch Motion profile Home switch signal The ORGP signal is inactive initially, and the motor directly starts homing in negative direction at low speed. After reaching the rising edge of the ORGP signal, the motor stops. b）Deceleration point signal active at homing start Home switch Motion profile...
  • Page 187 21）6098h=23 Home: home switch Deceleration point: home switch a）Deceleration point signal inactive at homing start, not reaching positive limit switch Home switch Motion profile Home switch signal The ORGP signal is inactive initially. The motor starts homing in positive direction at high speed.
  • Page 188 speed. If the motor reaches the limit switch, it automatically changes to run in negative direction at high speed. After reaching the rising edge of the ORGP signal, the motor decelerates and continues to run in negative direction at low speed. After reaching the falling edge of the ORGP signal, the motor stops.
  • Page 189 direction at low speed after reaching the rising edge of the ORGP signal. After reaching the falling edge of the ORGP signal, the motor changes to run in positive direction at low speed, and stops at the rising edge of the ORGP signal. c）...
  • Page 190 Home switch Motion profile Home switch signal The ORGP signal is active initially, and the motor directly starts homing in negative direction at low speed. After reaching the falling edge of the ORGP signal, the motor changes to run in positive direction at low speed.
  • Page 191 b）. Deceleration point signal inactive at homing start, reaching positive limit switch Home switch Positive limit switch Motion profile Home switch signal Positive limit signal The ORGP signal is inactive initially, and the motor starts homing in positive direction at high speed.
  • Page 192 After reaching the rising edge of the ORGP signal, the motor stops. 24）6098h=26 Home: home switch Deceleration point: home switch a）Deceleration point signal inactive at homing start, not reaching positive limit switch Home switch Motion profile Home switch signal Positive limit signal The ORGP signal is inactive initially.
  • Page 193 at high speed. After reaching the rising edge of the ORGP signal, the motor decelerates and resumes to run in positive direction at low speed. After reaching the falling edge of the ORGP signal, the motor stops. c）Deceleration point signal active at homing start Home switch Motion profile Home switch signal...
  • Page 194 speed. If the motor does not reach the limit switch, it decelerates and changes to run in positive direction at low speed after reaching the rising edge of the ORGP signal. After reaching the falling edge of the ORGP signal, the motor stops. b）Deceleration point signal inactive at homing start, reaching negative limit switch Home switch Negative limit switch...
  • Page 195 Home: home switch Deceleration point: home switch a）Deceleration point signal inactive at homing start Home switch Motion profile Home switch signal The ORGP signal is inactive initially, and the motor starts homing in negative direction at high speed. If the motor does not reach the limit switch, it decelerates and changes to run in positive direction at low speed after reaching the rising edge of the ORGP signal.
  • Page 196 Home switch Motion profile Home switch signal The ORGP signal is active initially, and motor directly starts homing in positive direction at low speed. After reaching the falling edge of the ORGP signal, the motor changes to run in negative direction at low speed.
  • Page 197 Home switch Negative limit switch Motion profile Home switch signal Negative limit signal The ORGP signal is inactive initially, and the motor starts homing in negative direction at high speed. If the motor reaches the limit switch, it automatically changes to run in positive direction at high speed.
  • Page 198 Deceleration point: home switch Home switch Motion profile Home switch signal Negative limit switch The ORGP signal is inactive initially. The motor starts homing in negative direction at high speed. If the motor does not reach the limit switch, it decelerates and continues to run in negative direction at low speed after reaching the rising edge of the ORGP signal.
  • Page 199 Home switch Motion profile Home switch signal Negative limit signal The ORGP signal is active initially, and the motor directly starts homing in negative direction at low speed. After reaching the falling edge of the ORGP signal, the motor stops. 29）6098h=31-32 These modes are not defined in CiA402.

  • Page 200: Auxiliary Function

    6040h：control word 6041h：status word Required 6098h：Homing method Optional 609Ah：Homing acceleration Optional 6064h：position actual value Optional 6060h：modes of operation 6061h: Modes of operation display Optional 7.10 Auxiliary Function Servo drives supply auxiliary function in order to make sure system work correctly. 7.10.1 Setting password Setting password PP PV...
  • Page 201 Servo motor feedback speed Output torque display displays low 5 digits Given command pulse Current gain group numbers display high 5digits Given command pulse Discharge time numbers display low 5 digits Given command pulse error Encoder absolute position high numbers digit pulse Encoder absolute position low digit Given speed...
  • Page 202 7.10.4 Parameter copy Parameter copy Mfr’s value Setting range Setting unit When enabled Four-parameter 0000 Immediate Function code Mapping Data type Accessibility So-44 UINT16 Copy function Invalid Valid 2008h-2Dh Copy motor parameters Invalid Valid Copy gain parameters Invalid Valid Copy notch filter parameters Invalid Valid 7.10.5 Reverting to Mfr’s Value...
  • Page 203 Motor overload coefficient setting PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect 2008h-26h 1~500 Immediate Function code Mapping Data type Accessibility So-37 UINT16 So-37=100 So-37>100 alarm time unit （S） Overload times Fig 7.10.1Motor overload curve and alarm time curve graph (2) Motor lock-rotor protection Motor speed is almost 0 when servo-motor lock-rotor occurs, but actual current is very high, servo drive and servo motor may be damaged because of long time lock-rotor, therefore, servo...
  • Page 204 Immediate Function code Mapping Data type Accessibility So-50 UINT16 0: Invalid 1: Valid Motor disconnected protection of temperature detection Mfr’s value Setting range Setting unit When enabled 2008h-34h Immediate Function code Mapping Data type Accessibility So-51 UINT16 0: Invalid 1: Valid 7.10.7 DI Terminals Filter Function Servo drive has 8 DI terminals.
  • Page 205 DI4 filter time Mfr’s Value Setting Range Setting Unit Effect 2008h-2Ah 0~30000 Immediate Function code Mapping Data type Accessibility Po441 UINT16 DI5 filter time Mfr’s Value Setting Range Setting Unit Effect 2008h-2Bh 0~30000 Immediate Function code Mapping Data type Accessibility Po442 UINT16 DI6 filter time...
  • Page 206 DI8 terminal Two- 2004h UINT16 d1 35 function parameter Touch probe 60B8h UINT16 function 65535 Touch probe 60B9h UINT16 state Touch probe Command 60BAh pos1 position DINT unit value Touch probe Command 60BBh neg1 position DINT unit value Touch probe Command 60BCh pos2 position...
  • Page 207 Touch probe pos 2 0—not latch；1—latch Touch probe neg 2 0—not latch；1—latch 3) Set touch probe（60B9h） Definition Touch probe 1 setting 0—disabled；1—enabled Touch probe pos1 1— not latch；1—latch Bit0-bit5：Touch probe 1 Touch probe 2 setting setting 0-- disabled；1—enabled Bit8-bit13：Touch probe 2 Touch probe 2 setting setting 0-- disabled；1—enabled...
  • Page 208 Operation process 2． Set DI function and logic referring to PO407-Po414 3． Set So-58, select mandatory DI or DO 4． Set So-57, set mandatory DI high level and low level. 5． Monitor DI terminal level by Lo-14, Lo-15 Related parameter: Forced input setting of DI PP PV PT CSP CSV CST HM Mfr’s Value...
  • Page 209 Home switch 3-15 Reserved 16-23 DI8-DI1 25-31 Reserved Quit function DI signal mandatory input is not remembered in the face of power loss; restart can return to normal DI, setting So-58 also can quit mandatory DI function. 2) DO signal mandatory output Operation process Set DO function and logic referring to PO421-Po425 Set So-58, select mandatory DO...
  • Page 210 SRDY+ SRDY SRDY Servo ready output SRDY- Output ON means that the servo drive is ready to receive signal, control circuit and main circuit power supply are normal, there is no servo alarms. Output OFF means that servo drive is not ready.

  • Page 211: Object Dictionary And Parameter List

    Speed Feedback Speed Limit Velocity V Time t Servo Run Servo Stop Speed limiting Fig 7.10.2 Output in speed limit under torque mode sketch map VIII. Object dictionary and parameter list 8.1 Object dictionary classification Object dictionary is most important part in equipment specifications, which is a set of parameters and variables.

  • Page 212: Communication Parameter (1000H~1Fffh)

    Accessibility: Refer to below table: Accessibility Definition Read-write Write only Read only Constant ，read only CONST Mapping: Refer to below table: Mapping Definition No mapping in PDO RPDO Write only TPDO Read only Master station sets parameter by SDO. If setting value is larger than upper limit, drive returns to abort message 13h. If setting value is smaller than lower limit, drive returns to abort message 14h.
  • Page 213 — — Function code Mapping Data type Accessibility So-00 STRING40 Vendor ID Mfr’s Value Setting Range Setting Unit Effect Index — 768h 1018h-01h Function code Mapping Data type Accessibility — UDINT32 Product code Mfr’s Value Setting Range Setting Unit Effect Index —...
  • Page 214 — USINT8 Communication type SM2 PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Index — 1C00h-03h Function code Mapping Data type Accessibility — USINT8 Communication type SM3 PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 215 — Function code Mapping Data type Accessibility — BOOL Synchronization type PP PV CSP CSV Mfr’s Value Setting Range Setting Unit Effect Index — 1C33h-01h Function code Mapping Data type Accessibility — UINT16 Cycle time PP PV CSP CSV Mfr’s Value Setting Range Setting Unit Effect...
  • Page 216 Parameter Display content Unit Remark Lo-00 Servo drive output current 0.1A Servo drive bus voltage Lo-01 Lo-02 Servo motor speed 0.1rpm Servo motor feedback pulse displays Lo-03 100000 high 5 digits. Servo motor feedback pulse displays low Lo-04 Command unit 5 digits Servo motor feedback rotation displays Lo-05...
  • Page 217 Disconnected Connected Disconnected Connected Disconnected Connected Disconnected Connected Lo-16 Other output terminal state None Disconnected Connected Lo-17 DO4~DO1 state None Disconnected Connected Disconnected Connected Disconnected Connected Disconnected Connected ℃ Lo-18 Servo drive current temperature Lo-19 Rotation inertia ratio display 0.01 Lo-20 Current output torque Lo-21...
  • Page 218 One-loop pulse low 5 digits of motor Command Lo-24 absolute position unit Multi-loop pulse high 5 digits of motor Lo-25 100000 absolute position Multi-loop pulse low 5 digits of motor Command Lo-26 absolute position unit Lo-27 Reserved Lo-28 Reserved Lo-29 Reserved Lo-30 Reserved...
  • Page 219 Control mode setting Internal register speed mode Position pulse mode Internal register torque mode Reserved Reserved Internal register position mode Mix mode of internal register speed and position pulse Mix mode of internal register speed and internal register torque Reserved Reserved Mix mode of internal register speed and internal register position Mix mode of internal register torque and position pulse...
  • Page 220 — 1～（2 -1） immediate Function code Mapping o Data type Accessibility Po005 UDINT32 Po005 is used to set frequency-division numbers for each motor Motion range for movement of inertia recognition Mfr’s Value Setting Range Setting Unit Effect Sub-index 08h 1～100 immediate Function code Mapping...
  • Page 221 Po010 INT16 Po010 is used to set servo drive rigidity. Please refer to 9.3. Rotation inertia ratio PP PV PT CSP CSV Mfr’s Value Setting Range Setting Unit Effect Sub-index 0Eh 1～30000 0.01 immediate Function code Mapping Data type Accessibility Po013 INT16 Please refer to 9.3.
  • Page 222 Po018 INT16 Z pulse output polarity Negative polarity output Positive polarity output Z pulse command source Motor shaft Virtual shaft Pulse frequency-division command source Motor shaft Internal position given Collector pulse input High-speed counter 1 High-speed counter 2 Position command Virtual Z output period PP PV PT CSP CSV CST HM Mfr’s Value...
  • Page 223 Function code Mapping Data type Accessibility Po102 INT16 Please refer to 9.3.3 Second speed loop proportional gain PP PV CSP CSV Mfr’s Value Setting Range Setting Unit Effect Sub-index 04h 0～30000 0.1Hz immediate Function code Mapping Data type Accessibility Po103 INT16 Please refer to 9.3.3 Second speed loop integral time...
  • Page 224 Please refer to 9.3.3 Torque feed forward gain PP PV PT CSP CSV CST Mfr’s Value Setting Range Setting Unit Effect Sub-index 08h 0～1000 immediate Function code Mapping Data type Accessibility Po107 INT16 Under non- torque mode, multiply feedforward signal by Po107 to get torque feedforward gain.
  • Page 225 0: disabled 1: enabled Rotation detection value Mfr’s Value Setting Range Setting Unit Effect Sub-index 13h 0～30000 0.1rpm immediate Function code Mapping Data type Accessibility Po118 INT16 When absolute value of speed is higher than the parameter, rotation detection signals outputs.
  • Page 226 10～65535 10000 Immediate Function code Mapping Data type Accessibility Po129 UINT16 If home searching time is more than Po129, servo drive will trip into AL-35. The entry-into-effect time is 10ms. Gain switchover mode Mfr’s Value Setting Range Setting Unit Effect Sub-index 1Fh 0～6 Immediate...
  • Page 227 Please refer to 9.3.4. Speed loop gain switching time Mfr’s Value Setting Range Setting Unit Effect Sub-index 23h 0～20000 0.1ms Immediate Function code Mapping Data type Accessibility Po134 INT16 Please refer to 9.3.4 Gain switchover delay time (from gain 2 to 1) Mfr’s Value Setting Range Setting Unit...
  • Page 228 Forward running range multi-loop numbers when overtravel protection Mfr’s Value Setting Range Setting Unit Effect Sub-index 2Bh 0～32000 1000 Immediate Function code Mapping Data type Accessibility Po142 INT16 Reverse running range pulse when overtravel protection Mfr’s Value Setting Range Setting Unit Effect Sub-index 2Ch 0～2...
  • Page 229 Po201 INT16 Please refer to 9.3.3. Forward/reverse run prohibited and emergency stop torque Mfr’s Value Setting Range Setting Unit Effect Sub-index 08h 1% of rated 1～300 Immediate torque Function code Mapping Data type Accessibility Po207 INT16 When forward/reverse run prohibited signal or emergency stop signal is valid, servo motor instant reverse stop torque is limited by Po207.
  • Page 230 Mfr’s Value Setting Range Setting Unit Effect 50～30000 2000 Immediate Function code Mapping Data type Accessibility Po217 INT16 Please refer to 9.4. The first notch filter width Mfr’s Value Setting Range Setting Unit Effect Sub-index 13h 0～30000 Immediate Function code Mapping Data type Accessibility...
  • Page 231 Po221 INT16 Please refer to 9.4. The second notch filter depth Mfr’s Value Setting Range Setting Unit Effect Sub-index 17h 0～100 Immediate Function code Mapping Data type Accessibility Po222 INT16 Please refer to 9.4. The third notch filter center frequency Mfr’s Value Setting Range Setting Unit...
  • Page 232 50～30000 2000 Immediate Function code Mapping Data type Accessibility Po226 INT16 Please refer to 9.4. The fourth notch filter width PP PV PT CSP CSV CST Mfr’s Value Setting Range Setting Unit Effect Sub-index 1Ch 0～30000 Immediate Function code Mapping Data type Accessibility Po227...
  • Page 233 0～1000 Immediate Function code Mapping Data type Accessibility Po234 INT16 The compensation for load torque can improve system rigidity. But if the parameter is set too high, there is noise. Filter time of load observer PP PV PT CSP CSV CST Mfr’s Value Setting Range Setting Unit...
  • Page 234 Mfr’s Value Setting Range Setting Unit Effect 50～2000 0.1Hz 2000 Immediate Function code Mapping Data type Accessibility Po240 INT16 Intensity of jitter inhibition PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 2Bh 0～100 Immediate Function code Mapping...
  • Page 235 Pulse mode Pulse+direction Pulse+pulse Orthogonal (fourfold frequency) Filter frequency 4MHz 2MHz 1MHz 500KHz 200KHz 150KHz 80 KHz Pulse input logic PULS negative,SIGN negative PULS positive,SIGN positive PULS negative,SIGN positive PULS positive, SIGN negative PULS exchanges with SIGN Frequency-division output phase Negative phase output Positive phase output First position loop gain...
  • Page 236 Po302 INT16 Please refer to 9.3.3 Position loop feed forward gain Mfr’s Value Setting Range Setting Unit Effect Sub-index 04h 0～1000 Immediate Function code Mapping Data type Accessibility Po303 INT16 Please refer to 9.3.3 First group electronic gear numerator PP CSP Mfr’s Value Setting Range Setting Unit...
  • Page 237 Terminal of inhibiting pulse signal Invalid Valid(INH-P port must be allocated) Command pulse clear Invalid Valid(CLR port must be allocated) Alarm unit for position loop tracking error 1 pulse 100 pulses Caution unit for position loop tracking error 1 pulse 100 pulses Filter time constant of position feedforward PP CSP...
  • Page 238 Electronic gear selection PP CSP Mfr’s Value Setting Range Setting Unit Effect Sub-index 28h 0～2 Immediate Function code Mapping Data type Accessibility Po339 INT16 The entry-into-effect time is 100ms. 0: The first electronic gear ratio 1: The second electronic gear ratio 3: DI terminal selection Position feedback source PP CSP...
  • Page 239 Mixed error alarm value PP CSP Mfr’s Value Setting Range Setting Unit Effect Sub-index 51h 1～65535 1000 Immediate Function code Mapping Data type Accessibility Po380 UINT16 OP abnormal protection time PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 5Eh...
  • Page 240 DI4 terminal function selection PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — Sub-index 0Bh Two-parameter Restart Function code Mapping Data type Accessibility Po410 UINT16 Please refer to 8.3.10 DI5 terminal function selection PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 241 — Two-parameter Restart Function code Mapping Data type Accessibility Po421 UINT16 Please refer to 8.3.10 DO2 terminal function selection PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — Sub-index 17h Two-parameter Restart Function code Mapping Data type Accessibility...
  • Page 242 DI2 filter time PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 28h 0～30000 Immediate Function code Mapping Data type Accessibility Po439 UINT16 DI3 filter time PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect...
  • Page 243 DI7 filter time PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 2Dh 0～30000 Immediate Function code Mapping Data type Accessibility Po444 UINT16 DI8 filter time PP PV PT CSP CSV CST Mfr’s Value Setting Range Setting Unit Effect...
  • Page 244 0～2 Immediate Function code Mapping Data type Accessibility Po503 UINT16 0: no calibration 1: odd calibration 2: even calibration The entry-into-effect time is 1000ms. Baud rate PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 05h 0～5 bit/s...
  • Page 245 Po506 INT16 8.3.8 Index segment 2006h (function code Ho□□□) Rated voltage PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — — Sub-index 01h 1～30000 Function code Mapping Data type Accessibility Ho000 UINT16 Rated current PP PV PT CSP CSV CST HM Mfr’s Value Setting Range...
  • Page 246 For example, if motor pole number is 8, pole pairs is 4. Resistance between phases PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Ω — Sub-index 06h 0～65535 Immediate Function code Mapping Data type Accessibility Ho005 UINT16...
  • Page 247 Mfr’s Value Setting Range Setting Unit Effect Kg•m — 0～（2 -1） Immediate Function code Mapping Data type Accessibility Ho012 UINT16 Encoder line number PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — Sub-index 11h 0～（2 -1）...
  • Page 248 So-00 displays software version of firmware 1. For example, 100 is 1.00 version. User's password(Avoid modifying parameters by mistake) PP PV Mfr’s Value Setting Range Setting Unit Effect Sub-index 02h — 0～9999 Restart Function code Mapping Data type Accessibility So-01 UINT16 Please refer to 7.10.1.
  • Page 249 The higher the discharge duty ratio, the fast the discharge speed. Input power phase-loss protection PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — Sub-index 07h 0～1 Immediate Function code Mapping Data type Accessibility So-06 UINT16 0: disabled...
  • Page 250 — — Function code Mapping Data type Accessibility So-10 UINT16 So-10 can only be checked, but cannot be modified. Record of malfunction type for the last second time PP PV Mfr’s Value Setting Range Setting Unit Effect Sub-index 0Ch — —...
  • Page 251 PP PV Mfr’s Value Setting Range Setting Unit Effect 0～30000 0.1rpm 1000 Immediate Function code Mapping Data type Accessibility So-16 UINT16 Please refer to 7.1.3 Forward run prohibited PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 12h 0～1...
  • Page 252 0: servo drive output current. Servo drive output current corresponding to 10V is set by So-20. 1: servo drive output voltage. Servo drive max voltage corresponding to 10V is set by So-21. 2: servo motor speed. Max rotation speed corresponding to 10V is set by So-22. 3: Output voltage 0V+offset.
  • Page 253 Analog monitor voltage compensation 1 PP PV Mfr’s Value Setting Range Setting Unit Effect Sub-index 19h -10000~10000 Immediate Function code Mapping Data type Accessibility So-24 INT16 The entry-into-effect time is 1000ms. Motor parameter identification setting PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 254 Time of power off and braking PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 1Eh 500～30000 0.1ms 1000 Immediate Function code Mapping Data type Accessibility So-29 UINT16 The entry-into-effect time is 100ms. Setting of absolute position and relative position PP PV Mfr’s Value Setting Range...
  • Page 255 Motor lock-rotor protection function PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 23h 0～1 Immediate Function code Mapping Data type Accessibility So-34 UINT16 0: disabled 1: enabled Overload pre-alarm current PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 256 Overtravel limit function PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 28h 0～2 Immediate Function code Mapping Data type Accessibility So-39 UINT16 0: disabled 1: enabled 2: stop but no alarm Delay time of lock-rotor protection PP PV PT CSP CSV CST HM Mfr’s Value Setting Range...
  • Page 257 Copy function disabled enabled Motor parameter copy disabled enabled Gain parameter copy disabled enabled Notch filter paramter copy disabled enabled FPGA software version PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — — Sub-index 2Fh Immediate Function code Mapping...
  • Page 258 Motor disconnected protection of temperature detection PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 34h 0～1 Immediate Function code Mapping Data type Accessibility So-51 UINT16 0: disabled 1: enabled Torque detuning protection PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 259 Please refer to 7.10.9. Forced input and output mode of DI/DO PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Sub-index 3Bh — Immediate Function code Mapping Data type Accessibility So-58 UINT16 Please refer to 7.10.9. Station alias PP PV PT CSP CSV CST HM Mfr’s Value...
  • Page 260 Index segment 2008h (Parameter So-□□) Setting — Name Analog monitor channel 2 Mode mode Sub- Mfr’s Setting index Unit 0～3 Effect Immediate range value Paramete Data So-61 Access Mapping UINT16 type Analogue monitoring function selection setting: Value Definition Remark 10V corresponding servo drive output current Servo drive output current is determined by So-20.
  • Page 261 8.3.10 Index segment 2009h (communication monitor group) LoParam 1 address PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — Immediate Sub-index 01h Function code Mapping Data type Accessibility — UINT16 Please refer to 6.2.3. LoParam 2 address PP PV PT CSP CSV CST HM Mfr’s Value...
  • Page 262 8.3.11 Function setting of DI and DO Programmable terminals include DI1~DI8. (Related parameters are from Po407 to Po414). Common-open or common-close contact can be selected by input contact selection. For example, for servo drive safety stop, when malfunction occurs, user should select common-close switch.
  • Page 263 Setting Signal Function Name Instruction value type Reserved Reserved Reserved A number of faults (Alarms) can Edge Alarm reset AL-RST be cleared by activating AL-RST. trigger Reserved Reserved Reserved Level Gain switchover GAIN-SEL Gain switchover trigger Reserved Reserved Reserved Position deviation register returns Edge Pulse clear to 0 at the position mode.
  • Page 264 Function Name S-RDY Servo ready Servo on SON-O Rotation Detection TGON At speed reached V- CMP At position reached P- CMP At torque limit T-LT Servo alarm activated Electromagnetic brake control BRAKE Overload warning OL-W At speed limit S - LT Reserved Large position deviation PER- W...

  • Page 265: Manufacturer Defined Parameters

    At position reached P-CMP Position completed At torque limit T-LT T-LT is activated when toque is limited. ALM is activated when the drive has detected a Servo alarm activated fault condition. Electromagnetic brake BRAKE BRAKE is activated actuation of motor brake. control Overload warning OL-W...
  • Page 266 Status word PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — — — — Index 6041h Function code Mapping Data type Accessibility — TPDO UINT16 Please refer to 7.2.2. Quick stop option code PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 267 Modes of operation display PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — — — — Index 6061h Function code Mapping Data type Accessibility — TPDO UINT16 Position demand value PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 268 Position window PP CSP Mfr’s Value Setting Range Setting Unit Effect — — Index 6067h 1～32000 Immediate Function code Mapping Data type Accessibility — DINT32 Position window time PP CSP Mfr’s Value Setting Range Setting Unit Effect Index 6068h 0～65535 Immediate Function code Mapping...
  • Page 269 Target Torque Mfr’s Value Setting Range Setting Unit Effect — — Index 6071h -800~800 Immediate Function code Mapping Data type Accessibility — RPDO INT16 Max Torque PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect —...
  • Page 270 Home offset Mfr’s Value Setting Range Setting Unit Effect -（2 -1）～ — Index 607Ch Immediate +（2 -1） Function code Mapping Data type Accessibility Po123 RPDO DINT32 The entry-into-effect time is 100ms. The effect condition: finish homing operation in this running, bit15=1 of status word 6041h. Polarity PP PV PT CSP CSV CST HM Mfr’s Value...
  • Page 271 Max profile velocity PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — Index 607Fh 0～13000 Immediate Function code Mapping Data type Accessibility — UDINT32 The entry-into-effect time is 100ms. Profile velocity Mfr’s Value Setting Range Setting Unit Effect Index 6081h...
  • Page 272 Torque slope Mfr’s Value Setting Range Setting Unit Effect — Index 6087h 0～65535 0.1ms Immediate Function code Mapping Data type Accessibility — UINT16 Numerator of Gear ratio PP CSP Mfr’s Value Setting Range Setting Unit Effect Index Immediate 0～（2 -1） 6091h-01h Function code Mapping...
  • Page 273 Second Homing speed Mfr’s Value Setting Range Setting Unit Effect Index 0～20000 0.1rpm Immediate 6099h-02h Function code Mapping Data type Accessibility Po121 UINT16 The entry-into-effect time is 100ms. Homing acceleration Mfr’s Value Setting Range Setting Unit Effect Index 609Ah 0～1000 Immediate Function code Mapping...
  • Page 274 Touch probe function PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Index 60B8h — — 0～65535 Immediate Function code Mapping Data type Accessibility — RPDO UINT16 Touch probe status PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 275 Touch probe neg2 position value PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect Index 60BDh — — Command unit -2^31~2^31-1 Function code Mapping Data type Accessibility — TPDO DINT32 Forward Direction Torque Limit Value PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit...
  • Page 276 Digital Output PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — — Index 60FEh 0～2^32 Immediate Function code Mapping Data type Accessibility — RPDO UDINT32 Target velocity Mfr’s Value Setting Range Setting Unit Effect —...

  • Page 277: Adjustments

    IX Adjustments 9.1 Summary The servo drive is required to run the motor in least time delay and as faithful as possible against commands from the host controller or internal setting. Gain adjustment needs to be performed to meet the requirements. Gain adjustment process: Start Use offline inertia...

  • Page 278: Inertia Identification

    9.2 Inertia Identification When motor is connected to machine or load simulator, before normal production, servo drive must “study” the rotational inertia of machine, which is convenient for user to adjust related parameters and make sure servo system run in proper inertia. Inertia ratio=Total load inertia of machine/Motor rotor inertia The inertia ratio is an important parameter of the servo system, and quick commissioning can be implemented with the correct setting of this parameter.
  • Page 279 travel for the motor in stop position is larger than Po015. If not, user can increase it properly. 2) Evaluate the value of Po013 a) Preset a large initial value for Po013. The recommended preset value is 400. Increase Po013 gradually till the value on the keypad is updated.
  • Page 280 Po015 DINT32 2) Inertia identification mode selection Inertia identification mode selection PP PV PT CSP CSV CST HM Mfr’s Setting Range Unit Effect Value 0：Disabled 1：Offline fwd/rev direction Immediate effect 2000h-09h identification. Lost if power’s 2: Offline single direction identification. 3: Online auto inertia identification Function code Mapping...

  • Page 281: Online Inertia Identification

    Function code Mapping Data type Accessibility Po014 INT16 5) Inertia ratio Rotation inertia ratio PP PV Mfr’s Value Setting Range Setting Unit Effect 2000h-0Eh 1~30000 0.01 Immediate Function code Mapping Data type Accessibility Po013 INT16 Note: Rotation inertia identification just measures inertia ratio, but doesn’t match with speed position parameter.

  • Page 282: Gain Adjustment

    Start Servo enabled Set Po008=3 Servo enabled PC/PLC running, Motor running Real-time calculate load inertia ratio automatically Finish Fig 9.2.2 online rotational inertia setting flow chart 9.3 Gain Adjustment 9.3.1 Summary User needs to adjust servo gain to improve servo drive response, which requires setting parameter combinations, which influence each other.

  • Page 283: Automatic Gain Adjustment

    faster the system response. Servo rigidity must be used along with the load rotational inertia, the larger the load inertia, the lower the allowable rigidity level. If servo rigidity is higher than inertia ratio, high-frequency self-excited oscillation will occur. Otherwise, motor response is slow, motor takes long time to reach specified location.

  • Page 284: Manual Gain Adjustment

    Po010 INT16 The setting range of Po010 (Rigidity selection) is 0–19. the bigger value is, stronger rigidity is. System will generate first group parameters of gain. The first gain group includes: first position loop gain Po301, first speed loop proportional gain Po101, first speed loop integral time Po102, first speed filter time constant Po105, first torque filter time constant Po214, first current loop bandwidth Po200.
  • Page 285 Po130 Gain switching mode Po306 Position loop filter time constant Po131 Gain switching speed Po343 Position mode acel/decel time Po132 Gain switching pulse Po229 Notch filter start Position loop gain switching Notch filter center frequency Po133 Po217 time Speed loop gain switching Notch filter width Po134 Po218...
  • Page 286 1~10000 Immediate Function code Mapping Data type Accessibility Po306 INT16 Position loop gain determines position control response. The bigger the setting value, the higher the gain, the larger the rigidity, the better the following feature of position instruction for same frequency pulse, the lower the position error, the shorter the positioning time.
  • Page 287 — 1~20000 0.01ms Immediate Function code Mapping Data type Accessibility Po105 INT16 Speed loop filter time constant PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect — 2001h-07h 1~20000 0.01ms Immediate Function code Mapping Data type Accessibility Po106 INT16...

  • Page 288: Gain Switchover

    Mfr’s Value Setting Range Setting Unit Effect — 0~30000 0.01ms Immediate Function code Mapping Data type Accessibility Po214 INT16 torque filter time constant PP PV PT CSP CSV CST HM Mfr’s Value Setting Range Setting Unit Effect 2002h-10h 0~30000 0.01ms Immediate Function code Mapping...
  • Page 289 No switch, default to use gain 1 Po130=0 Po130=1 No switch, default to use gain 2 Switch to gain 2 immediately when speed is higher than the setting value of Po131, if speed is lower than Po131, after delay the setting time of Po130=2 Po135(0.1ms), switch to gain 1.

  • Page 290: Vibration Suppression

    1~32000 0.1ms Immediate Function code Mapping Data type Accessibility Po133 INT16 The time from one gain switching to another gain smoothly. Speed loop gain switching time Mfr’s Value Setting Range Setting Unit Effect 0~20000 0.1ms Immediate 2001h-23h Function code Mapping Data type Accessibility Po134...
  • Page 291 Mechanical system Amplitude-frequency characteristics Frequency Notch characteristics Notch bandwidth Notch depth Frequency Fig 7.4.1Inhibition principle of notch filter A total of four notches can be used, and each is defined by three parameters, frequency, width level, and depth level. The four notches can be set manually or set as adaptive notches. When they are used as adaptive notches, their parameters are automatically set by the servo drive.
  • Page 292 Vibration in 低频下振动 low frequency 移动部件 Moving part 丝杠 Screw Servo 伺服电机 联轴器 Coupling Motor Work 工作台 bench Fig 7.4.2 Low frequency resonance sketch map (1) User Parameter Center frequency of jitter inhibition PP CSP Mfr’s Value Setting Range Setting Unit Effect 2002h-29h 50~2000...

  • Page 293: Maintenance And Inspection

    X. Maintenance and Inspection 10.1 Alarm and Trouble shooting at start 10.1.1 Position control mode Start-up process Description Cause Countermeasures  Rewiring 1.Control terminal is  Connect L1C/L2C power cable to disconnected socket separately.  Check the voltage between L1C Connect control and L2C Digital tube is not on...

  • Page 294: Alarm Code And Possible Cause

     Pulse received by Lo-08 is not same as the one sent by PC/PLC.. 1. Check whether servo grounding is reliable. 2. Check whether signal cable is Location is not There is position twisted-pair shield cable, whether Normal run accurate. error.
  • Page 295 Rotation inertia recognition Alarm when wrong rotary inertia AL-18 wrong recognition AL-19 Alarm of encoder battery Battery alarm of servo encoder AL-20 Uninitialized of E2ROM Uninitialized of E2ROM for servo motor —— —— AL-21 —— —— AL-22 The deviation between given torque and AL-23 Torque unreached protection output torque is too large.

  • Page 296: Alarm Code And Trouble Shooting

    10.3 Alarm Code and Trouble shooting CAUTION  Do not reset immediately when servo drive malfunctions. At first find the causation and eliminate completely.  Process failure according to the manual when drive or servo motor malfunctions. Please contact with distributors or manufacturer directly if problem still cannot be solved.
  • Page 297 Poor contact of servo motor Check servo motor and wiring or encoder wiring encoder wiring Check the transmission ratio Mechanical factors of machine. Servo motor AL-06 With electromagnetic brake overload Check the wiring of unreleased, servo motor is electromagnetic brake. running Reduce load Load too heavy...
  • Page 298 Environment temperature is too Improve ventilation high Dirty radiator. Clean air outlet and radiator. Foreign matters in fan Clear out foreign matters Servo drive Fan damage Replace fan AL-12 overheat Improper installation of drive, such as poor ventilation or Install as required wrong installation direction.
  • Page 299 Uninitialized process for Uninitialized of Uninitialized of E2ROM for AL-20 encoder of servo motor, learn E2ROM servo motor motor angle manually. AL-21 Reserved AL-22 Reserved Torque Motor cable or power cable Please check motor cable or AL-23 unreached disconnected encoder cable wiring. protection 1.
  • Page 300 Po377, Po378 and Po380 is not Check Po377, Po378 and suitable. Po380 value. Mechanical transmission part Check mechanical has large gap or not fastened transmission part Servo motor U, V, W terminal Check the wiring of servo or encoder wiring is wrong or Mixed error of motor and encoder connector contact is poor...
  • Page 301 10.3.1 Other malfunctions Malfunction Cause Measure Main circuit power supply is Check the wiring. disconnected. Control circuit power supply is Check the wiring. disconnected. The wiring of I/O terminal is wrong. Check the wiring. The wiring of servo motor or encoder Check the wiring.

  • Page 302: Appendix

    XI Appendix 11.1 Encoder cable selection 11.1.1 Absolute encoder cable Encoder cable with round plug（applicable for 80 flange and below 80 flange servo motor） Name Model Length Cable appearance DB9-4BS02-3M-0.2 Battery DB9-4BS02-5M-0.2 Encoder cable DB9-4BS02-10M-0.2 (for function DB9-4GS02-3M-0.2 code D7, D71) DB9-4GS02-5M-0.2 DB9-4GS02-10M-0.2 Encoder cable with L aviation plug（applicable for 110, 130 and 180 flange servo motor）...

  • Page 303: Incremental Encoder Cable

    11.1.2 Incremental encoder cable Encoder cable with DB plug（applicable for 80 flange and below 80 flange servo motor ） Name Model Length Cable appearance 15-core DB15-15GP02-3M-0.2 Encoder Servo drive encoder side side DB15-15GP02-5M-0.2 cable (for DB15-15GP02-10M-0.2 8-core DB15-8GP02-3M-0.2 encoder DB15-8GP02-5M-0.2 cable (for DB15-8GP02-10M-0.2 D51)

  • Page 304: Resolver Encoder Cable

    encoder DB15-8GP03-5M-0.2 cable (for DB15-8GP03-10M-0.2 D51) 11.1.3 Resolver encoder cable Encoder cable with Laviationplug (applicable for 180 flange and below 180 flange motor) Name Model Length Cable appearance DB9-8GR01-3M-0.2 Encoder cable (for DB9-8GR01-5M-0.2 DB9-8GR01-10M-0.2 Encoder cable with I aviationplug (applicable for servo motor with base No. E, F) Name Model Length...

  • Page 305: Shielded Network Cable

    Applicable for flange 110,130,180 servo motor HK4A-4PO-* M – diameter *M means Power length cable HK4B-4PO-* M – diameter Note: aviation plug is used for servo motor with flange above 110. Servo motor with 180 flange has large current, so the line diameter should be larger, named as “HK4B-4P0-*M-diameter”. Except servo motor with 180 flange, other cables are named as “HK4A-4P0-*M-diameter”.

  • Page 306: Other Cable

    Name Model Length Appearance L± 20mm label Shielded SC-ECT** According to network cable requirement In cable model, **M means ** meter, user can select cable length. As shown in the figure, cable length is L (unit is cm), error is ±2cm. For example, 30cm cable model is SC-ECT0.3M-C. Ethernet Category 5 (100BASE-TX) network cable or high-strength shielded network cable is used as the EtherCAT communication cable.

  • Page 307: Motor And Matched Cable

    11.6 Motor and matched cable （1）220V servo motor series Motor model Servo drive model Power cable model FMSA-201*32*** FL20-C201S2M1 FL20-C201T2M1 FMSA-401*32*** FL20-C401S2M1 FL20-C401T2M1 DB4-4PO-*M-0.75-B FMSA-751*33*** FL20-C751S2M1 FL20-C751T2M1 FMSA-102*33*** FL20-C102S2M2 FL20-C102T2M2 FMS series DB4-4PO-*M -1.0-B FMSA-122*35*** FL20-C122S2M2 FL20-C122T2M2 3000r/min FMSA-152*37*** HK4A-4PO-*M-1.5-B FL20-C182S2M2 FL20-C182T2M2 FMSA-182*35***...
  • Page 308 (2) 380V servo motor series Motor model Servo drive model Power cable model FMSA-751*63*** FL20-C102T3M2 DB4-4PO-*M-0.75-H FMSA-102*63*** FMSA-122*65*** HK4A-4PO-*M-1.0 series FMSA-152*67*** FL20-C202T3M3 HK4A-4PO-*M-1.0 3000r/min FMSA-182*65*** HK4A-4PO-*M-1.5 FMSA-232*67*** FL20-C302T3M3 HK4A-4PO-*M-1.5 FMSA-302*67*** FL20-C452T3M3 HK4A-4PO-*M-2.5 FMMA-801*65** FMMA-851*67** FL20-C102T3M2 FMMA-102*67** HK4A-4PO-*M-0.75-H FMMA-122*65** FL20-C152T3M2 FMMA-132*67** FMMA-152*67** HK4A-4PO-*M-1.0 MM series...
  • Page 309 FMMB-752*6A** FL20-C752T3MM4 HK4B-4PO-*M-4.0 FM15-0082*6EE*FL FL20-C752T3MM4 ZL4-4PO-*M-4.0 FM15-0100*6EE*FL FL20-C113T3MM4 ZL4-4PO-*M-6.0 FM15-0124*6EE*FL FL20-C153T3M4 ZL4-4PO-*M-6.0 FM15-0160*6EE*FL ZL4-4PO-*M-10.0 FL20-C183T3M5 FM15-0180*6EE*FL ZL4-4PO-*M-10.0 FM15-0210*6FE*FL FL20-C223T3M5 ZL4-4PO-*M-10.0 FM15-0240*6EE*FL FL20-C303T3M6 ZL4-4PO-*M-16.0 FM15-0290*6FE*FL FL20-C303T3M6 ZL4-4PO-*M-16.0 FM15-0350*6FE*FL FL20-C373T3M6 ZL4-4PO-*M-25.0 FMLA-372*6A** FL20-C452T3M3 HK4B-4PO-*M-2.5 series FMLA-102*67** FL20-C152T3M2 HK4B-4PO-*M-0.75-B 1000r/min FMLA-292*6A** FL20-C302T3M3 HK4B-4PO-*M-1.5 FM17-0075*6EE*FL FL20-C752T3MM4 ZL4-4PO-*M-4.0...

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