Page 2: Table Of Contents
Switching Output Signal ..................... 27 3.6.1. Output Signal Explanation ..................27 3.6.2. Output Signal Configuration ................... 27 3.6.3. Confirming the Output Status ................. 28 3.7. Connection with the Upper Device ..................29 3.7.1. Analog Input Circuit 3 ..................... 29 SD700 Series Servo Technical Manual...
Page 3: Contents
Soft Start ......................... 67 5.3.4. Zero Fixed Functions ....................68 5.3.5. Rotation Detection Signal ..................69 5.3.6. Consistent Speed ....................70 5.4. Torque Mode ........................71 5.4.1. Quick Guide ......................72 5.4.2. Basic Settings ......................72 SD700 Series Servo Technical Manual...
Page 4 Displaying Alarm Logs (Fn000) ..................105 7.2.1. Overview .......................105 7.2.2. Operating Procedure ....................106 7.3. Clear Alarm Record (Fn001) ....................106 7.3.1. Summary .......................106 7.3.2. Operating Procedure ....................106 7.4. Software Reset (Fn002) ....................106 7.4.1. Summary .......................106 7.4.2. Operating Procedure ....................107 SD700 Series Servo Technical Manual...
Page 5 Jogging Related Pn0 Group Parameters .................137 8.7. Switch Configuration Related Pn6 Group Parameters ............137 8.8. Expansion Related Pn7 Group Parameters..............140 Monitoring Parameters ......................141 Fault Code and Countermeasures..................144 10.1. Fault Code ........................144 10.2. Warning Code .........................149 Communication........................150 SD700 Series Servo Technical Manual...
Page 6 Restoring the Factory Value ................171 12.5.9. Fault Information ....................172 12.6. Digital Oscilloscope ......................172 12.6.1. Real-Time Acquisition ..................175 12.6.2. Trigger Acquisition ....................175 12.6.3. Graphic Operations ....................176 12.7. Others ..........................181 12.7.1. Window Display ....................181 12.7.2. Help ........................181 SD700 Series Servo Technical Manual...
Page 7: Abstract
1.1. Series Introduction SD700 series servo drives are mainly used for the occasion of high speed, high frequency and high positioning accuracy. The servo unit can maximize the performance of the machine in the shortest time, which can improve the production efficiency.
Page 8: Basic Information Of Servo Unit
Abstract 1.3. Basic Information of Servo Unit 1.3.1. Installation Dimensions 安装孔径 Mounting aperture External size(mm) Installation size(mm) Installation Structure Machine model aperture SD700-1R1A-** SIZE A SD700-1R8A-** 2-M4 SD700-3R3A-** SD700-5R5A-** SD700-7R6A-** SIZE B SD700-9R5A-** 3-M4 SD700-2R5D-** SD700-3R8D-** SD700-160A-** SD700-6R0D-** SIZE C 92.5 82.5 3-M4...
Page 9: Installation Way
Abstract 1.3.2. Installation Way 150mm 150mm 150mm 30mm 30mm 30mm 30mm 30mm 150mm 150mm 150mm 多台安装空间单台安装空间 Single installation Multiple installation 1.3.3. Rated electrical parameters Drive specification 1R1A 1R8A 3R3A 5R5A 7R6A 9R5A Continuous output current Arms Maximum output 11.6 16.5 22.8 23.8...
Page 10: Basic Specifications
Abstract 1.3.4. Basic specifications Project Specifications IGBT, PWM Control, Sine wave current drive Control Mode mode Serial communication encoders: 17-bit, 20-bit, 24-bit (absolute encoder) Pulse encoder: Provincial linear encoder: 2500 Feedback Rotary Motor Combination line Rotary transformer type encoder -5℃～55℃（55 ° C ~ 60 ° C, can reduce the Environment temperature rated value to use）...
Page 11 Abstract When RS-485 port, N max = 127 stations communication RS-485 Axis address Commun Through parameter setting setting ication Connected function Computer equipment USB communication According to USB1.1 specification (12M) Display function Charge indicator Panel operation function Push button switch × 4 A-phase, B-phase, and C-phase: linear drive transmission frequency pulse number, can Encoder divider pulse output...
Page 12 Abstract signal Output points: 1 point Output signal: servo alarm (ALM) Operating voltage range: DC5V~DC30V Output points: 3 points Input method: opt coupler output (isolated type) Output signal Positioning completed (/COIN) Rotary checkout (/TGON) Assignable output Servo ready (/S-RDY) signal Torque Limit Detection (/CLT) Speed Limit Checkout (/VLT) Brakes (/BK)
Page 13 Abstract Symbol + pulse sequence, CW + CCW pulse sequence: 200 Kpps 90° phase difference two-phase pulse: 200Kpps Input override 1~100 times switch Clear signal Position deviation clearing 0～10s (acceleration and deceleration can be Soft-start time setting set separately) Maximum input voltage: ± 10V (Forward rotation of motor when positive voltage is commanded) Command voltage...
Page 14: System Diagram
Abstract 1.4. System Diagram B1/⊕ Servo motor Rheost Main circuit power Over-temperature/current Dynamic protection brake circuit Voltage Gate Current Temperature Delay Drive sampling sampling drive sampling Rheostat Bus encoder Control interface Control power power Command pulse input ARM+FPGA Encoder divider pulse output Command voltage input...
Page 15: System Configuration Example
Abstract System Configuration Example 1.5. AC200/400V Circuit breaker Grating ruler SD700 series servo drive Contactor Contactor Brake resistor Brake Battery unit (matches power with an absolute encoder) VM7 series servo drive...
Page 16: Name The Drive
Abstract 1.6. Name the Drive SD700-3R3A-PA* E F G Field ID Field Explanation SD：Servo product code 700：Product series Current class： 1R1：1.1A 1R8：1.8A 3R3：3.3A 5R5：5.5A 7R6：7.6A 9R5：9.5A 2R5： 2.5A 3R8： 3.8A 6R0： 6A 8R4： 8.4A 110： 11A 170： 17A 240： 300：30A Input voltage class：...
Page 17: Maintenance And Inspection Of Servo Unit
Abstract 1.7. Maintenance and Inspection of Servo Unit The servo system is made up of many parts. The equipment performs its functions only when all the parts work properly. In mechanical parts and electronic parts, some parts need to be maintained depending on the conditions of use.
Page 18: Panel Operation
Panel Operation please do regular inspections. In addition, please refer to the following table for the standard number of years of replacement, and contact our agency or sales office. After the inspection, we will judge whether we need to replace the parts. The servo unit serviced by our company has its user parameters adjusted back to the factory settings.
Page 19: Functions Switch
Panel Operation Keys’ name Functions Shift the function modes MODE/SET key Confirm parameter settings Operate the accessory functions Select parameters up or increase the value, switch between high, medium, UP key and low segment values in multiple segment display parameters Select parameters down or decrease the value, switch between high, ▼...
Page 20: Auxiliary Functions Operation Of Fn Group
Panel Operation Displ Displ Meaning Meaning Means that the input signal(N-OT) is Means that the drive is OFF an open circuit Flashing displays fault code, more Means that the drive is ON details on the fault code No-motor testing function displays the Means that the input signal(P- running status alternately, more OT)is an open circuit...
Page 21: Operations Of Monitoring Display Un Group
Panel Operation below: When the setting range is beyond 6-digit numbers: High digit Middle digit Low digit They appear only when the number is a negative 2.4. Operations of Monitoring Display Un Group This function could monitor setting command values of the drive unit, the status of input and output signals and internal conditions of the drive unit.
Page 22: Wiring And Connections
Wiring and Connections Wiring and Connections 3.1. Main Circuit Wiring 3.1.1. Terminals Explanation: Needle code Signal name Functions Main circuit power input Main circuit power input Main circuit power input Control power input Control power input Internal and external braking resistor pins/regulated DC B1/+ power supply positive Energy-consumption braking output...
Page 23: Wiring Diagram
Wiring and Connections 3.1.2. Wiring Diagram volume single-phase wiring diagram  Please make this emergency stop protection circuit.  Electromagnetic contactor package surge absorbing device at both ends. Breaker Filter  220V system input voltage range: AC 220V( -15%)~240(+10%)  400V system input voltage range: AC 380V( -15%)~440(+10%) ...
Page 24: B/C/D-Volume Three-Phase Wiring Diagram
Wiring and Connections 3.1.3. B/C/D-volume three-phase wiring diagram  Please make this emergency stop protection circuit.  Electromagnetic contactor package surge absorbing device at both ends. Breaker  220V system input voltage range: AC 220V( -15%)~240(+10%)  400V system input voltage range: AC 380V( -15%)~440(+10%) ...
Page 25: Definition Of Cn1 Terminal
Wiring and Connections 3.1. Definition of CN1 Terminal General /SO1- sequence Signal ground (V-CMP- /SO2+ control output 2 General Signal (TGON sequence ground control output 2 OC power General output of /SO2- sequence Requirement General command (TGON-) control input of /SO3+ sequence pulse...
Page 26: Cn7 Usb Communication Terminal Connection
Wiring and Connections Note: When using multi-turn absolute encoder, please pay attention to the connection of battery and serial data. For the setting of multi-turn absolute encoder. 3.2. CN7 USB Communication Terminal Connection Pin number Name Function VBUS External power supply +5V Data- Data+ Unused...
Page 27: Cn5 Full Closed Loop Port
Wiring and Connections CANL CAN Data- 485 Ground CANG CAN Ground 485- 485 Data- Case shield shield 485+ 485 Data+ The field identification bit E is M: MECHATROLINK-II bus type. CN6A/CN6B Interface definition Signal name Function number SRD+ M-II Data+ SRD- M-II Data- Case...
Page 28 Wiring and Connections Signal Function Signal name Function number name number Full closed loop signal EA- Full closed loop signal EB- Full closed loop signal EZ- Encoder power Full closed loop Encoder power signal EA+ Full closed loop Encoder power signal EB+ Full closed loop Case...
Page 29: Switch-Value Input Signal
Wiring and Connections 3.5. Switch-Value Input Signal 3.5.1. Input Signal Explanation Control Needle Signal name Function number and description mode number Control signal of servo motor ON/OFF /S-ON 0x01 (power on/off) Prohibited forward rotation drive When the mechanical movement exceeds the 0x02 movable range, stop the servo motor drive (over travel prevention function)
Page 30: Input Signal Configuration
Wiring and Connections Enter the signal that requires initial data when using an absolute encoder Spare battery connection pin for absolute encoder. BAT+ Note: do not connect when using an encoder cable BAT- with a battery pack. Enter the speed command. Maximum input voltage: ± Speed V-REF 5（6）...
Page 31 Wiring and Connections 10- speed <-> speed control with zero fixed function 11- speed <-> position control with command pulse inhibit function 2. The switching input signal distribution mode is the parameter configuration (Pn600=1 default parameter). The function of each input signal is configured by the user and is set by parameters Pn601~Pn609.
Page 32: Confirming The Input Status
Wiring and Connections ！ 1. Signal ON: The state when the digital input signal (/S-ON, etc.) is connected to the ground terminal of the external +24 VIN power supply 2. Signal OFF: The status when the digital input signal (/S-ON, etc.) is disconnected from the ground terminal of the external +24VIN power supply Cautions 3.
Page 33: Switching Output Signal
Wiring and Connections 3.6. Switching Output Signal 3.6.1. Output Signal Explanation Control Signal Needle number Function number and explanation mode name ON (closed) when the speed of the servo motor is higher /TGON 0x03 than the set value. ON (closed) when servo ON (/S-ON) signal is /S-RDY 0x00 acceptable.
Page 34: Confirming The Output Status
Wiring and Connections The function of each output signal is configured by the user and is set by parameters Pn613 ~ Pn615. The default functions are as follows: Function code CN1 pin number Default function Pn613 25/26 0x00: Servo ready Pn614 27/28 0x01: Positioning completed...
Page 35: Connection With The Upper Device
Wiring and Connections CN1-29、30 /V-CMP The upper SEG (LED) lights up when the output signal is OFF. The lower SEG (LED) lights up when the output signal is ON. 3.7. Connection with the Upper Device 3.7.1. Analog Input Circuit 3 The following describes the 5-6 (speed command input) and 9-10 (torque command input) terminals of the CN1 connector.
Page 36: Connection Example Of Open Collector Outtput
Wiring and Connections Connection example of linear drive output Shield wire 7 PULSE PULSE 150Ω 8 /PULSE 11 SIGN SIGN 150Ω 12 /SIGN 15 CLR SIGN 150Ω 14 /CLR Host computer Servo drive control The differential pulse input signal voltage is ± 3.3V and the maximum frequency is 4MHz. This signal transmission method has the best anti-noise capability.
Page 37 Wiring and Connections Twisted wire Shield wire 16 OCP PULSE 2KΩ 8 /PULSE 17 OCS SIGN 2KΩ 12 /SIGN 24 OCC 2KΩ 14 /CLR Control Driver Module 2 control modules is PNP type (common anode): Twisted wire Shield wire 16 OCP PULSE 2KΩ...
Page 38 Wiring and Connections 3 PL1 1KΩ 7 PULSE PULSE 150Ω Twisted wire Shield wire 8 /PULSE 13 PL2 1KΩ 11 SIGN SIGN 150Ω 12 /SIGN 18 PL3 1KΩ 15 CLR 150Ω 14 /CLR Control Drive module 2 control modules is PNP type (common anode): Twiste Shield d wire...
Page 39: Sequence Control Input Circuit
Wiring and Connections 3.7.4. Sequence Control Input Circuit The following describes the 38 to 46 terminals of the CN1 port. Connect via a relay or open collector transistor circuit. When using a relay connection, select the relay for the minute current. If you do not use a minute current relay, it will cause poor contact.
Page 40: Sequence Output Loop
Wiring and Connections 3.7.5. Sequence Output Loop Servo unit signal output circuit is the following three kinds: Open collector output circuit The output signal (SEN, OCZ) is an open collector transistor output circuit. Please receive through optocoupler circuit, relay circuit or linear receiver circuit.
Page 41 Wiring and Connections Relay circuit example Optocoupler loop example Controller Controller Servo drive Servo drive Twisted wire Twisted wire Linear receiver loop example Controller Servo drive Twisted wire Optocoupler output circuit The brake linkage (/BK), servo alarm (ALM), servo ready (/S-RDY) and other sequence output signals belong to the optocoupler output circuit.
Page 42 Wiring and Connections side, please use a linear receiver circuit. Servo motor Twisted wire Using a linear receiver is equivalent SN75ALS175 220~ 470Ω PAO- PBO- PCO- Please connect shielded wire according to the requirements of the Shelter wire equipment...
Page 43: Position Control Wiring Diagram
Wiring and Connections 3.8. Position Control Wiring Diagram 24V power, with built-in current limiting resistance /PULS PULS Battery of absolute /PULS BAT(+) /SIGN Differential encoder command pulse BAT(-) input 2.8～4.5V 12～24V power ,with (Max 4Mpps) Requirement i n put of external current limiting SIGN encoder absolute data...
Page 44: Speed Control Wiring Diagram
Wiring and Connections 3.9. Speed Control Wiring Diagram V-REF Speed command input Battery of absolute （Max input voltage：± 10V） D/A BAT(+) encoder BAT(-) 2.8～4.5V Requirement i n put of T-REF encoder absolute data External torque limit/ Feedforward torque （Max input voltage：± 10V） A phase of encoder /PAO Linear...
Page 45: Torque Control Wiring Diagram
Wiring and Connections 3.10. Torque Control Wiring Diagram V-REF Battery of absolute BAT(+) Speed command input encoder （Max input voltage：± 10V） BAT(-) 2.8～4.5V Requirement i n put of encoder absolute data T-REF Torque command input （Max input voltage：± 10V） A phase of encoder /PAO pulse divi s ion output Linear...
Page 46: Cn2 Encoder Connection
Wiring and Connections 3.11. CN2 Encoder Connection 3.12. Regenerative Resistor Connection When the regenerative energy processing capacity is insufficient, connect an external regenerative resistor as required to set the regenerative resistor capacity (Pn012). 3.12.1. Connection of Regenerative Resistors The driver models 1R1A, 1R7A, and 3R3A have no built-in regenerative resistor. When a regenerative resistor is externally connected, the resistor is connected to the B1/+ and B2 terminals.
Page 47: Noise And High Harmonic Countermeasures
Trial operation SD700-9R5A 40Ω 60W SD700-2R5D 80Ω 60W SD700-3R8D 80Ω 60W SD700-6R0D 40Ω 60W SD700-8R4D 40Ω 60W SD700-110D 40Ω 60W SD700-170D 30Ω 100W SD700-240D 30Ω 200W SD700-300D 30Ω 200W Note: When external braking resistor is needed, please select the resistance value of the braking resistor according to the above table.
Page 48: Conditions Of The Servo Motor
Trial operation before that: 4.1.1. Conditions of the Servo Motor: You need to check and confirm all programs as below, if there is any problem, please handle it properly before that trail operation 1. Are the Settings, wires and connections correct? 2.
Page 49: Operation
Operation Operation 5.1. Basic Functions 5.1.1. Quick Guide Basic parameters quick guide Motor rotation Servo-enabled, Over-travel Stop modes direction Setting parameters Pn601~Pn609 Setting parameters For wiring details, see "Sequence Setting parameter Pn004/Pn005/Pn007 input circuit" Pn002 Electromagnetic brake Regeneration resistance Torque limit Overload Setting parameters Pn008/ Setting parameters Pn012/Pn013...
Page 50 Operation Dynamic brake (DB) stop: By short-circuiting the electrical circuit, the servo motor can  be quickly stopped. Deceleration stop: Decelerate to stop with the emergency stop torque (Pn053).  Free-running stop: Naturally stopped due to friction when the motor rotates. The servo motor status after stopping is divided into the following two types.
Page 51: Motor Rotation Direction
Operation When the servo is turned off, no warning will be detected even if it enters the over-range state. In the over-range state, no warning is detected when the servo is switched from the servo OFF state to the servo ON state. The warning I/O will remain output for 1 second after the over-range status is released and will be automatically cleared afterwards.
Page 52: Electromagnetic Brake
Operation ！ The setting of zero speed stop mode is valid only for position control and speed control. Cautions 5.1.5. Electromagnetic Brake The brake is a part that holds the position when the servo unit power is off so that the moving part of the machine does not move due to its own weight or external force.
Page 53 Operation When the motor is locked, it may cause danger when the servo motor is prevented from operating when the servo is turned off. The motor lock time (Pn008) can be set to ensure that the motor during the brake is not operated. The motor stops locking/BK signal OFF timing When an alarm occurs during servo motor rotation, the servo motor stops and the brake signal (/BK) turns OFF.
Page 54: Regenerative Resistor
Operation At this time, the machine may move before the brake due to the delay of the brake action. 5.1.6. Regenerative Resistor Refer to “Regeneration Resistor Connection” for the wiring method. When connecting an external regenerative resistor, set parameters Pn012 and Pn013 according to the external resistance.
Page 55: Multi-Turn Absolute Encoder
Operation The overload (continuous maximum) alarm (Er. 720) can be detected in advance to prevent motor overload. By detecting the overload alarm by using the “decreased base current”, the overload alarm detection time can be shortened. The detection value of the overload (instantaneous maximum) alarm (Er.
Page 56: Torque Limit
Operation under-voltage or the drive is de-energized Absolute encoder battery 0x0041 After restart － warning/war ning selection Pn041 0- Set the low battery voltage as a fault: The driver powers up/resets for 4~9 seconds to monitor the battery status. Under-voltage will be reported as an under voltage alarm (Er.
Page 57 Operation Analog torque (torque mode is invalid) Pn405 Maximum torque limit 1 Pn051 Pn051 、 Positive torque limit 1 (Pn051), reverse maximum torque limit 2 Pn052 Maximum torque limit 1 when the torque limit switching (/TLC) signal is Pn051 、 OFF;...
Page 58: Position Mode
Operation drops After the under-voltage warning signal releases, the torque limit value is controlled within the servo unit according to the set time. For details, see "Under-voltage limit of the main circuit". By combining this function with the setting function of the instantaneous stop holding time, when the power supply voltage is insufficient, it is possible to avoid the shutdown due to the alarm and continue the operation without performing the power restoration operation.
Page 59: Quick Guide
Operation 5.2.1. Quick Guide Location Control Quick Guide Connect each part properly Is the actual Drive panel display is normal position consistent with the given? The upper system sends a fixed pulse Confirm the gear ratio (Pn204, Pn206), frequency output (Pn070) setting Monitoring Un108, receiving pulses follow given...
Page 60 Operation Pulse + direction positive logic CW+CCW positive logic Quadrature Pn201 encoding 4 times Pulse + direction negative logic CW+CCW negative logic Electronic gear ratio When the reduction ratio of the motor shaft and the load side is n/m (when the load shaft rotates by n revolutions when the motor rotates by m revolutions), the set value of the electronic gear ratio can be obtained by the following formula: ��...
Page 61 Operation Machine Configuration Ball Screw Rotary Table Belt + Pulley Step Description Reference Unit： 0.01° Reference Unit: 0.005mm Load Shaft Reference Unit: 0.001mm Load shaft Gear Pulley dia.: Gear ratio: Load 100mm ratio: Encoder: Ball 1:100 shaft 1:50 24 bits screw Encoder: 24 lead: 6mm...
Page 62: Deviation Clearance
Operation ！ 1. When the electronic gear ratio numerator is 0, the denominator setting is the number of command pulses corresponding to one revolution of the motor. 2. If 0.001 ≤ electronic gear ratio (B/A) ≤ 16778 is out of this setting range, "Er. 040 Cautions alarm"...
Page 63: Command Pulse Prohibition
Operation Depending on the status of the servo unit, you can choose when to clear the position deviation. Set the deviation clearing method by Pn273: function Default mailing Effective parameter name range unit code address mode Power Position deviation 0x00~0x02 0x0273 down －...
Page 64: Positioning Completion
Operation pin number configuration (0x08) needs to be performed by parameters Pn613~Pn615. When the difference between the command pulse number of the host device and the movement amount of the servo motor (position deviation) is lower than the setting value of Pn260 (position proximity signal width), the signal is output when the positioning close output condition is satisfied.
Page 65: Command Pulse Input Magnification Switching
Operation 5.2.7. Command Pulse Input Magnification Switching The ON/OFF of the override input switching signal (/PSEL) of the command pulse input switches the input override of the position command pulse to 1 and n times (n = 1 to 100). The switching of the override can be confirmed by the command pulse input of the override switching output signal (/PSELA).
Page 66: Smooth Settings
Operation Valid Command pulse input Invalid multiplier switching Valid input signal /PSEL Command pulse input Invalid multiplier switching output signal /PSELA Below 4ms Below 4ms Internal Pn203 action Command pulse input magnification switching wiring The command pulse input override signal is a universally configurable digital input. See “Sequence Input Circuit”...
Page 67: Frequency Output
Operation The difference between the position command low-pass filter time constant and the position command's moving average filter time is shown below: Low pass filter Moving average filter Position Position Before filtering Before filtering instruction instruction After filtering After filtering 100% 100% 63.2%...
Page 68 Operation The number of pulses per revolution from the encoder is processed inside the servo pack and then divided down and output to the set value of Pn070. The encoder's number of divided pulse outputs is set according to the system specifications of the machine and the host device.
Page 69: Speed Mode
Operation When forward, B When reversing, phase leads 90° phase A leads 90° 90° 90° Time Time Parameter Pn072 can be set to invert the logic of the AB phase signal of the divided output pulse. The amplitude of the Z-phase pulse varies with the number of encoder-divided pulses (Pn070) and is consistent with the amplitude of the A-phase.
Page 70: Quick Guide
Operation 5.3.1. Quick Guide Speed Control Quick Guide The upper system gives a binary Internal speed control Connect each part properly signal (/SPD-A, /SPD-B, /SPD-D) (Pn000=3) Drive panel display is normal Select internal speed (Pn304, Pn305, Pn306) Analog speed control (Pn000=1) The upper system gives a fixed voltage V-REF Is the actual speed...
Page 71 Operation speed rated command speed gain This parameter is used to set servo motor speed that should be equal to analog voltage value (V-REF) required for the speed command of the rated value. Caution: Do not apply more than -10~10V and exceeding this range may cause damage to the driver.
Page 72 Operation Motor speed r/min Factory setting Maximum input voltage +10V Rated Speed Minimum input voltage -10V -1.5 Voltage-V Setting range 1.5~30V corresponding to rated speed Input voltage range 0~±10V Adjustment of instruction offset When analog speed control is used, even if the command is 0V, the servo motor may rotate at a slight speed.
Page 73: Soft Start
Operation Function Parameter Communication Range Defaults Unit When enabled code name address Internal 0~10000 0x0304 Immediately speed 1 Internal 0~10000 0x0305 Immediately Pn304 speed 2 Pn305 Internal 0~10000 0x0306 Immediately Pn306 speed 3 When operating in the internal speed mode, the servo unit provides 3 internal speed commands and selects A and B through the internal speed command of the switch.
Page 74: Zero Fixed Functions
Operation Acceleration time of the set speed from 0r/min to the rated speed (corresponding to the motor model). When the given speed is greater or less than the rated speed, the actual acceleration time is calculated in proportion. Maximum speed Target speed Actual Actual...
Page 75: Rotation Detection Signal
Operation The relationship between zero fixed speed thresholds and zero fixed function is shown in the figure below: Zero-fixed wiring The zero-fixed signal is a universally configurable digital input. See “Sequence Input Circuit” for wiring details. 5.3.5. Rotation Detection Signal When the motor speed is greater than the set value, a digital rotation detection signal (/TGON) is output.
Page 76: Consistent Speed
Operation 5.3.6. Consistent Speed The speed coincidence signal (/V-CMP) is a signal that is output when the difference between the speed of the servo motor and the command speed is equal to or lowers than the set value of the speed coincidence range Pn320. Used when interlocking with the upper device. This signal is the output signal during speed control.
Page 77: Torque Mode
Operation Motor speed Pn320 Within the two dashed lines / V-CMP output Pn320 For example: Pn320=100, when the speed command is 2000r, min, the feedback speed is 1900~2100r/min, signal output Speed command Wiring of speed-consistent signals The speed-consistent signal is a universally configurable digital output signal. For details on wiring, see "Sequence Output Circuit".
Page 78: Quick Guide
Operation 5.4.1. Quick Guide Torque Control Quick Guide Internal torque command Connect each part properly Internal torque (Pn400 = 0) Drive panel display is command Pn410 normal Analog torque command (Pn400=1) The upper system is given a fixed voltage T-REF Is the actual torque Monitoring Un102, consistent with the...
Page 79 Operation Analog torque 0~655 command filter 0.00 0x0404 Immediately time Pn404 The parameter is used to smooth the torque command when we apply a delay filter to the analog torque command (T-REF) input, usually it does not need to be changed. If the set value is too large, the responsiveness may decrease.
Page 80: Adjustment Of Instruction Offset
Operation Torque-% Defaults Maximum output 350% voltage +10V Minimum output voltage- 200% 100% Voltage -V Setting range 1~10V corresponding to rated torque -350% Input voltage range 0~±10V 5.4.3. Adjustment of Instruction Offset When using torque control, even if the command is 0V, the servo motor may rotate at a slight speed.
Page 81 Operation code name address Control mode 0~11 0x0000 After restart selection 4- Internal Speed <-> Analog Speed: Switch control mode via ON/OFF of switch/SPD-A and /SPD-B 5- Internal Speed <-> Position Mode : Switch control mode via ON/OFF of switch/SPD-A and /SPD-B 6- Internal Speed <->...
Page 82 Operation Speed 3 Deceleration stop (Pn311) Speed 2 Speed 1 /COIN Command pulse /SPD-A /SPD-B Command Speed Speed Speed Switchi Speed Pulse Mode Internal Internal speed Position Speed mode mode mode Note: The internal speed mode is decelerated during the deceleration time set by Pn311 to stop the motor, then switch to the position mode.
Page 83 Operation /C-SEL（CN1-41）（parameter configuration） Analog speed mode Torque mode Analog speed mode Position mode Position mode Torque mode Switch input signal distribution mode is parameter configuration (Pn600=1 default parameter). Digital input signal Pn000 Setting /C-SEL (Parameter configuration） Analog speed mode Torque mode Analog speed mode Position mode...
Page 84: Other Output Signals
Operation 5.6. Other Output Signals 5.6.1. Servo Ready Output Signal The servo ready output signal (/S-RDY) is a signal that indicates that the servo unit can receive servo ON (/S-ON) signals and command signals. This signal is output under the following conditions: The main circuit power is on.
Page 85: Timing
Operation 5.7. Timing 5.7.1. Power Enable ON Timing Main Main circuit power up power Control Control circuit power up power initialization normal operation CPU status 250ms Servo preparation valid invalid (/S-RDY) Servo enable valid (/S-ON) invalid 40ms Servo Servo no output output output Action time *1...
Page 86: Power-Off Enable Off Timing
Adjustment 5.7.2. Power-Off Enable OFF Timing Main Main circuit power loses power Power off the Control control circuit power Servo Servo no output output output Position/ speed/torque command invalid valid input Motor Loose Note 4 holding Brake chain brake brake signal (/BK) Loose output...
Page 87: Safety Precautions When Adjusting
Adjustment Starting adjusting Adjust with robust control Is the adjustment result satisfactory? Smart settings adjustment via no instructions Is the adjustment result satisfactory? Adjust with broadband settings Is the adjustment result satisfactory? Adjust with broadband settings Is the adjustment result satisfactory? 6.1.2.
Page 88 Adjustment The torque limit function is about calculate the torque that mechanical motions need in order to make sure that the torque is not greater than this troque limit value. If the torque is set below the value required for operation, overshoot or vibration may occur. See more details in the “torque limit”.
Page 89: Robust Control
Adjustment 6.2. Robust Control In factory default, the robust control function is valid. When resonance and vibration occur, please change the attune value and load value via Fn301 or set Pn177 and Pn178. 6.2.1. Profile Robust function could get stable response through adjusting the whole system automatically no matter what kind of mechanisim or fluctuation of load.
Page 90: Steps
Adjustment Gain shift Robust control is invalid in operation, and it turns to be Inertia recognization valid when the operation is over Robust control is invalid in operation, and it turns to be Mechanical analysis valid when the operation is over Parameters which become invalid when robust control function are valid.
Page 91 Adjustment Pn156 Second notch filter frequency Pn157 Second stage notch filter Q value...
Page 92: Inertia Recognition
Adjustment 6.3. Inertia Recognition 6.3.1. Profile: Inertia recognition means that the servo unit performs automatic operation (forward and reverse reciprocating motion) without issuing commands from the upper device, and the load inertia moment is recognized during operation. The rotary inertia ratio (ratio of load inertia to motor rotor inertia) is the reference parameter for performing the gain adjustment, and the correct value must be set as far as possible.
Page 93: Intelligent Setting
Adjustment 6.4. Intelligent Setting 6.4.1. Profile Users can choose intelligent setting with command input and no command input No command input It means the function of automatically adjusting the servo unit according to the mechanical characteristics when the automatic operation (forward and reverse reciprocating motions) is performed within the set range.
Page 94 Adjustment For detailed steps, see "host computer operation instructions" - "Intelligent setting". Confirmation before execution Before performing intelligent settings, be sure to confirm the following settings. If set incorrectly, this function cannot be performed during operation. No overtravel has occurred No torque control Gain switching selection switch is manual gain switching (Pn110 = 0) and is the first gain No motor test function is invalid (Pn730 = 0)
Page 95: Supplyment
Adjustment ！ 1. When there is no command intelligent setting, when the variable inertia load is changed and the adjustment fails, please replace the adjustment mode and adjust with broadband settings or robust control. 2. In the intelligent setting, please set "electronic gear ratio (Pn204/Pn2016)" and "positioning completion range (Pn262)"...
Page 96: Related Parameters
Adjustment automatic adjustment selection This parameter is set in the intelligent settings, bandwidth settings and other auxiliary functions under low-frequency vibration suppression is automatically set to choose: 0 - Vibration suppression function is not automatically adjusted by auxiliary functions 1- Vibration suppression function is automatically adjusted by auxiliary functions Feed forward function In the factory setting mode, when the tuning mode is executed by "2", "3", "feedforward command (Pn109)", "speed feedforward (VREF) input", and "torque feedforward (T-REF) input "will...
Page 97: Bandwidth Setting
Adjustment Pn157 Notch Filter 2Q Value Pn158 Notch filter 2 depth Pn240 Model tracking control selection Pn241 Model tracking control gain Pn242 Model tracking control attenuation coefficient Pn243 Model tracking control speed feed forward gain Pn244 Model tracking control forward torque feed forward gain Pn245 Model tracking control reverse torque feed forward gain 6.5.
Page 98: Supplyment
Adjustment debugging software". ！ After the inertia recognition or intelligent setting correctly set the moment of inertia ratio (Pn100), perform the broadband setting operation. Cautions 6.5.3. Supplyment Viabration suppression function Before setting the bandwidth, you can set whether the related vibration suppression function is automatically set.
Page 99: Related Parameters
Adjustment suppressio n function automatic adjustment selection This parameter is set in the intelligent settings, bandwidth settings and other auxiliary functions under low-frequency vibration suppression is automatically set to choose: 0 - Vibration suppression function is not automatically adjusted by auxiliary functions 1- Vibration suppression function is automatically adjusted by auxiliary functions Feed forward function...
Page 100: Manual Adjustment Function
Adjustment Pn156 Notch filter 2 frequency Pn157 Notch Filter 2Q Value Pn158 Notch filter 2 depth Pn240 Model tracking control selection Pn241 Model tracking control gain Pn242 Model tracking control attenuation coefficient Pn243 Model tracking control speed feed forward gain Pn244 Model tracking control forward torque feed forward gain Pn245...
Page 101 Adjustment current loop ensures sufficient responsiveness, the user does not have to make adjustments. By setting the following servo gains, the response characteristics of the servo unit can be adjusted. Function Defaul Communication When parameter Range code address enabled Rotary Immediatel 0~20000 0x0100...
Page 102: Gain Switching
Adjustment command second-ord er low-pass filter Q By setting this parameter, the Q value of the second-order torque filter can be set. Increasing the Q value can improve the system responsiveness, but noise will be generated when the setting is too large. 6.6.2.
Page 103 Adjustment After waiting for the waiting time from the time when the switching condition has been established, the gain of the first position loop is increased to the gain of the second position loop in the transition time. Gain switching Immediate 0~65535 0x0113...
Page 104 Adjustment ！ 1. Gain switching of model tracking control gain and model tracking control attenuation coefficient is only applicable to "manual switching gain" 2. Gain switching of model tracking control gain and model tracking control attenuation factor is switched only when the following conditions are met: Cautions ...
Page 105: Speed Feedforward
Adjustment Please select the "switching condition A" which automatically switches the gain from the following settings. For example, in the automatic switching gain mode conditioned on the completion of the positioning signal (/COIN), it is assumed that the position loop gain Pn103 is switched to the second position loop gain Pn107.
Page 106: Torque Feedforward
Adjustment V-REF as speed 0x00~0x After 0x0123 － feedforw restart Pn123 selection Speed feedforward is a function to shorten the positioning time. It is possible to select speed feed forward via external analog V-REF. 0-None 1- Use V-REF as speed feed forward input Analog speed 150~30...
Page 107 Adjustment When the control mode is mixed, it is valid only when it is switched to internal speed, analog speed and position mode. The P/PI switching can be switched by the binary signal manual P-PI control signal (/P-CON). When the /P-CON signal is turned ON, P control is performed. The conditions for selecting automatic switching can also be selected by the parameter speed loop P/PI switching condition selection switch Pn131.
Page 108 Adjustment Speed loop P/PI switching condition 0~800 0x0132 Immediately (torque Pn132 command) When the torque command exceeds the torque set by this parameter, the speed loop will be switched to P control, otherwise PI control Speed loop P/PI switching 0~10000 0x0133 Immediately condition...
Page 109 Adjustment Speed Command Feedback Time Torque Torque command command Pn132 Time Pn132 PI P When the switching condition of the mode switch is used as a speed instruction, when the speed command exceeds the speed set in Pn10D, the speed loop will switch to P control. Speed Command Feedback...
Page 110 Adjustment When the switching condition of the mode switch is set as the position deviation, when the position deviation exceeds the value set in Pn10F, the speed loop will switch to P control. This setting is valid only for position control. Speed Command Feedback...
Page 111: Accessibility
Accessibility Accessibility List of Auxiliary Functions The auxiliary function is displayed with a number starting 7.1. with Fn, and functions related to the operation and adjustment of the servo motor are performed. The following table lists the auxiliary functions and reference items. Auxiliary function number Function description Fn 000...
Page 112: Operating Procedure
Accessibility 7.2.2. Operating Procedure Long press DATA/SHIFT Accessibility UP: 1 query DOWN: 9 next Long press Short press MODE/SET Display DATA/SHIFT Latest query DATA/SHIFT Low alarm Old alarm alarm alarm recording time interface record Long press Short press Short press Short press DATA/SHIFT DATA/SHIFT...
Page 113: Operating Procedure
Accessibility 7.4.2. Operating Procedure Long press Accessibi DATA/SHIFT lity Long press MODE/SET MODE/SET DATA/SHIFT Accessibi Software Enter Reset lity reset reset confirmation interface 7.5. Restoring Factory Parameters (Fn003) 7.5.1. Overview The parameter is restored to the function used at the factory setting. ！...
Page 114: Operating Procedure
Accessibility Function Parameter Communication Range defaults unit When enabled code name address 0~100 Pn500 Jog speed 0x0500 Immediately Speed command 0~100 trapezoidal 0x0310 Immediately acceleratio Pn310 n time Acceleration of the set speed from 0r/min to the rated speed (corresponding to the motor model).
Page 115: Operating Procedure
Accessibility ！ 1. Program JOG operation is position control, gear ratio and position command filtering are valid, but pulse instructions cannot be input to the servo unit. Cautions 2. The overtravel prevention function takes effect. 7.7.2. Operating Procedure In the Long press setting MODE/SET...
Page 116: Speed Command Offset Manual Adjustment (Fn101)
Accessibility 7.9. Speed Command Offset Manual Adjustment (Fn101) 7.9.1. Summary Directly input the instruction offset to adjust. Manual adjustments are used for the following occasions:、The host device has built a position loop and sets the position deviation when the servo lock stops to zero. When you need to set an offset When confirming the offset amount set by automatic adjustment 7.9.2.
Page 117: Operating Procedure
Accessibility 7.9.4. Operating Procedure Long press Accessibi DATA/SHIFT lity Long press MODE/SET DATA/SHIFT Short press Accessibi Accessib DATA/SHIFT Into offset UP/DOWN Adjust the lity ility interface manual interface adjustment MODE/SET Adjustment Adjust the confirmati interface 7.10. Current Offset Automatic Adjustment (Fn103) 7.10.1.
Page 118: Operating Procedure
Accessibility ！ When performing manual adjustments, if this function is accidentally performed, the characteristics may be degraded. When making manual adjustments, observe the following precautions. • Make the servo motor speed about 100min-1. • Observe the torque command in the analog monitor state and adjust the pulsation to the minimum. Cautions •...
Page 119: Operating Procedure
Accessibility Set the sensitivity of the detected vibration. The smaller the setting value is, the more sensitive it is. If the setting is too small, the vibration may be detected by mistake during normal operation. Note: The detection sensitivity of the vibration alarm and vibration alarm may differ depending on the state of the machine being used.
Page 120: Operating Procedure
Accessibility 7.14.2 Operating Procedure Long press DATA/SHIFT Mode selection UP/DOWN Long press Short press MODE/SET DATA/SHIFT DATA/SHIFT Gain Accessibi Tuning Bandwidth adjustment lity setting mode interface UP/DOWN MODE/SET Gain Gain confirmation setting Flash 7.14. EasyFFT (Fn401) 7.14.1. Summary EasyFFT transfers the periodic waveform commands from the servo unit to the servo motor, causing the servo motor to rotate a few times for a certain period of time, causing the machine to vibrate.
Page 121: Operating Procedure
Accessibility 7.14.2. Operating Procedure MODE/SET Amplitude Long press Long press setting DATA/SHIFT UP/DOWN DATA/SHIFT Long press Long press MODE/SET DATA/SHIFT DATA/SHIFT Accessibi Amplitude Ready state EasyFFT lity setting interface Flash MODE/SET UP/DOWN MODE/SET Checkout Checkout Operatin Confirmation Flash of results g status result process...
Page 122: Function Code Instructions
Function Code Instructions Function Code Instructions 8.1. Basic Control Related Pn0 Group Parameters Function Defau Communication When Parameter Range Unit code address enabled Control mode After 0~11 0x0000 selection restart 0-position mode: The position of the machine is controlled by the pulse sequence position command.
Page 123 Function Code Instructions Set the monitoring parameters that are displayed by default after power-on. The setting values are detailed in the monitoring parameters. 0xfff indicates that the monitoring parameters are not displayed and the system status is displayed. Note: The alarm is displayed first when the alarm is displayed. The setting parameter cannot be displayed normally.
Page 124 Function Code Instructions electromagne tic brake holding When the servo motor is enabled but not running and the brake (/BK) signal and the servo ON (/S-ON) signal are off at the same time, setting this parameter can change the non-powered time from the brake (/BK) signal OFF to the actual input of the motor.
Page 125 Function Code Instructions Motor overload detection After 10~100 0x0016 base current restart derating Pn016 setting This parameter can change the motor current threshold for calculating the overload alarm, which can shorten the overload alarm detection time. Note: This value is invalid when the motor current is rated above 200%. Immediat Pn030 Reserved...
Page 126 Function Code Instructions when main circuit voltage drops According to the under voltage warning, it will impose the torque limit inside the servo unit. For details, see the "Torque limit under voltage" instruction. Torque limit release time Immediat when main 0~1000 0x0047 circuit voltage...
Page 127: Gain Related Pn1 Group
Function Code Instructions A/B pulse phase sequence logic when setting forward/reverse: 0- Don’t negate the pulse output: When forward, A is ahead of B 1- Negate the pulse output: When forward, B is ahead of A Local 0x00~0x7 After Pn080 communicatio 0x0080 －...
Page 128 Function Code Instructions tely The position loop response is determined by the position loop gain. The higher the setting of the position loop gain is, the higher the responsiveness and the shorter the positioning time will be. The position loop gain cannot be increased beyond the rigidity of the mechanical system. To increase the position loop gain to a larger value, the rigidity of the machine must be increased.
Page 129 Function Code Instructions Set the conditions for automatic gain switching: 0-positioning completion signal ON 1-Positioning completion signal OFF 2-positioning proximity signal ON 3- positioning proximity signal OFF 4- position command is 0 after filtering and pulse input is OFF 5- position command pulse input is ON If the conditions are met, then switch to the second gain, otherwise switch to the first gain 0~655 Immedia...
Page 130 Function Code Instructions Torque feedforward is a function to shorten the positioning time. Torque feedforward can be selected by external analog T-REF. 0-None 1- Use T-REF as a torque feed forward input After Speed loop control method (PI/IP) 0x0130 － restart 0-PI control Pn130...
Page 131 Function Code Instructions Set IF vibration frequency value Immedia IF damper attenuation gain 0~300 0x0143 tely Increasing this parameter can increase the vibration suppression effect. However, if the setting Pn143 is too large, the vibration may be increased. When confirming the vibration suppression effect, simultaneously gradually increase the setting value by each 10% in the range of 0% to 200%.
Page 132 Function Code Instructions At least this frequency should be set to more than 4 times of the speed loop gain, otherwise it may affect the overall performance of the system. Immedia Notch filter 2Q value 0.5~10 0.70 0x0157 tely The Q value of the notch filter refers to the setting value of the filter frequency width related to Pn157 the notch filter frequency.
Page 133 Function Code Instructions cutoff speed tely Friction compensation function is a function that compensates for viscous friction and fixed load changes. It is adjusted according to the friction compensation coefficient. Generally, please set the friction compensation coefficient to 95% or less. If the effect is not obvious enough, please increase the friction compensation cut-off speed at a rate of 10% each within the range that does not generate vibration Friction torque positive...
Page 134: Position Related Pn2 Group Parameters
Function Code Instructions 0~500 Immedia Vibration detection value 0x0187 tely Set the threshold for vibration detection. The smaller the setting is, the easier it is to detect the Pn187 vibration. If the setting is too small, the vibration may be detected by mistake during normal operation.
Page 135 Function Code Instructions Electronic gear 0~10737418 0x0206 After ratio numerator 0x0207 restart Electronic gear 1~10737418 0x0208 After ratio denominator 0x0209 restart The electronic gear ratio is a function for setting the workpiece movement amount of one pulse unit of the upper device input command. Take the screw drive as an example, it has a screw pitch of 10mm, When the upper system requires that reduction ratio of the motor shaft and the load side machine is N1/N2 (the motor shaft rotates N2 revolutions when the load shaft rotates N1 revolutions), the set value of the electronic gear ratio is obtained by...
Page 136 Function Code Instructions detection sensitivity This parameter is used to set the sensitivity of low-frequency vibration detection when the positioning is completed. The smaller the sensitivity is set, the easier it is to automatically detect the low frequency vibration frequency point. Low-frequency vibration Immediatel...
Page 137 Function Code Instructions coefficient The tracking attenuation coefficient of the model decreases, and the position tuning section is easy to cause excessive overshoot. If the setting is too small, the position oscillates easily. When the setting increases, the position overshoot decreases, but when the position is too large, the position easily rebounds, causing the positioning time to change.
Page 138 Function Code Instructions Position near 1~10737418 10737418 Comman 0x0260 Immediatel signal width d unit 0x0261 In the position control, the host device can receive the positioning proximity signal before confirming the positioning completion signal, so as to prepare for the sequence of actions after the positioning is completed and shorten the time required for the positioning to complete the operation, The signal will be output as the difference between the command pulse number of the host device and the servo motor movement (position deviation) is...
Page 139: Speed Related Pn3 Group Parameters
Function Code Instructions If the servo is turned ON with the position deviation accumulated, the speed limit is executed by this parameter. When the command pulse is input in this state, the alarm Er.D02 (Excessive position deviation alarm caused by speed limit during servo ON) is displayed when the set value of Pn264 (maximum position deviation threshold) is exceeded.
Page 140 Function Code Instructions negation Set the voltage polarity of the analog speed command: 0-Positive polarity: positive voltage corresponds to positive speed command 1- Negative polarity: positive voltage corresponds to negative speed command Analog speed Imme 0x0302 instruction 55.35 diately filter time Pn302 The function could be set to smooth the speed command when one delay filter is applied to the analog speed command (V-REF) input and it does not usually need to be changed.
Page 141: Torque Related Pn4 Group Parameters
Function Code Instructions Speed mode, setting the switching speed zero clamp signal (/ZCLAMP) working mode: 0-Invalid 1-speed command is set to 0, not clamped after shutdown 2-speed command is set to 0, clamped after shutdown 3-speed command is lower than "zero speed clamp speed threshold"( Pn313), the first speed command is set to 0, clamped after shutdown Zero Speed...
Page 142 Function Code Instructions Set the switching torque command direction selection (/T-SIGN) signal to activate the switch: 0 - Torque command direction selection (/T-SIGN) signal is invalid 1- Torque command direction selection (/T-SIGN) signal is valid Note: Torque command is invalid when /T-SIGN is valid, torque command is positive when /T-SIGN signal is ON, and torque command is negative when /T-SIGN signal is OFF.
Page 143: Jogging Related Pn0 Group Parameters
Function Code Instructions torque mode speed limit (Pn411) Speed limit in 0~10 Immed 0x0413 torque iately Pn413 control This parameter is used to set speed limit in torque control with Pn411 8.6. Jogging Related Pn0 Group Parameters Functi Parameter Rang Communicati on code efaul...
Page 144 Function Code Instructions mode Set the binary input signal distribution method: 0-Internal fixed: used by pins and functions fixed inside the servo unit. See “CN1 terminal” for details. 1-parameter configuration: It is used according to the function configured on each pin and is configured and used by function code Pn601~Pn609 CN1-40 input...
Page 145 Function Code Instructions configuratio Switch input 0~0x1 After internal 0x0611 restart configuratio Switch input 0~0x1 After internal 0x0612 restart configuratio 0×00: Invalid 0x01: Servo enable 0x02: Run in positive direction 0x03: Run in negative direction 0x04: Alarm clear 0x05: Manual P, PI control 0x06: Torque limit switching 0x08:Internal speed command direction selection 0x09: Internal speed...
Page 146: Expansion Related Pn7 Group Parameters
Function Code Instructions 8.8. Expansion Related Pn7 Group Parameters Funct Communicat ion code Parameter efaul ion address enabled No-motor test Afte － 00~0x0 0x0730 function selection r restart The no-motor test function is used to simulate the motion of the motor inside the servo unit without starting the motor and confirm the operation of the host device and peripheral equipment.
Page 147: Monitoring Parameters
Monitoring Parameters Monitoring Parameters Monitoring Monitoring name mailing range unit code address Motor rotation speed 0x80000000~0x7fffffff 0xE000 Un000 Display the actual speed of the servo motor 0x80000000~0x7fffffff Speed command 0xE001 Display the current speed command of the servo motor Un001 Note: When it is not enabled, this value shows the analog speed (corresponding to V-REF) Internal torque command...
Page 148 Monitoring Parameters Un036 FPGA software version 0~0xFFFF 0xE036 Un089 Heat sink temperature 0~0xFFFF ℃ 0xE090 IO port input signal 0~0xFFFF 0xE100 － monitoring Un100 See "3.3.3 Confirming the input status" for details IO port output signal 0~0xFFFF 0xE101 － monitoring Un101 See "3.3.3 Confirming the output status"...
Page 149 Monitoring Parameters Cumulative load rate while Un30A 0~0xFFFF 0xE30A alarm occurs Regenerative load rate Un30B 0~0xFFFF 0xE30B while alarm occurs Electricity consumption of Un30C DB resistance while alarm 0~0xFFFF 0xE30C occurs Maximum cumulative load Un30D 0~0xFFFF 0xE30D rate while alarm occurs Rotation inertia ratio while Un30E 0~0xFFFF...
Page 150: Fault Code And Countermeasures
Fault Code and Countermeasures Fault Code and Countermeasures 10.1. Fault Code Fault Fault type Solutions code 1. Enter the parameters again after initializing parameter settings, 2. Write the power level of the driver to 0 first, and then write the Abnormal correct power level.
Page 151 Fault Code and Countermeasures 1. Check whether the motor phase sequence is wrong 2. Check whether the motor is damaged and use a multimeter to measure whether U/V/W is short together. Over-current Er.100 3. Check the motor encoder angle is correct fault 4.
Page 152 Fault Code and Countermeasures 1. check whether the power input terminal line is connected 2. When the power supply voltage is not enabled, measure the power supply voltage at the same time monitor whether the bus voltage (Un140) is 1.414 times of the input power voltage (AC RMS).
Page 153 Fault Code and Countermeasures there is a huge noise, adjust the gain parameter to eliminate noise or jitter. Also, use a virtual oscilloscope to monitor whether the motor output torque is abnormal. 1. The load is too heavy when the machine stops that cause the overload of DB resistor and you could try to reduce the operating speed or reduce the load.
Page 154 Fault Code and Countermeasures 1. Set the appropriate position deviation excessive alarm value 2. Check whether the encoder cable and motor cable are connected properly. You can use the hand to rotate the motor and monitor whether the Un003 (rotor relative Z pulse position) varies between 0 and 16777216 (24-bit encoder).
Page 155: Warning Code
Fault Code and Countermeasures 10.2. Warning Code Warning Type Solutions code 1. Correctly set relevant parameters such as gear ratio, gain, position filtering, torque limit, etc. Excessive AL.900 Position deviation 2. confirm the encoder line motor wiring is correct warning 3.
Page 156: Communication
Communication Communication 11.1. Communication introduction Servo driver can support RS485, CANopen bus type, EtherCAT bus type, MECHATROLINK-II bus type. Here we mainly introduce the related content of general model RS485 communication. Other communication needs to refer to the special communication manual. 485 communications can realize the following functions.
Page 157: Command Code And Communication Data Description
Communication Each 8Bit byte in the message frame contains two 4Bit hexadecimal characters. Device Start bit command data CRC check Terminator address T1-T2-T3-T4 8Bit 8Bit N 8Bit 16Bit T1-T2-T3-T4 In this mode, the message transmission starts at least at a pause interval of 3.5 characters. During transmission, the network device continuously detects the network bus, including the pause interval.
Page 158 Communication START T1-T2-T3-T4（3.5 bytes of transmission time） ADDR Number of bytes The high content of the starting data address 03F2H Content status of the starting data address 03F2H The content of the second data address 03F3H is high The lower content of the second data address 03F3H CRC CHK low bit CRC CHK high bit...
Page 159: Communication Frame Error Check Mode
Communication The slave responds to the message: START T1-T2-T3-T4（3.5 bytes of transmission time） ADDR Write data start address high Write data start address low The number of data is high (in word) Number of data status (calculated in word) CRC CHK low bit CRC CHK high bit T1-T2-T3-T4（3.5 bytes of transmission time）...
Page 160: Error Message Response
Communication 6 or more bytes in the frame with the values in the current register. Only the 8Bit data in each character is valid for the CRC, and the start and stop bits as well as the parity bit are invalid. During the CRC generation process, each 8-bit character is individually different from the register contents (XOR), and the result moves to the least significant bit direction, and the most significant bit is padded with 0.
Page 161: Host Debugging Instruction
2. The host computer system currently supports USB communication debugging. 3. The system only supports servo SD700 series servo product debugging; 4. Verify that the "Use FIPS-compliant algorithms for encryption" option is set to disabled (Control Panel - Administrative Tools - Local Security Policy - Security Options - Use FIPS-compliant algorithms for encryption - disabled) 12.1.2.
Page 162: Main Interface
Host Debugging Instruction 1. Connection between PC and SD700 servo drive via Android micro mobile phone data cable 2. Click My Computer - Manage - Device Manager and find 3. Right-click and select "Update Driver", select "Browse calculations to find driver software" 4.
Page 163 Host Debugging Instruction Menu bar The menu bar includes functions such as files, settings, tools, advanced applications, windows, and help; [File]: Open and exit the system; [Settings]: user rights, service personnel rights, developer rights; [Tools]: parameter settings, real-time monitoring, digital oscilloscope, fault information, screenshots and other functions;...
Page 164: Features
Host Debugging Instruction Status bar The status bar includes the current communication status and servo work status. 12.3. Features File Documents include open, exit, etc.; Turn on Open function: open the existing file; Step: Click the menu bar [File] -> [Open] -> [Select the current system directory folder Test32] -> [Select VCDGSmsyc.vcb file];...
Page 165 Host Debugging Instruction 1- Toolbar The toolbar includes reading the current page function code, reading all page function codes, writing function codes to EERPOM, exporting the current page function code, exporting all function codes, importing function codes in batches, comparing the differences of two file parameters and finding out modified parameters, as shown below: 2-Multi page Each page is displayed in different functional groups.
Page 166 Host Debugging Instruction Function code writing can be individually written. Step: 1. write individually: select a function code, click on the column corresponding to the current value, click twice in succession, it may enter the editing state, enter the value then click on Enter, the system will automatically send a write command, or directly click [Write] on the toolbar after editing to finish writing the parameters.
Page 167 Host Debugging Instruction analysis Step: 1. Click on the toolbar icon to find out the modified parameters. At the same time, the pop-up dialog box will display the progress in the form of a progress bar as shown in the following figure.
Page 168: Real-Time Monitoring
Host Debugging Instruction 12.4. Real-Time Monitoring Real-time monitoring provides real-time monitoring of monitoring parameters and I/O status, as well as current fault information; Step: 1. Start the real-time monitoring interface. As shown in the figure below, the monitoring parameters are divided into three groups. The monitoring parameters can be added to the common parameters.
Page 169: Auxiliary Functions
Host Debugging Instruction 2. Check the monitored parameters and monitor the servo. During the monitoring process, you can also export and save the monitoring content. Monitoring parameter export The export of monitoring parameters is a way to output and save the monitoring parameters, which can facilitate the customer to save the monitored parameters.
Page 170: Inertia Identification
Host Debugging Instruction 12.5.2. Inertia Identification The inertia Identification function allows the servo unit to perform automatic operation (forward and reverse reciprocating motions), and estimates the moment of inertia of the load during operation. Step: 1. Click [Inertia Identification]→[Next] on the host interface to enter the following interface in the inertia identification operation process, as shown in the following figure.
Page 171 Host Debugging Instruction 2. As shown in the above figure, set the corresponding parameters according to the actual situation (usually keep the default), and click [Next] → [Write] → [Next] → [Enable] → [Forward] → [Reverse] After the forward rotation is repeated three times, the final inertia identification result is displayed, as shown in the following figure.
Page 172: Mechanical Characteristics
Host Debugging Instruction 3. Click [Write]→[Next]→[Complete] to finish the inertia recognition process. 1.1.1.1.1 12.5.3 Program JOG The JOG operation of the program refers to the function of executing the continuous operation in the previously set operation mode (moving distance, moving speed, acceleration/deceleration time, waiting time, number of movements).
Page 173 Host Debugging Instruction characteristics analysis operation process, click on [Next] → [Next] to enter the parameter adjustment interface, and adjust the corresponding parameters according to the actual situation, as shown in the following figure. 2. Click [Next] → [Write] → [Next] → [Enable] → [Forward] → [Enable] → [Reverse] → [Next] →...
Page 174: Analysis
Host Debugging Instruction resonance frequency. Click on [Settings] to set the frequency of the first notch filter. After the setting is completed, the screen is closed. Mechanical properties are completed. 12.5.4. Analysis EasyFFT transfers the periodic waveform commands from the servo unit to the servo motor and rotates the servo motor slightly for a certain time to cause the vibration of the machine.
Page 175 Host Debugging Instruction bandwidth setting, the relevant servo gain settings can be automatically adjusted. Bandwidth setting adjusts the following items. • Gain adjustment (speed loop gain, position loop gain, etc.) • Filter adjustment (torque command filter, notch filter) • IF suppression control Step: 1.
Page 176: Offset Adjustment
Host Debugging Instruction 3. Click on [Adjust Start] to tune the tuning value (generally increase). During the process of increasing the tuning value, the servo will vibrate. At this time, vibration detection will be performed automatically. If not, operation can be performed manually, and the tuning value can be set in combination with the figure captured by the digital oscilloscope, or 80% of the tuning value of the motor can be selected as the tuning value.
Page 177: Soft Reset
Host Debugging Instruction interface. Click [Next] to enter the execution instruction interface, as shown in the following figure. 2. Click [Enable] to enable the servo motor to enter the enable state, and then click [Forward Run] or [Reverse Run] to perform the origin search. After the search is completed, click [Next] to enter the back to origin setting interface and click [Completed] to return to origin operation 12.5.7.
Page 178: Fault Information
Host Debugging Instruction Steps: Click on the main interface of the upper computer to restore the factory value. After the operation is completed, power it on again. 12.5.9. Fault Information The fault information can display current faults, historical faults, causes of faults, handling measures, information related to faults, and clearing of fault information.
Page 179 Host Debugging Instruction 3, display data oscilloscope interface, as shown below 1 - Toolbar The toolbar includes open, save, full screen, style (switch to display background), settings, screenshots, legend, timeline, back, forward, rewind, fast forward, zoom in, zoom out, adaptive, zero position, dot/line , measurement and other functions 2 - Curve display area Different curves provide visual display and measurement results for display;...
Page 180 Host Debugging Instruction Data channel I/O channel 4 - Waveform display selection area It provides selection and display of desired waveforms. 5 - Digital display of measured value It provides display of current value, effective value, average value, maximum value, minimum...
Page 181: Real-Time Acquisition
Host Debugging Instruction value, peak value, etc. 6 - Record button operation button It’s used to start and stop recording 7 - Collection method selection It’s used to choose the mode of wave recording, real-time and triggered acquisition 12.6.1. Real-Time Acquisition Real-time acquisition is displayed in real time in the form of waveforms on the servo operating conditions.
Page 182: Graphic Operations
Host Debugging Instruction the record button will change to 3. If you need to trigger again, you need to start recording again; 12.6.3. Graphic Operations Graphic operations include X/Y zoom, XY label value, Y axis curve point and point display/hide and measurement, X axis curve point and point display/hide and measurement, curve zoom in/out, curve shift, curve zero adjustment , curve adaptive adjustment, graphics attribute settings and other functions X axis cursor...
Page 183 Host Debugging Instruction XY digital display There are multiple axes on the Y axis, which can be selected according to the needs. Through the measurement function, the mouse will display the XY value of the current point in digital form as shown in the following figure.
Page 184 Host Debugging Instruction Y axis scale display/hide The Y coordinate scale is displayed as a fixed value, and the Y axis scale display/hide can be modified through the toolbar settings. Steps: 1. Click the top right corner of the oscilloscope interface and and in the Y axis option, check the label visibility and scale visibility.
Page 185 Host Debugging Instruction Y-axis curve display/hide The Y-axis has multiple curves, which can be selected according to the channel. The Y-axis curve is displayed by default. Steps: 1. In the interface of digital oscilloscope, remove the unnecessary waveform options, and the corresponding Y-axis curve will be automatically hidden in the graphics;...
Page 186 Host Debugging Instruction Curve translation Steps: 1. Horizontal panning of the curve: left-click on the toolbar , move left and right and move right and left fast (Note: When you move to the right to the maximum scale point, it will no longer move to the right).
Page 187: Others
Host Debugging Instruction 12.7. Others 12.7.1. Window Display The window display is divided into: cascade, horizontal, vertical display, all off; 1. Cascade: click on the main menu of the host computer window [window] -> [cascade display]; 2, level: click on the host computer interface menu bar [window] -> [horizontal display]; 3, vertical: click on the main interface of the host computer menu window [window] ->...

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