Parker FL20-S Series Manual
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Parker FL20-S Series Manual

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  • Page 2 Parker or its subsidiaries or authorized distributors. To the extent that Parker or its subsidiaries or authorized...
  • Page 3 All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in any form or by any means to persons not employed by a Parker SSD Drives company without written permission from Parker Automation Wuxi, a division of Parker Hannifin Ltd . Although every effort has been taken to ensure the accuracy of this document it may be necessary, without notice, to make amendments or correct omissions.
  • Page 4 FL20-S Series About this manual ■ Description of technical terms The terms in this manual are defined as follows: Servodrive is used to drive and control servo motor. Servo System means a servo control system that includes the combination of a servodrive, servo motor with a host computer and peripheral devices.

  • Page 5: Table Of Contents

    FL20-S Series I NOTES FOR SAFE OPERATION .................... 11 II MODEL SELECTION ......................... 14 2.1 S ....................14 ERVO DRIVE INTRODUCTION 2.1.1 S ..................... 14 ERVO RIVE AMEPLATE 2.1.2 C ................. 16 ONNECTION TO ERIPHERAL EVICES 2.1.3 S ....................17 ERVO DRIVE SPECIFICATION 2.1.4 C...
  • Page 6 FL20-S Series 4.3 I/O ......................... 56 SIGNAL WIRING 4.3.1 P ............... 58 OSITION COMMAND INPUT SIGNAL AND FUNCTION 4.3.2 A ............... 63 NALOG COMMAND INPUT SIGNAL AND FUNCTIONS 4.3.3 A ................63 NALOG OUTPUT SIGNAL AND FUNCTIONS 4.3.4 D ................. 64 IGITAL INPUT SIGNAL AND FUNCTIONS 4.3.5 E...
  • Page 7 FL20-S Series 6.2.1 P ......................102 ARAMETERS SETTING 6.2.2 S .......................... 109 OFT START 6.2.3 S ..................110 CURVE SMOOTHNESS FUNCTION 6.2.4 Z ..................... 111 ERO CLAMP FUNCTION 6.2.5 S ...................... 111 PEED OUTPUT SIGNAL 6.3 T ........................115 ORQUE MODE 6.3.1 P...
  • Page 8 FL20-S Series 6.5.9 I ............186 NTERNAL PEED AND NALOG PEED 6.5.10 S ..................187 PEED AND ORQUE 6.5.11 A ........189 NALOG ORQUE AND NTERNAL EGISTER ORQUE 6.6 A ......................190 UXILIARY UNCTION 6.6.1 S ......................190 ETTING PASSWORD 6.6.2 S...
  • Page 9 FL20-S Series 7.3 G ......................... 242 DJUSTMENT 7.3.1 S ..........................242 UMMARY 7.3.2 A ..................243 UTOMATIC DJUSTMENT 7.3.3 M ....................245 ANUAL DJUSTMENT 7.3.4 G ........................247 WITCH 7.4 V ......................250 IBRATION NHIBITION 7.4.1 V ..................250 IBRATION...
  • Page 10 FL20-S Series 11.1 E ....................330 NCODER CABLE SELECTION 11.1.1 A ....................330 BSOLUTE ENCODER CABLE 11.1.2 I ..................331 NCREMENTAL ENCODER CABLE 11.1.3 R ....................332 ESOLVER ENCODER CABLE 11.2 C ........................332 ONTROL CABLE 11.3 P ........................333 OWER CABLE 11.4 O...

  • Page 11: I Notes For Safe Operation

    FL20-S Series I Notes for safe operation Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the servo drives. WARNING · Do not touch terminals for five minutes after voltage resistance test.
  • Page 12 FL20-S Series Storage and Transportation CAUTION ·Do not store or install the product in the following places: Locations subject to direct sunlight. Locations subject to temperatures outside the range specified in the storage or installation temperature conditions. Locations subject to humidity outside the range specified in the storage or installation temperature conditions.
  • Page 13 FL20-S Series 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, avoid using contactor in between.

  • Page 14: Model Selection

    FL20-S Series II Model selection 2.1 Servo drive introduction 2.1.1 Servo Drive Nameplate FL20 T3 M2 Product series FL20 20 series Product usage PMSM Power Structure 0. 05 kW Brake unit 0.1 kW Built- in brake unit 0.2 KW Built- in brake unit Dynamic brake unit 0.4 KW...
  • Page 15 FL20-S Series Communication card 20S - 0006 EtherCAT 20S- 0007 CANopen Fig 2.1.2 Optional function naming rule Parker Hannifin Corporation www . Parker . com Function Model FL20 - S F11D B3 202 3 3 code Input 3 PH 50 / 60 Hz 0 ～...

  • Page 16: Connection To Peripheral Devices

    FL20-S Series 2.1.2 Connection to Peripheral Devices Charging indicator Operator Panel The LED will light up when incoming power is given. The DC link capacitors will retain charge for some time. Even if power is turned off. Do not touch the power terminals as...

  • Page 17: Servo Drive Specification

    FL20-S Series 2.1.3 Servo drive specification 1) Electrical specification a）220V servo drive Name Servo drive FL20-S Continuous output current Arms Max output current 12.6 16.8 22.4 33.6 47.6 Arms Power of main 1-phase/3-phase AC 220V -15～+10% 50/60Hz circuit Power of 1-phase/3-phase AC 220V -15～+10%...
  • Page 18 FL20-S Series Pt Position pulse mode Pr Internal register position mode _ Sz Analog speed mode Sr Internal register speed mode Control mode Tz Analog torque mode Tr Internal register torque mode Regenerative braking Built-in or External (External braking should be selected and purchased)
  • Page 19 FL20-S Series overheat, Input power phase loss, Regeneration error, Overposition. Applicable load inertia Lower than 5 times of servo motor inertia. B. Performance index Control Specification mode Soft start 0～30S (Acceleration time and deceleration time can be set). DC±10V/ rated speed (It is default setting, which can be...

  • Page 20: Connection To Peripheral Devices

    FL20-S Series 2.1.4 Connection to Peripheral Devices Three phase AC power (for 1 phase 220v, only L1 and L3 should be connected) Breaker Used to protect power wire EMI filter ( Optional) Contacter ( Optional) Input choke ( Optional) PC / PLC...

  • Page 21: Servo Motor

    FL20-S Series 2.2 Servo motor 2.2.1 Servo motor nameplate and model — 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...

  • Page 22: Servo Motor Component

    FL20-S Series Motor nameplate Motor Model TYPE : FMMA - 102 F37 ED Rated Torque = 5 Nm Rated Current = 5A BEMF = 68V/ 1000 r/ min Rated Speed = 2000/2300r/ min Max Speed Installation Mode Insulation Grade IMB 5IP 65 TH.CI. B Product No.

  • Page 23: Servo Motor Model

    FL20-S Series 2.2.3 Servo motor model 220V motor model Rated power Rated torque Rated current Rotation inertia note Motor model N·m Kg·m FMSA-201*32*** 0.64 0.17 FMSA-401*32*** 1.27 0.29 FMSA-751*33*** 2.39 1.82 FMSA-102*33*** 1000 FMS series FMSA-122*35*** 1200 3000r/min FMSA-152*37*** 1500 12.2...
  • Page 24 FL20-S Series 380V motor model Rotation Rated Rated Rated power torque current note Motor model inertia N·m Kg·m FMSA-751*63*** 2.39 1.82 1000 FMSA-102*63*** FMSA-122*65*** 1200 FMS series FMSA-152*67*** 1500 12.2 3000 r/min FMSA-182*65*** 1800 10.1 FMSA-232*67*** 2300 18.2 FMSA-302*67*** 3000 24.2...
  • Page 25 FL20-S Series FMLA-102*67*** 1000 24.2 FML series FMLA-292*6A*** 2900 84.8 1000 r/min FMLA-372*6A*** 3700 119.5 Servo motor of 180 spigot and 250 spigot Rated Rated Rated power note torque current Motor model N·m FM15-0082*6EE*FL 16.6 FM15-0100*6EE*FL 20.7 FM15-0124*6EE*FL 12.4 24.7 FM15-0160*6EE*FL 33.5...

  • Page 26: Combination Of Servomotor And Servodrive

    FL20-S Series 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. 2.3 Combination of servomotor and servodrive 1) 220V servo motor and FL20 servo drive...
  • Page 27 FL20-S Series FMLA-102*37*** 1000 FL20-S102S2M2 FL20-S102T2M2 FMLA-152*37*** 1500 FL20-S182S2M2 FL20-S182T2M2 FML series — 1000r/min FMLA-292*3A*** 2900 FL20-S302T2M3 — FMLA-372*3A*** 3700 FL20-S452T2M3 2）380V servo motor and FL20 servo drive Power Adaptable servodrive (Note) note Motor model Function Three-phase 380 v code...
  • Page 28 FL20-S Series FMMB-432*6A*** 4300 FL20-S452T3M3 FMMB-552*6A*** 5500 FL20-S552T3M3 FMMB-752*6A*** 7500 FL20-S752T3MM4 FMLA-102*67*** 1000 FL20-S152T3M2 FML series FMLA-292*6A*** 2900 FL20-S302T3M3 1000r/min FMLA-372*6A*** 3700 FL20-S452T3M3 FM15-0082*6EE*FL 8200 FL20-S752T3MM4 FM15-0100*6EE*FL 10000 FL20-S113T3MM4 FM15-0124*6EE*FL 12400 FL20-S153T3M4 FM15-0160*6EE*FL 16000 FL20-S183T3M5 FMM series FM15-0180*6EE*FL 18000 1500r/min...
  • Page 29 FL20-S Series FM20-0071*6FEDNL 7100 FL20-S752T3MM4 FM20-0094*6EEDNL 9400 FM20-0117*6EEDNL 11700 FL20-S153T3M4 FM20-0140*6EEDNL 14000 Note: 5.5 kw and above 5.5kw servo drive doesn’t have dynamic brake. M1, MM4 structure and above servodrive doesn’t have built-in resistor, customer should purchase braking resistor separately.

  • Page 30: Installation

    FL20-S Series III Installation 3.1 Servo drives installation 3.1.1 Installation conditions Equipment location In an indoor location, Prevent exposure from direct sunlight, Free from dust, tangy caustic gases, flammable gases, steam or the salt-contented, etc. Altitude 1000m or below Atmospheric...

  • Page 31: Installation Procedure And Minimum Clearances

    FL20-S Series 3.1.2 Installation procedure and minimum clearances In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and sufficient free space is given to the servo drive. >50mm Ser vo Dr i ve >20mm...

  • Page 32: Servo Drive Dimension

    FL20-S Series 3.1.3 Servo drive dimension M1 structure: (unit is mm) Fig 3.1.3 Servo drive structure 1 M2 structure: (unit is mm) Fig 3.1.4 Servo drive structure 2...
  • Page 33 FL20-S Series M3 structure: Fig 3.1.5 Servo drive structure 3...
  • Page 34 FL20-S Series MM4 structure: ( 28. 3) 100± 0. 5 ( 75) Appr ox . m ass : 7. 5kg Fig 3.1.6 Servo drive structure 4...
  • Page 35 FL20-S Series M4 structure: Approx mass ： 10 . Fig 3.1.7 Servo drive structure 5...
  • Page 36 FL20-S Series M5 structure: Approx msaa ： 11.1Kg Fig 3.1.8 Servo drive structure 6...
  • Page 37 FL20-S Series M6 structure: Approx mass ： 17.4 Kg Fig 3.1.9 Servo drive structure 7...

  • Page 38: Servo Motor Installation

    FL20-S Series 3.2 Servo motor installation 3.2.1 Installation location 1. Install the servo motor in an environment free from corrosive or inflammable gases or combustibles, such as hydrogen sulfide, chlorine, anmonia, sulphur gas, chloridize gas, acid, soda and salt. 2. Select and use the servo motor with oil seal in a place with grinding fluid, oil spray, iron powder or cuttings.

  • Page 39: Precautions On Servo Motor Installation

    FL20-S Series 3.2.3 Precautions on servo motor installation Item Description Before starting installation, thoroughly remove the anticorrosive paint that coats the end of Anticorrosive motor shaft. Align the shaft of the servo motor with the shaft of the equipment, and then couple the shafts.

  • Page 40: Servo Motor Dimension

    FL20-S Series 3.2.4 Servo motor dimension Dimension between shaft front face and shaft shoulder Dimension between shaft front face and flange face Tolerance grade not noted 4 - core supply plug 7-core absolute refer to GB/T-1804- 2000-M Flange lug height of motor face...
  • Page 41 FL20-S Series 80 Flange Motor 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 42 FL20-S Series 110Flange Motor 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.
  • Page 43 FL20-S Series 130 Flange Motor 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.
  • Page 44 FL20-S Series 180 Flange Motor 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...
  • Page 45 FL20-S Series FM15, FM17, FM20 series, Air-cooling 4-Ø D5 Ø D2 Ø D4 4- D3 Fig 3.2.6 Dimension of servo motor Stand spigot L10 H1 H5 M1 215 14.5 39 12 56 185 75. 5 147 124 200 224 12 200 254 278 300 17 .

  • Page 46: Wiring

    FL20-S Series IV Wiring This chapter provides servo system block diagram. 220V CN 3 input and output signal terminal CN2 encoder input signal terminal Fig 4.1.1 220V servo drive schematic diagram...
  • Page 47 FL20-S Series 380V CN3 input and output signal terminal CN 2 encoder input signal terminal Fig 4.1.2 380V servo drive schematic diagram...

  • Page 48: Main Circuit Wiring

    FL20-S Series 4.1 Main circuit wiring 4.1.1 Main circuit terminals (1) Main circuit terminals of 220V servo drive Terminal Terminal Functions identification description Used to connect three-phase AC 220V power. Main circuit terminal L1/R，L2/S，L3/T L1 and L3 are used to connect to single-phase 220V power.

  • Page 49: Main Circuit Terminal Wiring

    FL20-S Series 4.1.2 Main circuit terminal wiring (1) Wiring size The following are applicable wire sizes: Single wire: Ø 0.5~ Ø 1.6mm；Braided wire: 0.8 mm ~3.5mm (American standard AWG28~AWG12) (2) Connection procedure 1 Strip the end of the wire about 5~6mm.

  • Page 50: Typical Main Circuit Wiring Examples

    FL20-S Series 4.1.3 Typical main circuit wiring examples For 220V servo drive Three-phase AC 220V power supply QF circuit breaker FIL filter Contactor KM1 Normally-open contact Manual power on Manual power off Alarm relay Alarm relay Contactor +24V RLY normally-...
  • Page 51 FL20-S Series For 380V servo drive Three- phase AC 380 V power supply QF circuit breaker FIL filter Contactor KM1 Normally open contact R/L1 S/L2 T/L3 Manual power on Manual power off Alarm relay Alarm relay Contactor + 24V RLY normally...

  • Page 52: Precaution For Main Circuit Wiring

    FL20-S Series 4.1.4 Precaution for main circuit wiring 1. Don’t connect input cable to U/V/W, or else, servo drive will be damaged. 2. When user conects external resistor, please remove the wire between B2 and B3 and connect external resistor between B1 and B2.

  • Page 53: Encoder Wiring

    FL20-S Series 4.2 Encoder wiring Precaution for encoder wire: 1. Make sure servo drive and motor are grounded reliably, otherwise servo drive may have wrong action. 2. Don’t connect encoder cable to NC terminal. 3. User must consider of cable resistance and distributed capacitance to select cable length.Cable resistance may cause voltage drop, distributed capacitance will lead to signal attenuation, 4.

  • Page 54: Resolver Encoder Connector Terminal Layout

    FL20-S 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 connector terminal layout Table 4.2.2 Encoder connector terminal Terminal Terminal Signal name Function code abbreviation CN2- 1 Resolver signal stimulus Connect to servo motor signal stimulus.

  • Page 55: Incremental Encoder Connector Terminal Layout

    FL20-S 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 connector terminal layout Table 4.2.3 Encoder connector terminal Terminal Terminal Signal name Function code abbreviation CN2- 1...

  • Page 56: I/Osignal Wiring

    FL20 Series 4.3 I/O 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 57 FL20 Series Fig 4.3.2 I/O signal connector terminal layout PZO+ DO4- PZO- DO4+ PBO- HPULS- PBO+ HPULS+ PAO- HSIGN+ HSIGN- PAO+ ALM+ ALM- DO1+ DO1- AGND DO2- DO2+ DO3+ SIGN /SIGN DO3- +24V PULS /PULS...

  • Page 58: Position Command Input Signal And Function

    FL20 Series 4.3.1 Position command input signal and function Table 4.3.1 Position command signal Signal name Pin No. Function PULS CN3-44 Input pulse types: Low-speed pulse Direction+pulse /PULS CN3-15 command input modes: A+B phase differential drive input and SIGN CN3-12 orthogonalpulse open-collector.
  • Page 59 FL20 Series 24V differential drive signal can be inputted by pulse input terminals of PL1, /SIGN and PL2, /PULS. Take the example of terminals PL2 and /PULS. Servo drive Command controller 2.2K 4.7k 15 / PULS 330Ω Fig 4.3.4 24V differential pulse input interface circuit Single-end drive The types of single-end drive include collector (drain) input, emitter (source) input and push pull input, and so on.
  • Page 60 FL20 Series Command controller Servo drive +24V 2.2K 15 /PULS 330 Ω Fig 4.3.6 24V open-collector pulse input interface circuit Wrong example: Error 1: current-limiting resistor is not connected, which leads to port damaged. Two errors are as below: 1. If 24V internal servo drive is not used, please connect it to external resistor. 2.
  • Page 61 FL20 Series +24V dc Servo drive 43 PL2 150R PULS 15 /PULS SIGN signal is not connected, direction can not be converted 28 PL1 150R SIGN 27 /SIGN Error 3: there is no loop when 24V internal servo drive is used.
  • Page 62 FL20 Series Servo drive 29 +24V 43 PL2 PULS 150R 15 /PULS 28 PL1 150R SIGN 27 /SIGN 30 CM Connect this terminal to No. 30 pin. High-speed pulse command input High-speed command pulse can be output to servo drive by differential drive. Servo drive Upper device HPULS+...

  • Page 63: Analog Command Input Signal And Functions

    FL20 Series happen: Some input pulse could be missed.； There will be large interference when servo drive receives pulse. 4.3.2 Analog command input signal and functions Signal name Pin No. Function AS1+ CN3-23 Resolution of analog input signal is 12 bits, input voltage range is -10V-+10V.

  • Page 64: Digital Input Signal And Functions

    FL20 Series 4.3.4 Digital input signal and functions Signal name Pin No. Function CN3-18 CN3-19 CN3-20 Program DI1-DI8 are digital input terminals, input mode is mable CN3-21 ON/OFF signal. Please refer to 8.1.7 DI/DO for the input CN3-22 detailed function. terminal DI input pulse frequency range is 0~3KHz CN3-38...
  • Page 65 FL20 Series Servo drive Servo Drive 3.3 K 3.3 K 24 VDC 24 VDC 3.3 K 3.3 K Fig 4-3-13 passive-contact interface circuit (2) Active contactor Active contactors include photoelectrical sensor, Hall sensor, transistor type PLC. Controller Controller Servo Drive 24VDC 24VDC Servo Drive...
  • Page 66 FL20 Series External 5V- 24 V dc Servo drive Relay is not connected. Servo drive External 5V- 24 V dc 9 DO1 + Wrong direction of 9 DO1+ flyback diode 10 DO1- 10 DO1- External 0V External Fig 4-3-16 Wrong wirng of relay output interface circuit Note：Relay is inductance load, please connect a freewheel diode in antiparallel between the load.

  • Page 67: Encoder Frequency-Division Output Signal And Function

    FL20 Series 4.3.5 Encoder frequency-division output signal and function Signal name Pin No. Function PAO+ CN3-36 Encoder A phase pulse frequency-division output PAO- CN3-35 PBO+ CN3-34 Encoder B phase pulse frequency-division output Common PBO- CN3-33 output PZO+ CN3-16 terminal Encoder Z phase pulse frequency-division output PZO- CN3-17 CN3-37...

  • Page 68: Communication Wiring

    FL20 Series DC: 5V- 24V Servo drive Optocoupler Fig 4-3-20 OZ signal interface circuit 4.3.6 Communication wiring (1) Interface instruction The RS485 communication interface is in the connector CN1. Fig 4-3-2 CN1 connector terminals Terminal Name Function CN1-1 5V power CN1-2 RS232-RXD Receiver terminal of RS232...

  • Page 69: Wiring When Using More Than One Servos

    FL20 Series 4.3.7 Wiring when using more than one servos Connect the alarm output (ALM) terminals for the three Servodrives in series to enable alarm detection relay RLY to operate. When the alarm occurs, the ALM output signal transistor is turned OFF. Wiring diagram of more than one 220V servos AC three-phase 220 V power supply breaker...
  • Page 70 FL20 Series 2) Wiring diagram of more than one 380V servos 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...

  • Page 71: Absolute Value Encoder

    PG frequency-division output pulse count. Battery usage Please install battery cell in order to save position data of absolute value encoder. Please purchase Parker special cable and battery box of manufacture. Battery installations steps: A: open cover of battery cover.

  • Page 72: Servo Drive And Servo Motor Wiring

    FL20 Series Battery replacement When battery voltage drops to about 1.3V, servo drive will trip into “AL-19 (battery voltage is lower)”. Although multiturn data exists, user should change battery Immediate, otherwise multiturn data will be lost when battery voltage keeps dropping. Please change battery according to below steps: Please change battery when servo drive is POWER ON.
  • Page 73 FL20 Series Encoder /V phase Encoder W phase Encoder /W phase Encoder power Encoder grounding —— No connection HOUSING HOUSING Table 4.4.3 Incremental encoder aviation plug layout Name Function Remarks Grounding Encoder A phase Encoder /A phase Encoder B phase Encoder /B phase Encoder U phase Encoder /U phase...
  • Page 74 FL20 Series No connection COS- Resolver differential signal No connection No connection No connection No connection SIN+ Resolver differential signal No connection No connection SIN- Resolver differential signal Resolver excitation signal Resolver excitation signal Table 4.4.5 10-core encoder aviation plug Name Function Resolver excitation signal...

  • Page 75: Power Cable Of Servo Drive And Servo Motor

    FL20 Series 4.4.2 Power cable of servo drive and servo motor a) 4-core power AMP plug Name Cable color Function Yellow Drive input Blue Drive input Drive input Yellow-green/black Grounding b) 4-core power aviation plug Name Function Grounding Drive input Drive input Drive input c)Braking cable plug...
  • Page 76 FL20 Series Name Function DC 24V + DC 24V - Plug No. Name Function DC 24V + – DC 24V - — None...

  • Page 77: Operation And Parameters

    FL20 Series V. Operation and parameters 5.1 Keypad description 5.1.1 Instruction of keypad LCD Display ● ● ● ● Four operating buttons ▲ ▼ Four buttons identifier MODE Fig 5-1-1 Digital keypad Identifier Name Function Charge LED Indicating that Servo is on. (green) Charge LED Indicating that malfunction occurs.

  • Page 78: Keypad Operating Procedure

    FL20 Series 5.2 Keypad operating procedure 5.2.1 Switchover between parameter section Power on Status Display Mode MODE Press MODE key Monitor Mode Press MODE key MODE Auxiliary fun ction MODE Press MODE key MODE Press MODE key Main function section MODE Press MODE key Motor parameter section...

  • Page 79: Parameters Instructions

    FL20 Series section (PL□□□) by pressing MODE key. If fault occurs, current fault code will be displayed circularly. 5.2.2 Parameters instructions The representation method in this manual is Po001. The hollow digitron represents blinking operating digits, which is the adjustable digits. ☞...
  • Page 80 FL20 Series Ex: at position mode, the pulse command type of pulse+pulse is selected, then the last digit of Po300 is set to1. The display content is: The quoting mode is Po300.A=1. ■ Five parameters display □□□□□ The first digit means current page, the other digits mens current value. For example: set value of HOME, Po136=131072, the actual display content is as below: Parameter scope Parameter...

  • Page 81: Keypad Operating Procedure

    FL20 Series 5.3 keypad operating procedure 5.3.1 Example of monitor function parameter 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 No terminal ON External DI5 terminal is ON...

  • Page 82: Example Of Auxiliary Parameters Usage

    FL20 Series 5.3.2 Example of auxiliary parameters usage 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 83: Parameter Setting

    FL20 Series 5.3.3 Parameter setting Take setting parameter Po001 as the example: When Po001.Y=0, set motor rotating clockwise to forward direction. When Po001.X=3, analog speed mode is selected. Power on Status display Press MODE key MODE Monitor mode MODE Press MODE key Auxiliary function section MODE...
  • Page 84 FL20 Series If function code digits are longer than 5 digits, the setting method is as below: Take setting Po123 to 100000000 as example: Power on Status dispaly Press MODE key MODE Main function section Quickly press SET key Quickly press SET key Press UP key to Po123...

  • Page 85: Run

    FL20 Series VI Run 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 86 FL20 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 sure servo motor runs normally without load, then connect load to motor.
  • Page 87 FL20 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 88: Basic Parameters Setting

    FL20 Series 6.1 Basic parameters setting 6.1.1 Before running Make sure that all wiring has been completed. Wiring Connect L1（R） 、L2（S） 、L3（T） of servo drive to main circuit power. 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 89 FL20 Series Motor parameter setting speed position torque Function Function Definition (unit) Setting range Function When enabled Code Ho000 Rated voltage (V) 0~30000 rated voltage Effect Immediate Ho001 Rated current (0.1A) 0~30000 rated current Effect Immediate Ho002 Max rotary speed(r/min) 0~32000 Max rotary speed Effect Immediate...
  • Page 90 FL20 Series Holding brake setting The holding brake is used when the servo motor controls a vertical shaft. The servo motor with brake prevents the movable part from shifting due to gravity when the power supply fails. The holding brake function is only suitable for servo motor with brake.
  • Page 91 FL20 Series Servo drive works in normal status. Normal status includes servo motor static status and servo motor running status. ▪Static status: motor actual speed is lower than 20r/min. ▪Running status: motor actual speed is higher than 20r/min. Braking when servo motor stops Delay time for SERVO OFF Speed Position Torque Mfr’s value...

  • Page 92: Setting The Overtravel Limit Function

    FL20 Series 1. Speed decreases to setting value of So-16. 2. Servo drive becomes disabled status, and after delay time of So-03. Enable signal Servo and motor enable status 300ms Electromagnetic braking signal 100ms Braking status Delay time Delay time Fig 6-1-4 Electromagnetic brake sequence diagram Note: after servo enabled is off, T1 is the lower value of So-03 and the time taken by speed arriving to setting value of So-16.
  • Page 93 FL20 Series Forward run prohibited Speed Position Torque Mfr’s value Setting range Setting unit When enabled So-17 0: Prohibited invalid Effective Immediate 1: Prohibited valid Reverse run prohibited Speed Position Torque Mfr’s value Setting range Setting unit When enabled So-18 0: Prohibited invalid Effective Immediate 1: Prohibited valid...
  • Page 94 FL20 Series Forward running range multi-loop numbers when overtravel protection Speed Position Torque Mfr’s value Po142 Setting range Setting unit When enabled 0~32000 1000 Effective Immediate Reverse running range pulse when overtravel protection Speed Position Torque Po143 Mfr’s value Setting range Setting unit When enabled 0~2147483647...

  • Page 95: Jog Operation Procedure

    FL20 Series 6.1.5 Jog operation procedure Servo is at a special speed mode while jogging operation. Panel jog function Step Content Remarks Check wiring of main circuit, check whether power L1C and L2C should not be connected for supply of control circuit (L1C, L2C) and main circuit 380 V servo drive (R/L1, S/L2, T/L3) is powered on.

  • Page 96: Timing Sequence Control

    FL20 Series 6.1.6 Timing sequence control (1) Timing 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...
  • Page 97 FL20 Series (2) Timing sequence when servo drive alarms 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.

  • Page 98: Setting The Braking

    FL20 Series 6.1.7 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 99 FL20 Series Motor is in the state of energy regeneration during deceleration or stop process, which converts mechanical energy into electrical energy. The energy feedback works on bus line by inverting circuit, which leads to the voltage of bus line higher. When the voltage is too high, the components in the servodrive will be damaged. The method of energy consumption braking is to consume feedback energy into heat energy by braking resistor.
  • Page 100 FL20 Series Discharge duty ratio Speed Position Torque Mfr’s value So-05 Setting range Setting unit When enabled 0~100 Effective Immediate Please refer to next table for built-in braking resistor and min resistor value of external braking resistor for 220V servo. Servo drive structure Built-in resistor value and Min resistor value of...

  • Page 101: Speed Mode

    FL20 Series Resistor External dimension (mm) Installation dimension (mm) Resistor type Aperture (Ф) power Length (A) Width (B) Height(H) Length (W) Non-sense ripple porcelain tube Ф6.5±0.3 500W 360±3.0 50±1.0 91±3.0 338±3.0 resistor Non-sense ripple porcelain tube Ф6.5±0.3 350±3.0 60±2.0 119±3.0 325±5.0 resistor Non-sense ripple porcelain tube...

  • Page 102: P Arameters Setting

    FL20 Series 6.2.1 Parameters setting Speed mode includes internal register speed and analog speed, user can set mode selecton by Po001. Parameter Remarks d □ 0 Control mode selection: internal register speed mode Po001 d □ 3 Control mode selection: analog speed mode ...
  • Page 103 FL20 Series Servo drive Filter AGND 40 Analog output AO 2 AGND Encoder frequency dividing pulse A/ D differential output Filter PA0+ 36 Analog PA 0 - 35 External PB 0+ 34 torque limit PB 0 - PZ0 + 16 PZ0 - 17 AGND ALM+ 7...
  • Page 104 FL20 Series 3 DI1~DI8 are programmable input terminals, and DO1~DO4 are programmable output terminals. Users can redefine these terminals by parameters. b) Related parameters Parameters Remarks d □ 0 Po001 Control mode selection: internal register speed mode Internal speed given 1 Speed Po113 Mfr’s value...
  • Page 105 FL20 Series 2） Analog speed mode a)Wiring diagram Servo drive AO1 1 Filter AGND 40 Analog speed Analog output command -10V~+10V AGND Encoder frequency dividing pulse A/ D differential output Filter PA0+ 36 Analog PA0- 35 External torque limit PB0+ 34 - 10V~+10V PB0 - 33 PZ0+ 16...
  • Page 106 FL20 Series Note: represents twisted-pair wires. 2 Servodrive has internal 24 VDC power supply. But external 12~24VDC power supply is recommended. 3 DI1~DI8 are programmable input terminals, and DO1~DO4 are programmable output terminals. Users can redefine these terminals by parameter. Zero drift: when analog input voltage is 0, zero drift is relative value between servo drive sampling voltage and reference terminal.
  • Page 107 FL20 Series Analog command is set by AI1. Analog command is set by AI2 （2）Setting relation between analog and speed Max speed corresponding to analog voltage speed Po400 Mfr’s value Setting range Setting unit When enabled — 1~10000 r/min Effective Immediate Set the speed value when analog voltage is 10V.
  • Page 108 FL20 Series When using auto zero set function, make sure analog input is 0V, and set Po406 to 1, after about 3s, zero drift will auto compensate. AI zero drift alarm Speed Torque Position Mfr’s value Po426 Setting range Setting unit When enabled 100~5000 2000...

  • Page 109: S Oft Start

    FL20 Series Note: in analog speed mode, the motor speed calculation formula is as below: Corresponding speed of lower limit voltage=value of Po400 X value of Po430 Corresponding speed of upper limit voltage=value of Po400 X value of Po432 (5)Analog command filter Analog speed command filter time constant Speed Torque Position Po404...

  • Page 110: S Curve Smoothness Function

    FL20 Series The acceleration/deceleration time means the time that speed increases from 0 to rated rotation speed or decreases from rated speed to 0. Please refer to Fig 6-2-5. V ( r / min ) Rated speed Target speed T (ms ) Po110 Po109 Fig 6-2-5 Soft start function...

  • Page 111: Z Ero Clamp Function

    FL20 Series Fig 6-2-6 S curve smoothness function 6.2.4 Zero clamp function When the zero clamp signal (ZCLAMP) is ON, servo enters into the locking status as soon as the absolute value of command speed drops below the motor speed level in the zero clamp level. The servo motor ignores the speed command and quickly stops and locks the servo motor.
  • Page 112 FL20 Series speed (Po117), speed arrival signal is output. This function is not limited by motor rotation direction. (1) Output signal Signal name Default terminals Remarks V-CMP V-CMP+ V-CMP- Motor rotation speed is close to command speed. (2) Parameters setting Range of target speed Speed Mfr’s value...
  • Page 113 FL20 Series (1) Setting output signal Signal name Default terminal Remarks TGON+ When the absolute value of speed is higher than the value of Po118, TGON TGON signal is output. TGON- (2) Parameters setting Rotation detection value Speed Mfr’s value Po118 Setting range Setting unit...
  • Page 114 FL20 Series So-61=3 Output voltage 0V + offset Offset voltage is determined by So-62. （3）Related parameter Servodrive output current corresponding to 10V speed position torque So-20 Mfr’s value Setting range Setting unit When enabled 1~1000 0.1A Effective Immediate Servodrive max bus line voltage corresponding to 10V speed position torque So-21 Mfr’s value...

  • Page 115: T Orque Mode

    FL20 Series 6.3 Torque mode Torque mode includes analog torque mode and internal register toqrue mode, user can select it by Po001. The diagrame is as below: Torque command Torque Torque Torque input Current loop command command source and control amplitude filter direction...
  • Page 116 FL20 Series 1）Internal register torque mode Wiring diagram Servo drive External speed limit AO1 1 Filter AGND 40 Analog speed Analog output signal -10V~+10V AGND Encoder frequency dividing pulse A/ D differential output Filter PA0+ 36 PA0- 35 PB0+ 34 PB0 - 33 PZ0 + 16 PZ0 - 17...
  • Page 117 FL20 Series Note: represents twisted-pair wires. 2 Servodrive has internal 24 VDC power supply. But external 12~24VDC power supply is recommended. 3 DI1~DI8 are programmable input terminals, and DO1~DO4 are programmable output terminals. Users can redefine these terminals by parameter. Related parameters Parameter Remarks...
  • Page 118 FL20 Series 2）Analog torque mode Wiring diagram Servo drive External speed limit AO1 1 Filter AGND 40 Analog speed Analog output signal -10V~+10V AGND Encoder frequency dividing pulse A/ D differential output Toruqe comand Filter PA0+ 36 -10V~+10V PA0- 35 PB0+ 34 PB0 - 33 PZ0 + 16...
  • Page 119 FL20 Series Note: represents twisted-pair wires. 2 Servo drive has internal 24 VDC power supply. But external 12~24VDC power supply is recommended. 3 DI1~DI8 are programmable input terminals, and DO1~DO4 are programmable output terminals. Users can redefine these terminals by parameter. Related parameters Parameter Remarks...
  • Page 120 FL20 Series 0~±5000 Effective Immediate Analog torque command zero drift Y(mv) Sampling compensation is to eliminate analog voltage torque command zero drift. Zero-drift The setting method is as following: Input voltage of analog channel X(mv) （1）Short-connect AI2 to AGND. （2）At the mode of analog torque, adjust Po403 to make Lo-28 to 0.

  • Page 121: S Oft Start

    FL20 Series -1000~1000 0.1% 1000 Effective Immediate Upper limit voltage in torque analog mode Speed Torque Position Po437 Mfr’s value Setting range Setting unit When enabled -1000~1000 0.01V 1000 Effective Immediate Note: in analog torque mode, the formula of motor torque is: Torque corresponding to lower limit voltage=Po401 value×...

  • Page 122: S Peed Limiting At Torque Mode

    FL20 Series Actual decreasing time T2=Po213 X target torque/rated torque 6.3.3 Speed limiting at torque mode This function serves to limit the servo motor speed during torque control to protect the machine. Motor speed Overspeed may lead to equipment broken. Max speed Speed limit value Speed limit value...
  • Page 123 FL20 Series Internal max torque limit is constantly enabled, and the rest of methods are limited by some conditions. When three methods are all valid, the actual torque limit value is the smallest value of them. (1) Internal max torque limit Inernal max torque limit value speed position torque Mfr’s value...

  • Page 124: R Elated Output

    FL20 Series 6.3.5 Related output 1) Output signal in torque limiting When torque is limited, DO terminal will output signal, and it is valid for forward/reverse running. Torque limit value Speed feedback value Torque Servo on Servo off Torque limiting (1) Output signal Signal Default terminal...

  • Page 125: P Araemeters Setting

    FL20 Series 6.4.1 Paraemeters setting Position pulse mode includes internal register position mode and external position mode, user can select it by Po001. Parameters Remarks d □ 1 Control mode selection: position pulse mode. Po001 d □ 5 Control mode selection: internal register position mode. ...
  • Page 126 FL20 Series 1） External position pulse mode Wiring diagram Servo drive AO1 1 AGND 40 HPULS 模拟量输出 4 HPULS+ HPULS - High-speed AGND pulse HSIGN 编码器分频脉 position HSIGN+ 冲差分输出 command HSIGN - PA0 + 36 PA0 - PB0 + PB0 - 33 PULSE PULS PZ0+ 16...
  • Page 127 FL20 Series Note: represents twisted-pair wires. 2 Servo drive has internal 24 VDC power supply. But external 12~24VDC power supply is recommended. 3 DI1~DI8 are programmable input terminals, and DO1~DO4 are programmable output terminals. Users can redefine these terminals by parameter. 4 The status of position command is set by the parameter Po300, differential signal is shown in this example.。...
  • Page 128 FL20 Series Start Low/high speed pulse input terminal Confirm pulse input terminal Filter interference signal 1. Low-speed pulse filter: Po300.B 2. High-speed pulse filter: PL120.B. Filter pulse input terminal 1. Direction + pulse 2. Orthogonal pulse of A phase + B phase 3.
  • Page 129 FL20 Series ② Pulse input pin filter For low-speed pulse or high-speed pulse input terminal, filter time need to be set to filter input pulse command, in order to prevent interference signal. Parameter Remarks b □□0□ Pulse input filter frequency is 4MHz b □□1□...
  • Page 130 FL20 Series 0.005ms, then cultter will be eliminated. Input signal Signal after filter When pulse filter time is set to a, and there are clutter which time is shorter than a/2, then clutter will be eliminate. ③ Pulse command form Pulse command has 3 kinds of forms: direction+pulse, A phase+B phase orthogonal pulse, and forward pulse/reverse pulse.
  • Page 131 FL20 Series value Input terminal Signal name Terminal Remarks PULS CN3-44 Low speed 5V pulse command input. / PULS CN3-15 PULS HPULS+ CN3-4 High speed differential 5V pulse command input. HPULS- CN3-3 SIGN CN3-12 Low speed 5V pulse direction input. / SIGN CN3-27 SIGN...
  • Page 132 FL20 Series 2） Internal register position pulse mode Wiring diagram Servo drive AO1 1 AGND 40 Analog output AGND Encoder frequency dividing pulse differential output PA0+ 36 PA0 - 35 PB0+ 34 PB0 - 33 PZ0+ 16 PZ0 - 17 AGND 40 ALM + 7 Servo alarm...
  • Page 133 FL20 Series Note: represents twisted-pair wires. 2 .Servo drive has internal 24 VDC power supply. But external 12~24VDC power supply is recommended. 3. DI1~DI8 are programmable input terminals, and DO1~DO4 are programmable output terminals. Users can redefine these terminals by parameter. At internal position command mode, 8 preset position commands can be set by parameters (Po350-Po364), and can be activated by use of input contacts SD0~SD2.
  • Page 134 FL20 Series Given postion of postion 3 Po354 Po332 Given postion of postion 4 Po356 Po333 Given postion of postion 5 Po358 Po334 Given postion of postion 6 Po360 Po335 Given postion of postion 7 Po362 Po336 Given postion of postion 8 Po364 Po337 Note: the default status of SD2, SD1 and SD0 is 000, 0 represents terminal open, 1represents terminal...
  • Page 135 FL20 Series Setting of multistage internal position Internal register position Mfr’s value Setting range Setting unit When enabled Two-parameter Effective Immediate Multistage position function setting Invalid Po348 Valid Stage numbers setting 2ed position 3th position … …… Internal position trigger Internal register position Mfr’s value Setting range...
  • Page 136 FL20 Series Deceleration time of internal position 3 Internal register position Mfr’s value Po315 Setting range Setting unit When enabled 0~32000 Effective Immediate Acceleration time of internal position 4 Internal register position Po316 Mfr’s value Setting range Setting unit When enabled 0~32000 Effective Immediate Deceleration time of internal position 4...
  • Page 137 FL20 Series Circulation times of multistage internal position Internal register position Mfr’s value Po349 Setting range Setting unit When enabled 0~30000 Effective Immediate Interval time 1 Internal register position Mfr’s value Po366 Setting range Setting unit When enabled 0~32000 Effective Immediate Interval time 2 Internal register position Mfr’s value...
  • Page 138 FL20 Series Position Absolute move P1=10 pulses P8=-10 pulses P4=20 pulses - 10 SON-I Enable signal input Internal register position selection SD0 Internal register position selection SD1 Internal register position selection SD2 Internal register position trigger CTRG The Position command can be inhibited at any time by input contact signal HOLD. Once HOLD is initiated the motor will decelerate and stop.
  • Page 139 FL20 Series Immediate and the remaining positioning pulses will be cleared. Once the CTRG input contact is activated again then a new position command will be started according to the selection of input contacts SD0~SD2 Diagram below shows clear function with incremental encoder. Position Absolute move P1=10 pulses...
  • Page 140 FL20 Series Internal register position selection 2 Position Position 1 command Position 2 S-ON enabled signal Internal register position selection 1 Internal register position selection 2 Internal register position selection 3 Internal register position trigger When termination signal is shown, the diagram is as below: Position 1 Position 1 Position...

  • Page 141: S Etting Electronic Gear

    FL20 Series Position 1 Position Position 2 command Position 1 S-ON enabled signal Internal register position selection 1 Internal register position selection 2 Internal register position selection 3 Internal register position trigger Internal register position termination signal Internal register position hold signal When enabled signal is OFF, the diagram is as below: Position 1...
  • Page 142 FL20 Series 2）Procedure for setting the electronic gear ratio Step Operation Description Check the reduction ratio, ball screw lead, and pulley Check machine specifications. diameter. Check the encoder resolution of servo Check the number of encoder pulse for one revolution. motor.
  • Page 143 FL20 Series electronic gear denominator Position Mfr’s value Po305 Setting range Setting unit When enabled 1~65535 10000 Effective Immediate group electronic gear numerator Position Po344 Mfr’s value Setting range Setting unit When enabled 0~2147483647 Effective Immediate electronic gear denominator Position Mfr’s value Po346 Setting range...

  • Page 144: P Osition Command Filter

    FL20 Series The deceleration ratio is 1 Servo motor Pitch is 6mm. 17 bits encoder Fig 6-4-18 Setting electronic gear Step Operation Calculation Check machine specifications. The deceleration ratio is 1:1 and the ball screw lead is 6mm. Check the number of encoder pulses. 17 bits encoder The command unit is 1μm.

  • Page 145: P Osition Command Inhibit Function

    FL20 Series V( r / min) Rated speed Target speed T(ms) Po343 Po343 6.4.5 Position command inhibit function This function inhibits the servodrive from counting input pulses during position control. Input position command Command pulse prohibition Actual response position command (1) Input signal Signal name Code...

  • Page 146: F Requency - Division Output Function

    FL20 Series (2) Setting parameters Parameters Remarks b □□0□ Command pulse clear function is OFF. Po308 b □□1□ Command pulse clear function is ON. 6.4.7 Frequency-division output function Encoder pulse is frequency-division processed by servo drive internal circuit, and orthogonal differential signal will output.
  • Page 147 FL20 Series CN3 – 33 PBO+ CN3 – 16 PZO- Encoder Z phase home pulse output (no frequency-division) CN3 – 17 PZ phase PZO+ CN3-37 Z phase open collector output When output signal is frequency-division, output pulse source (Po018) and phase (Po300) should be set by actual requirement.
  • Page 148 FL20 Series 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 b 0□□□...
  • Page 149 FL20 Series Table 6.4.2 Z phase open collector output Po018.A Po017 Forward rotation Reverse rotation (output pulse phase) (Z phase expansion) Pulse output Pulse output (3) Wiring terminals Signal name Terminal code Remarks PAO- CN3-35 PA phase Encoder A phase pulse frequency-division output PAO+ CN3-36 PBO-...
  • Page 150 FL20 Series 6.4.8 HomeSearchMode 1）Introduction Homesearch is the function of location and stop action (clamping) in the home pulse (Z-phase) position of encoder. In homesearch function, input contact ORGP(external detector input terminal) or Z-pulse can be used as home reference point, forward search or reversal search is adopted. Instructions: 1.
  • Page 151 FL20 Series Home/Mechanical origin searching at first speed Position Mfr’s value Po120 Setting range Setting unit Effect 0~20000 0.1r /min Immediate effect Home/Mechanical origin searching at second speed Position Mfr’s value Po121 Setting range Setting unit Effect 0~10000 0.1r /min Immediate effect Home/Mechanical origin searching acceleration/deceleration time Position...
  • Page 152 FL20 Series Power on S-RADY Servo ready signal is output SON-1 enabled signal is input Home searching SHOM trigger Home searching Home search mode Home completed output HOME Fig 6.4.24Sequence Chart when inputting entry point 4）Home Search Mode speed/position Sequence Chart 1.
  • Page 153 FL20 Series Po119.C= b□1□□(Return back to search the nearest Z-phase pulse as Mechanical originat the second speed with opposite direction after searching home reference) Po125.A= b□□□2(Input I/O port to trigger home search) Po119.D= b1□□□(Return back to Mechanical origin) Speed (Second speed) Po121 Position Po119.D= 1...
  • Page 154 FL20 Series Po119.C= b□2□□(Return back to search the nearest Z-phase pulse as Mechanical origin at second speed with same direction after searching home reference) Po125.A= b□□□2(Input I/O port to trigger home search) Po119.D= b1□□□(Return back toMechanical origin) Speed Po119.D=1 Position Po121 Po120 (Second speed)
  • Page 155 FL20 Series Po119.B= b□□2□(Search Z-phase pulse asMechanical origin) Po125.A= b□□□2(Input I/O port to trigger home search mode) Po119.D= b1□□□(Return back toMechanical origin) (Second speed) Po121 Speed Po119.D=1 Position (First speed) Po120 Po119.B=2 Z phase pulse Input signal SHOM Po125.A=2 Fig 6.4.30Reversal home searching at first speed 7.

  • Page 156: M Echanical O Rigin S Earch F Unction

    FL20 Series (Second speed) Po121 Speed Po119.D=1 Position (First speed) Po120 Po119.C=3 Input signal ORGP Input signal SHOM Po125.A=2 Fig 6.4.32Forward home searching at first speed 6.4.9Mechanical Origin Search Function 1）Introduction Mechanical origin search is the function of location and stop action (clamping)through the absolute position memorized by absolute encoder.
  • Page 157 FL20 Series (2) Parameters Setting mechanical origin Speed Position Torque Mfr’s Value Setting Range Setting Unit Effect So-41 Immediate effect 0：Not set mechanical origin; 1：Set current position as mechanical origin; Mechanical origin single-turn value Speed Position Torque Mfr’s Value Po136 Setting Range Setting Unit Effect...

  • Page 158: F Ixed L Ength I Nterrupt F Unction

    FL20 Series Power on 电源开启 S-RDY S-RDY Servo ready 伺服准备好输出 signal output Mechanical 机械原点设定 origin setting SON-I SON-1 enabled 使能信号输入 signal input Mechanical 机械原点检索 origin search 触发SHOM trigger SHOM 进入机械原点检 Mechanical origin Mechanical 机械原点检索 索模式 search mode origin search Mechanical origin 机械原点找到...
  • Page 159 FL20 Series Fixed length In internal position Rotary speed External mode, fixed length position pulse mode Trigger edge Register position trigger Interrupt start Interrupt release Po388.Y=0 Interrupt indicate Fig 6.4.35 Running mode of fixed length interrupts Fixed length External position Rotary speed Internal position mode External position...

  • Page 160: Do Output Related To Position Pulse

    FL20 Series (1) Related parameter Fixed length interrupt Position Mfr’s Value Setting Range Setting Unit Effect Two parameters Immediate Effect Po388 Interrupt fixed length function Invalid Valid Interrupt fixed length release terminal Invalid Valid 6.4.11 DO output related to position pulse Setting position reach pulse range: In the mode of position pulse, this parameter provides the basis that drive can complete positioning or not.

  • Page 161: F Ull Closed Loop Function

    FL20-S Series 6.4.12 Full closed loop function Full closed loop control: Install position detection device (grating scale, encoder etc.) on moving part, and real-time feedback to the position of moving part, without the influence of environmental factors such as mechanical error, shape change caused by temperature, make final working parts reach integral excellent high-accuracy positioning system.
  • Page 162 FL20-S Series CAUTION Note: The servo only supports the encoder of differential type or open collector type for feedback of moving parts. One of the feedback encoder or pulse input signal must be differential signal. Setting procedure of full closed loop shows as below: 开始...
  • Page 163 FL20-S Series (1) Parameter setting 1) Set position feedback source Position feedback source Position Mfr’s Value Po376 Setting Range Setting Unit Effect Immediate effect Name Purport Remark Po376=0 Position feedback root in motor motor shaft Po376=1 Position feedback root in high-speed counter 1...
  • Page 164 FL20-S Series Servo drive AO1 1 AGND 40 HPULS 模拟量输出 4 HPULS + HPULS- AGND High-speed pulse HSIGN 编码器分频脉 position command HSIGN+ 冲差分输出 HSIGN - PA0+ 36 24 GND PA0 - PB0+ 43 PL2 PB0 - 33 PULSE PULS PZ0+ 16...

  • Page 165: G Antry S Ychron F Unction

    FL20-S Series 6.4.13 Gantry Sychron Function Gantry Sychron: PC/PLC sends pulse commands to two drives at the same time, make the feedback position pulse signals interact and sampling cross coupling through the encoders of two motors, to realize the adjustment for speed of the motor.
  • Page 166 FL20-S Series Gantry Synchron internal frame diagram shows as below: Position Position Loop Speed-current Synchro Kp Synchro Kp Position Loop Speed-current Fig 6.4.41Gantry Synchro typical application wiring diagram The setting value of gantry synchro gain(Po381) must not exceed position-loop gain(Po301);...
  • Page 167 FL20-S Series (1) User parameter setting 1) Position feedback source setting Gantry position feedback source Position Mfr’s value Setting Range Setting Unit Effect Po382 Immediate effect 0：high-speed counter 1; 1：high-speed counter 2; 2) Feedback ratio setting Gantry synchron feedback proportion numerator Position Mfr’s value...

  • Page 168: E Lectronic C Am (E-C Am ) F Unction

    FL20-S Series Shaft B servo drive Shaft A servo drive PULS 4 HPULS+ / PULS Pulse frequency Connected to HPULS- dividing port which PC/ PLC PZ0+ 16 HSIGN+ connected to shaft B SD command PZ0- SIGN 12 HSIGN - PA0+ 36...
  • Page 169 FL20-S Series Fig 6.4.44FL20E-Cam internal frameworkdiagram...
  • Page 170 FL20-S Series START Conrfirm command source Po374.D Confirm cam condition PL000.B & PL000.C 1. PL016 input page no. Cam point setting 2. PL200 area input data Use PC/PLC to input points? Cam points setting PL015 Refresh cam point PL017=1 Cam initial position...
  • Page 171 FL20-S Series Electronic cam which is provided by FL20 series servo drive, main feature of E-Cam is as the followings: Features of E-CAM Operation Operate the E-cam in P mode only. Active PL000.A=0：disable E-cam function; E-CamFunction PL000.A=1：enable E-cam function and starts to judge the engaged condition;...
  • Page 172 FL20-S Series PL007 Master axis numerator setting PL009 Master axis denominator setting Master Axis Gearbox#1 Clutch PL000.A E-Cam PL000.B E-Cam enabled axis Pulse command Setting Value PL000.C Slave axis E-Cam engaged condition PL000.D Position Gearbox#2 E-Cam disengaged condition Slave controller...
  • Page 173 FL20-S Series Stop Engaged Pre-engaged Statements: ●Stop: Initial status of the cam.The cam will not run with master axis pulse. When PL000.A=0, cam will return to this state; ●Pre-engaged: when engagedcondition (path 1) is satisfied, it enters this status.The cam still will not run with master axis pulse, but it will execute the pulse value of PL003, then out of the state when executed.
  • Page 174 FL20-S Series 2.DI setting: FunIN.32When CAM-AC is off, the engaged status disabled; 3. Out of range: If master axis exceeds the setting moving distance PL005, the engaged status disabled; ● Gear #1 Description:  Gear #1: the module which is used to set the relation of master axis and E-cam axis;...
  • Page 175 FL20-S Series 0º and 360º is the same The data of 0°and 360°is different; 0º and 360º is different ● Gear #2 Description:  Gear #2：the module which is used to set the relation of slave axis and pulse command;...
  • Page 176 FL20-S Series 【Note】 For the drives with different encoder, the value of electronic gear ratio is different, please pay attentions when using; 1、 The value of incremental encoder is 10000; The value of rotation transformer type encoder is 4096; ● Digital Output of E-cam DO Name FunOUT.14CAM_AREA...
  • Page 177 FL20-S Series Electronic cam Close electronic cam Open electronic cam Command resource High counter 1 High counter 2 Internal position Time Trigger resource Trigger immediately DI2 trigger CAP0 Trigger CAP1 Trigger Detachment condition No detachment DI control Out of range...
  • Page 178 FL20-S Series E-cam Table Status Position Mfr’s Value Setting Range Setting Unit Effect Check PL018 0：Ready to start； 1：Waiting for engaged trigger; 2：Pre-engaged Status; 3：Running Status; E-cam disengaged is captured again or not Position Mfr’s Value PL021 Setting Range Setting Unit...

  • Page 179: Dual Mode

    FL20-S Series Master Axis Position Position Mfr’s Value PL019 Setting Range Setting Unit Effect 0~2147483647 Check 4) Digital output setting DO valid initial position Position Mfr’s Value PL011 Setting Range Setting Unit Effect 0~2147483647 Immediate effect DO valid ending position Position Mfr’s Value...
  • Page 180 FL20-S Series 6.5.2 Internal Speed And Position Pulse Dual Mode Internal register speed and position pulse command switching mode shows as fig 6.5.1, after servo is enabled, servo runs as speed mode when internal speed selectionsignal is enabled; Servo runs as position mode when internal speed selection signal is disabled.
  • Page 181 FL20-S Series 6.5.3 Analog Speed and Position Pulse Dual Mode External analog speed and position pulse command switching mode shows the figue 6.5.2, after servo is enabled, servo runs as position pulse mode when mode switching signal is enabled; Servo runs as analog speed when mode switching signal is disabled.

  • Page 182: A Nalog Speed And Internal Register Position Dual Mode

    FL20-S Series 6.5.4 Analog speed and internal register position dual mode External analog speed and internal register position switching mode shows as figure 6.5.3, after servo is enabled,servo runs as internal register position mode when mode switching signal is enabled; servo runs as analog speed when mode switching signal is disabled.

  • Page 183: I Nternal Speed And Internal Register Position Dual Mode

    FL20-S Series 6.5.5 Internal speed and internal register position dual mode Internal register speed and position switching mode shows as figure 6.5.4, after servo is enabled, servo runs asspeed mode when internal speed selection signal is enabled; Servo runs as internal register position mode when internal speed selection signal is disabled.

  • Page 184: T Orque M Ode And I Nternal R Egister P Osition D Ual M Ode

    FL20-S Series position pulsecommand switching mode shows as figure 6.5.5, after servo is enabled, servo runs as position mode when mode switching signal is enabled; Servo runs as torque mode when mode switching signal is disabled. In the running process of torque mode, servo slows down to zero according to deceleration time when mode switching signal is enabled;...

  • Page 185: P Osition P Ulse And I Nternal R Egister P Osition D Ual M Ode

    FL20-S Series switching mode show as figure 6.56, after servo is enabled, servo runs as internal register position mode when mode switching signal is enabled; servo runs as torque mode when mode switching signal is disabled. In the running process of torque mode, servo slows down to zero according to deceleration time when mode switching signal is enabled;...
  • Page 186 FL20-S Series is enabled, servo runs as internal register mode when mode switching signal is enabled; Servo runs as position pulse mode when mode switching signal is disabled. In the running process of position pulse mode, when mode switching signal is enabled, servo can receive internal position trigger only when position reach output signal is enabled.
  • Page 187 FL20-S Series analog speed mode when internal speed selection signal is disabled. In the running process of analog speed mode, when internal speed selection signal is enabled, servo switches tointernal speed mode and run to internal setting speed according to acceleration/deceleration time.
  • Page 188 FL20-S Series In the running process of torque mode, servo switches to speed mode when speed selection signal is enabled, and run to target speed according to acceleration/deceleration time. Internal Speed 3 Setting Torque Torque Curve Internal Speed Seleection 1...
  • Page 189 FL20-S Series disabled, and run to target speed according to acceleration/deceleration time. Analog Speed Setting Torque Speed Curve Mode Switch Analog Speed Setting Torque Torque Curve Mode Switch Fig 6.5.10 Speed mode and torque mode switching sequenc diagram 6.5.11 Analog Torque and Internal Register Torque Dual Mode Internal register torque and external analog torque switching mode shows as figure 6.5.11, after servo is...
  • Page 190 FL20-S Series switching signal is enabled and run to internal setting torque according to acceleration/deceleration time. In the running process of internal register torque mode, when mode switching signal is disabled, servo switches to analog torque mode and run to analog setting torque according to acceleration/deceleration time.
  • Page 191 FL20-S Series Most auxiliary function and main function parameters except monitor function parameters can be modified when the password is input into this parameter. Or else Err will display. 6.6.2 Servo drive status display Servo drive status display speed position...
  • Page 192 FL20-S Series 6.6.3 Fan setting Fan control speed position torque Mfr’s value Setting range Setting unit When enabled Effective So-26 Immediately 0: Fan is controlled by temperature. 1: Fan will run after power on. 2: Fan will run when servo drive starts running.
  • Page 193 FL20-S Series 6.6.5 Reverting to Mfr’s Value When there is disorder with parameters and mfr’s value need to restored, set So-49=1. Related Parameters Reverting to Mfr’s value speed position torque So-49 Mfr’s Value Setting Range Setting Unit Effect Restart The procedure is that set So-49=1 and holding prees SET key for 0.5s, “00000” is displayed. After 5 seconds, all parameters revert to mfr’s value automatically.
  • Page 194 FL20-S Series So-37=100 So-37>100 alarm time unit （S） Overload times Fig 6.6.1Motor overload curve and alarm time curve graph (2) Motor lock-rotor protection Motor speed is almost 0 when servo-motor lock-rotor occurs, but the actual current is very high, servo...
  • Page 195 FL20-S Series Temperature detection disconnection protection speed position torque Mfr’s value Setting range Setting unit When enabled So-51 Effective Immediately 0: Invalid 1: Valid 6.6.7 Encoder pulse filtering Encoder pulse filtering coefficient speed position torque Mfr’s value Setting range Setting unit...
  • Page 196 FL20-S Series DI2 filter time speed position torque Mfr’s Value Po439 Setting Range Setting Unit Effect 0~30000 Immediate effect DI3 filter time speed position torque Mfr’s Value Po440 Setting Range Setting Unit Effect 0~30000 Immediate effect DI4 filter time speed position torque Mfr’s Value...
  • Page 197 FL20-S Series supply are normal, there is no servo alarms. Output OFF means that servo drive is not ready. (3)Overload pre-alarm signal output When servo output current reaches or exceeds overload pre-alarm current, and after overload pre-alarm filter time, the output current still reachers or higher than pre-alarm current, then this signal is output.
  • Page 198 FL20-S Series 6.7 High-Speed Counter Function 6.7.1 Overview High-speed counter is the specific function of FL20 series. It is convenient for user to set external command processing mode and control servo system. High-speed counter integrates the function of data capture, which is using external or internal trigger signal to capture the position data of motion axis instantaneously, and store to data array for the use of the follow-up motion control.
  • Page 199 FL20-S Series 高速计数区域 PL100.D High-speed counting area PL101.B CNT value latched on the 上升沿锁存 CNT的数值 rising edge PL100.C 0 反向计数 Reverse counting 1 正向计数 Forward counting 0 计数器停止计数 Stop counting PL100.B 1 计数器开始计数 Start counting 上升沿CNT计数值清零 RESET Reset CNT count value PL100.A...
  • Page 200 FL20-S Series START High-speed Counter Function? Command Source Set PL121 Setting High-speed counter Set PL120 configuration Two Groups need? Set one group Set two groups based on demands Cycle correction & CAP function? Configuration Finish Fig 6.7.2 High-speed counter setting flow chart...
  • Page 201 FL20-S Series (1) User Parameter 1) Set command source of high-speed counting command source Internal command source speed position torque Mfr’s Value Setting Range Setting Unti Effect PL121 Immediate effect 0：Internal parameter PL100 1：Internal PLC 2) Configuration of high-speed counter...
  • Page 202 FL20-S Series High-speed counter Reset No Reset Reset High-speed counter enabled Disabled Enabled High-speed counter direction Reverse Forward CAP enabled Close CAP function Open CAP function High-speed counter 1 command source speed position torque Mfr’s Value Setting Range Setting Unit...
  • Page 203 FL20-S Series High-speed counter1 CAP value speed position torque Mfr’s Value PL108 Setting Range Setting Unit Effect -2147483647~+2147483647 Check High-speed counter 2 control command speed position torque Mfr’s Value Setting Range Setting Unit Effect Four- parameter 0000 Immediate effect High-speed counter Reset...
  • Page 204 FL20-S Series Mfr’s Value Setting Range Setting Unit Effect -2147483647~+2147483647 Immediate effect High-speed counter 2 count value speed position torque Mfr’s Value PL116 Setting Range Setting Unit Effect -2147483647~+2147483647 Check High-speed counter2 CAP value speed position torque PL118 Mfr’s Value...
  • Page 205 FL20-S Series 6.8.2 Servo built-in PLC Software Access Area FL20 built-in PLC can access So area, Po area, PL area and internal special area. Internal special area starts from P0 , end to R255, 256 words in total, bit addressing space is B0-B4095, the address of So area, Po area and PL area can be checked in servo user manual.
  • Page 206 FL20-S Series Addr Content New command can be received or 1：YES; not, before accomplishing 0：NO; command position mode on the previous position. Command position mode 1：relative position; operating mode 0：absolute position; Previous unfinished command 1：Remainder and new remainder process command together;...
  • Page 207 FL20-S Series Addr Content Addr Content Enabled Internal position 1 Alarm Reset Internal position 2 Fwd Torque Limit Internal position 3 Internal position Rev Torque Limit pause Internal position B100 Speed selection terminal 1 trigger Speed selection terminal 2 B101...
  • Page 208 FL20-S Series Command position acceleration time( enable when Po001=d □ 22） B192-B207 Command position deceleration time(enable when Po001=d □ 22) B208-B223 Command position accel/decel source(enable when Po001=d □ 22) B224-B239 Command speed setting(enable when Po001=d □ 22 B240-B271 Command torque setting(enable when Po001=d □ 22)
  • Page 209 FL20-S Series Addr. Content Addr. Content Low-speed timing Low-speed timing B416 B417 counter 1 output counter 2 output Low-speed timing Low-speed timing B418 B419 counter 3 output counter 4 output High-speed timing counter configuration The configuration signal refreshes one time every 0.1ms, the count increments corresponding to high-speed counter in this timingcycle will be latchedeverytime when timer OUT signal rising edge.
  • Page 210 FL20-S Series Addr. Content Addr. Content B464 High-speed timer 1out B465 High-speed timer 2out B466 High-speed counter 1out B467 High-speed counter 2out High-speed timer 1 reset High-speed timer 2 reset B468 B469 confirmation confirmation High-speed counter 1 High-speed counter 2 reset...
  • Page 211 FL20-S Series register in R area; MOVWDP D-3 P101 Po101=-3 Immediate operand transfers to no.101 register in P area; No.10 register of R area transfers to no.101 register of MOVWRP R10 P101 Po101=R10 Parea; MOVWPP P1 Po002=Po001 Data transfer in P area;...
  • Page 212 FL20-S Series Immediate operand added to the value of R register, the result ADDWDR D1 R2 R3 R3=R2+D1 sends to no.3 registerin R area; The value of register in P area added to the value of register in ADDWPR P1 R2 R3 R3=R2+P1 R area, the result sends to no.3 register in R area;...
  • Page 213 FL20-S Series Instruction Format:[SUBW□□ Instruction Description: □□ SUBW is subtraction instruction, isinstruction execution register area; X is subtrahend; Y is minuend, Z is store result area; The result of instruction execution is Z=X-Y, which means that the value of register address in X area is subtracted to the value of register address in Y area, the result sends to Z register address;...
  • Page 214 FL20-S Series register in R area, the result sends to no.3 register in R area; Immediate operand subtracted to the value of P register, the SUBDDP D1 P2 R3 R3=D1-P2 result sends to no.3 register in R area; The value of R register subtracted to the value of P register, the...
  • Page 215 FL20-S Series Multiplying the values of R register and P register, get the 32-bit result, storing to no.3 and no.4 registers in R area MULWRP R1 P2 R3 R4 R3=R1*Po002 respectively, of which no.4 stores high 16-bit, no.3 stores low 16-bit.
  • Page 216 FL20-S Series Po001 get the 32-bit result, storing to no.3 and no.4 registers in R area respectively, of which no.6 and no.5 store to high 32-bit, no.4 and no.3 store to low 32-bit; Multiplying the value of 2 registers in P area, get R6 R5 R4 R3=Po002 32-bit result, storing to no.3 and no.4 registers in R...
  • Page 217 FL20-S Series 32-bit Division Instruction format:[DIVD□□ Instruction Description:DIVD is division instruction, □□is instruction execution register area, X is divisor, Y is dividend, Z is store result area; The result of instruction execution is Z=X/Y, which means that the value of register address in X area divided by the value of register address in Y area, the result sends to Z register address, of which integer of divisor stores to low-bit register address, remainder stores to high-bit register address;...
  • Page 218 FL20-S Series See details as table below: Syntax Expression Annotations The value saved in R2/R1 divided by the value of R4/R3, get Q7 scaling QDIVRR D7 R1 R3 R5 result, and save the result into R6/R5; Immediate operand divided by the value of R4/R3, get Q7 scaling result, and QDIVDR D7 L1 R3 R5 save the result into R6/R5;...
  • Page 219 FL20-S Series address of R6/R5. Multiplying Q10 scaling value saved in P2/P1 and Q2 scaling value QMULPP D14 P1 D10 P3 saved in P4/P3, get Q14 scaling value, and save the result into the D2 R5 address of R6/R5. Integer Convert Scaling Value Instruction Format: [ITOQ□...
  • Page 220 FL20-S Series Similar as normally-open contact in PLC, if variable is TRUE, IF（B1） then contact is closed, and start to execute next instruction; Similar as normally-closed contact in PLC, if variable is TRUE, LDI B2 IF（！B2） then contact is open;...
  • Page 221 FL20-S Series B0 register address executes “xor” instruction with last XOR B0 ^（B0） instruction; Reversing the content of B1 register address, then executes“xor” XORI B1 ^（！B1） instruction with last instruction; (5) Logical Inversion Instruction Instruction Format: [INV X] Instruction Description: INV is logic instruction;X means register address;...
  • Page 222 FL20-S Series The content of P1 register shift right one bit, of SHRDP P1 D1 Po002 Po001= Po002 Po001>>1 which high-bit stores to P2 register, low-bit stores to P1 register; Table 8.1.19 16-bit Signed Left Shift Syntax Expression Running Result...
  • Page 223 FL20-S Series Syntax Expression Running Result Annotations RORWR R1 D1 R1=R1>>1 The content of R1 register shift right 1 bit; RORWP P1 D1 Po001=Po001>>1 The content of P1 register shift right 1 bit; Table 8.1.26 32-bit Rotate Rghit Shift Syntax Expression...
  • Page 224 FL20-S Series (2) Falling Edge Instruction Instruction Format: [PLF X Y] Instruction Description: PLF is instruction code, X stores the register address of last cyclic state, detect the falling edge of Y register address; When detecting the falling edge of Y register address, Y register=1 in this cycle, and X register saves last cyclic state.
  • Page 225 FL20-S Series Instruction Format: [ABSW□ X Y] Instruction Description: ABSW is instruction code, □ is instruction execution register area,X is target register address, Y is the register address that stores results, take the content of X register address as absolute value, and store the results into Y register;...
  • Page 226 FL20-S Series (11) Idle Instruction Instruction Format: [IDLE] Instruction Description: IDLE is instruction code, the program executes a dummy instruction； (12) Comparison Instruction The instruction is divided into 16-bit and 32-bit, can also be divided into signed number and unsigned...
  • Page 227 FL20-S Series Syntax Expression Annotations CMPWSRR R1 R2 B0 Compare R1 register value with R2 register value, send result into B0-B3 register. CMPWSDR D1 R2 B0 Compare immediate operand 1 with R2 register value, send result into B0-B3 register. CMPWSPR P1 R2 B0 Compare P1 register value with R2 register value, send result into B0-B3 register.
  • Page 228 FL20-S Series Syntax Expression Annotations CMPDSRR R1 R2 B0 Compare R1 register value with R2 register value, send result into B0-B3 register. CMPDSDR D1 R2 B0 Compare immediate operand 1 with R2 register value, send result into B0-B3 register. CMPDSPR P1 R2 B0 Compare P1 register value with R2 register value, send result into B0-B3 register.
  • Page 229 FL20-S Series Timer Mode Reach set value and maintain Reach set value and continue to count Count Source 10ms 100ms PLC stores B449 Low-speed timer 3 Configuration Mfr’s Value Setting Range Setting Unit Effect Two-parameter Immediate Effect PL132 Timer Mode...
  • Page 230 FL20-S Series Low-speed timer 4 set value Mfr’s Value PL146 Setting Range Setting Unit Effect -2147483647~+2147483647 Immediate Effect Low-speed timer 1 current value Mfr’s Value PL150 Setting Range Setting Unit Effect — -2147483647~+2147483647 Immediate Effect Low-speed timer 2 current value PL152 Mfr’s Value...
  • Page 231 FL20-S Series Timer Mode Reach set value and maintain Reach set value and continue to count Count Source 0.1ms PLC stores B436 High-speed counter 2 set value PL166 Mfr’s Value Setting Range Setting Unit Effect -2147483647~+2147483647 Immediate Effect High-speed counter 2 current value Mfr’s Value...
  • Page 232 FL20-S Series Communication Setting window, as following: Fig 6.8.2 Communication setting window After finishing programing, user can complie program. If program is correct, below window will pop Fig 6.8.3 Program is correct If program is not correct, following window will pop up.
  • Page 233 FL20-S Series Fig 6.8.4 Program is not correct Press 【OK】, user can revise the error line. Fig 6.8.5 Compiling interface 【download】or After finishing programing, user can download program to servo drive by【File】 shortcut key F5. Download window will pop up, user can press 【download】key.
  • Page 234 FL20-S Series MOVWRP R29 P114 ##Send the result of R29 into Po114, it is convenient to check; JUMP R100 ##Echoing first sentence, maintain the program in running status; Case 2: 16-bit Subtraction Instruction MOVWDR D3 R100 ##Set the starting point of a program;...
  • Page 235 FL20-S Series AND B49 ## “AND” instruction for DI1 and DI2; OUT B64 ##Send the result into DO1; JUMP R100 ##Echoing with first sentence, maintain the program in running status; Case 7: Logical block and Instruction MOVWDR D3 R100 ##Set the starting point of a program;...
  • Page 236 FL20-S Series 6.8.6 Built-in PLC Communication Operation 6.8.6.1 MODBUS Address MODBUS address of PL area start from 1000, see details for built-in PLC address as table below: Table 1: MODBUS address of built-in PLC area Address Content Range Remarks 1170 PLC start 0～1...
  • Page 237 FL20-S Series VII. Adjustments 7.1 Summary Servo drive needs rapid, accurate drive motor to track PC/PLC or its internal setting instructions. To achieve the requirements, reasonable adjustments for servo gain must be made. The general process of gain adjustment shows as below:...
  • Page 238 FL20-S Series 7.2 Inertia Identification After motor is connected to mechanical equipment or motor is installed in load simulator, servo drive needs to “study” the rotational inertia of current equipment before test running for normal production. It is convenient for user to adjust related parameters, and make the servo system run in proper rotational inertia.
  • Page 239 FL20-S Series current motor is larger than the setting value of Po015, if not, the distance can be increased properly. Estimate load inertia ratio(Po013) Preset Po013 as a bigger initial value; 400 of initial value is recommended as preset value, gradually increase till the displayed value in keypad can be updated with the actual value in the process of identification.
  • Page 240 FL20-S Series 0：No start function 1：Offline fwd/rev direction identification. Immediate effect Lost if power’s off 2：Offline single direction identification. 3：Online auto inertia identification Illustration: (1) Po008=0：Not start rotational inertia identification function. (2) Po008=1：Offline fwd/rev direction identification, suit for the equipment with limit motion range.
  • Page 241 FL20-S Series ● Max rotary speed is higher than 200rpm in the motion process of servomotor. ● The acceleration/deceleration of servomotor is higher than 3000rpm/s. ● The machinery that rigid load is not easy to generate small vibration. ● Slow changing of load inertia ●...
  • Page 242 FL20-S Series 7.3 Gain Adjustment 7.3.1 Summary To optimize the responsiveness of servo drive, the setting servo gain needs to adjust. Servo gain needs to set for the combination of multi-parameter, they influence with each other, and therefore, the adjustment of servo gain must consider the relationship of each parameter.
  • Page 243 FL20-S Series 7.3.2 Automatic Gain Adjustment When automatic gain adjustment, use rigidity selection function (Po010), servo drive will generate one group of matching gain parameter to satisfy the requirements of rapidity and stability. Make sure obtain load inertia ratio correctly before using the parameter of auto gain adjustment.
  • Page 244 FL20-S Series 7193 1870 1000 7693 2000 1000 8193 2130 1000 8655 2250 1000 9617 2500 1000 10578 2750 1000 11540 3000 1000 12502 3250 1000 13463 3500 1000 14425 3750 1000 15387 4000 1000 16349 4250 1000 17310 4500...
  • Page 245 FL20-S Series 7.3.3 Manual Gain Adjustment User can make fine adjustment manually when the automatic gain adjustment cannot reach the expected effect. Table 7.3.2Manual Gain Adjustment Parameter Table Parameter Name Parameter Name Po101 Speed loop proportional gain Po135 Gain 2 switch to gain 1 delay time...
  • Page 246 FL20-S Series Position loop feedforward gain Position Mfr’s Value Po303 Setting Range Setting Unit Effect 0~1000 Immediate effect Position filter time constant Position Po306 Mfr’s Value Setting Range Setting Unit Effect 1~10000 Immediate effect Position loop gain decides the responsiveness of position control.The bigger setting value is, the higher gain is, and rigidity is larger.
  • Page 247 FL20-S Series control is 4~6 times higher than that in position mode control, when position response frequency is higher than speed response frequency, the machinery could shake or position overshoot. When inertia ratio becomes larger, the speed response of control system goes down and becomes unstable. Generally increase the speed loop gain, but when the speed loop gain is overlarge, vibration occurs in running or stop status (abnormal sound), therefore, set the speed loop gain to 50%~80% of gain when vibration.
  • Page 248 FL20-S Series Gain switching setting Position Speed Mfr’s Value Po130 Setting Range Setting Unit Effect Immediate effect The setting of Po130 can realize the switchover between gain 1 and gain 2 according to different conditions. Gain 1 includes speed loop proportional gain 1(Po101), speed loop integral time 1(Po102) and position loop proportional gain 1(Po301), first speed loop filter time constant (Po105), torque filter time constant (Po214).
  • Page 249 FL20-S Series Position Speed Mfr’s Value Po131 Setting Range Setting Unit Effect 1~32000 0.1r/min Immediate effect Gain switching pulse Position Speed Po132 Mfr’s Value Setting Range Setting Unit Effect 1~32000 Immediate effect Positon loop gain switching time Position Speed Mfr’s Value...
  • Page 250 FL20-S Series 7.4 Vibration Inhibition 7.4.1 Vibration Inhibition Function Mechanical system has certain resonant frequency, when improving servo gain, resonance may generate, which could notmake the gain improving continuously. There are 2 main schemes for vibration inhibition: Torque Instruction Filter(Po214 and Po215) Torque instruction decays in high frequency by setting filter time constant to realize vibrationinhibition.
  • Page 251 FL20-S Series Depth level Po219 Po222 Po225 Po228 7.4.2 Low-frequency Vibration Inhibition Function If the mechanical load end is long and heavy, end is likely to vibrate when emergency stop to influence positioning. The frequency of this kind of vibration is within 100Hz generally, which is lower than the mechanical resonance frequency introduced in chapter 7.4.1, so is called low-frequency resonance.
  • Page 252 FL20-S Series VIII List of parameters Group Function code Group name shorten Descriptions range name Monitor function group L group Lo-00~Lo-35 Monitor servo present status. Utility function group S group So-00~So-62 Set the utility function. Po000~Po049 Parameters related to system.
  • Page 253 FL20-S Series Lo-05 Servo motor feedback rotation displays high 5 digits 10000 Lo-06 Servo motor feedback rotation displays low 5 digits Command unit Lo-07 Given command pulse numbers display high 5 digits Command unit Valid in position pulse mode. Lo-08...
  • Page 254 FL20-S Series Lo-16 The other output interface status display. None Open Closed ALO1 Open Closed ALO2 Open Closed ALO3 Open Closed Lo-17 DO4~DO1 status display None Open Closed Open Closed Open Closed Open Closed ℃ Lo-18 Current temperature display of servo drive...
  • Page 255 FL20-S Series Lo-27 AI1 voltage 10mv Lo-28 AI2 voltage 10mv Lo-29 Mix error Command unit Lo-30 Full closed-loop feedback pulse numbers Lo-31 Gantry sync error pulse nmbers Lo-32 Reserved Lo-33 Pulse numbers of high-speed counter 1 Command unit Lo-34 Pulse numbers of high-speed counter 2 Command unit ℃...
  • Page 256 FL20-S Series Braking resistor value Speed Position Torque Mfr’s value So-04 Setting range Setting unit Effect Ω — 8～1000 Immediate effect So-04 is used to set external braking resistor value. External braking resistor can not be used with internal braking resistor at the same time. Before connecting to external resistor, please remove jumper between B2 and B3, then connect resistor to B1 and B2 terminal.
  • Page 257 FL20-S Series Setting value Definition Setting value Definition Servo drive output current Rotating inertia display Servo drive bus voltage Output torque display Servo motor rotating speed Current gain group Servo motor feedback pulse Discharge time displays high 5 digits. Servo motor feedback pulse Encoder absolute position high displays low 5 digits.
  • Page 258 FL20-S Series Record of malfunction type for two but one Speed Position Torque Mfr’s value So-12 Setting range Setting unit Effect — — JOG speed Speed Position Torque Mfr’s value So-13 Setting range Setting unit Effect 0～30000 0.1r/min 1000 Immediate effect...
  • Page 259 FL20-S Series Please refer to 6.2.5 for details. Parameter setting Output analog contents Remarks Servodrive output current corresponding to So-19=0 Servo drive output current 10V is controlled by So-20. Servodrive max bus line voltage corresponding So-19=1 Servo drive bus voltage to 10V is controlled by So-21.
  • Page 260 FL20-S Series Fan temperature setting Speed Position Torque Mfr’s value So-27 Setting range Setting unit Effect 10~100 °C Effective Immediate Power-off brake Speed Position Torque Mfr’s value So-28 Setting range Setting unit Effect 0～1 Effective Immediate 0:invalid 1:valid Power-off brake time Speed Position Torque Mfr’s value...
  • Page 261 FL20-S Series Motor overload coefficient setting Speed Position Torque Mfr’s value So-37 Setting range Setting unit Effect 1～500 Effective Immediate Please refer to 6.6.2 for details. Under voltage protection of LI battery Speed Position Torque Mfr’s value So-38 Setting range...
  • Page 262 FL20-S Series Copy function Invalid Valid Copy motor parameter Invalid Valid Copy gain parameter Invalid Valid Copy notch filter parameter Invalid Valid FPGA software version Speed Position Torque Mfr’s value So-46 Setting range Setting unit Effect — — Effective Immediate Display 100 means version 1.00...
  • Page 263 FL20-S Series 0: invalid 1:valid Encoder pulse filtering coefficient speed position torque So-52 Mfr’s value Setting range Setting unit Effect 0~1000 Effective Immediate When So-52≠0, the signal level which duration time is lower than （So-52/30MHz)s will be filtered. Torque unreached protection setting...
  • Page 264 FL20-S Series Setting of Control mode and rotary direction Speed Position Torque Po001 Mfr’s value Setting range Setting unit Effect Repower on Two-parameter Control mode setting Internal register speed mode Position pulse mode Internal register torque mode Analog speed mode...
  • Page 265 FL20-S Series Mfr’s value Setting range Setting unit Effect — 1～65535 Effective Immediate Encoder frequency-division number for each phase is set by Po003. Servo-on mode Speed Position Torque Mfr’s value Po004 Setting range Setting unit Effect Repower on 0～1 0: External terminal enabled, there must be input terminal, which is set SON-I function.
  • Page 266 FL20-S Series Rigidit speed loop speed Correspondi corresponding y rank positio proportion loop speed current torque ng servo mechanical Po010 n loop al gain 1 integr loop loop filter response connection gain Po101 filter bandwid time speed Po301 time1 time...
  • Page 267 FL20-S Series Rotary inertia ratio Speed Position Torque Po013 Mfr’s value Setting range Setting unit Effect 1~30000 0.01 Effective Immediate Please refer to 7.3 Motion trail accel/decel time Speed Position Torque Po014 Mfr’s value Setting range Setting unit Effect 1000...
  • Page 268 FL20-S Series Virtual Z output period Speed Position Torque Po019 Mfr’s value Setting range Setting unit Effect 1~2147483647 10000 Effective Immediate One Z pulse is output per number of Po019 pusles, frequency-division source is determined by Po018. Internal enabled Speed Position Torque Po100 Mfr’s value...
  • Page 269 FL20-S Series Torque feedforward gain Speed Position Po107 Mfr’s value Setting range Setting unit Effect 0~1000 Effective Immediate In speed and position mode, torque feedforward signal multiplied by Po107 equals torque feedback gain. Increasing Po107 can improve response of dynamic speed command and response of position command and reduce position error at constant speed.
  • Page 270 FL20-S Series Internal speed given 3 Internal register speed Po115 Mfr’s value Setting range Setting unit Effect 0~±32000 0.1r/min 3000 Effective Immediate Range of target speed Speed Po117 Mfr’s value Setting range Setting unit Effect 0.1r/min Effective Immediate 0~30000 Rotation detection value...
  • Page 271 FL20-S Series Home/Mechanical origin searching at second speed Speed Position Torque Mfr’s value Po121 Setting range Setting unit Effect 0.1r/min Effective Immediate 0~10000 Home/Mechanical origin searching Speed Position Torque acceleration/deceleration time Po122 Mfr’s value Setting range Setting unit Effect Effective Immediate...
  • Page 272 FL20-S Series Parameter Content Po130=0 No switch, default to use gain 1 Po130=1 No switch, default to use gain 2 Po130=2 Switch to gain 2 Immediate when speed is higher than the setting value of Po131, if speed is lower than Po131, after delay the setting time of Po135(0.1ms), switch to gain 1.
  • Page 273 FL20-S Series Mechanical origin single-turn value Speed Position Torque Po136 Mfr’s value Setting range Setting unit Effect 0~2147483647 Effective Immediate Mechanical origin multi-turn value Speed Position Torque Po138 Mfr’s value Setting range Setting unit Effect Effective Immediate 0~2147483647 Forward running range pulse when overtravel protection...
  • Page 274 FL20-S Series Note: 1. When Po202 is larger than servo Max toruqe, torque limit value is Max servo motor toruqe. 2. Too small a torque limit setting will result in insufficient torque. Torque limiting by analog Speed Position Torque Po203 Mfr’s value...
  • Page 275 FL20-S Series Po210=1, Inputs an analog voltage command as the servo motor speed limit value, this is valid for forward/reverse rotation. Po210=2, Use the lower value between max rotation speed Po002 and actual motor max rotation speed as the speed limit.
  • Page 276 FL20-S Series Forward/reverse run prohibited torque setting Torque Po216 Mfr’s value Setting range Setting unit Effect Effective Immediate 0: Actual limit torque is Po207 1:Torque limit is 0 Notch filter center frequency Speed Position Torque Po217 Mfr’s value Setting range...
  • Page 277 FL20-S Series Effective Immediate 0~30000 Notch filter depth Speed Position Torque Po225 Mfr’s value Setting range Setting unit Effect Effective Immediate 0~100 Notch filter center frequency Speed Position Torque Po226 Mfr’s value Setting range Setting unit Effect 2000 Effective Immediate...
  • Page 278 FL20-S Series Load torque compensation may raise rigidity to some degree. But if it is set too large, there will be noise. Filter time of load observer Speed Position Torque Po235 Mfr’s value Setting range Setting unit Effect 0.01ms 1000...
  • Page 279 FL20-S Series Pulse mode Direction+pulse Pulse+pulse Orthogonal pulse (quadruplicated frequency) Pulse input filter frequency 4MHz 2MHz 1MHz 500KHz 200KHz 150KHz 80KHz Pulse logic PULS negative logic SIGN negative logic PULS positive logic SIGN positive logic PULS negative logic SIGN positive logic...
  • Page 280 FL20-S Series Position loop filter time constant Position Po306 Mfr’s value Setting range Setting unit Effect 1~10000 Effective Immediate Position reach pulses range Position Po307 Mfr’s value Setting range Setting unit Effect — Effective Immediate 1~32000 Position pulse clear Position Po308 Mfr’s value...
  • Page 281 FL20-S Series Acceleration time of internal position 2 Internal register position Po312 Mfr’s value Setting range Setting unit Effect 0~32000 Effective Immediate Deceleration time of internal position 2 Internal register position Po313 Mfr’s value Setting range Setting unit Effect Effective Immediate...
  • Page 282 FL20-S Series Deceleration time of internal position 6 Internal register position Mfr’s value Po321 Setting range Setting unit Effect Effective Immediate 0~32000 Acceleration time of internal position 7 Internal register position Po322 Mfr’s value Setting range Setting unit Effect Effective Immediate...
  • Page 283 FL20-S Series 0.1r/min 1000 Effective Immediate 1~65535 Given speed of postion 4 Internal register position Po333 Mfr’s value Setting range Setting unit Effect 0.1r/min 1000 Effective Immediate 1~65535 Given speed of postion 5 Internal register position Po334 Mfr’s value Setting range...
  • Page 284 FL20-S Series The large the value, the smoother servo drive running, however, response may become slow. Internal position mode selection Internal register position Po341 Mfr’s value Setting range Setting unit Effect Effective Immediate 0:Incremental mode 1: Absolute mode Internal position trigger...
  • Page 285 FL20-S Series Circulation times of multistage internal position Position Po349 Mfr’s value Setting range Setting unit Effect 0~30000 Effective Immediate Please refer to 6.4. Given postion of postion 1 Internal register position Po350 Mfr’s value Setting range Setting unit Effect...
  • Page 286 FL20-S Series Interval time 1 Internal register position Po366 Mfr’s value Setting range Setting unit Effect 0~32000 Effective Immediate Interval time 2 Internal register position Po367 Mfr’s value Setting range Setting unit Effect Effective Immediate 0~32000 Interval time 3 Internal register position Po368 Mfr’s value...
  • Page 287 FL20-S Series Pulse from Low-speed pulse Pulse from high-speed counter1 Pulse from internal position Pulse from electronic cam Command source in internal register position mode Internal register position Po375 Mfr’s value Setting range Setting unit Effect 0100 Effective Immediate Four-parameter...
  • Page 288 FL20-S Series Effective Immediate 1~65535 Please refer to 6.4.12 Mixed error remove turns Position Po379 Mfr’s value Setting range Setting unit Effect Effective Immediate 0~32000 Please refer to 6.4.12 Mixed error alarm pulses Position Po380 Mfr’s value Setting range Setting unit...
  • Page 289 FL20-S Series Interrupt fixed length function Invalid Valid Interrupt fixed length release terminal Invalid Valid Max speed corresponding to analog voltage Speed Po400 Mfr’s value Setting range Setting unit Effect — r/min Effective Immediate 1~10000 Max torque corresponding to Analog torque Torque Mfr’s value...
  • Page 290 FL20-S Series DI2 terminal function Speed Position Torque Po408 Mfr’s value Setting range Setting unit Effect — Two-parameter Repower on DI3 terminal function Speed Position Torque Po409 Mfr’s value Setting range Setting unit Effect — Repower on Two-parameter DI4 terminal function...
  • Page 291 FL20-S Series DO3 terminal function Speed Position Torque Po423 Mfr’s value Setting range Setting unit Effect — Two-parameter Repower on DO4 terminal function Speed Position Torque Po424 Mfr’s value Setting range Setting unit Effect — Repower on Two-parameter ALM terminal function...
  • Page 292 FL20-S Series Corresponding speed of lower limit voltage Speed Position Torque Po431 Mfr’s value Setting range Setting unit Effect -1000~1000 0.01V -1000 Effective Immediate Please refer to 6.2 Corresponding speed of upper limit voltage Speed Position Torque Po432 Mfr’s value...
  • Page 293 FL20-S Series DI1 filter time Speed Position Torque Po438 Mfr’s value Setting range Setting unit Effect 0~30000 Effective Immediate DI2 filter time Speed Position Torque Po439 Mfr’s value Setting range Setting unit Effect Effective Immediate 0~30000 DI3 filter time Speed Position Torque Po440 Mfr’s value...
  • Page 294 FL20-S Series Communication mode Speed Position Torque Po501 Mfr’s value Setting range Setting unit Effect Effective Immediate Please refer to chapter 10 Stop bit Speed Position Torque Po502 Mfr’s value Setting range Setting unit Effect Effective Immediate 0: 1bit 1: 2 bits...
  • Page 295 FL20-S Series — 0.1A Effective Immediate 1~30000 Please set Ho001 according to servo motor nameplate. Max speed of servo motor Speed Position Torque Ho002 Mfr’s value Setting range Setting unit Effect — r/min Effective Immediate 0~32000 Please set Ho002 according to servo motor nameplate.
  • Page 296 FL20-S Series Motor rotary inertia Speed Position Torque Ho012 Mfr’s value Setting range Setting unit Effect Kg•m2 — 0～2147483647 Effective Immediate Encoder resolution Speed Position Torque Ho016 Mfr’s value Setting range Setting unit Effect — 0～2147483647 Effective Immediate Encoder installation angle Speed Position Torque Mfr’s value...
  • Page 297 FL20-S Series Current at second last time alarm Speed Position Torque Ho304 Mfr’s value Setting range Setting unit Effect — — — — Motor speed at second last time alarm Speed Position Torque Ho305 Mfr’s value Setting range Setting unit Effect —...
  • Page 298 FL20-S Series — — — — Alarm code at sixth last time Speed Position Torque Ho315 Mfr’s value Setting range Setting unit Effect — — — — Alarm code at seventh last time Speed Position Torque Ho316 Mfr’s value Setting range...
  • Page 299 FL20-S Series Mfr’s value Setting range Setting unit Effect — — — — Alarm time at sixth last time Speed Position Torque Ho325 Mfr’s value Setting range Setting unit Effect — — — — Alarm time at seventh last time...
  • Page 300 FL20-S Series Electronic cam Close electronic cam Open electronic cam Command resource High counter 1 High counter 2 Internal position Time Trigger resource Trigger immediately DI2 trigger CAP0 Trigger CAP1 Trigger Detachment condition No detachment DI control Out of range...
  • Page 301 FL20-S Series 0~2147483647 Immediate effect E-cam Points Speed Position Torque Mfr’s Value PL015 Setting Range Setting Unit Effect 5~720 Immediate effect E-cam Pages Speed Position Torque Mfr’s Value PL016 Setting Range Setting Unit Effect 0~14 Immediate effect E-cam Table Refresh Speed Position Torque Mfr’s Value...
  • Page 302 FL20-S Series Slave axis variation Speed Position Torque Mfr’s Value PL025 Setting Range Setting Unit Effect -2147483647~+2147483647 Immediate effect High-speed counter 1 control command Speed Position Torque Mfr’s Value Setting Range Setting Unit Effect Four-parameter 0010 Immediate effect High-speed counter Reset...
  • Page 303 FL20-S Series High-speed counter 1 periodic value speed position torque Mfr’s Value PL104 Setting Range Setting Unit Effect -2147483647~+2147483647 Immediate effect High-speed counter 1 count value speed position torque Mfr’s Value PL106 Setting Range Setting Unit Effect -2147483647~+2147483647 Check High-speed counter1 CAP value...
  • Page 304 FL20-S Series Reset source setting Software CAP command source setting Software Command source setting Low-speed pulse High-speed pulse Duty-cycle correction mode Close Start High-speed counter 2 compare register speed position torque Mfr’s Value PL112 Setting Range Setting Unit Effect -2147483647~+2147483647...
  • Page 305 FL20-S Series High - speed pulse type Direction+ Pulse Dipulse Orthogonal pulse High-speed pulse filtering 8MHz 4MHz 2MHz 1MHz 500KHz 200KHz 150KHz High-speed pulse direction HPULS anti-logic, HSIGN anti-logic HPULS positive logic, HSIGN positive logic HPULS anti-logic, HSIGN positive logic...
  • Page 306 FL20-S Series — — Low-speed Timer 1 Configuration Mfr’s Value Setting Range Setting Unit Effect Two-parameter Immediate Effect Timer Mode 定时器模式 PL130 Reach set value and maintain Reach set value and continue to count Count Source 10ms 100 ms PLC stores B448 Low-speed timer 2 Configuration Mfr’s Value...
  • Page 307 FL20-S Series Timer Mode Reach set value and maintain Reach set value and continue to count Count Source 10ms 100ms PLC stores B 451 Low-speed timer 1 set value Mfr’s Value PL140 Setting Range Setting Unit Effect -2147483647~+2147483647 Immediate Effect Low-speed timer 2 set value Mfr’s Value...
  • Page 308 FL20-S Series Timer Mode Reach set value and maintain Reach set value and continue to count Count Source 0.1ms PLC stores B432 High-speed counter 1 set value Mfr’s Value PL161 Setting Range Setting Unit Effect -2147483647~+2147483647 Immediate Effect High-speed counter 1 current value Mfr’s Value...
  • Page 309 FL20-S Series PLC Reset Mfr’s Value Setting Range Setting Unit Effect PL174 Immediate Effect 0: Not reset PLC function; 1: Reset PLC function; Download of E-cam and PLC data Mfr’s Value Setting Range Setting Unit Effect Immediate Effect PL199 When user refreshes cam table with PLC, if communication mode is adopted, user must set 1 to address 1199, input cam table data, set cam table points (more than 5) to address 1015and set 1 to address 1017.
  • Page 310 FL20-S Series 8.1.7 Function setting of DI and DO Programmable terminals include DI1~DI8. (The related parameters are from Po407 to Po414). Input contactor type is used to select common-open or common-close interface type. For example, when some malfunction occurs, servo drive must stop safely, which needs the common-close switch.
  • Page 311 FL20 series Setting Signal Function Name Instruction value type Level Servo on. Switch servo to “servo ready” Servo on SON-I trigger A number of faults (Alarms) can be Edge Alarm reset AL-RST cleared by activating AL-RST. trigger Servo drive output torque when motor is Level Forward torque limit F-CL...
  • Page 312 FL20 series The present position command is hold Internal register position when internal register position hold is Edge HOLD hold valid. If this command is invalid, keep trigger executing the present position command. Internal register position Edge CTRG Internal register position triggered mode triggered trigger Edge...
  • Page 313 FL20 series 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 prealarm OL-W At speed limit S-LT Reserved PER- W...
  • Page 314 FL20 series Internal position CTRGING is activated when internal position trigger is CTRGING triggered applied. Position deviation too PER-W PER-W is activated when position deviation is too large. large HOME is activated when the servo drive has detected that Homing completed HOME the HOME sensor has been detected.
  • Page 315 FL20 series to chapter 4. No position command is input 1. Whether DI function 2 ( forward torque limit) or DI function 3 (reverse torque limit) is used. 2. Whether DI function 11 (common pulse prohibited) is used. 3. Check whether Po374 is set correctly. Encoder cable fault Check whether Lo-04 value is correct when motor rotates 1...
  • Page 316 FL20-S Series 9.1.2 Speed control mode Start-up process Description Cause Countermeasures Rewire 1. Control terminal is Connect L1C/L2C power cable to disconnected socket separately. Connect control Check the voltage between L1C and Digital tube is not on powe(L1C,L2C) 2.Control power...
  • Page 317 FL20-S Series speed. If servo drive runs safely, please Rotation inertia ratio Motor shaft vibrates recognize inertia again according to of load (Po013) is side to side. chapter 7.3. too high. Adjust gain according chapter 7. 9.1.3 Torque control mode...
  • Page 318 FL20-S Series 1. Check whether U/V/W wiring is correct. 2. If wiring is correct, study motor angle, referring to chapter 7.2. Rotation is not Gain is set Adjust gain according to chapter 7. steady at low speed. improperly. Rotation is not...
  • Page 319  Take counter measures by referring to this manual in case of any malfunctions on drive. Should it still be unsolved, contact with local Parker agent or Parker manufacturer. Never attempt any repairing without authorization. Alarm Code Alarm Name...
  • Page 320 AL-11 Emergency stop Hardware damage of ESP input Set the function to other input terminal terminal or contact with Parker. Enviroment temperature is too high Improve ventilation. Clean air outlet and cooling Servo drive Dirty radiator AL-12 radiator.
  • Page 321 FL20-S Series Improper installation of drive, such as poor ventilation or wrong install Install as required. direction. Too heavy load Discharge energy is too large Phase loss with input phase Check input power supply. AL-13 Input phase loss Use single-phase power supply.
  • Page 322 FL20-S Series Temperature Temperature detection circuit is AL-26 detection circuit is Check the cable. disconnected disconnected Setting range of FWD/FEV for AL-27 Overtravel Overtravel alarm overtravel protection again. AL-28 ROM error E2ROM error Contact with Parker. Electric leakage of drive power...
  • Page 323 Servo motor wiring is incorrect. Check the wiring. Servo motor moves instantaneously Servodrive fault. Please contact with Parker. and then Stops Check the mounting screws and tighten them. Mounting not secured Align the couplings. Wrong parameters setting Check servodrive parameters.
  • Page 324 You can read reference books or ask for the details of MODBUS from Parker.. Modbus protocol does not require a special interface while a typical physical interface is RS485.
  • Page 325 2. Subtract the final field value from FF hex (all 1’s), to produce the ones–complement. 3. Add 1 to produce the twos–complement. (2) RTU mode CRC-16 (Cyclical Redundancy Check), please read reference books or ask for the details from Parker.. II Command Type & Format 1 The listing below shows the function codes.
  • Page 326 FL20-S Series The address of S group parameters equals to parameter numbers +800 Ex3：communication address of So-02: The parameter numbers of So-02 is 02, so the address of So-02 is 802, the hex format is 0x0322. The address of high bit is 0x03 and the address of low bit is 0x22.
  • Page 327 FL20-S Series Ex4：The address of servo motor feedback pulse numbers From the above table, the address of servo motor feedback pulse includes high 16 bits (Communication address is 906, the hex form is 0x038A) and low 16 bits(Communication address is 907, the hex form is 0x038B). Read the data from the address and process them.
  • Page 328 FL20-S Series Servo1 write register Po109 5(Unit: ms) CRC check Slave response: Register Register Address Function Write status Hi Write status Lo CRC Lo CRC Hi Address Hi Address Lo Servo 1 write register Po109 5(Unit: ms) CRC check (2) In RTU mode, read acc time (Po109) of No. 01 servo drive.
  • Page 329 FL20-S Series PC/PLC Servo drive Servo drive Servo drive Servo drive Fig 10-1-1 Connecting diagram of field bus RS485 Half-duplex communication mode is adopted for servodrive. Daisy chain structure is 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.
  • Page 330 FL20-S Series 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 Encoder DB9-4BS02-5M-0.2 cable (for DB9-4BS02-10M-0.2 function DB9-4GS02-3M-0.2...
  • Page 331 FL20-S Series 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 side side encoder 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...
  • Page 332 FL20-S Series 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)
  • Page 333 FL20-S Series 11.3 Power cable Applicable for 80 flange and below 80 flange servo motor Name Model Length Appearance Power DB4-4PO-*M- *M means cable diameter length Applicable for 110, 130 and 180 flange servo motor HK4A-4PO-*M – diameter Power HK4B-4PO-*M –...
  • Page 334 FL20-S Series 11.4 Other cable Communication cable Name Model Length Appearance Communication 1394-2TR-*M *M means None cable -0.3 length L± 20mm Industry Ethernet SC-ECT-**M- Actual 标签 shield cable lenght Motor brake cable Name Model Length Appearance Brake HK3-2BR-*M-0.75 Actual length...
  • Page 335 FL20-S Series ============ ============ FMMA-801*35** HK4A-4PO-*M-0.75-B FL20-S102S2M2 FL20-S102T2M2 FMMA-851*37** HK4A-4PO-*M-1.0-B FMMA-102*37** FL20-S122S2M2 FL20-S122T2M2 HK4A-4PO-*M-1.0-B FMMA-122*35** FMM series FMMA-132*37** 2000r/min FL20-S182S2M2 FL20-S182T2M2 HK4A-4PO-*M-1.5-B FMMA-152*37** — FMMA-202*37** FL20-S302T2M3 HK4A-4PO-*M-2.5 — FMMA-312*37** FL20-S452T2M3 HK4B-4PO-*M-4.0 — FMMA-352*3A** ============ ============ FMMB-122*37** FL20-S122S2M2 FL20-S122T2M2 HK4A-4PO-*M-1.0-B FMMB-152*37**...
  • Page 336 FL20-S Series FMMA-801*65** FMMA-851*67** FL20-S102T3M2 FMMA-102*67** HK4A-4PO-*M-0.75-H FMMA-122*65** FL20-S152T3M2 FMMA-132*67** FMMA-152*67** HK4A-4PO-*M-1.0 FL20-S202T3M3 MM series FMMA-202*67** HK4A-4PO-*M-1.5 2000r/min FMMA-312*67** HK4A-4PO-*M-2.5 FMMA-352*6A** FL20-S452T3M3 HK4B-4PO-*M-2.5 FMMA-452*6A** HK4B-4PO-*M-2.5 FMMA-602*6A** FL20-S752T3MM4 HK4B-4PO-*M-4.0 FMMA-802*6A** FMMA-103*6A** FL20-S153T3M4 HK4B-4PO-*M-6.0 ============ ============ FMMB-122*67** HK4A-4PO-*M-1.0 FMMB-152*67** FL20-S202T3M3 FMMB-232*67** HK4A-4PO-*M-1.5...
  • Page 337 FL20-S Series ============ ============ FMLA-372*6A*** FL20-S452T3M3 HK4B-4PO-*M-2.5 FML series FMLA-102*67*** FL20-S152T3M2 HK4B-4PO-*M-0.75-B 1000r/min FMLA-292*6A*** FL20-S302T3M3 HK4B-4PO-*M-1.5 ============ ============ FM17-0075*6EE*FL FL20-S752T3MM4 ZL4-4PO-*M-4.0 FM17-0092*6EE*FL FL20-S113T3MM4 ZL4-4PO-*M-6.0 FM17-0110*6EE*FL FL20-S113T3MM4 ZL4-4PO-*M-6.0 FMM series FM17-0140*6EE*FL FL20-S153T3M4 ZL4-4PO-*M-6.0 1700r/min FM17-0180*6EE*FL FL20-S183T3M5 ZL4-4PO-*M-10.0 FM17-0210*6FE*FL FL20-S223T3M5 ZL4-4PO-*M-10.0 FM17-0240*6EE*FL FL20-S303T3M6 ZL4-4PO-*M-16.0...
  • Page 338 FL20-S Series position (CSP), cyclic synchronous velocity (CSV), cyclic synchronous torque (CST). User can select the needed control mode by setting corresponding parameters. It can make the control mode be possible from simple speed control to position control of high-speed and high-precision.
  • Page 339 FL20-S Series 12.1.1 Installation and Connection Fig 12.1.1 FL20 series servo drive EtherCAT communication card installation Instruction 27. 6 101. 0 75. 0 22. 2 161. 0 175. 0 140. 5 114. 0 Fig 12.1.2 FL20 series servo drive EtherCAT bus card dimension figure...
  • Page 340 FL20-S Series 12.1.2 Hardware Layout INTFACE WITH SERVO SW2-dip2 SW2-dip1 OUTPUT INPUT Fig 12.1.3 FL20 series servo EtherCAT bus card instruction 12.1.3 Topology Way Bus, tree or star: EtherCAT supports almost all topology structures. Therefore, the bus structure or linear structure can be also used in Ethernet network, and not be limited by the quantity of cascading switch or hub.
  • Page 341 FL20-S Series Fig 12.1.4 EtherCAT bus topology connection sketch 12.1.4 LED indicator Color Function Green Power_on Green STATUS Green FieldBus_Run FieldBus_Error 12.1.5 Dial switch SW2 Turn the switch to ON when downloading the program SW-dip1 Turn the switch to OFF when running the program.
  • Page 342 FL20-S Series 0：disabled So-18 Reverse forbidden setting 1: enabled Note: Po004, Po339, Po341 will turn 0 to 1 automatically. 12.2 CANopen communication card CANopen is a high layer protocol which bases on CAN serial bus system and CAL (CAN application layer). The communication card is used to connect inverter to CAN network.
  • Page 343 FL20-S Series Homing Mode (HM) Interpolated Position Mode (IP) 12.2.1 Installation and Connection Fig 12.2.1 Servo CANopen communication card installation instruction Fig 12.2.2 Servo CANopen bus card dimention...
  • Page 344 FL20-S Series 12.2.2 Hardware layout Downloading port Fig 12.2.3 Servo CANopen bus card sketch map 12.2.3 CAN-bus connection Shield CANH Terminal Terminal matching matching resistance resistance CANL CANH CANL CANH CANL CANH CANL CANopen built-in resistance, CANopen device 2 CANopen device 1...
  • Page 345 FL20-S Series Pin No. Pin name Description CAN differential signal CAN_L low-level pin Ground Unused Cover Ground CAN differential signal CAN_H high-level pin Unused Fig 12.2.5 bus interface pins Unused 12.2.5 Status indicator Indicator Color Function Green STATUS Green Power_on...
  • Page 346 FL20-S Series 12.2.6 Switch code [문서에서 멋진 인용문을 가져 오거나 핵심 포인트를 강조하는 공간으로 사용해 보세요. 이 텍스트 상자는 문서 어느 곳에도 끌어다 놓을 수 있습니다.] Switch code Position Instructions Download program SW1-dip1 Download succeeds. Connect with terminal resistance of CAN network.
  • Page 347 FL20-S Series...

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