1. Manuals
  2. Brands
  3. Tsino Dynatron Manuals
  4. Servo Drives
  5. EtherCAT CoolDrive RC Series
  6. User manual

Tsino Dynatron EtherCAT CoolDrive RC Series User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Updated
Update summary
Updated
on
version
Version number: D3

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the EtherCAT CoolDrive RC Series and is the answer not in the manual?

Questions and answers

Related Manuals for Tsino Dynatron EtherCAT CoolDrive RC Series

Summary of Contents for Tsino Dynatron EtherCAT CoolDrive RC Series

  • Page 1 Updated Update summary Updated version Version number: D3...
  • Page 2 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 2017 CoolDrive RC Series Servo Drive User Manual EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. March, 2017...
  • Page 3 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Preface First of all, thank you for your constant trust and support for Tsino-Dynatron Electrical Technology (Beijing) Co.,Ltd. we will focus on providing you with comprehensive technical services. This user manual provides safety information, mechanical and electrical installation instructions, basic commissioning as well as product maintenance guidance for CoolDrive RC Series servo drives.
  • Page 4 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Product Confirmation Please check the items listed in the table below upon receiving the product in case of any negligence during purchase and transportation. Items to Confirm Confirmation Content Product Appearance Check the product's appearance for any damage or scratch. Check the servo drive and servo motor respectively to make sure they are exactly the Product Model product models you purchased.

  • Page 5: Table Of Contents

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Contents Preface ................................. II Contents ..............................IV Chapter 1 Safety Information ........................ 1 Electrical Safety ..........................1 Safety Guidance ..........................1 Environmental Requirements ....................... 1 Operational Guidance ........................1 Motor Safety ..........................1 Parameters Adjustment ......................... 1 Chapter 2 Product Information ......................
  • Page 6 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.1 RC2 Wiring Diagram ......................5 3.4.2 RC3 Wiring Diagram ......................9 3.4.3 RC4 Wiring Diagram ......................13 3.4.4 RC6 Wiring Diagram ......................17 3.4.5 Connector Pin Definition ....................20 Inspection After Installation ....................... 28 Chapter 4 Power On ..........................
  • Page 7 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.2.3 Communication ........................44 CiA402 Parameter Objects ......................46 6.3.1 System State Machine ......................46 6.3.2 Control Mode ........................51 6.3.3 Other Objects ........................63 RC Series Parameters ......................... 64 6.4.1 Drive Parameters ......................... 64 6.4.2 Motor Parameters ........................
  • Page 8 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.7.5 Communication Setting ..................... 130 7.7.6 Load Inertia Ratio ......................132 7.7.7 Command Limit ........................ 133 7.7.8 Rotor Compensation Angle and Phase Sequence Detection Setting ......... 137 Position Control ........................139 7.8.1 CSP Mode Running ......................139 7.8.2 Basic Setting of Position Control ..................
  • Page 9 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.9.11 Velocity Following Setting ....................164 7.9.12 Zero Velocity Window ...................... 166 7.9.13 Notch Filter ........................166 7.10 Torque Control ......................... 169 7.10.1 CST Mode Running ......................169 7.10.2 Basic Setting of Torque Control ..................169 7.10.3 Square Wave Torque Setting ....................
  • Page 10 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 8.2.4 Acceleration Feedforward Torque Compensation Function ..........196 Filter Adjustment ........................196 8.3.1 Position Filters ........................197 8.3.2 Velocity Filters ........................198 8.3.3 Torque Filters ........................200 8.3.4 Notch Filter Function ......................201 Mechanical Rigidity Reference ....................204 Chapter 9 Maintenance ........................

  • Page 11: Chapter 1 Safety Information

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 1 Safety Information Electrical Safety The servo drive is an industrial electronic product, please keeps away from the device during operation, and do not perform live wiring, or personal injury may be caused. Extreme caution should be taken when handling or approaching drives.

  • Page 12: Model Description

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 2 Product Information Model Description CD RC6 A 05 02 T0 V 1 - C00 2 3 4 Number Item Symbol Description Remarks Biaxial servo motor drive product Triaxial servo motor drive product Product Name ①...
  • Page 13 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Shaft 4~shaft 6 have a rated output current of 5Arms Hiperface DSL encoder Tamagawa absolute encoder, multi-turn 16Bit/single-turn 17Bit, 2.5Mbps Tamagawa absolute encoder, single-turn 17Bit, 2.5Mbps Tamagawa absolute encoder, multi-turn 16Bit/single-turn 23Bit, 2.5Mbps Tamagawa absolute encoder, single-turn 23Bit, 2.5Mbps BiSS-C encoder Nikon absolute encoder, multi-turn...

  • Page 14: Technical Specifications

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Technical Specifications 2.2.1 RC Series drive General Technical Specifications Table 2.2-1. RC series servo drive technical specifications Power Input 220V 3AC ±15% Input line voltage 220V 1AC ±15% Input line voltage frequency 47~63Hz Rated input current 12Arms Overvoltage class Class III...
  • Page 15 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Profile position mode (PP), homing mode (HM), cyclic synchronous Operation mode position mode (CSP), cyclic synchronous velocity mode (CSV), cyclic synchronous torque mode (CST). Topology Linear structure Supported encoders ● Nikon ● Tamagawa ● Panasonic ●...

  • Page 16: Rc Series Drive Specific Technical Specifications

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 2.2.2 RC Series Drive Specific Technical Specifications Table 2.2-2. RC Series Drive Specific Technical Specifications Rated output current (Arms) Max. output current (Arms) Size (mm) Model Shaft Shaft Shaft Shaft Shaft Shaft Shaft Shaft Shaft Shaft Shaft...

  • Page 17: Dimension Drawing Of Rc3

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 2.3.2 Dimension Drawing of RC3...

  • Page 18: Dimension Drawing Of Rc4

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 2.3.3 Dimension Drawing of RC4...
  • Page 19 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

  • Page 20: Dimension Drawing Of Rc6

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 2.3.4 Dimension Drawing of RC6...

  • Page 21: Chapter 2 Product Information

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 3 Installation Environmental Requirements This is an electronic product, which needs an installation environment with the following requirements:  Do not install this product in an environment with corrosive gas or liquid;  Do not install this product in an flammable and explosive environment; ...

  • Page 22: Electrical Installation

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. (Top/bottom/front/rear insulation distance for RC6 without fan) (Top/bottom/front/rear insulation distance for RC6 with fan) (Top/bottom/front/rear insulation distance for RC6) Figure 3.2-1. Diagram of recommended minimum mounting distance for the drivers Electrical Installation 3.3.1 Safety Information ...

  • Page 23: Wiring

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.  Do not connect the power supply to the motor dynamic output terminals U, V, W.  The ground wire must be connected to the terminal of the servo drive, which is usually copper wire with a diameter more than 2.5 mm (with mechanical protection).

  • Page 24: Rc2 Wiring Diagram

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.1 RC2 Wiring Diagram 3.4.1.1 RC2 system wiring diagram R S T 3Φ AC220V Upper (control) Shaft 1 motor system Description: Circuit breaker 1. For single phase 220V power supply Shaft 1 mot or brak e Shaft 1 encoder input, connect R and T terminals.
  • Page 25 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.1.2 RC2 Encoder Port X4 Wiring Diagram Shielded twisted-pair wire[Note1] VCC[Note2] 2EVCC GND[Note2] 2GND J2 Encoder X4-J2 DATA-[Note2] 2DATA- DATA+[Note2] 2DATA+ J2 Encoder Shielded twisted-pair wire[Note1] VCC[Note2] 1EVCC GND[Note2] 1GND J1 Encoder X4-J1 DATA-[Note2] 1DATA- DATA+[Note2] 1DATA+...
  • Page 26 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.1.4 RC2 Motor Brake Port X3 Wiring Diagram Note: 1. The maximum output current of the motor brake terminal is 1A. If the Wiring example: the drive directly current carried by the motor brake exceeds the allowed range, it must be controls the motor brake controlled by an external relay.
  • Page 27 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.1.5 RC2 Shaft Control I/O Port (X12/X22) Wiring Diagram HDI1 Homing switch HDI2 Touch Probe 1 Negative limit switch Positive limit switch 24VGND 24VGND 24VGND 24VGND X12/X22 24VGND (Reserved) (Reserved) RC2 Shaft Module I/O Port (X12/X22) Wiring Diagram Figure 3.4-5.

  • Page 28: Rc3 Wiring Diagram

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.2 RC3 Wiring Diagram 3.4.2.1 RC3 System Wiring Diagram R S T 3Φ AC220V Upper (control) Description: Shaft 2 motor Shaft 1 motor system 1. For single phase 220V power supply Circuit breaker input, connect R and T terminals. Shaft 2 mot or brak e Shaft 1 mot or brak e Shaft 2 encoder...
  • Page 29 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.2.2 RC3 Encoder Port X4 and X5 Wiring Diagram Shielded twisted-pair wire[Note1] VCC[Note2] 2EVCC GND[Note2] 2GND J2 Encoder X4-J2 DATA-[Note2] 2DATA- DATA+[Note2] 2DATA+ J2 Encoder Shielded twisted-pair wire[Note1] VCC[Note2] 1EVCC GND[Note2] 1GND J1 Encoder X4-J1 DATA-[Note2] 1DATA-...
  • Page 30 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.2.3 RC3 Module Control I/O Port X7 Wiring Diagram Note: 1) The total max. output current of port B1 and B2 is 0.4A 2) The total max. output current of port B3 is 0.1A 3) Port B3 is an output port with active low Fan (optional) 4) STO1 and STO2 must be wired as required...
  • Page 31 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.2.5 RC3 Shaft Control I/O Port (X12/X22/X32) Wiring Diagram HDI1 Homing switch HDI2 Touch Probe 1 Negative limit switch Positive limit switch 24VGND 24VGND 24VGND 24VGND X12/X22/X32 24VGND (Reserved) (Reserved) Figure 3.4-10. RC3 Shaft Control I/O Port (X12/X22/X32) Wiring Diagram Note: 1.

  • Page 32: Rc4 Wiring Diagram

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.3 RC4 Wiring Diagram 3.4.3.1 RC4 System Wiring Diagram R S T 3Φ AC220V Upper (control) Description: Shaft 2 motor Shaft 1 motor system 1. For single phase 220V power supply Circuit breaker input, connect R and T terminals. Shaft 2 mot or brak e Shaft 1 mot or brak e 2.
  • Page 33 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.3.2 RC4 Encoder Port X4 and X5 Wiring Diagram Shielded twisted-pair wire[Note1] VCC[Note2] 2EVCC GND[Note2] 2GND J2 Encoder X4-J2 DATA-[Note2] 2DATA- DATA+[Note2] 2DATA+ J2 Encoder Shielded twisted-pair wire[Note1] VCC[Note2] 1EVCC GND[Note2] 1GND J1 Encoder X4-J1 DATA-[Note2] 1DATA-...
  • Page 34 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.3.3 RC4 Module Control I/O Port X7 Wiring Diagram Note: 1) The total max. output current of port B1 and B2 is 0.4A 2) The total max. output current of port B3 is 0.1A 3) Port B3 is an output port with active low Fan (optional) 4) STO1 and STO2 must be wired as required...
  • Page 35 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. RC4 Shaft Control I/O Port (X12/X22/X32/X42) Wiring Diagram 3.4.3.5 HDI1 Homing switch HDI2 Touch Probe 1 Negative limit switch Positive limit switch 24VGND 24VGND 24VGND 24VGND X12/X22/X32/X42 24VGND (Reserved) (Reserved) Figure 3.4-15. RC4 Shaft Control I/O Port (X12/X22/X32/X42) Wiring Diagram...

  • Page 36: Rc6 Wiring Diagram

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.4 RC6 Wiring Diagram 3.4.4.1 RC6 System Wiring Diagram R S T 3Φ AC220V Upper (control) Shaft 3 motor Shaft 2 motor Shaft 1 motor system Description: Circuit breaker 1. For single phase 220V Shaft 3 mot or brak e Shaft 2 mot or brak e Shaft 1 mot or brak e...
  • Page 37 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.4.2 RC6 Encoder Port X4 and X5 Wiring Diagram Shielded twisted- [Note1] pair wire [Note2] 3EVCC [Note2] 3GND Shaft 3 encoder X4-J3 [Note2] DATA- 3DATA- [Note2] DATA+ 3DATA+ Shaft 3 encoder Shielded twisted- [Note1] pair wire [Note2] 2EVCC...
  • Page 38 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.4.3 RC6 Module Control I/O Port X7 Wiring Diagram Note: 1) The total max. output current of port B1 and B2 is 0.4A 2) The total max. output current of port B3 is 0.1A 3) Port B3 is an output port with active low Fan (optional) 4) STO1 and STO2 must be wired as required...

  • Page 39: Connector Pin Definition

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 3.4.4.5 RC6 Shaft Control I/O Port (X12/X22/X32/X42/X52/X62) Wiring Diagram HDI1 Homing switch HDI2 Touch Probe 1 Negative limit switch Positive limit switch 24VGND 24VGND 24VGND 24VGND X12/X22/X32/X42/X52/X62 24VGND (Reserved) (Reserved) RC6 Shaft Control I/O Port (X12/X22/X32/X42/X52/X62) Wiring Diagram Figure 3.4-20.
  • Page 40 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Power supply input terminal connector X1 Description Technical parameters number Definition Protective ground Input voltage: 220V 3AC ±15% 220V 1AC ±15% Power supply R Rated input current: 12Arms Power supply S Power supply T Regenerative resistor connection terminal B Regenerative resistor connection...
  • Page 41 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Shaft control I/O terminal connector X12/X22 Pin Definition Description Technical parameters number 24VGND 24V negative pole 24VGND 24V negative pole Reserved Reserved Negative limit switch Positive limit switch HDI1 Homing switch —— HDI2 Touch Probe1 Reserved Reserved 24VGND...
  • Page 42 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Motor power output terminal connector X11/X21/X31 Description Technical parameters number Definition Motor dynamic output phase W Motor dynamic output phase V —— Motor dynamic output phase U Protective ground Motor brake output terminal connector X3/X6 Description Technical parameters number...
  • Page 43 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Shaft control I/O terminal connector X12/X22/X32 Description Technical parameters number Definition 24VGND 24V negative pole 24VGND 24V negative pole Reserved Reserved Negative limit switch Positive limit switch HDI1 Homing switch —— HDI2 Touch Probe1 Reserved Reserved 24VGND...
  • Page 44 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Motor power output terminal connector X11/X21/X31/X41 Pin Definition Description Technical parameters number Motor dynamic output phase W Motor dynamic output phase V —— Motor dynamic output phase U Protective ground Motor brake output terminal connector X3/X6 Pin Definition Description Technical parameters...
  • Page 45 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Note: 1. The RC4 universal servo products have "shaft control I/O", while robot dedicated servo products have no "shaft control I/O". Universal products: CDRC4-AXXXX-XX-SX; Robot dedicated products: CDRC4-AXXXX-XX-VX. EtherCAT communication terminal connector X8~X9 Pin Definition Description Technical parameters number...
  • Page 46 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Negative output of motor brake J2/J4 damage the drive. In case of abnormal power-on, if there is any Positive output of motor brake J1/J3 short circuit, please disconnect the Negative output of motor brake J1/J3 power supply immediately and contact Tsino-Dynatron technical support.

  • Page 47: Inspection After Installation

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. EtherCAT communication terminal connector X8~X9 Pin Definition Description Technical parameters number DP_PHY0_ TX+ Send data + DP_PHY0_ TX- Send data - DP_PHY0_ RX+ Receive data + —— —— Standard RJ45 shielded terminal. —— —— DP_PHY0_ RX- Receive data - ——...

  • Page 48: Chapter 4 Power On

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 4 Power On Inspection Before Power On Before the first time power on, please make sure the wiring is reliable and complete to prevent short circuit and potential grounding hazards. 4.1.1 Cable Inspection Table 4.1-1 Cable inspection Number Inspection item...

  • Page 49: Definition Of Indicator Status

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 4.2.2 Definition of Indicator Status Table 4.2-1. Definition of Indicator Status AXIS STA Indication Initialization is successfully completed, it is now in "Ready to close main Flashes green slowly power" state Flashes red and green Initialization is successfully completed, it is now in "Ready to close main alternatively and slowly power"...

  • Page 50: Chapter 5 Trial Operation

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 5 Trial Operation There are two ways of trial operation, one is through DriveStarter, the other one is through EtherCAT master station. DriveStarter already has a fixed pilot-run function, making it very easy to operate. While, trial operation through EtherCAT master station needs programming and complex control.

  • Page 51: Trial Operation Through Drivestarter

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x6075 (motor rated current); 0x6076 (motor rated torque); 0x6080 (max motor speed); 0x20C8 (motor torque constant); 5.1.2.3 Set Encoder Parameters Set encoder parameters properly, which must be set according to the encoder specifications adaptive to the motor in real application.

  • Page 52: Trial Operation Under Point To Point (Pp) Mode

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 5.2.2 Trial Operation Under Point to Point (PP) Mode 5.2.2.1 Diagram of Trial Operation Under PP Mode Figure 5.2-1 Diagram of Point to Point (PP) Trial Operation 5.2.2.2 Relevant Parameters: 0x210E Manual Step Target Position 0x210F Manual Step Profile Velocity 0x2110 Manual Step End Velocity 0x2111 Manual Step Profile Acceleration...
  • Page 53 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 5.2.3.1 Diagram of Trial Operation Under PV Mode: Figure 5.2-2 Diagram of Simple Jogging (TTV1) Figure 5.2-3 Diagram of Programming Jogging 1 (TTV2)
  • Page 54 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 5.2-4 Diagram of Programming Jogging 2 (TTV3) Figure 5.2-5 Diagram of Sinusoidal Jogging (STV)

  • Page 55: Trial Operation Under Pt Mode

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 5.2.3.2 Relevant Parameters: 0x2080 Velocity Profile Type Byte0: Velocity Profile Type 0x00-TTV0 0x01-Simple Continuous Mode TTV1 0x02-Programming Continuous Mode TTV2 0x03-Programming Continuous Mode TTV3 0x04-Programming Continuous Mode STV 0x210B Jog Slow Speed 0x210C Jog Fast Speed 0x210D Jog Acceleration Time 0x2100 Program Pulse Speed 0x2101 Program Pulse Wait Time...
  • Page 56 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 5.2-7 Diagram of Programming Torque Profile 1 (TTT2) Figure 5.2-8 Diagram of Programming Torque Profile 2 (TTT3)
  • Page 57 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 5.2-9 Diagram of Sinusoidal Torque Profile (STT) 5.2.4.2 Relevant Parameters: 0x6088 Torque Profile Type 0x0000: linear ramp (TTT0) 0x0001: sin2 ramp 0x0002~0x7FFF: reserved 0x8000: Simple Torque Profile (TTT1) 0x8001: Programming Torque Profile 1 (TTT2) 0x8002: Programming Torque Profile 2 (TTT3) 0x8003: Sine torque test mode (STT) 0x8004: Rotor position compensation angle test mode (RCT)

  • Page 58: Chapter 6 Object Dictionary

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 6 Object Dictionary Object Dictionary Overview 6.1.1 Structure of Object Dictionary The structure of RC series servo drive Object Dictionary conforms to CiA402 standard. See Table 6.1. Table 6.1 Structure of Object Dictionary Index Description 0x1000-0x1FFF...

  • Page 59: Pdo Mapping

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x1009 Hardware version Index 0x1009 Object type Name Hardware version Sub-index Read and write Data type Unit Description mapping operations 0x00 STRING Hardware version 0x100A Software version Index 0x100A Object type Name Software version Sub-index Read and write Data type...
  • Page 60 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x1602 3rd Reception PDO Index 0x1602 Object type Name 3nd Reception PDO Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT8 Number of Entry to RxPDO Object mapped in the 1st, 0x01 UINT32 The default object is 0x6040.
  • Page 61 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x1A00 1st Transmission PDO Index 0x1A00 Object type Name 1st Transmission PDO Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT8 Number of Entry to TxPDO Object mapped in the 1st, 0x01 UINT32 The default object is 0x6041.
  • Page 62 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x1A02 3rd Transmission PDO Index 0x1A02 Object type Name 3rd Transmission PDO Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT8 Number of Entry to TxPDO Object mapped in the 1st, 0x01 UINT32 The default object is 0x6041.

  • Page 63: Communication

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.2.3 Communication 0x1C00 Sync manager type Index 0x1C00 Object type ARRAY Name Sync manager type Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT8 Number of Entries 0x01 UINT8 SubIndex001 0x02 UINT8 SubIndex002 0x03...
  • Page 64 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x07 UINT32 Reserved 0x08 UINT16 Get Cycle Time. Reserved Delay Time. Hardware delay time of the slave, 0x09 UINT32 see Figure 7.2-1 Sync0 Cycle Time. Time between two Sync0 0x0A UINT32 signals. 0x0B UINT16 Cycle exceeded counter 0x0C UINT16...

  • Page 65: Cia402 Parameter Objects

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. RC series of servo drive supports DC synchronous mode. The DC mode communication timing diagram is as below: SM2 Event SM2 Event SYNC0 Event SYNC0 Event Minimum Cycle Time （0x1C32：05） Calc and Copy time Calc and Copy time （0x1C32：06）...
  • Page 66 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.3.1.2 Event Description The following table lists the specific meanings of the drive's state transition triggering events. Table 7.3-1. Description of transition triggering events State·switch· serial· Condition Motion number Automatic execution after power-on or reset Drive self-test and initialization The drive self-test and initialization have Activate communication function...
  • Page 67 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.3.1.3 Relevant Parameters 0x6007 Abort connection option code Index 0x6007 Object type ARRAY Name Abort connection option code Sub-index Read and write Data type Unit Description mapping operations Abort·connection·option·code 0x00-No action; 0x00 RXPDO INT16 0x01-Reserved;...
  • Page 68 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x6041 Statusword Index 0x6041 Object type Name Statusword Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO UINT16 Status word The status word shows the status of the system state machine, and each bit indicates a different meaning. Bit0: Pre-charge relay is ready for closure Bit1: Pre-charge relay closed Bit2: Operation enabled...
  • Page 69 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. The status word shows the device status through the following bit combinations Table 7.3-3. Meanings of status word bit combinations Status word bit Status Bit6 Bit5 Bit3 Bit2 Bit1 Bit0 Not Ready to Switch On Switch On Disabled Ready to Switch On Switched On...

  • Page 70: Control Mode

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.3.2 Control Mode 6.3.2.1 Control Mode Selection The control mode of the slave is set through object 0x6060, and object 0x6061 displays the current control mode. 0x6060 Modes of operation Index 0x6060 Object type Name Modes of operation Sub-index...
  • Page 71 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x6061 Modes of operation display Index 0x6061 Object type Name Modes of operation display Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO INT8 Current control mode Same with 0x6060: Control mode setting Note: This data type of this object is UINT8.
  • Page 72 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x6066 Following error time out Index 0x6066 Object type Name Following error time out Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT16 Position following error time out Set the time after position following error occurred, after which bit 13 of status word will be set to 1. 0x6067 Position window Index 0x6067...
  • Page 73 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x6081 Profile velocity Index 0x6081 Object type Name Profile velocity Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT32 inc/s Profile velocity 0x6082 End velocity Index 0x6082 Object type Name End velocity Sub-index Read and write...
  • Page 74 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x60B0 Position offset Index 0x60B0 Object type Name Position offset Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO INT32 Position compensation value 0x60B1 Velocity offset Index 0x60B1 Object type Name Velocity offset Sub-index Read and write...
  • Page 75 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.3.2.3 Velocity Mode Select objects used by mode 0x02 (VL), 0x03 (PV), 0X09 (CSV) for object 0x6060. 0x6069 Velocity sensor actual value Index 0x6069 Object type Name Velocity sensor actual value Sub-index Read and write Data type Unit Description...
  • Page 76 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x606F Velocity threshold Index 0x606F Object type Name Velocity threshold Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT16 inc/s Zero velocity threshold 0x6070 Velocity threshold time Index 0x6070 Object type Name Velocity threshold time Sub-index...
  • Page 77 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x6072 Max torque Index 0x6072 Object type Name Max torque Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT16 ‰ Max motor torque Set the allowable maximum motor torque. 0x6073 Max current Index 0x6073 Object type...
  • Page 78 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x6078 Current actual value Index 0x6078 Object type Name Current actual value Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO INT16 ‰ Current effective value The current effective value, which is the same with the actual motor instantaneous current. 0x6079 DC link circuit voltage Index 0x6079...
  • Page 79 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x60E0 Positive torque limit value Index 0x60E0 Object type Name Positive torque limit value Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT16 ‰ Positive torque limit value Set the positive torque limit value. 0x60E1 Negative torque limit value Index 0x60E1...
  • Page 80 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x04-Find positive home switch and index pulse 2; 0x05-Find negative home switch and index pulse 1; 0x06-Find negative home switch and index pulse 2; 0x07-Find home switch and index pulse 1; 0x08-Find home switch and index pulse 2; 0x09-Find home switch and index pulse 3;...
  • Page 81 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x609A Homing acceleration Index 0x609A Object type Name Homing acceleration Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT32 inc/ms² Homing acceleration Set the homing acceleration and deceleration. 6.3.2.6 Touch Probe As a reserved function of RC series servo drive, it is not supported for now.

  • Page 82: Other Objects

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.3.3 Other Objects 0x60FD Digital inputs Index 0x60FD Object type Name Digital inputs Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO UINT32 Digital inputs Digital inputs Bit0: Negative limit switch 0: Switch off 1: Switch on Bit1: Positive limit switch 0: Switch off 1: Switch on Bit2: Back to zero switch 0: Switch off 1: Switch on Bit4~15: Reserved...

  • Page 83: Rc Series Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. RC Series Parameters 6.4.1 Drive Parameters 0x202C Power Stage Setting Index 0x202C Object type Name Power Stage Setting Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Power Loop Setting Set the input power supply voltage of the drive, the STO delay control, and the motor drive module model. Byte0: Input main voltage of power module 0x00-Three-phase 200V;...
  • Page 84 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2036 Regenerative Accumulated Overload Regenerative Accumulated Overload Index 0x2036 Object type Name Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO UINT16 ‰ Regenerative Accumulated Load Rate This parameter provides the cumulative load rate of the regenerative braking resistor during operation. 0x2037 Regenerative Resistor De-rating Factor Index 0x2037...
  • Page 85 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x203B Control Source Index 0x2038 Object type Name Control Source Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Control Source Selection Parameter function: Byte0: Host computer controller selection 0x00-No host computer control; 0x01-DriveStarter;...
  • Page 86 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x204C Under voltage protection threshold value Index 0x204C Object type Name Under voltage protection threshold value Sub-index Read and write Data type Unit Description mapping operations Under voltage protection threshold value of the 0x00 UINT32 drive The under voltage protection will be triggered when the drive's DC bus voltage drops from the normal value to below this...

  • Page 87: Motor Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x5FFF Dummy Byte2 Index 0x5FFF Object type Name Dummy Byte2 Sub-index Read and write Data type Unit Description mapping operations TXPDO/RX 0x00 UINT8 Dummy Byte 2 Dummy byte is used for aligning data type of object 0x6060 or 0x6061 during PDO configuration. 0x201A Warning operation switch Index 0x201A...
  • Page 88 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x202F Motor Operation Environment Index 0x202F Object type Name Motor Operation Environment Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Motor Operation Environment Set the motor operation environment Byte0-cooling method 0x00-Natural cooling 0x01-Forced air cooling Byte1-Mounting method...
  • Page 89 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x20C1 Motor Voltage Class Index 0x20C1 Object type Name Motor Voltage Class Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT16 Volt Motor Voltage Class Set the motor voltage class. This parameter is provided by the manufacturer. 0x20C2 Motor Rated Speed Index 0x20C2...
  • Page 90 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x20C7 Motor Pole Pairs Number Index 0x20C7 Object type Name Motor Pole Pairs Number Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT16 Motor Pole Pairs Number Set the motor pole pairs number. This parameter is provided by the manufacturer. 0x20C8 Motor Torque Constant Index 0x20C8...

  • Page 91: Encoder Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.4.3 Encoder Parameters 0x2009 Encoder Type Set Index 0x2009 Object type Name Encoder Type Set Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Encoder Type Set the encoder type. Byte0: Encoder type 0x00-Absolute encoder;...
  • Page 92 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x200C Interface Encoder Multi-Turn Resolution Index 0x200C Object type Name Interface Encoder Multi-Turn Resolution Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT16 Interface Encoder Multi-Turn Resolution Provides the multi-turn resolution of the drive and host computer interface encoder. This parameter is read-only and can not be modified.

  • Page 93: Motor Brake Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. When Byte1 is set to 0x00, the interface encoder single-turn resolution is consistent with the actual resolution and Byte0 is invalid. When Byte1 is set to 0x01, the interface encoder single-turn resolution can be modified by setting Byte0, and can not be higher than the actual resolution.
  • Page 94 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Byte1: Reserved Byte2: Motor brake braking delay control 0x00-Motor brake braking delay control is invalid; 0x01-Motor brake braking delay control is valid. Byte3: Motor brake forced braking control 0x00-Motor brake forced braking control is invalid; 0x01-Motor brake forced braking control is valid.
  • Page 95 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2234 Motor Braker Holding Torque Index 0x2234 Object type Name Motor Braker Holding Torque Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT16 ‰ Motor brake holding torque Set the motor braker holding torque, which is a permillage of the rated torque. When the torque exceeds the set value of 0x2234, report fault: Abnormity in motor brake.
  • Page 96 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Control power Control power closed Control power disconnected 0msec (min) Power supply closed Power supply Power supply disconnected TASE+TMBAHDLY>TASADLY TASE+TMBAHDLY+TMBA> TASADLY Servo enabled 0: Servo disabled 1: Servo enabled (0x6040.3) TASE+TMBAHDLY+TMBA≤ TASADLY Motor is working 1: Motor is (0x6041.2) working...

  • Page 97: Operation Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.4.5 Operation Parameters 0x2000 Position control switch Index 0x2000 Object type Name Position control switch Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Position control switch Byte0: Soft limit enable/disable 0x00-Disable soft limit in all modes 0x01-Enable soft limit in all modes 0x02-Enable soft limit only in position mode...
  • Page 98 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2011 Velocity Control Switch Index 0x2011 Object type Name Velocity Control Switch Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Velocity Control Switch Byte0: Zero velocity lock shaft control 0x00-Disable zero velocity lock shaft control; 0x01-Enable zero velocity lock shaft control.
  • Page 99 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x00 - Pulsating torque compensation control switch 0x01 - Enable pulsating torque compensation control Byte1: Torque compensation control switch 0x00 - Torque compensation control is disabled; 0x01 - Torque compensation control is enabled. Byte2: Static balance torque control switch 0x00 - Disable the static balance torque control;...
  • Page 100 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Description: The settings of motor parameter 0x20C4 and 0x20C6 will not influence the motor control. 0x03-Partial decoupling control 2. Description: The setting of motor parameter 0x20C4 will influence the motor control, and the setting of 0x20C6 will not influence the motor control.
  • Page 101 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2092 Active Stop Delay Time Index 0x2092 Object type Name Active Stop Delay Time Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT16 Active Stop Delay Time Set the active stop delay time. 0x2093 Fault Reaction Stop Option Index 0x2093...
  • Page 102 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2095 Acceleration Feedforward Control Switch Index 0x2095 Object type Name Acceleration Feedforward Control Switch Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Acceleration Feedforward Control Switch Byte0: Enable bit of acceleration feedforward torque compensation 0x00-Disable acceleration feedforward torque compensation control;...
  • Page 103 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x1E-3.0times of the motor rated current. Byte3: Phase sequence detection current of static detection method 0x0A-1.0times of the motor rated current; 0x0F-1.5times of the motor rated current; 0x14-2.0times of the motor rated current; 0x19-2.5times of the motor rated current; 0x1E-3.0times of the motor rated current.
  • Page 104 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2103 Program Pulse Down Time Index 0x2103 Object type Name Program Pulse Down Time Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT16 Square Wave Speed Down Time In velocity profile PV-TTV2, PV-TTV3 mode, set the square wave speed down time. 0x2104 Program Pulse Duration Time Index 0x2104...
  • Page 105 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2107 Program Sin Offset Speed Index 0x2107 Object type Name Program Sin Offset Speed Sub-index Read and write Data type Unit Description mapping operations 0x00 INT16 r/min Sine Wave Offset Speed In velocity profile PV-STV mode, set the sine wave offset speed. 0x2108 Program Sin frequency Index 0x2108...
  • Page 106 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x210B Jog Slow Speed Index 0x210B Object type Name Jog Slow Speed Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT16 r/min Manual Jog Slow Speed The set speed in velocity profile PV-TTV1 mode. 0x210C Jog Fast Speed Index 0x210C...

  • Page 107: Basic Adjustment Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2110 Manual Step End Velocity Index 0x2110 Object type Name Manual Step End Velocity Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 inc/s Manual Step End Velocity Set the manual step end velocity in PP mode. 0x2111 Manual Step Profile Acceleration Index 0x2111...
  • Page 108 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2028 Acceleration Feedforward Gain Index 0x2028 Object type Name Acceleration Feedforward Gain Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT32 ‰ Acceleration Feedforward Gain Set the acceleration feedforward gain. 0x2040 Position Control Gain1 Index 0x2040...
  • Page 109 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2044 Velocity Control Gain1 Index 0x2044 Object type Name Velocity Control Gain1 Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT32 ‰ Velocity Control Gain1 The greater the set value of the velocity control gain, the higher the gain, and the better following with the velocity commands.
  • Page 110 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2048 Current Control Gain 1 Index 0x2048 Object type Name Current Control Gain 1 Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT32 ‰ Current Control Gain 1 Adjusting the current control gain can speed up the system response.. The higher the current control gain, the smaller the integration time constant, the better the response, and vice versa.
  • Page 111 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 7.4-3. Diagram of torque PI gain automatic switching 0x2051 Position Proportional output Index 0x2051 Object type Name Position Proportional output Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO UINT32 Position Proportional Regulator output Provides the instantaneous value of position proportional regulator output.
  • Page 112 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x205E Velocity Regulator Inflection Velocity 1 Index 0x205E Object type Name Velocity Regulator Inflection Velocity 1 Sub-index PDO mapping Read and write Data type Unit Description operations Velocity Regulator Inflection 0x00 UINT32 ‰ Velocity 1 When the velocity regulator adaptive control of Byte3 in 0x2065 is enabled, velocity regulator inflection velocity 1 and 2 are valid.

  • Page 113: Filter Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.4.7 Filter Parameters 0x2010 Velocity Command Lowpass Filter Cutoff Frequency Index 0x2010 Object type Name Velocity Command Lowpass Filter Cutoff Frequency Sub-index Read and write Data type Unit Description mapping operations Velocity Command Lowpass Filter Cutoff 0x00 UINT32 Frequency...
  • Page 114 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2027 Acceleration Feedforward Lowpass Filter Cutoff Frequency Index 0x2027 Object type Name Acceleration Feedforward Lowpass Filter Cutoff Frequency Sub-index Read and write Data type Unit Description mapping operations Acceleration Feedforward Lowpass Filter 0x00 UINT32 Cutoff Frequency Set the acceleration feedforward lowpass filter cutoff frequency.
  • Page 115 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2061 Torque Command Notch Filter 1 Center Frequency Index 0x2061 Object type Name Torque Command Notch Filter 1 Center Frequency Sub-index Read and write Data type Unit Description mapping operations Torque Command Notch Filter 1 Center 0x00 UINT32 0.1Hz...
  • Page 116 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter. Byte2: Torque command lowpass filter type 0x00-Disable lowpass filter 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter. Byte3: Velocity command lowpass filter type 0x00-Disable lowpass filter 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter. 0x2068 Positioning Vibration Suppressor Frequency Index 0x2068...
  • Page 117 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x206B Position Command Lowpass Filter Cutoff Frequency Index 0x206A Object type Name Position Command Lowpass Filter Cutoff Frequency Sub-index Read and write Data type Unit Description mapping operations Position command lowpass filter cutoff 0x00 UINT32 0.1Hz frequency...

  • Page 118: Limit Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 6.4.8 Limit Parameters 0x2004 Min software position limit Index 0x2004 Object type Name Min software position limit Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Min software position limiting After setting the min software position limiting and enabling the software position limiting, if the "Actual Position" does not exceed the min/max value of the software position limiting, the servo motor will only receive reverse position commands rather than syntropy ones when it reaches the min/max value of the software position limiting;...
  • Page 119 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2013 Negative velocity limit value Index 0x2013 Object type Name Negative velocity limit value Sub-index Read and write Data type Unit Description mapping operations 0x00 RXPDO UINT32 inc/s Negative velocity limit value Set the negative velocity limit value, and the motor will not exceed the set value. Refer to Figure7.4-6. 0x2023 Velocity Limit during Torque Control Index 0x2023...

  • Page 120: Monitor Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2021 Negative internal torque limit value Index 0x2021 Object type Name Negative internal torque limit value Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 ‰ Negative internal torque limit value Set the negative internal torque limit value, and the unit is permillage of rated torque.
  • Page 121 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x20A1 Accumulated motor Overload Index 0x20A1 Object type Name Accumulated motor Overload Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO UINT16 ‰ Motor Load Rate Provides the current motor load rate. 0x20A2 Inverter Temperature Index 0x20A2...
  • Page 122 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Byte0: Timeout detection sensitivity 0x00 - Do not detect timeout 0x01 - Timeout detection sensitivity 1 0x02 - Timeout detection sensitivity 2 0x03 - Timeout detection sensitivity 3 0x04 - Timeout detection sensitivity 4 0x05 - Timeout detection sensitivity 5 0x06 - Timeout detection sensitivity 6 0x07 - Timeout detection sensitivity 7...
  • Page 123 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2203 Velocity Control Effort Index 0x2203 Object type Name Velocity Control Effort Sub-index Read and write Data type Unit Description mapping operations 0x00 TXPDO INT32 Velocity Control Output Provides the velocity control output value. 0x2204 Position Control Effort Index 0x2204...
  • Page 124 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x2224 Warning Code Index 0x2224 Object type Name Warning Code Sub-index Read and write Data type Unit Description mapping operations 0x00 UINT32 Warning Flag 0x2225 Resettable Error Flag 1 Index 0x2225 Object type Name Resettable Error Flag 1 Sub-index Read and write...

  • Page 125: Chapter 7 Running

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 7 Running Control Source Selection When a host controller (a PC with DriveStarter debugging software installed or EtherCAT master) is used to control the servo running, the servo control should be obtained firstly, otherwise the servo can't be debugged or run. Default Effective Number...

  • Page 126: Power Loop Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Power Loop Setting Default Effective Number Index Name Unit Setting range value time Power Loop 0x202C — 0x00000000~0x0003000F 0x00020001 Restart Setting Byte0: Input main voltage of power module 0x00-Three-phase 200V; 0x01-Three-phase 220V; 0x02-Three-phase 240V; 0x07-Single phase 200V;...

  • Page 127: Motor Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Motor Parameters Please set the motor parameters according to corresponding motor nameplates or actual motor parameters provided by the motor manufacturer, otherwise the motors may fail to work or work abnormally, and motors or machines may be damaged as a result.
  • Page 128 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Winding Power 0x20C3 mΩ 1~4294967295 5000 Resistance cycle Parameter description: Motor winding resistance, provided by the motor manufacturer. User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number...
  • Page 129 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Motor Pole Pairs 0x20C7 1~100 Restart Number Parameter description: Set the motor pole pairs number, for example: 0x20C7=2, indicating a 4-pole motor. User permission: User/Engineer. Parameter permission: Read and Write Default Effective...
  • Page 130 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Immediate 0x6073 Max motor current ‰IN 1~10000 3000 Parameter description: Set the maximum allowable current of a servo motor, which is a permillage of the rated current.
  • Page 131 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time 0x6402 Motor type 0x0000~0x000F 0x0003 Restart Byte0: Motor type 0x00-Non-standard motor; 0x01~0x02-Reserved; 0x03-Permanent magnet synchronous motor; 0x04~0x05-Reserved; 0x06-Winding asynchronous motor; 0x07-Squirrel cage asynchronous motor; 0x08~0x09-Reserved;...

  • Page 132: Encoder Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x00-Confined space 0x01-Open space Byte3: Motor heat radiation grade 0x00-Level 0 0x01-Level 1 0x02-Level 2 0x03-Level 3 0x04-Level 4 0x05-Level 5 0x06-Level 6 Parameter description: This parameter should be set according to the actual motor cooling method. It will influence the overload curve of a servo motor, and an improper setting may burn the motor.
  • Page 133 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01 - Incremental encoder. Byte1: Absolute encoder model 0x00 - Hiperface; 0x01 - SSI. 0x02 - Nikon 0x03 - Tamagawa 0x04 - Reserved 0x05 - BISS C 0x06-EnDat2.2 0x07 - Panasonic 0x08 - SANKYO 0x09 - MotorPower Byte2: Encoder communication rate 0x00 - 2.5Mbps...
  • Page 134 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Interface Encoder 0x200B Single-Turn 1~31 Restart Resolution Parameter description: When the host computer issues a position command, the minimum resolution of the command is determined based on this parameter; this parameter is set by 0x200D. User permission: User/Engineer.
  • Page 135 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x08-Interface Encoder Multi-turn upper limit resolution is equal to 8 0x09-Interface Encoder Multi-turn upper limit resolution is equal to 9 0x0A-Interface Encoder Multi-turn upper limit resolution is equal to 10 0x0B-Interface Encoder Multi-turn upper limit resolution is equal to 11 0x0C-Interface Encoder Multi-turn upper limit resolution is equal to 12 0x0D-Interface Encoder Multi-turn upper limit resolution is equal to 13 0x0E-Interface Encoder Multi-turn upper limit resolution is equal to 14...

  • Page 136: Braking

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Incremental 0x2074 encoder Inc/rev 1~4294967295 131072 Restart resolution User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Absolute Encoder...
  • Page 137 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 1) As for users who need braking through external energy consumption, the following three parameters must be set correctly: Default Effective Number Index Name Unit Setting range value time Regenerative 0x2034 Watt 400~65535 1000 Restart Resistor Power Parameter description: External brake resistor power, which should be set consistently with the actual value...

  • Page 138: Motor Brake Activated

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 2) Brake Chopper switched on Voltage Default Effective Number Index Name Unit Setting range value time Brake Chopper switched on 0x2085 0~2147483647 Read only Voltage of the drive Parameter description: This parameter has been set by the manufacturer. Users can only view but not modify it.
  • Page 139 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Motor Brake Active 0x203A Holding Delay 0~ 10000 Immediately Time Parameter function: Set the delay time from the drive receiving a servo OFF command to actually blocking the motor output.
  • Page 140 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Motor brake release 0x2067 0~1000 Immediately delay time Parameter description: Set the time from the drive receiving a servo ON command to the motor brake release OK (allowed to receive the host computer commands).

  • Page 141: Modes Of Operation

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Modes of Operation Default Number Index Name Unit Setting range Effective time value Control mode 0x6060 0x00000000~0x000F000F 0x00080008 Immediately setting Byte0: Operation control mode 0x00-Mode remains unchanged; 0x01-Profile position mode (PP); 0x02 - Velocity mode (VL, not supported yet); 0x03-Profile velocity mode (PV);...

  • Page 142: Basic Running Function Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Byte3: Reserved. The default value is 0 Parameter description: Set the running modes of servo drives. The host controller can read the current running mode of the servo drive through PDO object 0x6061. User permission: User/Engineer. Parameter permission: Read and Write Basic Running Function Setting 7.7.1...
  • Page 143 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. The servo ON/OFF timing diagram is shown as below: Servo ON: Control power Control power closed Power supply closed Power supply Drive enabled DC voltage 0msec (min) threshold (0x204D,No56) 3sec DC bus voltage DC bus charging time Main power status (0x6041.4) 1: Servo enabled...
  • Page 144 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Servo OFF: Depending on the servo stop mode, the servo OFF timing diagram is slightly different. Here is just an example of servo OFF. Control power Control power closed Control power disconnected 0msec (min) Power supply Power supply closed Power supply...

  • Page 145: Motor Rotational Direction Selection

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.7.2 Motor Rotational Direction Selection Default Effective Number Index Name Unit Setting range value time 0x607E Polarity 0x0000~0x00E0 0x0000 Restart Byte0: Polarity set 0x00-Positive position command motor CW rotation, positive velocity command motor CW rotation, positive torque command motor CW rotation;...
  • Page 146 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter permission: Read and Write Default Number Index Name Unit Setting range Effective time value Fault 0x2094 Operation — 0x00000000~0x01010101 0x01010100 Restart Switch Byte0: Fault reaction option code 0x00-"Can not reset fault" is cleared after re-power on; 0x01-"Can not reset fault "...
  • Page 147 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Emergency stop 0x605A — 0x0000~0x0003 0x0002 Immediately option code Byte0: Quick stop option code 0x00-Immediately stop the motor output, and the motor stops freely; 0x01-"Slope deceleration"...

  • Page 148: Motor Overload Parameter Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: Set the characteristic of a servo drive from servo "OPERATION ENABLE" to "READY TO SWITCH ON". User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Disable operation...

  • Page 149: Communication Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: When the overload multiple of the servo motor reaches this set value, and the lasting time exceeds the overload protection time set in 0x202E, the servo drive will report motor U/V/W instantaneous overload protection.
  • Page 150 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Byte0: Abort·connection·option·code 0x00-No action; 0x01-Reserved; 0x02-Execute "Disable voltage" command; 0x03-Execute "Quick stop" command. Byte1: Reserved. The default value is 0 Parameter Description: User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range...

  • Page 151: Load Inertia Ratio

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x0D - Timeout detection sensitivity 13 0x0E - Timeout detection sensitivity 14 0x0F - Timeout detection sensitivity 15 0x10 - Timeout detection sensitivity 16 Byte1: Timeout prediction control 0x00 - No prediction control 0x01 - Smooth prediction control Byte2: Synchronous mode setting 0x00-DS SYNCO 0x01-Free Run...

  • Page 152: Command Limit

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.7.7 Command Limit 7.7.7.1 Position Command Limit Default Effective Number Index Name Unit Setting range value time Position 0x2000 — 0x00000000~0x01010303 0x01000100 Immediately control switch Byte0: Soft limit enable/disable 0x00 - Software position limit is disabled in all modes; 0x01 - Software position limit is enabled in all modes;...
  • Page 153 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time software -2147483648~ 0x2005 position limit 2147483647 Immediately unit 2147483647 Maximum Parameter Description: User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number...
  • Page 154 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.7.7.2 Velocity Command Limit Default Effective Number Index Name Unit Setting range value time Positive velocity 0x2012 inc/s 0~2147483647 52428800 Immediately limit value Parameter description: It is effective only with control mode CSV, HM, PP, and PV-TTV0; its unit is inc/s. User permission: User/Engineer.
  • Page 155 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 7.7-5. Diagram of velocity command limit 7.7.7.3 Torque Command Limit Default Effective Number Index Name Unit Setting range value time Positive Internal 0x2020 Torque Limit ‰TN 0~10000 3000 Immediately Value Parameter description: When parameter 0x2022 Byte0 is set to 0x00, the maximum positive torque of the servo motor ;...

  • Page 156: Rotor Compensation Angle And Phase Sequence Detection Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time 0x6072 Max motor torque ‰TN 1~10000 3000 Immediately Parameter description: For details, please refer to parameter 0x6072. User permission: User/Engineer. Parameter permission: Read and Write Figure 7.7-6.
  • Page 157 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x06 - 0.05 ºC; 0x07 - 0.02 ºC; 0x08 - 0.01 ºC; 0x09 - 0.005 ºC; 0x0A - 0.001 ºC. Note: The smaller the set value of the phase sequence detection sensitivity, the detection is more likely to be successful, while the bigger the error of the detection result;...

  • Page 158: Position Control

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Position Control Select the position control mode through 0x6060. Parameter setting: 0x6060=0001 Profile position mode (PP); 0x6060=0006 Homing mode (HM); 0x6060=0008 Cyclic synchronous position mode (CSP); Parameter Description: PP mode can be realized through the commissioning of DriveStarter, while CSP mode is realized through the coordination between the EtherCAT master and the PDO object 0x607A (target...
  • Page 159 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x00 - Position following error out of range detection is disabled; 0x01 - Position following error out of range detection is enabled. Parameter description: The position control switch is used to enable/disable soft limit, position compensation, and position following error limit detection, as well as determine the output signals for positioning completion.

  • Page 160: Homing Mode

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.8.3 Homing Mode Homing mode describes how the servo drive finds the initial position (also known as the benchmark point, reference point or zero point). Default Effective Number Index Name Unit Setting range value time 0x607C Home offset...

  • Page 161: Pp Mode Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x12-No index pulse homing 2; 0x13-No index pulse homing 3; 0x14-No index pulse homing 4; 0x15-No index pulse homing 5; 0x16-No index pulse homing 6; 0x17-No index pulse homing 7; 0x18-No index pulse homing 8; 0x19-No index pulse homing 9;...
  • Page 162 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Manual Step 0x210E -2147483648~2147483647 1024 Immediately Target Position User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Manual Step...

  • Page 163: Position Regulator

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. User permission: User/Engineer. Parameter permission: Read and Write 7.8.5 Position regulator Default Effective Number Index Name Unit Setting range value time Position Control 0x2040 ‰ 0~ 2147483647 1000 Immediately Gain1 Parameter description: The higher the set value of position control gain 1, the higher the gains, the greater the servo rigidity and the better following with the position commands, the smaller the position error, and the shorter setting time under the same command conditions.

  • Page 164: Position Filter Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Position Control 0x2043 Integration time ‰ 0~ 2000 Immediately constant Parameter permission: This parameter is valid when parameter 0x2040 is set to 0. The smaller the set value of position control integration time, the better responding to the position commands.

  • Page 165: Position Following Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time 0x6067 Position window 1~2147483647 Immediately Parameter description: If the position window value is smaller than the value of 0x6067 and the accumulating time is bigger than the value of 0x6068, the positioning is considered completed by the drive. And at this time, the servo drive will set Bit10 of status word 0x6041 to 1.

  • Page 166: Positioning Vibration Suppression Function

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. User permission: User/Engineer. Parameter permission: Read and Write 7.8.9 Positioning Vibration Suppression Function Default Effective Number Index Name Unit Setting range value time Vibration 0x000000 0x206A Suppressor — 0x00000000~0x00000301 Restart control switch Byte0: Position vibration suppressor control enabling switch 0x00 - Disable the vibration suppressor;...
  • Page 167 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Positioning vibration 0x2069 suppression 0.1Hz 1~100 Immediately bandwidth frequency User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Position command...

  • Page 168: Position Unit Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.8.10 Position Unit Setting The position unit setting is not open for use temporarily. Default Effective Number Index Name Unit Setting range value time 0x20D0 Position Unit — 0x0000~0xFFFF 0x00AC Restart Byte0: Dimension Index 0x01 - Meter;...

  • Page 169: Servo On Vibration Suppression

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: Set the power on position error threshold. When it is set to 0, the power on position error detection will be disabled. User permission: User/Engineer. Parameter permission: Read and Write 7.8.12 Servo ON Vibration Suppression Default Effective Number...

  • Page 170: Software Position Limit Function

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: Set the parameter to the actual torque required by the load, to prevent the "nodding" action when the servo is ON. User permission: User/Engineer. Parameter permission: Read and Write 7.8.13 Software Position Limit Function Default Effective Number...

  • Page 171: Velocity Control

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time software 0x2004 position limit -2147483648~2147483647 -2147483648 Immediately Minimum User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time software...

  • Page 172: Basic Setting Of Velocity Control

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.9.2 Basic Setting of Velocity Control Default Effective Number Index Name Unit Setting range value time Velocity 0x2011 — 0x00000000~0x01010101 0x00010000 Immediately Control Switch Byte0: Zero velocity lock shaft control 0x00-Disable zero velocity lock shaft control; 0x01-Enable zero velocity lock shaft control.
  • Page 173 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Velocity 0x2032 control cycle — 1~32 Restart time selection Parameter description: Set the velocity control cycle time to n times of the current loop control cycle, in which n is a set value, and the default control cycle of the current loop is 125us.

  • Page 174: Square Wave Speed Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time 0x60C6 inc/ms² 1~2147483647 2147483647 Immediately deceleration Parameter Description: User permission: User/Professional. Parameter permission: Read and Write 7.9.3 Square Wave Speed Setting Square wave speed setting mainly introduces parameters related to TTV2 and TTV3 in the commissioning of DriveStarter.

  • Page 175: Sine Wave Speed Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Program Pulse 0x2103 0~65535 1000 Immediately down time Parameter description: This parameter is used to set the speed fall time of PV-TTV2 and PV-TTV3. User permission: User/Engineer.

  • Page 176: Manual Jog

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Program Sin 0x2107 r/min -5000~5000 Immediately Offset Speed Parameter Description: User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time...

  • Page 177: Velocity Limit

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Manual Jog 0x210D Acceleration 0~10000 Immediately Time Parameter description: The acceleration time for the velocity profile type of TTV1. Deceleration time is equal to Acceleration time. User permission: User/Engineer.

  • Page 178: Velocity Filter Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.9.7 Velocity Filter Setting Default Effective Number Index Name Unit Setting range value time Low-pass filter 0x00000000~0x03030 0x2066 0x01020102 Restart type select Byte0: Velocity feedback lowpass filter type 0x00-Low-pass filter disabled; 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter.

  • Page 179: Velocity Regulator

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter Description: User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Velocity feedback 0x2017 low-pass 100~4000 1000 Immediately filter cutoff frequency Parameter Description: User permission: User/Engineer. Parameter permission: Read and Write 7.9.8 Velocity regulator...
  • Page 180 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Velocity control 0x2045 integration 125~ 2147483647 20000 Immediately time constant 1 Parameter description: The smaller the set value of velocity control integration time, the better responding to the velocity commands.
  • Page 181 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01 - Enable the current prediction control Byte3: Regulator adaptive control 0x00 - Disable all the regulator adaptive control 0x01 - Enable the current regulator adaptive control, disable the velocity regulator adaptive control 0x10 - Disable the current regulator adaptive control, enable the velocity regulator adaptive control 0x11 - Enable the current regulator adaptive control, enable the velocity regulator adaptive control Parameter permission: Read and Write Default...

  • Page 182: Acceleration Feedforward Torque Compensation Function

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 7.9-1. Diagram of velocity PI gain automatic switching Roles of the velocity regulator adaptive control function: 1. It can be adapted to a higher gain to obtain a better command-following performance during the motor running;...

  • Page 183: Velocity Output

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Acceleration 0x2028 Feedforward ‰ 0~2000 Immediately Gain User permission: User/Engineer. Parameter permission: Read and Write 7.9.10 Velocity Output Default Effective Number Index Name Unit Setting range value time...
  • Page 184 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01-Enable zero velocity lock shaft control. Byte1: Velocity compensation control switch 0x00-Disable velocity compensation control; 0x01-Enable velocity compensation control switch. Byte2: Detection switch of velocity following error 0x00-Disable detection of velocity following error; 0x01-Enable detection of velocity following error. Byte3: Enabling switch of position control overflow detection in velocity mode 0x00-Disable position control overflow detection;...

  • Page 185: Zero Velocity Window

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: The velocity following error detection function is enabled/disabled through parameter 0x2011.Byte2. If the velocity following error detection is enabled, when the velocity error exceeds the set value of 0x20A3, and the lasting time exceeds the set value of 0x20A4, the drive will report a fault of big velocity following error.
  • Page 186 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 7.9-2. Diagram of notch filter functions Numb Default Effective Index Name Unit Setting range value time Torque command 0x0000 Immediate 0x2060 notch filter control — 0x00000000~0x01010101 0000 switch Byte0: Torque command notch filter 1 enabling switch 0x00-Disable torque command notch filter 1;...
  • Page 187 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Velocity command notch 0x2063 10~60000 6000 Immediately filter 1 center frequency User permission: User/Engineer Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value...

  • Page 188: Torque Control

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.10 Torque Control Torque modes can be selected through 0x6060. Parameter setting: 0x6060=0004 Profile Torque mode (PT); 0x6060=000A Cyclic synchronous torque mode (CST). Parameter Description: PT mode is realized through the commissioning of DriveStarter. There are four torque profile types including TTT1, TTT2, TTT3 and the sine wave mode, corresponding to simple torque profile, programming torque profile 1, programming torque profile 2 and sinusoidal torque profile respectively in DriveStarter.

  • Page 189: Square Wave Torque Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. User permission: User/Engineer. Parameter permission: Read and Write 7.10.3 Square Wave Torque Setting The square wave torque setting is mainly about parameters related to TTT1, TTT2 and TTT3 in the commissioning of DriveStarter. For details, please refer to Section 5.2.4. Default Effective Number...

  • Page 190: Sine Wave Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: This parameter applies to mode PV-TTV2, PV-TTV3, PT-TTT2 and PT-TTT3. User permission: User/Engineer. Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Program Pulse 0x2104 0~65535 1000 Immediately Duration Time...

  • Page 191: Internal Torque Limit

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter Description: User permission: User/Engineer Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Program Sin 0x2108 0.1Hz 1~30000 Immediately Frequency User permission: User/Engineer Parameter permission: Read and Write 7.10.5 Internal Torque Limit Default...

  • Page 192: Torque Filter Setting

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Negative internal 0x2021 ‰TN 0~10000 3000 Immediately torque limit value Parameter description: When Byte0 of 0x2022 is set to 0x00, the maximum negative torque of the servo motor;...
  • Page 193 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter. Byte2: Torque command lowpass filter type 0x00-Low-pass filter disabled; 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter. Parameter Description: User permission: User/Engineer/Designer. Parameter permission: Read and Write Default Effective Number Index Name Unit...
  • Page 194 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Torque Command 0x2029 -100~100 Immediately Resonance Filter Depth Parameter Description: User permission: User/Engineer Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time...

  • Page 195: Current Regulator

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.10.7 Current Regulator Default Effective Number Index Name Unit Setting range value time Current Control 0x2048 ‰ 100~2147483647 3000 Immediately Gain 1 Parameter description: Adjusting the current control gain 1 can speed up the system response. The higher the current control gain, the smaller the integration time constant, the better the response, and vice versa.
  • Page 196 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x10 - Disable the current regulator adaptive control, enable the velocity regulator adaptive control 0x11 - Enable the current regulator adaptive control, enable the velocity regulator adaptive control Parameter Description: CoolDrive R series drives don't support current regulator adaptive control temporarily.

  • Page 197: Notch Filter Function

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.10.8 Notch Filter Function Notch filters are mainly used for driving mechanical equipments with high-velocity and high-precision. In such cases, servo gains are usually set to be relatively high, which may cause mechanical vibration. Vibration frequencies can be filtered through notch filters, resulting in higher gains and faster servo response.

  • Page 198: Others

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. User permission: User/Engineer Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time command notch 0x2061 filter 1 center 10~60000 6000 Immediately frequency User permission: User/Engineer Parameter permission: Read and Write Default Effective Number...

  • Page 199: Protection Thresholds For Over Current, Over Voltage And Under Voltage

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 2. Reset the encoder through EtherCAT upper master (at this time, EtherCAT upper master takes the control). Detailed procedures: Set Bit12 of the control word 0x6040 to 1 through EtherCAT upper master, that is, 0x6040=0x1000, and the multi-turn values of the encoder will be reset.

  • Page 200: Charge Relay Control Function

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.11.4 Charge Relay Control Function Default Effective Number Index Name Unit Setting range value time Drive enabled 0x204D DC voltage 1~4294967295 200000 Restart threshold Parameter description: When the servo is enabled, only when the bus voltage is bigger than the set value of 0x204D, can the relay be activated to enter the servo ON state.

  • Page 201: Rotor Compensation Angle Detection

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: When the set motor speed of 0x20CA starts, and before reaching the DC Bus speed limit, the flux weaking compensation current gradually increases according to the set slope of 0x20CB, until the current amplitude or motor speed reach the profile command value.
  • Page 202 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Byte2: Compensation angle detection current of static detection method 0x0A-1.0 time of the motor rated current 0x0F-1.5 times of the motor rated current 0x14-2.0 times of the motor rated current 0x19-2.5 times of the motor rated current 0x1E-3.0 times of the motor rated current Byte3: Phase sequence detection current of static detection method 0x0A-1.0 time of the motor rated current...
  • Page 203 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Set the rotor compensation angle detection current through Byte2. As long as it does not exceed the maximum allowable current of the motor and drive, the higher the detection current, the more accurate the detection result. Set the phase sequence detection current through Byte3.

  • Page 204: Alarm Operation Switch

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 7.11.8 Alarm Operation Switch Default Effective Number Index Name Unit Setting range value time Alarm Operation 0x201A 0x00000000~0x00000001 0x00000001 Immediately Switch Byte0: Monitoring selection for that the mechanical home is not calibrated 0x00-Disable detection that the mechanical home is not calibrated 0x01-Detected alarm that the mechanical home is not calibrated Byte1 - Byte3 are reserved;...

  • Page 205: Chapter 8 Adjustment

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 8 Adjustment This chapter mainly introduces the adjusting methods and precautions of various functions related to the servo motor adjustment. Please make adjustments according to the special conditions. Basic Adjustment 8.1.1 About the Adjustment Adjusting operations are conducted to optimize the responsiveness of servo drives once they are matched with corresponding servo motors.

  • Page 206: Regulator Adjustment

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. When the motor can not follow the acceleration or deceleration of a position or velocity command, the following lagged value will increase, resulting in alarms for excessive position or velocity following errors. Please keep the acceleration or deceleration of a position or velocity command within a range feasible for the motor to follow, or increase the position or velocity following error threshold.

  • Page 207: Velocity Regulator

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. b. The position loop gain and velocity loop gain should not be increased any more once vibration is generated in the mechanical system, and proper adjustment should be done to eliminate vibration. c. The servo gain adjustment has close relations with the mechanical rigidity. Normally, as for high-rigidity machines, the overall system responsiveness can be improved by improving the servo gain.
  • Page 208 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. integration time can reduce the overshoot during acceleration/deceleration, but a too high value may slow down the system response. User permission: User/Engineer. Parameter permission: Read and Write Default Number Index Name Unit Setting range Effective time value Velocity Control...
  • Page 209 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01 - Enable the current prediction control Byte3: Regulator adaptive control 0x00 - Disable all the regulator adaptive control 0x01 - Enable the current regulator adaptive control, disable the velocity regulator adaptive control 0x10 - Disable the current regulator adaptive control, enable the velocity regulator adaptive control 0x11 - Enable the current regulator adaptive control, enable the velocity regulator adaptive control Parameter permission: Read and Write Default...
  • Page 210 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Figure 8.2-2. Diagram of velocity PI gain automatic switching Roles of the velocity regulator adaptive control function: 1. It can be adapted to a higher gain to obtain a better command-following performance during the motor running;...

  • Page 211: Position Regulator

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Acceleration 0x2028 Feedforward ‰ 0~2000 Immediately Gain User permission: User/Engineer. Parameter permission: Read and Write 8.2.2 Position regulator Default Effective Number Index Name Unit Setting range value time...

  • Page 212: Current Regulator

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter description: Velocity feedforward gain 1 is a parameter opened for shortening the velocity loop setting time. Increasing velocity feedforward gains can improve position following error, but too big values may cause mechanical vibration. User permission: User/Engineer.
  • Page 213 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Current Control 0x204E ‰ 100~2147483647 1000 Immediately Gain 2 Parameter description: Valid when Byte3 of parameter 0x2065 is set to 0x01 or 0x11 (not open for use temporarily).
  • Page 214 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Current Regulator 0x204F ‰IN 1~2000 1000 Immediately Inflection Current 1 User permission: User/Engineer Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time...

  • Page 215: Acceleration Feedforward Torque Compensation Function

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 8.2.4 Acceleration Feedforward Torque Compensation Function Default Effective Number Index Name Unit Setting range value time Acceleration 0x2095 Feedforward — 0x00000000~0x00000101 0x00000001 Immediately Control Switch Byte0: Enable bit of acceleration feedforward torque compensation 0x00 - Disable the acceleration feedforward torque compensation control 0x01 - Enable the acceleration feedforward torque compensation control Bytr0: Acceleration feedforward gain selection 0x00 - Manual setting...

  • Page 216: Position Filters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 图9.3-1. Characteristics of low-pass filters Cutoff frequency of low-pass filters refers to the frequency when the amplitude-frequency characteristic of a signal is attenuated to -3dB and the phase characteristic is deviated by 90°. See Figure 9.3-2. Cutoff frequency of low-pass filters 图9.3-2.

  • Page 217: Velocity Filters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Position command 0x206B lowpass filter 0.1Hz 1~1000 1000 Immediately cutoff frequency Parameter Description: When parameter 0x206A.Byte1=0x00, this function is disabled; when parameter 0x206A.Byte1=0x01, this function is enabled.
  • Page 218 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter. Byte2: Torque demand value low-pass filter type 0x00 -Low-pass filter disabled; 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter. Byte3: Velocity command lowpass filter type 0x00 -Low-pass filter disabled; 0x01-First-order lowpass filter; 0x02-Second-order lowpass filter.

  • Page 219: Torque Filters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter permission: Read and Write 8.3.3 Torque Filters Default Effective Number Index Name Unit Setting range value time Lowpass Filter 0x2066 0x00000000~0x03030303 0x01020102 Restart Type Select Byte1: Velocity feedback low-pass filter type 0x00 -Low-pass filter disabled; 0x01-First-order lowpass filter;...

  • Page 220: Notch Filter Function

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Parameter Description: User permission: User/Engineer Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value time Acceleration Feedforward 0x2027 50~2000 Immediately Lowpass Filter Cutoff Frequency Parameter Description: User permission: User/Engineer Parameter permission: Read and Write 8.3.4 Notch Filter Function...
  • Page 221 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 0x01-Enable torque command notch filter 1. Byte1: Velocity command notch filter 1 enabling switch 0x00-Disable velocity command notch filter 1; 0x01-Enable velocity command notch filter 1. Byte2: Torque command resonance filter enabling switch 0x00-Disable torque command resonance filter; 0x01-Enable torque command resonance filter.
  • Page 222 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Default Effective Number Index Name Unit Setting range value time Velocity Command 0x2063 Notch Filter 1 10~60000 6000 Immediately Center Frequency User permission: User/Engineer Parameter permission: Read and Write Default Effective Number Index Name Unit Setting range value...

  • Page 223: Mechanical Rigidity Reference

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Mechanical Rigidity Reference The adjustment of regulators is closely related to the mechanical rigidity. Generally, systems with high mechanical rigidity have higher servo control rigidity. Some general rigidity standards are listed below. Note: These are general standards. Even though they are observed, it may still cause mechanical vibration and lead to a poor system responsiveness.

  • Page 224: Chapter 9 Maintenance

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 9 Maintenance Safety Information  In the case of a fault, perform failure analyze and troubleshooting. Make sure the system is safe and stay out of the range of mechanical movements before resetting fault, or personal injury may be caused. ...

  • Page 225: Faults And Handling Suggestions

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Faults and Handling Suggestions 9.3.1 Unrecoverable Faults Table 9.3-1. Causes and handling of unrecoverable faults Index Fault code Description Type Causes of faults Handling Suggestions 1. Check the U, V and W 1. There is a short circuit with the wiring of the drive (for U, V and W output of the drive example, disconnect the...
  • Page 226 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions to interference (for example, the position value saved on power off) 2. The drive is damaged (for example, EEPROM chip) 1. Upgrade the drive 1.
  • Page 227 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions RC products do not support 0xFF82 Drive internal faults detection 1. Abnormity with the motor brake itself 1. Replace the motor brake 2. The motor stops suddenly at 2.

  • Page 228: Recoverable Faults 0

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions drive, or supply the drive and the strong interference source separately 6. Add an inlet filter for the input power supply of the drive Internal faults of the RC products do not support 0xFF05...
  • Page 229 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions 2. Too high energy with the allowed range Brake Chopper during the motor 2. Reduce the deceleration quick stop during the motor quick stop (1).
  • Page 230 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions released; 3. Check the mechanical 2. The acceleration and load drive mode and make deceleration time value of the sure there is no stuck motor are too small 4.
  • Page 231 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions acceleration and deceleration and deceleration of the time value are too small motor and increase the acceleration and deceleration time 1. Check the motor encoder wiring and make sure the wiring is standardized and correct...
  • Page 232 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions setting is incorrect 2. Recheck the rotor 3. Incorrect encoder wiring compensation angle 4. The parameter of current loop 3. Check the motor encoder regulator is improperly set, wiring and make sure the leading to current control...

  • Page 233: Recoverable Faults 1

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions When the servo is enabled, the controller set a control mode which is not supported by the Before the servo is enabled, drive (For detailed information 0xFF8A Control mode setting error make sure the controller has...
  • Page 234 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions 1. Reduce the actual 1. The motor is overloaded mechanical load of the 2. Abnormal internal motor temperature sampling The inverter power module is 2.
  • Page 235 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions long time operation at high speed with a full load) The regenerative braking RC products do not support 0xFF19 resistor is overheated detection 1. Reduce the actual 1.
  • Page 236 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions 1. Reduce the actual mechanical load of the 1. The motor is overloaded motor (1). The actual mechanical 2. Increase the acceleration load is too high and deceleration time (2).
  • Page 237 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions 5. Abnormal internal 6. Check the motor current sampling circuits of parameters and make sure the drive the parameters are properly 6. Abnormal brake circuit set (for example, the motor of the drive rated current, the motor...

  • Page 238: Recoverable Faults 2

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 9.3.4 Recoverable Faults 2 Table 9.3-4. Causes and handling of recoverable faults 2 Index Fault code Description Type Causes of faults Handling Suggestions RC products do not support 0x6320 Abnormal parameter setting detection 1. Check the mechanical 1.
  • Page 239 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions Set EtherCAT EtherCAT communication communication cycle, Control period parameters are cycle, position control cycle 0xFF1B position control cycle and not correctly set and velocity control cycle velocity control cycle are improperly set properly...
  • Page 240 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions 1. Homing parameters are improperly set (0x6098, 1. Set homing parameters 0x6099, 0x609A) properly (0x6098, 0x6099, 2. When homing is enabled, 0x609A) 0xFF0F Homing fails the limit switch of the 2.
  • Page 241 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions 5. Abnormal internal circuit EtherCAT communication of the drive cycle 4. Appropriately increase the set value of motor parameter 0x20D3 5. Modify the host computer EtherCAT master bottom DC synchronization mechanism, and make sure...
  • Page 242 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions limit detection function through servo parameter 0x2000 1. For motor encoders with batteries, make sure the 1. After the drive is battery is connected and the powered off, the motor battery voltage is normal position is shifted...
  • Page 243 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions ground, etc. 4. Replace the encoder 5. Replace the drive 1. Check the mechanical 1. The mechanical load of load drive mode and make the motor is stuck, and the sure there is no stuck motor cannot move...

  • Page 244: Alarm And Handling Suggestions

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Index Fault code Description Type Causes of faults Handling Suggestions affected by the gravity or external mechanical force The parameters of the position profile are Set the parameters of the 0xFF85 Position profile operation error improperly set, such as position profile properly target position value, profile...
  • Page 245 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. of the drive the motor thermal time constant) 6. Use a motor with higher capacity 7. Replace the drive Regenerative braking RC products do not 0xFF32 overload alarm support detection 1. Under the velocity 1.
  • Page 246 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. 1. Standardize the 1. The drive operation is peripheral wiring of the interfered 0xFF38 CPU overload alarm drive and add 2. Abnormal internal anti-interference measures circuit of the drive 2. Replace the drive 1. Check the encoder battery wiring and make 1.
  • Page 247 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. interference source near 4. Remove the strong the drive interference source near the drive, or supply the drive and the strong interference source separately 5. Add an inlet filter for the input power supply of the drive 1.
  • Page 248 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. interference source separately 6. Add an inlet filter for the input power supply of the drive 1. Appropriately increase the set values of servo parameters 0x2004 and 0x2005 2. Operate the motor within the range of servo parameters 0x2004 and The actual position value 0x2005...

  • Page 249: Chapter 10 Appendix

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Chapter 10 Appendix 10.1 RC Series Parameter List Table 10.1-1. RC Series Parameter List Effective Reference Number Index Name Unit Parameter Range Default value time chapters 0x2000 Position control switch 0x00000000~0x01010303 0x01000000 Restart 7.8.2 0x2001 Position Disturbance Compensation Gain ‰...
  • Page 250 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Effective Reference Number Index Name Unit Parameter Range Default value time chapters 0x2028 Acceleration Feedforward Gain ‰ 0~2000 Immediately 7.9.9 0x2029 Torque Command Resonance Filter Depth -100~100 Immediately 7.10.6 0x202A Actual Torque Current Low-pass Filter 800~8000 8000 Immediately...
  • Page 251 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Effective Reference Number Index Name Unit Parameter Range Default value time chapters Frequency 0x2062 Torque Command Notch Filter 1 Bandwidth 0.1Hz 10~600 Immediately 7.10.8 0x2063 Velocity Command Notch Filter 1 Center 0.1Hz 10~60000 6000 Immediately 7.9.13 Frequency...
  • Page 252 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Effective Reference Number Index Name Unit Parameter Range Default value time chapters 0x20D2 Rotor Positioning Error Detection 1~10 Restart 7.11.5 Sensitivity 0x2100 Set Speed of Square Wave r/min 1~10000 Immediately 7.9.3 0x2101 Program Pulse Wait Time 0~65535 1000 Immediately...
  • Page 253 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Effective Reference Number Index Name Unit Parameter Range Default value time chapters 0x60C5 Max acceleration inc/ms² 1~2147483647 Immediately 7.9.2 0x60C6 Max deceleration inc/ms² 1~2147483647 2147483647 Immediately 7.9.2 0x6402 Motor type 0x0000~0x000F 0x0003 Restart 0x210B Manual Jog Slow Speed r/min -1000~1000...

  • Page 254: Rc Series Object Dictionary

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Effective Reference Number Index Name Unit Parameter Range Default value time chapters 0x201D Reserved r/min 0~500 Immediately 0x206B Position command lowpass filter cutoff 0.1Hz 1~1000 1000 Immediately 7.8.9 frequency 10.2 RC Series Object Dictionary 10.2.1 Communication parameter objects Table 10.2-1.
  • Page 255 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations 0x1600 0x03 Object mapped in the 3st UINT32 USER 0x1600 0x04 Object mapped in the 4st UINT32 USER 0x1600 0x05 Object mapped in the 5st UINT32...
  • Page 256 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations 0x1603 0x02 Object mapped in the 2st UINT32 USER 0x1603 0x03 Object mapped in the 3st UINT32 USER 0x1603 0x04 Object mapped in the 4st UINT32...
  • Page 257 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations 0x1A02 0x01 Object mapped in the 1st UINT32 USER 0x1A02 0x02 Object mapped in the 2st UINT32 USER 0x1A02 0x03 Object mapped in the 3st UINT32...
  • Page 258 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations 0x1C13 0x02 ARRAY SubIndex 002 UINT16 USER 0x1C13 0x03 ARRAY SubIndex 003 UINT16 USER 0x1C13 0x04 ARRAY SubIndex 004 UINT16 USER Output Sync Manager...
  • Page 259 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations Minimum cycle time supported by the 0x1C32 0x05 Minimum Cycle Time UINT32 USER slave, used in DC mode or Synchronous Mode 100000[ns].
  • Page 260 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations 0: No Synchronization 0x1C32 0x20 Sync Error BOOL USER Error 1: Synchronization Error Input Sync Manager 0x1C33 USER Parameter 0x1C33 0x00 Number of Entries...

  • Page 261: Cia402 Standard Parameters

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations Sync1 Same time as for 0x1C33 0x05 Minimum Cycle Time UINT32 USER 0x1C32:05 100000[ns]. Time needed by the application controller to perform calculations on the input values and to...
  • Page 262 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations 0x6041 0x00 Status word UINT16 TXPDO USER Status word Emergency stop option 0x605A 0x00 Quick stop option code INT16 USER code 0x605B...
  • Page 263 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations 0x607A 0x00 Target position INT32 RXPDO USER Target position 0x607C 0x00 Home offset INT32 USER Home offset 0x607E 0x00 Polarity UINT8 USER...

  • Page 264: Rc Series Parameter Objects

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Index Sub-index Name Data type write Unit Right Description Type mapping operations value captured by TP1 rising edge The position value Touch probe pos 1 neg 0x60BB 0x00 INT32 TXPDO USER captured by TP1 falling value edge...
  • Page 265 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Position approach 0x2002 0x00 Position approach window time UINT16 USER window time Rotor Position Compensation Motor Rotor Position 0x2003 0x00 INT32 0.001rad EXPERT...
  • Page 266 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Disturbance Torque Disturbance Torque Compensation 0x2018 0x00 UINT32 USER Compensation Lowpass Lowpass Filter Cutoff Frequency Filter Cutoff Frequency Disturbance Torque Compensation Disturbance Torque 0x2019 0x00...
  • Page 267 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Motor Fast Overload 0x202E 0x00 Motor Overload Alarm Time UINT16 USER Alarm Time Motor Operation 0x202F 0x00 Motor Operation Environment UINT32 USER Environment...
  • Page 268 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Position Control Position Control Integration time 0x2043 0x00 UINT32 USER Integration time constant constant 0x2044 0x00 Velocity Control Gain1 UINT32 RXPDO ‰...
  • Page 269 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Velocity Regulator Inflection Velocity Regulator 0x205E 0x00 UINT32 ‰ USER Velocity 1 Inflection Velocity 1 Velocity Regulator Inflection Velocity Regulator 0x205F 0x00 UINT32...
  • Page 270 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Incremental encoder 0x2074 0x00 Incremental encoder resolution UINT32 inc/rev USER resolution 0x2075 0x00 Digital output status UINT32 TXPDO USER Digital output status Absolute Encoder Single-turn Absolute Encoder...
  • Page 271 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Inverter Power Module 0x20A2 0x00 Inverter Temperature UINT16 ºC USER Temperature Velocity following 0x20A3 0x00 Velocity following window UINT32 inc/s USER window...
  • Page 272 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Square Wave Speed up 0x2102 0x00 Program Pulse UpTime UINT16 USER Time Square Wave Speed 0x2103 0x00 Program Pulse DownTime UINT16 USER Down Time...

  • Page 273: Rc Series Product Accessories

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Read and Object Data Index Sub-index Name write mappin Unit Right Description Type type operations Static Balance Torque Static Balance Torque 0x2207 0x00 INT32 RXPDO USER Compensation Value Compensation Value Internal Demand 0x2212 0x00 Internal Demand Torque INT32 TXPDO...
  • Page 274 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Motor power output 1003010353 (1-178128-4)-(TE) terminal connector Power supply input terminal 1003010352 (1-178128-6)-(TE) connector Terminal connector 1003010367 (1827570-2)-(TE) terminal Terminal connector 1003010368 (1-353715-2)-(TE) terminal Cable bracket assembly 1002030081 M3*8-cross-pan Screws 1003040074 head-tri-(304 stainless steel) CDRC2-XXXXX-XX-S1 CDRC2 system wiring copy...

  • Page 275: Optional Accessories

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Terminal connector 1003010368 (1-353715-2)-(TE) terminal Cable bracket assembly 1002030080 — M3*8-cross-pan Screws 1003040074 head-tri-(304 stainless steel) CDRC3-XXXXX-XX-V1 CDRC3 system wiring copy — — 1005010157 (H2) servo drive system diagram wiring diagram CDRC4-XXXXX-XX-V1 CDRC4 system wiring copy —...
  • Page 276 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Control power input cable 1002060117 DX021001000 (1.0m) assembly Control power input cable 1002060123 DX021001500 (1.5m) assembly Motor power output cable 1002060097 DX04100500 (0.5m) assembly Motor power output cable 1002060115 DX040101000 (1.0m) assembly Motor power output cable 1002060121 DX040101500 (1.5m) assembly...
  • Page 277 Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. Table 10.3-4. V Series Optional Accessories Quantity Specification and Number Name Unit Order Code Model Fan assembly 03110105 RC3-FJTJ-01 Fan assembly 03110104 RC4-FJTJ-01 Fan assembly 1003110103 RC6-FJTJ-01 Motor brake output cable 1002060094 DX060350500 (0.5m) assembly Motor brake output cable 1002060113...

  • Page 278: Wire-Making Diagram For Rs485 Debugging Lines

    Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd. cable H)-(Sunchu) (0.5m) EtherCAT communication (SC-NT1.8M-5ECS- 1002060053 cable A1)-(Sunchu) (1.8m) EtherCAT communication (SC-NT1.2M-5ECS- 1002060062 cable A1)-(Sunchu) (1.2m) RS485 communication 1003020059 debugging cable (UDC-2225)-(USB-to- USB-485 converter 1004010064 RS422/RS485 conversion line) CDRC Series products cable assembly production copy 4005010160 method...

Table of Contents