Inovance IS650P Series User Manual
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Inovance IS650P Series User Manual

Ac servo drive and motor pulse & analog reference 20-bit incremental encoder
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Summary of Contents for Inovance IS650P Series

  • Page 2: Table Of Contents

    Contents Safety Information and Precautions ................ 3 Chapter 1 Product Information ................5 1.1 Servo Drive ........................ 5 1.1.1 Designation Rules and Nameplate ..................5 1.2 Servo Motor ....................... 6 1.2.1 Designation Rules and Nameplate ..................6 1.3 Servo System Configuration ..................7 1.4 Specifications of Regenerative Resistor ..............
  • Page 3 Chapter 6 Parameter Table ................... 64 Group H00: Servo Motor Parameters ................64 Group H01: Servo Drive Parameters ................65 Group H02: Basic Control Parameters ................65 Group H03: Input Terminal Parameters ................. 67 Group H04: Output Terminal Parameters ..............69 Group H05: Position Control Parameters ..............

  • Page 4: Safety Information And Precautions

    This responsibility lies with the user or their machine/process system integrator. System integrator/designer must ensure the complete system is safe and designed according to the relevant safety standards. Inovance Technology and Authorized Distributors can provide recommendations related to the Servo Drive to ensure long term safe operation.
  • Page 5 Safety Information and Precautions ■ Electrical Shock Hazard Ensure the protective earthing conductor complies with technical standards and local safety regulations. Because the leakage current exceeds 3.5 mA in all models, IEC 61800-5-1 states that either the power supply must be automatically disconnected in case of discontinuity of the protective earthing conductor or a protective earthing conductor with a cross-section of at least 10 mm (Cu) or 16 mm (Al) must be used.

  • Page 6: Chapter 1 Product Information

    1 Product Information Chapter 1 Product Information 1.1 Servo Drive 1.1.1 Designation Rules and Nameplate Figure 1-1 Designation rules and nameplate of servo drive IS650 P T 025 I U X - A Customized Mark Specification 16-bit analog Mark Series Large volume IS650...

  • Page 7: Servo Motor

    1 Product Information 1.2 Servo Motor 1.2.1 Designation Rules and Nameplate Figure 1-2 Designation rules and nameplate of servo motor ISM G1- 30D 15C D–U2 3 1 F A Mark Series Mark Product Code ISM series servo 2nd generation motor Base Mark Mark...

  • Page 8: Servo System Configuration

    87.8 207.8 2000 2400 2.06 36.8 ISMG2-57D20CD-A3**FA The standard motor model is -U231*. If you require other models, contact Inovance. Note Instan. = Instantaneous 1.3 Servo System Configuration Table 1-3 Servo motor and drive matching configuration Servo Drive Model Drive Motor Max.

  • Page 9: Motor Dimensions

    Select the appropriate resistance and power based on actual conditions; for details on how to make calculation, contact Inovance. ● The resistance and power must not be lower than the recommended value.

  • Page 10: Physical Appearance And Mounting Dimensions Of Servo Drive

    2 Wiring The standard is U2 series. If you require R1, U1, or A3 series, contact Inovance for Note customization. The mounting baseplate is optional, and used only when required. 1.6 Physical Appearance and Mounting Dimensions of Servo Drive Figure 1-3 Physical appearance and mounting dimensions of servo drive a.

  • Page 11: Chapter 2 Wiring

    2 Wiring Chapter 2 Wiring 2.1 Servo System Wiring Figure 2-1 IS650P system wiring example Communication cable for Three-phase 380 VAC multi-drive parallel connection Servo drive to PC communication cable Note 1 Circuit breaker for wiring Servo drive to PLC communication cable Electromagnetic contactor Turn ON/OFF power of...

  • Page 12: Wiring In Different Modes

    2 Wiring (Note): NEVER connect the PTC to the power supply. The servo drive is directly connected to an industrial power supply, with no isolation such as transformer. In this case, a fuse or circuit breaker must be connected on the input power supply to prevent cross electric accidents in the servo system.
  • Page 13 2 Wiring Figure 2-2 Wiring of the position control mode Servo drive AI1 20 Torque limit: 0-10 V Low-pass filter Impedance: about 9 kΩ Bi-directional Analog output: -10 to 10 V 1 mA meter Maximum output: < 1 mA converter AI2 18 Torque limit: -10 to 0 V Low-pass filter...
  • Page 14 2 Wiring Figure 2-3 Wiring of the speed control mode Servo drive Bi-directional Analog output: -10 to 10 V Maximum output: < 1 mA 1 mA meter Bi-directional Analog output: -10 to 10 V 1 mA meter Maximum output: < 1 mA Analog speed Note 2 AI1 20...
  • Page 15 2 Wiring Figure 2-4 Wiring of the torque control mode Servo drive Bi-directional Analog output: -10 to 10 V 1 mA meter Maximum output: < 1 mA Bi-directional Analog output: -10 to 10 V Maximum output: < 1 mA 1 mA meter Analog torque Note 2 AI1 20...

  • Page 16: Terminals Of Servo Drive

    2 Wiring 2.3 Terminals of Servo Drive Figure 2-5 Terminal arrangement of IS650P CN3 CN4 CN6 CN7 CN8 / PTC - 15 -...

  • Page 17: Main Circuit Terminals

    2 Wiring 2.3.1 Main Circuit Terminals Figure 2-6 Terminal block arrangement of IS650P BR (+) (-) POWER MOTOR Table 2-1 Names and functions of main circuit terminals Terminal Terminal Name Terminal Function Symbol Power input terminals Three-phase 380 V power input R, S, T Terminals for connecting Connect to external regenerative resistor.

  • Page 18: Control Signal Terminal Connector Cn1

    2 Wiring 2.3.2 Control Signal Terminal Connector CN1 Figure 2-7 Pin layout of control circuit terminal connector of servo drive CN6 CN7 CN8 / PTC Table 2-2 Pulse position reference input signals Signal Pin No. Function Description PULSE+ Pulse input format: Low-speed pulse input mode PULSE- Direction + Pulse...
  • Page 19 2 Wiring DI/DO Signals Signal Default Function Pin No. Function Description P-OT Forward limit switch N-OT Reverse limit switch INHIBIT Pulse input inhibited ALM-RST Alarm reset (edge valid) S-ON Servo ON ZCLAMP Zero speed clamp GAIN-SEL Gain switchover HomeSwitch Home switch Reserved General +24V...

  • Page 20: Communication Signal Terminal Connectors Cn3/Cn4

    2 Wiring Encoder Frequency-Division Output Signal Table 2-3 Encoder frequency-division output signal specifications Default Signal Pin No. Function Description Function PAO+ Phase A output signal PAO- Phases A+B quadrature pulse output signal PBO+ Phase B output signal PBO- PZO+ Phase Z output signal Home pulse output signal PZO- General...

  • Page 21: Analog Monitoring Signal Terminal Connector Cn5

    2 Wiring 2.3.4 Analog Monitoring Signal Terminal Connector CN5 The following figure shows pin layout of the analog monitoring signal terminal connector CN5. Figure 2-8 Analog monitoring signal terminal connector Definition Corresponding interface circuit: Analog output: -10 to +10 V Maximum output current: 1 mA 2.4 Cables and Options 2.4.1 Cable Model...

  • Page 22: Cable Connectors

    2 Wiring Table 2-7 Mounting options Model Description ISMG1-B01 Mounting bracket for ISMG1 natural ventilation motor ISMG2-B01 Mounting bracket for ISMG2 natural ventilation motor ISMG1-B02 Mounting bracket for ISMG1 forced air ventilation motor ISMG2-B02 Mounting bracket for ISMG2 forced air ventilation motor MD500-AZJ-T5 Through-hole mounting bracket for SIZE-G servo drive MD500-AZJ-T6...
  • Page 23 Blue White Shielded Shielded Note rame size of motor: indicates the width of motor flange. Table 2-10 Pin connection relation of IS650P series 20-bit encoder cables Motor Side DB9 on Servo Drive Side Function Description 9-pin 20-29 Military Spec. Signal Pin No.
  • Page 24 Allowed Cable Length (m) 26AWG (0.13 mm 10.0 25AWG (0.15 mm 89.4 16.0 24AWG (0.21 mm 79.6 18.0 23AWG (0.26 mm 68.5 20.9 22AWG (0.32 mm 54.3 26.4 Note If the cables of above 22AWG are required, contact Inovance. - 23 -...

  • Page 25: Chapter 3 Operation And Display

    3 Keypad and Display Chapter 3 Operation and Display 3.1 Introduction to Keypad Figure 3-1 Diagram of the keypad RUN indicator Fault indicator Data display UP key MODE key MODE SHIFT key SET key DOWN key The keypad on the servo drive consists of the 5-digit 7-segment LEDs and keys. The keypad is used for display, parameter setting, user password setting and general functions operations.

  • Page 26: Keypad Display

    3 Keypad and Display 3.2 Keypad Display The keypad can display the running status, parameter, faults, and monitored information during running of the servo drive. ● Status display: Displays the current servo drive status, such as servo ready or running. ●...

  • Page 27: Parameter Setting

    3 Keypad and Display 3.3 Parameter Setting Parameter setting can be performed on the keypad. For details on the parameters, refer to the IS650P User Manual. The following figure shows the keypad operation of switching the position control mode to the speed control mode after the power is on.
  • Page 28 3 Keypad and Display Figure 3-4 Keypad operation of user password setting Start Power-on View value of H02-30 "SET" Last digit Display blinking? "- - - - -" "SET" Enter preset password Set password "SET" "SET" Password Display Display correct? "Error"...

  • Page 29: Chapter 4 Quick Setup

    4 Quick Steup Chapter 4 Quick Setup The following part shows the quick setup flowchart. Start Para. Parameter Name Default Commissioning Model Model Check models H01-02 Servo drive SN dependent dependent Model H00-00 Motor SN 14000 dependent If position control H02-00 Control mode selection 0: Speed mode...
  • Page 30 4 Quick Steup Continue Para. Parameter Name Default Commissioning H06-07 Maximum speed limit 6000 If torque control H02-00 Control mode selection 0: Speed mode 1: Position mode 2: Torque mode 3: Torque mode/Speed mode 4: Speed mode/Position mode 5: Torque mode/Position mode 6: Torque mode/Speed mode/Position mode H07-00 Main torque reference A source...
  • Page 31 4 Quick Steup Continue Para. Parameter Name Default Commissioning H03-09 DI4 logic selection 1: S-ON (Servo ON) H03-10 DI5 function selection H03-11 DI5 logic selection ……. ……… H03-16 DI8 function selection 31: HomeSwitch (Home switch) H03-17 DI8 logic selection H03-18 DI9 function selection 0: No function H03-19...
  • Page 32 4 Quick Steup Continue Para. Parameter Name Default Commissioning Set AI1 if used as torque H03-81 Torque corresponding to 10 V reference 1.0 to 8.0 times of rated torque H03-54 AI1 zero drift H03-53 AI1 dead zone H03-51 AI1 filter time constant Set AI2 if used as torque H03-81 Torque corresponding to 10 V...
  • Page 33 4 Quick Steup Continue Para. Parameter Name Default Commissioning H04-07 DO4 function selection 11: ALM (Fault output) H04-08 DO4 logic selection H04-09 DO5 function selection 16: Home Attain (Home attaining output) H04-10 DO5 logic selection Set AO1 if used H04-50 AO1 signal selection 0: Motor speed H04-51...

  • Page 34: Chapter 5 Troubleshooting

    5 Troubleshooting Chapter 5 Troubleshooting 5.1 During Startup 5.1.1 Position Control During Startup Fault Symptom Cause Confirming Methods After disconnecting CN1, CN2, CN3 and CN4, 1. The control power the fault persists. voltage is abnormal. Measure AC voltage between L1C and L2C. For single-phase 220 V model, measure AC voltage between L1 and L2.
  • Page 35 5 Troubleshooting During Startup Fault Symptom Cause Confirming Methods High/low-speed pulse input terminal is wired incorrectly. When H05-00 = 0 (pulse is main position reference source), check whether high/low- speed pulse input terminal is wired correctly by referring to Chapter 3 in the IS650P User Manual.

  • Page 36: Speed Control

    5 Troubleshooting During Startup Fault Symptom Cause Confirming Methods Motor speed is not The gain is set Perform automatic gain tuning. steady. improperly. Servo motor jitters at low Motor shaft vibrates The load inertia ratio If servo motor can run safely, perform inertia speed.
  • Page 37 5 Troubleshooting During Startup Fault Symptom Cause Confirming Methods The operation panel displays "Er. Remove the fault. xxx". Set operation panel to servo status display and view whether the operation panel displays "rdy" rather than "run". Check whether any parameter in groups H03 and H17 is set for FunIN1(S-ON).
  • Page 38 5 Troubleshooting During Startup Fault Symptom Cause Confirming Methods AI wiring is incorrect. When speed reference is input from AI, check whether the analog input channel is selected correctly and check whether the selected AI terminal is wired correctly by referring to Chapter 3 in the IS650P User Manual.
  • Page 39 5 Troubleshooting During Startup Fault Symptom Cause Confirming Methods 1. When AI is selected to input speed reference, check whether polarity of input signal is reverse. 2. When digital setting is used to set speed reference, check whether H06-03 (keypad setting value of speed reference) is smaller than 0.

  • Page 40: Torque Control

    5 Troubleshooting 5.1.3 Torque Control During Startup Fault Symptom Cause Confirming Methods After disconnecting CN1, CN2, CN3 and CN4, the 1. The control power fault persists. voltage is abnormal. Measure AC voltage between L1C and L2C. For single-phase 220 V mode, measure AC voltage between L1 and L2.
  • Page 41 5 Troubleshooting During Startup Fault Symptom Cause Confirming Methods AI wiring is incorrect. When AI is selected to input torque reference, check whether polarity of input signal is reverse. Selection of torque reference is incorrect. Check whether H07-02 (torque reference source) is set correctly.

  • Page 42: During Running

    (H1-01) via operating panel or drive version and the MCU technical support. Update debugging platform of Inovance. Check whether the non- software version do not matching FPGA or MCU zero numbers of the most significant bit of the versions match.
  • Page 43 View servo drive and servo motor nameplates Servo motor SN does not exist. If you to check that the equipment you are using is use IS650P series servo drive and 20- IS650P series servo drive and 20-bit servo bit servo motor (-U2***) of Inovance, 1.
  • Page 44 1. Servo drive model and to check that the equipment you are using is again. If you use IS650P series servo servo motor model do not IS650P series servo drive and 20-bit servo drive and 20-bit servo motor (-U2***) match.
  • Page 45 You can view current Adjust the gain. oscillates feedback by using the drive Inovance servo commissioning software. Check whether encoder cable you use is standard configuration of Inovance. check whether cable is aging, corrosive or is 8.
  • Page 46 Replace the servo drive. times out. Internal chip is damaged. Use encoder cable that is configured as standard by Inovance. If not, check whether encoder cable comply with specification and Internal fault code H0B-45 = 2208. whether it is shielded twisted pair cable.
  • Page 47 Replace matching servo drive and View servo drive and servo motor nameplates servo motor. If you use IS650P series 3. Encoder type is set to check that the equipment you are using is servo drive and 20-bit servo motor...
  • Page 48 220 V drive: H0B-26 > 420 V sampling value has 380 V drive: H0B-26 > 760V a large deviation Contact Inovance for technical support. Measure the DC bus voltage between from the measured value . Check whether the DC bus voltage is normal and smaller than H0B- 7.
  • Page 49 5 Troubleshooting Er.410: Main circuit undervoltage Cause Confirming Methods Corrective Action Check power input specification of servo drive. Measure RST input voltage on servo drive side and check whether input voltage 1. The main power is complies with the following specification. unstable or fails.
  • Page 50 4. Motor speed Adjust the gain or adjust mechanical overspeed level through the drive debugging overshoots. condition. platform of Inovance. 5. The servo drive is The fault persists after servo drive is re-powered Replace the servo drive. faulty. - 49 -...
  • Page 51 5 Troubleshooting Er.510: Pulse output overspeed Cause Confirming Methods Corrective Action When H05-38 = 0 (encoder frequency-division output), calculate pulse frequency corresponding Output pulse to motor speed at occurrence of fault and check frequency Decrease H05-17(Encoder frequency- whether the pulse frequency exceeds limit. exceeds division pulses), making output pulse frequency upper...
  • Page 52 View servo drive nameplate and 5. The servo drive or For IS650P series products, view serial encoder set servo drive model (H01-02) motor model is set motor model in H00-05 and servo drive model in correctly and replace matching incorrectly.
  • Page 53 Check wirings. cable breaks. again or replace them. Check running reference and motor speed (H0B-00) by using the drive debugging platform of Inovance or operating panel. Running reference in the position control mode: H0B-13 (input reference pulse counter) 3. Motor rotor is locked...
  • Page 54 Check whether there is large equipment generating interference around servo system or whether there Prefer to use the cable configured are several variable-frequency power devices inside by Inovance as standard. the cabinet. If non-standard cable is used, Make servo drive in "rdy" status and rotate motor...
  • Page 55 20-bit servo motor (-U2***) and servo motor. match. of Inovance. Meanwhile, check whether H00-00 (Motor SN) is 14000. Check whether encoder cable breaks and whether Replace a new encoder cable 2. Encoder cable breaks.
  • Page 56 Check running reference and motor speed (H0B-00) by using the drive debugging platform of Inovance or operating panel. Running reference in the position control mode: H0B-13 (input reference pulse 3. Motor rotor is locked...
  • Page 57 Check running reference and motor speed (H0B- 00) by using the drive debugging platform of Inovance or operating panel. Running reference in the position control mode: H0B-13 (input reference pulse counter) 3. Motor rotor is locked...
  • Page 58 Monitor running curve on the drive debugging If position reference is not 0, but platform of Inovance: 7. The servo drive/ position feedback is always 0, motor is faulty. Position reference, position feedback, speed replace servo drive/motor.

  • Page 59: Troubleshooting Of Warnings

    5 Troubleshooting Er.D03: CAN communication interrupted Cause Confirming Methods Corrective Action Check the CAN communication card indicator status of the Check communication cable master PLC. connection between the slave The ERR indicator of master PLC flashes at frequency 1 Hz with ERR indicator ON for long and the ERR indicator of some slave PLCs keeps ON for a communication is...
  • Page 60 Check wirings between servo drive, servo Prefer to use the cable configured by 1. Wiring of motor and motor and encoder according to correct Inovance as standard. encoder is incorrect or poor. wiring diagram. When self-made cable is used, make and connect wirings according to hardware wiring guidance.
  • Page 61 5 Troubleshooting Cause Confirming Methods Corrective Action View servo drive nameplate and For IS650P series products, view serial set servo drive model (H01-02) 5. The servo drive or motor encoder motor model in H00-05 and servo correctly and replace matching servo model is set incorrectly.
  • Page 62 5 Troubleshooting Cause Confirming Methods Corrective Action Check whether input voltage of main circuit on servo drive side satisfies the following specification: 220 V AC drive: Valid value: 220 to 240 V Replace power supply or adjust power 6. Input voltage of main circuit Allowed error: -10% to 10% (198 to voltage according to specification on exceeds specification.
  • Page 63 5 Troubleshooting Er.941: Parameter modification taking effect only after re-power-on Cause: Modification of some parameters takes effect only after servo drive is powered on again. After these parameters are modified, servo drive reminds of re-power-on. Cause Confirming Methods Corrective Action Check whether you modify parameters, Modify parameters, whose modification Re-power on the servo...

  • Page 64: Internal Faults

    H0C-00 is not occurs. address) is allocated repeatedly. repeated. 5.2.3 Internal Faults When any of the following fault occurs, contact Inovance for technical support. Er.602: Angle auto-tuning failure Er.220: Phase sequence incorrect Er.A40: Motor auto-tuning failure Er.111: Servo internal parameters abnormal...

  • Page 65: Chapter 6 Parameter Table

    Control mode: CM; Reference unit: Ref; Enc: Enc Group H00: Servo Motor Parameters Function Parameter Name Setting Range Unit Default Pro CM Code 14000: Inovance 20-bit incremental encoder motor H00-00 Motor SN 14000 14101: Inovance 23-bit absolute encoder motor Customized firmware H00-02 version...

  • Page 66: Group H01: Servo Drive Parameters

    Pro CM Code Ox000: Common incremental encoder (UVW-ABZ) H00-30 Encoder selection (Hex) 0x013 0x013: Inovance 20-bit serial encoder H00-31 PPR of encoder 0 to 1073741824 1048576 Po H00-33 Electrical angle of signal Z 0.0 to 360 ° Electrical angle of phase U H00-34 0.0 to 360...
  • Page 67 5 Troubleshooting Function Parameter Name Setting Range Unit Default ET Code 0: Coast to stop, keeping de- energized state 1: Emergency stop, keeping position H02-07 Stop mode at limit switch signal locking state 2: Emergency stop, keeping de- energized state 0: Coast to stop, keeping de- H02-08 Stop mode at NO.1 fault energized state...

  • Page 68: Group H03: Input Terminal Parameters

    5 Troubleshooting Function Parameter Name Setting Range Unit Default ET Code Maximum braking current at H02-39 0 to 3000 0.1% 1000 short-circuit Group H03: Input Terminal Parameters Function Parameter Name Setting Range Unit Default ET Pro CM Code 0–0xFFFF DI function (active after H03-00 Bit0: FunIN.1;...
  • Page 69 5 Troubleshooting Function Parameter Name Setting Range Unit Default ET Pro CM Code Input polarity: 0 to 4 0: Low level valid 1: High level valid H03-13 DI6 logic selection 2: Rising edge valid 3: Falling edge valid 4: Rising edge and falling edge both valid H03-14 DI7 function selection 0 to 37 Input polarity: 0 to 4...

  • Page 70: Group H04: Output Terminal Parameters

    5 Troubleshooting Group H04: Output Terminal Parameters Function Parameter Name Setting Range Unit Default ET Pro CM Code H04-00 DO1 function selection 0 to 22 0: Output low level when valid (optocoupler ON) H04-01 DO1 logic selection 1: Output high level when valid (optocoupler OFF) H04-02 DO2 function selection 0 to 22 0: Output low level when valid (optocoupler ON)

  • Page 71: Group H05: Position Control Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default ET Pro CM Code 00: Motor speed (1 V/1000 RPM) 01: Speed reference (1 V/1000 RPM) 02: Torque reference (1 V/1 time of rated motor torque) 03: Position deviation (0.05 V/1 reference unit) H04-53 AO2 signal selection 04: Position deviation (0.05 V/Enc)
  • Page 72 6 Parameter Table Function Parameter Name Setting Range Unit Default Code 0: Pulse + direction, positive logic 1: Pulse + direction, negative logic H05-15 Pulse input format 2: Phase A + phase B quadrature pulse, 4-frequency multiplication 3: CW + CCW 0: Clear position deviation when S-ON is turned off or a fault occurs 1: Clear position deviation pulses when...
  • Page 73 6 Parameter Table Function Parameter Name Setting Range Unit Default Code 0: Disabled 1: Input HomingStart signal from DI to enable homing 2: Input HomingStart signal from DI to Homing enabling H05-30 enable electrical home attaining method 3: Start homing immediately upon power-on 4: Perform homing immediately 5: Start electrical home attaining 6: Take current position as the home...
  • Page 74 6 Parameter Table Function Parameter Name Setting Range Unit Default Code 0: Encoder frequency-division output Servo pulse output 1: Pulse synchronous output H05-38 source 2: Frequency-division or synchronous output inhibited 0: Switchover if position reference (reference unit) = 0 and the duration Electronic gear ratio H05-39 reaches 2.5 ms...

  • Page 75: Group H06: Speed Control Parameters

    6 Parameter Table Group H06: Speed Control Parameters Function Parameter Name Setting Range Unit Default ET Code 0: Digital setting (H06-03) Main speed reference A H06-00 1: AI1 source 2: AI2 0: Digital setting (H06-03) 1: AI1 2: AI2 Auxiliary speed reference B H06-01 source 3: 0 (invalid)
  • Page 76 6 Parameter Table Function Parameter Name Setting Range Unit Default ET Pro CM Code 0: Digital setting (H07-03) Auxiliary torque reference B H07-01 1: AI1 source 2: AI2 0: Main torque reference A source 1: Auxiliary torque reference B source H07-02 Torque reference source 2: A + B 3: A/B switchover...

  • Page 77: Group H08: Gain Parameters

    6 Parameter Table Group H08: Gain Parameters Function Parameter Name Setting Range Unit Default ET Pro CM Code H08-00 Speed loop gain 0.1 to 2000.0 25.0 Time constant of speed loop H08-01 0.15 to 512.00 31.83 integration H08-02 Position loop gain 0.0 to 2000.0 40.0 H08-03 2nd gain of speed loop...

  • Page 78: Group H09: Automatic Gain Tuning Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default ET Pro CM Code Cutoff frequency of speed H08-23 100 to 4000 4000 feedback low-pass filter H08-24 PDFF control coefficient 0.0 to 100.0 100.0 *: Based on switchover condition Group H09: Automatic Gain Tuning Parameters Function Parameter Name Setting Range...

  • Page 79: Group H0A: Fault And Protection Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default Pro CM Code H09-12 1st notch frequency 50 to 4000 4000 H09-13 1st notch width level 0 to 20 H09-14 1st notch depth level 0 to 99 H09-15 2nd notch frequency 50 to 4000 4000 H09-16...

  • Page 80: Group H0B: Monitoring Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default Code 0: Encoder unit H0A-17 Position setting unit 1: Reference unit H0A-19 DI8 filter time constant 0 to 255 25 ns H0A-20 DI9 filter time constant 0 to 255 25 ns Filter time constant of low- H0A-24 0 to 255...
  • Page 81 6 Parameter Table Function Parameter Name Setting Range Unit Default Code H0B-07 Absolute position counter H0B-09 Mechanical angle H0B-10 Electric angle ° H0B-11 Speed corresponding to input position reference H0B-12 Average load ratio H0B-13 Input position reference counter H0B-15 Encoder position deviation counter H0B-17 Feedback pulse counter H0B-19 Total power-on time H0B-21 AI1 sampling voltage...

  • Page 82: Group H0C: Communication Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default Code H0B-85 Rotating load single-turn position Group H0C: Communication Parameters Function Parameter Name Setting Range Unit Default Code 0: Broadcast address H0C-00 Servo axis address 1 to 247 0: 2400 Kbps; 1: 4800 Kbps H0C-02 Serial baud rate 2: 9600 Kbps;...

  • Page 83: Group H0D: Auxiliary Function Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default Code Modbus error frame H0C-30 0: Old protocol; 1: New protocol (standard) format Group H0D: Auxiliary Function Parameters Function Parameter Name Setting Range Unit Default ET Pro CM Code H0D-00 Software reset 0: Disabled;...

  • Page 84: Group H11: Multi-Position Function Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default ET Pro Code Filter time constant of hybrid H0F-13 0 to 6553.5 vibration suppression Full closed-loop position H0F-16 -1073741824 to 1073741824 Ext enc deviation counter Feedback pulse counter of H0F-18 -1073741824 to 1073741824 Int enc internal encoder...
  • Page 85 6 Parameter Table Function Parameter Name Setting Range Unit Default Code Acceleration/Deceleration time of H11-25 0 to 65535 ms (s) 3rd displacement H11-26 Waiting time after 3rddisplacement 0 to 10000 ms (s) -1073741824 to H11-27 4th displacement 10000 1073741824 Maximum running speed of 4th H11-29 1 to 6000 displacement...
  • Page 86 6 Parameter Table Function Parameter Name Setting Range Unit Default Code -1073741824 to H11-57 10th displacement 10000 1073741824 Maximum running speed of 10th H11-59 1 to 6000 displacement Acceleration/Deceleration time of H11-60 0 to 65535 ms (s) 10th displacement H11-61 Waiting time after 10th displacement 0 to 10000 ms (s) -1073741824 to H11-62 11th displacement...

  • Page 87: Group H12: Multi-Speed Function Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default Code Acceleration/Deceleration time of H11-90 0 to 65535 ms (s) 16th displacement H11-91 Waiting time after 16th displacement 0 to 10000 ms (s) Group H12: Multi-Speed Function Parameters Function Parameter Name Setting Range Unit Default ET Code...
  • Page 88 6 Parameter Table Function Parameter Name Setting Range Unit Default ET Code Running time of 4th speed H12-30 0 to 6553.5 reference (min) 0: No acceleration/deceleration time 1: Acceleration/Deceleration time 1 Acceleration/deceleration time H12-31 2: Acceleration/Deceleration time 2 of 4th speed reference 3: Acceleration/Deceleration time 3 4: Acceleration/Deceleration time 4 H12-32...
  • Page 89 6 Parameter Table Function Parameter Name Setting Range Unit Default ET Code 0: No acceleration/deceleration time 1: Acceleration/Deceleration time 1 Acceleration/deceleration time H12-49 2: Acceleration/Deceleration time 2 of 10th speed reference 3: Acceleration/Deceleration time 3 4: Acceleration/Deceleration time 4 H12-50 11th speed reference -6000 to 6000 -300...

  • Page 90: Group H17: Vdi/Vdo Parameters

    6 Parameter Table Function Parameter Name Setting Range Unit Default ET Code 0: No acceleration/deceleration time 1: Acceleration/Deceleration time 1 Acceleration/deceleration time H12-67 2: Acceleration/Deceleration time 2 of 16th speed reference 3: Acceleration/Deceleration time 3 4: Acceleration/Deceleration time 4 Group H17: VDI/VDO Parameters Function Parameter Name Setting Range...
  • Page 91 6 Parameter Table Function Parameter Name Setting Range Unit Default ET Pro CM Code 0: Valid when logic is 1 H17-23 VDI12 logic selection 1: Valid when logic changes from 0 to 1 H17-24 VDI13 function selection 0 to 37 0: Valid when logic is 1 H17-25 VDI13 logic selection 1: Valid when logic changes from 0 to 1...

  • Page 92: Group H30: Servo Variables Read By Communication

    6 Parameter Table Function Parameter Name Setting Range Unit Default ET Pro CM Code H17-53 VDO11 function selection 0 to 22 0: Output 1 when function valid H17-54 VDO11 logic selection 1: Output 0 when function valid H17-55 VDO12 function selection 0 to 22 0: Output 1 when function valid H17-56 VDO12 logic selection...

  • Page 93: Di/Do Function Definitions

    6 Parameter Table DI/DO Function Definitions Function Function Name Description Remarks Symbol Input Function Description The logic of the corresponding terminal needs to be set to level valid. Invalid: Servo motor disabled FunIN.1 S-ON Servo ON The change of the Valid: Servo motor enabled corresponding DI or VDI or terminal logic takes effect only...
  • Page 94 6 Parameter Table Function Function Name Description Remarks Symbol It is recommended that the Multi-reference Used to select one from the 16 FunIN.7 CMD2 logic of the corresponding switchover 2 references terminal be set to level valid. It is recommended that the Multi-reference Used to select one from the 16 FunIN.8...
  • Page 95 6 Parameter Table Function Function Name Description Remarks Symbol The torque limit source is switched over based on the setting of H07-07. H07-07 = 1: Valid: External positive torque limit enabled Invalid: Internal positive torque limit enabled External It is recommended that the H07-07 = 3 and AI limit larger FunIN.16 P-CL...
  • Page 96 6 Parameter Table Function Function Name Description Remarks Symbol HX1 valid, HX2 invalid: X10 Handwheel It is recommended that the FunIN.21 multiplying HX1 invalid, HX2 valid: X100 logic of the corresponding factor signal 1 terminal be set to level valid. Other: X1 Handwheel FunIN.22...
  • Page 97 6 Parameter Table Function Function Name Description Remarks Symbol The logic of the corresponding terminal needs to be set to level valid. Allocate this function to the high-speed DI terminal. If the logic is set to 2 (rising edge valid), the servo drive Invalid: Not triggered forcibly changes it to 1 (high level valid).
  • Page 98 6 Parameter Table Function Function Name Description Remarks Symbol When the position reference source is pulse input (H05- 00 = 0) in the position control It is recommended that the Pulse input mode: FunIN.37 PulseInhibit logic of the corresponding inhibited Invalid: Respond to pulse input terminal be set to level valid.
  • Page 99 6 Parameter Table Function Function Name Description Remarks Symbol Confirming speed limit in torque control: Invalid: Motor speed not reaching the speed limit FunOUT.8 V-LT Speed limit Valid: Motor speed reaching the speed limit and speed loop built internally based on the speed limit Brake output: Invalid: The power is on, the...
  • Page 100 6 Parameter Table Function Function Name Description Remarks Symbol Valid: Angle auto-tuning com- pleted Angle auto- FunOUT.20 AngIntRdy tuning output Invalid: Angle auto-tuning not completed Valid: Dynamic braking relay open DB braking FunOUT.21 output Invalid: Dynamic braking relay close Valid: Internal reference com- Internal pleted FunOUT.22...

  • Page 101: Revision History

    Revision History Date Version Change Description March 2017 First issue. - 100 -...

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