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Dorna EPS-BS Series User Manual

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AC SERVO SYSTEM
EPS-BS SERIES
User Manual
(V1.3)
1

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Summary of Contents for Dorna EPS-BS Series

  • Page 1 AC SERVO SYSTEM EPS-BS SERIES User Manual (V1.3)

  • Page 2: Table Of Contents

    Table of Contents SAFETY PRECAUTIONS ..............................5 ★★★ QUICK START GUIDE ............................9 ★ B ................................9 ASIC WIRING ★ B ..............................10 ASIC PARAMETERS CHAPTER 1 PRODUCT OVERVIEW ..........................12 ............................. 12 1.1 P RODUCT INSPECTION ..............................12 1.2 P RODUCT ODEL 1.2.1 Nameplate description ............................
  • Page 3 ......................36 5.2 O PERATION EXAMPLE OF MONITOR DISPLAY P12 ........................... 37 5.3 I NPUT SIGNAL MONITORING D 5.3.1 DP12 operation procedures ..........................37 5.3.2 DP12 display explanations ..........................37 P13 ........................38 5.4 O UTPUT SIGNAL MONITORING D 5.4.1 DP13 operation procedures ..........................38 5.4.2 DP13 display explanations ..........................
  • Page 4 10.2.1 Communication modes ..........................67 10.2.2 Byte structure ..............................67 10.2.3 Communication data structure ........................68 10.2.4 Communication troubleshooting ........................74 10.2.5 Communication parameters .......................... 75 10.2.6 Servo drive parameter address ........................75...

  • Page 5: Safety Precautions

    Safety Precautions This section explains important items that users must observe when confirming, storing, moving, installing, wiring, operating, inspecting, and disposing of products when they arrive. Risk ◼Input power. The input power of this driver is AC220V . ◼ When installing on a machine and starting operation, please put the motor in a state that can be stopped immediately at any time.
  • Page 6 Storage & Handling ◼ Do not store or install in the following environment. Failure to do so may cause fire, electric shock, or machine damage. ➢ Places exposed to direct sunlight ➢ Use the place where the ambient temperature exceeds the storage and setting temperature conditions ➢...
  • Page 7 Wiring ◼ Make wiring correctly and reliably. Failure to do so could result in loss of motor control, personal injury, or machine failure. ◼ Do not connect commercial power to the servo motor connection terminals U , V , W of the servo driver .
  • Page 8 Operations ◼ To prevent accidents, perform a trial operation on the servo motor alone (with the machine not connected to the drive shaft of the servo motor). After the test run is correct, connect the machine to run. Failure to do so could result in injury. ◼...

  • Page 9: Quick Start Guide

    Others ◼ For detailed explanation, some illustrations in this manual have been removed from the cover or safety protection. In actual operation, please be sure to install the cover or safety protection body to the original position according to the regulations, and then operate according to the instructions in the user manual. ◼...

  • Page 10: Basic Parameters

    5. I/O signals (see section 3.2 and 3.4 for details ) Symbol Definition Description DGND Digital ground RS + 485 communication positive Communication terminal 485 communication negative 24V common terminal 1, Differential input : connect to P+ P- S+S-; Pulse positive (5V) 2, Open collector (24V, NPN): PL connects to 24V, the pulse output (e.g.
  • Page 11 2. Set the matching parameters according to the motor nameplate: PA2, PA8, PA9 ⚫ Check whether the motor pole pair number PA2 is consistent with the motor nameplate. PA2 = 4 : four pairs of pole motors PA2 = 5 : five pairs of pole motors ⚫...

  • Page 12: Chapter 1 Product Overview

    A complete servo system should include the following items: Items Reference Servo driver and matching servo motor. Motor power cable Motor encoder cable Servo control line An instruction manual 1.2 Product Model 1.2.1 Nameplate description ■ EPS-BS series servo driver nameplate...

  • Page 13: Model Descriptions

    1.2.2 Model descriptions ■ EPS-BS series servo drive model description EPS – BS – 0D75 A A – □□□□ [2] [3][4] [ 1 ] Servo driver series [ 2 ] Driver power [ 3 ] Rated input voltage Symbol Specifications...

  • Page 14: Name Of Each Part Of Servo Drive

    1.3 Name of each part of servo drive Power lamp Display Main power input I/O terminal Regenerative resistor terminals 1、Internal: P & D 2、External: P & C Motor encoder signal Motor UVW terminal Grounding 1.4 Maintenance & Inspection Please perform regular maintenance & inspection on the driver & motor to ensure safe & normal use. Routine inspections and regular inspections should be implemented according to the following items .

  • Page 15: Chapter 2 Installation

    Chapter 2 Installation 2.1 Installation direction and space The installation direction must be in accordance with the regulations, otherwise it will cause malfunctions. In order to make a good cooling effect, the upper and lower, left and right with the adjacent items and baffle (wall) must have enough space, otherwise it will cause malfunctions.

  • Page 16: Servo Drive Dimensions

    2.2 Servo drive dimensions (Unit: mm) (1) A type case: EPS-BS-0D20AA, EPS-BS-0D40AA type case: EPS-BS-0D75AA, EPS-BS-0D75AA -****-G, EPS-BS-0001AA, EPS-BS-01D5AA (3) C type case: EPS-BS-01D5AA-****-G, EPS-BS-02D2AA, EPS-BS-02D2AA-****-G, EPS-BS-0003AA...

  • Page 17: Recommended Specifications For Circuit Breakers And Fuses

    2.3 Recommended specifications for circuit breakers and fuses ■ 220V class Drive type Power breaker Fuse (Class T) Type A 400W or less Type B 750W ~ 1.5KW Type C 2.2KW ~ 3KW Note: 1. Strongly recommended: the fuse and circuit-breaker must comply with UL/CSA standards. 2.

  • Page 18: Installation Of Emi Filter

    ◆ When there is a high frequency generating device nearby, an EMI filter shall be connected to the input side of the main circuit cable. ◆ Ensure the earthing is appropriate. 2.4.1 Insta llation of EMI filter In order to ensure the EMI filter can fully suppress the interference, please note: Item Reference Servo drives and EMI filters must be installed on the same metal surface.
  • Page 19 When the regenerative capacity exceeds the disposable capacity of the internal regenerative resistor, an external regenerative resistor shall be connected. Please note: Item Reference Please set the external resistor value and capacity correctly. The external resistance value shall not be smaller than the minimum allowable resistance value. If parallel connection is to be used to increase the power, please confirm whether the resistance value satisfies the limiting conditions.

  • Page 20: Chapter 3 Wiring

    Chapter 3 Wiring 3.1 System structure & wiring 3.1.1 Connectors and terminals of the driver Terminal symbol name L1, L2, L3 Power input terminal P, D, C External regeneration resistor connection terminal DC bus negative terminal U, V, W Servo motor connection terminal Ground terminal Communication port, I / O connector Encoder connector...
  • Page 21 ◼ 1PH AC220V input +10% 1PH 200~230VAC -15% (50/60 Hz) EMI Filter 1 Ry 1 MC 1 Ry Peak voltage suppressor 1 MC 1 MC Motor 1 MC Encoder 1 Ry +24V ◼ 3PH AC220V input +10% 1PH 200~230VAC -15% (50/60 Hz) EMI Filter 1 Ry...

  • Page 22: Cn1 Wiring

    3.2 CN1 wiring 3.2.1 Arrangement of connector CN1 terminal Symbol Definition Description DGND Digital ground RS + 485 communication positive Communication terminal 485 communication negative 24V common terminal 1, Differential input : connect to P+ P- S+S-; Pulse positive (5V) 2, Open collector (24V, NPN): PL connects to 24V, the pulse output (e.g.

  • Page 23: I/O Signal Allocations

    3.2.2 I/O Signal allocations I. Input signal settings ■ PA145 ~ PA147. Name Effective Default Control terminal DI1 input signal function selection [ 0 ] Control mode switching (C-MODE) [ 1 ] Forward rotation prohibited (CWL) / internal torque selection 1 [ 2 ] Negative rotation prohibited (CCWL) / Internal torque selection 2 [ 3 ] Deviation Clear (CLE) / Internal position reset / Internal multi-step speed 1 [ 4 ] Alarm Clear (A-CLR) / Internal Multi-speed 3...
  • Page 24 signal is as follows: Servo drive Servo drive DC24 V DC24 V + 24VIN 3.3K Ω Above 50 mA 3.3K Ω Above 50 mA + 24VIN /S- ON etc. /S- ON etc. Take the above figure as an example. When the optocoupler is conductive, S-ON signal is L level; when the optocoupler is not conductive, S-ON signal is H level.

  • Page 25: Examples Of Connection To The Host Device

    DC 5V~ 24V Relay Servo drive Opticalcoupler S-RDY+ S-RDY- Maximum allowable voltage: DC 30V Maximum allowable current: DC 50mA 4) Confirmation of output signal Output signal states can be monitored in DP13. (5) Relevant matters needing attention Brake signal is a differential signal, others are single-ended output signals (open-collector). 3 Examples of connection to the host device Servodrive input, output signals and their connection examples with the host device are shown below .
  • Page 26 ■ Open-collector output When the host device is with open collector output and provides VCC = 24VDC signal power, connection method 1 When the host device is with an open collector output and provides 5VDC, 12VDC, 24VDC signal power, connection method 2...
  • Page 27 Set the resistance R according to the input current range required below. Input current i = 10~15mA: When VCC is 24V, R = 2.0KΩ When VCC is 12V, R = 510Ω When VCC is 5V, R = 180Ω 2) Sequential input loop Connected by a relay or an open collector transistor circuit.
  • Page 28 II. output circuit 1) Sequence output circuit Servo alarm, brake output and other sequence output signals are composed of photocoupler output circuits. Please use relay connections. DC 5V～24V Relay Servo drive Maximum DC voltage: 30VDC Maximum DC current: 50mA...

  • Page 29: Cn2 Wiring

    3.3 CN2 wiring Quick Plug Encoder Cable 9P CODE DESCRIPTION DESCRIPTION CABLE CODE DESCRIPTION DESCRIPTION BAT+ BAT- Encoder cable for aviation plug 9P CODE DESCRIPTION DESCRIPTION CABLE CODE DESCRIPTION DESCRIPTION BAT+ BAT-...

  • Page 30: Standard Wiring Diagram

    3.4 Standard wiring diagram...

  • Page 31: Chapter 4 Panel Operations

    Chapter 4 Panel Operations 4.1 Panel operator The panel operator consists of panel operator display & panel operator keys . The panel operator can display status, perform auxiliary functions, set parameters, and monitor the operation of the servo driver. The names and functions of the panel operator keys are shown below .

  • Page 32: Function Switching

    4.2 Function switching 4.3 Parameter setting method Below is an example to illustrate modify parameter PA100 value from 40 to 200. Step Panel display Keys Operations Press MOD key to select parameter setting interface. Press the SET key to enter the parameter setting function .

  • Page 33: Operation Example Of Parameter Management Function (Eepop)

    Press the "←" key to move the decimal point corresponding to the flashing display, so that the decimal point corresponding to 4 flashes . (The flashing digit indicates the digit that can be changed .) By pressing 6 times "↑" key, the displayed value is changed to "00."...

  • Page 34: Parameter Factory Reset Function (Ee - 1) Operation Example

    Method 2: Set PA10 to 0, press the SET button (note PA10 will automatically change back to 2, so when you view again PA10 becomes 2. It does not matter ), and parameter has been saved. 4.4.2 Parameter Factory Reset Function (EE - 1) operation example Method 1: First change PA0 to 1234, and then perform the following factory reset operations.
  • Page 35 Display content Unit Address Display Motor Encoder feedback Pulse low 4 bit . 【10000 Encoder Motor feedback pulse number (Encoder Unit, upper 4 digits) dP 02 0X0602 Pulse 】 Display Motor Encoder feedback Pulse high 4 bit . Input pulse number before electronic gear (lower 4 digits) 【1 instruction Pulse 】...

  • Page 36: Operation Example Of Monitor Display

    Display content Unit Address EPS-BS-02D2AA-****-S EPS-BS-02D2AA-****-GS EPS-BS-0003AA-****-S dP 25 Displays the latest alarm log of the drive. 0X0619 dP 26 Displays the second alarm log of the drive. 0X061A dP 27 Displays the third alarm log of the drive. 0X061B dP 28 Displays the fourth alarm log of the drive.

  • Page 37: Input Signal Monitoring Dp12

    5.3 Input signal monitoring dP12 5.3.1 DP12 operation procedures The display steps of the input signal are shown below . Step Panel display Keys Operations Press MOD key to select monitor display function (dISP); Press the SET key once; If the display is not DP12, press "↑" key & "←"...

  • Page 38: Output Signal Monitoring Dp13

    5.4 Output signal monitoring dP13 5.4.1 DP13 operation procedures The display steps for the display signal output are shown below. Step Panel display Keys Operations Press MOD key to select monitor display function (dISP); Press the SET key once; display not DP13, press "↑"...

  • Page 39: Monitoring Display When Power Is Turned On

    5.5 Monitoring display when power is turned on PA03 setting determines the display on the operation panel when the power is turned on. Name Range Unit Defaults Effective Initial display selection. Turn on the PA03 For example, if set to 0, when power is turn on, the 0 to 40 power again display shows motor speed.

  • Page 40: Chapter 6 Jog Run

    Chapter 6 JOG Run 6.1 Preparations before JOG run Please check the following items before JOG run: Item What to check Whether the motor has been released from load? Whether the wiring and connection are correct? Servo motor Whether the fastening parts are loose? If the servo motor has a holding brake, whether the brake has been released (by separate 24VDC) in advance? Whether the wirings and connections are correct?

  • Page 41: Jog Run Of The Servo Motor Alone By Host Command

    ↑ Press increase positive ← direction speed; press decrease negative direction speed. Press MOD to exit to Step 2. 6.3 JOG run of the servo motor alone by host command When JOG run servo motor by upper command, confirm the following items: Item Content Check whether the servo motor movement command and input / output signal input from the...

  • Page 42: Jog Run Of Position Control

    6.3.2 JOG run of position control The following describes the trial operation method for position control. This section describes the trial operation procedures after the position control input signal wiring is completed. Step Operation Check the power supply and input signal circuit again, and then turn on the control power of the servo driver.

  • Page 43: Jog Run Of Servo Motor With Brake

    Use the BRK signal of the servo driver to control the holding brake operation. Chapter 7 Operations 7.1 Control mode selection The following describes the control modes that the EPS-BS series servo driver can perform. User parameters Control method ( control mode ) Switch between position control ( pulse train command ) and external JOG control.

  • Page 44: Setting Of General Basic Functions

    Internal speed control Using the input signals BIT3, BIT4 and BIT5 to select among 8 preset speeds. When this control mode is selected, no analog command is required. 7.2 Setting of general basic functions 7.2.1 SERVO ON setting A servo motor enters energized state by S-ON instruction signal. (1) Servo ON signal (S-ON) Type Signal Status...

  • Page 45: Overtravel Settings

    ■ Operation when the command is reversed Speed Encoder pulse output When reversing: Stop by CWL Time 7.2.3 Overtravel settings Overtravel refers to the safety function which can make the limit switch function (ON) and force the servo motor to stop when the moving parts of a machine go beyond the movable area. Attention Installation of limit switches Limit switches must be installed in applications such as linear motions.
  • Page 46 Vertical axis Horizontal axis Servo motor Mechanical moving part Holding brake Holding brake External force To prevent movement due to gravity at power off Mechanical moving part To prevent movement due to external force at power off ⚫ The holding brake can only be used to maintain the halt state, not braking, of the servo motor. The brake torque is 70% or above of the rated torque of servo motor.

  • Page 47: Position Control Operations

    7.3 Position control operations 1 User parameter settings (1) Control mode selection Parameter Meaning Control mode: postion control (2) Pulse form selection Parameter Pulse form Forward instruction Reverse instruction PULS PULS PULS+SIGN H Level L Level SIGN SIGN (default) PULS PULS L Level CW+CCW (positive...

  • Page 48: Position Instructions

    First electronic gear ratio denominator PA32 Range Unit Default Effective — 1～65535 Immediate Electronic gear ratio = B/A = PA31/PA32 Suggested range: 0.01≤ (B/A) ≤ 100 3 Position instructions Upper controller's output forms include the following: ⚫ Field-bus output ⚫ +24V open-collector output ⚫...

  • Page 49: Positioning Completed Signal (Coin)

    t1,t2 0.1us 500Kbps. t3 ＞ 3us Open-collector: t 1.0us 200Kbps Forward Reverse 50%<(t/T) 100% t1 t2 t1,t2 0.1us A phase t 1.0us 200Kbps. B phase A phase+ 50%<(t/T) 100% Open-collector: B phase 150Kbps Forward Reverse A phase ahead of B phase by π/2 B phase ahead of A phase by π/2 4 Positioning completed signal (COIN) This signal means that servo motor positioning is completed at position control.

  • Page 50: Pulse Instruction Inhibition Function (Inh)

    ZSP signal width Range Unit Default Effective PA51 0～3000 Immediate 6 Pulse instruction inhibition function (INH) This is a function that stops (inhibits) instruction pulse input counting in case of position control. It is in servo locking (clamping) state when this function is used. Pulse Deviation instruction...
  • Page 51 User parameter Meaning PA004 Control mode selection: internal speed control PA145 Use DI1 as internal speed selection 1 PA146 Use DI2 as internal speed selection 2 PA147 Use DI3 as internal speed selection 3...

  • Page 52: Chapter 8 Troubleshooting

    Chapter 8 Troubleshooting 8.1 List of alarms Error Name Remarks Can clear code ERR.01 Overload 1 Refer to PA081, PA082 ERR.02 Under voltage ERR.03 Over voltage ERR.04 AC detection error Input phase loss ERR.05 Over speed Refer to PA119 ERR.06 Overload 2 Refer to PA120, PA121 ERR.07...

  • Page 53: Alarm Troubleshooting

    8.2 Alarm troubleshooting Alarm name Cause of issue Action 1, check motor U, V, W Connection; 2, check motor parameters The motor was continuously PA2, PA7, PA8, PA9 are correct; running with a ERR.01 Overload 1 3, check the mechanical structure; torque exceeding 130% of 4, the actual operating load of the the rated value .
  • Page 54 Alarm name Cause of issue Action 1, check if the servo can do JOG run without load; Position deviation exceeds the 2, check the electronic gear setting; ERR.09 Out of position setting value 3, check the mechanical structure; of user parameter PA53 . 4, the actual operating load of the machine is too large, and it needs to be replaced with a higher power servo.
  • Page 55 Alarm name Cause of issue Action Duplicate or Modify Output signal configuration ERR.34 meaningless output signal pin output parameters PA148, PA149 & error configuration PA150 1, view DP21, determine the drive ERR.36 Drive power error Reset PA7 parameter power is correct. Then set correctly PA7 value.

  • Page 56: Chapter 9 Product Specifications

    Chapter 9 Product Specifications 9.1 Servo drive specifications Input voltage 220VAC Singe/Three Phase 220VAC -15%~+10%, 50/60Hz Single/Three phase full wave rectification. IGBT Control mechanism PWM control, sine-wave current control ▪ 2500/5000-LINE OPTICAL Feedback devices ▪ 1024-LINE MAGNETIC ▪ Use temperature: 0~+45℃ Ambient temperature ▪...
  • Page 57 Working temperature: 0~40℃ (no freezing) Operating humidity: 20%~80% (no dewing) Altitude: Below 1000m Protections: Full-enclosed IP65 (except the shaft-through part) 60/80 Series 80 Series 60 series Servo Motor series 80DNMA2-0D75 80DNMA2-0001 Servo Motor model 60DNMA2-0D20 60DNMA2-0D40 220VAC Input voltage 220VAC High Medium High...
  • Page 58 130 Series (220V class) Servo Motor series 130 Series Servo Motor model 130DNMA2-0001C 130DNMA2-01D5C 130DNMA2-0002C 130DNMA2-0003C Input voltage 220VAC 220VAC 220VAC 220VAC Inertia Medium Rated power (W) 1000 1500 2000 3000 Rated torque (N*m) 4.77 7.16 9.55 14.33 Rated current (A) 10.3 13.5 Maximum current (A)

  • Page 59: Motor Parameter Pa9

    9.3 Motor parameter PA9 Motor rated Motor rated PA9 value PA9 value current current 0.5A 1.0A 1.5A 2.0A 2.5A 3.0A 3.5A 4.0A 4.5A 5.0A 5.5A 6.0A 6.5A 7.0A 7.5A 8.0A 8.5A 9.0A 9.5A 9.4 EPS-BS Servo motor and servo drive matching table Rated Motor Motor...
  • Page 60 Rated Motor Motor Rated/max curre Power Rated pole current Servo drive Servo motor speed (KW) current/torque pairs setting (rpm) (PA2) (PA9) EPS-BS-01D5AA 110DNMA1-01D5D 3000/4000 6.5A/4.8N EPS-BS-01D5AA 110DNMA1-01D8D 3000/4000 7A/5.7N EPS-BS-0001AA 130DNMA1-0001A 1000/1500 4.8A/10N EPS-BS-01D5AA 130DNMA1-01D5A 1000/1500 7.9A/15N EPS-BS-01D5AA 130DNMA2-01D5A 1000/1500 8A/14.33N EPS-BS-0001AA 130DNMA1-0D85C...

  • Page 61: Chapter 10 Appendix

    Chapter 10 Appendix 10.1 Parameters Function Range Unit Effective Default Password setting PA000 0~9999 Immediate Set this parameter to 58 before editing parameters PA001 Carrier wave frequency 5~15 Restart PA002 Motor pole pair selection Restart 4 pole pair motor, PA2=4; 5 pole pair motor, PA2=5. Initial display selection To select what is shown after power-on: 0: DP0...
  • Page 62 Function Range Unit Effective Default Parameter function selection: bit0: Restart without full discharge except PA2, PA4, PA6, PA7, PA8, PA9. (0: Cannot restart; 1: Can restart). bit1: - bit2: Electronic gear ratio swtich (0: Can switch; 1: Cannot switch) PA019 0~65535 Immediate bit3:...
  • Page 63 Function Range Unit Effective Default PA052 ZSP (zero speed) signal time setting 0~9000 0.1ms Immediate 0.01*enc PA053 Position deviation alarm threshold at S-ON 0~500 Immediate oder ppr Position deviation alarm 0: ERR09 will output if deviation is larger than PA053 PA054 Immediate 1: No alarm will output even if deviation is larger than...
  • Page 64 Function Range Unit Effective Default PA088 Internal position 2: number of pulses -9999~9999 pulse Immediate PA089 Internal position 3: number of turns -9999~9999 turn Immediate PA090 Internal position 3: number of pulses -9999~9999 pulse Immediate PA091 Internal position 4: number of turns -9999~9999 turn Immediate...
  • Page 65 Function Range Unit Effective Default PA130 Torque control 3 0~300 Internal speed 0 PA131 -5000~ 5000 Immediate External JOG speed at internal position mode Internal speed 1 PA132 -5000~ 5000 Immediate Homing speed at internal position mode PA133 Internal speed 2 -5000~ 5000 Immediate PA134...
  • Page 66 Function Range Unit Effective Default PA158 Alarm parameter 4 PA160 Waiting time after internal position 0 1~9000 PA116 Immediate PA161 Waiting time after internal position 1 1~9000 PA116 Immediate PA162 Waiting time after internal position 2 1~9000 PA116 PA163 Waiting time after internal position 3 1~9000 PA116 Immediate...

  • Page 67: Modbus Communication

    10.2 MODBUS Communication There are two MODBUS modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal Unit). 10.2.1 Communication modes 1. ASCII mode Every 8-bit data consists of two ASCII bytes. Byte symbol ‘0’ ‘1’ ‘2’ ‘3’ ‘4’...

  • Page 68: Communication Data Structure

    7，O，1（Modbus，ASCII） Start Stop parity 7-data bits 10- bits character frame 11-bits byte box (used for 8-bits data) 8，N，2（Modbus，ASCII / RTU） Start Stop Stop 8-data bits 11- bits character frame 8，E，1（Modbus，ASCII / RTU） Even Start Stop parity 8-data bits 11- bits character frame 8，O，1（Modbus，ASCII / RTU）...
  • Page 69 End 1 End code 1: (0DH) (CR) End 0 End code 0: (0AH) (LF) RTU mode Static time exceeding 3.5 bytes Communication address: 1-byte Command code: 1-byte Data content (n≤12) : DATA (n-1) Word number=n; ……. Byte number=2n; DATA (0) Command code: 1-byte End 1 Static time exceeding 3.5 bytes...
  • Page 70 1) CMD：03H (Read N words, N≤29) For example, to continuously read 2 words from starting address 0200H of servo drive Axis 01H: ASCII mode: Command Response ‘:’ ‘:’ ‘0’ ‘0’ ‘1’ ‘1’ ‘0’ ‘0’ ‘3’ ‘3’ ‘0’ ‘0’ Data quantity (bytes) ‘2’...
  • Page 71 2) CMD: 06H (write one word) For example, write 100 (0064H) to starting address 0200H of servo drive Axis 01H: ASCII mode: Command Response ‘:’ ‘:’ ‘0’ ‘0’ ‘1’ ‘1’ ‘0’ ‘0’ ‘6’ ‘6’ ‘0’ ‘0’ ‘2’ ‘2’ Starting address (high to Starting address 0200H ‘0’...
  • Page 72 1) CMD: 10H (write N words, N≤29) For example, write 100 (0064H) , 102 (0066H) to starting address 0200H of servo drive Axis 01H: ASCII mode: Command Response ‘:’ ‘:’ ‘0’ ‘0’ ‘1’ ‘1’ ‘1’ ‘1’ ‘0’ ‘0’ ‘0’ ‘0’ ‘2’...
  • Page 73 RTU mode: Command Response Starting address (high to Starting address (high to low) low) Data word number (high Data word number (high to low) to low) Data byte number CRC check low CRC check high Data 1 content Data 2 content CRC check low CRC check high ➢...

  • Page 74: Communication Troubleshooting

    3) End1、End0 (communication end) ASCII mode： (0DH) i.e. byte as’\r’ (carriage return) & (0AH) i.e. byte as ‘\n’ (new line) , means communication end. RTU mode： Static time exceeding 3.5 bytes in current communication speed. 10.2.4 Communication troubleshooting Common error causes are: ▪...

  • Page 75: Communication Parameters

    Start Slave address Response code Error code Verification If slave address is 00H, this is broadcast data and the servo drive will send no feedback. 10.2.5 Communication parameters Related parameters: RS485 communication mode Restart PA070 0: RTU 1: ASCII PA072 RS485 communication address 1～31 Restart...

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