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Coolmay C100E Manual

Ethercat ac servo drive
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C100E EtherCAT AC
Servo Drive
Shenzhen Coolmay Technology Co., Ltd
V22.11

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Summary of Contents for Coolmay C100E

  • Page 1 C100E EtherCAT AC Servo Drive Shenzhen Coolmay Technology Co., Ltd V22.11...
  • Page 2 C100E EtherCAT AC Servo Drive Safety Precautions In order to use this product safely, the user should be familiar with and observes the following important items before proceeding with storage, installation, wiring, operation, inspection or maintenance for the product. DANGER Indicates a mistake operation possibly can cause danger and physical injure or death.
  • Page 3 C100E EtherCAT AC Servo Drive personnel casualty  Referring to wire selection guide, please install all wires with an adequate cross-section. Otherwise may cause fire. 3. Operation Caution  Before the mechanical equipment starts to run, it must be matched with the appropriate parameter settings.
  • Page 4 C100E EtherCAT AC Servo Drive otherwise the residual high voltage may cause electric shock.  It is forbidden to change the wiring or disassemble the servo motor when the power is turned on, otherwise it will cause electric shock. 6. Scope of use Caution ...

  • Page 5: Table Of Contents

    C100E EtherCAT AC Servo Drive CATALOG Chapte1 Product Introduction.................1 1.1 Description..................... 1 1.2 Feature....................1 1.3 Application....................1 1.4 Dimension....................2 1.5 Working Environment................2 1.6 Cooling Method..................2 Chapter 2 Drive Specification................. 4 Chapter 3 Operation And Display..............5 3.1 Key Name And Function..............5 3.2 Parameter Setting.................5...
  • Page 6 5.8.1 Set probe function 0x60B8............ 80 5.8.2 Read probe status 0x60B9............ 82 5.8.3 Probe Latch Position...............83 Chapter 6 Fault Code..................85 Chapter 7 C100E Application Description..........87 7.1 Drive Wiring..................87 7.2 The Example Of Cooperating With TwinCAT Master Station..87 www.coolmay.com...

  • Page 7: Chapte1 Product Introduction

    Chapte1 Product Introduction 1.1 Description C100E series ac servo drives are bus servo drives which are added bus communication function on the basis of P series high performance AC servo drives.The EtherCAT bus communication interface is used to realize the real-time control and real-time data transmission of servo system based on the transmission rate of 100 Mb/s of slave station technology.

  • Page 8: Dimension

    C100E EtherCAT AC Servo Drive 1.4 Dimension Pic1.1 C100E Dimension 1.5 Working Environment Cooling Natural Cooling or Forced Cooling Avoid corrosive gases,dust,oil,magnetic Environment field Working Ambient 0～50℃ Environment Temperature Humidity 40～90%RH Storage Temperature -20℃～65℃ Weight 1.3Kgs 1.6 Cooling Method  The drive working environment temperature is recommended less than 50 ℃...
  • Page 9 C100E EtherCAT AC Servo Drive necessary, which forces heat cooling and ensure the drive can work in the reliable working temperature range. www.coolmay.com...

  • Page 10: Chapter 2 Drive Specification

    C100E EtherCAT AC Servo Drive Chapter 2 Drive Specification speed / position / instruction pulse Power Monitor accumulation / positional deviation 50W~7500W Range Function / motor torque motor current / working state 0: position Input 1 phase / 3 phases...

  • Page 11: Chapter 3 Operation And Display

    C100E EtherCAT AC Servo Drive Chapter 3 Operation And Display 3.1 Key Name And Function The panel consists of 5 digital LED and 4 buttons including ↑、↓、←、SET to display all system status and set parameters. The operation is hierarchical.← button indicates “back” and SET button indicates “forward”...

  • Page 12: State Monitoring

    C100E EtherCAT AC Servo Drive Pic 3.1 State Indicator 3.4 State Monitoring The first layer is the main menu and has four operating modes. Press ↑or ↓button to change the operation mode. Then press SET button to enter into the second layer and executes a concrete operation.
  • Page 13 C100E EtherCAT AC Servo Drive Control mode 0：position control Absolute position of the rotor:3265 Input terminal Output terminal Encoder signal Working state No.9 alarm www.coolmay.com...

  • Page 14: Chapter 4 System Wiring

    C100E EtherCAT AC Servo Drive Chapter 4 System Wiring 4.1 System Wiring 4.1.1 Servo drive wiring diagram Pic 4.1 System Wring 4.1.2 Wiring Introduction Wiring Notes:  The control cable length should be less than 3 meters and the encoder cable length 20 meters.

  • Page 15: Electric Wire Specifications

    C100E EtherCAT AC Servo Drive  Check that the power supply and wiring of L1,L2 are correct.If the driver only supports single-phase 220VAC, please do not connect it to the 380VAC power supply.  The output terminals(U,V,W ) must be connected with the servo motor connections(U,V,W ) correspondently, otherwise the servo motor will stop or over speed.

  • Page 16: Servo Driver Terminals Introduction

    C100E EtherCAT AC Servo Drive Servo Motor U、V、W 1.5~4mm2 Ground 1.5~4mm2 ≧0.14mm2(AWG26), Control Signals Shielded. ≧0.14mm2(AWG26), Encoder Signals Shielded. Regenerative Resistors P、D/P、 1.5~4mm2 Terminals  Must use a twisted pair wire cable for the encoder signal wiring. If the encoder signal cable is too long(>20m), in which the encoder power supply can be insufficient, may use multi-wire or thick wire for the power supply wiring.

  • Page 17: Cn1 Terminal

    Pic 4.3 CN1 Terminal Pic 4.3 CN1 Pin Definition C100E series has 8 input terminals and 6 output terminals. The definition values of input and output can be changed by P3 group parameters, and all kinds of input and output definitions can be completed ( low level of input...
  • Page 18 C100E EtherCAT AC Servo Drive terminal is valid as default). Only input signals with function numbers between 33 and 48 defined by the input terminal can be sent to the master station and it can be obtained through the Digital Inputs object of 0x60fd in the object...
  • Page 19 C100E EtherCAT AC Servo Drive B) For external 24V power supply: 2）When the upper device is collector open output: A) For internal 24V power supply: B) For external 24V power supply: www.coolmay.com...
  • Page 20 C100E EtherCAT AC Servo Drive  Do not support PNP mixed with NPN input.  Output Circuit Of Digital Quantity Diagram For DO1 as an example( the DO1~DO6 interface circuit is the same): 1) When the upper device is relay input: 2) When the upper device is optocoupler input: ...

  • Page 21: Encoder Terminal

    C100E EtherCAT AC Servo Drive 4.2.3 Encoder Terminal Pic 4.5 CN2 Encoder Connector Signal Name Function Use 5V power supply (Provided by servo driver). If the Encoder Power cable is longer than 20m, in order to prevent encoder Supply from voltage dropping down, it is better to use multi wires or thick wires for power line and ground line.

  • Page 22: Main Circuit Terminal

    C100E EtherCAT AC Servo Drive data transmission EtherCAT data receiving 3，11 E_RX+ positive end 4，12 5，13 EtherCAT data receiving 6，14 E_RX- negative end 7，15 8，16 Connector shield grounded cover 1) LED1 shows the state of “Link/Activity IN” and the color is orange;...

  • Page 23: Communication Specification

    C100E EtherCAT AC Servo Drive When use the built-in resistor,please connect P and D. P、D Regenerative When the external regeneration resistance is required, Resistance P、C please disconnect P and D and crossover it to terminal P and C. Leaving N disconnected.

  • Page 24: Led State Instruction

    C100E EtherCAT AC Servo Drive Protocol Standard Equipment Agreement IEC61800-7 CiA402 drive profile Standard Cyclic synchronization position mode（CSP）、Cyclic synchronous CiA402 velocity mode （CSV） 、 Cyclic synchronous torque mode （CST） 、 Profile position mode（PP）、Profile velocity mode（PV）、Profile torque mode Operator Mode （PT）、Homing mode（HM）...

  • Page 25: Communication Object

    C100E EtherCAT AC Servo Drive Pic 4.7 Indicator Flashing Time 4.3.3 Communication Object The parameters include communication parameters, factory defined parameters and 402 group parameters. Read/ Default Address Name Range Introduction Write Value 1000h device type 0x00040192 1001h wrong register...
  • Page 26 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value of RPDO 0x60400010 RXPDO mapping 0x607A0020 1701h object258 0x60B80010 0x60FE0120 0x60400010 0x607A0020 0x60FF0020 RXPDO mapping 1702h 0x60710010 object259 0x60600008 0x60B80010 0x607F0020 0x60400010 0x607A0020 0x60FF0020 RXPDO mapping 1703h...
  • Page 27 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value 0x60E10010 0x60400010 0x607A0020 0x60FF0020 RXPDO 0x60600008 1705h mapping object 0x60B80010 0x60E00010 0x60E10010 0x60B20010 It can configure the TXPDO 1A00h number and content mapping object0 of TPDO 0x603F0010...
  • Page 28 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value 0x60B90010 0x60BA0020 0x60BC0020 0x60FD0020 0x603F0010 0x60410010 0x60640020 0x60770010 TXPDO 0x60F40020 1B03h mapping 0x60610008 object260 0x60B90010 0x60BA0020 0x60BC0020 0x60FD0020 0x603F0010 0x60410010 0x60640020 0x60770010 TXPDO 0x60610008 1B04h mapping 0x60F40020...
  • Page 29 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value 0x1705 0x1A00 TXPDO 0x1B01 1C13h distribution 0x1B04 Basic control 2000h parameters Initial status 0-23 2000h+1 display Action setting in 2000h+2 0-200 motor stopping Actuator action 2000h+3 0-200...
  • Page 30 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value Time constant of 2000h+9 removing jitter of 1-1000 IO terminal Encoder types： 4:Absolute value 2000h+10 Encoder selection without battery; 5:Absolute value with battery (as default). Select the number of...
  • Page 31 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value filter Acceleration time 1-1000 2001h+7 constant Deceleration time 1-1000 2001h+8 constant communicational 2002h parameter Communication 2002h+1 virtual input Communication 2002h+2 virtual output 0-3276 2002h+3 fixed address Function number...
  • Page 32 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value Digital input DI7 2003h+7 0-99 function Digital input DI8 2003h+8 0-99 function Output terminal 2004h function number Digital output DO1 2004h+1 0-48 function Digital output DO2 2004h+2...
  • Page 33 C100E EtherCAT AC Servo Drive Read/ Default Address Name Range Introduction Write Value parameters 2006h+1 Drive current Driver 2006h+2 temperature 2006h+3 Busbar voltage Servo motor 2007h parameters The corresponding 2007h+1 Motor type motors to each index are as follow table.
  • Page 34 C100E EtherCAT AC Servo Drive 90-04025 110-02030 110-04020 110-04030 Recover default values Read/ Default Introductio Address Name Range Address Write Value Recent Unsigned 603Fh TPDO The last error code. error code 16 bits Control Unsigned 6040h RPDO Control word word...
  • Page 35 C100E EtherCAT AC Servo Drive Working modes： 1:Profile position mode 3:Profile velocity mode 4:Profile torque mode 6:Homing mode 8:Periodic synchronization Mode Unsigned position mode 6060h RPDO setting 8 bits 9:Periodic synchronous velocity mode 10:Periodic synchronous torque mode TPDO Unsigned Display the working...
  • Page 36 C100E EtherCAT AC Servo Drive Input value of torque Target Signed 16 6071h RPDO value in torque mode torque bits (thousand value) Signed 16 The input torque value 6072h max torque RPDO 3000 bits in torque mode Actual Signed 16...
  • Page 37 C100E EtherCAT AC Servo Drive deceleratio 32 bits emergency stop 605A the of selecion in 1 or Torque Unsigned Torque variation of per 6087h RPDO slope 32 bits unit time (1ms) The number of Gear ratio: instructions for the 6091h+...
  • Page 38 C100E EtherCAT AC Servo Drive Set probe function. (Details are in the see Probe 0x313 Unsigned 60B8h RPDO the functional function 16 bits description of the probe) Display probe action status.(Details are in Unsigned 60B9h Probe state TPDO the see the functional...

  • Page 39: Pa Group Of Parameters

    C100E EtherCAT AC Servo Drive The torque limit of Reverse Signed 16 60E1h RPDO 3000 limiting the reversed torque limit bits rotation (permillage ) Position Signed 32 Position error 60F4h TPDO error bits (instruction unit ) bit0:origin signal bit1:forward limit...
  • Page 40 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 1. User code:315. Password 0-9999 2. Motor model code:385. 1. Different model codes are corresponding to different default parameters. 2. Change this parameter, first set the password PA0 to 385 to modify this...
  • Page 41 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 8:Display motor current. 9:Display control mode. 10:Display temperature. 11:Display speed command.. 12:Display torque command. 13:Display absolute position of the rotor in a roll is 5-bit low. 14:Display absolute position of the rotor in a roll is 5-bit high.
  • Page 42 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 3:position + speed control mode 4:position + torque control mode 5:speed + torque control mode 1.Set the proportional gain of speed loop. 2.The value is bigger, the gain is higher and rigidity is stronger.
  • Page 43 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value great, reducing the setting value is recommended. If the value is too small, it would lead to low response, which would result in shaking. 4.The value is bigger, the cut-off frequency is higher and the response frequency is quicker.
  • Page 44 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value smaller under the same frequency command pulse condition. But if it is too big, it will happen oscillation. 3.The parameter value is set according to your exact servo driving system model and the load.
  • Page 45 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 4.For example, input command pulse P is 6000, servo motor rotate a roll: G=(N×C×4)/P=(1×2500×4)/6000=5/3, So PA12 should be set to 5, PA13 should be set to 3. 5.The numerator of electronic gear for command pulse is decided by Gear1 and Gear2.
  • Page 46 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 1.Set the input mode of position command pulse. 2.To set one of 4 input modes: 0: Pulse+Direction. Input mode of 1: CCW pulse/CW pulse. position 2: phase A and phase B orthogonal input.
  • Page 47 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value position deviation counter is over than the setting value, the drive will alarm. Set to: 0: The alarming detection of over travel is Invalid valid. over-travel error 1: The alarming detection of over travel is invalid, and it stops detecting the error .
  • Page 48 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value same as CW drive inhibition. If both CCW and CW drive inhibition are OFF, it will come to error alarms of drive inhibition input. 1: Cancel CCW or CW drive inhibition. No...
  • Page 49 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value Speed2(PA26) Internal Speed2(PA27) Note: 1=ON, 0=OFF. 2: Analog speed command+internal speed command: DI Signal Speed Command Analog Speed Command Internal Speed2(PA25) Internal Speed2(PA26) Internal Speed2(PA27) 3: JOG speed command, if carries out JOG operation,it is needed to set.
  • Page 50 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value speed, the real highest speed is set as the rated speed. 1.Set the internal speed 1. -6000-6 Internal speed 2.In speed control mode(PA22=0), when selection 1 SC1 and SC2 are OFF, internal speed 1 is r/min the speed command.
  • Page 51 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 3.It also has the polarity setting function: PA28 Comparator No direction for ＞0 speed Only detect CCW ＞0 speed Only detect CW ＞0 speed 1.Set the proportion for input voltage of...
  • Page 52 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value In torque control mode, it sets the source of torque command. It means: 0:Analog torque command, it inputs by analog terminal AS+ and AS-. 1:Internal torque command, it is decided by...
  • Page 53 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value The input Reverse the input polarity of analog torque. direction of analog torque command 1.The setting value is the percentage of rated torque.For example,it is set to 2 times of the rated torque, the value is 200.
  • Page 54 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value capacity ,internal CCW torque limit and external CCW torque limit. Set external torque limit of the motor CW direction. 1.The setting value is the percentage of rated torque, for example, it is set to 1 time of rated torque, the value is -100.
  • Page 55 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value characteristics. 2.It only applies in speed control mode and internal position control mode, while other modes are invalid. 3.This parameter should be set to 0 if the drive is used in combination with an external position loop.
  • Page 56 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 1.It defines the delay time from BRK=ON and BRK=OFF to the motor current cutting The setting of off when the motor stops rotating. mechanical brake 0-200×1 2.To avoid a small displacement or working...
  • Page 57 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value is turned off. 1.To reverse the input terminals. For unreversed terminals, it is valid when the switch is closed, while it is invalid when the switch is open. For reversed terminals, it is invalid when the switch is closed, while it is valid when the switch is open.
  • Page 58 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value terminals as following: 0: high level is active. 1: low level is active. 1.Set the removing jitter filter time for input terminal. Removing jitter 2.The value is smaller, the terminal input time constant of response frequency is quicker.
  • Page 59 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value The setting value=((load inertia+rotating inertia) / rotating inertia)×100. In torque control mode(PA4=2), when Internal Torque 1 TRQ1=OFF, TRQ2=OFF, internal torque 1 -300-300 is as the torque command. In torque control mode(PA4=2), when...
  • Page 60 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value 2. If ZCLAMP of digital input(DI) is ON and speed command is less than the value of this parameter, the value of speed command is forced to be zero. When the difference between the actual...
  • Page 61 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value command pulse frequency: 500KHz(kpps). The value is bigger, the max input frequency is slower. 3.To filter the noise from the signal line in order avoid incorrect counting happening. If it goes wrong due to the incorrect counting, you can increase the value of this parameter properly.
  • Page 62 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value direction. 1.Set pulse completion range in position control mode. 2. when the number of remaining pulses in the position deviation counter is less than Hysteresis for or equal to the setting value of this...
  • Page 63 C100E EtherCAT AC Servo Drive Defa Name Function Rang Value PA88 PA28 Comparator Speed without >0 direction >0 Only detect positive speed <0 Only detect reversal speed Polarity of arrival Refers to parameter PA87. speed 1. When the motor torque exceeds this parameter, the digital output ATRQ ( torque arrival) is ON, otherwise OFF.

  • Page 64: P3 Group Of Parameters

    C100E EtherCAT AC Servo Drive Defa Name Function Rang Value >0 Only detect positive speed <0 Only detect reversal speed 1.If the motor torque is bigger than PA91, the ATRQ( torque arrival) of digital output(DO) is ON, otherwise it is OFF.
  • Page 65 C100E EtherCAT AC Servo Drive Name Range Default Value P3-0 Digital Input DI1 Function 0-99 P3-1 Digital Input DI2 Function 0-99 P3-2 Digital Input DI3 Function 0-99 P3-3 Digital Input DI4 Function 0-99 P3-4 Digital Input DI5 Function 0-99 P3-5...
  • Page 66 C100E EtherCAT AC Servo Drive Virtual Output Terminal P3-33 0000-1111 0000 Control The State Value Of Virtual P3-38 0-99 Output Terminal P3-39 Virtual I/O Input DI1 Function 0-99 P3-40 Virtual I/O Input DI2 Function 0-99 P3-41 Virtual I/O Input DI3 Function...

  • Page 67: Chapter 5 Control Mode

    C100E EtherCAT AC Servo Drive Chapter 5 Control Mode 5.1 Cycle Synchronous Position Mode CSP 5.1.1 Controlling Diagram In the cycle synchronization position mode, the controller completes the position instruction and then sends the planned target position 607Ah to the servo driver in the way of cycle synchronization.Position, speed and torque...

  • Page 68: Recommended Configuration

    C100E EtherCAT AC Servo Drive State Word 6041h Name Description 0:Not reached the target position; Target arrival 1: Reached the target position. 0:The location instruction is not in excess of Software Internal the limit. Position Overrun 1:Position instruction overrun Follow instructions 0:The station does not follow the instruction.

  • Page 69: Basic Configuration

    C100E EtherCAT AC Servo Drive Pic 5.2 The input/output objects of cycle velocity mode 5.2.2 Basic Configuration In cycle velocity mode,the basic configuration is as follows: RPDO TPDO Remark 6040: control word 6041: state word must choose 60FF: target velocity...

  • Page 70: Basic Configuration

    C100E EtherCAT AC Servo Drive Pic 5.3 The input/output objects of cycle torque mode 5.3.2 Basic Configuration In cycle torque mode,the basic configuration is as follows: RPDO TPDO Remark 6040: control word 6041: state word must choose 6071: target toque...
  • Page 71 C100E EtherCAT AC Servo Drive Control Word 6040 Name Description Servo ready Turn on the main circuit 4 bits are 1 which means the servo current Emergency stop main circuit is charging and in enabling state. Servo running From 0 to 1 , it indicates that there is a new New target position location.
  • Page 72 C100E EtherCAT AC Servo Drive position instruction 6062 INT32 instruction unit position encoder 6063 INT32 feedback unit position instruction 6064 INT32 feedback unit position arrival encoder 6067 UINT32 0-65535 threshold unit instruction 606C actual velocity INT32 unit/s 6077 actual torque INT16 0.1%...

  • Page 73: Position Curve Generator

    C100E EtherCAT AC Servo Drive 5.4.2 Position Curve Generator 1. Control instruction timing1---update immediately： a） The upper computer first updates other properties of displacement instruction as needed(acceleration time 6083 h, deceleration time 6084 h, profile velocity 6081h and target displacement 607Ah).
  • Page 74 C100E EtherCAT AC Servo Drive In the immediate update mode, a new displacement instruction 2 is received during the execution of the displacement instruction 1 of current stage, and the unexecuted displacement instruction in 1 is not discarded. For the relative position instruction, after the second displacement instruction is located, the total displacement increment = 1 target position increment 607Ah +2 target position increment 607Ah.

  • Page 75: Recommended Configuration

    C100E EtherCAT AC Servo Drive 5.4.3 Recommended configuration In profile position mode,the basic configuration is as follows: RPDO TPDO Remark 6040: control word 6041: state word must choose 607A: target position 6064: position feedback must choose 6081: profile speed optional...

  • Page 76: Recommended Configuration

    C100E EtherCAT AC Servo Drive Data Default Index Name Visit Unit Range Index Type Value 603F error code UINT16 - 0-65535 6040 control word UINT16 - 0-65535 6041 status word UINT16 - 0-65535 6060 operator mode INT8 0-10 6061 mode display...

  • Page 77: Profile Torque Mode Pt

    C100E EtherCAT AC Servo Drive RPDO TPDO Remark 6040: control word 6041: status word must choose 607A: target position optional 6064: position feedback optional 606C: speed feedback 60FF: target speed must choose 6083: profile acceleration optional 6061: running mode 6060: mode selection...

  • Page 78: Recommended Configuration

    C100E EtherCAT AC Servo Drive Emergency stop state. Servo running State Word 6041 Name Description 0：Not reached the target position. Target arrival 1：Reached the target position. 0：Not reached the soft limit. Soft internal limit 1：Reached the soft limit. Data Default...

  • Page 79: Homing Mode Hm

    C100E EtherCAT AC Servo Drive In profile torque mode,the basic configuration is as follows: RPDO TPDO Remark 6040: control word 6041: status word must choose 6071: target torque must choose 6087: torque slope 6064: position feedback 606C: speed feedback optional...
  • Page 80 C100E EtherCAT AC Servo Drive Control Word 6040 Name Description Servo ready Turn on the main circuit 4 bits are 1, indicating that the servo is charged by the current main circuit and is in an enabling state. Emergency stop Servo running 0-->1：Homing.
  • Page 81 Note:When to calculate the homing acceleration, it needs to converted to r/min/ms. Only if the converted value is greater than 1 can the homing speed be changed. The introduction of homing mode currently supported by C100E : 1）6098h=17 Mechanical origin: reverse over-range switch.
  • Page 82 C100E EtherCAT AC Servo Drive When homing starts and N-OT=1, it starts to homing at low speed directly, and stops at the falling edge of N-OT. 2）6098h=18 Origin: forward over-range switch.. Deceleration point: forward over-range switch.. a) The deceleration point signal is invalid when homing starts.
  • Page 83 C100E EtherCAT AC Servo Drive When homing starts and P-OT=1, it reverses with low speed directly. And when encountering the falling edge of P-OT , it shuts down. 3）6098h=23 Origin: Origin switch. Deceleration point: Origin switch. The deceleration point signal is invalid when zeroing starts and it did not encounter the forward limit switch.
  • Page 84 C100E EtherCAT AC Servo Drive When homing starts and HW=0, it forwards with high speed and encounters limit switch. Then it automatically reverses and runs at high speed. When encountering rising edge of HW, it slows down and keeps reversing with low speed.
  • Page 85 C100E EtherCAT AC Servo Drive and does not encounter limit switch.When encountering rising edge of HW, it slows down, reverse and forwards with low speed. When encountering the falling edge of HW, it shuts down. The deceleration point signal is invalid when returning to zero starts and the reverse limit switch is encountered.

  • Page 86: Probe Function

    C100E EtherCAT AC Servo Drive 5) 6098h=35 The current position is clear ed. 5.8 Probe function The probe function is the position latch function. It can latch the position information (command unit) when the external DI signal changes. Supports 2 probes to be enabled at the same time, can record the position information corresponding to the rising edge and falling edge of each probe signal at the same time, and can latch 4 position information at the same time.
  • Page 87 C100E EtherCAT AC Servo Drive 1—Reserved, not currently supported Probe 1 rising edge enable 0-- The rising edge is not latched 1-- Rising edge latch Probe 1 falling edge enable 0-- Falling edge is not latched 1-- Falling edge latch...

  • Page 88: Read Probe Status 0X60B9

    C100E EtherCAT AC Servo Drive 5.8.2 Read probe status 0x60B9 description Probe 1 Enable: 0-- Probe 1 is not enabled 1-- Probe 1 enable Probe 1 rising edge latch execution 0-- rising edge latch not executed 1-- Rising edge latch has been executed...

  • Page 89: Probe Latch Position

    C100E EtherCAT AC Servo Drive executed Probe 2 Trigger Monitoring 0—The direction input port is low level 1—Direction input port high level 5.8.3 Probe Latch Position The 4 position information of the probe is recorded in objects 0x60BA~0x60BD respectively. In this example, if it is judged that the probe 1...
  • Page 90 C100E EtherCAT AC Servo Drive www.coolmay.com...

  • Page 91: Chapter 6 Fault Code

    C100E EtherCAT AC Servo Drive Chapter 6 Fault Code Resetable Symbol Name Code 603Fh Or Not Over speed 0x8400 Bus overvoltage fault 0x3210 Bus undervoltage fault 0x3220 The position deviation is too large 0x8611 Over heat 0x4210 Speed amplifier saturation...
  • Page 92 C100E EtherCAT AC Servo Drive UVW signal has full height or full low level. 0x0FFF Save-line encoder signal error 0x7305 Encoder signal error 0x7305 The full time charging for the encoder is too long. 0x7305 AC undervoltage fault 0x3220 AC phase deficiency...

  • Page 93: Chapter 7 C100E Application Description

    C100E EtherCAT AC Servo Drive Chapter 7 C100E Application Description 7.1 Drive Wiring Pic 7.1 Drive wiring diagram Note: 1) When the EtherCAT interface is connected to other drives, it must put in with ECAT IN and put out with ECAT OUT.
  • Page 94 C100E EtherCAT AC Servo Drive 3) Open TwinCAT. 4) Install TwinCAT network card drive. Open the menu "Show Real Time Ethernet Compatible Devices" as above. Jump out of the following dialog box and click “install “after selecting the local site in the “Incompatble devices”column. After the installation is complete, the network card that has been installed appears in the "Instaled and ready to use...
  • Page 95 C100E EtherCAT AC Servo Drive 6) Select “ OK”(确定). 7) Select “OK”. 8) Select “Yes”(“是”). 9) Select “Yes”(“是”). 10) Select “No”(“否”). www.coolmay.com...
  • Page 96 C100E EtherCAT AC Servo Drive 11) The device has been finished to search here as shown in the following figure: 12) According to the default configuration, please click activate and switch to run mode: click “Yes”. 13) According to the default configuration, click activate and switch to run mode: click “...
  • Page 97 C100E EtherCAT AC Servo Drive 14) Control servo through NC or PLC program. Set units when testing, units : mm. a） b） Set quantitative(scaling) factor. www.coolmay.com...
  • Page 98 C100E EtherCAT AC Servo Drive Scaling Factor：The distance corresponding to the encoder pulse for each position feedback. For example, if the motor rotates a roll with 1,311,072 pulses, and if the motor rotates a roll for 1 mm, the ScalingFactor is 1/131072=0.00000762939453125 mm/Inc.
  • Page 99 C100E EtherCAT AC Servo Drive  PosVelo：The upper computer establishes the position loop and outputs the speed instruction. The servo runs in the cycle synchronous velocity mode (6060 =9). d) Point motion test Temporarily shield system deviation. Click "Set" to jump out of the dialog box, and then click "All".

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