CNCPROM 110ST-M06030 Technical Manual
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CNCPROM 110ST-M06030 Technical Manual

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Vitkovets CNC
http://cnc.prom.ua/
+380 (096)-665-71-06
+380 (098)-821-25-90
cncprom@ukr.net
Technical manual: 110ST-M06030, 130ST-M07725,
130ST-M15015, 130ST-M10025
CNCPROM

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  • Page 1 Vitkovets CNC http://cnc.prom.ua/ +380 (096)-665-71-06 +380 (098)-821-25-90 cncprom@ukr.net Technical manual: 110ST-M06030, 130ST-M07725, 130ST-M15015, 130ST-M10025 CNCPROM...
  • Page 2 Safety Caution In order to ensure the safe use of this product, must observe the following safety signs, in order to avoid damaging to the people and the equipment Said w rong operation will trigger dangerous, leading to mild or moderate personal injury, damage to equipment, and even fire warning Said wrong operation will trigger dangerous cause injury or death...
  • Page 3 electric shock and fire Be sure to tighten power terminal, motor output terminal, otherwise may cause a fire ◢ The matters needing attention when running ： Dangerous In the operation , it is forbidden to touch any rotating parts, or you might get hurt ◢...

  • Page 4: Table Of Contents

    CATALOGUE Chapter 1 Product inspection and installation……………………………………………………………………1 ........................1 RODUCT INSPECTION ........................ 2 PRODUCT BRAND ..................2 HE FRONT PANEL OF PRODUCT ..................4 RIVE TECHNOLOGY SPECIFICATIONS ..................5 ERVO MOTOR INSTALLATION ................. 6 HE MOTOR DIRECTION OF ROTATION ....
  • Page 5 .......................... 21 PANELS ......................21 MODE SWITCH ................22 ONITORING MODE OPERATION ................... 22 UXILIARY MODE OPERATION ..............30 SER PARAMETER MODE OPERATION CHAPTER 4 ..... 31 FUNCTION PARAMETERS ................. 31 ARAMETER ETTINGS PANEL ......................32 ARAMETER LIST ........................ 44 ARAMETERS ....................
  • Page 6 CHAPTER 7 MODBUS COMMUNICATION ............... 100 FUNCTION 7.1 M M ............100 ODBUS COMMUNICATION INTRODUCTION ............... 101 OMMUNICATION PROTOCOL STRUCTURE ................103 OMMONLY USED COMMAND CODE HE SERVO PARAMETERS THE STATE INFORMATION COMMUNICATION ADDRESS ............................115 ............116 THE APPENDIX ..................

  • Page 7: Chapter 1 Product Inspection And Installation

    Chapter One products inspection and installation Product inspection This product has made the complete function test before the leaving the factory, to prevent the product in the course of transportation for negligence resulted in the product (s) is not functioning properly. Once opened, please check the detailed the following matters: ●...

  • Page 8: Product Brand

    1.2 ID label AC SERVO DRIVER Danager Please install, connection, using as manual ASDD-30A Model AC220V/50-60HZ Voltage Output Current Please don't install or un-install the driver when it is connected to the power and cut off the power within 5 min. 1.3 The front panel...
  • Page 9 Five Number LED Screen Four Number Button Signal Port Single/Three Phase AC220V Input Control Port External regenerative braking resistor Power Output Of Driver Encoder Interface Ground 1.4 The function of AC servo motor driver...

  • Page 10: Drive Technology Specifications

    The input power -15～+10% 50／60Hz Single phase or three phase AC220V temper ature Using: 0～55℃ Storage: -20℃～80℃ environme nt humidity Below 90% RH No dewing Belown0.5G(4.9m/S ),10-60 no continue running vibration IGBT PWM sine wave control Control mode ① Torque mode (internal or external) Control mode ②...

  • Page 11: Servo Motor Installation

    The origin return reference point Internal location option 1 Internal location option 2 、 Trigger internal position command Suspend internal position command Emergency stop checked out Alarm detection Servo ready 、 Control the output Speed to reach Positioning to complete Reach the predetermined torque Zero speed detection Servo motor current...

  • Page 12: The Motor Direction Of Rotation

    ● No corrosive, flash gas, oil and gas, cutting fluid, iron powder and so on environment ● No moisture and direct sunlight place Installation method 1.4.2 ● Level installation: to avoid liquids such as water, oil from motor wire end into the motor internal, please will cable outlet in below ●...

  • Page 13: The Krs Series Drive And Motor Model Adaptation

    The KRS series drive and motor model adaptation Pn001 Motor model Rated Rated Rated speed torque power (r/min) (N.M) 60st_m00630 3000 √ √ √ 60st_m01330 3000 √ √ √ 60st_m01930 3000 √ √ √ 80st_m01330 3000 √ √ √ 80st_m02430 3000 √...

  • Page 14: Chapter 2 Wiring

    150st_m23020 2000 4700 √ √ 150st_m27020 2000 5500 √ 180st_m17215 1500 17.2 2700 √ √ 180st_m19015 1500 3000 √ √ 180st_m21520 2000 21.5 4500 √ √ 180st_m27010 1000 2900 √ √ 220st_m67010 1000 1000 √ 第二章 接线 Chapter 2 wiring 2.1 系统组成与接线...
  • Page 15 In general, It need a transfer to offer the 3phase 220v power, like the right Photo 2.1.2 Wiring instructions Wiring matters needing attention: ● The wire material should be in accordance with the wire specification.
  • Page 16 Cable length, instruction cable within 3 m, encoder cable within 20 m ● ● Check the L1, L2, L3 power wiring is correct or not, please do not connect to the 380 v power supply. ● U, V, W terminal phase sequence, must be corresponded to the terminal correspondence of the motor, otherwise, the motor may not transfer or coaster, the motor may not transfer or coaster.

  • Page 17: 2.2 Cn1 Communication Interface

    too long (> twenty m), can lead to encoder power supply shortage, its power source and ground can use multiple wire connection or use thick wire 2.1.4 High power Terminal instruction Terminal symbol name Detailed description L1、L2、L3 Connect the external Main circuit power ac power three-phase220VAC -15%～+10% 50/60Hz The output to motor U phase power...
  • Page 18 RS-485 B 2.2.3 CN1 port type 1. RS-232 interface Servo Driver it must connect the two side signal ground 2. RS-485 interface Major Equipment End Resistance End Resistance ● Adopt RS485 communication, at the same time the most connected and table servo drive, 485 network terminals separately by one euro 120 resistance terminal resistances.

  • Page 19: Cn2 Control Interface

    2.3 CN2 Control interface CN2 control signal terminal to provide and the upper controller connection need signal, use DB25 socket, signs include: ● Four programmable input ● Four programmable output ● Analog quantity order input ● Pulse command input ● Encoder signal input 2.3.1 CN2 port numbers 13 12 11 10 9 8 7 6 5 4 3 2 1...
  • Page 20 deviation Zero speed clamp SigIn4: SigOUT1 output command signal output command signal. SigOUT2 SigOUT3 The factory all output signal port SigOUT4 specified functions: Servo ready SigOUT1 Alarm detection SigOUT2： Positioningcomplete SigOUT3： Zero speed SigOUT4： PV:open collector input power Instruction pulse input port Instruction pulse can be three different ways to input...
  • Page 21 2.2.3 CN2 Port type 1. Digital input interface DC12V～24V。 Digital input interface circuit by switch, relay, open collector triode, photoelectric coupler of control. Relay required to choose low current relay, in order to avoid the phenomenon of poor contact. External voltage range DC12V ~ 24 V. collector electrode open way Switch input way Driver...
  • Page 22 If the load is relay and inductive load, the load must be both ends against parallel fly-wheel diode. If fly-wheel ● diode picks back, may cause damage to the servo driver. The photoelectric coupler Relay The Max. output current is 70mA The Max.
  • Page 23 ● In the open collector input mode, the maximum input pulse frequency 200 KHZ (KPPS) 4. Encoder signal wire drive output The encoder signal frequency division through line drive (26 ls31) output to the upper controller Long Wire Receiver to accept photoelectric coupler to receive Shielding wire Shielding wire...

  • Page 24: 2.4 Cn3 Encoder Interface

    width is narrower, PC please use high-speed photoelectric coupler receiving AC Servo Driver ● VCC peak voltage 30 V, output current maximum 50mA 2.4 CN3 Encoder interface Connect the servo motor encoder signal to CN3 of the servo driver. CN3 number...

  • Page 25: The Standard Wiring

    K R S A C S e r v o D r i v e r s e r v o mo t o r 1 p h A C 2 2 0 V ma i n s f i l t e r 3 P H A C 2 2 0 + 1 2 - 2 4 V P OWE R S U P P L Y S e r v o E n a b l e...
  • Page 26 K R S A C S e r v o D r i v e r S e r v o Mo t o r 1 p h A C 2 2 0 V p o we r f i l t e r 3 P H A C 2 2 0 V + 1 2 - 2 4 V P OWE R S U P P L Y S e r v o e n a b l e...

  • Page 27: Chapter 3 Panel Operation

    Chapter 3 Panel operation 3.1 panel ▲ ▼ panel instruction: ： key name function MODE 1 mode switch Mode option key 2 Return to the superior directory ▲ increase number,long press has the effect of repeat Digital increase key ▼ reduce number,long press has the effect of repeat Digital reduce key 1 Digital shift...

  • Page 28: Monitoring Mode Operation

    监控模式 按一下MODE键 辅助功能模式 按一下MODE键 参数编辑模式 按一下MODE键 Note: when the screen shows Fnxxx, Dnxxx, Pnxxx, mode key at this time as the mode switching function, can be to switched to other mode directly, otherwise the mode key is as the function of returnning to the upper directory. Monitoring mode operation Example: see dn015 monitoring parameters, sigOut1 port at this time as the low level, sigOut2, sigOut3, sigOut4 port are the high levels...
  • Page 29 3.4.1 Auxiliary function list instruction number Fn000 Alarm record inquires Fn001 Permanently written to the user parameters. If users set the parameters of Pn000 ~ Pn219, For the next after power on, the drive is loaded the modify parameters by the user, you must perform this operation, the parameter block write internal EEPROM chip.
  • Page 30 Release long time to press MODE MODE MODE MODE ▲ ▼ （ The number of the alarm is larger, it means the time of the alarm is earlier MODE long time to press Release （ ） Get the information of alarm MODE 3.4.3 Fn001 Permanently written to the user parameters...
  • Page 31 JOG The speed and deceleration time is set by the following parameters JOG speed Pn177 0~5000 r/min JOG speed time Pn178 5~ 10000 JOG deceleration time Pn179 5~ 10000 1： Into speed control mode ▲ 进入Fn002子目录 ▼ ｛ (电机已通电，按▲或▼键 释放 长按...
  • Page 32 motor. Drive at a speed loop model, running speed by buttons or ▼ ▲ input. In the process of the motor running, the other menu operations can be performed. If the motor stop rotating, please enter Jog_2 mode Exit speed control mode, the motor is power off , the possible reasons are as follows: Note: if the display The motor is in the state of enabling or rotating.
  • Page 33 AL--07 AL--04 Intelligent power module is abnormal Motor speed is too high AL--08 AL--06 Heat sink is overheating Overload 2 AL--10 AL--09 Pulse frequency is too high The encoder abnormal AL--11 AL--13 Pulse position deviation value is too large The CPU internal fault AL--12 AL--17 The encoder signal frequency division output...
  • Page 34 Long time to press MODE Release MODE MODE MODE Long time to press Long time to press Release Release MODE MODE Reset completely 3.4.8 Fn006 The output port is mandatory Long time to press MODE Release MODE MODE MODE Long time to press Release ▲...
  • Page 35 Note 1: before correcting operation, first direct short the CN2 analog voltage input port Vref (25 feet) and AGND circuit (13 feet) 3.4.10 Fn008 Simulation speed command voltage correction Long time to press Release Enter Fn008 subdirectories MODE Complete the simulation speed Instructions correction Note 1: before correcting operation, first direct short the CN2 analog voltage input port Vref (25 feet) and AGND circuit (13 feet)

  • Page 36: User Parameter Mode Operation

    ▲ MODE MODE MODE ▼ Long time to press Release Release Long time to press 长按 MODE MODE Operation finished 3.4.14 Fn012 The encoder zero ▲ MODE MODE MODE ▼ Long time to press Release Release Long time to press MODE MODE The number of pulse deviation...

  • Page 37: Function Parameters

    ▲ MODE MODE MODE ▼ Cursor point to the first location SET ， ▲ Press one time Move Cursor Select Pn011 parameter Cursor point to the second location 3.5.2 Edit parameters Example: change the current value of the Pn025 parameters from 100 to 200, the specific operation is as follows: Release Press two times Long time to press...

  • Page 38: Parameter List

    Parameter list , said after the parameter Settings, be it with electricity, can take effect; ● In the column of Numbers, if any symbols ▲ , said after the parameter Settings, to enable motor, parameters take effect; If no special symbols, effective If symbol ◆...
  • Page 39 -300~0 -300 Pn009 CW） Around inside the torque limit (the CW) 0-300 Pn010 (CCW） External around are torque limit (CCW) -300~0 -300 Pn011 (CW) Around outside the torque limit (the CW) 0-300 Pn012 Forward (CCW) torque overload alarm level 1 -300-0 -200 Pn013...
  • Page 40 0-300 Pn025 Reach the predetermined torque hysteresis comparison difference Pn026 Reach the predetermined torque direction 0~1000 r/min Pn027 Zero velocity detection range setting 0~1000 r/min Pn028 Zero speed test back to the poor 0~1000 r/min Pn029 Motor electromagnetic brake testing point zero speed 0~2000 Pn030...
  • Page 41 5~10000 Pn040 The accelerating time of origin 5~10000 Pn041 The origin return to slow down time The origin in the delay 0~3000 Pn042 5~3000 Pn043 Complete signal delay of origin Pn044 The origin of origin instruction execution mode Pn045 Gain switch to choose 0~30000 Gain switch level Pn046...
  • Page 42 functional allocation SigOut 2 port -14~14 Pn061▲ functional allocation SigOut 3 port -14~14 Pn062▲ functional allocation SigOut 4 port -14~14 Pn063▲ functional allocation Communication mode Pn064▲ 1-254 Communications site Pn065 Communication baud rate Pn066▲ Pn067▲ Communication mode setting 0~32767 Pn068 Input function control mode select register 1 0~4095...
  • Page 43 operation 0~255 Pn082 SigOut port force output 50~280 Pn083 Low pressure alarm detect amplitude 290~380V Pn084 High pressure alarm detect amplitude 1~100 Motor pole logarithmic Pn085▲ 对 0~2000 Pn086 Renewable circuit discharge cycle Pn087- Internal use pn095 4.2.2 Position control parameters name Value range The default value apply...
  • Page 44 denominator 1~ 500 Pn103 Beyond the scope of setting position deviation Thous pulse 0~ 32767 Pn104 Complete range set position pilse location Pn105 0~ 32767 Positioning to complete set pilse Pn106 0~ 32767 Position location close to the range pilse of Settings Pn107 0~ 32767...
  • Page 45 controller gain 1 5-2000 Pn116 The position controller gain 2 Pn117 Position command source selection Pn118 Internal position instruction suspend mode selection Pn119 0~10000 Internal position suspended deceleration time Pn120 -9999~9999 万个 Internal position 0 high pulse 脉冲 number set up thous pulse Pn121...
  • Page 46 Pn125 -9999~9999 个 a Internal position instruction 2 pulse number set low Pn126 -9999~9999 万个 Internal position instruction 3 脉冲 pulse high setting thous pulse Pn127 -9999~9999 个 a Internal position instruction 3 pulse number set low Pn128 0~3000 r/min Internal position command zero speed Pn129...
  • Page 47 number name value range apply unit default value Pn146◆ Speed instruction deceleration mode Pn147◆ 5~ 1500 Speed instruction S curve and deceleration time constant Ts Pn148◆ 5~ 10000 Speed instruction S curve acceleration time constant of Ta 5~ 10000 Pn149◆ Speed instruction S curve deceleration time constant of Td 5~30000...
  • Page 48 Pn160 Simulation speed instruction direction 0~1000 10mv Pn161 Simulation speed instruction to enforce zero range -1000~0 10mv Pn162 Simulation speed instruction to enforce zero range limit Pn163 Zero speed clamp lock mode Pn164 Zero speed clamp is triggered Pn165 0~200 r/min The clamp level zero speed Pn166...

  • Page 49: Parameters

    JOG speed 0~5000 r/min Pn177 5~ 10000 Pn178 speed up the time 5~ 10000 Pn179 Deceleration time Pn180~ internal use Pn185 4.2.4 Torque control parameters name number value range unit apply default value Pn186 Torque command deceleration mode Pn187▲ 1~30000 torque instruction inear deceleration time constant Pn188▲...
  • Page 50 5~ 2000 Pn195 Q shaft torque regulator integral time constant 2 Pn196 1-500 0.1ms Torque Q axis filter time constant of 1 Pn197 1~500 0.1ms Filtering time constant torque Q 2 Pn198 0~4500 2500 r/min Torque control speed limit Pn199 Source of limited torque control speed choice The internal torque 1...
  • Page 51 Parameters 4.3.1 System parameters name number value range default value unit apply Open parameters Pn000 initialization function Open parameters initialization function ◢ 0： Allow to initialize to all parameters, but not initialized Pn001 ◢ 1： code (motor), Pn159 (simulated speed instruction offset adjustment), Pn190 (analog torque instruction offset adjustment), and other parameter values Allow to initialize all parameters ◢...
  • Page 52 110st_m04030 3000 1200 √ √ 110st_m05030 3000 1500 √ 110st_m06020 2000 1200 √ √ √ 110st_m06030 3000 1800 √ 130st_m04025 2500 1000 √ √ √ 130st_m06015 1500 1000 √ √ √ 130st_m05025 2500 1300 √ √ 130st_m06025 2500 1500 √ 130st_m07725 2500 2000...
  • Page 53 location/speed mode location/torque mode speed/torque mode Set to three, four, five, mode between the switch is determined by the input port SigIn Cmode signal state ◢ control mode Pn002 Cmode location mode speed mode location mode torque mode speed mode toeque mode Please refer to the appendix B for switching control mode ◢...
  • Page 54 Electromagnetic braking parking with electromagnetic brake Do not use (for motor) value unit name number default apply range value Pn005 Can make deceleration time 5-10000 Can make the signal from the effective becomes invalid, the motor speed to zero time. If in the ◢...
  • Page 55 ◢ When happening overtravel, SigIn port CCWL or.cwl status is OFF; use Pn077 on whether can be set up alarm detection. Distance, the motor can be in accordance with the slow time to slow down, clear position instruction pulse (position control) at the same time, after stop for internal position lock.
  • Page 56 0-800 100ms Pn014 Torque overload 1 alarm detection time 0-150 100ms Pn015 Overload 2 testing time ◢ Overload 1 alarm level refers to the overload overcurrent rated output current percentage, relative to the motor overload capacity range between 0 and the maximum output current. Torque overload 1 the overload capacity of the default value is 2 times, in the setting time, lasts for more than 2 times the output torque, will perform overload 1 protection In a set time, the motor to allow the rated torque output ratio, will perform overload 2 protection...
  • Page 57 AB phase logic 0: motor counterclockwise A, B in advance. Clockwise ahead of A B ◢ 1: motor counterclockwise B ahead; Clockwise ahead of B ◢ name value range number apply unit default value Pn019▲ 0-15 Rated current Settings 0~5000 r/min Pn020▲...
  • Page 58 hysteresis comparison. The setting of the difference is too small, the output signal cut-off frequency is higher; The set value, the greater the cut-off frequency is small, but at the same time reduce the resolution of the comparator. Example: booking speed is set to 100, difference set to 10. D-Value D-Value Speed Can be set up speed detection direction, in the following table...
  • Page 59 Positive &negative were detected Testing is only around moment; Inversion, the signal is OFF Only testing around the moment; Forward, the signal is OFF name apply unit number value range default value 0~1000 r/min Pn027 Zero velocity detection range setting 0~1000 r/min Pn028...
  • Page 60 electromagnetic brake waiting time during operation Motor operation, cut off the current to the waiting time between electromagnetic brake ◢ name unit apply value number range default value 0-3000 r/min Pn032 Electromagnetic brake movement speed while the machine running Motor operation, when the speed of motor is lower than the set parameters, magnetic brakes brake ◢...
  • Page 61 name number value range default value unit apply Pn035 The origin back to the origin model Backward looking for Z pulse as the origin ◢ 1 Forward looking for Z pulse as the origin ◢ 2 Directly with reference point rise along the origin ◢...
  • Page 62 number range default value apply 0~3000 Pn042 The origin in the delay ◢ On arriving at the origin, the delay for a period of time, let the motor is perfectly still. After the completion of the delay, output port SigOut HOME output ON name number unit...
  • Page 63 See the appendix A for gain switch ◢ value name number range default value unit apply 0~30000 Gain switch level Pn046 0~30000 Pn047 Gain switch back to the poor According to Pn045 parameter setting, switching condition and the unit is not the same ◢...
  • Page 64 The motor running top speed limit ◢ Used to restrict the highest speed of the motor running. Value should be less than or equal to the rated speed, otherwise the motor can run a maximum speed of the rated speed name number value range...
  • Page 65 1~1000 Pn058 SigIn filtering time 3 port 1~1000 Pn059 SigIn filtering time 4 port ◢ For digital filter input port SigIn apply name number value range default value unit -14~14 Pn060▲ SigOut1 port functional allocation -14~14 Pn061▲ SigOut2port functional allocation -14~14 SigOut3 port functional allocation Pn062▲...
  • Page 66 ◢ When using the Modbus communication, drive in each group should be set in advance different sites; If repeat setting site, will lead to paralysis of communication value name number range default value unit apply Pn066▲ Communication baud rate ◢ 0 ：4800 ◢...
  • Page 67 function control way Determine the function or port input mode control by way of communication. If you don't communicate mode control, set the zero ◢ Pn068 parameters BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0 Zero Lock TCCW CCWL Alarm rst function default value BIT15...
  • Page 68 0~32767 32691 Pn070 Input function logic state set register 1 0~4095 4095 Pn071 Input function logic state set register 2 On RS232 or RS485 communication, ◢ and set the Pn068, Pn069 corresponding controlled by communication, this parameter with the corresponding bit to set or reset, can control the state of the function of input signal. Logic 0 for valid state. Pn070 parameters BIT7 BIT6...
  • Page 69 ban pulse command, set Pn071 BIT4 set 0, input pulse becomes invalid. The communication control, set the parameter value, shall be invalid. Note: after each access to electricity, drive will automatically load the Pn070, Pn071 register values, and perform the corresponding operation immediately.
  • Page 70 name number value range default value unit apply Lack of voltage detection Pn078 ◢ 0 not check out ◢ 1 Check out name number value range default value unit apply 0-23 Pn079 The system status display project selection ◢ Drive, automatic Dn000 submenu into monitor mode menu. By default, according to the manufacturer to display the system status (motor speed), the user can set the parameter value, so it shows Dn000 particular state of the system parameters, details see the list of "monitoring mode".
  • Page 71 Absolute encoder 130000 line ◢ 1： name number value range default value unit apply Pn081 User preferences permanent write operation The corresponding auxiliary mode Fn001 operation. The current Pn000 ~ Pn219 block all parameter value written to the EEPROM. ◢ When the parameter value from 0 to 1, the driver will perform a write operation.
  • Page 72 Forced to high level Forced to high level Forced to low level Forced to low level Optional state Optional state Example: output port SigOut2 force output low level, other optional output port status, setting Pn082 parameter value is 8. name number value range default value...
  • Page 73 much, must through the regeneration way discharge, otherwise the internal voltage is too high, damage to the drive. Set up, the longer the voltage release faster, but the greater the power needed for regenerative resistor, otherwise easy to burn regenerative resistor. See appendix E specific Settings. 4.3.2 Position control parameters name...
  • Page 74 Pn101 1~32767 Pulse electronics gear than the molecules of 4 Pulse electronics gear than the Pn102▲ 1~32767 denominator ◢ Electronic gear ratio must meet the following conditions, otherwise will not work: Electronic gear or less than 1/127 of 127 or less Electronic gear than the molecules of N by the input port of the SigIn GN1, GN2 decision.
  • Page 75 Positioning to complete set ◢ While the rest of the deviation counter pulse number is lower than the parameters setting, output port SigOut Preach signal is ON, or OFF. name number value range default value unit apply Pn106 0~ 32767 Position location close to the Pulse range of Settings...
  • Page 76 filtering time constant 5~1200 Pn111◆ S-shaped filtering time constant Ta position instruction S-shaped filtering time constant 5~550 Pn112◆ Ts position instruction ◢ Filter time constant is defined by the current location instructions frequency operation to the target frequency. Filtering, the longer the better position instruction frequency smoothness, but command the greater the response delay.
  • Page 77 ◢ Position control, position feedforward directly on the speed instruction, can reduce the position tracking error, improve the response. If the feedforward gain is too big, can lead to speed overshoot. To smooth the feedforward commands. number name value range default value unit apply...
  • Page 78 Falling edge position in internal control, pstop, motor by the current running ◢ speed will slow down to zero, the deceleration time can be set by this parameter (only for internal position control). value name unit number range default apply value Pn120 -9999~9999...
  • Page 79 value unit apply number range default value name Pn128 0~3000 r/min Internal position command zero speed Pn129 0~3000 r/min Internal position command 1 speed Pn130 0~3000 r/min Internal position command 2 speed Pn131 0~3000 r/min Internal position command 3 speed When performing internal position instruction N, restrict the highest speed of motor can run.
  • Page 80 mode by the torque/speed control switch to the position control, motor slow down to zero, then switch to the position control mode. Please refer to the appendix B for specific timing. 4.3.3 Speed control parameter name number value range default value unit apply Pn146◆...
  • Page 81 Speed ≥ ≥ ： Setting Rules name number value range default value unit apply Pn150◆ 5~30000 Linear acceleration time constant Pn151◆ 5~30000 Linear deceleration time constant Accelerating time constant is defined as the speed instruction from zero to rated speed. ◢...
  • Page 82 5~ 2000 Pn153 The speed regulator proportional gain 1 5~ 2000 Pn154 Speed regulator integral time constant of 1 The speed regulator proportional gain 2 5~ 2000 Pn155 Speed regulator integral time constant 2 5~ 2000 Pn156 ◢ Speed loop controller gain directly determine the response of the speed control loop bandwidth, the mechanical system without vibration or noise, increase the speed loop gain value, accelerated the response.
  • Page 83 +Rated Speed Pn158=300 -10V +10V Speed instruction voltage -Rated Speed value name number range default value unit apply -5000~5000 Pn159 Simulation speed instruction offset adjustment ◢ May occur in the analog input offset phenomenon, can through this parameter. Input Voltage adjust before adjust after offset voltage adjusting number...
  • Page 84 Simulation speed instruction direction ◢ 0 Positive voltage forward (CCW), negative voltage inversion (the cw) Positive voltage forward (CCW), negative voltage inversion (the cw) ◢ 1 name number value range default value unit apply 0~1000 10mv Pn161 Simulation speed instruction to enforce zero range Pn162 -1000~0...
  • Page 85 Lock, the clamping position loop control is the mode, involved in internal ring loop control, gain by Pn167 Settings. ◢ ： Locked, clamping way is speed loop control, speed instruction forced to 0, location may change due to external ◢ 1 force.
  • Page 86 Speed reference source Pn168 In speed control mode, the optional speed reference source: ◢ Pn168=0： External simulation speed instruction within + 2 ~ 8 Pn168=1： Speed within 1 ~ 8 name number value range default value unit apply -5000-5000 R/min Pn169 Internal speed reference 1 Pn170...
  • Page 87 Internal speed 8 Note 1:0 is OFF, 1 is ON. Note 2: if the SigIn port is not specified SP3, SP2, SP1 function, is OFF by default value unit apply name number range default value speed 0~5000 r/min Pn177 5~ 10000 Pn178◆...
  • Page 88 name number value range default value unit apply Pn188▲ 1~500 0.1ms Analog torque instruction smooth filtering time ◢ The set value, the greater the input analog response speed is slow, is helpful to reduce the high frequency noise; Setup is smaller, the faster the speed of response, but will get big interference noise. name number value range...
  • Page 89 number range default value Pn191 Simulation of torque command direction ◢ 0 Positive voltage forward (CCW), negative voltage inversion (the cw) Turn negative voltage is (CCW), positive voltage inversion (the cw) ◢ 1 name number value range default value unit apply Pn192 5~ 2000...
  • Page 90 ◢ When the torque control, motor speed limit in this parameter range. There was a phenomenon of speeding can prevent the light load. Speeding, speed control to reduce the actual torque intervention, but the actual speed will be slightly error. number value range default value...
  • Page 91 The internal torque 2 Pn201 -300~300 The internal torque 3 Pn202 -300~300 Pn203 The internal torque 4 -300~300 Select the internal torque control mode, use input port of the SigIn TR1 TR2 can choose 4 kinds of torque command: ◢ Torque command The external torque 1 or internal analog torque instruction (decided by Pn204) The external torque 2...
  • Page 92 When the torque control, the motor speed in a limited speed range, interventional speed feedback, to reduce the ◢ actual torque, so that the speed to limit within the scope of regression. Parameter Settings is smaller, the greater the amount of feedback, the faster the adjustment, the smaller amount of speeding, but is too small will fuel motor shaking;...

  • Page 93: Port Functions

    4.3.5 Extension control parameters Port functions, 4.4.1 SigIn SigIn port function explanation Functional specifications number symbol function Drive the input status does not produce any action. NULL No function specified The driver is not enabled, the motor without power 。 servo enable Drive enabled, the motor power Note: Pn003 parameters or Son state decision.
  • Page 94 The CCW Direction torque Pn010 parameters restrictions torque limit Note: whether TCCW efficient or effective, CCW direction torque is also restricted by Pn008 parameters. OFF: Around outside the The CW direction torque Pn011 parameters without limit torque limit The CW direction torque Pn011 parameter restrictions Note: whether TCW efficient or effective, the CW direction torque is also restricted by Pn009 parameters.
  • Page 95 SP1 function, is OFF by default. Select the internal torque control mode, the use The internal torque command option 1 of TR1, TR2 combination, can choose 4 kinds of torque command. The internal torque command Torque command The external torque 1 / internal analog torque command The internal torque 2 The internal torque 3...
  • Page 96 Position deviation to parameters: clear Pn108 During the Pclear level ON Pclear rise along time (from OFF to ON) Pulse allows input instructions OFF: Pulse input is prohibited ON : Input instruction pulse have been banned, ignored OFF: Speed loop PI control Proportional control ON : Speed loop P control...
  • Page 97 Ready OFF: servo is ready There are alarm or malfunction No alarm and fault Emergency stop Not in a state of emergency stop checked out ON : In a state of emergency stop Preach Position control mode Positioning to Pn104 position deviation is greater than the parameter OFF: complete set value...

  • Page 98: Chapter 5 Monitoring Parameters And

    set value The value of position deviation less than or equal to Pn106 parameters setting The motor torque is not limited TRQL OFF: The Torque Limit The motor torque is limited When the torque command reaches Pn008 Pn009, Pn010, the parameter value, the smallest Pn011 TRQL to ON.

  • Page 99: Monitor The Parameter List

    Monitor the parameter list number instruction Monitor display options (the default for motor speed), and by setting the Pn079 parameter, make the dn-00 dn - 00 show different monitoring status. Speed instruction (r/min) dn-01 The average torque (%) dn-02 dn-03 Position deviation value (9999 ~ 9999) (unit: a) The ac power voltage (V) dn-04...

  • Page 100: Chapter 6

    dn-19 After power on the servo, motor feedback pulse accumulative total value low (9999 ~ 9999) (unit: a) dn-20 Electric servo, motor feedback pulse accumulative total value high (5000 ~ 5000) (unit: m) (feedback pulse accumulative total value more than + 5000 high, high position 0, low today, to count) dn-21 The drive software version...
  • Page 101 destroyed or damaged chip is damaged, replace the servo amplifier. In the case of lack of AL-02 reset The external power low-pressure warning, dc supply voltage is measured with a voltmeter is in accordance with the specifications. If bus voltage below Pn083 alarm (200 v).
  • Page 102 voltage, if the difference is too big, the internal components damaged, replace the servo amplifier. In a reasonable range, appropriate reduction small load inertia or prolonged deceleration, or need additional braking resistor. AL-04 power on Intelligent power Check the motor line U, V, W and encoder line is normal.
  • Page 103 of servo motor. AL-06 overload 2 power on Pn015 parameter set period of time, 3 times greater than the rated load. Eliminate overload method reference 1. Note: some motor can only bear the 2.5 or 2 times of the rated load, are not as calculated as 3 times. AL-07 reset Check the motor line U, V, W and...
  • Page 104 whether the motor encoder interface virtual welding, short circuit, or fall off, the encoder the power cord is normal connection. Check the encoder voltage (5 v + / - 5%). (encoder line is long, need to pay special attention to) Electronic gear ratio (A/B) AL-10 reset...
  • Page 105 CPU chip is damaged, replace the servo amplifier. Emergency AL-14 Emergency stop signal is See if port, stop setting of emergency stop function, signal effective contact is in a normally closed state (ON) Check CCWL,.cwl AL-15 Abnormal Ccwl or.cwl to OFF state wiring, the signal contact is in a normally driving ban closed state (ON).

  • Page 106: Function

    Settings AL-18 Improper Reference drive and motor type The current motor code adapter table, resetting Pn001. drive model does not 。 sets support setting of motor model Chapter 7 Modbus communication function Modbus communication profile This drive is RS - 232 and RS - 485 communication interface, the user can choose a kind of communication interface and the driver.

  • Page 107: Communication Protocol Structure

    to the ASCII RTU mode: Each 4 - bit 8-bit data by two hexadecimal data, namely the general number of hexadecimal. For example, decimal in 1 120 - byte RTU data representation for 78 H. 7.1.3 The data structure 10 bit character mode (for 7 bit data) 11 bit character mode (for 8 bit data) Communication protocol structure...
  • Page 108 ASCII mode name meaning instruction The starting character ':' (ASCII: 3 ah) Communication began Start The communication address Address, that is, drive site number. For example: a drive site # 32, hexadecimal for 20 h, Address = '2', '0' or '2' = 32 h, '0' = 30 h Address order...

  • Page 109: Commonly Used Command Code

    Address, that is, drive site number. For example: a drive site # 32, hexadecimal for 20 h, Address = 20 h command 1 byte. Commonly used commands: 3 h (read registers), 6 h ((reading a single register), 8 h (diagnostic function), 10 h (write multiple register) DATA(n-1)
  • Page 110 ‘1’ ‘1’ ‘1’ ‘0’ ‘0’ ‘8’ ‘3’ ‘3’ ‘3’ ‘ 0 ’ ‘0’ ‘0’ Abnormal code Data high Data bytes ‘ 0’ ‘4’ ‘2’ source address ‘1’ ‘ 0 ’ ‘7’ high Address ‘ 3 ’ ‘ 0 ’ ‘A’ 0013 h content ‘...
  • Page 111 content of Read the register the 0013 h high bit number address high CRC low bit content of the 0014 h address CRC high bit high 7.3.2 Write a single register Write a single register Description: write a word to the register. For example: drive station number of 01, write data initial address is 0013 h, write data, 100 (64 h).
  • Page 112 ‘ 0 ’ ‘ 0 ’ END1(CR) The data content The data content (word format) ‘ 0 ’ ‘0’ END0(LF) (word format) ‘ 6’ ‘ 6 ’ ‘ 4’ ‘ 4 ’ ‘8’ ‘8’ ‘2’ ‘2’ END1(CR) END1(CR) END0(LF) END0(LF) 2.
  • Page 113 08H: 诊断功能 Diagnostic function 说明： 使用子功能码 0000H， 检查在 Master 和 Slaver 之间的传输信号。 数据内容可为任意数。 Note: use 0000 h subfunction code, check the signal transmission between the Master and Slaver. The data content can be any number. 例如：对站点为 01H 的驱动器使用诊断功能。 For example: the site of 01 h drive using diagnostic function 1.
  • Page 114 回应->上位机 回应->上位机 上位机->驱动器 PC - > Response - > PC Response - > PC drive (OK) (Error) Address Address Address 子功能 高位 子功能码 高位 异常码 码 high Subroutine high Abnormal Subroutine code code code CRC 低位 低位 低位 low bit CRC 高位...
  • Page 115 上位机->驱动 回应->上位机 回应->上位机 Response Response 器 (OK) (Error) PC - > drive - > PC - > PC start ‘:’ start ‘:’ start ‘:’ Address ‘0’ Address ‘0’ Address ‘0’ ‘1’ ‘1’ ‘1’ ‘1’ ‘1’ ‘9’ ‘0’ ‘0’ ‘0’ ‘ 0 ’ ‘...
  • Page 116 ‘ 0 ’ 高位 写数据 high 到 ‘ 1 ’ 0014H ‘ 2’ Write data 低位 to the ‘ C’ 0014 h ‘4’ ‘5’ END1(CR) END0(LF) 2. RTU 模式 回应->上位机 上位机->驱动器 回应->上位机 PC - > Response Response - > PC drive (OK) - >...
  • Page 117 Data bytes CRC 低位 low 写数据 高位 到 high 0013H Write CRC 高位 high 低位 data to the 0013 写数据 高位 到 high 0014H Write 低位 data to the 0014 CRC 低位 low 位有符号整数。 A signed integer. 注 2：写单个寄存器，上位机需用 5.5ms 左右时间 ，以等待驱动器完成内部数据存储器的 烧写；同理，写...
  • Page 118 start ‘:’ Address ‘0’ ‘1’ ‘0’ ‘3’ ‘ 0 ’ 数据起始地址 高位 high Data source ‘ 0’ address ‘1’ 低位 low ‘ 3 ’ ‘ 0 ’ 读寄存器个数 Read the register number ‘ 0 ’ ‘ 0 ’ ‘ 2’ ‘E’...
  • Page 119 The a 16-bit registers into hexadecimal FFFF. (1) all will be referred to as the CRC register. The first 8 bytes of a message with a 16-bit CRC register low byte exclusive or, result in CRC register. The CRC register moves to the right one to the LSB (direction), the MSB filling zero. Extraction and detection of LSB. 4.
  • Page 120 The following CRC value by C language. This function requires two parameters: Unsigned char * data; / / data source address, used to calculate the CRC value Unsigned char length; / / data length This function returns the unsigned integer type of CRC value. unsigned int crc_chk(unsigned char * data,unsigned char length) int i,j;...
  • Page 121 more than the maximum or not within the scope of this parameter; 数据传输错误或者校验码(LRC、CRC、奇偶检验)错误 数据被丢弃，不返回响应，上位机应将请求作为超 Data transmission errors or check code (LRC Data is discarded, not returns the 时状态处理 England, CRC, parity check) error response, PC should be request as state handling overtime Drive 驱动器发送错误异常码时，...

  • Page 122: The Appendix

    附录 The appendix 附录 A 增益切换 Appendix A gain switch The first gain The second gain 第一增益 第二增益 parameter 名称 name parameter 名称 name 参数 参数 Pn153 速度调节器比例增益 1 Pn155 速度调节器比例增益 2 The speed speed regulator proportional regulator proportional gain 2 gain 1 Pn154 速度调节器积分时间常数...
  • Page 123 使用控制切换(cmode)，可通过输入控制端口SigIn接点进行位置控制模式和速度控制模式的切 换。 Using the control switch (cmode), can be controlled by input port SigIn contact for position control and speed control mode switch. cmode和控制模式的关系如下所示。 Cmode relationship with control mode is shown below. Cmode 控制模式control mode Position control mode 位置控制模式 Speed control mode 速度控制模式...
  • Page 124 Motor speed Position control mode speed control mode Position control mode 减速时间 Pn133 控制切换 Cmode Position/speed control mode changed B.2 位置/转矩控制模式切换 Position/torque control mode switch 使用控制切换(cmode)， 可通过输入控制端口SigIn接点进行位置控制模式和 控制模式的 转矩 切换。cmode和控制模式的关系如下所示。 Using the control switch (cmode), can be controlled by input port SigIn contact position control mode and the torque control mode switching.
  • Page 125 motor speed Position control mode Torque control mode Position control mode Zero speed testing number Pn27 零速度 （zerospeed） 控制切换 Cmode Positon/torque control mode changed ◢Pn132=1: motor speed Torque control mode Position control mode Position control mode 减速时间 Pn133 控制切换 Cmode Positon/torque control mode changed B.3 速度/转矩控制模式切换...

  • Page 126: Appendix Cservo Driver Work Sequence

    不管何时都可以进行控制模式的切换，切换的时序图如下所示： Whenever can control mode switch, switching sequence diagram as shown below: speed control mode torque control mode Torque control mode 控制切换 Cmode speed/torque control mode changed 附录 C 伺服驱动器工作时序 Appendix C servo driver work sequence C.1 电机静止时的 ON/OFF 动作时序 Motor resting ON/OFF action sequence 约60ms Servo enable...

  • Page 127: Appendix Delectromagnetic Brake

    伺服使能 （SigIn：SON） 电机通电状态 不通电 通电 不通电 到达Pn032速 度与Pn031设 注 定时间较快 电磁制动器 者 OFF（制动） ON(释放) OFF（制动） （SigOut:BRK） Pn031 电机速度 Pn032 注 1：使用电磁制动功能时，伺服断使能方式 Pn004 必须设置为 2 Note 1: when using electromagnetic brake function, servo broken way can make Pn004 must be set to 2 注...

  • Page 128: Appendix Eregenerative Braking Resistor

    使用电磁制动器，必须设置 Pn004 参数为 2,并在 SigOut 端口指定功能。驱动器根据 电机运行的转速，依照 ，选择相应的制动时序，执行电磁制动功能。具 参数 Pn029 设定值 C。 体时序详见附录 Pn004 parameter must be set using the electromagnetic brake, to 2, and specify the SigOut port function. Pn029 drive according to the speed of the motor running, according to the parameters setting, choose corresponding braking time sequence, perform the function of electromagnetic brake.

  • Page 129: Appendix Forigin Point

    consumption of renewable power, can produce high temperature above 100 ° C, please be careful, the connection of regenerative resistor wire please use of heat-resistant non-flammable cables, and confirm the regenerative resistor without touching anything. 注意：使用再生电阻时如果有上述报警产生，请切断电源，冷却半小时。由于再生晶 体管发生故障，再生电阻异常发热，可能会造成火灾。请务必根据应用场合，选择相匹 配的制动电阻。 Note: if the alarm when using regenerative resistor, please cut off power supply, cooling and a half hours.
  • Page 130 F.2 原点回归触发时序 The origin return to trigger sequence 0:关闭原点回归功能 Close the origin regression function Pn033 原点回归触发方式 origin is triggered 1：由 SigIn 输入的 GOH 电平触发 Triggered by t he GOH SigIn input level 2：由 SigIn 输入的 GOH 边沿触发 GOH edge triggered by SigIn input 3：上电自动执行一次...
  • Page 131 通电 断电 电源 伺服准备好 （SigOut:ready） 伺服伺能 原点回归触发 （SigIn:GOH） 执行中 原点回归执行 Pn042 原点回归完成 （SigOut:HOME） Pn043 正常指令执行 执 执行 暂停 （Pn044=0） 行 执 暂停 执行 行 Pn033=1 Pn033=2 边沿触发（ ） Edge triggered (Pn033 = 2) 伺服使能后，输入端子 GOH 上升触发原点回归执行，并暂停正常指令执行 Servo enabled, the input terminals GOH rise triggered the origin return to perform, and suspension of normal instruction execution 通电...
  • Page 132 通电 电源 断电 伺服准备好 （SigOut:ready） 伺服伺能 执行中 原点回归执行 Pn042 原点回归完成 （SigOut:HOME） Pn043 正常指令执行 执行 暂停 （Pn044=0） 正常指令执行 暂停 执行 （Pn044=1） Pn033=3 F.3 原点回归组合模式时序 The origin model time-series regression combination 0:正转找 REF(上升沿触发)作参考点 Forward looking Pn034 原点回归参考点 The origin for REF (rising along the trigger) as a reference point 模...
  • Page 133 说明 instruction 参数 设定 parameter Pn034 原点回归启动后，按回归第一速度正转找 REF(上升沿触发)或 CCWL(下 或 0 or 2 Origin starts, to return to the first speed forward 降沿触发)作参考点 looking for REF (rising along the trigger) or CCWL falling edge (trigger) as a reference point Pn035 到达参考点后，按回归第二速度向后找...
  • Page 134 the second speed speed position The first speed encoder z pulse (C)Pn034=0,Pn035=1 设定 set 说明 instruction 参数 parameter Pn034 原点回归启动后，按回归第一速度正转找 REF(上升沿触发)作参考点 Origin starts, to return to the first speed forward looking for REF (rising along the trigger) as a reference point Pn035 到达参考点后，按回归第二速度向前找...
  • Page 135 along the trigger) as a reference point Pn035 到达参考点后，按回归第二速度向前找 Z 脉冲作原点 Arrived at the reference point, to return to the second speed forward looking for Z pulse as the origin speed Position the second speed The first speed Encoder Z pulse (E)Pn034=0,Pn035=2 设定...
  • Page 136 参数 parameter 设定 set 说明 instruction Pn034 原点回归启动后， 按回归第一速度反转找 REF(上升沿触发)作参考点 Origin starts, to return to the first speed inversion for REF (rising along the trigger) as a reference point Pn035 Arriving at reference points, 到达参考点后，直接以参考点作为原点 the direct reference point as the origin speed The second speed Position...
  • Page 137 (H)Pn034=5,Pn035=2 instruction parameter Pn034 Origin starts, to return to the first speed pulse inversion for Z as a reference point Arriving at reference points, the direct reference point as the origin Pn035 Speed The second speed Location The first speed Encoder Z pulse The appendix G internal position control...
  • Page 138 (OFF - > ON) falling edge, the driver will read instruction N internal position, accumulate to the rest of the order the number of pulses, continue to perform the corresponding operation. If set Pn118 = 0, want to suspend the motor running, in the process of position when the trigger input port pstop signal, motor speed to stop, and then drive automatically remove residual position instruction, when the input port ptriger fire again, the drive will be based on the current pos1, pos2 state, execute the position of the corresponding instructions, please refer to the following sequence...
  • Page 139 位置 p0=20,p1=18,p3=17 (pluse) pos2 pos1 ptriger pstop 虽然触发指令3，但是因之前 暂停，所以本次执行上次剩 余的脉冲数...

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